JP2008155338A - Work assisting device and composite pantograph mechanism - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a work assisting device with a simple structure and high versatility. <P>SOLUTION: The work assisting device A1 is provided with: a support base 1; a Z-axis driving mechanism 2 expanding and contracting in the Z-axis direction relative to the support base 1; an oscillating drive mechanism 3, the base end of which is connected to the Z-axis driving mechanism 2 and the front end of which is oscillated along the X-axis, Y-axis directions relative to this base end; an operating member 4 connected to the front end and operable in the XYZ directions; an operating physical force detecting means 5 individually detecting the operating physical force of the operating member 4 in the XYZ directions; and a control means controlling the Z-axis driving mechanism and the oscillating drive mechanism 3, based on information from the operating physical force detecting means 5 so that they assist the movement of the operating member 4 in the operating direction. The oscillating drive mechanism 3 is composed of a composite pantograph mechanism consisting of: a first pantograph mechanism enabling the front end to be oscillated along the X-axis relative to the base end; and a second pantograph mechanism enabling the front end to be oscillated along the Y-axis relative to the base end. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a work assisting device and a composite pantograph mechanism that support movement in an operation direction based on an operator's operating force and can be used to assist the worker.

  In order to reduce the labor burden on the worker, there is known a work assistance device that assists the worker by supporting the weight of the work object and supporting movement in the operation direction. As such a work auxiliary device, for example, an operation force by an operator is detected by a force sensor, and an assist force is generated based on the detection information, so that a work object is positioned at a desired position in a predetermined three-dimensional space. (For example, refer patent document 1).

  In the work assisting device disclosed in Patent Document 1, a moving unit that is slidable independently in the three XYZ directions using a driving source such as a servomotor as a driving mechanism is configured, and provided in this moving unit. The obtained operation member is moved to a desired position in a predetermined three-dimensional space. More specifically, the predetermined three-dimensional space is formed by a gate-shaped frame in which a plurality of rod-shaped members functioning as columns and beams are assembled, and the moving unit in the X-axis direction and the Y-axis direction is formed. Regarding the movement, the X-direction rod and the Y-direction rod supported by the rod-shaped member are individually moved by the XY table mechanism that can move along the Y-axis and the X-axis. Made by. These movements in the three-axis directions are controlled based on operation force detection information from the force sensor. According to such a configuration, for example, it is possible to perform work such as holding and transporting a relatively heavy load (work object) with the operation member in the predetermined three-dimensional space.

  However, although such a work assisting device is suitable for transporting heavy objects, since the entire configuration of the device including the frame is large, the introduction cost of the device increases and the installation space also increases. Further, the above-described conventional work auxiliary device has a large-scale device configuration, so that it is not easy to relocate and lacks versatility.

JP 2003-252600 A

  The present invention has been conceived under such circumstances, and is versatile that can quickly move a work object while suppressing the introduction cost by simplifying the structure. It is an object of the present invention to provide a high work assist device and a composite pantograph mechanism suitable for constituting a part of such work assist device.

  In order to solve the above problems, the present invention employs the following technical means.

  The work auxiliary device provided by the first aspect of the present invention includes a support base, a Z-axis drive mechanism that can be expanded and contracted in the Z-axis direction with respect to the support base, and an expansion / contraction end portion of the Z-axis drive mechanism. A base end portion connected to the base end portion, the tip end portion being swingable along the X-axis direction and the Y-axis direction, and a tip end portion of the swing drive mechanism. An operation member that can be gripped and operated in an XYZ direction by an operator, an operation force detection unit that is disposed in the vicinity of the operation member and individually detects an operation force of the operation member in the XYZ direction, and the operation force detection And a control means for controlling the Z-axis drive mechanism and / or the swing drive mechanism so as to support movement of the operation member in the operation direction based on operation force detection information from the means. And the swing drive mechanism is located at the base end. A combination of the first pantograph mechanism in which the distal end portion can swing along the X axis and the second pantograph mechanism in which the distal end portion can swing along the Y axis with respect to the base end portion. It is characterized by comprising a pantograph mechanism.

  In the work auxiliary device having such a configuration, the swing drive mechanism responsible for the horizontal movement of the operation member is a composite pantograph mechanism (first and second pantographs) that can swing along the X axis and the Y axis. The drive mechanism is adopted. Thus, according to the swing drive mechanism configured by the composite pantograph mechanism, it is not necessary to configure a gate-type frame as compared with the conventional configuration employing the XY table mechanism for the horizontal movement of the operation member. Therefore, it is possible to simplify the structure of the entire work auxiliary device. Further, since the apparatus can be easily moved as compared with the structure in which the portal frame is assembled, the versatility is high.

  In a preferred embodiment of the first aspect of the present invention, the swing drive mechanism includes a base member coupled to the telescopic end portion of the Z-axis drive mechanism, and a Y-axis direction with respect to the base member. A pair of oscillating shafts set to be spaced apart from each other at the same length and extending in the X-axis direction, and each oscillating shaft is one side, and each of the two oscillating shafts is rotatably connected to both ends of each oscillating shaft A pair of parallelograms comprising two swing arms of the same length, and both ends pivotably connected to the tips of the two swing arms, and a movable shaft that is parallel to and has the same length as each of the swing shafts. A movable member that rotatably connects the movable shafts of the pair of parallelogram links and holds the distance between the movable shafts equal to the distance between the pair of swinging shafts, The pair of parallelogram links constitute the first pantograph mechanism, and the base member It said pair of parallelogram links and said movable member constituting the second pantograph mechanism.

  According to such a configuration, as the composite pantograph mechanism that is responsible for the horizontal movement of the operation member, the pair of parallelogram links configured to be interlocked with each other is the first that swings along the X axis. Both the pantograph mechanism and the second pantograph mechanism that swings along the Y-axis are main components. That is, in the first pantograph mechanism, all the swinging arms constituting the pair of parallelogram links are synchronized along the X axis via the movable member with respect to the swinging axis extending along the X axis direction. By swinging, the movable shaft that is parallel to the swing shaft and the movable member that is pivotally connected to both ends of the movable shaft swing along the X axis while maintaining a horizontal posture. To do. On the other hand, in the second pantograph mechanism, all the swinging arms rotate around the swinging shaft, so that the movable member swings along the Y axis while maintaining the horizontal posture. Therefore, focusing on the movement of the movable member relative to the base member, the movable member is centered on the base member generated by the first pantograph mechanism and the base member generated by the second pantograph mechanism. The rotational movement along the Y-axis is combined, and it moves along a spherical surface centering on the base member while maintaining the horizontal posture. According to such a composite pantograph mechanism including the first and second pantograph mechanisms, the movable member can be arranged at a desired position in the XY direction. In this way, by adopting a unique configuration including a pair of interlocking parallelogram links, a parallelogram link is also configured for the operation member connected to the movable member that functions as the tip of the swing drive mechanism. By a simple operation such as swinging the swinging arm, it can be arranged at a desired position in the XY direction.

  The work assisting device provided by the second aspect of the present invention includes a support base, a Z-axis drive mechanism that can expand and contract in the Z-axis direction with respect to the support base, and an expansion / contraction end portion of the Z-axis drive mechanism. The base end is connected to the base end and the tip is swingable along the X-axis direction with respect to the base end. An operation member operable in the XYZ directions, an operation force detecting means that is disposed in the vicinity of the operation member and individually detects an operation force of the operation member in the XZ direction, and an operation from the operation force detection means Control means for controlling the Z-axis drive mechanism and / or the swing drive mechanism to support movement of the operation member in the operation direction based on force detection information, The oscillating drive mechanism is configured such that the distal end part is Along the X-axis is constituted by a swingable pantograph mechanism, the above Z-axis driving mechanism and the swing drive mechanism is characterized in that it is rotatable relative.

