One-way clutch with unlocking mechanism and remote operation unit for same

Abstract

Provided is a one-way clutch capable of unlocking the one-way clutch in a locked state by a simple operation and rotating a shaft in a lock direction. In a one-way clutch (1) in a locked state, when a control lever (6a) protruding outward beyond an outer periphery of a bottomed cylindrical part of a housing (2) is pushed from a position shown in FIG. 1(b) in a direction shown by an arrow in FIG. 11(b), the tip of a control pin (6d) of an attacker (6) moves from a first position shown in FIG. 1(d), located away from a roller (10), to a second position shown in FIG. 11(d) along a control pin restriction hole (12i). When the control pin (6d) of the attacker (6) moves from the first position to the second position, the tip of the control pin (6d) pushes the roller (10) caught in a wedge-shaped space along the control pin restriction hole (12i) to release the roller (10) caught in the wedge-shaped space.

Description

One-way clutch with unlocking mechanism and its remote control unit

[0001] The present invention relates to a one-way clutch with an unlocking mechanism that has a mechanism for releasing the rotation of a locked shaft, and to a remote control unit for the same.

[0002] A conventional one-way clutch is disclosed, for example, in Patent Document 1. The one-way clutch has a clutch function that allows rotation of the shaft in a certain direction but locks it when the shaft rotates in the opposite direction. In this one-way clutch, a retaining groove is provided in which multiple rollers are arranged so as to surround the shaft through-hole of the bearing member, and the rollers loosely fitted in each retaining groove are sandwiched between the shaft in the shaft through-hole and an inclined surface outside the retaining groove, thereby operating the clutch function.

[0003] Japanese Unexamined Patent Publication No. 130933 / 1983

[0004] However, with the conventional one-way clutch disclosed in Patent Document 1, it is not possible to unlock a locked one-way clutch with a simple operation and rotate the shaft in the locked direction.

[0005] Also, the clutch function could not be remotely operated.

[0006] The present invention has been made to solve these problems and comprises a housing having a cylindrical shape with a bottom and an open end, with an opening formed on the bottom surface; a clutch shaft rotatably supported in the opening and housed with the outer periphery of the side facing the end surrounded by the housing; a one-way clutch structure formed on the outer periphery of the clutch shaft on the side facing the end, which allows rotation of the clutch shaft in one direction and locks rotation of the clutch shaft in the other direction by having a roller held by a retainer engage with a wedge-shaped space formed between an engaging surface on the inner periphery of a sleeve housed non-rotatably inside the housing and the outer periphery of the clutch shaft; A one-way clutch with a lock release mechanism is configured, which includes an attacker having a control pin whose tip passes through an elongated hole formed in the retainer, is aligned with the roller, and moves along the elongated hole, and a control lever that protrudes outward from the outer periphery of the bottomed cylindrical portion of the housing and is rotatably provided relative to the retainer, and when the control lever is rotated, the control pin moves to a first position where the tip is separated from the roller, and to a second position where the tip pushes the roller, which is caught in the wedge-shaped space, along the elongated hole to release the roller from being caught in the wedge-shaped space.

[0007] According to this configuration, the one-way clutch locks the rotation of the clutch shaft in the other direction by having the roller held by the retainer engage in a wedge-shaped space formed between the engagement surface on the inner circumference of the sleeve and the outer circumference of the clutch shaft. In this locked state, the one-way clutch can be configured such that the control pin of the attacker moves from a first position, where its tip is away from the roller, along the elongated hole to a second position by rotating a control lever that protrudes outward from the outer circumference of the bottomed cylindrical portion of the housing. As the control pin of the attacker moves from the first position to the second position, the tip of the control pin pushes the roller, which is engaged in the wedge-shaped space, along the elongated hole, releasing the roller from engagement in the wedge-shaped space.

[0008] Therefore, a one-way clutch that is in a locked state can be released by the simple operation of rotating the control lever, allowing the clutch shaft to rotate in the locked direction.

[0009] In addition, the present invention is characterized in that the attacker is provided rotatably with respect to the retainer within a predetermined first relative rotation angle range.

[0010] With this configuration, when the control pin of the attacker moves from the first position to the second position in response to operation of the control lever, the rotation range of the control pin is restricted to a predetermined first relative rotation angle range, which makes it possible to prevent the control pin from pressing too hard on the roller and damaging the components in contact with the roller.

[0011] The present invention is also characterized in that the retainer has a cylindrical portion that supports the clutch shaft, and a disc portion that has a sliding surface around the cylindrical portion that is perpendicular to the axis of the clutch shaft and that comes into sliding contact with the side surface on which the control pin of the attacker is erected, a holding portion that holds the roller is formed on the surface opposite the sliding surface, and a long hole that passes through it.

[0012] With this configuration, the cylindrical portion that supports the clutch shaft reduces the effect of radial loads acting on the retainer, preventing deformation of the holding portion that holds the rollers and allowing the retainer to rotate smoothly relative to the attacker. At the same time, the disc portion, which has a sliding surface formed around the cylindrical portion, receives axial loads acting on the retainer, preventing deformation of the holding portion that holds the rollers and allowing the retainer to rotate smoothly relative to the attacker.

[0013] The present invention is also characterized in that the housing has a sliding surface around the end, and the attacker has a sliding contact surface on the control lever that comes into sliding contact with the sliding surface.

[0014] According to this configuration, when the attacker rotates, the sliding surface of the control lever slides against the slide surface around the end of the housing, so that the attacker rotates stably.

[0015] The present invention also provides a remote control unit for a one-way clutch with an unlocking mechanism as described above, further comprising: a holder rotatably mounted relative to the housing, the holder having a first joint to which one end of the arm is fixed and a locking portion to which an end of the clutch shaft exposed at an opening of the housing is locked; a first single-acting cylinder fixed to the first arm, the rod having a structure in which the elastic force of a built-in spring holds it in an initial position within the cylinder tube; a button provided at the end of the rod exposed from the cylinder tube of the first single-acting cylinder; an elastic member that moves the button together with the rod in the axial direction of the cylinder tube against the elastic force of the built-in spring; a second single-acting cylinder fixed to the housing, the rod having a structure in which the elastic force of the built-in spring holds it in an initial position within the cylinder tube, the tip of the rod exposed from the cylinder tube being positioned to rotate the control lever which is in the first position; and pipes connected to each port of the first single-acting cylinder and the second single-acting cylinder through which a power transmission medium is input and output, wherein the housing has the second joint to which the one end of the arm is fixed.

[0016] In this configuration, the button is pushed or pulled against the elastic force of the elastic member, which moves the button together with the rod in the axial direction of the cylinder tube, to push or pull the rod of the first single-acting cylinder into or out of the cylinder tube. This pushing or pulling force is then transmitted via the power transmission medium in the cylinder tube of the first single-acting cylinder and through the pipe to the power transmission medium in the cylinder tube of the second single-acting cylinder. Therefore, the rod of the second single-acting cylinder is protruded or retracted into the cylinder tube. This protrusion or retraction of the rod of the second single-acting cylinder causes the tip of the rod of the second single-acting cylinder to push or pull the control lever of the attacker, which is in the first position.

[0017] This causes the control lever to rotate from the first position to the second position, causing the control pin of the attacker to rotate along the elongated hole. This rotation of the control pin causes the tip of the control pin to press against the roller that is wedged in a wedge-shaped space next to the tip of the control pin, releasing the roller from the wedge-shaped space. This makes it possible to remotely operate the clutch function of the one-way clutch.

[0018] The present invention is also characterized in that the power transmission medium is a liquid.

[0019] Because liquids have low compressibility, with this configuration, the operating force of the button is transmitted immediately from the first single-acting cylinder to the second single-acting cylinder via the power transmission medium in the tube without attenuation, making it possible to remotely unlock the one-way clutch with no time delay and good operability.

[0020] In addition, the present invention is characterized in that the first single-acting cylinder is fixed to the first arm via a bracket that is detachable from the first arm.

[0021] With this configuration, the position of the button on the rod of the first single-acting cylinder on the first arm can be freely selected, which increases the degree of freedom in the button installation position, and by attaching the button in any position suitable for operation, the operability of remote control is improved.

[0022] The present invention also provides the above remote control unit, further comprising: a second one-way clutch with a second unlocking mechanism provided with a second holder; and a third single-acting cylinder fixed to a housing constituting the second one-way clutch with a locking mechanism; wherein the second arm, one end of which is fixed to the second joint part of the housing, has the other end fixed to the first joint part of the second holder; and the third arm, one end of which is supported on a base, has the other end fixed to the second joint part of the housing constituting the second one-way clutch with a locking mechanism; the third single-acting cylinder has a structure in which the rod is held in an initial position within the cylinder tube by the elastic force of an internal spring, and the tip of the rod exposed from the cylinder tube is positioned at a position to rotate the control lever constituting the second one-way clutch with a locking mechanism, which is in the first position; a joint for branching the power transmission medium is provided midway in the pipe; and the pipe branched by the joint is connected to a port through which the power transmission medium of the third single-acting cylinder is input and output.

[0023] In this configuration, by pushing or pulling the button, the rod of the first single-acting cylinder is pushed into or pulled from the cylinder tube. This pushing or pulling force is then transmitted to the power transmission medium in the cylinder tube of the third single-acting cylinder via the power transmission medium in the pipe branched by the coupling. This causes the rod of the third single-acting cylinder to protrude from or retract into the cylinder tube. This protrusion or retraction of the rod of the third single-acting cylinder causes the tip of the rod of the third single-acting cylinder to push or pull the control lever of the attacker, which constitutes the second one-way clutch with an unlocking mechanism and is in the first position.

[0024] This causes the control lever of the attucker, which constitutes the second one-way clutch with unlocking mechanism, to rotate from the first position to the second position, and the control pin of the attucker rotates along the elongated hole. This rotation of the control pin causes the tip of the control pin to press against the roller that is wedged in a wedge-shaped space next to the tip of the control pin, releasing the roller from the wedge-shaped space.

[0025] Therefore, by operating one button, the clutch functions of the two one-way clutches can be remotely controlled, and the two one-way clutches can be easily unlocked simultaneously.

[0026] The present invention is also characterized in that each holder provided on the first one-way clutch with unlocking mechanism and the second one-way clutch with unlocking mechanism is rotatable relative to the housing within a predetermined second relative rotation angle range in one direction in which rotation of the clutch shaft is permitted.

[0027] According to this configuration, the rotation angle of the holder in one direction in which rotation of the clutch shaft is permitted is restricted to a predetermined second relative rotation angle range, thereby preventing the holder from rotating excessively in one direction and restricting the movement of the first arm and the second arm fixed to the holder to a desired rotation range.

[0028] The present invention is also characterized in that the base comprises: a shaft fixed to one end of the third arm coaxially with the third arm; a pedestal having a storage section with a bottom surface formed with a through hole through which the shaft passes, which stores the one end of the third arm to which the shaft is fixed for a predetermined length with the shaft exposed and rotatable, and which is attached and detached to a rail laid in a predetermined horizontal direction; a nut which screws onto the shaft exposed from the through hole in the storage section; and an elastic body provided between the storage section and the nut, which applies a force to the nut in a direction away from the storage section.

[0029] According to this configuration, the remote control unit, whose third arm is supported on a base, moves to a desired position along the direction of the rail by attaching the base, which houses one end of the third arm in the housing, to a desired location on a rail laid in a predetermined horizontal direction. At the desired position, the elastic body applies a force to the nut, which threads onto the shaft exposed from the housing, in a direction away from the housing, thereby pressing the end face of the one end of the third arm against the bottom of the housing. Therefore, the remote control unit can rotate around the axis of the third arm, but the rotation is subject to a resistance force corresponding to the force applied by the elastic body to the nut, i.e., the force pressing the end face of the one end of the third arm against the bottom of the housing. Therefore, even if an unexpected force acts on the first arm or the second arm around the axis of the third arm, the remote control unit will remain at any initially set rotation position, limited by the resistance force acting on the rotation of the third arm.

[0030] Furthermore, the present invention provides the above-mentioned remote control unit, which is provided with an operating mechanism having: a gripping portion for gripping an object to be operated; a first shaft for supporting the gripping portion so as to be rotatable about one direction; a second shaft for supporting the first shaft so as to be rotatable about a direction perpendicular to the one direction; and a third shaft for supporting the second shaft so as to be rotatable about the axial direction of the first arm and held by the first arm, wherein the first single-acting cylinder and the elastic member are provided with their axial directions oriented in a direction intersecting the axial direction of the first arm.

[0031] According to this configuration, a first axis, a second axis, and a third axis are interposed between a gripper that grips an object to be manipulated and a first arm. The gripper is supported by the first axis so as to be rotatable around one direction, and the gripper and the first axis are supported by the second axis so as to be rotatable around a direction perpendicular to the one direction. Furthermore, the gripper, the first axis, and the second axis are supported by the first arm so as to be rotatable around the axial direction of the first arm by the third axis.

[0032] Therefore, the connection state between the gripper and the first arm by the first shaft, the second shaft, and the third shaft can be freely changed into various states, and therefore the state of the remote control unit when the gripper grips the operation object can be changed into any desired state by operating the button to release the rotation lock by the first and second one-way clutches with lock release mechanisms and moving the operation object gripped by the first arm and the gripper into various positions.

[0033] In this case, by arranging the first single-acting cylinder and the elastic member with their axial direction oriented in a direction intersecting the axial direction of the first arm, the operability of the button provided at the end of the rod of the first single-acting cylinder is improved.

[0034] The present invention is also characterized by comprising: a fourth bracket connecting the first arm and the third shaft; a torsion spring inside the fourth bracket, one leg of which is hooked and whose inner diameter portion tightens the outer periphery of the third shaft, with the other leg positioned to the side of the third shaft; a shaft-shaped member that penetrates the side wall of the fourth bracket in a direction intersecting the axial direction of the first arm and is erected to the side of the fourth bracket, one end of which is held in a position where it can press the other leg to weaken the elastic force of the torsion spring tightening the outer periphery of the third shaft, and the other end of which is positioned to the outside of the side of the fourth bracket; and a second button provided at the other end of the shaft-shaped member.

[0035] For example, if the end of the object being held by the gripper is inserted obliquely into an object, the object will tilt. In this case, the weight of the object applies a rotational moment to the gripper, with the insertion point into the object as the fulcrum, causing the gripper to tilt. This causes the first axis to rotate in one direction. If the rotation of the third axis is not locked, the weight of the object will also cause the third axis to rotate around the axial direction of the first arm. Therefore, the gripper rotates and descends together with the first, second, and third axes, with the insertion point of the end of the object into the object as the fulcrum. However, with this configuration, the outer periphery of the third axis is tightened by the inner diameter portion of the torsion spring, locking the third axis from rotating around the axial direction of the first arm. Therefore, the first axis rotates, but the third axis does not. Therefore, the gripping unit can be prevented from rotating together with the first axis, the second axis, and the third axis, using the insertion point of the end of the manipulation object into the object as a fulcrum, and from dropping. Therefore, the position of the gripping unit can be maintained, and the first axis, the second axis, and the third axis can be kept in desired orientations, thereby maintaining the manipulation object in a desired orientation.

[0036] In addition, the rotation lock of the third shaft can be easily released by operating the second button, as one end of the shaft-shaped member presses the other leg of the torsion spring, weakening the elastic force of the torsion spring tightening around the outer periphery of the third shaft.

