JPH0445309B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a manipulator in the field of basic medicine that allows glass electrodes and the like to be remotely controlled by hydraulic pressure.

"Conventional technology" In recent years, glass electrodes have a diameter of 1 to 3 mmφ and a length of 50 mm.
It is a needle-shaped glass tube of ~60 mm, into which an electrolyte such as potassium chloride KCl or sodium chloride NaCl is injected, and a tube with a tip diameter on the order of 0.1μ was developed. It is already known that various types of recordings of single cells have become possible by injecting them into cells.

By the way, when inserting a glass electrode with a tip of 0.1μ into a single cell, the electrode must be positioned correctly so as not to destroy the cell or the electrode, and it must be moved minutely and without wobbling or meandering. .

The present applicant has submitted a patent application filed in 1983 that satisfies this request.
A manipulator such as No. 27478 has already been proposed. The manipulator is a hydraulic type, and when the X-axis linear drive mechanism is operated, the glass electrodes etc. attached to the operation table are moved in the vertical direction (hereinafter referred to as the X-axis direction), and the Y-axis linear drive mechanism is also operated. Then, the glass electrode moves in the lateral direction (hereinafter referred to as the Y-axis direction), and if the lever is further turned to operate the Z-axis drive mechanism,
Glass electrodes and the like move in the height direction (hereinafter referred to as the Z-axis direction). Moreover, when the lever is tilted in any direction, the glass electrode etc. are moved by the X-Y axis in-plane drive mechanism in accordance with the direction and amount of tilt of the lever.

However, the X-Y axis in-plane drive mechanism uses the X-axis operation console and the Y-axis operation console as they are among the operation consoles. That is, the X-Y axis in-plane drive mechanism consists of an X-axis drive section and a Y-axis drive section, and the X-axis drive section and the Y-axis drive section include a cylinder body in which a diaphragm is installed, and the cylinder body. The slide base of the X-axis drive unit is provided with a piston that presses the diaphragm and is movable with respect to the cylinder body, and the slide base of the
The cylinder body of the X-axis drive section is fixed to the slide base of the Y-axis drive section so as to move in the axial direction. For this reason, the number of parts is large and the size is large. Moreover, the distance from the fulcrum on which the lever is tiltably supported to the slide base of the Y-axis drive unit is long, and when the slide base of the Y-axis drive unit is moved by tilting the lever, a component force is generated in a direction other than the direction in which the lever is tilted. In particular, the slide table of the X-axis drive unit moved due to this component force, and the glass electrode etc. moved in unexpected directions, making it difficult to move them accurately.

On the other hand, in the conventional X-axis linear drive mechanism and Y-axis linear drive mechanism, the diaphragm 1 is screwed to one end of the actuating rod 2, as shown in FIG.
A spring 6 is interposed between an actuating plate 3 at the other end of the actuating rod 2 and a ring-shaped spring receiver 5 fixed to the cylinder 4. When the operating head 8 is rotated with respect to the casing 7, the piston rod 9 fixed to the operating head 8 pushes the operating plate 3 through the steel ball 12 against the elastic bias of the spring 6. Accordingly, the diaphragm 1 is pressed by the actuating rod 2, and the oil in the diaphragm chamber 10 is sent through the hydraulic hose 11 to the operating table to which a glass electrode or the like is attached. Therefore, not only the actuating rod 2, the actuating plate 3, and the spring 6 but also many other parts are required, the number of parts is extremely large, and the assembly is complicated.
The distance from piston rod 9 to diaphragm 1 is long, and from piston rod 9 to actuating rod 2,
I have heard that shaking occurs due to movement in the axial direction. In particular, this wobbling is caused by the holder 13 to which the piston rod 9 is screwed against the operating head 8.
Because it was a press-fit type, the dimensional accuracy was poor, leading to large wobbles, making it expensive and extremely inefficient to assemble. Moreover, diaphragm 1
Since it is screwed to the actuating rod 2,
It had poor durability, with cracks appearing at screwed locations, and was prone to slight expansion and contraction distortion due to hydraulic pressure, making it difficult to adjust the position of the glass electrode in micron units.

Furthermore, the operation console consists of an X-axis operation console, a Y-axis operation console, and a Z-axis operation console, and since each of the X-axis operation console, Y-axis operation console, and Z-axis operation console are fixed to each other, , it is not possible to freely combine the X-axis, Y-axis, and Z-axis operation consoles, and it is not possible to switch them in the opposite direction depending on the movement that requires position adjustment. It was extremely inconvenient.