  In the work auxiliary device having such a configuration, a pantograph mechanism capable of swinging along the X axis is employed as the swing drive mechanism responsible for the horizontal movement of the operation member. The swing drive mechanism and the Z-axis drive mechanism can be rotated relative to each other. Thereby, the operation member connected to the front-end | tip part of a rocking | fluctuation drive mechanism can be arrange | positioned in the desired position in an XY direction. Thus, according to the swing drive mechanism configured by the pantograph mechanism and rotatable with respect to the Z-axis drive mechanism, the operation member is moved in the horizontal direction as compared with the conventional configuration employing the XY table mechanism. Therefore, it is not necessary to configure a gate-type frame, and the structure of the entire work auxiliary device can be simplified. Further, since the apparatus can be easily moved as compared with the structure in which the portal frame is assembled, the versatility is high.

  In a preferred embodiment of the second aspect of the present invention, the swing drive mechanism includes a base member coupled to the telescopic end portion of the Z-axis drive mechanism and a Y-axis direction with respect to the base member. A pair of fixed arms that are spaced apart from each other and are fixed to extend in the X-axis direction, and two fixed lengths that are connected to both ends of each fixed arm so that each fixed arm is rotatable. A pair of parallelogram links, both ends of which are rotatably connected to the tip of each of the two swing arms, and a movable arm that is parallel to and has the same length as each of the fixed arms, Each movable arm of the pair of parallelogram links is connected, and a movable member that holds the distance between each movable arm equal to the distance between the pair of fixed arms, and the pair of parallelogram links is Configure the pantograph mechanism .

  According to such a configuration, a pair of parallelogram links configured to work together is a main component of the pantograph mechanism responsible for the horizontal movement of the operation member. That is, in the pantograph mechanism, all the swinging arms constituting the pair of parallelogram links swing synchronously along the X axis via the movable member with respect to the fixed arm extending along the X axis direction. By doing so, the movable arm parallel to the fixed arm and the movable member having both ends connected to the movable arm swing along the X axis while maintaining the horizontal posture. On the other hand, since the pantograph mechanism and the Z-axis drive mechanism are connected so as to be relatively rotatable, the movable member rotates around the Z-axis while maintaining a horizontal posture. Therefore, paying attention to the operation of the movable member with respect to the base member, the movable member has a base member generated by a rotation operation along the X axis around the base member generated by the pantograph mechanism and a relative rotation of the pantograph mechanism with respect to the Z axis drive mechanism. The rotational movement around the Z axis that passes through is combined, and moves along a spherical surface centered on the base member while maintaining the horizontal posture. In this way, by adopting a unique configuration including a pair of interlocking parallelogram links, a parallelogram link is also configured for the operation member connected to the movable member that functions as the tip of the swing drive mechanism. By a simple operation such as swinging the swinging arm, it can be arranged at a desired position in the XY direction.

  The work assist device provided by the third aspect of the present invention includes a swing drive mechanism in which a distal end portion can swing along the X-axis direction and the Y-axis direction with respect to a base end portion, and the swing drive mechanism. An expansion / contraction drive mechanism for extending / contracting the distance between the base end portion and the distal end portion, and an operation member connected to the distal end portion of the swing drive mechanism and gripped by an operator and operated in the XYZ directions Based on the operation force detection information provided from the operation force detection means, the operation force detection means that is arranged in the vicinity of the operation member and individually detects the operation force in the XYZ directions of the operation member, and And / or a control means for controlling the swing drive mechanism so as to assist the movement of the operation member in the operation direction, wherein the telescopic drive mechanism has one end portion which is the swing drive. One end connected to the base end of the mechanism Is connected to the distal end portion of the swing drive mechanism, and the swing drive mechanism includes a first pantograph mechanism that allows the distal end portion to swing along the X axis with respect to the base end portion; The composite pantograph mechanism is configured by a composite pantograph mechanism with a second pantograph mechanism in which the distal end portion can swing along the Y axis with respect to the proximal end portion. The composite pantograph mechanism includes the proximal end portion and the distal end portion. It is characterized in that the distance between the parts can be expanded and contracted.

  In the work auxiliary device having such a configuration, the swing drive mechanism responsible for the horizontal movement of the operation member is a composite pantograph mechanism (first and second pantographs) that can swing along the X axis and the Y axis. The drive mechanism is adopted. Thus, according to the swing drive mechanism configured by the composite pantograph mechanism, it is not necessary to configure a gate-type frame as compared with the conventional configuration employing the XY table mechanism for the horizontal movement of the operation member. Therefore, it is possible to simplify the structure of the entire work auxiliary device. Further, since the apparatus can be easily moved as compared with the structure in which the portal frame is assembled, the versatility is high.

  In addition, in the work assistance device having the above-described configuration, the telescopic drive mechanism can be disposed in the occupied space of the swing drive mechanism. For this reason, according to the said structure, it becomes possible to reduce the occupation space of the part (oscillation drive mechanism and expansion-contraction drive mechanism) which bears the movement to the XYZ direction of an operation member, and the work auxiliary | assistance apparatus whole can be made compact. It is suitable for planning.

  In a preferred embodiment of the third aspect of the present invention, the swing drive mechanism includes a base member to which the one end of the telescopic drive mechanism is coupled, and a fixed distance in the Y-axis direction with respect to the base member. A pair of oscillating shafts set apart from each other and having the same length and extending in the X-axis direction, and two oscillating shafts each having one oscillating shaft as one side and rotatably connected to both ends of each oscillating shaft A pair of parallel arms comprising a swingable arm that can be expanded and contracted in the direction and a movable shaft that is pivotally connected at both ends to the tip of each of the two swingable arms and that is parallel to and has the same length as each swinging shaft. The quadrilateral link and the movable shafts of the pair of parallelogram links are rotatably connected, and the distance between the movable shafts is maintained equal to the distance between the pair of swinging shafts. A movable member connected to the other end, and the base member and the upper The one end of the telescopic drive mechanism, and the movable member and the other end of the telescopic drive mechanism are connected to each other so as to be capable of relative swinging, and the pair of parallelogram links are the first pantograph. The base member, the pair of parallelogram links, and the movable member constitute the second pantograph mechanism.

  According to such a configuration, as the composite pantograph mechanism that is responsible for the horizontal movement of the operation member, the pair of parallelogram links configured to be interlocked with each other is the first that swings along the X axis. Both the pantograph mechanism and the second pantograph mechanism that swings along the Y-axis are main components. That is, in the first pantograph mechanism, all the swinging arms constituting the pair of parallelogram links are synchronized along the X axis via the movable member with respect to the swinging axis extending along the X axis direction. By swinging, the movable shaft that is parallel to the swing shaft and the movable member that is pivotally connected to both ends of the movable shaft swing along the X axis while maintaining a horizontal posture. To do. On the other hand, in the second pantograph mechanism, all the swinging arms rotate around the swinging shaft, so that the movable member swings along the Y axis while maintaining the horizontal posture. Therefore, focusing on the movement of the movable member relative to the base member, the movable member is centered on the base member generated by the first pantograph mechanism and the base member generated by the second pantograph mechanism. The rotational movement along the Y-axis is combined, and it moves along a spherical surface centering on the base member while maintaining the horizontal posture. Therefore, according to the composite pantograph mechanism including such first and second pantograph mechanisms, it can be arranged at a desired position in the XY direction in plan view. By adopting a unique configuration including a pair of parallelogram links that interlock in this way, a parallelogram link is also configured for the operation member connected to the movable member that functions as the tip of the swing drive mechanism. By a simple operation of swinging the swing arm, the swing arm can be arranged at a desired position in the XY direction.