[0037] The present invention also provides a fifth bracket having a through hole through which an end of a third shaft passes and which is housed inside the fourth bracket; the torsion springs are composed of two identical first and second torsion springs; the first torsion spring has an inner diameter portion inserted into the outer periphery of the third shaft which passes through the through hole on one side of the fifth bracket, one leg being hooked on one side of the fifth bracket, and the other leg being located to the side of the third shaft on one side of the fifth bracket; the second torsion spring is oriented opposite to the first torsion spring and has an inner diameter portion inserted into the outer periphery of the third shaft on the other side of the fifth bracket, one leg being hooked on the other side of the fifth bracket, and the other leg being located to the side of the third shaft on the other side of the fifth bracket; the shaft-shaped members are composed of two identical first and second shaft-shaped members; a first shaft-shaped member passes through a side wall of the fourth bracket on one side of the fifth bracket and stands upright on the side of the fourth bracket in a direction intersecting the axial direction of the first arm, with one end held in a position where it can press the other leg of the first torsion spring to weaken the elastic force of the first torsion spring tightening the outer periphery of the third shaft, and the other end located on the lateral exterior of the fourth bracket on one side of the fifth bracket; a second shaft-shaped member passes through a side wall of the fourth bracket on the other side of the fifth bracket and stands upright on the side of the fourth bracket in the same direction as the standing direction of the first shaft-shaped member, with one end held in a position where it can press the other leg of the second torsion spring to weaken the elastic force of the second torsion spring tightening the outer periphery of the third shaft, and the other end located alongside the first shaft-shaped member on the lateral exterior of the fourth bracket on the other side of the fifth bracket; A second button is provided connected to the other end of each of the first shaft-shaped member and the second shaft-shaped member.

[0038] With this configuration, the outer periphery of the end of the third shaft is fastened by the inner diameter portions of the first and second torsion springs on both one and the other side surfaces of the fifth bracket, thereby locking the rotation of the third shaft, thereby more firmly locking the rotation of the third shaft.

[0039] The other ends of the first and second shaft members are positioned side by side on one side and the other side of the fifth bracket, outside the fourth bracket, and second buttons are provided connected to the other ends. Therefore, by operating the second button, one ends of the shaft members press the other legs of each torsion spring simultaneously, weakening the elastic force of each torsion spring tightening the outer periphery of the third shaft and easily releasing the rotation lock of the third shaft.

[0040] The present invention is also characterized in that the first single-acting cylinder and the elastic member are provided on the outer side of the fourth bracket alongside the first shaft-shaped member and the second shaft-shaped member, and the button and the second button are connected and integrated.

[0041] According to this configuration, the button for operating the first single-acting cylinder and the second button for operating the first and second shaft-shaped members are connected and integrated. Therefore, by operating the single integrated button, it is possible to simultaneously unlock the rotation of the first and second one-way clutches with unlocking mechanisms using the first single-acting cylinder and unlock the rotation of the third shaft using the first and second shaft-shaped members. This improves the operability of the remote control unit.

[0042] The present invention is also characterized by comprising a fourth bracket that connects the first arm and the third shaft, and a torque limiter provided inside the fourth bracket that allows rotation of the third shaft when the rotational torque applied to the third shaft exceeds a predetermined value.

[0043] According to this configuration, when the rotational torque applied to the third shaft exceeds a predetermined value, the torque limiter is activated and rotation of the third shaft is permitted. Therefore, when the first arm or the gripping unit is operated, the rotational torque applied to the third shaft is prevented from exceeding a predetermined value, thereby locking the third shaft from rotating around the first arm axis. Furthermore, by operating the first arm or the gripping unit to cause the rotational torque applied to the third shaft to exceed a predetermined value, the rotation lock of the third shaft is released and the third shaft can be rotated around the first arm axis.

[0044] Therefore, the third shaft can be locked and unlocked using a small number of parts.

[0045] Furthermore, the present invention is characterized in that the remote control unit further comprises a tension coil spring having one end engaged with the second holder and the other end engaged with the third arm.

[0046] According to this configuration, by adjusting the tension of the tension coil spring, it is possible to prevent the first arm, the second arm, and their associated parts from dropping downward due to their own weight, and to maintain the extended state of the first arm and the second arm.

[0047] Furthermore, when the first and second one-way clutches with unlocking mechanisms are locked for rotation, i.e., when the remote control unit is stationary, the load required to maintain the lock on the one-way clutch structures that make up each one-way clutch with unlocking mechanisms can be reduced. Furthermore, when the one-way clutches with unlocking mechanisms are unlocked for rotation, the force that lifts the first arm upward is lightened by the assistance of the tension of the tension coil spring. Furthermore, when the one-way clutches with unlocking mechanisms are unlocked for rotation, the tension of the tension coil spring reduces the sudden descent of the first arm when the first arm is lowered downward.

[0048] Furthermore, the present invention is characterized in that, in the remote control unit, the gripping portion comprises: a catch body held by the first axis, having a pair of inner wall surfaces opposing each other across a space in the axial direction of the first axis, with one side open in a direction perpendicular to the opposing direction of the pair of inner wall surfaces; a first catch member fixed to the inner wall surface away from the first axis and clamping an object to be operated from one side with one side open; a second catch member opposed to the first catch member and provided slidably in the axial direction of the first axis, clamping an object to be operated from the other side between it and the first catch member with one side open; a second elastic member provided between the inner wall surface closer to the first axis and the second catch member and exerting an elastic force to urge the second catch member towards the first catch member; a slide guide member having one end connected to the second catch member and guiding the sliding of the second catch member in the axial direction of the first axis; and a slide operating portion provided at the other end of the slide guide member and operating the slide guide member.

[0049] According to this configuration, by operating the slide operating unit against the elastic force of the second elastic member and moving the second catch member together with the slide guide member in the axial direction of the first shaft, a gap is created between the second catch member and the first catch member. When an object to be operated is inserted into this gap and operation of the slide operating unit is stopped, the second catch member is urged toward the first catch member by the elastic force exerted by the second elastic member. Therefore, the object to be operated is sandwiched between the first catch member on one side and the second catch member on the other side, and is held between the first catch member and the second catch member.

[0050] The object to be operated, which is clamped between the first catch member and the second catch member, can be removed from the gripping portion by again operating the slide operating portion against the elastic force of the second elastic member and moving the second catch member together with the slide guide member in the axial direction of the first shaft.

[0051] The attachment and detachment of the operation object to the grip portion is performed with one side of the catch body open, so that even when the entire remote control unit is covered with a dirt-proof cover, the operation object can be sandwiched between the first and second catch members by placing the operation object through the dirt-proof cover in the gap created between the first and second catch members.

[0052] The present invention also provides the above-mentioned remote control unit, wherein each holder provided in the first one-way clutch with unlocking mechanism and the second one-way clutch with unlocking mechanism has an engaging portion penetrating in the axial direction of the clutch shaft and configured as a cavity into which the end of the clutch shaft is non-rotatably fitted, a threaded hole leading to the first joint portion opening into a side wall of the cavity, each clutch shaft constituting the first one-way clutch with unlocking mechanism and the second one-way clutch with unlocking mechanism has a through hole formed in the axial direction, with a communication hole leading to the threaded hole opening into the side wall, the first arm and the second arm are configured as hollow pipes, the first arm has a hollow portion in the pipe connected to a threaded hole formed in the first joint portion of the holder provided in the first one-way clutch with unlocking mechanism, and the second arm has an opening formed in a side surface on one end side that connects to the hollow portion in the pipe, and the other end of the second arm has a hollow portion in the pipe connected to a threaded hole formed in the first joint portion of the holder provided in the second one-way clutch with unlocking mechanism, the coupling is disposed in a through hole of a clutch shaft constituting the first one-way clutch with a lock release mechanism, a tube between the first single-acting cylinder and the coupling is inserted from one end into a hollow portion of the first arm from the first single-acting cylinder and passed to the other end, and is connected to the coupling via a screw hole of a holder provided in the first one-way clutch with a lock release mechanism and a communication hole of the clutch shaft constituting the first one-way clutch with a lock release mechanism, and a tube between the coupling and the second single-acting cylinder is drawn out from one opening of a through hole formed in the clutch shaft constituting the first one-way clutch with a lock release mechanism and connected to the second single-acting cylinder, The tube between the coupling and the third single-acting cylinder is pulled out from the other opening of the through hole formed in the clutch shaft constituting the first one-way clutch with unlocking mechanism, inserted into an opening formed in the side of the second arm, passed through to the other end of the second arm, and led to the third single-acting cylinder via a screw hole in a holder provided in the second one-way clutch with unlocking mechanism, and a communication hole and through hole in the clutch shaft constituting the second one-way clutch with unlocking mechanism, and connected to the third single-acting cylinder.

[0053] According to this configuration, the coupling is disposed within the through-hole of the clutch shaft that constitutes the first one-way clutch with an unlocking mechanism. The pipe between the first single-acting cylinder and the coupling is housed within the hollow portion of the first arm and connected to the coupling disposed within the through-hole of the clutch shaft. The pipe between the coupling and the second single-acting cylinder is connected directly to the second single-acting cylinder from within the through-hole of the clutch shaft in which the coupling is disposed. Furthermore, the pipe between the coupling and the third single-acting cylinder is housed within the hollow portion of the second arm and is led from the coupling into the through-hole of the clutch shaft that constitutes the second one-way clutch with an unlocking mechanism, and is connected to the third single-acting cylinder via the through-hole.

[0054] Therefore, the tubes that were loose outside the first and second arms are housed inside the hollow portions of the first and second arms, preventing them from loosening. This prevents the tubes from interfering with surrounding objects when the arms move, allowing for smooth movement of the arms. Furthermore, the remote control unit has a neater appearance, improving visibility of the object being controlled by the grip.

[0055] According to the present invention, it is possible to provide a one-way clutch with an unlocking mechanism that can unlock a one-way clutch that is in a locked state with a simple operation and rotate the shaft in the locked direction, and a remote control unit for the one-way clutch with an unlocking mechanism that can remotely control the clutch function.

[0056] 1A is a side view showing a state before unlocking of a one-way clutch with an unlocking mechanism according to one embodiment of the present invention, (b) is a front view, (c) is a cross-sectional view taken along line Ic-Ic shown in (a), and (d) is a partially enlarged view of the circled portion shown in (c).

[0023] FIG. 1B is an exploded perspective view of a one-way clutch with an unlocking mechanism according to one embodiment, as seen from one direction.

[0024] FIG. 1C is an exploded perspective view of a one-way clutch with an unlocking mechanism according to one embodiment, as seen from the opposite direction.

[0025] FIG. 1A is a front perspective view of a housing constituting the one-way clutch with an unlocking mechanism according to one embodiment, as seen from the front side, (b) is a rear perspective view as seen from the rear side, and (c) is a bottom perspective view as seen from the bottom side.

[0026] FIG. 1A is a perspective view showing the entire clutch shaft constituting the one-way clutch with an unlocking mechanism according to one embodiment, and (b) is a perspective view as seen from the axial direction.

[0027] FIG. 1B is a front view of a one-way clutch structure attached to a clutch shaft, constituting the one-way clutch with an unlocking mechanism according to one embodiment. 1A is a perspective view of a sleeve constituting a one-way clutch with an unlocking mechanism according to one embodiment, and FIG. 1B is a front view. 1A is a perspective view of a retainer constituting a one-way clutch with an unlocking mechanism according to one embodiment, and FIG. 1B is a perspective view from the opposite side. 1C is a partially enlarged front view of a pocket portion shown in FIG. 1A is a perspective view of an elastic member and a roller constituting a one-way clutch with an unlocking mechanism according to one embodiment. 1A is a perspective view of an attacker constituting a one-way clutch with an unlocking mechanism according to one embodiment, and FIG. 1B is a perspective view from the opposite side. 1A is a side view of a one-way clutch with an unlocking mechanism according to one embodiment when unlocked, and FIG. 1B is a front view. 1C is a cross-sectional view taken along line XIc-XIc shown in FIG. 1A, and FIG. 1D is a partially enlarged view of the circled portion shown in FIG. 1C. 1D is a perspective view showing a remote control unit for a one-way clutch with an unlocking mechanism according to one embodiment. 1A is a perspective view of a holder constituting a remote control unit for a one-way clutch with an unlocking mechanism according to an embodiment, FIG. 1B is a perspective view of the holder as seen from the opposite side, and FIG. 1C is a partially cutaway perspective view of the holder shown in FIG. 1B. 2 is a front view showing a power transmission system of a remote control unit for a one-way clutch with an unlocking mechanism according to an embodiment in a state before a button is operated.16(a) is a front view showing a power transmission system of a remote control unit using a one-way clutch with an unlocking mechanism according to an embodiment when a button is operated. FIG. 17 is a perspective view showing a modified example of a base supporting a one-way clutch with an unlocking mechanism according to an embodiment. FIG. 18 is a partially enlarged cross-sectional view of the base shown in FIG. 16(b). (a) is a perspective view of the entirety of another remote control unit using a one-way clutch with an unlocking mechanism according to an embodiment, as seen from one side, and (b) is a perspective view from the opposite side. (a) is a cross-sectional view showing a connecting structure between a first holder, a first arm, and an operation mechanism provided in a first one-way clutch with an unlocking mechanism, and (b) is a partially enlarged perspective view of the screw plug shown in (a). (b) is a partially enlarged perspective view of the operation mechanism shown in FIG. 18(a). (c) is a partially enlarged cross-sectional view of a main part of the operation mechanism shown in FIG. 20, taken along the axial direction of the first arm. (a) is an external perspective view of a third shaft lock control unit constituting the operation mechanism, and (b) is an exploded perspective view. (c) is an explanatory diagram of the operation of the third shaft lock control unit shown in FIG. 22(b). 18A is a perspective view showing a state in which a gripping portion constituting a control mechanism is closed before gripping an operation object, (b) is a perspective view showing a state in which the gripping portion is open, and (c) is a perspective view showing a state in which the gripping portion grips an operation object. (a) is a perspective view of a second holder attached to a one-way clutch with a second lock release mechanism in the other remote control unit shown in FIG. 18A, as seen from one direction, and (b) is a perspective view from the opposite direction. (a) is a perspective view of a second housing constituting a one-way clutch with a second lock release mechanism in the other remote control unit shown in FIG. 18A, as seen from one direction, and (b) is a perspective view from the opposite direction. (a) is a plan view of a T-shaped joint used in the other remote control unit shown in FIG. 18A, and (b) is a perspective view of a second arm with an opening formed therein used in the other remote control unit shown in FIG. 18A, and (b) is a cross-sectional view. 29 is an exploded perspective view of the base shown in Fig. 28. Fig. 29 is a perspective view of another remote control unit 51 shown in Fig. 18, entirely covered with a dirt-proof cover. Fig. 29(a) is a cross-sectional view of another third axis lock control unit constituting the operation mechanism, and Fig. 29(b) is an exploded perspective view.

[0057] Next, an embodiment of a one-way clutch with an unlocking mechanism and a remote control unit thereof according to the present invention will be described. Note that the same or corresponding parts in each drawing will be denoted by the same reference numerals.

[0058] Fig. 1(a) is a side view of a one-way clutch with an unlocking mechanism 1 according to an embodiment of the present invention, Fig. 1(b) is a front view, Fig. 2 is an exploded perspective view of the one-way clutch with an unlocking mechanism 1 as seen from one direction, and Fig. 3 is an exploded perspective view as seen from the opposite direction.

