Remotely operated manipulator

Patent metadata

Field	Value
Publication number	US-9728282-B2
Application number	US-201314766037-A
Country	US
Kind code	B2
Filing date	Feb 12, 2013
Priority date	Feb 12, 2013
Publication date	Aug 8, 2017
Grant date	Aug 8, 2017

Abstract

Provided is a remotely operated manipulator which can be applied to a space which is wider on a back side than at an opening part, which has a simple structure, high stiffness, and high reliability. The remotely operated manipulator of the present invention includes: a circular base fixed to a wall surface; a beam which rotates on the circular base; a trolley which moves on the beam; and a mast which is raised and lowered with respect to the trolley and is mounted with a tool unit at a tip. Stiffness is improved by directly fixing the beam to the wall surface by a beam fixing device. Further, a work region is expanded by mounting a bending mast on the tip of the mast.

First claim

The invention claimed is:

1. A remotely operated manipulator, comprising:
a circular base which includes a fixing device to fix the circular base to a wall surface;
a beam rotatably installed to the circular base;
a trolley movably installed to the beam;
a mast which is installed so as to be capable of being raised and lowered with respect to the trolley and is mounted with a tool exchange device at a tip;
a tool unit mounted on the tool exchange device; and
a beam fixing device which is provided at the beam, extends to fix the beam to the wall surface, and shortens to release the beam from the wall surface.

2. The remotely operated manipulator according to claim 1 , wherein the beam fixing device is one of a pair of beam fixing devices provided at both ends of the beam to fix the beam by pressing against the wall surface.

3. The remotely operated manipulator according to claim 2 , wherein the tool exchange device includes first tool exchange device and second tool exchange device attached to the tool unit, and a bending mast is provided between the first tool exchange device and the second tool exchange device, and one end of the bending mast is mounted on the first tool exchange device and the other end of the bending mast is mounted on the second tool exchange device.

4. The remotely operated manipulator according to claim 3 , wherein a flexed part of the bending mast is provided with a roller.

5. The remotely operated manipulator according to claim 1 , wherein the tool exchange device includes first tool exchange device and second tool exchange device attached to the tool unit, and a bending mast is provided between the first tool exchange device and the second tool exchange device, and one end of the bending mast is mounted on the first tool exchange device and the other end of the bending mast is mounted on the second tool exchange device.

6. The remotely operated manipulator according to claim 5 , wherein a flexed part of the bending mast is provided with a roller.

Assignees

• Hitachi Ltd

Inventors

• Egawa Saku
• Nakamura Satoshi
• Hattori Makoto
• Tamamoto Junichi

Classifications

• G21C17/003 Primary

  Remote inspection of vessels, e.g. pressure vessels · CPC title

• B25J9/041

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• Y10S901/17

  Cylindrical · CPC title

• Y10S901/16

  Cartesian, three degrees of freedom · CPC title

• G21F9/30

  Processing (separating different isotopes of the same chemical element B01D59/00) · CPC title