  The work assisting device provided by the fourth aspect of the present invention has a support base and a base end connected to the support base, and the tip end rocks along the X-axis direction with respect to the base end. A movable swing drive mechanism, a telescopic drive mechanism for expanding and contracting a distance between a base end portion and a distal end portion of the swing drive mechanism, and a work connected to the distal end portion of the swing drive mechanism. An operation member that can be gripped and operated in the XYZ direction, an operation force detection unit that is disposed in proximity to the operation member and individually detects an operation force of the operation member in the XZ direction, and the operation force detection unit And a control means for controlling the expansion / contraction drive mechanism and / or the swing drive mechanism to support movement of the operation member in the operation direction based on the operation force detection information from The telescopic drive mechanism has one end swinging The other end portion is connected to the distal end portion of the swing driving mechanism, and the distal end portion is connected to the distal end portion of the swing driving mechanism. The pantograph mechanism is configured to be swingable along the X axis. The pantograph mechanism is configured such that a distance between the base end portion and the tip end portion can be expanded and contracted. The base end portion is characterized by being capable of relative rotation about the Z axis.

  In the work auxiliary device having such a configuration, a pantograph mechanism capable of swinging along the X axis is employed as the swing drive mechanism responsible for the horizontal movement of the operation member. Further, the base end portion of the swing drive mechanism and the support base are capable of relative rotation. Thereby, the operation member connected to the front-end | tip part of a rocking | fluctuation drive mechanism can be arrange | positioned in the desired position in an XY direction. As described above, according to the swing drive mechanism configured by the pantograph mechanism and rotatable with respect to the support base, the operation member is moved in the horizontal direction as compared with the conventional configuration employing the XY table mechanism. There is no need to form a mold frame, and the structure of the entire work auxiliary device can be simplified. Further, since the apparatus can be easily moved as compared with the structure in which the portal frame is assembled, the versatility is high.

  In addition, in the work assistance device having the above-described configuration, the telescopic drive mechanism can be disposed in the occupied space of the swing drive mechanism. For this reason, according to the said structure, it becomes possible to reduce the occupation space of the part (oscillation drive mechanism and expansion-contraction drive mechanism) which bears the movement to the XYZ direction of an operation member, and the work auxiliary | assistance apparatus whole can be made compact. It is suitable for planning.

  In a preferred embodiment of the fourth aspect of the present invention, the swing drive mechanism includes a base member to which the one end of the telescopic drive mechanism is connected, and a fixed distance in the Y-axis direction with respect to the base member. A pair of fixed arms that are spaced apart and have the same length and are set to extend in the X-axis direction, and each fixed arm extends on one side and expands and contracts in two longitudinal directions that are pivotally connected to both ends of each fixed arm. A pair of parallelogram links each having a movable arm and a movable arm having both ends pivotably connected to the tip of each of the two rocking arms and parallel to each of the fixed arms. The movable arms of the pair of parallelogram links are connected, the distance between the movable arms is kept equal to the distance between the pair of fixed arms, and the other end of the telescopic drive mechanism is connected. And materials The base member and the one end of the telescopic drive mechanism, and the movable member and the other end of the telescopic drive mechanism are connected to each other so as to be capable of relative swinging, and the pair of parallelogram links. Constitutes the pantograph mechanism.

  According to such a configuration, a pair of parallelogram links configured to work together is a main component of the pantograph mechanism responsible for the horizontal movement of the operation member. That is, in the pantograph mechanism, all the swinging arms constituting the pair of parallelogram links swing synchronously along the X axis via the movable member with respect to the fixed arm extending along the X axis direction. By doing so, the movable arm parallel to the fixed arm and the movable member having both ends connected to the movable arm swing along the X axis while maintaining the horizontal posture. On the other hand, since the pantograph mechanism and the support base are connected so as to be relatively rotatable about the Z axis, the movable member rotates about the Z axis while maintaining a horizontal posture. Accordingly, when focusing on the movement of the movable member relative to the base member, the movable member moves through the base member caused by the rotational movement along the X axis around the base member generated by the pantograph mechanism and the relative rotation of the pantograph mechanism relative to the support base. The rotation around the axis is combined, and it moves along a spherical surface centering on the base member while maintaining the horizontal posture. In this way, by adopting a unique configuration including a pair of interlocking parallelogram links, a parallelogram link is also configured for the operation member connected to the movable member that functions as the tip of the swing drive mechanism. By a simple operation such as swinging the swinging arm, it can be arranged at a desired position in the XY direction.

  In a preferred embodiment of the third or fourth aspect of the present invention, the base member and the one end of the telescopic drive mechanism, and the movable member and the other end of the telescopic drive mechanism are balls, respectively. It is connected through a joint.

  According to such a configuration, the connection state in which the base member or the movable member and the telescopic drive mechanism can be relatively swung is achieved by a simple structure.

  In a preferred embodiment of the first or third aspect of the present invention, the swing drive mechanism includes first and second drive sources for individually driving the first and second pantograph mechanisms. The first pantograph mechanism is configured such that one of the swing arms is rotated around the support shaft with a connecting portion at one end thereof as a support shaft by a driving force from the first drive source. In addition, the second pantograph mechanism is configured such that a swing arm connected to one end of the swing shaft is rotated about the swing shaft by a driving force from the second drive source. It is configured.

  According to such a configuration, the first and second pantograph mechanisms can be appropriately operated while simplifying the structure.

  In a preferred embodiment of the first or third aspect of the present invention, the transmission of driving force from the first driving source to the first pantograph mechanism is a pulley integrally provided on the support shaft. And via a belt wound around this pulley.

  According to such a configuration, even when the pair of parallelogram links as a whole is inclined with respect to the vertical direction by the operation of the second pantograph mechanism and the support shaft is inclined with respect to the horizontal direction accordingly, the support is supported. The above inclination can be absorbed by the bending of the belt wound around the pulley provided on the shaft. That is, even when the support shaft is inclined as described above, the driving force is properly transmitted from the first drive source to the support shaft via the belt.

  In a preferred embodiment of the second or fourth aspect of the present invention, the swing drive mechanism includes a drive source for driving the pantograph mechanism, and the pantograph mechanism is driven by a driving force from the drive source. Thus, one of the swing arms is configured to be rotated around the support shaft with a connecting portion at one end thereof as a support shaft.

  According to such a configuration, the pantograph mechanism can be appropriately operated while simplifying the structure.

  In a preferred embodiment, the operation member includes a coupling portion connected to the distal end portion of the swing drive mechanism and a holding portion for holding a work object, and the holding portion includes the coupling portion. It is connected to the part so that it can be twisted. In this case, it is preferable that the holding portion is connected to the coupling portion so as to be rotatable around the Z axis and an arbitrary axis in the XY plane.

  According to such a configuration, the operator can appropriately change the posture of the holding portion of the operation member at hand. Such a configuration is suitable when an operation member that supports a posture change, such as a welding torch or a paint spray gun, is to be supported as an object to be originally possessed by the operator.

  In a preferred embodiment of the first or third aspect of the present invention, the Z-axis drive mechanism is provided near the one end in the Z-axis direction and near the other end in the Z-axis direction. And a drive motor for driving the ball screw mechanism.

  In a preferred embodiment of the second or fourth aspect of the present invention, the expansion / contraction drive mechanism is provided near the one end in the expansion / contraction direction and the other end in the expansion / contraction direction, and the ball A drive motor for driving the screw mechanism.

  In a preferred embodiment of the first or third aspect of the present invention, the swing drive mechanism includes an intermediate arm whose both ends are rotatably connected to the central portion of the two swing arms. Each intermediate arm is rotatably connected, and further includes an intermediate member that holds the distance between each intermediate arm equal to the distance between the pair of swinging axes.

  In a preferred embodiment of the second or fourth aspect of the present invention, the swing drive mechanism includes an intermediate arm whose both ends are rotatably connected to the central portion of each of the two swing arms. The intermediate arm is further connected, and further includes an intermediate member that holds the distance between the intermediate arms equal to the distance between the pair of fixed arms.

  According to such a configuration, the inconvenience that the pair of parallelogram links are unduly twisted is prevented, which is preferable in appropriately operating the pantograph mechanism.