"Problems to be Solved by the Invention" In view of the above circumstances, the present invention not only requires a small number of parts and can be formed extremely compactly, but also allows for highly accurate position adjustment of glass electrodes, etc. The purpose of the present invention is to provide a manipulator for glass electrodes, etc., which is easy to assemble.

"Means to be Solved by the Invention" In order to achieve the above object, the present invention has an X-axis moving section,
An operation table that moves glass electrodes, etc. in each axis direction using a Y-axis moving unit and a Z-axis moving unit, an X-axis linear drive mechanism,
In a manipulator such as a glass electrode, which is composed of a Y-axis linear drive mechanism, a Z-axis drive mechanism, and a drive section that communicates each corresponding axis moving section of the operation console with a hydraulic hose and drives the operation console using hydraulic pressure, A concave groove is formed on the lower surface of the fixed base of the axial in-plane drive mechanism, into which the hydraulic hoses that communicate the Y-axis linear drive mechanism and the Z-axis drive mechanism with each corresponding axis moving part of the operation console are collectively inserted. The X-axis slide stand of the X-axis linear drive mechanism or the Y-axis slide stand of the Y-axis linear drive mechanism is slidably arranged on the fixed base of the Y-axis in-plane drive mechanism, and one slide stand is arranged on the fixed base. The present invention is characterized by a manipulator for glass electrodes, etc., in which the other slide table is slidably disposed in vertical orthogonal positions.

"Embodiment" Hereinafter, one embodiment of a manipulator such as a glass electrode according to the present invention will be described based on the drawings. In FIG. 1, 21 is an X-
a Y-axis in-plane drive mechanism, 23 a lever for operating the X-Y-axis in-plane drive mechanism 21, and 24 a Z-axis having a diaphragm 25 attached within the lever 23;
an axis drive mechanism; 26, an X-axis linear drive mechanism mounted on the table 22; 27, the table 22;
This is a Y-axis linear drive mechanism mounted on the top. The X-Y axis in-plane drive mechanism 21 includes a table 22
It has a fixed base 28 firmly screwed onto the top. As shown in FIGS. 1 to 3, the fixed base 28 has a groove 32 formed on its lower surface through which hydraulic hoses 29 to 31 (to be described later) are inserted, and guide grooves 33, 33 formed on both sides thereof. ing. Retainers 35 of steel balls 34, which will be described later, are fitted respectively. Further, a piston rod 36 is screwed onto the other surface of one of the fixed bases 28.
The piston rod 36 can be selectively fixed to either the end surface of the fixed base 28 to which it is attached for right-handed or left-handed use. The fixed base 28
The Y-axis slide table 37 is movable in the Y-axis direction.
is installed. The Y-axis slide table 37 has a concave groove 38 formed on its lower surface into which the upper part of the fixed base 28 fits, and guide grooves 39, 39 on the inner surface of the concave groove 38.
are recessed, and the retainers 40 of the steel balls 34 are fitted into the guide grooves 39, 39, respectively. A steel ball 34 is interposed between each retainer 35 and 40, and the Y-axis slide table 37
is adapted to be guided movably in the Y-axis direction with respect to the fixed base 28. Further, a ring-shaped bracket 42 is fixed to the end face of the Y-axis slide table 37 via a spacer 41, and a hydraulic device 43 is attached to the bracket 42. In the hydraulic system 43, a ring-shaped cylinder 44 is screwed to a bracket 42, and when a cap 46 is attached to the cylinder 44 with a nut 45, a diaphragm 47 is held and fixed between the cylinder 44 and the cap. . A fastener 48 is provided on the end surface of the cap 46 to connect it to the Y-axis linear drive mechanism 27.
A mouth member 50 for attaching the hydraulic hose 49 is formed using the opening. Further, a mouth member 51 is screwed onto the circumferential surface of the cap 46, and the hydraulic hose 30 can be attached to the mouth member 51 using a fastener 52. A groove 53 is formed on the upper surface of the Y-axis slide table 37 in a direction perpendicular to the groove 38 . Y-axis slide table 3
7, the grooves 38 and 53 that intersect with each other communicate with each other, so that the thickness of the Y-axis slide table 37 can be made as thin as possible. Concave groove 5
Guide grooves 54, 54 are formed on the inner surface of the ball 3, and a retainer 56 of a steel ball 55, which will be described later, is fitted into each guide groove 54, 54. Y
A piston rod 57 is mounted on the end surface of the shaft slide base 38.
is screwed on. An X-axis slide stand 58 is mounted in the groove 53 so as to be movable in the X-axis direction. The X-axis slide table 58 has guide grooves 59, 59 formed on both sides.
9, 59 contains a retainer 60 for the steel ball 55
are fitted, and a steel ball 55 is interposed between each retainer 56, 60, so that the X-axis slide table 58 is movably guided in the X-axis direction. A spacer 61 is attached to the end surface of the X-axis slide table 58.
A ring-shaped bracket 62 is fixedly installed through the ring-shaped bracket 62, and a hydraulic device 64 having the same structure as the hydraulic device 43 and having a diaphragm 63 is attached to the bracket 62. The X-axis linear drive mechanism 26 is connected to the mouth member 65 of the hydraulic device 64 by a hydraulic hose 66, as shown in FIG. The mouth member 67 of the hydraulic device 64 is the hydraulic hose 29
are now connected. A column 68 is erected on the upper surface of the X-axis slide table 58.
A small ball 69 is fixed to the upper end of 8. small ball 69
is fitted into a fitting hole 71 of a large ball 70 provided at the lower end of the lever 23, as shown in FIG. The lever 23 is supported by a drive range adjustment mechanism 73 at the upper end of a casing 72 that houses the X-Y axis in-plane drive mechanism 21 . In the drive range adjustment mechanism 73, when the adjustment ring 74 is turned, the gap length l between the ball center of the small ball 69 and the ball center of the large ball 70 changes, and the gap length l between the ball center of the small ball 69 and the ball center of the large ball 70 changes. The movement range of the glass electrode, which will be described later, within the plane of the X-Y axes can be adjusted.
A Z-axis drive mechanism 24 equipped with a diaphragm 25 is installed inside the lever 23, and the Z-axis drive mechanism 24 is connected to an operation console to be described later by a hydraulic hose 31. The fixed base 28, the Y-axis slide table 37 and the X-axis slide table 58, and each hydraulic device 43,
The main parts of the table 64 are made of brass, and when screwing the fixed base 28 to the table 22, screws with a large diameter are used to increase the strength.