[0059] The one-way clutch with unlocking mechanism 1 is configured to include a housing 2, a bearing 3, a clutch shaft 4, a one-way clutch structure 5, an attacker 6, and a retaining ring 7. In this embodiment, a holder 8 that constitutes a remote control unit 21 (described later) is attached to the one-way clutch with unlocking mechanism 1. The one-way clutch structure 5 is configured to include an elastic member 9, a roller 10, a sleeve 11, and a retainer 12.

[0060] 4A is a front perspective view of the housing 2 as seen from the front side, FIG. 4B is a rear perspective view as seen from the rear side, and FIG. 4C is a bottom perspective view as seen from the bottom side.

[0061] The housing 2 is made of resin or metal and has a cylindrical shape with an open end and an inner diameter portion 2a formed as an opening on the bottom surface. The cylindrical cavity inside the housing 2 has different inner diameters on the bottom side and the open end side. The cylindrical cavity with a larger inner diameter formed on the open end side constitutes the structure-mounting portion 2b. The one-way clutch structure 5 is housed in this structure-mounting portion 2b via the open end.

[0062] A cylindrical portion 12a (see FIG. 2) of a retainer 12 that constitutes the one-way clutch structure 5 protrudes from the end of the housing 2. The attacca 6 is attached to this protruding cylindrical portion 12a on the outside of the housing 2, as shown in FIG. 1(a). Furthermore, the end of the clutch shaft 4 protrudes slightly from the side of the attacca 6. A snap ring 7 is attached to this end of the clutch shaft 4, preventing the one-way clutch structure 5 and the attacca 6 from coming off the clutch shaft 4.

[0063] A plurality of anti-rotation portions 2c are formed at regular intervals on the inner peripheral surface of the structure-mounting portion 2b. These anti-rotation portions 2c have a semi-cylindrical convex shape that protrudes toward the center of rotation of the one-way clutch 1. Each anti-rotation portion 2c fits into a plurality of recessed grooves 11a (see FIG. 2) formed on the outer periphery of the sleeve 11 that constitutes the one-way clutch structure 5, allowing the housing 2 and the sleeve 11 to rotate together, i.e., the housing 2 and the one-way clutch structure 5 to rotate together. The anti-rotation portions 2c and the recessed grooves 11a may be provided in one or more locations, and in this embodiment, they are provided in eight locations each.

[0064] Furthermore, a cylindrical cavity with a small inner diameter formed on the inner bottom surface side of the housing 2 constitutes a bearing assembly portion 2d. A bearing 3 is assembled in this bearing assembly portion 2d. In this embodiment, the bearing 3 is constructed of a steel radial ball bearing. The bearing 3 is assembled in the bearing assembly portion 2d as needed when the weight of the object held by the clutch shaft 4 is heavy. The clutch shaft 4 is supported by this bearing 3, which reduces the effect of the load applied in the radial direction from the clutch shaft 4 to the housing 2.

[0065] Furthermore, a columnar portion having a substantially rectangular parallelepiped shape extends from the side of the bottomed cylindrical portion of the housing 2. A sliding surface 2e is formed around the open end of this columnar portion of the housing 2. A sliding contact surface 6b (see FIG. 3) formed on the control lever 6a of the attacker 6 comes into sliding contact with the sliding surface 2e. This sliding contact stabilizes the rotational movement of the attacker 6 relative to the retainer 12.

[0066] FIG. 5(a) is a perspective view showing the entire clutch shaft 4 in the longitudinal direction, and FIG. 5(b) is a perspective view of the clutch shaft 4 as seen from its axial direction.

[0067] The clutch shaft 4 is made of metal and has a generally cylindrical shape, with a cavity formed in the axial direction. The clutch shaft 4 has a first outer diameter portion 4a, which has the largest outer diameter, formed in the longitudinal center, and a second outer diameter portion 4b, a third outer diameter portion 4c, and a fourth outer diameter portion 4d, which have smaller outer diameters than the first outer diameter portion 4a, formed on either side of the first outer diameter portion 4a. The second outer diameter portion 4b of the clutch shaft 4 is rotatably supported by the inner diameter portion 2a of the housing 2, and the outer periphery of the side facing the end of the housing 2 is surrounded and accommodated by the housing 2.

[0068] The first outer diameter portion 4a has an outer peripheral surface against which rollers 10 constituting the one-way clutch structure 5 slide, and which rollers 10 control the rotation of the clutch shaft 4. When the bearing 3 is incorporated into the bearing assembly portion 2d, the bearing 3 is disposed adjacent to the rollers 10 on the outer periphery of the first outer diameter portion 4a. The second outer diameter portion 4b is journaled on the inner diameter portion 2a of the housing 2, and the third outer diameter portion 4c is journaled on the inner diameter portion 12d (see FIG. 2) of the cylindrical portion 12a of the retainer 12. The fourth outer diameter portion 4d is inserted into the inner diameter portion 8b (see FIG. 2) of the holder 8 and fixed to the inner diameter portion 8b as described below.

[0069] D-cut portions 4e are formed on both opposing side surfaces of the fourth outer diameter portion 4d. These D-cut portions 4e are shaped by cutting out both opposing sides of the fourth outer diameter portion 4d along parallel surfaces. The D-cut portions 4e are shaped to fit into D-cut portions 8c formed on the inner diameter portion 8b of the holder 8, and by fitting into these D-cut portions 8c, the clutch shaft 4 and the holder 8 can rotate together.

[0070] In addition, a groove 4f is formed in the circumferential direction at one end of the clutch shaft 4. By attaching a retaining ring 7 to this groove 4f, the one-way clutch structure 5 and the attacker 6 do not come off the clutch shaft 4, as described above.

[0071] Figure 6 is a front view of the one-way clutch structure 5 attached to the clutch shaft 4, viewed from the bottom side of the housing 2. The one-way clutch structure 5 is formed on the outer periphery of the clutch shaft 4 on the side facing the open end of the housing 2, i.e., on the outer periphery of the first outer diameter portion 4a. The sleeve 11, retainer 12, elastic member 9 and roller 10 that constitute the one-way clutch structure 5 are shown in Figures 7, 8 and 9, respectively.

[0072] 7(a) is a perspective view of the sleeve 11, and FIG. 7(b) is a front view. The sleeve 11 is made of hardened metal or hardened oil-impregnated sintered metal and has an annular shape. The outer circumferential surface of the sleeve 11 is formed with the same number of grooves 11a as the number of anti-rotation portions 2c, for accommodating the anti-rotation portions 2c of the housing 2. The grooves 11a are formed in the sleeve 11 at positions corresponding to the positions of the anti-rotation portions 2c, allowing the sleeve 11 to be assembled into the housing 2. The inner periphery of the annular portion of the sleeve 11 is formed with a roller engagement surface 11b, a mating surface 11c, and an abutment surface 11d.

[0073] When the clutch shaft 4 rotates in the locking direction, the roller meshing surface 11b sandwiches both sides of the roller 10 in a wedge-like manner between the roller meshing surface 11b and the outer peripheral surface of the first outer diameter portion 4a of the clutch shaft 4. The angle formed by the roller meshing surface 11b and the outer peripheral surface of the first outer diameter portion 4a of the clutch shaft 4 in the wedge-shaped space forms a wedge angle. The one-way clutch structure 5 allows the clutch shaft 4 to rotate in one direction, while locking the rotation of the clutch shaft 4 in the other direction by the roller 10 held by the retainer 12 meshing with the wedge-shaped space formed by the meshing surface 11b on the inner circumference of the sleeve 11, which is non-rotatably accommodated inside the housing 2, and the outer peripheral surface of the first outer diameter portion 4a of the clutch shaft 4. In this embodiment, the roller meshing surface 11b is flat, but it may also be arc-shaped.

[0074] Figure 8(a) is a perspective view of the retainer 12 seen from the bottom side of the housing 2, Figure 8(b) is a perspective view seen from the opposite side, and Figure 8(c) is an enlarged front view of a portion of the pocket portion A shown in Figure 8(a).

[0075] The retainer 12 is made of resin, and the outer diameter portion of the cylindrical portion 12a fits into the inner diameter portion 6c of the attacca 6 (see FIG. 2) to support the attacca 6. A sliding contact plate 12b is formed as a disk surrounding the cylindrical portion 12a. The side surface of the sliding contact plate 12b around the cylindrical portion 12a forms a sliding contact surface 12b1 that comes into sliding contact with the side surface 6f (see FIG. 3) on which the control pin 6d of the attacca 6 is erected. This sliding contact surface 12b1 is perpendicular to the axis of the clutch shaft 4. On the opposite side of the sliding contact surface 12b1 of the sliding contact plate 12b, multiple protrusions 12c that form a pocket portion A are formed at regular intervals around the inner diameter portion 12d of the cylindrical portion 12a. Each protrusion 12c has a substantially U-shaped cross section.

[0076] The retainer 12 accommodates a set of elastic members 9 and rollers 10, as shown in the perspective view of FIG. 9, in each pocket A. The pocket A constitutes a holding portion that holds the rollers 10. In this embodiment, a steel leaf spring formed in a generally S-shape is used for the elastic members 9, and steel needle rollers are used for the rollers 10. The elastic members 9 are arranged in the elastic member arrangement portion 12e of the retainer 12 shown in FIG. 8(c), and the rollers 10 are arranged in the roller arrangement portion 12f. By arranging the sets of elastic members 9 and rollers 10 in this manner, eight sets are accommodated in each pocket A, as shown in FIG. 6. At this time, the elastic members 9 bias the rollers 10 in a direction that pushes them into the wedge-shaped space.

[0077] The outer surface of the protrusion 12c of the retainer 12 forms an outer fitting surface 12g and a rotational abutment surface 12h. The fitting surface 11c of the sleeve 11 shown in Figure 7(b) fits with this outer fitting surface 12g of the retainer 12. This fitting prevents the sleeve 11 and the retainer 12 from rotating in the lock direction and free (idling) direction of the clutch shaft 4, allowing the sleeve 11 and the retainer 12 to rotate together. The abutment surface 11d of the sleeve 11 shown in Figure 7(b) abuts with the rotational abutment surface 12h of the retainer 12, preventing the retainer 12 from rotating in the free direction relative to the sleeve 11.

[0078] A control pin restriction hole 12i is formed in the sliding contact plate 12b in each pocket portion A. This control pin restriction hole 12i is an elongated hole that opens along the rotational direction of the retainer 12, passes through the sliding contact plate 12b, and receives the control pin 6d (see FIG. 2) of the attacker 6. The control pin restriction hole 12i allows the control pin 6d to move within a certain range along the elongated hole, i.e., along the rotational direction of the retainer 12.

[0079] Furthermore, a control pin accommodating portion 12j having a generally semi-cylindrical shape is formed on the side surface surrounding the end of the control pin restriction hole 12i of the protrusion 12c in each pocket A. When the control pin 6d is accommodated in this control pin accommodating portion 12j, it is positioned so as not to interfere with the roller 10.

[0080] An unlocking stopper 12k is formed to protrude from the sliding contact plate 12b on the side where the cylindrical portion 12a is formed. This unlocking stopper 12k fits into the movable stopper portion 6e (see FIG. 2) of the attacker 6 and restricts the rotation range of the attacker 6 in the unlocking direction, which unlocks the roller 10 that is in the locked position. This allows the attacker 6 to rotate freely with respect to the retainer 12 within a predetermined first relative rotation angle range.

[0081] FIG. 10(a) is a perspective view of the attacker 6 as seen from the one-way clutch structure 5 side, and FIG. 10(b) is a perspective view as seen from the opposite side.

[0082] The attacca 6 has a plurality of control pins 6d formed at regular intervals on its side surface 6f, which is in sliding contact with the sliding contact surface 12b1 of the sliding contact plate 12b. Each control pin 6d is provided corresponding to the position of each control pin restriction hole 12i formed in the sliding contact plate 12b. In this embodiment, each control pin 6d is provided separately from the resin body of the attacca 6, and a steel pin is press-fitted into the side surface 6f to secure it. However, each control pin 6d and the body of the attacca 6 may be formed integrally from resin, metal, or the like. Each control pin 6d passes through each control pin restriction hole 12i formed in the retainer 12, with its tip aligned with the roller 10 and its tip moving along each control pin restriction hole 12i.

[0083] The body of the attacker 6 is journaled on the outer diameter of the cylindrical portion 12a of the retainer 12, allowing it to rotate freely relative to the retainer 12 and stabilizing its concentric rotation with the retainer 12. The rotation of the attacker 6 is restricted to a predetermined first relative rotation angle range by inserting an unlocking stopper 12k of the retainer 12 into a stopper movable portion 6e formed to penetrate a side surface 6f of the attacker 6.

[0084] The attacker 6 has a control lever 6a that protrudes outward from the outer periphery of the bottomed cylindrical portion of the housing 2. The control lever 6a has a sliding surface 6b that comes into sliding contact with the slide surface 2e of the housing 2, as well as an abutment surface 6g on its side that abuts against the ends of rods 26a and 33a (see FIG. 14) described below. The control lever 6a may be formed separately from the main body of the attacker 6 and joined to the main body.

[0085] When the control lever 6a is rotated, the control pin 6d moves to a first position shown in Figures 1(c) and (d), where the tip thereof is separated from the roller 10 and accommodated in the control pin accommodating portion 12j, and to a second position shown in Figures 11(c) and (d), where the tip thereof pushes the roller 10, which is in a locked position and engaged in the wedge-shaped space, along the control pin restricting hole 12i against the biasing force of the elastic member 9, thereby releasing the roller 10 from being engaged in the wedge-shaped space.

[0086] FIG. 1(c) is a cross-sectional view of the one-way clutch 1 taken along the line Ic-Ic in FIG. 1(a) and viewed from the direction of the arrow, and FIG. 1(d) is a partially enlarged view of the area surrounded by the circle B in FIG. 1(c). When the control lever 6a faces vertically downward as shown in FIG. 1(b), the control pin 6d is in the first position, spaced apart from the roller 10, as shown in FIG. 1(d). In this first position, the roller 10 is in a locked position where it is pressed into a wedge-shaped space formed between the roller engagement surface 11b of the sleeve 11 and the outer circumferential surface of the first outer diameter portion 4a of the clutch shaft 4 by the biasing force of the elastic member 9. Therefore, the clutch shaft 4 is prevented from rotating in the locked direction indicated by the solid arrow in FIG. 1(c), and is allowed to rotate in the opposite free direction indicated by the dashed arrow.

[0087] FIG. 11(a) is a side view of the one-way clutch 1 when the control lever 6a is rotated in the unlocking direction, and FIG. 11(b) is a front view. FIG. 11(c) is a cross-sectional view of the one-way clutch 1 taken along the line XIc-XIc in FIG. 11(a) and viewed from the direction of the arrow. FIG. 11(d) is a partially enlarged view of the area surrounded by the circle D in FIG. 11(c). When the control lever 6a is pushed in the unlocking direction indicated by the arrow as shown in FIG. 11(b), the control pin 6d moves to the second position as shown in FIG. 11(d), where it pushes the roller 10 out of the wedge-shaped space. In this second position, the roller 10 is released from the wedge-shaped space, and the clutch shaft 4 is free to rotate in both directions as shown in FIG. 11(c), allowing rotation of the clutch shaft 4 in both directions.

