JP2007245263A - Noninertial type load handling device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a noninertial balancer or noninertial type load handling device in a manner hardly having influence of inertia accompanied by moving in a horizontal plane by load on a worker, or suppressing the influence as small as possible by performing operations of directions of two axes in the horizontal plane in addition to an elevating operation of a load part by servo-controlled, preferably, by speed servo-controlled driving force (a motor output), even if the heavy load is supported on the load part and the load is moved by touching the load by the worker. <P>SOLUTION: The load handling device is provided with the load parts 5 on distal end sides of joint type arm mechanisms AM1, AM2 and AM3 including parallel link mechanisms. Elevating driving sources of the load parts 5 and moving driving sources of X and Y-axes directions in the horizontal plane are provided with servo control driving sources by servo-controlled motors, etc. The load parts 5 are moved in the elevating directions and in the horizontal plane by utilizing the servo-controlled outputs of the driving sources, and thereby an operator supporting the load parts 5 by his hand is prevented from feeling inertia due to moving of load in the horizontal plane. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  In the present invention, when a load portion (supporting portion of a load) set in an articulated arm mechanism formed in a virtual constant ratio rod using a parallelogram link is moved by expansion / contraction, elevation, and rotation of the arm mechanism The load (load) supported by the load portion provided on the distal end side arm of the arm mechanism is moved in the three-dimensional space that the load portion reaches by moving the operation using the driving force controlled by the speed servo. A non-inertia balancer type load handling device (hereinafter referred to as “the inertial balancer type”) that can be moved to an arbitrary position and that the influence of inertia due to the movement is not transmitted to the operator who supports the load part by hand during horizontal movement of the load. Also referred to as non-inertia balancer or non-inertia type load handling device).

  Conventionally, a virtual constant ratio saddle type load handling device mainly composed of a joint-type arm mechanism that forms a crane shape using a pantograph-shaped parallelogram link has been referred to as a force balancer. It is used in the direction and is widely known as a crane-type joint-type booster (also called a balancer) with a simple structure.

The balancer uses a driving force such as a motor or a cylinder to support the load acting in the direction of gravity in a suspended state in balance with the output of the arm mechanism. Straight line movement on the Y axis) and swivel movement (movement along the X axis in the horizontal plane) using the balance between the load and the arm mechanism in the shape of a top bin, The person is carrying out the horizontal movement and the turning movement while supporting the load with his / her hand.
However, if the load that is suspended and supported by the balancer and balanced in the form of the arm mechanism and the top bottle reaches 500 kg to 1000 kg as an example, if the load is moved manually by horizontal linear movement or horizontal turning movement, The problem arises that the inertia that accompanies the movement of the load in the horizontal plane cannot be ignored.

  That is, in the conventional apparatus, the loader is swung or linearly moved in a horizontal plane, and the loader's operator (operator) supports the load with his / her hand. If the load is large, the inertia of the load that accompanies turning or linear movement in the horizontal plane also increases, so there are many situations where the load cannot be stopped at the desired position, which is problematic in terms of work efficiency and safety. It is.

The above-mentioned problems are similarly observed in the following load handling device.
That is, in a load handling device having a horizontally swivel arm provided with a load portion on the distal end side of an articulated arm mechanism such as a parallel link mechanism, a motor for applying a rotational driving force to the rotating shaft of the horizontal swivel arm having the load portion There is a load handling device in which a drive source such as is provided in the vicinity of the rotating shaft and the load unit is moved in a horizontal plane using the output of the drive source. There is a similar problem in moving within.

  Therefore, in the present invention, even when a heavy load is supported on the load portion and the operator moves the load with his / her hand, the load portion is moved up and down as well as in the biaxial direction in the horizontal plane. Is performed by a driving force (motor output) that is servo-controlled, preferably speed-servo-controlled, so that there is little influence of inertia on the operator due to the movement of the load in the horizontal plane. It is an object of the present invention to provide a load handling device of a so-called inertialess balancer or a inertialess type in which the influence is suppressed as much as possible.

  The structure of the balancer of the present invention made for the purpose of solving the above problems is a load handling device provided with a load portion on the tip side of an articulated arm mechanism including a parallel link mechanism. A servo-controlled drive source such as a servo-controlled motor is provided as a moving drive source in the X and Y axis directions in a horizontal plane, and the load unit is moved in the up-and-down direction using the servo-controlled output of the drive source. By moving in the X and Y axis directions in the horizontal plane, the operator who supports the load portion by hand is made not to feel the inertia due to the movement of the load in the horizontal plane. .