The X-axis linear drive mechanism 26 includes a hydraulic hose 66,
29, and the Y-axis linear drive mechanism 27 is connected via hydraulic hoses 49 and 30 to a predetermined location on the operating console, which will be described later. Hydraulic devices 64 and 43 are interposed between the hydraulic hose 66 and the hydraulic hose 29 and between the hydraulic hose 49 and the hydraulic hose 30, respectively.
3, they are formed so as to communicate with each other. The X-axis linear drive mechanism 26 and the Y-axis linear drive mechanism 27 are completely the same mechanism, and are shown in FIGS. 4 and 5.
The X-axis linear drive mechanism 26 will be explained based on the drawings. The X-axis linear drive mechanism 26 has a dish-shaped casing 75 and a dish-shaped operating head 76.
A through hole 78 is formed in the axial center of the casing 75,
In addition, a screw 81 into which a nut 80 is screwed is engraved on the rear end protrusion 79. The nut 80 is reinforced with a mesh material, and a rubber diaphragm 82 that does not expand or contract unnecessarily is sandwiched therebetween. Cap material 8
4 to the casing 75. The cap member 84 has a diaphragm chamber inside thereof, and a mouth member 85 to which the hydraulic hose 66 is connected is provided protruding from its end surface. Hydraulic hose 66 is adapted to be attached to mouth member 85 by fasteners similar to those described above. Cap material 84
A valve device 86 is provided on the circumferential surface of the valve. Valve device 8
6 is a seat plate 87 made of synthetic resin material such as Teflon.
A screw 88 is screwed in with the intervening.
A female screw member 89 is fixed to the front end side of the through hole 78 . The operating head 76 is attached to the female screw member 89.
A screw shaft 90 protruding from the inner surface of the front wall is screwed together. The screw shaft 90 is connected to the operating head 76
A nut material 92 is further threaded into the female thread 91 of the holder, and the nut material 92 is used to fix the operating head 76 such as a dull nut. A fitting hole 93 is formed in the screw shaft 90, and after a steel ball 94 is inserted into the fitting hole 93, a piston rod 95 is loosely inserted. A piston 96 is formed at the tip of the piston rod 95 and can press the diaphragm 82 freely.

