JP2014235242A - Aerial positioning stand of articulated arm in combination with flexible tube arm - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a user-friendly aerial positioning stand in which an aerial position and posture in a three-dimensional space can be determined freely and accurately, and an operation for immobilizing the position and posture and for releasing the immobilization after use thereof can be performed without waste, quickly, and freely.SOLUTION: An aerial positioning stand is configured by using a helical structure flexible tube arm 2 exhibiting strength and rigidity for maintaining a position and posture of a "workpiece" W without causing droop, even if the "workpiece" W having a weight of at least about 4 kg is mounted to a tip side member 4. The tip side member 4 includes a through-hole 4a for passing a shaft part 21a of a connector 21 through, and also includes means for immobilizing or liberalizing the shaft part 21a of the connector 21 of the tip part of a flexible tube arm 2 fitted and penetrated into the through-hole 4a. A mounting shaft 5e of a ball joint type joint 5 of the tip part of an articulated arm 1 is joined to the tip side member 4 in an arrangement parallel with the shaft part 21a of the connector 21 of the flexible tube arm 2.

Description

  The present invention can be applied to optical instruments such as digital cameras, optical to electron microscopes, USB microscopes, binoculars, etc., or precision measuring instruments such as dial gauges, CCD microscope lenses, handheld laser welding torches, laser pointers, medical instruments, A support tool for supporting and using a micro-machining machine (hereinafter, these articles to be applied are collectively referred to as intended objects), and accurately and freely determining an aerial position and posture in a three-dimensional space; and It belongs to the technical field of an easy-to-use aerial positioning stand that can fix the same position and posture after being used or can be quickly and freely operated for releasing the fixation.

  Currently, the present applicant can use a precise “object to be used” such as a digital camera as a means to determine the position and orientation freely and accurately in a three-dimensional space, and to fix the position and orientation for use. The aerial positioning stand described in the following Patent Document 1 is known and is useful in various fields.

The aerial positioning stand disclosed in the following Patent Document 1 has a configuration in which two arms, that is, a multi-joint arm 1 and a flexible tube arm 2 are used in parallel as shown in FIG. The base sides of both arms 1 and 2 are coupled to and fixedly supported by a common fixing plate 3. The distal ends of both arms 1 and 2 are configured to be coupled to a common distal end member 4. The fixing plate 3 can be used by being fixed to an upper surface of a good magnetic work table 24 or the like by being attached to a magnetic fixing tool 22 capable of controlling the magnetic attraction force on / off by rotating the switch 22a with a mounting screw 23. It is configured.
As shown in FIG. 3, the articulated arm 1 is formed by a screwing operation of a handle 14 that constitutes an intermediate node 15 in which two hollow tubular steel members 11 and 12 are connected as a relay portion. , 12 are pushed out, and the spheres 5b, 6b are pushed firmly and fixed. Alternatively, the fixing is released by loosening the push-out of the built-in rods 11a and 12a. The position and posture of the distal end side member 4 by the above operation, and thus the aerial position and posture required for using the “use object” attached to the member 4 are determined as desired by the user, and are fixedly used. Provided. Alternatively, the fixing is released after the use.
On the other hand, for example, the flexible tube arm 2 having a spiral structure illustrated in FIG. 7 is suitably used as a material that exhibits a supporting force and a self-supporting property with an appropriate rigidity (semi-rigidity). That is, when the articulated arm 1 is released from the fixed state by the rotation operation of the handle 14, the articulated arm 1 cannot maintain a self-supporting posture and does not exhibit a supporting force. This inconvenience is complemented by the supporting force and the self-supporting property of the flexible tube arm 2, which contributes to the convenience in using the aerial positioning stand.
That is, the flexible tube arm 2 exhibits its inherent deformability and support function, and the operation of specifying and adjusting the use position and use posture of the distal end side member 4 and the “use object” attached thereto to the limit. The flexibility and support function (form holding function) are ensured, and the provisional use until the desired aerial positioning and posture are fixed can be easily made.

Japanese Patent No. 4073919

As described above, when the handle 14 of the intermediate joint 15 connecting the two arms 11 and 12 is loosened, the multi-joint arm 1 not only loosens the middle joint 15 but also fixes the two arms 11 and 12 on the root side. Both the ball joint type joints 5 and 6 coupled to the plate 3 and the distal end side member 4 are in a free state (so-called gnagna state), and self-supporting and posture maintaining actions cannot be expected. However, at this time, since the flexible tube arm 2 has a spiral structure whose cross-sectional structure is illustrated in FIG. 7 or FIG. 8, a so-called semi-rigid posture or form holding force (self-supporting property) is exhibited, and the distal end side member The position and posture of 4 are kept constant. Therefore, the user of the stand adjusts the position and posture of the distal end side member 4 to which the “use object” is attached to the optimum position and posture for use of the “use object” and performs a delicate operation. It is highly evaluated that it is easy to use because it can be executed slowly and calmly.
However, the range of “objects to be used” has been greatly expanded recently. For example, high-precision measuring devices such as dial gauges and CCD microscope lenses, ultra-fine processing machines, laser pointers, medical devices, etc., have a weight of around 4 kg. The range of models is not uncommon. As a result, there is a demand in the field of each use to improve and improve the configuration and function suitable for the use of such heavy objects.
Regarding the aerial positioning stand using both the articulated arm 1 and the flexible tube arm 2, as an alternative to meet the above-mentioned demand, firstly, the holding force (self-supporting) of the semi-rigid posture or form of the flexible tube arm 2 Flexible tube arm with a specification that exhibits semi-rigid independence to the extent that the so-called “dripping” phenomenon does not occur even when the weight of the “use object W” attached to the distal end side member 4 exceeds 4 kg. It is considered to adopt and configure.