  In the present invention, the arm mechanism includes a horizontally swivel arm provided with a load portion on a distal end side thereof, and a drive source such as a motor that applies a rotational driving force to the rotation shaft of the horizontal swivel arm is provided on the rotation shaft. Some are provided in the vicinity, and the load portion is moved in a horizontal plane using the output of the drive source.

  In the above-described configuration, the present invention has the above-described configuration in which the load portion is moved up and down in the Z axis, the load mechanism moves in the horizontal plane due to the expansion and contraction of the arm mechanism, and the load portion moves in the horizontal plane due to the arm mechanism turning in the X axis. And a drive source such as a motor controlled by a servo is used as the drive source for each axis. The drive source of each axis is controlled by a joystick type operation lever arranged near the load portion, which can be tilted at least in the vertical and horizontal directions and is automatically returned to the upright neutral position. By performing an operation of tilting with a fingertip, an electric signal proportional to the amount of displacement due to the tilting operation of the lever is detected, and the detected signal is controlled as a servo control signal for the drive source of each axis.

In the present invention, it is desirable to use a motor that is speed-controlled by the motor used for the drive source of each axis.
In the present invention, the length of the turning radius of the load portion (distance from the turning center to the load portion) that changes as the arm mechanism expands and contracts is detected, and the turning speed of the load portion is controlled based on the detected value. By doing so, the movement of the load part in the X-axis direction can be controlled at a constant speed, for example, even if the turning radius changes, so that the load part can be stably moved in the horizontal plane. be able to.

  Further, according to the present invention, an elevating dedicated operation lever for operating only the elevating operation is provided on the load portion beside the joystick type operating lever, and the operation of the joystick type operating lever is canceled to Since only the lifting drive source is driven and controlled by operation, the non-inertia balancer of the present invention can be used as a balancer having only a conventional lifting drive source, which is convenient.

  The present invention relates to a load handling apparatus of a type in which a load portion is provided on the distal end side of an articulated arm mechanism such as a parallel link mechanism, and servo control is performed on a lifting drive source of the load portion and a biaxial movement drive source in a horizontal plane. A non-inertia balancer type load handling device that provides a servo-controlled drive source such as a motor to be moved and moves the load portion in the up-and-down direction and in a horizontal plane using the servo-controlled output of the drive source Since it is configured and the movement of the load section in the horizontal plane is controlled by the output of the servo-controlled drive source, it enables the operator to perform cargo handling work that does not exert the inertia effect caused by the horizontal movement of the load. Therefore, it is extremely useful as a balancer-type intensifying device (load handling device) using an articulated arm mechanism.

  Next, embodiments of the balancer according to the present invention will be described with reference to the drawings. Prior to that, the accompanying drawings will be described. FIG. 1 is a side view schematically showing an example of a balancer formed mainly by an arm mechanism using a parallelogram link to which the present invention is applied, and FIG. 2 shows a parallelogram link as in FIG. FIG. 3 is a side view schematically showing another example of a balancer formed mainly using an arm mechanism used, and FIG. 3 is mainly an arm mechanism using a parallelogram link as in FIGS. Although it is a load handling apparatus, the side view of an example of the type of the load handling apparatus of the type which the arm provided with the load part turns horizontally independently, FIG. 4 schematically shows the state in which the load part of FIG. 3 linearly moves on a horizontal plane. FIG. 5 is a perspective view of a mechanism for detecting the deformation of the arm in the horizontal plane, FIG. 6 (a) is a block diagram for explaining the principle of servo speed control, and FIG. The drive source of each axis and each servo speed control in each balancer of FIG. FIG. 7 is a perspective view showing an example of a loader and an operation unit of a balancer to which the present invention is applied, and FIG. 8 is an operation unit provided in the load unit of FIG. 9 is an enlarged front view of two operation levers in the operation section of FIG. 7, and FIG. 10 is an open side view of an example of an operation mechanism disposed behind the joystick type operation lever in FIG. 11 is a view taken along the line AA in FIG. 10, and FIG. 12 is a view taken along the line BB in FIG.

  In FIG. 1, which is a first example of an embodiment of the present invention, reference numerals 1 and 2 denote a first arm and a second arm that are parallel in the horizontal direction. Here, the first arm is formed slightly longer than the second arm. . 3 is a third arm in the vertical direction pivotally attached to the tips of the first and second arms 1 and 2, and 4 is a second arm in a posture parallel to the third arm 3 at the rear end of the second arm. A short fourth arm pivotally mounted near the rear end of the arm and the rear end of the first arm. A load portion 5 to be described later is provided at the lower end of the third arm 3, thereby constituting a virtual constant ratio saddle type arm mechanism AM1 to which a parallelogram link to which the present invention is applied is applied. In FIG. 1, l is a virtual stoichiometry formed by the arm mechanism AM1.