  The composite pantograph mechanism provided by the fifth aspect of the present invention includes a base member and a pair of rockers set so as to be spaced apart from each other in the Y-axis direction and extend in the X-axis direction by the same length. A moving shaft, two swinging arms of the same length, each having a swinging shaft as one side, and rotatably connected to both ends of each swinging shaft, and the tips of the two swinging arms Both ends are rotatably connected, and a pair of parallelogram links formed of a movable shaft that is parallel and the same length as each of the swing shafts, and each movable shaft of the pair of parallelogram links is rotatable. And a movable member that is connected and holds the distance between the movable shafts equal to the distance between the pair of swinging shafts, and is configured by the pair of parallelogram links, and the movable member with respect to the base member A first pantograph mechanism capable of swinging along the X axis, The second pantograph mechanism is constituted by a member, the pair of parallelogram links, and the movable member, and the movable member can swing along the Y axis with respect to the base member. . The composite pantograph mechanism having such a configuration can have both functions of the composite pantograph mechanism in the work assisting device according to the first or third aspect of the present invention.

  Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the drawings.

  Hereinafter, a preferred embodiment of a work assistance device according to the present invention will be specifically described with reference to the drawings.

  1 to 4 show a work auxiliary device according to a first embodiment of the present invention. As shown in FIG. 1, the work auxiliary device A <b> 1 according to the first embodiment is connected to a support base 1, a Z-axis drive mechanism 2 connected to the support base 1, and the Z-axis drive mechanism 2. A swing drive mechanism 3, an operation member 4 connected to the swing drive mechanism 3, a force sensor 5 as an operation force detection means, and a controller (not shown) as a control means. It has a function of supporting the weight of an object and assisting the worker by driving in the moving direction based on the operator's operating force. Work auxiliary | assistant apparatus A1 of this embodiment shows the example suitable for using it for assisting a welding operation | work, As a work target object, the cable for the electric and gas supply connected to a welding torch and this welding torch is mentioned, for example. . In the following description, two directions orthogonal to each other in the horizontal direction are defined as the X axis and the Y axis, and the vertical direction is defined as the Z axis.

  The support base 1 is a part that is fixed to a wall surface of a building, and in the present embodiment, the support base 1 is configured to be fixed to a ceiling surface so that other elements of the work auxiliary device A1 can be suspended.

  As shown in FIG. 2, the Z-axis drive mechanism 2 is configured by a telescopic pipe incorporating a ball screw mechanism, and the entire length thereof can be expanded and contracted in the Z-axis direction within a predetermined range. Specifically, the telescopic pipe includes an outer tube 21 connected to the support base 1 and an inner tube 22 inserted into the outer tube 21, and a motor 23 is fixed to the inner upper end of the outer tube 21. Has been. Key grooves 22a and 21a along the axial direction are formed on the outer periphery of the inner tube 22 and the inner periphery of the outer tube 21, respectively, and a key 24 straddling both of these key grooves 22a and 21a is attached. . The key 24 is fitted and fixed to the key groove 22a and loosely fitted to the key groove 21a. Thereby, the inner tube 22 is not relatively rotatable with respect to the outer tube 21 and is relatively movable in the axial direction. The ball screw mechanism includes a male screw shaft 25 that is connected to the output shaft of the motor 23 and that is disposed in the vertical direction and rotates, and a nut member 26 that is fixed to the inner periphery of the inner tube 22. The male screw shaft 25 is rotated in the forward and reverse directions by the drive of the motor 23, and the inner tube 22 is moved up and down by rotating the male screw shaft 25 in this way.

  As clearly shown in FIG. 3, the swing drive mechanism 3 has a form extending in the vertical direction as a whole, and the distal end portion (lower end portion in the figure) is set to X with respect to the base end portion (upper end portion in the figure). For rocking along the axis and the Y-axis. The swing drive mechanism 3 includes a base member 31, a movable member 32, an intermediate member 33, and a pair of parallelogram links 34 supported by these members 31, 32, 33. The base member 31 includes a rectangular flat plate portion 311 having predetermined dimensions in the X-axis direction and the Y-axis direction, and a pair of cylindrical portions fixed along the X-axis direction at both ends of the flat plate portion 311 in the Y-axis direction. 312. The base member 31 also corresponds to the base end portion referred to in the present invention, and is connected to the lower end portion of the inner tube 22. The movable member 32 and the intermediate member 33 have the same configuration as that of the base member 31, and have flat plate portions 321 and 331 and a pair of cylindrical portions 322 and 332, respectively.

  Each parallelogram link 34 has a swing shaft 341 extending in the X-axis direction, two swing arms 342, a movable shaft 343, and an intermediate arm 344. The swing shaft 341 is inserted into the cylindrical portion 312 of the base member 31, and at least the inserted portion has a columnar shape. The swinging shaft 341 is not movable in the X-axis direction with respect to the cylindrical portion 312. It can be rotated around the X axis. The two swing arms 342 have the same length, and one end of each of the swing arms 342 is connected to both ends of the swing shaft 341 so as to be rotatable along the X axis. The movable shaft 343 is rotatably connected at both ends to the other ends of the two swing arms 342. The movable shaft 343 is also inserted into the cylindrical portion 322 of the movable member 32, and at least the inserted portion has a columnar shape. The movable shaft 343 cannot move in the X-axis direction with respect to the cylindrical portion 322, and It can be rotated around the X axis. Both ends of the intermediate arm 344 are connected to a central portion of the two swing arms 342 so as to be rotatable. The intermediate arm 344 is also inserted into the cylindrical portion 332 of the intermediate member 33, and at least the inserted portion has a columnar shape. The intermediate arm 344 cannot move in the X-axis direction with respect to the cylindrical portion 332, and It can be rotated around the X axis.

  A drive shaft 345 is inserted into a connecting portion between the swing shaft 341 and the swing arm 342 (the left side in FIG. 3), and a pulley 346 is integrally provided at one end of the drive shaft 345. As shown in FIG. 4, a key groove 342a is formed along the rotation axis direction on the inner periphery of the connecting portion of the swing arm 342, and a key groove 345a along the axial direction is formed on the outer periphery of the drive shaft 345. A key 347 that fits in both of these key grooves 342a and 345a is attached. A bearing 348 is interposed between the swing shaft 341 and the drive shaft 345. As a result, the drive shaft 345 and the swinging arm 342 cannot rotate relative to each other, while the drive shaft 345 and the swinging shaft 341 can rotate relative to each other.

  A pulley 349 is integrally provided at a portion near the right end of the swing shaft 341 constituting the parallelogram link 34 on the back side in FIG.

  The pair of parallelogram links 34 configured as described above constitutes a first pantograph mechanism. In the first pantograph mechanism, when the drive shaft 345 is rotated, the swing arm 342 on the left side in FIG. 3 rotates around the drive shaft 345 along the X axis, and a pair of parallelogram links. Since 34 is connected via the base member 31, the movable member 32, and the intermediate member 33, as the drive shaft 345 rotates, all the swing arms 342 are synchronized with each other along the X axis. Will swing. By such an operation of the pair of parallelogram links 34, the movable member 32 swings along the X axis while maintaining the horizontal posture. Here, the locus of the swinging motion of the movable member 32 is such that the center of the movable member 32 follows an arc around the center of the base member 31.

  The base member 31, the movable member 32, the intermediate member 33, and the pair of parallelogram links 34 configured as described above constitute a second pantograph mechanism. In the second pantograph mechanism, when the back-side swing shaft 341 in FIG. 3 is rotated, the swing arms 342 connected to both ends of the swing shaft 341 rotate around the swing shaft 341. In addition, since the pair of parallelogram links 34 are connected via the base member 31, the movable member 32, and the intermediate member 33, all the swinging movements are performed in accordance with the pivoting operation of the swinging arm 342. The arm 342 oscillates along the Y axis in synchronization. By such an operation of the pair of parallelogram links 34, the movable member 32 swings along the Y axis while maintaining a horizontal posture. Here, the locus of the swinging motion of the movable member 32 is such that the center of the movable member 32 follows an arc around the center of the base member 31.