However, if the flexible tube arm 2 is upgraded and replaced with a flexible tube arm with a specification that does not cause the so-called “dripping” phenomenon even when the “use object” of about 4 kg is attached, the self-supporting property and the form retention force of the flexible tube arm 2 are This time, the deformable performance originally desired for the flexible tube arm 2 is impaired, and there arises a problem in the freedom of adjusting the position and posture optimum for use of the “use object” and the delicate operability.
In other words, if a flexible tube arm 2 is selected and used as a material that has been upgraded to a specification with a large holding force (supporting force) for the semi-rigid form / posture, the flexible tube arm 2 is inevitably deformed as expected. This is because sex is inhibited.
Specifically, when the rotation operation for adjusting the tip side member 4 to the optimum position and posture for use of the “use object” is performed, the tip side member 4 is rotated counterclockwise in the posture of FIG. When adjusting / operating (moving the position) to rotate in the clockwise direction, the flexible tube arm 2 is fixed to the fixed plate 3 on the base side and fixed to the tip side member 4 on the distal end side. In the meantime, the flexible tube arm 2 having a spiral structure is operated in the direction of tightening the spiral, or conversely, in the direction of loosening the spiral.

As a result, combined with the use of a flexible tube arm that is semi-rigid and strong in shape retention, as described above, a large deformation resistance can be obtained when the flexible tube arm is wound in the spiral direction. Is difficult to use, and it is difficult to make subtle adjustments in position and posture. Moreover, as the deformation and displacement in the direction of tightening the helix are advanced, the resistance force gradually increases, obstructing the free operability, and making it difficult to adjust and determine a delicate position and posture. On the other hand, when the displacement and deformation operations are performed in the direction of loosening the spiral, the deformation resistance is small, but the displacement in both directions and the difference in resistance that occurs during the deformation operation are responsive to the user's response (feeling of response). ), Which makes it difficult to finely adjust and operate the optimum position and posture for use of the “use object”, and this is a problem to be solved.
Incidentally, as the flexible tube arm 2, a simple bellows structure tube is currently used in addition to the above-described spiral structure tube. However, as an application material for the aerial positioning stand, no bellows structure flexible tube arm exceeding the above-mentioned performance and function required for the spiral structure flexible tube arm is found.
As other issues, the device to further expand the range of use of the aerial positioning stand, in particular the acquisition of the functions and usability of the root member 3, and the attachment of "objects of use" with various configurations and functions to the tip side member 4. There is also a need to improve the configuration to be more convenient and convenient in shape and structure that is more convenient and convenient to use.

Accordingly, a first object of the present invention is to secure a weight and weight of about 4 kg as a “use object” while ensuring the flexibility, reliability, accuracy, and convenience of the positioning and fixing operation of the articulated arm 1. It is set as the structure suitable for attaching and using to a front end side member. As a means to prevent this, when the handle 14 of the intermediate joint 15 of the multi-joint arm 1 is loosened, the flexible tube arm has no fear of dripping down due to the weight of the “use object” attached to the distal end side member. As a configuration using a high strength, high rigidity spiral tube flexible tube arm that exhibits sufficient independence and support force necessary to complement the lack of independence of the joint arm, the weight is at least around 4 kg and is used. It is an object of the present invention to provide an aerial positioning stand that can easily use a "target object" and has a greatly expanded application range.
The next object of the present invention is due to the mechanical properties of the flexible tube arm having the helical structure, even when the "use object" having a weight of about 4 kg as described above is upgraded to a configuration applicable. It is an object of the present invention to provide an aerial positioning stand improved in a configuration that compensates for free deformation performance and does not become difficult to use due to the above-mentioned defects.
In short, the present invention is excellent in the adjustment and operation performance for determining the aerial position and posture of the “use object” when using a heavy “use object” of around 4 kg on the tip side member, and is easy to use. It is an object of the present invention to provide an aerial positioning stand having a combined structure of a multi-joint arm and a flexible tube arm, improved in configuration.

As a means for solving the above problems, an aerial positioning stand of the combined articulated arm and flexible tube arm structure according to the invention described in claim 1,
The articulated arm 1 and the flexible tube arm 2 are used in parallel, and the shaft member 6e for mounting the spherical body 6b constituting the ball joint 6 at the base side end of the articulated arm 1 and the flexible tube arm 2 are used. Are connected in an arrangement parallel to the common root member 3, respectively.
The attachment shaft 5e of the sphere 5b constituting the ball joint type joint 5 at the front end of the multi-joint arm 1 and the front end 21 of the flexible tube arm 2 are arranged parallel to the common front end member 4, respectively. Combined,
The multi-joint arm 1 connects a plurality of arms 11 and 12 in series so that they can be bent and rotated by a central joint 15, and an intermediate connection position of the arms 11 and 12 by tightening and loosening a handle 14. The internal rods 11a and 12a built in the longitudinal direction of the arms 11 and 12 are moved in and out in the longitudinal direction of the arms 11 and 12 by tightening or loosening and fixing and liberalizing. , 12a is a structure in which the spherical body 5b, 6b of the ball joint type joint 5, 6 is pressed and fixed, or the pressing force is eliminated,
In the aerial positioning stand that attaches a “use object” such as a digital camera, dial gauge, non-contact thermometer to the distal end side member 4 and determines its use position and posture,
As the flexible tube arm 2, the strength and rigidity of maintaining the position and posture of the “use object” W without dripping even if the “use object” W having a weight of at least about 4 kg is attached to the distal end side member 4. Constructed using a flexible tube with a spiral structure that demonstrates
The distal end side member 4 includes a through hole 4a through which the shaft portion 21a of the connection tool 21 attached to the distal end portion of the flexible tube arm 2 passes, and the connection of the distal end portion of the flexible tube arm 2 fitted into the through hole 4a. Means for fixing or freeing the shaft portion 21a of the tool 21,
The mounting shaft 5e of the ball joint type joint 5 at the tip of the multi-joint arm 1 is joined to the tip member 4 in a parallel arrangement with the shaft 21a of the connector 21 of the flexible tube arm 2. The position and posture of the side member 4 and the “use object” W attached to the side member 4 can be adjusted by loosening means for fixing or freeing the shaft portion 21a of the connection tool 21 at the distal end portion of the flexible tube arm 2. It is performed in the state, and when the position and posture of the object of use W are determined, the fixing means is actuated again to be in a fixed state.