  The load point formed at the lower end portion of the third arm 3 is provided with a load portion 5 of a load such as a hook or a gripping tool, and a box-like operation portion 6 is provided for moving the arm mechanism up and down. It is provided integrally with the part 5. On the other hand, the rear end sides of the first arm 1 and the second arm 2 are provided at the upper end of the column Po standing on the ground G or the like or the lower end of a post (not shown) suspended from the ceiling side. The bracket 9 having the drive mechanism 7 and 8 mainly composed of a servo motor can be swung up and down in the vertical plane and moved linearly in the plane. Installed as possible. The rear ends of the first arm 1 and the second arm 2 are respectively supported by the vertical guide 10 and the horizontal guide 11 and are connected to the output ends of the drive mechanisms 7 and 8, respectively. The rear end of the arm 1 is moved up and down (lifted), and the rear end of the second arm 2 is moved back and forth (horizontal movement). By the operation of the rear end portions of these arms 1 and 2, the load portion 5 of the arm mechanism AM1 moves up and down or moves back and forth (horizontal movement).

  In the arm mechanism AM1 formed as described above, a rotation drive source 12 by a servo motor is provided at a connecting portion between the bracket 9 and the support P in order to turn the arm mechanism AM1 on the support P in a horizontal plane. Yes. As a result, the range indicated by the one-dot chain line in FIG.

  2 shows a second example of the embodiment of the present invention. FIG. 2 shows an arm mechanism AM2 in a posture in which the arm mechanism AM1 of FIG. 1 is rotated 90 degrees clockwise. It is the typical block diagram comprised in the shape load handling apparatus. 2, the same reference numerals as those in FIG. 1 indicate members and parts having the same function and structure in the apparatus of FIG. 1. 2 is different from FIG. 1 in that the bracket 9 is slidably mounted on the carriage Pa.

The arm mechanism AM3 of FIG. 3, which is a third example of the embodiment of the present invention, has a different configuration from the arm mechanisms AM1 and AM2 of FIGS. 3, the same members and the same parts as those in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof is omitted.
The arm mechanism AM3 in FIG. 3 is formed by the third arm 3 as a connecting arm in which the third arm 3 in the arm mechanism AM1 in FIG. 1 forms a short block shape, and the arm 3 includes a horizontal arm 31 and a vertical arm 32. A horizontal swivel arm 33 (hereinafter also referred to as a load arm 33) provided with a load portion 5 at the lower end of the vertical arm 32 is provided.

  The rear ends of the third arm 3 and the horizontal arm 31 in FIG. 3 are coupled so that the load arm 33 can be swiveled in a horizontal plane via a vertical axis, and a motor 34 serving as a swiveling drive source in the horizontal plane is coupled to the coupling portion. It is prepared in the vicinity. As described above, the load arm 33 is also referred to as a horizontal turning arm 33.

  On the other hand, in the arm mechanism AM3 shown in FIG. 3, the rear ends of the first arm 1 and the second arm 2 are directly attached to the bracket 9 without the guides 10 and 11 shown in FIGS. . That is, 10 ′ and 11 ′ in FIG. 3 are pivot shafts for attaching the rear end portions of the arm 1 and the arm 2 to the bracket 9. In addition, the arm mechanism AM3 of FIG. 3 is connected to a suspension type lifting mechanism on the rear side of the first arm 1 in order to change the posture for lifting the arm mechanism AM3. This elevating mechanism includes a chain 71 such as a chain or a wire whose tip is coupled to the rear end side of the first arm 1, a relay sprocket 72 provided on the bracket 9, and a motor 7, and winds and rewinds the rope 71. It is formed from a hoisting drum 73 to be performed.

  Next, the operation of the arm mechanisms AM1 and AM2 in FIGS. 1 and 2 will be described. Both arm mechanisms AM1 and AM2 are swung by the swivel drive source Mx so that the entire arm mechanisms AM1 and AM2 are swung. As a result, the load section 5 is horizontally moved along the X-axis direction. Move. In the turning of the load part 5, the distance between the turning center Xo and the load part 5 (that is, the turning radius) changes in both arm mechanisms AM1 and AM2 due to the change in the expansion / contraction posture of the arm mechanism (large → small, or Therefore, assuming that the turning output is the same with the same load, the turning peripheral speed of the load unit 5, that is, the moving speed of the load unit 5 in the horizontal plane along the X axis changes. If the moving speed of the load portion 5 in the X-axis direction varies depending on the turning radius, the inertia caused by the turning movement of the load supported by the operator is also different, which is inconvenient in handling the load. Therefore, in the present invention, how the turning radius is changed (that is, whether the turning radius is increased or decreased) and the length of the radius are mechanically and electrically detected, and the turning drive source Mx is detected. Was controlled independently. This will be described next.