[0088] The one-way clutch with an unlocking mechanism 1 of this embodiment having the above-described configuration is assembled as follows.

[0089] First, the sleeve 11 is combined with the retainer 12 so that the inner periphery covers the outer periphery of each pocket portion A of the retainer 12. Next, a set of elastic members 9 and rollers 10 is placed in each pocket portion A, and the one-way clutch structure 5 is assembled.

[0090] Next, the bearing 3 is assembled into the bearing assembly portion 2d of the housing 2, and then the first outer diameter portion 4a and the second outer diameter portion 4b of the clutch shaft 4 are inserted into the bearing 3 and the inner diameter portion 2a of the housing 2, respectively. Next, the assembled one-way clutch structure 5 is inserted onto the outer periphery of the first outer diameter portion 4a of the clutch shaft 4 that has been inserted into the housing 2, and the one-way clutch structure 5 is assembled into the structure assembly portion 2b of the housing 2.

[0091] Next, the inner diameter portion 6c of the attucker 6 is fitted into the cylindrical portion 12a of the retainer 12 exposed at the end of the one-way clutch structure 5. At this time, the control pin 6d of the attucker 6 is inserted into the control pin restriction hole 12i of the retainer 12. Next, a retaining ring 7 is attached to the groove 4f of the clutch shaft 4 exposed on the side surface of the attucker 6.

[0092] With the one-way clutch 1 according to this embodiment, the clutch shaft 4 is permitted to rotate in one direction, which is the free direction shown in Fig. 1(c). However, the rollers 10 held by the retainer 12 are engaged in a wedge-shaped space formed between the roller engagement surface 11b on the inner periphery of the sleeve 11 and the outer periphery of the clutch shaft 4, so that the clutch shaft 4 is locked and prevented from rotating in the other direction, which is the locking direction shown in Fig. 1(c).

[0093] When this one-way clutch 1 is in a locked state, by pushing the control lever 6a, which protrudes outward from the outer periphery of the bottomed cylindrical portion of the housing 2, from the position shown in Fig. 1(b) in the direction shown by the arrow in Fig. 11(b), the control pin 6d of the attacker 6 moves from a first position shown in Fig. 1(d), where its tip is located away from the roller 10, along the control pin restriction hole 12i to a second position shown in Fig. 11(d). When the control pin 6d of the attacker 6 moves from the first position to the second position, the tip of the control pin 6d pushes the roller 10, which is wedged in the wedge-shaped space, along the control pin restriction hole 12i, releasing the roller 10 from being wedged in the wedge-shaped space.

[0094] Therefore, the one-way clutch 1 in the locked state can be released by a simple operation of rotating the control lever 6a, and the clutch shaft 4 can be rotated in the locked direction.

[0095] Furthermore, with the one-way clutch 1 according to this embodiment, when the control pin 6d of the attacker 6 moves from the first position to the second position in response to the operation of the control lever 6a, the engagement of the unlocking stopper 12k with the stopper movable portion 6e restricts the rotation range of the control pin 6d to a predetermined first relative rotation angle range. This makes it possible to prevent the control pin 6d from pressing too hard on the roller 10, which could damage members in contact with the roller 10.

[0096] Furthermore, with the one-way clutch 1 according to this embodiment, the inner diameter portion 12d of the retainer 12 that supports the clutch shaft 4 reduces the effect of the radial load acting on the retainer 12, preventing deformation of the protrusions 12c of the pocket portion A that holds the rollers 10 and allowing the retainer 12 to rotate smoothly relative to the attacker 6. At the same time, the sliding contact plate 12b, which has a sliding surface 12b1 formed around the periphery of the cylindrical portion 12a, receives the axial load acting on the retainer 12, preventing deformation of the protrusions 12c that hold the rollers 10 and allowing the retainer 12 to rotate smoothly relative to the attacker 6.

[0097] Furthermore, according to the one-way clutch 1 of this embodiment, when the attack 6 rotates, the sliding surface 6b of the control lever 6a slides against the slide surface 2e around the end of the housing 2, thereby ensuring stable rotation of the attack 6.

[0098] Next, an embodiment of a remote control unit for a one-way clutch with an unlocking mechanism according to the present invention will be described. In the drawings, the same or corresponding parts are designated by the same reference numerals.

[0099] FIG. 12 is a perspective view showing the remote control unit 21 of the one-way clutch 1 with the lock release mechanism according to this embodiment.

[0100] The remote control unit 21 according to one embodiment includes a holder 8 , a first arm 22 , a first single-acting cylinder 23 , a button 24 , a compression coil spring 25 , a second single-acting cylinder 26 , pipes 27 a and 27 b , and a second arm 30 .

[0101] 13A is a perspective view of the holder 8 as seen from the housing 2 side, FIG. 13B is a perspective view as seen from the opposite side, and FIG. 13C is a partially cutaway perspective view of the holder 8 shown in FIG.

[0102] The holder 8 is made of resin or metal, and as described above, the fourth outer diameter portion 4d of the clutch shaft 4 is inserted into the inner diameter portion 8b. The inner diameter portion 8b constitutes a locking portion that locks with the end of the clutch shaft 4 that is exposed in the inner diameter portion 2a of the housing 2. The inner diameter portion 8b is formed with a D-cut portion 8c that fits into the D-cut portion 4e of the clutch shaft 4, and the engagement of the D-cut portions 4e, 8c causes the holder 8 and the clutch shaft 4 to rotate together.

[0103] 4(b), a semicircular guide recess 2h is formed on the back surface of the housing 2, extending from the top of the bottomed cylindrical portion to the base of the columnar portion. This guide recess 2h engages with the guide protrusion 8a of the holder 8, guiding the rotation of the holder 8 relative to the housing 2 and restricting the range of rotation of the holder 8 relative to the housing 2. Due to this engagement between the guide protrusion 8a and the guide recess 2h, the holder 8 is provided to be rotatable with respect to the housing 2 within a predetermined second relative rotation angle range in one direction in which rotation of the clutch shaft 4 is permitted.

[0104] A hole that constitutes a first joint portion 8d is formed in the holder 8. One end of a first arm 22 is inserted into the first joint portion 8d of the first one-way clutch 1A, and the holder 8 is connected to the first arm 22. A screw hole 8e is formed in the side surface of the holder 8 as shown in FIG. 1A. The one end of the first arm 22 inserted into the first joint portion 8d is screwed to the first joint portion 8d using this screw hole 8e. A screw hole 8f is formed in the bottom surface of the first joint portion 8d as shown in FIG. 1C. The end of the clutch shaft 4 inserted into the inner diameter portion 8b is fixed to the holder 8 using this screw hole 8f.

[0105] 12, a first single-acting cylinder 23 is fixed to the first arm 22 as a switch actuator via a first bracket 28 that is detachable from the first arm 22. The first single-acting cylinder 23 is a single-acting push-type air cylinder, and has a structure in which a rod inside a cylinder tube is pulled into the cylinder tube by the elastic force of a built-in spring.

[0106] A button 24 is provided at the end of the rod exposed from the cylinder tube of the first single-acting cylinder 23. A compression coil spring 25 is passed through the rod exposed to the outside from the first single-acting cylinder 23 between the button 24 and the first single-acting cylinder 23. The compression coil spring 25 constitutes an elastic member that moves the button 24 together with the rod away from the cylinder tube against the elastic force of the built-in spring.

[0107] FIG. 14 is a front view showing the power transmission system of the remote control unit 21 before the button 24 is operated, and FIG. 15 is a front view showing the power transmission system of the remote control unit 21 when the button 24 is operated.

[0108] As shown in FIG. 4( a), a fixing portion 2f of a second bracket 29 for fixing a second single-acting cylinder 26 is provided on the side surface of the columnar portion adjacent to the sliding surface 2e of the housing 2 of the first one-way clutch 1A. The second bracket 29 is fixed to the fixing portion 2f by screws using threaded holes 2g formed in the fixing portion 2f. The second single-acting cylinder 26 is a single-acting push-type air cylinder, similar to the first single-acting cylinder 23, and has a structure in which a rod inside the cylinder tube is retracted into the cylinder tube by the elastic force of an internal spring. The second single-acting cylinder 26 serves as a pusher actuator. As shown in FIG. 14, the tip of the rod 26a exposed from the cylinder tube is positioned so that it can push the control lever 6a, which is in the first position, and is fixed to the fixing portion 2f of the housing 2 of the first one-way clutch 1A by the second bracket 29.

[0109] The first single-acting cylinder 23 and the second single-acting cylinder 26 have ports for inputting and outputting a power transmission medium connected by pipes (tubes) 27a, 27b. The first single-acting cylinder 23 and the second single-acting cylinder 26 are air cylinders, but in this embodiment, liquid silicone oil is used as the power transmission medium instead of air, and is filled inside the first single-acting cylinder 23, the second single-acting cylinder 26 and the pipes 27a, 27b.

[0110] The housing 2 is also provided with a second joint 2i as shown in Figure 4(c). The second joint 2i opens as a cylindrical hole in a columnar portion on the bottom surface of the housing 2. One end of a second arm 30 is inserted into this second joint 2i of the first one-way clutch 1A. Then, one end of the second arm 30 is screwed into a screw hole 2j formed in the side surface of the columnar portion of the housing 2.

[0111] In this embodiment, the angle formed by the first arm 22 and the second arm 30 is set to a maximum of 160° in one direction in which rotation of the clutch shaft 4 is permitted by engagement between the guide protrusion 8a of the holder 8 and the guide recess 2h of the housing 2. In other words, the first arm 22 and the second arm 30 are freely rotatable within this 160° range, which is a predetermined second relative rotation angle range.

[0112] In this embodiment, the remote control unit 21 further includes a second one-way clutch 1B provided with a second holder 8, a third arm 32, and a third single-acting cylinder 33. The first one-way clutch 1A and the second one-way clutch 1B are both the same as the one-way clutch 1 described in the above embodiment.

[0113] The second arm 30 has one end fixed to the second joint 2i of the housing 2 constituting the first one-way clutch 1A, and the other end is fixed to the first joint 8d of the second holder 8 provided in the second one-way clutch 1B by screws using the screw holes 8e. The third arm 32 has one end supported by the base 31, and the other end is fixed to the second joint 2i of the housing 2 constituting the second one-way clutch 1B by screws using the screw holes 2j. Steel pipes, aluminum alloy pipes, etc. are used for the first arm 22, the second arm 30, and the third arm 32.

[0114] As with the first arm 22 and second arm 30, the angle formed by the second arm 30 and the third arm 32 is set to a maximum of 160° in one direction in which rotation of the clutch shaft 4 is permitted by engagement between the guide protrusion 8a of the second holder 8 provided in the second one-way clutch 1B and the guide recess 2h of the housing 2 of the second one-way clutch 1B. Therefore, the second arm 30 and the third arm 32 can also freely rotate within this 160° range, which is a predetermined second relative rotation angle range.

[0115] Additionally, a third single-acting cylinder 33 is fixed to a fixed portion 2f of the housing 2 constituting the second one-way clutch 1B by screws using a third bracket 34. The third single-acting cylinder 33 is a single-acting push-type air cylinder similar to the second single-acting cylinder 26, and has a structure in which the rod is retracted into the cylinder tube by the elastic force of a built-in spring.

[0116] A joint 35 for branching the power transmission medium is provided midway along the piping 27. The joint 35 is used when two or more one-way clutches 1 are used. In this embodiment, a Y-shaped joint 35 with one port at one end and two ports at the other end is used. A piping 27c branched by the joint 35 is connected to a port of the third single-acting cylinder 33 through which the power transmission medium is input and output. The third single-acting cylinder 33 and the piping 27c are also filled with silicone oil instead of air. The third single-acting cylinder 33 serves as a pusher actuator, and as shown in FIG. 14, the tip of the rod 33a exposed from the cylinder tube is positioned so that it can push the control lever 6a constituting the second one-way clutch 1B, which is in the first position.

[0117] The weight of the silicone oil contained in the long pipe 27c acts on the silicone oil in the third single-acting cylinder 33, and a force pushing out the rod 33a acts on the rod 33a. Therefore, in this embodiment, to counteract this force and maintain the position of the rod 33a in its initial position, a compression coil spring 36 is provided, which applies a force to the rod 33a to return it to its initial position via the control lever 6a.

[0118] The remote control unit 21 according to this embodiment having the above-described configuration is assembled as follows.

[0119] First, for each of the first one-way clutch 1A and the second one-way clutch 1B, the D-cut portion 4e of the clutch shaft 4 exposed from the inner diameter portion 2a of the housing 2 is aligned with the D-cut portion 8c of the holder 8, and the fourth outer diameter portion 4d of the clutch shaft 4 is inserted into the inner diameter portion 8b of the holder 8. The fourth outer diameter portion 4d of the clutch shaft 4 inserted into the inner diameter portion 8b of the holder 8 is fixed to the holder 8 by screws using the screw holes 8f.

[0120] Next, a compression coil spring 25 is inserted onto the outer periphery of the rod exposed from the cylinder tube of the first single-acting cylinder 23. The compression coil spring 25 is able to expand and contract around the outer periphery of the rod.

[0121] Next, the button 24 is fixed to the end of the rod into which the compression coil spring 25 is inserted. In this state, when the button 24 is pressed with a finger or the like, the rod is pushed into the first single-acting cylinder 23 and the compression coil spring 25 is compressed.

[0122] Next, a first bracket 28 for the first single-acting cylinder 23 is fixed to the first arm 22, and a second bracket 29 for the second single-acting cylinder 26 is fixed to the fixed portion 2f of the housing 2 of the first one-way clutch 1A. Furthermore, a third bracket 34 for the third single-acting cylinder 33 is fixed to the fixed portion 2f of the housing 2 of the second one-way clutch 1B.

[0123] Next, the first single-acting cylinder 23 is attached to a first bracket 28 and fixed to the first arm 22. Then, the second single-acting cylinder 26 is attached to a second bracket 29 and fixed to the housing 2 of the first one-way clutch 1A. Furthermore, the third single-acting cylinder 33 is attached to a third bracket 34 and fixed to the housing 2 of the second one-way clutch 1B.

[0124] Next, one end of pipe 27a is connected to the input / output port of the first single-acting cylinder 23, and the other end is connected to one end of the first port side of joint 35. Furthermore, one end of pipe 27b and one end of pipe 27c are each connected to the other end of the second port side of joint 35. Next, the other end of pipe 27b is connected to the input / output port of the second single-acting cylinder 26, and the other end of pipe 27c is connected to the input / output port of the third single-acting cylinder 33.

[0125] Next, the first single-acting cylinder 23, the second single-acting cylinder 26, the third single-acting cylinder 33, and the pipes 27a, 27b, and 27c are filled with silicone oil.

[0126] In the remote control unit 21 of such a one-way clutch 1, when not touched by hand, as shown in FIG. 14, each of the one-way clutches 1A, 1B is in a locked state, and the first arm 22 and the second arm 30 are in a stationary state.

[0127] When the button 24 is pressed with a finger or the like, the rod of the first single-acting cylinder 23 is pushed into the cylinder tube, and the silicone oil in the pipe 27a flows toward the joint 35. As a result, the silicone oil flowing through the pipe 27b pushes out the rod 26a of the second single-acting cylinder 26, and the silicone oil flowing through the pipe 27c pushes out the rod 33a of the third single-acting cylinder 33, as shown in FIG.