As shown in FIG.
8 in the X-axis direction;
It consists of a Y-axis console 100 that moves in the axial direction and a Z-axis console 101 that moves in the Z-axis direction. Each operation console 99-101 is equipped with cylinder members 102-104 each having a diaphragm therein, and a piston rod that presses the diaphragm of the cylinder members 102-104.
, and slide tables 105 to 107 mounted so as to be movable in the respective directions of the X-axis, Y-axis, and Z-axis. The X-axis cylinder material 102 is attached to the Y-axis slide table 106, and the Y-axis cylinder material 103 is attached to the Z-axis slide table 10 with an intermediate support member 108 interposed.
7 is removably connected by dovetails 109 and 110. A mounting tool 111 is removably attached to the X-axis slide table 105 via a dovetail joint 112. The attachment 111 is used to attach the glass electrode 98 and other items via the attachment 113. A mounting tool 114 is screwed to the Z-axis cylinder member 104, and a rod 115 such as a stand can be attached to the mounting tool 114. Each dovetail joint 109, 110 consists of a dovetail groove 116, a dovetail 116, and a locking mechanism 118, as shown in FIGS. 6 and 7. The dovetails 116 are screwed to the fixture 111, the X-axis cylinder member 102, and the intermediate support member 108, respectively. The other end of the intermediate support member 108 is screwed to the bottom surface of the Y-axis cylinder member 103. Each dovetail 116 has the same configuration as the X-axis cylinder material 1 shown in FIG.
02, a part of which is attached to the base 119 of the X-axis cylinder material 102.
A suitable gap t ₁ is provided between the two, and a lock screw 118 is inserted into the dovetail 116 where this gap t ₁ is formed.
The proximal end of is pivotally attached. The lock screw 118 is
Screwed into the base 119 of the X-axis cylinder material 102,
A bar handle 120 is fixed to the tip of the lock screw 118 protruding from the base 119. On the other hand, the dovetail groove 117
Axis slide stand 106 and Z-axis slide stand 107
It is formed by a pair of left and right projecting walls 117a. The X-axis cylinder material 102 is a hydraulic hose 29
However, the Y-axis cylinder material 103 is the hydraulic hose 30
However, the hydraulic hoses 31 are connected to the Z-axis cylinder members 104, respectively. Each cylinder material 102~
The hydraulic systems connected to 104 are separate and independent systems, and each system is sealed with oil to prevent air bubbles from entering.