  That is, in the arm mechanisms AM1 and AM2, the drive mechanism 8 is operated and the rear end (see FIG. 1) of the second arm 2 or the lower end (see FIG. 2) of the first arm 1 is along the horizontal guide 11. When moved, both arm mechanisms AM1 and AM2 change their posture. That is, the load part 5 approaches or leaves the turning center Xo.

  Therefore, in the present invention, the potentiometer 13 is provided in association with the upper portion of the third arm 3 having the load portion 5 in FIGS. 1 and 2 and the pivot shaft of the distal end portion of the first arm 1 or the second arm 2. The angle formed by the first arm 1 or the second arm 2 of the third arm 3 based on the posture deformation of the arm mechanism AM1 or AM2 is detected by the potentiometer 13. In the present invention, based on the value detected by the potentiometer 13, how much the turning radius of the load section 5 has changed with respect to the reference turning radius is a numerical value indicating the length of the radius or the ratio to the reference turning radius. It was made possible to calculate.

  For example, when the angle of the pivoting posture between the third arm 3 in FIGS. 1 and 2 and the tips of the first and second arms 1 and 2 is 90 degrees as a reference, the load portion 5 is determined from the turning center Xo at this time. Is determined as a reference turning radius (fixed value). At this time, the potentiometer 13 is set to be in the neutral position.

  Next, by operating the drive source motor Mx in the Y-axis drive mechanism 8 of the arm mechanism AM1 or AM2 of FIGS. 1 and 2 to change the posture of the arm mechanism AM1 or AM2, the first arm 3 When the pivot angle with respect to the arm 1 or the second arm 2 changes, the change is detected by the potentiometer 13. The detected value obtained by the potentiometer 13 is processed with respect to the value of the reference turning radius and converted into the turning radius of the load portion 5 at the pivot angle of the third arm 3.

  On the other hand, since the data of the difference in circumferential speed (turning speed) depending on the turning radius of the load portion 5 in FIGS. 1 and 2 is known in advance, the difference in turning radius (difference with respect to the reference radius) and the circumferential speed are obtained. Based on the difference correspondence data, even if there is a difference in the turning radius of the load section 5, the motor Mx of the drive mechanism 8 is controlled so that the load section 5 has substantially the same peripheral speed, and the load section 5 is It can be moved along the axis at a substantially constant speed (by turning the arm mechanism).

  On the other hand, in the load handling device of FIG. 3, the horizontal turning arm 33 and the arm mechanism MA3 by the horizontal arm 31 and the vertical arm 32 cause the horizontal turning in opposite directions to each other, and the load portion 5 of the combination of the two horizontal turnings is used. For linear movement in the plane, a turning drive source 34 such as a motor is provided at the base portion of the horizontal arm 31 and the connecting portion of the third arm 3, and the bracket 9 is attached for horizontal turning of the arm mechanism AM3. A drive source 12 such as a motor that rotates horizontally is provided. The two drive sources 34 and 12 are driven by a handle of the operation unit 6 or the like. This point will be described later.

Next, in the arm mechanisms AM1 and AM2 in FIGS. 1 and 2, the outputs of the drive source motors Mx, My, and Mz in the drive mechanisms 7, 8, and 12 of the axes X, Y, and Z are subjected to speed servo control. The configuration of the operation unit 6 will be described with reference to FIGS.
As shown in FIGS. 7 and 9, the operation unit 6 in the load handling balancer mainly composed of the arm mechanism of FIGS. 1 and 2 is provided on the side surface of the box-shaped operation unit main body 6A and the same 6B as shown in FIGS. On the side surface of one body 6A, there is an operation handle 61 having a substantially inverted T-shape or substantially I-shape as viewed from above, and on the side surface of the other body 6B, a joystick-like operation lever 62 is provided. Is provided. The handle 61 and the lever 62 will be described in detail later. A potentiometer or the like provided inside the operation unit main bodies 6A and 6B with forward and reverse angular rotation movements or upward and downward swing movements. Of the drive mechanisms 7, 8, 12 for moving the load unit 5 in the up-and-down direction (or up and down direction) and in the horizontal direction based on the formed electric signal. The size of the output and the rotation direction of the motor are controlled. In FIG. 9, 61 a is a mounting seat for the operation handle 61, and 62 a is a mounting seat for the operation lever 62.

  In FIG. 8, the load unit 5 is provided with a posture changing mechanism Pc that changes the posture of the load W by 90 degrees (vertical to horizontal). In FIG. 8, Pc1 is a grip with a load W, and the posture of the grip itself can be changed between horizontal and vertical. Pc2 is a bracket that supports the grip Pc1, and Pc3 is a cylinder for posture deformation connected to the rear end of the grip Pc1.