The invention described in claim 2 is the aerial positioning stand of the combined articulated arm and flexible tube arm structure described in claim 1,
As a means for fixing or freeing the shaft portion 21a of the connection tool 21 attached to the distal end portion of the flexible tube arm 2, a through-hole through which the shaft portion 21a of the connection tool 21 of the flexible tube arm 2 passes through the distal end side member 4 is used. 4a is provided in a parallel arrangement with the ball joint type joint shaft 5e at the tip of the multi-joint arm 1, and a slit 4b is provided to form a part of the circumference of the through-hole 4a in a cutout state. The slit 4b A flexible deformation portion 4c that exhibits flexibility is formed in a part of the through hole 4a.
The shaft portion 21a of the connector 21 at the distal end portion of the flexible tube arm 2 is formed to be longer than the axial length of the through-hole 4a with an adjustment width, and the coaxial portion 21a is formed on the distal end side member 4. The set screw 22 provided with a washer 22a is screwed from the front end side through the through hole 4a to prevent it from coming off, and further, the slit 4b extends in the orthogonal direction from the outer surface side of the flexible deformation portion 4c of the front end side member 4. A bolt hole 4d provided in a transverse arrangement and a screw hole 4e sharing the center line with the bolt hole 4d are provided, and an adjusting bolt 25a is screwed into the screw hole 4e by a handle 25 for manual rotation. That the handle 25 is fixed and liberalized;
When adjusting the use position and posture of the distal end side member 4 and the “use object” W attached thereto, the distal end portion of the flexible tube arm 2 is rotated by rotating the bolt 25a with the manual rotation handle 25. When the position and posture of the object of use W are determined, the bolt 25a is again rotated in the tightening direction by the manual rotation handle 25 and fixed. It is the structure which makes it.

The invention described in claim 3 is the aerial positioning stand of the combined articulated arm and flexible tube arm structure described in claim 1 or 2,
The distal end side member 4 has an H shape when seen in a plan view, and is a plane portion 4h on the near side, and is connected to the distal end portion of the distal end portion of the flexible tube arm 2 at one of both side positions of the central web 4f. 21 is provided with through holes 4a through which shaft parts 21a pass, and on the other side, bolt holes 4g through which mounting bolts 26 for attaching the ball joint type joint shaft 5e at the tip of the multi-joint arm 1 are provided in parallel arrangement. And
A configuration in which a plurality of mounting holes 27 are provided in the front plane portion 4j facing the front plane portion 4h, and the “use object” W is mounted and used by using the mounting holes 27. It is characterized by being.

The invention described in claim 4 is the aerial positioning stand of the combined structure of the articulated arm and the flexible tube arm described in claim 1 or 2,
A base member 3 ′ that jointly connects the shaft member 6 c of the spherical body 6 b constituting the ball joint type joint 6 at the base side end of the multi-joint arm 1 and the base side end 20 of the flexible tube arm 2 is a flat plate. The flat plate-like base member 3 ′ is attached to a workbench at a place and position suitable for use of the “use object” by means such as direct screwing or the flat plate-like base member 3 'Is characterized in that it is attached to a magnetic fixing device 22 whose magnetic attraction force can be controlled to be turned on and off by rotating the switch 22a and is fixed to the upper surface of a good magnetic work table 24 or the like.

  The aerial positioning stand of the combined articulated arm and flexible tube arm structure according to the present invention utilizes the self-supporting performance (support function) and the flexibility of the flexible tube arm 2 when the handle 14 of the articulated arm 1 is loosened. Then, the “object to be used” W attached to the distal end side member 4 is adjusted and operated freely in the three-dimensional space by positioning and operating the position and posture necessary for its use, and positioned as aerial movement. Can do. When the handle 14 of the central joint 15 of the multi-joint arm 1 is tightened at the stage where the position and posture necessary for the use of the “use object” W are determined as described above, it is immediately and firmly fixed. Since positioning and fixing can be performed, the optimum position and posture conditions for use of the “use object” W can be accurately adjusted in a short time.

In particular, even when the “use object” W to be attached to the distal end side member 4 is heavy at around 4 kg, the configuration adopts the flexible tube arm 2 having a spiral structure with improved strength and rigidity. Therefore, the “use object” W can be used appropriately and conveniently.
In addition, the flexible tube arm 2 is upgraded in strength and rigidity. Therefore, the flexible tube arm is used for adjustment and operation (moving in the air) to determine the position and orientation required for using the “use object” W. When the responsiveness of deformation and displacement of 2 is poor (strong), the manual rotation handle 25 to which the shaft portion 21a of the connector 21 at the distal end of the flexible tube arm 2 is fixed in advance as preparation for starting the adjustment operation. When the bolt 25a is rotated in the loosening direction, the shaft portion 21a of the connector 21 of the flexible tube arm 2 can be liberated into a loose state in the through hole 4a. Therefore, the position and orientation of the “use object” W can be adjusted and operated without difficulty using the above-described degrees of freedom. When the use position and orientation of the “use object” W are thus determined, when the bolt 25a is rotated again with the manual rotation handle 25, the shaft 21a of the connector 21 at the distal end of the flexible tube arm 2 is rotated. Can be immobilized again. Therefore, the “use object” W can be fixed to a preferred position and posture and used without any problems.