  The base member 31 is provided with motors 35 and 36 for individually driving the first pantograph mechanism and the second pantograph mechanism. A pulley 351 is provided on the output shaft of the motor 35, and a belt 37 is wound around the pulley 351 and the pulley 346 of the drive shaft 345. A pulley 361 is provided on the output shaft of the motor 36, and a belt 38 is wound around the pulley 361 and the pulley 349 of the swing shaft 341. The motor 35 and the motor 36 correspond to an example of a first drive source and a second drive source in the present invention.

  The operation member 4 is for an operator to hold and operate in any XYZ direction, and is connected to the movable member 32 of the swing drive mechanism 3.

  As shown in FIG. 1, the operation member 4 includes a coupling portion 41 connected to the movable member 32 of the swing drive mechanism 3, a holding portion 42 for holding a work object, a coupling portion 41, and a holding portion. And a joint portion 43 that connects the portions 42. The joint portion 43 is connected to the coupling portion 41 via a bearing (not shown) so as to be relatively rotatable, and the holding portion 42 is connected to the joint portion 43 so as to be rotatable about a horizontal axis. The holding part 42 is also a part that functions as a handle for the operator to directly grip. Thereby, the holding | maintenance part 42 is connected with respect to the coupling | bond part 41 through the joint part 43 so that rotation around the Z-axis and the arbitrary axes in an XY plane is possible. In addition, the coupling | bond part 41 and the holding | maintenance part 42 can also be connected via a universal joint etc. so that twisting is possible.

  In the present embodiment, for example, a welding torch S as a work object is attached to the holding portion 42 by screw means or the like. The specific configuration of the operation member 4 can be changed as appropriate if the work object held by the operation member 4 is different. For example, the holding portion 42 includes a pair of slidable pieces that can be opened and closed. You may employ | adopt the structure which clamps a work target object.

  The force sensor 5 is configured by, for example, a force sensor that can individually detect the magnitude of the operation force applied in the three axial directions of the XYZ axes. The force sensor 5 is built in, for example, the coupling portion 41 of the operation member 4 and can individually detect the operation force of the operation member 4 in the XYZ axial directions.

  The controller is for controlling the driving of the Z-axis drive mechanism 2 and the swing drive mechanism 3, and specifically, based on a detection signal (operation force detection information) from the force sensor 5, the operation member 4. The driving power supplied to the motor 23 of the Z-axis drive mechanism 2 and the motors 35 and 36 of the swing drive mechanism 3 is controlled so as to support the movement in the operation direction.

The drive control of the motor 23 and the motors 35 and 36 by the controller can be performed, for example, by the following procedure with reference to FIG. First, the center of the base member 31 of the swing drive mechanism 3 is set as the reference point P1, and the center of the movable member 32 is set as the reference point P2. When an operation force is applied to the operation member 4, the operation force is detected by the force sensor 5, and a predetermined calculation is executed based on a detection signal from the force sensor 5, so that the reference point P <b> 1 is obtained after a unit time has elapsed. A position to be reached is defined as an origin O, and coordinates C (x, y, z) to be reached by the reference point P2 are determined. When the coordinate C is determined, since tan θ = x / z is established for the swing angle θ (the swing angle in the XZ plane) of the movable member 32 along the X-axis direction, θ = tan ⁻¹ (x / Z). The swing angle φ (the swing angle in the XY plane) along the Y-axis direction of the movable member 32 is expressed by φ = tan ⁻¹ (y / z) because tan φ = y / z is established. Can do. If the distance between the origin O and the coordinates C is L, this distance L corresponds to the distance between the center of the base member 31 and the center of the movable member 32 and is therefore always constant. Therefore, the Z coordinate (z) of the coordinate C can be expressed as z = (L ² −x ² −y ² ) ^1/2 using the distance L, the X coordinate (x), and the Y coordinate (y). Can do. Substituting this z into the relational expression for θ and φ, θ = tan ⁻¹ {x / (L ² −x ² −y ² ) ^1/2 }, φ = tan ⁻¹ {y / (L ² -x ² -y ²⁾ can be calculated by ^1/2}.

On the other hand, for the movement amount ζ along the Z axis of the base member 31, the difference between the Z coordinate of the reference point P1 before movement (represented by the phantom line in FIG. 5) and the Z coordinate of the reference point P2 after movement is represented by z0. Then, since z0 = z + ζ is established, the above relational expressions represented by L, x, and y with respect to z are substituted and arranged, and ζ = z0− (L ² −x ² −y ² ) ^1/2. Can be calculated. If the swing angles θ and φ of the movable member 32 and the movement amount ζ of the base member 31 are determined in this way, the output shafts of the corresponding motors 35, 36, and 23 are respectively determined based on these values. It is rotated at an angular speed of.

  By executing such control every unit time, the movable member 32 is moved to a position corresponding to the operation force applied to the operation member 4. Since the operation member 4 is coupled directly below the movable member 32, the movement of the operation member 4 in the operation direction is appropriately supported by the drive control of the motors 23, 35, and 36 by the controller.

  Next, the operation of the work auxiliary device A1 having the above configuration will be described.

  When performing a welding operation using the work auxiliary device A1, if an operation force is applied to the operation member 4 while the weight of the welding torch S and cables connected thereto is supported by the operation member 4, Z The shaft drive mechanism 2 and the swing drive mechanism 3 operate, and the operation member 4 is moved to a proper position. For this reason, it is not necessary for the worker to hold work objects such as the welding torch S and cables, and the movement of the work object in the operation direction is supported, so that the labor in the welding work is reduced. The burden is reduced.

  In the work assisting device A1, the swing drive mechanism 3 responsible for the horizontal movement of the operation member 4 is a composite pantograph mechanism (first and second pantograph drive mechanisms) that can swing along the X axis and the Y axis. ) Is adopted. According to the swing drive mechanism 3 configured by the composite pantograph mechanism as described above, it is necessary to configure a gate-type frame as compared with the conventional configuration employing the XY table mechanism for the horizontal movement of the operation member 4. Therefore, it is possible to simplify the structure of the work auxiliary device A1 as a whole. In addition, the work auxiliary device A1 having the above configuration can be easily relocated as compared with a conventional configuration in which a gate-shaped frame is assembled, and is highly versatile.

  In the first pantograph mechanism of the swing drive mechanism 3, all the swing arms 342 constituting the pair of parallelogram links 34 are movable members with respect to the swing shaft 341 extending along the X-axis direction. By oscillating synchronously along the X axis via 32, the movable shaft 343 parallel to the oscillating shaft 341 and the movable member 32 having both ends rotatably connected to the movable shaft 343 are provided. Swings along the X axis while maintaining a horizontal posture. On the other hand, in the second pantograph mechanism, all the swing arms 342 rotate around the swing shaft 341, so that the movable member 32 swings along the Y axis while maintaining the horizontal posture. Accordingly, paying attention to the operation of the movable member 32 with respect to the base member 31, the movable member 32 rotates around the base member 31 generated by the first pantograph mechanism, and the base generated by the second pantograph mechanism. The rotation operation along the Y axis with the member 31 as the center is combined, and the member 31 moves along the spherical surface with the base member 31 as the center while maintaining the horizontal posture. According to such a composite pantograph mechanism including the first and second pantograph mechanisms, the movable member 32 can be disposed at a desired position in the XY direction. Thus, by adopting a unique configuration including a pair of interlocking parallelogram links 34, the parallelogram link 34 is also configured for the operation member 4 connected to the movable member 32 of the swing drive mechanism 3. By a simple operation such as swinging the swinging arm 342, it can be arranged at a desired position in the XY direction.

