JPH0448720B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention improves the operability of a so-called manual loader, in which vertical movement is performed by power and turning and horizontal movement are performed manually when a cargo is moved freely in a three-dimensional space. This invention relates to a high-speed balancer that aims to improve turning and horizontal maneuverability.

Conventional pantograph arm systems are generally heavy due to the complicated attitude control mechanism, and the drive unit and control device are integrated with the swivel base, making them extremely difficult to operate. This is the reality.

The present invention improves the above-mentioned drawbacks by using a jib arm system in which the parallel link mechanism is a lever type, and the drive section and control device are separated from the arm mechanism to perform only power transmission.

Now, to explain the configuration of this embodiment with reference to figures, FIG. 1A shows an overall view, FIG. 1B shows a BB' view of FIG. , 2 is a second arm, 3 and 3' (Fig. 2) are side plates, and 4 and 4' (Figs. 1 to B) are brackets, and the left end portion 12 of the first arm 1 is
and a predetermined position 11 near the right end (Fig. 3)
Both ends of the second arm are rotatably pivoted at predetermined positions on the side plates 3, 3' and brackets 4, 4', respectively, to form parallel links 11, 12, 13, and 14. .

Reference numerals 3 and 3' denote the side plates, in which vertical grooves 16 are formed at predetermined positions, and 15 and 15' denote vertical rollers, which are slide plates 24 and 2, which will be described next.
4' (FIG. 2) up and down along the vertical groove 16. Reference numeral 5 designates a first swivel base, whose upper end is rotatably attached to a support block 25, which will be described next, and whose lower end rotatably suspends the side plates 3, 3'. Also, 6 is the second swivel base,
The upper ends of the brackets 4, 4' are rotatably mounted, and the lower ends of the brackets 4, 4' are rotatably suspended from hanging fittings 7. Reference numeral 8 designates an operation box, which is provided with an operation lever 9 in the middle that senses minute displacements caused by the strain gauge, detects a command signal, feeds it back to the control device, and raises and lowers the cargo.

Reference numeral 25 designates the aforementioned support block, which supports the motor M and the control device C and is integrally engaged with the pole P via the pole bracket 35. 10 is a counterbalance spring that engages with a spring receiving pin 30 implanted in the side plates 3, 3';
This is to balance the weight of the parallel links and brackets 4, 4'.

Next, Fig. 2 is a side view (A-A in Fig. 1
A′ view), FIG. 3 is a sectional view taken along C-C′ in FIG. 2, and FIG. 4 is a sectional view taken along C-C′ shown in FIG. To describe the structure of the main body in detail, 25 is the aforementioned support block, 26 is a casing, and bearing 4 is
0, 41 (the first
The upper ends of the swivel base 5) and the side plates 3, 3' are fixed to determine the width. Reference numeral 32 denotes a width determining plate which determines and fixes the width of the lower end portions of the side plates 3, 3' and is rotatably engaged with the fixed block 31 via a bearing 44.

Next, 20 is a ball screw, a coupling ring 28 is fixedly integrated into the upper end, and a bearing 4 is attached.
5, 46, and is rotatably engaged with the support block 25, and its lower end is connected to the fixed block 31.
is rotatably engaged through a bearing 43. Reference numerals 23 and 23' designate slide shafts, each of which has its upper end fixed to the support block 25 and its lower end fixed to the fixed block 31.

Next, 21 is a ball nut that engages and screws on the ball screw 20, and 22 is a housing that fits and integrates with the ball nut 21 and holds the slide shafts 23, 2 in a predetermined position.
Holes 36, 36' for sliding with 3' pass through. A holder 34 rotatably supports the housing 22 via a bearing, and is fixedly integrated with slide plates 24, 24', which will be described next. Next, 24 and 24' are the slide plates mentioned above, and the vertical grooves 16 mentioned above are located at the upper and lower positions of the left end.
the vertical rollers 15,1 rolling in engagement with the vertical rollers 15,1;
5', and a guide roller 29 that rolls along the inner surface of the side plates 3, 3' is installed at the right end, and near the center there is a horizontal groove 18 with a long hole in the horizontal direction. is formed. 17 is a horizontal roller, which is rotatably disposed at the right end of the first arm 1 via a pin 19, and which
It rolls along the Next, a flange 27 is a joint fixed to the output shaft of the motor M and coupled to the coupling ring 28 to transmit rotation to the ball screw 20.