The illustrated distal end side member 4 has an H shape in a plan view as an example, and the distal end portion of the flexible tube arm 2 and the distal end portion 5 of the multi-joint arm 1 are arranged on the flat portion 4h on the front side. The “use object” W can be used by attaching the entire surface to the front side flat part 4j that is coupled and opposed to the front side flat part 4h. Therefore, the “use object” W of various forms, sizes, and weights can be attached and used in various ways, and the application range is wide and convenient and convenient.
In addition, when the base member 3 ′ in which the base side end portion 6 of the articulated arm 1 and the base side end portion 20 of the flexible tube arm 2 are commonly connected has a flat plate shape, the base member 3 ′ It can be mounted and fixed without difficulty by means such as screwing directly to machinery or work benches where positioning stands are required. Alternatively, when the flat plate-shaped base member 3 ′ is attached to a magnetic fixing tool 22 whose magnetic attractive force can be controlled to be turned on / off by rotating the switch 22 a, it can be used by being fixed to a good magnetic work table 24 or the like. Convenience that can be used is very convenient.

It is the perspective view which showed Example 1 of the air positioning stand by this invention as a use condition. It is the side view which showed the use condition of the air positioning stand same as the above. It is sectional drawing which showed the structural example of the articulated arm in detail. It is the perspective view which showed the use condition of Example 2 from which the air positioning stand by this invention differs. Fig. A is a plan view showing a partially broken joint structure of the articulated arm and flexible tube arm of the aerial positioning stand according to the present invention and the tip side member, and Fig. B is a right side view of the tip side member. It is the perspective view which showed the coupling structure of a flexible tube arm and a multi joint arm, and a front end side member in the decomposition | disassembly state. It is sectional drawing which showed the connection structure of the both ends of a flexible tube arm, a root side member, and a front end side member. FIG. 8 is a cross-sectional view of another embodiment of the coupling structure of the flexible tube arm, the base side member, and the tip side member, following FIG. 7. It is the front view which showed the usage example from which a root side member differs.

The aerial positioning stand of the combined articulated arm and flexible tube arm structure according to the present invention has a configuration in which the articulated arm 1 and the flexible tube arm 2 are used in parallel. The root side end portion (ball joint type joint 6) of the multi-joint arm 1 and the root side end portion 20 of the flexible tube arm 2 are coupled in parallel to the common root member 3 or 3 ′, respectively.
The attachment shaft 5e of the spherical body 5b constituting the joint-type joint 5 provided at the front end portion of the multi-joint arm 1 and the connection tool 21 at the front end portion of the flexible tube arm 2 are respectively a common tip side. Coupled in parallel with the member 4.
In the multi-joint arm 1, a plurality of arms 11 and 12 are connected in series so that they can be bent and rotated by a central joint 15. When the handle 14 is tightened and loosened, the intermediate connection position of the arms 11 and 12 can be fastened and fixed or loosened to operate in a free state. At the same time, the built-in rods 11a and 12a incorporated in the longitudinal direction of the arms 11 and 12 are moved in and out in the longitudinal direction of the arms 11 and 12, and the tip portions of the built-in rods 11a and 12a are connected to the ball joint joints 5 and 6 respectively. The spheres 5b and 6b are pressed and fixed, or the pressing force is eliminated.
Even if a “use object” W such as a digital camera, dial gauge, optical or electron microscope, especially a heavy object of around 4 kg, is attached to the distal end side member 4, its use position and posture can be freely determined and used.

The distal end side member 4 includes a through hole 4a through which the shaft portion 21a of the connection tool 21 provided at the distal end portion of the flexible tube arm 2 passes, and the connection tool 21 of the flexible tube arm 2 fitted into the through hole 4a. Means for fixing or freeing the shaft portion 21a is provided in the following configuration.
A through hole 4 a through which the shaft portion 21 a of the connector 21 of the flexible tube arm 2 passes is provided in the distal end side member 4 in a substantially parallel arrangement with the ball joint type joint shaft 5 e at the distal end portion of the articulated arm 1. In addition, a slit 4b is formed in which a part of the circumference of the through-hole 4a is cut out, and a part of the through-hole 4a is formed by the slit 4b in the flexible deformation portion 4c exhibiting flexibility. ing.
The shaft portion 21a of the connecting tool 21 at the distal end portion of the flexible tube arm 2 is passed through the through hole 4a, and a set screw 22 is screwed from the distal end side to prevent it from coming off. Then, from the outer surface side of the flexible deformation portion 4c of the distal end side member 4 to the bolt hole 4d provided in an arrangement crossing the slit 4b in the orthogonal direction and the screw hole 4e sharing the center line with the bolt hole 4d. Then, the bolt portion 25a is screwed in and tightened with the manual rotation handle 25 to fix the shaft portion 21a.
When adjusting the use position and posture of the distal end side member 4 and the “use object” W attached to the distal end side member 4, the distal end portion of the flexible tube arm 2 is rotated by rotating the bolt 25 a with the manual rotation handle 25. The shaft portion 21a is liberated to a loose state. Then, the position and orientation of the object W to be used are adjusted and operated freely. When the position and orientation are determined, the manual rotation handle 25 is rotated again in the direction of tightening the bolt 25a and fixed. .