[0128] The rod 26a of the second single-acting cylinder 26 presses the contact surface 6g of the control lever 6a of the first one-way clutch 1A, thereby rotating the attack 6. As a result, the control pin 6d of the attack 6 of the first one-way clutch 1A pushes out the roller 10 that is engaged in the locked position from the locked position, as shown in Figure 11(d), and releases the locked state of the first one-way clutch 1A.

[0129] The rod 33a of the third single-acting cylinder 33 presses the contact surface 6g of the control lever 6a of the second one-way clutch 1B, thereby rotating the attack 6. As a result, the control pin 6d of the attack 6 of the second one-way clutch 1B pushes out the roller 10 that is engaged in the locked position, as shown in Figure 11(d), and releases the locked state of the second one-way clutch 1B.

[0130] When the button 24 is kept pressed, the first one-way clutch 1A and the second one-way clutch 1B are kept in the unlocked state shown in FIG.

[0131] On the other hand, when the finger or the like is released from the button 24, the elastic force of the compression coil spring 25 pushes the rod of the first single-acting cylinder 23 out of the cylinder tube, returning it to the original state shown in Figure 14. At this time, the rod 26a of the second single-acting cylinder 26 and the rod 33a of the third single-acting cylinder 33 move in the direction of being pulled into the cylinder tube by the springs built into each cylinder, and the silicone oil filled in each of the pipes 27a, 27b, 27c flows in the opposite direction to before, assisting the above action of pushing the rod of the first single-acting cylinder 23 out of the cylinder tube.

[0132] At the same time, the weight of the first arm 22 and the parts attached to it causes the first one-way clutch 1A, which supports the first arm 22, to rotate in the locking direction. However, when the clutch shaft 4 of the first one-way clutch 1A tries to rotate in the locking direction, the roller 10 becomes engaged in the wedge-shaped space formed between the roller engagement surface 11b and the outer circumferential surface of the clutch shaft 4, causing the first one-way clutch 1A to enter a locked state and become unable to rotate.

[0133] At the same time, the weight of the first arm 22, the second arm 30, and the parts attached thereto causes the second one-way clutch 1B, which supports the second arm 30, to attempt to rotate in the locking direction. However, when the clutch shaft 4 of the second one-way clutch 1B attempts to rotate in the locking direction, the roller 10 becomes engaged in the wedge-shaped space formed between the roller engagement surface 11b and the outer circumferential surface of the clutch shaft 4, causing the second one-way clutch 1B to enter a locked state and become unable to rotate.

[0134] Therefore, the first arm 22 and the second arm 30 are in the locked state shown in Fig. 14. As long as the button 24 is kept free from the finger or the like, this locked state is maintained.

[0135] As described above, with the remote control unit 21 of the one-way clutch 1 of this embodiment, when the button 24 is pressed against the elastic force of the built-in spring of the first single-acting cylinder 23 and the compression coil spring 25 to push the rod of the first single-acting cylinder 23 into the cylinder tube, the pushing force is transmitted via the silicone oil in the cylinder tube of the first single-acting cylinder 23 and through the pipes 27a and 27b to the silicone oil in the cylinder tube of the second single-acting cylinder 26, causing the rod 26a of the second single-acting cylinder 26 to protrude from the cylinder tube. As the rod 26a of the second single-acting cylinder 26 protrudes, the tip of the rod 26a of the second single-acting cylinder 26 presses the control lever 6a of the attacker 6, which is in the first position of the first one-way clutch 1A, as shown by the arrow in FIG.

[0136] As a result, the control lever 6a moves from the first position to the second position, and the control pin 6d of the attacker 6 rotates along the control pin restriction hole 12i. This rotation of the control pin 6d causes the tip of the control pin 6d to push against the roller 10 that is wedged in a wedge-shaped space provided next to the tip of the control pin 6d, thereby releasing the roller 10 from the wedge-shaped space. This releases the locked state of the first one-way clutch 1A, making it possible to remotely operate the clutch function.

[0137] In addition, in this embodiment, the power transmission medium in the pipe 27 is silicone oil, and because liquids such as silicone oil have low compressibility, the operating force of the button 24 is transmitted immediately from the first single-acting cylinder 23 to the second single-acting cylinder 26 via the silicone oil in the pipes 27a and 27b without attenuation. This makes it possible to remotely unlock the first one-way clutch 1A without time delay and with good operability. In this embodiment, the case where the liquid used as the power transmission medium is oil is described, but water may also be used as the power transmission medium.

[0138] Furthermore, with the one-way clutch remote control unit 21 of this embodiment, when the button 24 is pressed to push the rod of the first single-acting cylinder 23 into its cylinder tube, the pushing force is transmitted to the silicone oil in the cylinder tube of the third single-acting cylinder 33 via the silicone oil in the pipe 27c branched by the joint 35, causing the rod 33a of the third single-acting cylinder 33 to protrude from the cylinder tube. As the rod 33a of the third single-acting cylinder 33 protrudes, the tip of the rod 33a of the third single-acting cylinder 33 pushes the control lever 6a of the attacker 6 constituting the second one-way clutch 1B, which is in the first position, as shown by the arrow in FIG.

[0139] As a result, the control lever 6a of the attucker 6 constituting the second one-way clutch 1B moves from the first position to the second position, and the control pin 6d of the attucker 6 rotates along the control pin restriction hole 12i. This rotation of the control pin 6d causes the tip of the control pin 6d to press against the roller 10 that is wedged in a wedge-shaped space provided next to the tip of the control pin 6d, thereby releasing the roller 10 from the wedge-shaped space.

[0140] Therefore, by operating one button 24, the clutch functions of the first and second one-way clutches 1A, 1B can be remotely controlled, and the locked states of the first and second one-way clutches 1A, 1B can be easily released simultaneously.

[0141] That is, before the button 24 is operated, the clutch shafts 4 of the first and second one-way clutches 1A, 1B are in a locked state as shown in FIG. 14, but by simply pressing the button 24 as shown by the arrows in FIG. 15, the clutch shafts 4 of the first and second one-way clutches 1A, 1B simultaneously transition to an unlocked state.

[0142] Furthermore, with the one-way clutch remote control unit 21 according to this embodiment, the rotation angle of each holder 8 relative to each housing 2 in one direction in which rotation of the clutch shaft 4 is permitted is restricted to a predetermined second relative rotation angle range by the engagement of the guide protrusion 8 a with the guide recess 2 h. This prevents the holder 8 from rotating excessively in one direction, and makes it possible to restrict the movement of the first arm 22 relative to the second arm 30 and the movement of the second arm 30 relative to the third arm 32 to a desired rotation range, for example, a maximum of 160°. Because each rotation range is set to a range not exceeding 180°, there is no risk of the arms 22, 30 opening too far in the upright direction due to their own weight, resulting in unexpected movement, even if the rotation range exceeds 180° and the lock is not released.

[0143] Furthermore, with the remote control unit 21 of the one-way clutch 1 according to this embodiment, the first single-acting cylinder 23 can be fixed to any position on the first arm 22 by the first bracket 28. Therefore, the position on the first arm 22 of the button 24 provided on the rod of the first single-acting cylinder 23 can be freely selected. This increases the degree of freedom in the installation position of the button 24, and by attaching the button 24 to any position suitable for operation, the operability of the remote control is improved.

[0144] With the remote control unit 21 for the one-way clutch 1 according to the present invention, for example, an end effector is attached to the tip of the first arm 22, and by appropriately operating the button 24, the rotation of each of the one-way clutches 1A, 1B in the locked direction is freed as shown in Fig. 15, and the rotation angle between each of the arms 22 and 30 and the rotation angle between each of the arms 30 and 32 is set to a desired angle, making it possible to easily move the position of the end effector with one hand without using a power source. Also, by stopping the operation of the button 24 and releasing the hand from the button 24, the rotation of each of the one-way clutches 1A, 1B that was freed is locked again as shown in Fig. 14, making it possible to maintain the position of the end effector that has been moved to a desired position.

[0145] 16 and 17, instead of the base 31 shown in Fig. 12, the installation position and rotation position of the remote control unit 21 can be set as desired. Fig. 16 is an overall perspective view of the remote control unit 21 in which the base 31 is replaced with the base 41, and Fig. 17 is an enlarged partial cross-sectional view of the base 41 portion, taken along a plane including the axis of the third arm 32.

[0146] The base 41 includes a shaft 42 , a set screw 43 , a bracket 44 , a base 45 , a disc spring 46 , a nut 47 and a screw 49 .

[0147] The shaft 42 is fixed coaxially to one end of the third arm 32 by a set screw 43. The one end of the third arm 32 to which the shaft 42 is fixed is rotatably housed in a housing portion 45a of the base 45 by a predetermined length, with the shaft 42 exposed. The housing portion 45a is hollow and cylindrical, with a bottom surface formed with a through-hole 45b through which the shaft 42 passes. A bracket 44 made of resin, metal, or the like is provided to cover the inner surface of the housing portion 45a. The bracket 44 is fixed to the inner surface of the housing portion 45a and reduces frictional resistance between the one end of the third arm 32 and the inner surface of the housing portion 45a. Furthermore, a sliding surface 44a of the bracket 44 that slides against the end surface of the one end of the third arm 32 is formed in a portion that covers the surface of the bottom of the housing portion 45a. In this embodiment, the bracket 44 is provided to cover the inner surface of the housing portion 45a, but by appropriately selecting the material of the base 45, it is possible to impart the friction reduction function of the bracket 44 to the base 45. In this case, the bracket 44 becomes unnecessary.

[0148] The base 45 has a roughly U-shaped main body, and a guide portion 45c is provided at the top of the main body to be hooked onto and guided by the upper end of a rail 48. The rail 48 is laid in a predetermined horizontal direction and guides the movement of the remote control unit 21 in the predetermined horizontal direction. The base 45 is attached to and detached from the rail 48 by screws 49.

[0149] The shaft 42 is threaded on its outer periphery, and a nut 47 is screwed onto the shaft 42 exposed from a through-hole 45b in the housing portion 45a of the base 45. One or more disc springs 46 are inserted as elastic bodies into the shaft 42 between the housing portion 45a and the nut 47. The disc springs 46 apply a force to the nut 47 in a direction away from the housing portion 45a. The force is adjusted by the degree to which the nut 47 compresses the disc springs 46.

[0150] In the remote control unit 21 in which the third arm 32 is supported on such a base 41, the pedestal 45 that houses one end of the third arm 32 in the housing portion 45a is attached to a desired location on the rail 48, thereby moving the third arm 32 to a desired position along the laying direction of the rail 48. At the desired position, a force is applied by the disc spring 46 to the nut 47 that screws onto the shaft 42 exposed from the housing portion 45a in a direction away from the housing portion 45a, causing a force to act on the end face of one end of the third arm 32, pressing it against the bottom surface of the housing portion 45a. In the present embodiment, which includes the bracket 44, a force acts on the sliding surface 44a of the bracket 44 that covers the bottom surface of the housing portion 45a. Therefore, the end face of one end of the third arm 32 is in sliding contact with the sliding contact surface 44a of the bracket 44 covering the bottom surface of the accommodation portion 45a, and the remote control unit 21 can rotate around the axis of the third arm 32, but this rotation is subject to a resistance force corresponding to the force that the disc spring 46 applies to the nut 47, i.e., the force with which the end face of one end of the third arm 32 is pressed against the sliding contact surface 44a (= the bottom surface of the accommodation portion 45a). Therefore, even if an unexpected force acts on the first arm 22 or the second arm 30 around the axis of the third arm 32, the remote control unit 21 will stay at any initially set rotation position, up to the resistance force acting on the rotation of the third arm 32.

[0151] 16, the lengths of the pipes 27b and 27c can be shortened by passing the pipe 27b through a cavity that opens in the axial direction of the clutch shaft 4 in the first one-way clutch 1A and the pipe 27c through a cavity that opens in the axial direction of the clutch shaft 4 in the second one-way clutch 1B. Also, the pipes 27b and 27c can be prevented from interfering with surrounding objects.

[0152] In the above embodiment, the case where two one-way clutches 1 are provided in the remote control unit 21 has been described. By providing two one-way clutches 1 in the remote control unit 21, a portion equivalent to two joints is created, thereby increasing the degree of freedom of movement. However, the number of one-way clutches 1 provided in the remote control unit 21 is not limited to two. By providing one or more one-way clutches 1 in the remote control unit depending on the purpose of the object attached to the tip of the first arm 22, the desired movement of the object attached to the tip of the first arm 22 can be easily and arbitrarily obtained with one hand, similarly, without using a power source.

[0153] FIG. 18(a) is a perspective view of the whole remote control unit 51 according to another embodiment using the one-way clutches 1A, 1B according to the embodiment described above, seen from one side, and FIG. 18(b) is a perspective view of the whole remote control unit 51 seen from the opposite side.

[0154] This remote control unit 51 differs from the remote control unit 21 shown in FIG. 12 mainly in that it has an operating mechanism 52 at the tip of the first arm 22 as an end effector, that it has a tension coil spring 53 between the second holder 8′ provided on the second one-way clutch 1B and the third arm 32, that the pipes 27a and 27c are housed in the hollow portions of the first arm 22 and the second arm 30, and that it has a base 54 instead of the base 31.

[0155] Fig. 19(a) shows a connecting structure between the first holder 8, the first arm 22, and the operating mechanism 52 provided in the first one-way clutch 1A, and is a cross-sectional view of this connecting structure taken along the axis of the first arm 22. Fig. 20 is a partially enlarged perspective view of the operating mechanism 52, and Fig. 21 is a partially enlarged cross-sectional view of a main part of the operating mechanism 52 taken along the axis of the first arm 22.

[0156] The operation mechanism 52 includes a gripping portion 55 for gripping an operation target, and a first shaft 56 , a second shaft 57 , and a third shaft 58 provided between the gripping portion 55 and the first arm 22 .

[0157] The first shaft 56 supports the gripping portion 55 rotatably around one direction α. ​​The second shaft 57 supports the first shaft 56 rotatably around a direction β perpendicular to the one direction. The third shaft 58 supports the second shaft 57 rotatably around a direction γ along the axial direction of the first arm 22 and is held by the first arm 22.

[0158] More specifically, the gripping portion 55 is fixed to one end of the first shaft 56. The other end of the first shaft 56 is inserted into a hollow portion provided in the large-diameter portion of a first connecting member 59, which is cylindrical and has a large-diameter portion and a small-diameter portion. The other end of the first shaft 56 inserted into this hollow portion is rotatably supported by the first connecting member 59 via a bearing 60. The bearing 60 is held in place by retaining rings 61 and 62 provided on both sides thereof so as not to slip out of the hollow portion of the first connecting member 59. The first connecting member 59 is used to connect the first shaft 56 to the second shaft 57.

[0159] The second shaft 57 is formed by a bolt. The second shaft 57 is passed through a through hole provided in the small diameter portion of the first connecting member 59 and a through hole provided in the base portion of the second connecting member 63, and its tip is fastened by a nut 65 via a resin washer 64 sandwiched between flat washers. This fastening holds the first shaft 56 and the first connecting member 59 in a state where they can freely rotate around the second shaft 57 in an angle β. The second connecting member 63 is used to connect the second shaft 57 to one end of the third shaft 58.