  In the operation unit 6, the inside of the operation unit main body 6B provided with the joystick-shaped operation lever 62 has the configuration shown in FIGS. 10 to 12 as an example, and will be described next.

  As shown in FIG. 10, the operation lever 62 is supported by the universal bearing 20 on the back surface of the mounting seat 62a so that the spherical portion 21 provided at the intermediate portion in the longitudinal direction of the lever 62 is swingable in all directions. . In FIG. 10, 62b is a front plate of the main body 6B having a mounting seat 62a, 62c is a back plate attached to the front block 62b via a stat bolt 62d, and the operation unit main body 6B is composed of the front plate 62b and its constituent members. It is disposed between the back plates 62c.

FIG. 11 shows a state in which the neutral position holding mechanism for holding the operation lever 62 in the neutral position with the configuration immediately behind the front plate 62b is viewed from the right side of FIG. .
In FIG. 11, 22 and 23 are two substantially parallel lever bodies, and one end (the lower end and the right end in FIG. 11) has shafts 22a and 23a so that the operation lever 62 is sandwiched between the intermediate portions. Thus, the tension springs 22b and 23b are attached to the other end (the upper end and the left end in FIG. 11). And between the two lever bodies 22 and 23 in the vicinity of the pivotally attached portion, restriction pins 22c and 23c are attached, and are provided so as to restrict and hold the neutral positions of the lever bodies 22 and 23. Yes.

  With this configuration, when the operation lever 62 is operated so as to tilt it in an arbitrary direction, the intermediate portion of the lever 62 resists the tension of the springs 22b and 23b against the pair of lever bodies 22 and 23 described above. It acts on the side that expands. A one-dot chain line in FIG. 11 shows an operation example of the lever bodies 22 and 23. Since each of the two lever bodies 22 and 23 is provided with springs 22b and 23b, when the hand is released from the operation lever 62, the operation lever 62 is acted on by the springs 22b and 23b. It automatically returns to the neutral position shown. Each pair of lever bodies 22 and 23 which are parallel and opposed to each other cannot go inward of the pins 22c and 23c by the restriction pins 22c and 23c.

  The movement of the operation lever 62 is mechanically detected by the detection levers 24 and 25 having a substantially thin U shape illustrated in FIG. The detection levers 24 and 25 are arranged so as to cross each other by 90 degrees, and are attached to the inner surface side of the back plate 62c so as to be swingable by shafts 24a and 25a. Then, the bifurcated portion of the two levers 24 and 25 is connected to the tip portion of the operation lever 62 in a loosely fitted state, so that when the operation lever 62 is swung, a two-dot chain line in FIG. Swings within the illustrated range. This swinging is performed by rotating the operation shafts 24a and 25a (or the input shafts 24a and 25a) of the potentiometers 26 and 27 provided as the shafts 24a and 25a in the forward and reverse directions and depending on the tilt angle of the operation lever 62. An electrical signal is detected.

On the other hand, since the operation handle 61 is a handle for operating only the lifting and lowering of the load portion 5 in this embodiment, the shaft 61b of this handle 61 (a shaft extending perpendicularly to the handle 61 and extending inside the main body 6A) includes Among the two-axis neutral position holding mechanism and the mechanical-electrical exchange mechanism described with reference to the operation lever 62 in FIGS. 11 and 12, the mechanism for one of the axes (the horizontal lever body 23 and the detection lever in FIGS. 11 and 12). 25, and a potentiometer 27 and the like associated therewith).
Accordingly, the operation handle 61 is allowed to swing in the upper and lower directions in the figure, and when it is released, the operation handle 61 self-returns to the neutral position, and the amount of swing (angle) in the vertical direction is determined by a potentiometer (not shown). It is detected and used as a control signal for the motor Mz of the drive mechanism 7 for the upper and lower movements (Z axis) of the load portion 5 in the arm mechanism AM1 or AM2.

Next, speed servo control of the motors Mx, My, and Mz that are drive sources in the drive mechanisms 7, 8, and 12 of the X, Y, and Z axes will be described with reference to FIG.
The motors Mx to Mz of each axis are operated when an operator (worker) who attaches one hand to the load W supporting the operation handle 61 and the operation lever 62 on the load portion 5 operates with the other hand or finger. The tilt angle and the tilt direction of the handle 61 and the lever 62 are detected by a potentiometer such as the potentiometers 26 and 27, and the speed command for the motors Mx to Mz of each axis formed based on the detection signal is sent to the speed control unit 28. To enter. In the speed control unit 29, the motor My and Mz speed control signals proportional to the detection signal from the potentiometer are formed for the Y axis (horizontal linear movement by expansion and contraction of the arm mechanism) and the Z axis. Motors My and Mz are driven by a control signal output to Mz.