Hereinafter, based on the illustrated embodiment, an embodiment of the aerial positioning stand of the combined articulated arm and flexible tube arm structure of the present invention will be described.
1 to 3 show the configuration and use state of the aerial positioning stand.
This aerial positioning stand connects the base side end portions 6 and 20 of the articulated arm 1 and the flexible tube arm 2 to a root fixing plate 3 which is a common base member, and the tips of the articulated arm 1 and the flexible tube arm 2 are connected. The side end portions 5 and 21 are also characterized by a configuration in which the side end portions 5 and 21 are combined with the front connection plate 4 which is a common front end side member and used in parallel. However, FIG. 1 shows a configuration in which the articulated arm 1 and the flexible tube arm 2 are arranged in a substantially parallel state, but the same applies in a configuration in which the articulated arm 1 and the flexible tube arm 2 are arranged in an intersecting state as shown in FIG. It can also be implemented. Both are examples of the combined articulated arm and flexible tube arm structure of the present invention.
Since the configuration of the multi-joint arm 1 is not much different from the prior art disclosed in the above-mentioned Patent Document 1, the following description will be briefly made with the technical information as a base.
As shown in the detailed structure in FIG. 3, the multi-joint arm 1 has a configuration in which one end of two arms 11 and 12 made of steel pipe is connected to a common shaft bolt 10 with a sliding bearing metal 13 interposed therebetween to perform refraction rotation. Overlapping is possible and connected. The shaft bolt 10 is configured not to rotate, and the connecting portion of the two arms 11 and 12 is tightened to be fixed or loosened by the rotation of the female screw handle 14 screwed into the screw portion 10a on the tip end side. A central joint 15 that can be liberated is configured.

In addition to the central joint 15, a multi-joint arm 1 (substantially a three-joint arm) is configured by a combination with ball joint joints 5 and 6 provided at the distal ends of the two arms 11 and 12. ing.
As shown in detail in FIG. 3, the ball joint type joints 5 and 6 are also configured such that the ball holders 5a and 6a cannot be detached by the stop ring 7 at the tip ends of the two arms 11 and 12 and are rotatable. Attached to the state. The spheres 5b and 6b accommodated in the respective ball holders 5a and 6a are supported by the stop ring 8 so that the positions of the outer openings of the ball holders 5a and 6a cannot be removed, and the spheres 5b and 6b are rotatably supported. ing. Neck members 5c and 6c provided in an integral structure with the respective spheres 5b and 6b protrude outward from the mouths of the respective ball holders 5a and 6a so as to freely rotate at a wide angle. Mounting screw shafts 5e and 6e are projected at positions ahead of the seat portions 5d and 6d of the neck members 5c and 6c.
1, 4, and 6, at least one U-shaped notch groove 5 f in the axial direction from the opening side of the ball holder 5 a on the tip side is a groove width that allows the neck member 5 c to enter. Is provided. A similar U-shaped notch groove is provided in the ball holder 6 on the base side, but it should be analogized because it is not visible for convenience of illustration.
The above-mentioned U-shaped notch grooves of the ball holders 5 and 6 allow the neck members 5c and 6c to enter when the neck members 5c and 6c rotate, so that the neck members 5c and 6b can be rotated. The refraction angle of 6c can be enlarged, and the rotational displacement angle of the arms 11 and 12 connected to the mounting screws 5e and 6e can be increased to about 90 degrees, for example (however, the rotation angle can be freely set). To. Therefore, there is an effect that the deformable range of the articulated arm 1 can be expanded.

The two arms 11, 12 have rods 11 a, 12 a that are moved in and out by a rotational operation of tightening and loosening the female screw handle 14 in the axial direction of the center portion of the two arms 11, 12. It is built in a length that extends over the entire length in the longitudinal direction.
As shown in detail in FIG. 3, the head bolt side (the left end side in FIG. 3) of the shaft bolt 10 has a gentle inclination of about 30 degrees with respect to the base end of the rod 12a of the arm 12. A tapered sleeve 16 that contacts the surface A is fitted. Further, a taper sleeve 17 that contacts the base end portion of the rod 11a of the arm 11 with an inclined surface B having an inclination angle of about 30 degrees is fitted to the distal end side (on the right end side in FIG. 3) of the coaxial bolt 10. Yes. The two inclined surfaces A and B are arranged in the same direction.
Accordingly, when the female screw handle 14 is rotated in the tightening direction, the right side taper sleeve 17 in FIG. 3 is pushed leftward by an amount equal to the screwing amount, and the rod 11a is pushed out by the pressing effect of the inclined surface B. Therefore, the tip of the rod 11a is strongly pressed against the sphere 5b of the ball joint type joint 5, and the sphere 5b is firmly fixed to the ball holder 5a.
At the same time, the taper sleeve 16 on the left side in FIG. 3 is pulled to the right by an amount equal to the screwing amount of the female screw handle 14, and pushes the rod 12a by the pressing effect of the inclined surface A. Therefore, the tip of the rod 12a is strongly pressed against the sphere 6b of the ball joint type joint 6, and the sphere 6b is firmly fixed to the ball holder 6a.
As described above, the function of firmly positioning and fixing the multi-joint arm 1 is achieved. Needless to say, when the female screw handle 14 is rotated in the reverse direction, the pressing action of the taper sleeves 16 and 17 is eliminated, and the pressing force of the spherical bodies 5b and 6b by the built-in rods 11a and 12a is eliminated. Fixed functions can be eliminated instantly.