In order to explain the function of the purpose and structure described next, referring to FIG. The same thing will happen, therefore, the locus of the pivot point 12 will be a circular arc, and the pin 19 will similarly perform the aforementioned circular arc movement. a pivot point 12 at which the first arm 1 is at the upper limit position;
Pivot point 12 when first arm 1 is in horizontal position
A difference value d between the two inevitably occurs. If this phenomenon is not eliminated, it will be impossible to balance the load as a balancer, so the present invention is also configured to solve this problem, and its effect will be specifically explained in the following examples. To explain, first, when a command signal is fed back to the motor M from the operation box 8 via the operation lever 9, the output shaft of the motor M rotates, and the rotation is applied to the ball screw 20 via the flange 27 and the coupling 28. The ball nut 21 screwed onto the ball screw 20 then moves up or down. As described above, the ball nut 21 is integrated with the housing 22, the holder 34, and the slide plates 24, 24', so that the slide plates are guided by the vertical rollers 15, 1 with the slide shaft as a guide.
5', a horizontal roller 17 that moves up and down along the vertical groove of the side plate mentioned above and engages with a horizontal groove formed on the slide plate;
Since 17' rolls horizontally, the pivot point 1
1 as a fulcrum, the upper end of the first arm 1 moves up and down, that is, the parallel links 11, 12, 13 and 14 move up and down, and the cargo W moves up and down.

Next, to explain the turning action, if the already mentioned lever 9 is grasped and turned left and right, the second turning table 6 makes a small turning movement up to a predetermined angle, and the first turning table 5 moves the side plate (main body). ) rotates,
It is possible to move the cargo W to a desired position on a horizontal plane.

Consisting of the structure and action described above,
Among its many benefits, firstly, the control lever is fixed without displacement, which improves the operation interval, and the drive and control device are separated from the main body and fixed to the pole, reducing the load on the arm. In addition, compared to the conventional complicated pantograph-type attitude control mechanism, the present invention uses a parallel link arm type, which reduces the weight of the balancer, making it possible to operate it with a small amount of operating force.
Furthermore, unlike the above-mentioned pantograph type mechanism, the shape of the arm is miniaturized, so it can be used even in buildings with low ceilings, and has many advantages not found in the past.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1A is an overall front view, FIG. 1B is a side view taken along line B-B' in FIG. A' is a side view and a partial sectional view, FIG. 3 is a sectional view taken along the line C-C' in FIG. 2, and FIG. 4 is a sectional view taken along the line D-D' in FIG. 3.
FIG. 5 shows an action diagram. 1...first arm, 2...second arm, 3,
3'...Side plate, 4,4'...Bracket, 5...First swivel base, 6...Second swivel base, 7...
... Hanging bracket, 8 ... Operation box, 9 ... Operation lever, 11, 12, 13, 14 ... Pivot point,
15, 15'... Vertical roller, 16... Vertical groove,
17...Horizontal roller, 18...Horizontal groove, 20...
...Ball Screw, 21...Ball Nut, 2
2... Housing, 23, 23'... Slide shaft, 24, 24'... Slide plate, 2
5...Support block, 26...Casing, 27
...Flange, 28...Cup ring, 31...
Fixed block, 32...Width determining plate, 34...
...Holder, 36, 36'...Slide shaft hole, 40, 41, 42, 43, 44, 45, 46
...Bearing, 47...Hook, P...Pole, M...Motor, C...Control device.

Claims (1)

[Claims] 1. In a balancer that freely moves cargo in a three-dimensional space by manual operation in the X and Y directions and by power in the Z direction, on a support block 25 that is integrally fixed to the pole P, there are: A motor M and a control device C are fixed, a casing 26 is engaged with the support block 25 via bearings 40 and 41 to form a first swivel base 5, and a slide shaft is provided on the lower surface of the support block 25. 23, 23' are fixed, and the lower end of the slide shaft is fixed to a fixing block 31 rotatably supported by a width determining plate 32 via a bearing 44, and fixed to the supporting block 25. The casing 26 and the width determining plate 32 are fixed to the side plates 3, 3' in which the vertical groove 16 is formed, and are further integrated with the block 31. Next, the output shaft of the motor M is connected to the flange 27.
and the coupling ring 28, the ball screw 2
Both ends of the ball screw 20 are rotatably engaged with the support block 25 and the fixed block 31 via bearings 45, 46 and 43, respectively. Next, a ball nut 21 that is fitted and fixed to a housing 22 having slide shaft holes 36, 36' at a predetermined position is screwed onto the ball screw 20, and the housing 22 and the holder 34 are connected via a bearing 42. Rotatably engaged, vertical rollers 15, 15' at the left end and horizontal grooves 18 at predetermined positions.
The slide plates 24, 24' are fixedly attached to each other. Next, the first arm 1 and the second arm 2 are connected to the side plates 3, 3' and the brackets 4,
Parallel links 11, 1 pivoted at predetermined pivot points 11, 14, 12 and 13 of 4'
2, 13 and 14, and a horizontal roller 17 is rotatably disposed at the right end of the first arm 1.
It engages with the horizontal groove 18 and rolls. Further, a second swivel base 6 is rotatably mounted on the lower end portions of the brackets 4, 4' to rotatably support a hanging metal fitting 7, and an operating lever for commands is provided at the end of the hanging metal fitting 7. An operation box 8 with a hook 9 fixed thereon is provided, and a hook 4 is attached at the bottom end.
A light balancer characterized by mounting a 7.