  Here, if the handle 61 and the lever 62 that have been tilted by hand are released from the hand (finger), the spring and the regulating pin self-reset to the neutral position, so that each motor Mx to Mz The control output from the control unit 29 becomes zero, the motors Mx and My stop, and the horizontal movement speed of the load unit 5 becomes zero, but the motor Mz is servo-locked and holds the load at that height.

  Here, the movement of the load unit 5 along the X-axis is performed by turning the arm mechanism AM1 or AM2. However, the turning radius differs depending on the position of the load unit 5 on the Y-axis, and the load unit 5 turns with the same load. Since it is inconvenient if the peripheral speed is different, in the present invention, when the turning radius of the load unit 5 is always detected based on the detection signal of the potentiometer 13 and the load unit 5 is moved along the X axis, The correction value based on the turning radius is supplied from the correction unit 30 to the speed control unit 29, and the motor Mx of the X-axis drive mechanism 12 is subjected to speed servo control.

  Thereby, even if the turning radius of the load part 5 changes every moment, the movement along the X axis by the turning of the load part 5 at the speed of the speed command that is always desired can be realized.

  In the present invention applied to the arm mechanism AM3 illustrated in FIGS. 3 to 5, the arm mechanism AM3 can be turned by the drive source 12 with respect to the column P (mounting seat P) in order to linearly move the load portion 5 in the horizontal plane. The block-shaped third arm 3 is formed at the tip of the arm mechanism AM3 so as to be pivotable by a drive source 34 around a vertical axis 34a including a connecting shaft with the third arm 3. . Therefore, the turning direction in the horizontal plane with respect to the support pillar P of the arm mechanism AM3 and the turning direction in the horizontal plane around the axis 34a of the load arm 33 are opposite to each other (clockwise direction and counterclockwise direction). 4), linear movement of the load portion 5 in the horizontal plane can be realized. FIG. 4 shows the posture change (turning) of the arm mechanism AM3 and the load arm 33 and the trajectory (straight line L) of the linear movement of the load unit 5 as viewed from above.

  When the load portion 5 provided below the vertical arm 32 in the load arm 33 is in an arbitrary vertical plane (within a movable range), the load portion 5 is linearly approached or separated from the center of the column P. For example, the following configuration may be adopted for the movement. That is, as an example, the distance from the turning center of the support P in the arm mechanism AM3 to the turning center (the center of the vertical axis 34a) of the horizontal turning arm 33 (load arm 33), and the center of the vertical axis 34a to the center of the load portion 5 By forming the distance up to the same distance, the arm mechanism AM3, the horizontal swivel arm 33, and the straight line connecting the center of the load portion 5 and the center of the support column P always form an isosceles triangle. If the angular velocity at which AM3 turns in the clockwise direction around the column P and the angular velocity at which the horizontal turning arm 33 turns counterclockwise around the axis 34a on this arm mechanism AM3 are set equal, The load portion 5 at the lower end of the vertical arm 32 moves on a straight line L connecting the original position (start point) and the center of the column P.

  The above description is an example in which the load portion 5 moves linearly in the horizontal plane from the start point toward the support column P, but the arm mechanism AM3 is rotated counterclockwise on the support column P, and the horizontal swing arm 33 is rotated. Is rotated clockwise, the load portion 5 moves linearly in a direction away from the column P.

The example described above is a typical example for facilitating the understanding of the linear movement of the load portion 5 in the horizontal plane, but in the present invention, the length and the turning speed of the arm mechanism AM3 and the horizontal turning arm 33 are set. However, the present invention is not limited to the above example. Further, the linear movement of the load unit 5 is not limited to the straight line connecting the start point (the position of the load unit 5) and the column P. The load unit 5 may be linearly moved from the start point to a point different from the column P. In any case, the movement in which the load unit 5 draws a linear locus in the horizontal plane is realized by controlling the turning direction and the turning speed of the arm mechanism AM3 and the horizontal turning arm 33.
Further, the distance of the load portion 5 from the support P is the potentiometer 13 provided at the connecting portion of the arm mechanism AM3 and the load arm 33 (FIG. 5) regardless of the posture of the arm mechanism AM3 and the load arm 33 viewed from the plane. Output) (see reference) can be obtained by processing, and depending on the obtained distance (turning radius around the support column P), the moving speed of the load unit 5 with respect to the X axis (by turning around the support column P). (Moving speed) can be controlled to a desired speed.