Next, a known flexible metal tube (including an Almond flexible metal tube) is preferably used for the flexible tube arm 2. In particular, in light of the above-described object of the present invention, even when a “use object” W having a weight of at least about 4 kg is attached to the distal end side member 4, the flexible tube arm 2 does not fall down and the flexible tube 2 is half It is configured using a flexible tube having a helical structure selected as a specification that maintains (supports) the position and posture of the “use object” W by exhibiting a rigid posture holding force and independence.
Specifically, as can be inferred from FIGS. 7 and 8, a flexible tube arm 2 in which a coil material having a wire diameter of about φ3.5 mm is wound in a spiral shape having a coil outer diameter of φ16 mm is preferably used. As for the detailed structure of the flexible tube, as shown in FIG. 7, a substantially triangular reinforcing coil (triangular line) 2a whose cross section is in close contact with the outer circumferential side gap of the coil is provided at each gap position on the outer circumferential side of the coil. With a wedge-shaped arrangement, it is wound over the entire length and has a double-winding structure that does not impair the flexibility of deformation, so that the rigidity and strength are improved.
Alternatively, as illustrated in FIG. 8, the secondary coil tube 2 b that is concentrically arranged on the inner diameter portion of the main coil tube 2 of the above-described dimension and assists the rigidity and strength of the flexible tube arm is provided only at one end on the root side. The flexible tube arm 2 ′ having a double coil structure installed in a cantilever state in which is fixed to the root side member 3 ′ is similarly employed. The distal end portion of the secondary coil tube 2b is a free end at a position on the near side of the connector 21.
As shown in FIG. 1, for example, the flexible tube arm 2 or 2 ′ having the above structure is provided with metal connectors 20 and 21 integrally joined by caulking. Incidentally, in the case of the flexible tube arm 2 ′ having the double coil structure shown in FIG. 8 described above, when the root side connector 20 is caulked, the root side end portion of the internal flexible tube 2b is also main. It is fixed to the connector 20 together with the coil tube 2. However, the length of the internal flexible tube arm 2 ′ is limited to the front side of the distal end side connection tool 21, and does not reach the caulking position of the distal end side connection tool 21, but is configured as a free end. The configuration of the free end ensures freedom of adjustment and operation of the position and posture of the distal end side member 4.
As shown in FIG. 6, the distal end side member 4 includes a through hole 4 a through which the shaft portion 21 a of the connection tool 21 attached to the distal end portion of the flexible tube arm 2 passes, and the shaft fitted into the through hole 4 a. Means for fixing or freeing the portion 21a is provided, and the details of the configuration will be described separately in the following paragraphs.

In the aerial positioning stand of the present invention, the multi-joint arm 1 and the flexible tube arm 2 having the above-described configuration have substantially the same length (however, the flexible tube arm 2 has a slightly short configuration with a curved shape as shown in the drawing. In Example 1 of FIG. 1, both the base side end portions of the articulated arm 1 and the flexible tube arm 2 are arranged in parallel to the common root fixing plate 3, respectively. Are combined.
Specifically, as shown in FIGS. 1 and 2, the root fixing plate 3 has an inclined surface 3a inclined at about 45 degrees, and a through hole is prepared in advance on the inclined surface 3a. Then, a mounting screw 6e (see FIG. 3 for the detailed structure) of the sphere 6b of the ball joint type joint 6 that forms the base side end of the multi-joint arm 1 is used as shown in FIG. 3, and the nut 9 is tightened from the back side to be coupled. At this time, the presence of the seat portion 6d (see FIG. 3) of the neck member 6c contributes to a highly stable coupled state.
On the other hand, the flexible tube arm 2 passes through the through-hole of the inclined surface 3a of the root fixing plate 3 as shown in FIG. Then, a bolt 27 having a washer 27a is screwed and firmly joined. In this way, the base side end portions of the multi-joint arm 1 and the flexible tube arm 2 are coupled in an arrangement parallel to the inclined surface 3a of the common base fixing plate 3 in a perpendicular direction.
In FIG. 1 and FIG. 2, the bottom fixing plate 3 is overlapped on the upper surface of the magnetic fixing device 22 whose magnetic attraction force can be turned on and off by rotating the switch 22 a and is integrated by the bolt 23. In this example, the magnetic fixing device 22 is fixed to the upper surface of a good magnetic work table 24 such as a metal surface plate by a magnetic attraction force.

On the other hand, in the second embodiment shown in FIG. 4, the connecting tool 20 attached to the base side end of the flexible tube arm 2 and the spherical joint-type joint 6 forming the base side end of the articulated arm 1. Each of the mounting screws 6e shown in 6b shows a case where the mounting screws 6e are connected to the upper surface of a common base plate 3 'having a flat plate shape in a parallel arrangement as described above.
When the flat plate 3 ′ is used as in the second embodiment, naturally, as shown in FIG. 8, a part of the root side end of the flexible tube arm 2 is passed through the plate 3 ′. A bolt 27 having a washer 27a is screwed from the back side and fitted into the hole, and the coupling structure portion is a mounting screw 6e for the ball joint type joint 6 that forms the root side end of the multi-joint arm 1. In addition to the connecting structure by the nut and the nut 9, each of the thicknesses is within the thickness range of the base plate 3 ′ so that it does not protrude from the bottom surface (a structure that is completely hidden or buried in the plate thickness without protruding). Use the base plate 3 '.
Thus, the base-side end portions of the multi-joint arm 1 and the flexible tube arm 2 are firmly coupled in a parallel arrangement in a direction perpendicular to the inclined surface 3a or 3 ′ of the common root fixing plate 3 as described above.
In addition, as a method of using the flat plate 3 ′ shown in FIG. 4, as illustrated in FIG. 4, for example, bolt holes 30 are provided in a penetrating state at four corner positions (however, the bolt holes 30 are provided). This does not apply to the position and number of Then, the mounting screw 31 is passed through each through-hole 30 and is used in a stable state by directly screwing and fixing it to, for example, a machine pedestal or a rigid table in an optimum installation location required for use of the “use object” W. It is particularly preferable.
Alternatively, as illustrated in FIG. 9, the base plate 3 ′ is attached to the upper surface of the magnetic fixing device 22 whose magnetic attraction force can be controlled to be turned on / off by the rotation operation of the switch 22 a described above. It is also preferable to implement a configuration in which the upper surface of the good magnetic work table 24 or the like is fixed with a magnetic attraction force.