"Function" Therefore, when first adjusting the position of the glass electrode 98 in the Z-axis direction, by turning the lever 23, oil is sent from the Z-axis drive mechanism 24 into the Z-axis cylinder material 104 via the hydraulic hose 31. Otherwise, oil returns from inside the Z-axis cylinder material 104 to the Z-axis drive mechanism 24 via the hydraulic hose 31, and as a result, the Z-axis slide table 107 moves in the Z-axis direction with respect to the Z-axis cylinder material 104, that is, the glass The electrode 98 moves in the Z-axis direction by an amount corresponding to the amount of rotation of the lever 23. Next, when the operating head 76 of the X-axis linear drive mechanism 26 is rotated relative to the casing 75, the screw shaft 90 screws through the female thread 89, and the piston rod 95 loosely inserted into the insertion hole 93 of the screw shaft 90, Depending on the direction in which the operating head 76 is rotated, it moves forward or backward within the through hole 78. Since the piston rod 95 is in point contact with the operating head 76 via the steel ball 94, the rotational force of the operating head 76 is not transmitted and the piston rod 95 simply moves forward or backward. When the piston rod 95 moves forward or backward, the piston 96 pushes against the diaphragm 82 or reduces the amount of pressure on the diaphragm 82. When the piston 96 presses the diaphragm 82, oil is sent from the diaphragm chamber within the cap material 84 to the X-axis cylinder material 102. When the piston 96 reduces the amount of pressure on the diaphragm 82, the hydraulic system from the diaphragm 82 to the X-axis cylinder material 102 is sealed with oil at a predetermined pressure. The oil returns to. As a result, the X-axis slide table 105 moves in the X-axis direction with respect to the X-axis cylinder member 102 according to the rotational direction and amount of rotation of the operating head 76, and as a result, the glass electrode 98 moves in the X-axis direction. On the other hand, glass electrode 9
The position adjustment in the Y-axis direction of 8 is performed using the Y-axis linear drive mechanism 2.
When the operating head 7 is turned, the Y-axis slide base 106 is moved to the Y-axis cylinder member 1 by hydraulic pressure in the same manner as described above.
03, by moving in the Y-axis direction. In addition, when adjusting the position of the glass electrode 98 freely within the X-Y axis plane, the glass electrode 98
When the lever 23 is tilted in the direction in which the lever 8 is to be moved, the X-axis slide table 58 to the Y-axis slide table 37 are moved in accordance with the direction and amount of tilt of the lever 23. For example, if the lever 23 is tilted in the X-axis direction, the
The shaft slide base 58 moves. Y-axis slide table 3
7 does not have a component in the Y-axis direction in the direction in which the lever 23 is tilted, so it does not move with respect to the fixed base 28. The X-axis slide stand 58 is the Y-axis slide stand 3
7, the diaphragm 63 of the hydraulic device 64 is pressed by the piston rod 57, or the amount of pressure is reduced, and the increase or decrease in the amount of pressure on the diaphragm 63 is transmitted to the X-axis cylinder member 102 via the hydraulic hose 29. The X-axis slide table 58 moves in the X-axis direction with respect to the X-axis cylinder member 102, and therefore the glass electrode 98 moves in the X-axis direction. When the lever 23 is tilted in the Y-axis direction, the Y-axis slide table 37 moves in the Y-axis direction with respect to the fixed base 28, and accordingly, the diaphragm 43 of the hydraulic device 43 is pressed by the piston rod 36, or both are pressed. is reduced, and this pressing amount is the Y-axis cylinder material 103
is transmitted to the Y-axis cylinder material 103.
The shaft slide table 106 moves in the Y-axis direction, and therefore the glass electrode 98 moves in the Y-axis direction. From the above, depending on the tilting direction of the lever 23, the X-axis slide 58 moves in the X-axis direction relative to the Y-axis slide base 37, and at the same time, the Y-axis slide base 37 moves in the Y-axis direction relative to the fixed base 28. The glass electrode 98 can move freely within the plane defined by the X-Y axes.

On the other hand, the operation console 97 may be
The axis operation table 99, the Y-axis operation table 100 to the Z-axis operation table 101 can be disconnected from each other, and each can be freely combined or used alone. When using them in combination, first attach the dovetail groove 117 of any of the operation tables 99 to 101 to the other operation table 9.
9 to 101 or the attachment 111 or the dovetail 116 of the intermediate support member 108, then turn the locking screw 118 with the bar handle 120, thereby forcibly bending the dovetail 116 having the gap _t1 , and Dovetail 116 on projecting wall 117a
The dovetail 116 is fixed in the dovetail groove 117 by being brought into close contact with the inner surface of the dovetail groove 117 and tightened.

The hydraulic device 43, 64 and the piston rod 3
The mounting positions of 6 and 57 can be easily changed using screws on the other surfaces of the fixed base 28, the X-axis slide 58, and the Y-axis slide 37, respectively, and the operator operates the lever 23 with his right hand. It can be freely switched between the right-hand use when operating the lever 23 with the left hand, and the left-hand use when operating the lever 23 with the left hand. Not only the X-Y axis in-plane drive mechanism 21 but also the X-axis linear drive mechanism 2
6 and the Y-axis linear drive mechanism 27 have extremely simple configurations. In the X-axis linear drive mechanism 26 and the Y-axis linear drive mechanism 27, the diaphragm 52 is not screwed to the piston 59, so when pressed by the piston 59, the diaphragm 52 may bulge at the screw-fastened location as in the conventional case. No distortion occurs, which improves operational accuracy, and since the number of parts is small, it is not only easy to assemble, but also extremely compact. Moreover, the screw shaft 90 is the operating head 76.
Since it is screwed on and firmly fixed with a nut material 92, it is not only easy to assemble, but also improves dimensional accuracy compared to the conventional press-fitting method. Furthermore, since the piston rod 95 is loosely inserted into the insertion hole 93 of the screw shaft 90 and the number of parts is small, there is no chance of the piston rod 95 wobbling in directions other than the axial direction. In addition, since the valve device 86 is provided, it is easy to inject oil and remove air bubbles. The X-axis linear drive mechanism 26 and Y-axis linear drive mechanism 27 as described above are small and equipped with a valve device 86, so when used in other types of devices as in the past,
There is no need to change part of the design, and it can be applied as is, which is extremely convenient from the standpoint of maintenance and inspection.