  In addition, in the swing drive mechanism 3, the first pantograph mechanism is rotated around the drive shaft 345 in which one swing arm 342 is inserted through the connecting portion at one end by the driving force from the motor 35. On the other hand, in the second pantograph mechanism, the swing arm 342 connected to both ends of one swing shaft 341 is rotated around the swing shaft 341 by the driving force from the motor 36. According to such a configuration, in any of the first and second pantograph mechanisms, the first and second pantograph mechanisms can be appropriately operated by the rotation of one rotating shaft, and the swinging is performed. The structure of the drive mechanism 3 can be simplified.

  In the oscillating drive mechanism 3, the driving force transmitted from the motor 35 to the first pantograph mechanism is transmitted through a pulley 346 provided integrally with the drive shaft 345, and a belt wound around the pulley 346. 37. According to this configuration, even when the entire pair of parallelogram links 34 is inclined with respect to the vertical direction by the operation of the second pantograph mechanism, and accordingly the drive shaft 345 is inclined with respect to the horizontal direction, The inclination can be absorbed by bending of the belt 37 wound around the pulley 346 provided on the drive shaft 345. That is, even when the drive shaft 345 is inclined in this way, the driving force is properly transmitted from the motor 35 to the drive shaft 345 via the belt 37.

  In the pair of parallelogram links 34 constituting the swing drive mechanism 3, an intermediate arm 344 that connects the central portions of the two swing arms 342, and an intermediate member 33 that is rotatably connected to the intermediate arms 344. Therefore, the disadvantage that the pair of parallelogram links 34 are unduly twisted is prevented. Such a configuration is suitable for properly operating the first and second pantograph mechanisms.

  In the operation member 4, the coupling portion 41 connected to the swing drive mechanism 3 and the holding portion 42 for holding the work object are relatively twistable, so that the operator can The posture of the holding portion 42 of the operation member 4 can be appropriately changed at hand. Such a configuration is suitable when the operation member 4 is used to support a work object that the worker should originally have, such as the welding torch S, that requires a change in posture.

  6 and 7 show a work assistance device according to the second embodiment of the present invention. The work assistance apparatus A2 according to the second embodiment is mainly different from the first embodiment in the configuration of the swing drive mechanism 3 ', and the other configurations are the same as those in the first embodiment. In the drawings after FIG. 6, the same or similar elements as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

  FIG. 6 is a perspective view showing a schematic configuration of the work assisting device A2, and FIG. 7 is a perspective view showing a swing drive mechanism 3 '. In the present embodiment, the swing drive mechanism 3 ′ is configured to be swingable only along the X axis, and the Z axis drive mechanism 2 and the swing drive mechanism 3 ′ are connected to each other via a bearing (not shown). It is connected so that it can rotate relative to its axis. Specifically, in the pair of parallelogram links 34 ′ constituting the swing drive mechanism 3 ′, the fixed arm 341 ′, the movable arm 343 ′, and the intermediate arm 344 ′ are respectively the base member 31 and the movable member. 32 and the intermediate member 33 are connected in a fixed state. That is, the fixed arm 341 ′, the movable arm 343 ′, and the intermediate arm 344 ′ are members corresponding to the swing shaft 341, the movable shaft 343, and the intermediate arm 344 in the first embodiment, respectively. 341 ′, 343 ′, and 344 ′ are inserted in the cylinder portions 312 ′, 322 ′, and 332 ′ of the base member 31, the movable member 32, and the intermediate member 33 so as not to be relatively movable and relatively unrotatable. ing. Therefore, the pair of parallelogram links 34 'swings only along the X axis.

  The swing drive mechanism 3 ′ includes a mechanism in which the pair of parallelogram links 34 ′ are synchronized and swings only along the X axis, but does not include a mechanism swinging along the Y axis. That is, the oscillating mechanism 3 ′ does not include the motor 36 and the driving force transmission mechanism of the motor 36 in the first embodiment. Such a configuration is advantageous in terms of simplifying the structure of the swing drive mechanism 3 'as compared with the first embodiment.

  In the work auxiliary apparatus A2 having such a configuration, a pantograph mechanism capable of swinging along the X axis is employed as the swing drive mechanism 3 'responsible for the horizontal movement of the operation member 4. Further, the swing drive mechanism 3 ′ and the Z-axis drive mechanism 2 are capable of relative rotation around the Z-axis. Thereby, the operation member 4 connected to the tip of the swing drive mechanism 3 ′ can be arranged at a desired position in the XY direction. The X-axis in the present embodiment defines one direction in the horizontal plane when the Z-axis drive mechanism 2 and the swing drive mechanism 3 ′ do not rotate relative to each other. When the mechanism 2 and the swing drive mechanism 3 ′ rotate relative to each other, the swing direction of the pair of parallelogram links 34 ′ changes with the rotation.

  8 and 9 show a work assistance device according to the third embodiment of the present invention. Compared to the first embodiment described above, the work assisting device A3 according to the third embodiment includes a telescopic drive mechanism 2 ″ instead of the Z-axis drive mechanism 2 and a configuration of the swing drive mechanism 3 ″. Is different.

  In the work auxiliary device A3, the telescopic drive mechanism 2 ″ and the swing drive mechanism 3 ″ are arranged in parallel. In this respect, the Z-axis drive mechanism 2 and the swing drive mechanism 2 as described in the first embodiment are used. This is largely different from the configuration in which the dynamic drive mechanisms 3 are arranged in series.

  Specifically, as shown in FIG. 9, in the pair of parallelogram links 34 ″ constituting the swing drive mechanism 3 ″, the swing arm 342 ″ is configured by a telescopic pipe, and expands and contracts in the longitudinal direction. It is possible.

  The telescopic drive mechanism 2 ″ includes a telescopic pipe incorporating a ball screw mechanism and is configured to be extendable in the longitudinal direction. The basic configuration is the same as that of the Z-axis drive mechanism 2 of the first embodiment described above. On the other hand, the telescopic drive mechanism 2 ″ is inserted into the through hole 331a formed in the intermediate member 33 of the swing drive mechanism 3 ″ so as to have a predetermined gap, and the upper end portion of the outer tube 21 is It is connected to the central part of the base member 31 via the ball joint 27, and the lower end part of the inner tube 22 is connected to the central part of the movable member 32 via the ball joint 28. The outer tube 21 and the movable member 32 and the inner tube 22 are relatively swingable.

  In the work auxiliary device A3 having such a configuration, the expansion / contraction drive mechanism 2 ″ and the swing drive mechanism 3 ″ are arranged in parallel, and the stretch drive mechanism 2 ″ is substantially composed of the swing drive mechanism 3 ″. It is placed in the space it occupies. For this reason, about these mechanisms 2 "and 3", while making the full length dimension of a longitudinal direction small, the occupied space can also be made small. Such a configuration is advantageous in reducing the overall size of the work auxiliary device A3.

  When the work assisting device A3 is in operation, the movable member 32 is disposed at a desired position in the XY direction by the operation of the swing drive mechanism 3 ″. At the same time, the telescopic drive mechanism 2 ″ has the swing drive mechanism 3 ″. The distance between the base member 31 and the movable member 32 can be changed as desired by performing an expansion / contraction operation while following the displacement of the movable member 32. Thereby, the operation member 4 connected to the movable member 32. Are arranged at desired positions in the XYZ directions.

  10 and 11 show a work assistance device according to the fourth embodiment of the present invention. The work auxiliary device A4 according to the fourth embodiment is provided with an expansion / contraction drive mechanism 2 ″ instead of the Z-axis drive mechanism 2 as compared with the second embodiment described above, and accordingly, the swing drive mechanism. The configuration of 3A is appropriately changed.

  The telescopic drive mechanism 2 ″ includes a telescopic pipe incorporating a ball screw mechanism and is configured to be extendable and contractible in the longitudinal direction, and has the same configuration as the telescopic drive mechanism 2 ″ of the third embodiment described above. Further, the connection structure of the expansion / contraction drive mechanism 2 ″ and the swing drive mechanism 3A is the same as the connection structure of the expansion / contraction drive mechanism 2 ″ and the swing drive mechanism 3 ′ in the third embodiment.