Next, regarding the movement of the load unit 5 with respect to the X axis (when the load unit 5 is turned around the support column P), the time for moving a certain distance and the force required for the movement will be described.
Assuming that a 100 kg load is moved 1 m per second, the average speed is 1 m / s. If this speed is achieved when the load reaches the target point (1 m) from the rest point (0 m), the acceleration is 1 m / s ² . The force for obtaining the acceleration is 100 N (Newton) because N = 100 (kg) × 1 m / s ² from the equation of motion.

  Therefore, when moving a load of 100 kg for 1 m in 4 seconds, it takes 4 times longer than the above example, so the necessary force is 6.25 N, and it can be seen that the force of 1/16 of the above example is sufficient. For reference, Table 1 shows a list of forces (N) required to move various loads by 1 m at various times (for example, 0.1 to 5 seconds).

  It can be seen from this table that for a load of the same weight, the required force can be significantly reduced if the travel time is lengthened, and even if the load is large, the required force can be reduced by increasing the travel time. That is. Therefore, in the present invention, depending on the maximum load that can be supported by the load unit 5, the moving speed of the load unit 5 on the X-axis is determined according to the rating of the X-axis drive source motor Mx and the content of the speed servo control. It can be arbitrarily set in advance.

  By this method, even for a large load (for example, 500kg to 1000kg) for a general balancer-type load handling device, control is performed with a late travel time (speed) that does not cause an overload of the drive source motor. As a result, the inertia caused by the horizontal movement of the load can be supported and absorbed by the rigidity of the motor Mx and the arm mechanisms AM1 to AM3. It is possible to realize movement in the horizontal plane without making you feel.

  Next, an example of operation control of the turning drive source (motor) 12 of the arm mechanism AM3 and the turning drive source (motor) 34 of the horizontal turning arm 33 will be described.

  In the arm mechanism AM3 of FIG. 3, the turning on the support P of the arm mechanism AM3 is taken as the X axis, and the horizontal turning on the vertical axis 34a of the horizontal turning arm 33 (load arm 33) is taken as the Y axis.

  In the joystick-shaped lever 62 of the operation unit 6 shown in FIG. 9, when the lever 62 is tilted in the left-right direction in FIG. 9, it becomes a forward / backward (forward / reverse turn) command in the X-axis direction. It is assumed that tilting in the up-and-down direction of 9 is an advancing / retreating (forward / reverse turning) command in the Y-axis direction. Therefore, the advance / retreat command means a command to turn the arm mechanism AM3 left and right on the support P for the X axis, and a load arm 33 (horizontal turning arm 33) to turn left and right on the shaft 34a for the Y axis. Means a directive.

  When the operation of tilting the joystick-shaped tech lever 62 left and right with the fingertip of the operator at the operation unit 6 and the operation of tilting up and down are performed simultaneously or separately, two mechanical-electrical converters incorporated in the operation unit 6 Specifically, the electric signals are converted into respective electric signals by the potentiometers 26 and 27, and the horizontal turning drive source motor 34 in the horizontal turning arm 33 is rotated forward or reverse based on the two electric signals, and at the same time, the arm mechanism AM3 Since the horizontal turning drive source 12 is rotated reversely or forwardly, the horizontal turning arm 33 is turned clockwise or the opposite direction in the horizontal plane, and at the same time the arm mechanism AM3 is turned counterclockwise or the opposite direction to perform both movements. Thus, the load portion 5 of the horizontal swivel arm 33 can be moved along the straight line L in the horizontal plane (see FIG. 4).

  Even when the arm mechanism AM3 is moved up and down, the horizontal revolving arm 33 and the arm mechanism AM3 itself in the arm mechanism AM3 that is moved up and down by operating the lever 62 are moved horizontally. In this case, it can be rotated in the clockwise direction and the opposite direction, or in the counterclockwise direction and the opposite direction.

  As described above, in the present invention, in the load handling balancer, the output of the drive source is used to move each axis to save labor in the operation of the balancer, and the drive source motor of each axis is controlled by speed servo control. At the same time, the movement speed due to the turning due to the change of the turning radius during use is prevented from changing. Therefore, since the conventional balancer was only a lifting work booster in load handling, it uses the driving force of the motor in all three dimensions, and each motor is driven and controlled by speed servo control. The degree of labor saving is extremely high, and the inertia generated by the horizontal movement of the load is absorbed by the motor output and the arm mechanism rigidity, so that it provides a so-called inertial balancer that hardly affects the operator. it can.