[0160] The second connecting member 63 has an L-shaped cross section. One cylindrical end of the third shaft 58 has parallel notches on both opposing sides (see FIG. 22 ), and a groove that fits the notches is formed at the insertion point of the upright part of the second connecting member 63 where one end of the third shaft 58 is inserted. The one end of the third shaft 58 and the second connecting member 63 are fixed by a screw 66, with the notch inserted into the groove.

[0161] In this embodiment, the operation mechanism 52 includes a fourth bracket 67 that connects the first arm 22 and the third shaft 58. The other end of the third shaft 58 is inserted into a hollow portion that opens on one side of the fourth bracket 67. The third shaft 58 is rotatably supported in the hollow portion that opens on one side of the fourth bracket 67 by a pair of bearings 68, 69. A retaining ring 70 provided at the opening end of the hollow portion that opens on one side of the fourth bracket 67 prevents the pair of bearings 68, 69 from coming out of the hollow portion.

[0162] The tip of the first arm 22 is inserted into a hollow portion that opens on the other side of the fourth bracket 67. The tip of the first arm 22 and the fourth bracket 67 are fixed together by pressing the tip side portion of the first arm 22 inserted into the hollow portion against the inner wall of the hollow portion of the fourth bracket 67 with a set screw 71.

[0163] In this embodiment, the first single-acting cylinder 23 and the compression coil spring (elastic member) 25 are provided on the fourth bracket 67 with their axes oriented in a direction intersecting the axial direction of the first arm 22. Here, the first single-acting cylinder 23 and the compression coil spring 25 are provided on the fourth bracket 67 with their axes oriented in a direction perpendicular to the axial direction of the first arm 22. The first single-acting cylinder 23 is connected to the pipe 27a via an L-shaped elbow 72. A button 24 is provided on the end of the rod 23a of the first single-acting cylinder 23.

[0164] The operation mechanism 52 also includes a torsion spring 73, a shaft-shaped member 74, and a second button 75 as a third shaft lock control section.

[0165] The torsion spring 73 is positioned inside the fourth bracket 67 with one leg hooked and the inner diameter portion tightening around the outer periphery of the third shaft 58, and the other leg positioned to the side of the third shaft 58. The shaft-shaped member 74 penetrates the side wall of the fourth bracket 67 in a direction intersecting the axial direction of the first arm 22, in a direction perpendicular thereto in this case, and is erected to the side of the fourth bracket 67. One end of the shaft-shaped member 74 is held in a position where it can press the other leg of the torsion spring 73 and weaken the elastic force of the torsion spring 73 tightening around the outer periphery of the third shaft 58. The other end is positioned outside the side of the fourth bracket 67. A second button 75 is provided at the other end of the shaft-shaped member 74.

[0166] In detail, in this embodiment, the third shaft lock control unit is shown in an external perspective view in FIG. 22(a), an exploded perspective view in FIG. 22(b), and an operation explanatory diagram in FIG. 23. A fifth bracket 76 (not shown in FIG. 21) is housed inside the fourth bracket 67. The fifth bracket 76 has a through-hole 76a through which the end of the third shaft 58 passes. The third shaft 58 is composed of a bearing mounting shaft portion 58a having a diameter for mounting the bearings 68 and 69 and a spring mounting shaft portion 58b having a diameter for mounting the inner diameter portion of the torsion spring 73 on its outer periphery. The bearing mounting shaft portion 58a has a large diameter portion and a small diameter portion. One end of the spring mounting shaft portion 58b is inserted into an opening on one side of the large diameter portion, and is fixed to the bearing mounting shaft portion 58a by a set screw (not shown) that passes through a hole 58c on the side of the large diameter portion.

[0167] The torsion spring 73 is made up of two identical first and second torsion springs 73a and 73b.

[0168] The inner diameter portion of the first torsion spring 73a is inserted onto the outer periphery of the spring mounting shaft 58b, which passes through the through-hole 76a on one side surface of the fifth bracket 76. One leg 73a1, which is bent into a U-shape, is hooked onto one side surface of the fifth bracket 76 with a screw 77 and a washer 78. The other straight leg 73a2 is positioned to the side of the spring mounting shaft 58b on one side surface of the fifth bracket 76, as shown in FIG.

[0169] The second torsion spring 73b is oriented in the opposite direction to the first torsion spring 73a, and its inner diameter portion is inserted onto the outer periphery of the spring mounting shaft 58b on the other side of the fifth bracket 76. One leg 73b1 bent into a U-shape is hooked onto the other side of the fifth bracket 76 with a screw 77 and a washer 78. The other straight leg 73b2 is positioned to the side of the spring mounting shaft 58b on the other side of the fifth bracket 76, as shown in FIG.

[0170] The shaft-shaped member 74 is composed of two identical shaft-shaped members, a first shaft-shaped member 74a and a second shaft-shaped member 74b.

[0171] As shown in FIG. 21 , the first shaft member 74 a penetrates the side wall of the fourth bracket 67 on one side of the fifth bracket 76. The first shaft member 74 a is erected on the side of the fourth bracket 67 in a direction intersecting, or perpendicular to, the axial direction of the first arm 22. As shown in FIG. 23 , one end of the first shaft member 74 a is held in a position where it can press the other leg 73 a2 of the first torsion spring 73 a to weaken the elastic force of the first torsion spring 73 a tightening the outer periphery of the spring mounting shaft portion 58 b. Furthermore, as shown in FIG. 20 , the other end of the first shaft member 74 a is positioned outside the lateral side of the fourth bracket 67 on one side of the fifth bracket 76.

[0172] As shown in FIG. 21 , the second shaft member 74b penetrates the side wall of the fourth bracket 67 on the other side of the fifth bracket 76. The second shaft member 74b is erected on the side of the fourth bracket 67 in the same direction as the first shaft member 74a. As shown in FIG. 23 , one end of the second shaft member 74b is held in a position where it can press the other leg 73b2 of the second torsion spring 73b to weaken the elastic force of the second torsion spring 73b tightening the outer periphery of the spring mounting shaft portion 58b. As shown in FIG. 20 , the other end of the second shaft member 74b is positioned alongside the first shaft member 74a on the outer lateral side of the fourth bracket 67 on the other side of the fifth bracket 76.

[0173] The second button 75 is connected to the other end of the first shaft member 74 a and the other end of the second shaft member 74 b. In this embodiment, the first single-acting cylinder 23 and the compression coil spring 25 are provided on the outside of the fourth bracket 67, alongside the first shaft member 74 a and the second shaft member 74 b. The button 24 and the second button 75 are connected together to form a single unit.

[0174] 24 is a perspective view illustrating how the gripping portion 55 grips the operation object 81. Fig. 24(a) shows the gripping portion 55 in a closed state before gripping the operation object 81, Fig. 24(b) shows the gripping portion 55 in an open state, and Fig. 24(c) shows the gripping portion 55 gripping the operation object 81. Here, the operation object 81 is assumed to be a rigid endoscope used in laparoscopic surgery or the like, and a camera for capturing images inside the body is attached to the end of the lower end of the shaft.

[0175] The grip portion 55 includes a catch body 55a, a first catch member 55b, a second catch member 55c, a second elastic member 55d, a slide guide member 55e, and a slide operation portion 55f.

[0176] The catch body 55a is held at the other end of the first shaft 56 and has a pair of inner wall surfaces that face each other across a space 55g in the axial direction of the first shaft 56. One side surface 55a1 perpendicular to the direction in which the pair of inner wall surfaces face each other is open. The first catch member 55b is fixed to the inner wall surface on the side away from the first shaft 56. With the side surface 55a1 open, the first catch member 55b clamps the operation object 81 from one side. The second catch member 55c is provided opposite the first catch member 55b and is slidable in the axial direction of the first shaft 56. With the side surface 55a1 open, the second catch member 55c clamps the operation object 81 from the other side between the first catch member 55b and the second catch member 55c.

[0177] The second elastic member 55d is composed of a compression coil spring and is provided between the inner wall surface closer to the first shaft 56 and the second catch member 55c. This second elastic member 55d exerts an elastic force that biases the second catch member 55c toward the first catch member 55b. The slide guide member 55e is composed of a pair of rod-shaped members. One end of each of the pair of rod-shaped members penetrates the side wall of the catch body 55a and the first catch member 55b and is connected to the second catch member 55c. This slide guide member 55e guides the sliding of the second catch member 55c in the axial direction of the first shaft 56. A slide operating portion 55f is provided on the other end of each of the pair of rod-shaped members. This slide operating portion 55f is provided to operate the slide guide member 55e and, by extension, the second catch member 55c.

[0178] The first catch member 55b and the second catch member 55c are made of resin or the like, and a substantially semi-cylindrical first catch groove 55b1 is recessed into the side surface of the first catch member 55b that clamps the operation target 81. A second catch groove 55c1 with a V-shaped cross section is recessed into the side surface of the second catch member 55c that clamps the operation target 81. The cross section of the first catch groove 55b1 may be arc-shaped instead of semicircular, and the second catch member 55c may have a flat surface formed on its side surface instead of the second catch groove 55c1.

[0179] 25 shows a second holder 8' attached to the second one-way clutch 1B constituting the remote control unit 51. Fig. 25(a) is a perspective view of the holder 8' seen from one direction, and Fig. 25(b) is a perspective view of the holder 8' seen from the opposite direction.

[0180] The holder 8' has a screw fixing hole 8g at the end opposite the first joint portion 8d. A screw 82 is fastened to this screw fixing hole 8g as shown in FIG. 18 . One end of the tension coil spring 53 is hooked onto this screw 82. In addition, a fixing member 83 is fixed to the third arm 32 with a pair of screws 84. The other end of the tension coil spring 53 is hooked onto one of the screws 84. As a result, one end of the tension coil spring 53 is locked to the second holder 8', and the other end is locked to the third arm 32.

[0181] Furthermore, as shown in Fig. 13(a), the first holder 8 attached to the first one-way clutch 1A constituting the remote control unit 51 has the guide protrusion 8a provided at a location away from the inner diameter portion 8b. However, as shown in Fig. 25(b), the second holder 8' has the guide protrusion 8a' provided at a location in contact with the inner diameter portion 8b.

[0182] 26 shows the second housing 2' that constitutes the second one-way clutch 1B in the remote control unit 51. Fig. 26(a) is a perspective view of the second housing 2' as seen from one direction, and Fig. 26(b) is a perspective view as seen from the other opposite direction.

[0183] In the first housing 2 constituting the first one-way clutch 1A, a guide recess 2h is formed on the outer periphery of the back surface, as shown in Fig. 4(b), to match the guide protrusion 8a provided at a location away from the inner diameter portion 8b. In other words, the guide recess 2h is formed in a semicircular shape, extending from the top of the outer periphery of the back surface of the bottomed cylindrical portion of the housing 2 to the base of the columnar portion. However, in the second housing 2', a guide recess 2h' is formed along the inner diameter portion 2a, as shown in Fig. 26, to match the guide protrusion 8a' provided at a location in contact with the inner diameter portion 8b.

[0184] This guide recess 2h' engages with the guide protrusion 8a' of the holder 8', guiding the rotational movement of the holder 8' relative to the housing 2' and restricting the rotational range of the holder 8' relative to the housing 2'. Due to this engagement between the guide protrusion 8a' and the guide recess 2h', the holder 8' is provided so as to be rotatable relative to the housing 2' within a predetermined second relative rotational angle range in one direction in which rotation of the clutch shaft 4 is permitted.

[0185] In the remote control unit 51 of this embodiment, a T-type joint 85 shown in the plan view of Fig. 27(a) is used at the branch point of the pipe 27a instead of the Y-type joint 35. The first arm 22 and the second arm 30 are made of hollow pipes. An opening 30a that connects to the hollow portion of the pipe is formed on the side surface at one end of the second arm 30, as shown in Fig. 27(b).

[0186] In addition, the holders 8 and 8' of the first and second one-way clutches 1A and 1B each have a hollow inner diameter portion 8b forming an engaging portion, as shown in FIGS. 13 and 25. This cavity penetrates the clutch shaft 4 in the axial direction. The fourth outer diameter portion 4d at the end of the clutch shaft 4 is non-rotatably fitted into this cavity. A threaded hole 8f leading to the first joint portion 8d is opened in the side wall of this cavity, as shown in FIG. 13(c). The end of the clutch shaft 4 inserted into the hollow of the inner diameter portion 8b is fixed to the holder 8 using a screw plug 86 shown in FIGS. 19(a) and 19(b) that screws into this threaded hole 8f. A hexagonal column-shaped hole 86a, into which a hexagonal bar wrench is inserted, penetrates the center of the screw plug 86.

[0187] In the remote control unit 51 of this embodiment, a through hole is formed as a cavity in the axial direction of each clutch shaft 4 of the first and second one-way clutches 1A and 1B, as shown in Fig. 5. A communication hole 4g ​​that communicates with the screw hole 8f opens in the side wall of this through hole, as shown in Fig. 5 and Fig. 19(a).

[0188] 19(a), the hollow portion of the first arm 22 is connected to a threaded hole 8f formed in a first joint portion 8d of a holder 8 attached to the first one-way clutch 1A. One end of the second arm 30 is fixed to a second joint portion 2i of a housing 2 that constitutes the first one-way clutch 1A. The other end of the second arm 30 is connected to a threaded hole 8f formed in a first joint portion 8d of a holder 8' attached to the second one-way clutch 1B.

[0189] In the remote control unit 51 of this embodiment, a T-joint 85 is disposed in a through-hole of the clutch shaft 4 that constitutes the first one-way clutch 1A. A pipe 27a between the first single-acting cylinder 23 and the joint 85 is inserted from one end into the hollow portion of the first arm 22 from the first single-acting cylinder 23 and passes through to the other end. The pipe 27a is then connected to the joint 85 via a threaded hole 8f (hole 86a of the screw plug 86) of a holder 8 attached to the first one-way clutch 1A and a communication hole 4g ​​of the clutch shaft 4.

[0190] Furthermore, the piping 27b between the joint 85 and the second single-acting cylinder 26 is drawn out from one opening of a through-hole formed in the clutch shaft 4 constituting the first one-way clutch 1A and connected to the second single-acting cylinder 26. Furthermore, the piping 27c between the joint 85 and the third single-acting cylinder 33 is drawn out from the other opening of a through-hole formed in the clutch shaft 4 constituting the first one-way clutch 1A and inserted into an opening 30a formed in the side surface of the second arm 30. Then, the piping 27c is passed to the other end of the second arm 30 and led to the third single-acting cylinder 33 via a threaded hole 8f of a holder 8' attached to the second one-way clutch 1B, the communication hole 4g ​​of the clutch shaft 4 and the through-hole. Then, the piping 27c is connected to the third single-acting cylinder 33.

[0191] Fig. 28(a) is a side view of the base 54 that serves as the oscillating portion, Fig. 28(b) is a cross-sectional view, and Fig. 29 is an exploded perspective view. This base 54 differs from the base 41 shown in Figs. 16 and 17 in the following points.

[0192] First, in the base 41, the head of the screw 49 that secures the pedestal 45 to the rail 48 has a smooth cylindrical periphery. However, in the base 54, the head 49a of the screw 49' has a star-shaped periphery with repeated concave and convex portions, and the diameter of the head 49a is larger. This makes it easier to turn the screw 49' in the base 54. In addition, the shaft portion 49b of the screw 49' is a swivel screw, and the tip 49c at the end can be freely tilted. Therefore, even if the gripping surface of the rail 48 or the like that is clamped by the pedestal 45 is inclined, the tip 49c can be tilted in accordance with the inclination, thereby firmly attaching the pedestal 45 to the rail 48 or the like.