"Effects of the Invention" As described above, according to the manipulator such as a glass electrode according to the present invention, the number of parts is small, it can be formed compactly, and the operation accuracy can be improved. Since the distance between the slide base and the Y-axis slide base, especially the Y-axis slide base, is extremely shortened, force in a direction other than the lever tilting direction acts on the X-axis slide base and the Y-axis slide base, causing the X-axis slide This greatly reduces the possibility of accidents caused by the table or the Y-axis slide table moving in an unexpected direction, and not only is the lever tilting operation smooth, but the lever tilting operation moves the glass electrode on the operation table a predetermined amount in the desired direction. You can move with .

[Brief explanation of drawings]

FIG. 1 shows an embodiment of a manipulator such as a glass electrode according to the present invention, and FIG. 2 is a partially cutaway sectional view of each drive mechanism of the manipulator, and FIG.
An exploded perspective view of the Y-axis in-plane drive mechanism, FIG.
4 is an exploded perspective view of the X-axis linear drive mechanism, FIG. 5 is a longitudinal sectional view of the X-axis linear drive mechanism, and FIG. 6 is a perspective view of the operation console. 7
The figure shows a side view of a dovetail joint, and FIG. 8 is a longitudinal sectional view of a conventional X-axis linear drive mechanism. 21...X-Y axis in-plane drive mechanism, 23...Lever, 24...Z-axis drive mechanism, 26...X-axis linear drive mechanism, 27...Y-axis linear drive mechanism, 28...
Fixed base, 37... Y-axis slide base, 43, 64
...Hydraulic system, 58...X-axis slide stand, 75...
...Casing, 76...Operation head, 82...Diaphragm, 90...Screw shaft, 93...Insertion hole,
95... Piston, 96... Piston rod, 9
7... Operating table, 98... Glass electrode, 99... X-axis operating table, 100... Y-axis operating table, 101... Z-axis operating table, 109, 110, 112... Dovetail joint, 118... Lock mechanism.

Claims (1)

[Claims] 1. An operation table that moves glass electrodes, etc. in each axis direction using an X-axis moving section, a Y-axis moving section, and a Z-axis moving section;
A manipulator such as a glass electrode, which is composed of an axis linear drive mechanism, a Y-axis linear drive mechanism, a Z-axis drive mechanism, and a drive section that communicates each corresponding axis moving section of the operation console with a hydraulic hose to drive the operation console using hydraulic pressure. In this case, a concave groove is provided on the lower surface of the fixed base of the X-Y axis in-plane drive mechanism, into which the hydraulic hoses that communicate the Y-axis linear drive mechanism and the Z-axis drive mechanism with each corresponding axis moving part of the operation console are collectively inserted. At the same time, the X-axis slide stand of the X-axis linear drive mechanism or the Y-axis slide stand of the Y-axis linear drive mechanism is slidably arranged on the fixed base of the X-Y axis in-plane drive mechanism, and the A manipulator for glass electrodes, etc., characterized in that one slide table is slidably disposed on the other slide table in vertical orthogonal positions. 2 The X-axis linear drive mechanism and the Y-axis in the drive section
The shaft linear drive mechanism installs a diaphragm in a casing, screws an operating head into the casing, forms a fitting hole in the threaded shaft of the operating head, and inserts a piston rod equipped with a piston that presses the diaphragm into the fitting hole. A manipulator for glass electrodes and the like according to claim 1, characterized in that the glass electrodes and the like are fitted together. 3. The operation console consists of an X-axis operation console, a Y-axis operation console, and a Z-axis operation console for moving glass electrodes, etc. in the vertical, horizontal, and height directions, and the X-axis operation console, Y-axis operation console, and Z-axis operation console 2. A manipulator for glass electrodes and the like according to claim 1, wherein the electrodes and the electrodes can be freely connected to each other by a dovetail with a locking mechanism.