초록 ▼

A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotati

A remote controlled actuator includes an elongated spindle guide section and a distal end member fitted to a distal end thereof for alteration in attitude. The distal end member rotatably supports a spindle for holding a tool. The spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source to the spindle. An attitude altering member inserted in a guide hole is selectively advanced or retracted by an attitude control drive source. An initial attitude hold control unit controls the attitude control drive source so that an initial attitude holding force necessary to maintain the distal end member in the initial attitude can be applied to the attitude altering member. An attitude alteration control unit controls the attitude control drive source so that the attitude of the distal end member can be altered by a force larger than the initial attitude holding force.

대표청구항 ▼

1. A remote controlled actuator, which comprises: an elongated spindle guide section, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling unit for alternation in attitude and in which the distal end member coupling unit supports the distal end

1. A remote controlled actuator, which comprises: an elongated spindle guide section, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling unit for alternation in attitude and in which the distal end member coupling unit supports the distal end member for tilting motion in arbitrary direction, and a drive unit housing coupled with a base end of the spindle guide section and capable of being held by hand;wherein the distal end member rotatably supports a spindle to hold a tool, wherein the spindle guide section includes a rotary shaft to transmit rotation of a tool rotation drive source, provided within the drive unit housing, to the spindle, and a guide hole defined therein so as to extend from one end to the opposite end,wherein an attitude altering member to alter the attitude of the distal end member as a result of advancing or retracting operation with its tip end held in contact with the distal end member is reciprocally movably inserted within the guide hole and in which the guide hole and the attitude altering member inserted within the guide hole are provided at three or more locations about a center of tilt of the distal end member,wherein an attitude control drive source to selectively advance and retract the attitude altering member is provided within the drive unit housing and in which the attitude control drive source is provided for each of the attitude altering members, and an attitude altering operation piece to change the attitude of the distal end member by issuing an actuation command signal directly or indirectly to the attitude control drive source in response to an input manipulation is provided outside the drive source housing and in which the attitude of the distal end member is altered or maintained by an effect of balance of working forces applied from the attitude altering members at those three or more locations to the distal end member, andwherein the attitude altering operation piece is capable of being manipulated by hands then holding the drive source housing. 2. The remote controlled actuator as claimed in claim 1, in which the attitude altering operation piece is operable to alter the attitude of the distal end member in two directions when an actuation command signal is issued to each of the attitude control drive sources and is manipulatable in two directions corresponding to directions in which the attitude of the distal end member is altered. 3. The remote controlled actuator as claimed in claim 1, further comprising a lock operating piece provided for disabling an input manipulation of the attitude altering operation piece. 4. The remote controlled actuator as claimed in claim 1, further comprising: an attitude detector to detect the attitude of the distal end member; andan attitude display section to display the attitude of the distal end member detected by the attitude detector. 5. The remote controlled actuator as claimed in claim 4, in which the attitude detector is an encoder for detecting an actuation position of the attitude control drive source. 6. The remote controlled actuator as claimed in claim 1, further comprising an initial attitude operating piece to issue an actuation command signal, necessary to cause the distal end member to assume the initial attitude, through the initial attitude hold control unit. 7. The remote controlled actuator as claimed in claim 6, further comprising a storage section to store an actuation position of the attitude control drive source when the distal end member is in the initial attitude, and in which the initial attitude hold control unit of the attitude control section is operable to control the attitude control drive source so as to assume the actuation position, stored in the storage section, that when the initial attitude operating piece is operated. 8. The remote controlled actuator as claimed in claim 1, further comprising a rotation operating section to operate the rotation of the spindle, the rotation operating section being capable of being operated by hands then holding the drive unit housing. 9. A remote controlled actuator, which comprises: an elongated spindle guide section, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling unit for alternation in attitude and in which the distal end member coupling unit supports the distal end member for tilting motion in arbitrary directions, and a drive unit housing coupled with a base end of the spindle guide section and capable of being held by hand;wherein the distal end member rotatably supports a spindle to hold a tool, wherein the spindle guide section includes a rotary shaft to transmit rotation of a tool rotation drive source, provided within the drive unit housing, to the spindle, and a guide hole defined therein so as to extend from one end to the opposite end,wherein an attitude altering member to alter the attitude of the distal end member as a result of advancing or retracting operation with its tip end held in contact with the distal end member is reciprocally movably inserted within the guide hole and in which the guide hole and the attitude altering member inserted within the guide hole are provided at a plurality of locations about a center of tilt of the distal end member,wherein an attitude control drive source to selectively advance and retract the attitude altering member is provided within the drive unit housing and in which the attitude control drive source is provided for each of the attitude altering members, and an attitude altering operation piece to change the attitude of the distal end member by issuing an actuation command signal directly or indirectly to the attitude control drive source in response to an input manipulation is provided outside the drive source housing, in which a restoring elastic member for biasing the distal end member to hold a predetermined attitude is provided and in which the plural attitude altering members cooperate with each other to alter the attitude of the distal end member against a biasing force exerted by the restoring elastic member, andwherein the attitude altering operation piece is capable of being manipulated by hands then holding the drive source housing. 10. A remote controlled actuator, which comprises: an elongated spindle guide section, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling unit for alternation in attitude, and a drive unit housing coupled with a base end of the spindle guide section and capable of being held by hand;wherein the distal end member rotatably supports a spindle to hold a tool, wherein the spindle guide section includes a rotary shaft to transmit rotation of a tool rotation drive source, provided within the drive unit housing, to the spindle, and a guide hole defined therein so as to extend from one end to the opposite end,wherein an attitude altering member to alter the attitude of the distal end member as a result of advancing or retracting operation with its tip end held in contact with the distal end member is reciprocally movably inserted within the guide hole,wherein an attitude control drive source to selectively advance and retract the attitude altering member is provided within the drive unit housing, and an attitude altering operation piece to change the attitude of the distal end member by issuing an actuation command signal directly or indirectly to the attitude control drive source in response to an input manipulation is provided outside the drive source housing, and further comprising an attitude control section to control the attitude control drive source in dependence on an actuation command signal generated from the attitude altering operation piece, andwherein the attitude altering operation piece is capable of being manipulated by hands then holding the drive source housing.