Further, in the present invention, in a load handling apparatus having an arm mechanism that applies a parallel link and a horizontal swivel arm that is directly connected to the tip of the arm mechanism, the horizontal swivel arm and the arm mechanism itself are simultaneously placed in the opposite directions in the horizontal plane. Since the load portion provided at the lower end of the horizontal swivel arm can be moved while drawing a straight locus in the horizontal plane, the horizontal movement of the load portion in this type of intensifier device, In particular, it becomes possible to linearly move between the current position of the load section and the support column at the shortest distance. In addition, since both the arm mechanism and the horizontal swivel arm are swung in the horizontal plane by the driving force of the motor, by using a motor whose speed is controlled by the drive source, the arm mechanism and the horizontal swivel arm can be moved in the horizontal plane. There is also an advantage that the inertia of the load due to turning in the machine can be absorbed by the machine so that the inertia is not transmitted to the operator's hand.
Therefore, the non-inertia balancer type load handling device of the present invention is extremely useful in industry.

The side view which showed an example of the balancer mainly formed of the arm mechanism using the parallelogram link to which the present invention is applied. The side view which showed the other example of the balancer mainly formed by the arm mechanism using a parallelogram link like FIG. 1 with the typical structure. Similar to FIGS. 1 and 2, the load handling device mainly includes an arm mechanism using a parallelogram link, but a side view of an example of a load handling device of a type in which an arm provided with a load portion independently turns horizontally. . The top view which showed typically the state which the load part of FIG. 3 linearly moves on a horizontal surface. The perspective view of the mechanism in which the attitude | position in the horizontal surface of an arm detects a deformation | transformation. (A) is a block diagram for explaining the principle of servo speed control, (b) is a speed control system block illustrating the relationship between the drive source of each axis and each servo speed control system in each balancer of FIGS. Figure. The perspective view which shows an example of the load part and operation part of a balancer to which this invention is applied. The perspective view of an example of the operation part provided in the load part of FIG. The enlarged front view of the two operation levers in the operation part of FIG. The open side view of an example of the operation mechanism arrange | positioned behind the joystick type operation lever in FIG. FIG. 11 is a view taken along line AA in FIG. 10. FIG. 11 is a view taken along line BB in FIG. 10.

Explanation of symbols

AM1, AM2, AM3 Arm mechanism to which the present invention is applied 1 First arm 2 Second arm 3 Third arm 4 Fourth arm 5 Load section 6 Operation section 7, 8 Y-axis and Z-axis drive mechanism 9 Bracket
10 Vertical guide
11 Horizontal guide
12 X-axis drive mechanism
13, 26, 27 Potentiometer

Claims (7)

  In a load handling device provided with a load portion on the distal end side of an articulated arm mechanism including a parallel link mechanism, a motor that is servo-controlled by an elevating drive source of the load portion and a moving drive source in X and Y axes in a horizontal plane An operation for supporting the load portion by hand by moving the load portion in the up-and-down direction and moving in a horizontal plane using the servo-controlled output of the drive source by providing a servo-controlled drive source such as Non-inertia type load handling device, which prevents the user from feeling the inertia due to the movement of the load in the horizontal plane.   An articulated arm mechanism including a parallel link mechanism has a horizontally swivel arm provided with a load portion on the tip side thereof, and rotates a drive source such as a motor that applies a rotational driving force to the rotation shaft of the horizontal swivel arm. The non-inertia type load handling device according to claim 1, wherein the load handling device is provided in the vicinity of a shaft and moves the load portion in a horizontal plane by using an output of the drive source.   The load part is moved up and down in the Z-axis, the arm mechanism is expanded and contracted in the horizontal plane by the Y-axis, and the entire arm mechanism is swiveled in the horizontal plane or the horizontal swivel arm having the load part is swung in the horizontal plane. 3. A non-inertia type load handling apparatus according to claim 1 or 2, wherein a motor whose speed is controlled by at least an X-axis and a Y-axis drive source is used as a drive source.   The control of the drive source of each axis is achieved by using a fingertip with a joystick type operation lever that is arranged near the load section and can be tilted at least in the vertical and horizontal directions and is automatically returned to the upright neutral position. The electrical signal proportional to the displacement amount by the tilting operation of the lever is detected by performing the tilting operation, and the detection signal is controlled as a servo control signal for the driving source of each axis. Any inertia type load handling device.   The non-inertia type load handling apparatus according to any one of claims 1 to 4, wherein a motor that is speed-servo controlled is used as a drive source for each axis.   The length of the turning radius of the load portion (distance from the turning center to the load portion) that changes as the arm mechanism expands and contracts is detected, and the turning speed of the load portion in the horizontal plane is controlled based on the detected value. The non-inertia type load handling device according to any one of claims 1 to 5. Next to the joystick type control lever, there is a dedicated lift control lever to operate only the lifting and lowering of the load part. The operation of the joystick type control lever is released and only the lift drive source is operated by operating the lift dedicated control lever. The non-inertia type load handling device according to any one of claims 1 to 6, wherein drive control is performed.

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