[0193] Furthermore, in the base 41, the resin bracket 44 is long, which raises concerns that the side wall on the open end side of the bracket 44 may bend, causing the axis of the third arm 32 to tilt. However, in the base 54, the resin bracket 44' is short, and the bearing 87a, collar 88, and bearing 87b are stacked in the storage section 45a, which is left empty by the shortened bracket. Therefore, the bearings 87a and 87b are spaced apart via the collar 88, and rotatably support the lower end of the third arm 32 at two locations without bending. This reduces the risk of the axis of the third arm 32 tilting.

[0194] In the base 41, a disc spring 46 is inserted into the shaft 42 between the housing 45a and the nut 47. The force generated by this disc spring 46 pressing the end face of one end of the third arm 32 against the sliding contact surface 44a acts as a resistance to the rotation of the third arm 32. However, to strengthen this resistance, the base 54 further includes a resin flat washer 89 and a metal flat washer 90 made of aluminum or the like between the housing 45a and the disc spring 46. The opening opening at the center of the resin flat washer 89 is circular, while the opening opening at the center of the metal flat washer 90 is oval. The shaft 42' used in the base 54 has a notch 42a formed on the opposing side of the shaft portion exposed from the housing 45a that fits into the oval shape. By inserting the axial portion of the shaft 42' in which the notch 42a is formed into the oval opening of the metal flat washer 90, the metal flat washer 90 rotates in conjunction with the rotation of the shaft 42'.

[0195] Therefore, due to this rotation of the metal flat washer 90, a rotational resistance force corresponding to the elastic force of the disc spring 46 is generated between the metal flat washer 90 and the resin flat washer 89, or between the resin flat washer 89 and the outer bottom surface of the housing 45a that contacts the resin flat washer 89. Alternatively, a rotational resistance force corresponding to the elastic force of the disc spring 46 is generated between each of these portions. Therefore, a new rotational resistance force is applied to the rotation of the third arm 32 in addition to the rotational resistance force applied between the end face of one end of the third arm 32 and the sliding contact surface 44a. As a result, the resistance force acting on the rotation of the third arm 32 increases.

[0196] Furthermore, the base 54 is provided with a flat washer 91 between the disc spring 46 and the nut 47. Therefore, the tightening force of the nut 47 is applied stably and evenly to the non-flat side surface of the disc spring 46 by the flat washer 91.

[0197] In the remote control unit 51 according to this other embodiment, a first shaft 56, a second shaft 57, and a third shaft 58 are interposed between the gripper 55 that grips the operation target 81 and the first arm 22. The gripper 55 is supported by the first shaft 56 so as to be rotatable around one direction α, and the gripper 55 and the first shaft 56 are supported by the second shaft 57 so as to be rotatable around a direction β that is perpendicular to the one direction. Furthermore, the gripper 55, the first shaft 56, and the second shaft 57 are supported on the first arm 22 by the third shaft 58 so as to be rotatable around the axial direction of the first arm 22.

[0198] Therefore, the connection state between the gripper 55 and the first arm 22 by the first shaft 56, the second shaft 57, and the third shaft 58 can be freely changed into various states. Therefore, the state of the remote control unit 51 when the gripper 55 grips the operation object 81 can be changed into any desired state by operating the button 24 to release the rotation lock by the first and second one-way clutches 1A, 1B and moving the operation object 81 gripped by the first arm 22 and the gripper 55 into various positions.

[0199] In this case, the first single-acting cylinder 23 and the compression coil spring 25 are arranged with their axial direction oriented in a direction intersecting the axial direction of the first arm 22, thereby improving the operability of the button 24 provided at the end of the rod 23a of the first single-acting cylinder 23.

[0200] Furthermore, if the manipulation object 81 grasped by the gripper 55 is, for example, a rigid endoscope used in laparoscopic surgery, a camera (not shown) is attached to the end of the lower end of the shaft of the manipulation object 81. As shown in FIG. 24( c), the camera is inserted into a human body 99, causing the shaft of the manipulation object 81 to tilt. In this case, the weight of the manipulation object 81 applies a rotational moment to the gripper 55, with the insertion point 99a into the human body 99 as the fulcrum, causing the gripper 55 to tilt. As a result, the first shaft 56 rotates in one direction around angle α. If the rotation of the third shaft 58 is not locked, the weight of the manipulation object 81 further rotates the third shaft 58 in angle γ around the axial direction of the first arm 22. Therefore, the gripper 55 rotates and descends together with the first shaft 56, the second shaft 57, and the third shaft 58, with the insertion point 99a into the human body 99 as the fulcrum. However, with the remote control unit 51, the outer periphery of the third shaft 58 is tightened by the inner diameter portion of the torsion spring 73, thereby locking the third shaft 58 from rotating in the direction γ around the axial center of the first arm 22. Therefore, the first shaft 56 rotates but the third shaft 58 does not. This prevents the gripper 55 from rotating together with the first shaft 56, the second shaft 57, and the third shaft 58 around the insertion point 99a into the human body 99 as a fulcrum and from descending. This allows the position of the gripper 55 to be maintained, keeping the first shaft 56, the second shaft 57, and the third shaft 58 in desired positions, and maintaining the operation target 81 in a desired position.

[0201] In addition, the rotation lock of the third shaft 58 can be easily released by operating the second button 75, as one end of the shaft-shaped member 74 presses the other leg of the torsion spring 73, weakening the elastic force of the torsion spring 73 tightening around the outer periphery of the third shaft 58.

[0202] In the remote control unit 51, the outer periphery of the end of the third shaft 58 is fastened by the inner diameter portions of the first and second torsion springs 73 a, 73 b on both one side and the other side of the fifth bracket 76, thereby locking the rotation of the third shaft 58. This makes the rotation of the third shaft 58 even more firmly locked.

[0203] The other ends of the first and second shaft-shaped members 74a, 74b are positioned side by side outside the fourth bracket 67 on one side and the other side of the fifth bracket 76, and second buttons 75 are provided connected to the other ends. Therefore, by operating the second button 75, one ends of the shaft-shaped members 74a, 74b press the other legs 73a2, 73b2 of the torsion springs 73a, 73b simultaneously, thereby simultaneously weakening the elastic forces of the torsion springs 73a, 73b tightening the outer periphery of the third shaft 58, and the lock on rotation of the third shaft 58 can be easily released.

[0204] Furthermore, according to the remote control unit 51, the button 24 for operating the first single-acting cylinder 23 and the second button 75 for operating the first shaft-shaped member 74a and the second shaft-shaped member 74b are connected and integrated. Therefore, by operating the single integrated button, it is possible to simultaneously unlock the rotation of the first and second one-way clutches 1A, 1B using the first single-acting cylinder 23 and unlock the rotation of the third shaft 58 using the first shaft-shaped member 74a and the second shaft-shaped member 74b. This improves the operability of the remote control unit 51.

[0205] Furthermore, by adjusting the tension of the tension coil spring 53, the remote control unit 51 can prevent the first arm 22, the second arm 30, and the parts attached thereto from dropping downward due to their own weight, thereby making it possible to maintain the extended state of the first arm 22 and the second arm 30.

[0206] Furthermore, when the rotation of each of the first and second one-way clutches 1A, 1B is locked, that is, when the remote control unit 51 is stationary, the load for maintaining the rotation lock applied to the one-way clutch structure 5 constituting each of the one-way clutches 1A, 1B can be reduced. Furthermore, when the rotation lock of each of the one-way clutches 1A, 1B is released, the force that lifts the first arm 22 upward is lightened by the assistance of the tension force of the tension coil spring 53. Furthermore, when the rotation lock of each of the one-way clutches 1A, 1B is released and the first arm 22 is lowered, the tension force of the tension coil spring 53 can reduce the sudden descent of the first arm 22.

[0207] Furthermore, with the remote control unit 51, by operating the slide operation part 55f in the grip part 55 against the elastic force of the second elastic member 55d and moving the second catch member 55c together with the slide guide member 55e in the axial direction of the first shaft 56, a gap is created between the second catch member 55c and the first catch member 55b. When the operation target 81 is inserted into this gap and operation by the slide operation part 55f is stopped, the second catch member 55c is urged toward the first catch member 55b by the elastic force exerted by the second elastic member 55d. The operation target 81 is then sandwiched between the first catch member 55b on one side and the second catch member 55c on the other side, and is held between the first catch member 55b and the second catch member 55c.

[0208] In this case, the gripping portion 55 can accommodate operation objects 81 having shanks of various diameters by clamping the operation object 81 between a first catch groove 55b1 formed in the first catch member 55b with a semicircular or arc-shaped cross section and a second catch groove 55c1 formed in the second catch member 55c with a V-shaped cross section. Furthermore, the gripping portion 55 can accommodate operation objects 81 having shanks of various diameters by clamping the operation object 81 between the first catch groove 55b1 formed in the semicircular or arc-shaped cross section and a flat surface on the side of the second catch member 55c.

[0209] The object to be operated 81 clamped between the first catch member 55b and the second catch member 55c can be removed from the gripping portion 55 by again operating the slide operating portion 55f against the elastic force of the second elastic member 55d and moving the second catch member 55c together with the slide guide member 55e in the axial direction of the first shaft 56.

[0210] The attachment and detachment of the operation object 81 to and from the grip portion 55 is performed with one side surface 55a1 of the catch body 55a open. Therefore, even when the entire remote control unit 51 is covered with the dirt prevention cover 92 as shown in the perspective view of the remote control unit 51 in Fig. 30, the operation object 81 can be sandwiched between the first catch member 55b and the second catch member 55c by placing the operation object 81 through the dirt prevention cover 92 in the gap created between the first catch member 55b and the second catch member 55c.

[0211] 19 , according to the remote control unit 51, the joint 85 is disposed in the through-hole of the clutch shaft 4 constituting the first one-way clutch 1A. The pipe 27a between the first single-acting cylinder 23 and the joint 85 is housed in the hollow portion of the first arm 22 and connected to the joint 85 disposed in the through-hole of the clutch shaft 4. The pipe 27b between the joint 85 and the second single-acting cylinder 26 is connected directly to the second single-acting cylinder 26 from the through-hole of the clutch shaft 4 in which the joint 85 is disposed. The pipe 27c between the joint 85 and the third single-acting cylinder 33 is housed in the hollow portion of the second arm 30 from the joint 85 and led into the through-hole of the clutch shaft 4 constituting the second one-way clutch 1B, and connected to the third single-acting cylinder 33 via the through-hole.

[0212] Therefore, the pipes 27a, 27b, 27c that had been floating outside the first arm 22 and the second arm 30 are no longer floating by being housed in the hollow portions of the first and second arms 22, 30. As a result, the pipes 27a, 27b, 27c do not interfere with surrounding objects when the arms 22, 30 move, allowing the arms 22, 30 to move smoothly. In addition, the external appearance of the remote control unit 51 is simplified, improving the visibility of the operation target 81 gripped by the grip portion 55.

[0213] In the above-described remote control unit 51, the operation mechanism 52 is provided with the torsion spring 73, the shaft-shaped member 74, and the second button 75 as the third axis lock control unit. However, instead of these, the third axis lock control unit can also be configured using a torque limiter 93 as shown in Figure 31. Figure 31(a) is a cross-sectional view of this alternative third axis lock control unit, and Figure 31(b) is an exploded perspective view.

[0214] In this other third shaft lock control section, a torque limiter 93 is housed in a hollow portion formed by opening at the end of the fourth bracket 67 opposite the first arm 22. The torque limiter 93 may be of a spring type, a magnet type, or the like, but the type is not important.

[0215] The torque limiter 93 is configured such that a sleeve 93b is accommodated inside a housing 93a. A protrusion 93a1 is provided on the end surface of the housing 93a facing the first arm 22. A recess 67a into which the protrusion 93a1 fits is formed on the inner bottom surface of a hollow portion formed in the end of the fourth bracket 67 opposite the first arm 22. When the housing 93a is accommodated in the hollow portion and the protrusion 93a1 of the housing 93a fits into the recess 67a of the fourth bracket 67, the housing 93a is accommodated in the hollow portion of the fourth bracket 67 so as to be non-rotatable.

[0216] A recess 93b1 is formed on the end face of the sleeve 93b, and a parallel pin 94 is provided on the third shaft 58', the end of which fits into this recess 93b1. The end of the third shaft 58' is inserted into the hollow portion of the sleeve 93b. At this time, the end of the parallel pin 94 provided on the third shaft 58' fits into the recess 93b1 formed in the sleeve 93b, causing the third shaft 58' and sleeve 93b to rotate together. The rotation of the third shaft 58' is supported by a bearing 96. A retaining ring 95 prevents the bearing 96 from slipping out of the hollow portion of the fourth bracket 67. A groove 98 is formed on the third shaft 58'. A retaining ring 97 fits into the groove 98 of the third shaft 58', whose end is inserted into the hollow portion of the sleeve 93b, preventing the third shaft 58' from slipping out of the sleeve 93b.

[0217] When the rotational torque applied to the third shaft 58' exceeds a predetermined set value, the torque limiter 93 allows the sleeve 93b to rotate, thereby allowing the third shaft 58' to rotate. In other words, when a rotational torque within the predetermined set value set in the torque limiter 93 is applied, the third shaft 58' does not rotate because the torque limiter 93 does not allow the sleeve 93b to rotate. On the other hand, when a rotational torque exceeding the predetermined set value set in the torque limiter 93 is applied, the third shaft 58' becomes rotatable because the torque limiter 93 allows the sleeve 93b to rotate.

[0218] Therefore, according to the third shaft lock control unit using the torque limiter 93, when the rotational torque applied to the third shaft 58' exceeds a predetermined value, the torque limiter 93 is activated, allowing the third shaft 58' to rotate. Therefore, when the first arm 22 or the gripping unit 55 is operated, the rotational torque applied to the third shaft 58' is prevented from exceeding a predetermined value, thereby locking the third shaft 58' from rotating about the axis of the first arm 22. Furthermore, by operating the first arm 22 or the gripping unit 55 to cause the rotational torque applied to the third shaft 58' to exceed a predetermined value, the rotation lock of the third shaft 58' is released, allowing the third shaft 58' to rotate about the axis of the first arm 22.

[0219] Therefore, the third shaft lock control unit using the torque limiter 93 can lock and unlock the rotation of the third shaft 58′ with a reduced number of parts. That is, the two torsion springs 73a, 73b, two shaft-shaped members 74a, 74b, second button 75, fifth bracket 76, two screws 77, and two washers 78 that were required for the third shaft lock control unit using the torsion spring 73 are no longer necessary.

[0220] In the above embodiments, the first single-acting cylinder 23, the second single-acting cylinder 26, and the third single-acting cylinder 33 each have a single-acting push-type structure in which the rod is initially retracted into the cylinder tube by the elastic force of the built-in spring. The compression coil spring 25 pushes the button 24 against the elastic force of the built-in spring in the first single-acting cylinder 23, moving the rod along the axial direction of the cylinder tube and away from the cylinder tube. When the button 24 is pressed toward the first single-acting cylinder 23 against the elastic force of the compression coil spring 25, the pushing force is transmitted to the power transmission medium in each tube of the second single-acting cylinder 26 and the third single-acting cylinder 33 via the power transmission medium, such as silicone oil, in each pipe 27a, 27b, and 27c. Therefore, the rod of each single-acting cylinder 26, 33 is pushed out of the cylinder tube against the elastic force of the built-in spring. As a result, the tip of the rod exposed from the cylinder tube pushes the control lever 6a at the first position, rotating the attacker 6 and moving it to the second position, thereby releasing the rotation lock of the one-way clutch structure 5.