  The swing drive mechanism 3A is configured to have a pantograph mechanism that can swing only along the X-axis, and is basically the same as the swing drive mechanism 3 'of the second embodiment. On the other hand, in the pair of parallelogram links 34A constituting the swing drive mechanism 3A, as in the third embodiment, the swing arm 342 ″ is formed of a telescopic pipe and can be expanded and contracted in the longitudinal direction. The flat plate portion 331 of the intermediate member 33 is formed with a through hole 331a for inserting the telescopic drive mechanism 2 ″. Further, the base end portion of the swing drive mechanism 3A and the support base 1 are connected so as to be relatively rotatable around the Z axis by a bearing (not shown).

  In the work auxiliary device A4 having such a configuration, the telescopic drive mechanism 2 ″ and the swing drive mechanism 3A are arranged in parallel, and the stretch drive mechanism 2 ″ is substantially occupied by the swing drive mechanism 3A. It is arranged in the space. For this reason, it is possible to reduce the overall length in the longitudinal direction of these mechanisms 2 ″ and 3A and to reduce the occupied space thereof. Such a configuration is advantageous in reducing the overall size of the work auxiliary device A4. It is.

  During operation of the work assisting device A4, the movable member 32 is swung along the X axis by the operation of the swing driving mechanism 3A, and the swing driving mechanism 3A is rotated around the Z axis with respect to the support base 1. As a result, the movable member 32 is arranged at a desired position in the XY direction. At the same time, the distance between the base member 31 and the movable member 32 is changed as desired by performing the expansion / contraction operation while following the displacement of the movable member 32 of the swing drive mechanism 3A in the expansion / contraction drive mechanism 2 ″. Accordingly, the operation member 4 connected to the movable member 32 is disposed at a desired position in the XYZ directions, and the swing drive mechanism 3A is the support base 1 with respect to the X axis in the present embodiment. When the swing drive mechanism 3A rotates with respect to the support base 1, a pair of parallelogram links 34A is actually rotated along with the rotation. The swinging direction of the is changed.

  As mentioned above, although embodiment of this invention was described, the range of this invention is not limited to above-described embodiment. Various changes can be made to the specific configuration of each part of the work assistance device according to the present invention without departing from the spirit of the invention.

  In the above embodiment, the welding torch is taken as an example of the work object for assisting the operating force using the work auxiliary device according to the present invention, but other objects such as an electric drill and a paint spray gun are used as the work object. May be applied. In addition, the use of the work assistance device according to the present invention is not limited to assisting labor work. For example, as a care support device for an injured person, a care recipient, a weak muscle person, etc., food, writing, light It can also be used to assist work.

1 is an overall perspective view showing a schematic configuration of a work assistance device according to a first embodiment of the present invention. It is a longitudinal cross-sectional view which shows the structure of the Z-axis drive mechanism in the work assistance apparatus which concerns on the 1st Embodiment of this invention. It is a perspective view which shows the rocking | fluctuation drive mechanism in the work assistance apparatus which concerns on the 1st Embodiment of this invention. It is sectional drawing which follows the IV-IV line of FIG. It is a figure for demonstrating an example of the control procedure of a Z-axis drive mechanism and a rocking | fluctuation drive mechanism. It is a whole perspective view which shows schematic structure of the work assistance apparatus which concerns on the 2nd Embodiment of this invention. It is a perspective view which shows the rocking | fluctuation drive mechanism in the work assistance apparatus which concerns on the 2nd Embodiment of this invention. It is a whole perspective view which shows schematic structure of the work assistance apparatus which concerns on the 3rd Embodiment of this invention. It is a perspective view which shows the expansion-contraction drive mechanism and the rocking | fluctuation drive mechanism in the work assistance apparatus which concerns on the 3rd Embodiment of this invention. It is a whole perspective view which shows schematic structure of the work assistance apparatus which concerns on the 4th Embodiment of this invention. It is a perspective view which shows the expansion-contraction drive mechanism and rocking | fluctuation drive mechanism in the work assistance apparatus which concerns on the 4th Embodiment of this invention.

Explanation of symbols

A1, A2, A3, A4 Work auxiliary device 1 Support base 2, 2 'Z-axis drive mechanism 2 "Telescopic drive mechanism 23 Motor (drive motor)
3, 3 ', 3 ", 3A Oscillation drive mechanism 4 Operation member 5 Force sensor (operation force detection means)
31 Base member 32 Movable members 34, 34 ', 34 ", 34A Parallelogram link 35 Motor (first drive source, drive source)
36 Motor (second drive source)
341 Oscillating shaft 341 'Fixed arm 342, 342 "Oscillating arm 343 Movable shaft 343' Movable arm 345 Driving shaft (support shaft)

Claims (19)