Next, the detail of the structure which couple | bonds the front end side of the said flexible tube arm 2 and the said articulated arm 1 with the front end side member 4 is demonstrated.
As described above, the flexible tube arm 2 has a “use object” W heavy to at least about 4 kg on the distal end side member 4 and the articulated arm 1 is released to a free state. As described above, the high-rigidity and high-strength flexible tube arm 2 that does not occur is employed. The flexible tube arm 2 alone supports the “use object” W having the above-described weight and exhibits rigidity and a support function that does not cause a trouble phenomenon such as dripping, and the “use object” W The present invention adopts the configuration described below as a device that exhibits deformation and displacement flexibility and operability that do not interfere with the adjustment and operation that determine the position and orientation required for use of the device.
As can be easily seen from FIG. 6, the distal end side member 4 that couples the connector 21 at the front end of the flexible tube arm 2 has an H shape when viewed in plan (however, the H shape However, it is a surface portion 4h corresponding to the flange on the front side, and is penetrated through the connector 21 at the front end of the flexible tube arm 2 in one of two positions divided on both sides of the central web 4f. A hole 4a is provided. At the other position, bolt holes 4g through which the mounting bolts 26 for coupling the ball joint type joint shaft 5e at the tip of the multi-joint arm 1 are provided in parallel arrangement.

A plurality of mounting holes 27 are provided in the front-side flat surface portion 4j facing the flat surface portion 4h corresponding to the flange on the near side, and a “use purpose” is provided on the front surface of the flat surface portion 4j using the mounting holes 27. This is a configuration in which an object “W” is attached.
The front plane portion 4h is provided with a slit 4b that forms a part of the circumference of the through hole 4a through which the shaft portion 21a of the connector 21 attached to the distal end portion of the flexible tube arm 2 passes. The slit 4b forms a flexible deformation portion 4c that exhibits flexibility in a part of the through hole 4a. Then, a bolt hole 4d and a screw hole 4e sharing a center line with the bolt hole 4d are provided in an arrangement crossing in a direction orthogonal to the slit 4b from the outer surface side of the flexible deformation portion 4c.
That is, the shaft portion 21a of the connector 21 at the distal end portion of the flexible tube arm 2 is passed through the through hole 4a of the flat surface portion 4h, and a set screw 22 provided with a washer 22a is screwed from the distal end side to prevent the shaft 21a from coming off. Is called. Further, the bolt 25a is screwed into the bolt hole 4d of the distal end side member 4 and the screw hole 4e sharing the center line with the bolt hole 4d with the handle 25 for manual rotation, and the purpose of fixing is precisely achieved.
Therefore, when adjusting and operating the use position and posture of the distal end side member 4 and the “use object” W attached thereto, the bolt 25a is rotated by the manual rotation handle 25 in the direction of loosening the flexible tube. The shaft 21a of the connector 21 at the tip of the arm 2 is liberated in a loose state in the through hole 4a. Then, when adjusting and operating the position and posture of the target object W to the conditions necessary for using the target object W, even if the flexible tube arm 2 having high strength and rigidity is strong as described above, Since the shaft portion 21a of the portion has loose freedom in the joint portion with the distal end side member 4, it is relatively easy to adjust and operate the posture and position necessary for using the “use object” W relatively easily. It can be done. When the posture and position necessary for using the “use object” W are determined in this way, when the bolt 25a is rotated again in the tightening direction by the manual rotation handle 25, the purpose of fixing is quickly and accurately achieved. Then, when the rotation operation is performed in the direction in which the female screw handle 25 of the multi-joint arm 1 is tightened, the flexible deformation portion 4c forming a part of the through hole 4a is tightened, and the shaft portion 21a of the connection tool 21 is moved. The purpose of fixing firmly is achieved.
On the premise of the above operation, the shaft 21a of the connector 21 at the distal end of the flexible tube arm 2 is configured to be sufficiently long in the axial direction, and the position of the distal end member 4 is moved in the front-rear direction (axial direction). Is possible.

As described above, the multi-joint arm 1 and the flexible tube arm 2 are arranged in parallel with a slight interval, and each root side end portion is coupled to the common root fixing plate 3 or 3 ′, and the front end The parts are also connected to the common front connection plate 4 to form an integral relationship. Therefore, the shape maintaining function (rigidity) of the flexible tube arm 2 works equally for the multi-joint arm 1, and even when the handle 14 of the central joint 15 of the multi-joint arm 1 is loosened, the multi-joint arm 1 It is possible to maintain a certain stand form against the loss of the form holding ability. Incidentally, the shape holding function (rigidity) required for the flexible tube arm 2 is sufficient if it can support (self-hold) 80% to 90% of the weight of each of the object W and the multi-joint arm 1. .
The basic idea of the shape of the distal end side member 4 in the above-mentioned aerial positioning stand is to adopt a form suitable for the purpose of using the “use object” W such as a digital camera, dial gauge, microscope, etc. as much as possible. Thus, the member having the H shape in the plan view shown in the drawing is merely an example. The front connection plate 4 having an optimum shape and structure is used in accordance with the form of the “use object” W to be attached, the manner of attachment, the manner of use, the method of use, and the like. Depending on the form of the “use object” W, the manner of attachment, and the convenience of the manner of use, it is also possible to use additional attachment jigs such as an auxiliary XYZ stage.