[0221] DESCRIPTION OF SYMBOLS 1, 1A, 1B...One-way clutch with lock release mechanism, 2, 2'...Housing, 2a...Inner diameter portion (opening), 2b...Structure assembly portion, 2c...Rotation prevention portion, 2d...Bearing assembly portion, 2e...Slide surface, 2f...Fixing portion, 2g, 2j...Threaded hole, 2h, 2h'...Guide recess, 2i...Second joint portion, 3...Bearing, 4...Clutch shaft, 4a...First outer diameter portion, 4b...Second outer diameter portion, 4c...Third outer diameter portion, 4d...Fourth outer diameter portion, 4e...D-cut portion, 5...One-way clutch structure, 6...Attacker, 6a...Control lever, 6 b...sliding surface, 6c...inner diameter portion, 6d...control pin, 6e...stopper movable portion, 6f...side surface, 6g...abutment surface, 7...retaining ring, 8, 8'...holder, 8a, 8a'...guide protrusion portion, 8b...inner diameter portion (locking portion), 8c...D-cut portion, 8d...first joint portion, 8e, 8f...screw hole, 8g...screw fixing hole, 9...elastic member, 10...roller, 11...sleeve, 11a...concave groove, 11b...roller engaging surface, 11c...fitting surface, 11d...abutment surface, 12...retainer, 12a...cylindrical portion, 12b...sliding contact plate (disk portion), 12b 1...sliding surface, 12c...projection portion, 12d...inner diameter portion, 12e...elastic member arrangement portion, 12f...roller arrangement portion, 12g...outer fitting surface, 12h...rotational direction abutment surface, 12i...control pin restriction hole, 12j...control pin accommodating portion, 12k...lock release stopper, A...pocket portion, 21, 51...remote control unit, 22...first arm, 23...first single-acting cylinder, 23a...rod, 24...button, 25...compression coil spring (elastic member), 26...second single-acting cylinder, 26a...rod, 27, 27a, 27b, 27c ...Piping (pipe), 28...First bracket, 29...Second bracket, 30...Second arm, 30a...Opening, 31, 41, 54...Base, 32...Third arm, 33...Third single-acting cylinder, 34...Third bracket, 35, 85...Joint, 36...Compression coil spring, 42, 42'...Shaft, 43, 71...Set screw, 44, 44'...Bracket, 44a...Sliding surface, 45...Pedestal, 45a...Accommodating portion, 45b...Through hole, 45c...Guide portion, 46...Disc spring (elastic body), 47, 65...Nut, 48...Rail, 49,49'...screw, 49a...head, 49b...shaft portion, 49c...tip, 52...operation mechanism, 53...tension coil spring, 55...gripping portion, 55a...catch main body, 55a1...one side surface, 55b...first catch member, 55c...second catch member, 55d...second elastic member, 55e...slide guide member, 55f...slide operation portion, 56...first shaft, 57...second shaft, 58...third shaft, 58a...bearing mounting shaft portion, 58b...spring mounting shaft, 59...first connecting member, 60, 68, 69, 87a, 87b, 96...bearing, 61, 62, 70, 95, 97...retaining ring, 63...second connecting member, 64...resin Washer, 72... L-shaped elbow, 73... torsion spring, 73a... first torsion spring, 73b... second torsion spring, 74... shaft-shaped member, 74a... first shaft-shaped member, 74b... second shaft-shaped member, 75... second button, 76... fifth bracket, 76a... through hole, 77, 82, 84... screw, 78... washer, 81... operation object, 83... fixing member, 86... screw plug, 88... collar, 89... resin flat washer, 90... metal flat washer, 91... flat washer, 92... dirt prevention cover, 93... torque limiter, 94... parallel pin, 98... groove, 99... human body, 99a... insertion point, CROSS-REFERENCE TO RELATED APPLICATIONS

[0222] This application claims priority based on Japanese Patent Application No. 2023-137198, filed with the Japan Patent Office on August 25, 2023, the entire disclosure of which is incorporated herein by reference in its entirety.

Claims

1. A housing having a cylindrical shape with an open end and an opening formed on its bottom surface; a clutch shaft rotatably supported in the opening and housed with the outer periphery of the side facing the end surrounded by the housing; a one-way clutch structure formed on the outer periphery of the clutch shaft on the side facing the end, which allows rotation of the clutch shaft in one direction and locks rotation of the clutch shaft in the other direction by a roller held by a retainer engaging with a wedge-shaped space formed between the outer periphery of the clutch shaft and an engaging surface on the inner periphery of a sleeve housed non-rotatably inside the housing; a control pin whose tip is aligned with the roller and passes through a long hole formed in the retainer, and whose tip moves along the long hole; and a control lever which protrudes outward from the outer periphery of the bottomed cylindrical portion of the housing, and wherein, as the control lever is rotated, the control pin moves to a first position where the tip is away from the roller and to a second position where the tip pushes the roller, which has become wedged in the wedge-shaped space, along the long hole to release the roller from being wedged in the wedge-shaped space.

2. A one-way clutch with a lock release mechanism as set forth in claim 1, characterized in that said attacker is provided rotatably within a first predetermined relative rotation angle range with respect to said retainer.

3. A one-way clutch with a lock release mechanism as described in claim 1, characterized in that the retainer has a cylindrical portion that supports the clutch shaft, and a sliding surface that is perpendicular to the axis of the clutch shaft and that comes into sliding contact with the side of the attacker on which the control pin is erected, around the cylindrical portion, a holding portion that holds the roller is formed on the surface opposite to the sliding surface, and a disc portion through which the long hole passes.

4. A one-way clutch with a lock release mechanism as described in claim 1, characterized in that the housing has a sliding surface around the end, and the attacker has a sliding surface on the control lever that slides against the sliding surface.

5. A holder having a first joint portion to which one end of an arm is fixed and a locking portion to which the end of the clutch shaft exposed in the opening of the housing is locked, the holder being rotatably provided with respect to the housing; a first single-acting cylinder having a structure in which a rod is held in an initial position within a cylinder tube by the elastic force of a built-in spring and fixed to the first arm; a button provided at the end of the rod exposed from the cylinder tube of the first single-acting cylinder; an elastic member for moving the button together with the rod in the axial direction of the cylinder tube against the elastic force of the built-in spring; a second single-acting cylinder having a structure in which a rod is held in an initial position within the cylinder tube by the elastic force of a built-in spring and fixed to the housing with the tip of the rod exposed from the cylinder tube positioned at a position to rotate the control lever in the first position; and tubes connected to each port of the first single-acting cylinder and the second single-acting cylinder through which a power transmission medium is input and output, the housing having a second joint portion to which one end of the arm is fixed. A remote control unit for the one-way clutch with an unlocking mechanism according to any one of claims 1 to 4.

6. The remote control unit according to claim 5, wherein the power transmission medium is a liquid.

7. A remote control unit according to claim 5, wherein said first single-acting cylinder is fixed to said first arm via a bracket that is detachable from said first arm.

8. A remote control unit according to claim 5, further comprising: a second one-way clutch with lock release mechanism provided with a second holder; and a third single-acting cylinder fixed to the housing constituting the second one-way clutch with lock release mechanism, wherein the first joint portion of the second holder has one end of the second arm fixed to the second joint portion of the housing, the other end of the second arm having one end supported by a base fixed to the second joint portion of the housing constituting the second one-way clutch with lock release mechanism, the third single-acting cylinder has a structure in which the rod is held in an initial position within the cylinder tube by the elastic force of an internal spring, and the tip of the rod exposed from the cylinder tube is arranged in a position to rotate the control lever constituting the second one-way clutch with lock release mechanism, which is in the first position, a coupling for branching a power transmission medium is provided midway through the tube, and a tube branched by the coupling is connected to a port through which the power transmission medium of the third single-acting cylinder is input and output.

9. A remote control unit as described in claim 8, characterized in that each of the holders provided on the first one-way clutch with unlocking mechanism and the second one-way clutch with unlocking mechanism is freely rotatable within a predetermined second relative rotation angle range with respect to the housing in the one direction in which rotation of the clutch shaft is permitted.

10. The remote control unit described in claim 8, characterized in that the base comprises: a shaft fixed to one end of the third arm coaxially with the third arm; a pedestal having a storage section with a bottom surface having a through hole through which the shaft passes, which stores the one end of the third arm to which the shaft is fixed for a predetermined length with the shaft exposed and rotatable, and which is attached and detached to a rail laid in a predetermined horizontal direction; a nut screwed onto the shaft exposed from the through hole in the storage section; and an elastic body provided between the storage section and the nut, which applies a force to the nut in a direction away from the storage section.

11. A remote control unit as described in claim 8, comprising an operating mechanism having a gripping portion for gripping an object to be operated, a first shaft for supporting the gripping portion so as to be rotatable about one direction, a second shaft for supporting the first shaft so as to be rotatable about a direction perpendicular to the one direction, and a third shaft for supporting the second shaft so as to be rotatable about the axial direction of the first arm and held by the first arm, wherein the first single-acting cylinder and the elastic member are arranged with their axial directions oriented in a direction intersecting the axial direction of the first arm.

12. The remote control unit described in claim 11, comprising: a fourth bracket connecting the first arm and the third shaft; a torsion spring inside the fourth bracket, one leg of which is hooked and whose inner diameter portion tightens the outer periphery of the third shaft with the other leg positioned to the side of the third shaft; a shaft-shaped member which penetrates the side wall of the fourth bracket in a direction intersecting the axial direction of the first arm and is erected to the side of the fourth bracket, one end of which is held in a position where it can press the other leg to weaken the elastic force of the torsion spring tightening the outer periphery of the third shaft and the other end of which is positioned to the outside side of the fourth bracket; and a second button provided on the other end of the shaft-shaped member.

13. A fifth bracket is provided which has a through hole through which an end of the third shaft passes and is housed inside the fourth bracket, the torsion spring being composed of two identical first and second torsion springs, the first torsion spring having an inner diameter portion inserted into the outer periphery of the third shaft which passes through the through hole on one side of the fifth bracket, one leg being hooked onto the one side of the fifth bracket, and the other leg being located to the side of the third shaft on the one side of the fifth bracket, the second torsion spring being oriented in the opposite direction to the first torsion spring and having an inner diameter portion inserted into the outer periphery of the third shaft on the other side of the fifth bracket, one leg being hooked onto the other side of the fifth bracket, and the other leg being located to the side of the third shaft on the other side of the fifth bracket, the shaft-shaped member being composed of two identical first and second shaft-shaped members, the first shaft-shaped member penetrates a side wall of the fourth bracket on one side surface side of the fifth bracket and stands upright on the side of the fourth bracket in a direction intersecting the axial direction of the first arm, with one end held in a position where it can press the other leg of the first torsion spring to weaken the elastic force of the first torsion spring tightening the outer periphery of the third shaft, and the other end located outside the lateral surface of the fourth bracket on the one side surface side of the fifth bracket; the second shaft-shaped member penetrates a side wall of the fourth bracket on the other side surface side of the fifth bracket and stands upright on the side of the fourth bracket in the same direction as the standing direction of the first shaft-shaped member, with one end held in a position where it can press the other leg of the second torsion spring to weaken the elastic force of the second torsion spring tightening the outer periphery of the third shaft, and the other end located side by side with the first shaft-shaped member on the lateral surface outside the fourth bracket on the other side surface side of the fifth bracket; The remote control unit according to claim 12, wherein the second button is provided coupled to the other end of each of the first shaft member and the second shaft member.

14. The remote control unit described in claim 13, characterized in that the first single-acting cylinder and the elastic member are provided on the outside of the side of the fourth bracket alongside the first shaft-shaped member and the second shaft-shaped member, and the button and the second button are connected and integrated.

15. The remote control unit described in claim 11, characterized in that it comprises: a fourth bracket connecting the first arm and the third shaft; and a torque limiter provided inside the fourth bracket that allows rotation of the third shaft when the rotational torque applied to the third shaft exceeds a predetermined value.

16. The remote control unit according to claim 11, further comprising a tension coil spring, one end of which is fastened to the second holder and the other end of which is fastened to the third arm.

17. The remote control unit described in claim 11, characterized in that the gripping portion comprises: a catch body held on the first shaft, having a pair of inner wall surfaces facing each other across a space in the axial direction of the first shaft, with one side open in a direction perpendicular to the facing direction of the pair of inner wall surfaces; a first catch member fixed to the inner wall surface on the side away from the first shaft and clamping the object to be operated from one side with the one side open; a second catch member facing the first catch member and provided to be slidable in the axial direction of the first shaft, and clamping the object to be operated from the other side between it and the first catch member with the one side open; a second elastic member provided between the inner wall surface on the side closer to the first shaft and the second catch member, and exerting an elastic force that urges the second catch member towards the first catch member; a slide guide member having one end connected to the second catch member and guiding the sliding of the second catch member in the axial direction of the first shaft; and a slide operation portion provided at the other end of the slide guide member and operating the slide guide member.

18. Each of the holders provided in the first one-way clutch with unlocking mechanism and the second one-way clutch with unlocking mechanism is configured with a cavity in which the engaging portion penetrates in the axial direction of the clutch shaft and into which the end of the clutch shaft is non-rotatably fitted, the cavity has a screw hole that opens into the first joint portion in a side wall, each of the clutch shafts constituting the first one-way clutch with unlocking mechanism and the second one-way clutch with unlocking mechanism has a through hole formed in the axial direction thereof with a communication hole that opens into the side wall and that communicates with the screw hole, the first arm and the second arm are configured with a hollow pipe, and the first arm has a hollow portion in the pipe that is connected to the screw hole formed in the first joint portion of the holder provided in the first one-way clutch with unlocking mechanism, the second arm has an opening formed on a side surface at one end thereof which is connected to a hollow portion in a pipe, and the other end thereof is connected to the hollow portion in a pipe with the screw hole formed in the first joint portion of the holder provided in the second one-way clutch with lock release mechanism; the coupling is disposed in the through hole of the clutch shaft constituting the first one-way clutch with lock release mechanism; the tube between the first single-acting cylinder and the coupling is inserted from one end thereof into the hollow portion of the first arm and passed to the other end thereof and connected to the coupling via the screw hole of the holder provided in the first one-way clutch with lock release mechanism and the communication hole of the clutch shaft constituting the first one-way clutch with lock release mechanism; the tube between the coupling and the second single-acting cylinder is drawn out from one opening of the through hole formed in the clutch shaft constituting the first one-way clutch with lock release mechanism and connected to the second single-acting cylinder;The remote control unit according to claim 11, characterized in that the tube between the coupling and the third single-acting cylinder is pulled out from the other opening of the through hole formed in the clutch shaft constituting the first one-way clutch with unlocking mechanism, inserted into the opening formed in the side of the second arm, passed to the other end of the second arm, and led to the third single-acting cylinder via the screw hole of the holder provided in the second one-way clutch with unlocking mechanism, the communication hole and the through hole of the clutch shaft constituting the second one-way clutch with unlocking mechanism, and connected to the third single-acting cylinder.

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