A support base;
A Z-axis drive mechanism that can expand and contract in the Z-axis direction with respect to the support base;
A oscillating drive mechanism in which a base end portion is connected to the telescopic end portion of the Z-axis drive mechanism, and a tip end portion can swing along the X-axis direction and the Y-axis direction with respect to the base end portion;
An operation member connected to the tip of the swing drive mechanism and gripped by an operator and operated in the XYZ directions;
An operation force detecting means that is arranged in the vicinity of the operation member and individually detects the operation force in the XYZ directions of the operation member;
Control means for controlling the Z-axis drive mechanism and / or the swing drive mechanism to support movement of the operation member in the operation direction based on operation force detection information from the operation force detection means. A work auxiliary device,
The swing drive mechanism includes a first pantograph mechanism in which the tip end portion can swing along the X axis with respect to the base end portion, and the tip end portion along the Y axis with respect to the base end portion. A work assisting device comprising a compound pantograph mechanism with a swingable second pantograph mechanism. The swing drive mechanism is set to have a base member connected to the telescopic end of the Z-axis drive mechanism, and to be spaced apart from the base member in the Y-axis direction by the same length and extend in the X-axis direction. A pair of oscillating shafts, two oscillating arms of the same length, each oscillating shaft as one side, and pivotally connected to both ends of each oscillating shaft, and two oscillating arms. A pair of parallelogram links, both ends of which are rotatably connected to the tip of the shaft, and a movable shaft that is parallel to and has the same length as each of the swing shafts,
Each movable shaft of the pair of parallelogram links is rotatably connected, and includes a movable member that holds the distance between the movable shafts equal to the distance between the pair of swing shafts,
The pair of parallelogram links constitutes the first pantograph mechanism, and the base member, the pair of parallelogram links, and the movable member constitute the second pantograph mechanism. Work auxiliary equipment. A support base;
A Z-axis drive mechanism that can expand and contract in the Z-axis direction with respect to the support base;
A oscillating drive mechanism in which a base end is connected to the telescopic end of the Z-axis drive mechanism, and a tip is swingable along the X-axis direction with respect to the base end;
An operation member connected to the tip of the swing drive mechanism and gripped by an operator and operated in the XYZ directions;
An operation force detecting means that is disposed in the vicinity of the operation member and individually detects the operation force in the XZ direction of the operation member;
Control means for controlling the Z-axis drive mechanism and / or the swing drive mechanism to support movement of the operation member in the operation direction based on operation force detection information from the operation force detection means. A work auxiliary device,
The swing drive mechanism is configured by a pantograph mechanism in which the tip end portion can swing along the X axis with respect to the base end portion.
The work assisting device, wherein the Z-axis drive mechanism and the swing drive mechanism are relatively rotatable around the Z-axis. The swing drive mechanism is fixed to a base member connected to the telescopic end of the Z-axis drive mechanism, and to be spaced apart from the base member in the Y-axis direction by the same length and extend in the X-axis direction. A pair of fixed arms, two fixed-length swing arms connected to both ends of each fixed arm with each fixed arm as one side, and two distal swing arms. A pair of parallelogram links, both ends of which are rotatably connected to each other, and each of the fixed arms is parallel and has the same length,
Each movable arm of the pair of parallelogram links is connected, and a movable member that holds the distance between each movable arm equal to the distance between the pair of fixed arms,
The work assisting device according to claim 3, wherein the pair of parallelogram links constitute the pantograph mechanism. A swing drive mechanism in which the tip end portion can swing along the X-axis direction and the Y-axis direction with respect to the base end portion;
An expansion / contraction drive mechanism for expanding / contracting the distance between the base end portion and the distal end portion of the swing drive mechanism,
An operation member connected to the tip of the swing drive mechanism and gripped by an operator and operable in the XYZ directions;
An operation force detecting means that is arranged in the vicinity of the operation member and individually detects the operation force in the XYZ directions of the operation member;
A control means for controlling the telescopic drive mechanism and / or the swing drive mechanism to support movement of the operation member in the operation direction based on the operation force detection information from the operation force detection means. An auxiliary device,
The telescopic drive mechanism has one end connected to the base end of the swing drive mechanism and the other end connected to the distal end of the swing drive mechanism.
The swing drive mechanism includes a first pantograph mechanism in which the tip end portion can swing along the X axis with respect to the base end portion, and the tip end portion along the Y axis with respect to the base end portion. It is constituted by a composite pantograph mechanism with a swingable second pantograph mechanism,
The said composite pantograph mechanism is comprised so that the distance between the said base end part and the said front-end | tip part can be expanded-contracted, The work assistance apparatus characterized by the above-mentioned. The swing drive mechanism is set to have a base member to which the one end of the telescopic drive mechanism is coupled, and to be spaced apart from the base member by a certain distance in the Y-axis direction and extend in the X-axis direction with the same length. A pair of oscillating shafts, each oscillating shaft as one side, two oscillating arms that can be expanded and contracted in the longitudinal direction, and pivotally connected to both ends of each oscillating shaft, and two oscillating arms A pair of parallelogram links, both ends of which are pivotally connected to the tip of the arm, and a movable shaft that is parallel to and has the same length as each of the swing shafts;
The movable shafts of the pair of parallelogram links are rotatably connected to hold the distance between the movable shafts equal to the distance between the pair of swing shafts, and the other end of the telescopic drive mechanism is A movable member to be coupled,
The base member and the one end portion of the telescopic drive mechanism, and the movable member and the other end portion of the telescopic drive mechanism are connected to each other so as to be relatively swingable,
The pair of parallelogram links constitutes the first pantograph mechanism, and the base member, the pair of parallelogram links, and the movable member constitute the second pantograph mechanism. Work auxiliary equipment. A support base;
A oscillating drive mechanism having a base end connected to the support base and a tip end oscillating along the X-axis direction with respect to the base end;
An expansion / contraction drive mechanism for expanding / contracting the distance between the base end portion and the distal end portion of the swing drive mechanism,
An operation member connected to the tip of the swing drive mechanism and gripped by an operator and operable in the XYZ directions;
An operation force detecting means that is disposed in the vicinity of the operation member and individually detects the operation force in the XZ direction of the operation member;
A control means for controlling the telescopic drive mechanism and / or the swing drive mechanism to support movement of the operation member in the operation direction based on the operation force detection information from the operation force detection means. An auxiliary device,
The telescopic drive mechanism has one end connected to the base end of the swing drive mechanism and the other end connected to the distal end of the swing drive mechanism.
The swing drive mechanism is configured by a pantograph mechanism in which the distal end portion can swing along the X axis with respect to the base end portion, and the pantograph mechanism includes the base end portion, the distal end portion, and the base end portion. The distance between is configured to be stretchable,
The work assisting device according to claim 1, wherein the support base and the base end portion are rotatable relative to each other about the Z axis. The swing drive mechanism is set to have a base member to which the one end of the telescopic drive mechanism is coupled, and to be spaced apart from the base member by a certain distance in the Y-axis direction and extend in the X-axis direction with the same length. A pair of fixed arms, two fixed swing arms that can be expanded and contracted in the longitudinal direction, each fixed arm being pivotally connected to both ends of each fixed arm, and the tips of the two swing arms A pair of parallelogram links, both ends of which are rotatably connected to each other, and a movable arm which is parallel to and has the same length as each of the fixed arms,
A movable member to which the movable arms of the pair of parallelogram links are connected, the distance between the movable arms is maintained equal to the distance between the pair of fixed arms, and the other end of the telescopic drive mechanism is connected And comprising
The base member and the one end portion of the telescopic drive mechanism, and the movable member and the other end portion of the telescopic drive mechanism are connected to each other so as to be relatively swingable,
The work assisting device according to claim 7, wherein the pair of parallelogram links constitute the pantograph mechanism.   The work according to claim 6 or 8, wherein the base member and the one end portion of the telescopic drive mechanism, and the movable member and the other end portion of the telescopic drive mechanism are connected via a ball joint, respectively. Auxiliary device. The swing drive mechanism includes first and second drive sources for individually driving the first and second pantograph mechanisms,
The first pantograph mechanism is configured such that one of the oscillating arms is rotated around the support shaft with a connecting portion at one end thereof as a support shaft by a driving force from the first drive source. With
The second pantograph mechanism is configured such that a swing arm connected to one end of the swing shaft is rotated around the swing shaft by a driving force from the second drive source. The work auxiliary device according to claim 2 or 6.   The transmission of the driving force from the first driving source to the first pantograph mechanism is performed via a pulley integrally provided on the support shaft and a belt wound around the pulley. The work assisting device according to 10. The swing drive mechanism includes a drive source for driving the pantograph mechanism,
9. The pantograph mechanism is configured so that one of the swing arms can be rotated around the support shaft with a connecting portion at one end thereof as a support shaft by a driving force from the drive source. The work auxiliary device according to 1. The operation member includes a coupling portion connected to the tip portion of the swing drive mechanism, and a holding portion for holding a work object,
The work support device according to claim 1, wherein the holding portion is connected to the coupling portion so as to be able to twist.   The work support device according to claim 13, wherein the holding portion is connected to the coupling portion so as to be rotatable about the Z axis and about an arbitrary axis in the XY plane.   The Z-axis drive mechanism includes: a ball screw mechanism provided near one end in the Z-axis direction; and a drive motor provided near the other end in the Z-axis direction for driving the ball screw mechanism. The work auxiliary device according to any one of 1 to 4.   The extension / contraction drive mechanism includes a ball screw mechanism provided near one end in the extension / contraction direction and a drive motor provided near the other end in the extension / contraction direction and driving the ball screw mechanism. The work auxiliary device according to any one of the above.   The swing drive mechanism includes an intermediate arm whose both ends are rotatably connected to a central portion of each of the two swing arms, and each intermediate arm is rotatably connected, and a distance between each intermediate arm. The work assisting device according to claim 2, further comprising an intermediate member that holds the same distance as the distance between the pair of swinging shafts.   The swing drive mechanism includes an intermediate arm whose both ends are rotatably connected to a central portion of each of the two swing arms, and each intermediate arm is connected. The work assisting device according to claim 4, further comprising an intermediate member that holds the same distance as the distance between the fixed arms. A base member, a pair of oscillating shafts that are spaced apart from each other in the Y-axis direction by a predetermined distance with respect to the base member and set to extend in the X-axis direction, and each oscillating shaft is defined as one side. Two swing arms of the same length that are pivotally connected to both ends of the two, and both ends are pivotally connected to the tips of the two swing arms and are parallel to the swing shafts. And a pair of parallelogram links consisting of a movable shaft of the same length,
Each movable shaft of the pair of parallelogram links is rotatably connected, and includes a movable member that holds the distance between the movable shafts equal to the distance between the pair of swing shafts,
A first pantograph mechanism configured by the pair of parallelogram links, wherein the movable member can swing along the X axis with respect to the base member;
The second pantograph mechanism is constituted by the base member, the pair of parallelogram links, and the movable member, and the movable member can swing along the Y axis with respect to the base member. A composite pantograph mechanism.

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