  Although the present invention has been described above based on the illustrated embodiment, it is needless to say that the technical idea of the present invention is not limited to the above embodiment. It should be noted here that the present invention can be implemented in a variety of ways, including design changes and application modifications usually made by those skilled in the art, without departing from the spirit, technical idea, and purpose of the present invention.

1 Articulated arm 2 Flexible tube arm W "Use object"
DESCRIPTION OF SYMBOLS 3 Root side member 3 'Flat plate-like base member 4 Tip side member 4a Through-hole 4b Slit 4g Bolt hole 5, 6 Ball joint type joint 5b, 6b Spherical body 5e, 6e Attaching shaft member 21 Arm side connection tool 21a Connection tool Shaft portion 11, 12 Arm 14 Handle 15 Center joint 11a, 12a Built-in rod 22a Switch 22 Magnetic fixing tool 24 Work table 25 Manual rotation handle 25a Adjustment bolt

Claims (4)

An articulated arm and a flexible tube arm are used in parallel, and a ball mounting shaft member constituting a ball joint type joint at the base side end of the articulated arm and a base side end of the flexible tube arm are respectively provided. Combined in a parallel arrangement with a common root member,
The ball mounting shaft and the front end of the flexible tube arm constituting the ball joint type joint at the front end of the multi-joint arm are coupled in parallel with the common front end member,
The articulated arm connects multiple arms in series so that they can be bent and rotated at the joint at the center, and tightens or loosens the intermediate connection position of the arm by tightening or loosening the handle to fix and liberate. To move the built-in rod built in the longitudinal direction of each arm into and out of the longitudinal direction of the arm, and the tip of each built-in rod presses and fixes the ball of the ball joint type joint, or the pushing force is It is a configuration that is eliminated,
In the aerial positioning stand that attaches a “use object” such as a digital camera, dial gauge, non-contact thermometer, etc. to the tip side member, and determines its use position and posture,
As the above flexible tube arm, the strength and rigidity of maintaining the position and posture of the “use object” without causing drooping even when the “use object” W having a weight of at least about 4 kg is attached to the distal end side member 4. Constructed using a flexible tube with a spiral structure to demonstrate,
The distal end side member has a through hole through which the shaft portion of the connection tool attached to the distal end portion of the flexible tube arm passes, and the shaft portion of the connection tool at the distal end portion of the flexible tube arm fitted into the through hole is fixed. Or a means to liberalize,
The ball joint joint mounting shaft at the tip of the multi-joint arm is joined to the tip member in a parallel arrangement with the shaft of the connector of the flexible tube arm. Adjustment of the position and orientation of the “use object” should be performed with the means for fixing or freeing the shaft part of the connector at the tip of the flexible tube arm left loose and free. An aerial positioning stand with a joint structure of an articulated arm and a flexible tube arm, wherein the fixing means is made to work again when the posture is determined. As a means for fixing or freeing the shaft portion of the connection tool attached to the distal end portion of the flexible tube arm, a through-hole through which the shaft portion of the connection tool of the flexible tube arm passes is provided in the distal end side member. Is provided in a parallel arrangement with the ball joint type joint axis, and a slit is formed in a part of the circumference of the through hole in a notched state, and the slit allows a part of the through hole to exhibit flexibility. A flexible deformation part is formed,
The shaft portion of the connector for the tip of the flexible tube arm is formed to be longer with an adjustment width compared to the axial length of the through hole, and the coaxial portion is passed through the through hole of the tip side member. A set screw is screwed in from the front end side to prevent it from coming off, and a bolt hole, a bolt hole and a center line provided in an arrangement crossing the slit in an orthogonal direction from the outer surface side of the flexible deformation portion of the front end side member are further provided. A common screw hole is provided, and the adjustment bolt is screwed into the screw hole with the handle for manual rotation to be fixed and liberated.
When adjusting the use position and posture of the distal end side member and the “use object” W attached thereto, the connecting tool at the distal end portion of the flexible tube arm is rotated by rotating the adjustment bolt with the manual rotation handle. When the position and posture of the object to be used are determined, the adjustment bolt is rotated again in the tightening direction by the manual rotation handle and fixed. An aerial positioning stand having a combined articulated arm and flexible tube arm structure according to claim 1. The tip side member has an H shape when seen in a plan view, and is a flat portion on the front side thereof, and penetrates the shaft portion of the connector at the front end portion of the flexible tube arm through one of the positions corresponding to both sides of the central web. A hole is provided, and on the other side, bolt holes for passing mounting bolts for attaching the ball joint type joint shaft at the tip of the articulated arm are provided in parallel arrangements,
A plurality of mounting holes are provided in the front plane portion facing the front plane portion, and the "use object" is configured to be used by using the mounting holes. The aerial positioning stand according to claim 1 or 2, wherein the articulated arm and the flexible tube arm are combined.   A shaft member for mounting a spherical body constituting a ball joint type joint at the base side end of the multi-joint arm and a base member commonly connecting the base side end of the flexible tube arm are formed in a flat plate shape. The base side member of the plate is attached to a workbench at a place and position suitable for the use of the `` target object '' by means such as direct screwing, or the flat plate-like base member has a magnetic adsorption force by rotating the switch. 3. The articulated arm and flexible structure according to claim 1, wherein the articulated arm is attached to a magnetic fixing device that can be controlled on and off and is fixed to an upper surface of a good magnetic work table or the like. An aerial positioning stand with a tube arm combination structure.

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