JP2012143314A - Mechanical self-weight compensator - Google Patents

Mechanical self-weight compensator Download PDF

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JP2012143314A
JP2012143314A JP2011002376A JP2011002376A JP2012143314A JP 2012143314 A JP2012143314 A JP 2012143314A JP 2011002376 A JP2011002376 A JP 2011002376A JP 2011002376 A JP2011002376 A JP 2011002376A JP 2012143314 A JP2012143314 A JP 2012143314A
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link
top plate
weight
rubber elastic
elastic body
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JP5773479B2 (en
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Hideo Fujimoto
英雄 藤本
Satoyuki Nakayama
学之 中山
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Nagoya Institute of Technology NUC
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Abstract

PROBLEM TO BE SOLVED: To provide a lightweight and compact self-weight compensator that can be built in welfare equipment such as a wheelchair or a rehabilitation support device.SOLUTION: The mechanical self-weight compensator includes: a link mechanism comprising a top plate 13, a bottom plate 14, and eight links 5-18 of the same length; two pairs of gears 1-4 fixed to the inside links 5-8 in the link mechanism and pivoted to the bottom plate 14 and top plate 13; rubber elastic bodies 15-22 stretched between the links rotated in different directions; a post 23 perpendicularly assembled to the bottom plate 14; and a rubber elastic body 25 stretched between the top plate 13 and the bottom plate 14 through a pulley 24 arranged on the post 23. The self-weight compensator compensates the self-weight of a heavy object placed on the top plate 14 at an optional height.

Description

本発明は、対象物の自重を補償する機械式自重補償装置に関する。   The present invention relates to a mechanical weight compensator that compensates for the weight of an object.

従来、ばねの復元力を用いて対象物の自重を正確に補償する装置として、特許文献１、非特許文献１に、鉛直軸とリンク間に直立姿勢で自然長となるようにバネを張ることで、複雑な構造を用いずに姿勢に依存することなく自重トルクを補償することのできる機械式自重補償装置が、また、リハビリ支援装置への応用を目的とした自重補償装置として、非特許文献２に天井吊り下げ型の自重補償装置が、非特許文献３、非特許文献４に、車椅子使用者の上腕の自重を補償する車椅子装着型の自重補償装置がそれぞれ提案されている。また、非特許文献５では、背中に支柱を背負った形で装着する、下肢自重補償装置が提案されている。   Conventionally, as a device for accurately compensating the weight of an object using a restoring force of a spring, in Patent Document 1 and Non-Patent Document 1, a spring is stretched so as to have a natural length in an upright posture between a vertical axis and a link. Therefore, a mechanical self-weight compensator that can compensate for the self-weight torque without using a complicated structure without depending on the posture is also used as a self-weight compensator for application to a rehabilitation support device. In FIG. 2, a ceiling-suspended self-weight compensator is proposed, and in Non-Patent Document 3 and Non-patent Document 4, a wheelchair-mounted self-weight compensator that compensates the weight of the upper arm of a wheelchair user is proposed. Further, Non-Patent Document 5 proposes a lower limb self-weight compensator that is mounted with a support on the back.

特開２００３−１８１７８９号公報JP 2003-181789 A

J．L．Herder：Development of a Statically Balanced Arm Support: ARMON、Proc．of the 2005 IEEE 9th International Conference on Rehabilitation Robotics、1114/1120、2007．J. L. Herder: Development of a Statically Balanced Arm Support: ARMON, Proc. of the 2005 IEEE 9th International Conference on Rehabilitation Robotics, 1114/1120, 2007. A．H．A．Stienen et al．：Freebal: dedicated gravity compensation for the upper extremities、Proc．of the IEEE 10th International Conference on Rehabilitation Robotics、804/808、2007．A. H. A. Stienen et al. : Freebal: dedicated gravity compensation for the upper extremities, Proc. of the IEEE 10th International Conference on Rehabilitation Robotics, 804/808, 2007. 森田他：バイオメカニズム学会誌、Vol．30、No．4、200/204、 2006．Morita et al .: Biomechanism Society, Vol. 30, no. 4, 200/204, 2006. B．Mastenbroek et al．：Development of a Mobile Arm Support (Armon): Design Evolution and Preliminary User Experience、Proc．of the 2007 IEEE 10th International Conference on Rehabilitation Robotics、1114/1120、 2007．B. Mastenbroek et al. : Development of a Mobile Arm Support (Armon): Design Evolution and Preliminary User Experience, Proc. of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, 1114/1120, 2007. S．K．Banala、S．K．Agrawal、A．Fattah、V．Krishnamoorthy、 W．Hsu、J．Scholz and K．Rudolph：Gravity Balancing Leg Orthosis and Its Performance Evaluation、IEEE Transaction on Robotics、Vol．22、No．6、 1228/1238、 2006．S. K. Banala, S. K. Agrawal, A. Fattah, V.C. Krishnamoorthy, W. Hsu, J.H. Scholz and K. Rudolph: Gravity Balancing Leg Orthosis and Its Performance Evaluation, IEEE Transaction on Robotics, Vol. 22, no. 6, 1228/1238, 2006.

しかし、上記の自重補償装置では、弾性体としてバネが使われていたため、人の体重のように大きな自重を補償する場合には、線径の太い大型のバネが必要となってしまい、これを車椅子やリハビリ支援装置に用いた場合には装置重量が重くなってしまうために持ち運びが困難になる、装置内に組み込むことが困難になる、折り畳みができなくなるために広い収納スペースを必要としてしまうといった問題点があった。   However, in the above self-weight compensation device, since a spring is used as an elastic body, a large spring with a large wire diameter is required to compensate for a large self-weight such as the weight of a person. When used in a wheelchair or rehabilitation support device, the weight of the device becomes heavy, making it difficult to carry it, making it difficult to incorporate it into the device, and making it impossible to fold, requiring a large storage space There was a problem.

このような問題を解決し、車椅子やリハビリ支援装置に組み込んで使用することが可能な自重補償装置を構築するためには、自重補償機構を従来のものよりも格段に軽量でコンパクトにする必要があり、従来技術に見られるようなバネを弾性体に使用した自重補償機構に代わる、新たな補償力生成機構を開発する必要がある。   In order to solve such problems and construct a self-weight compensation device that can be used by being incorporated in a wheelchair or a rehabilitation support device, the self-weight compensation mechanism needs to be much lighter and more compact than the conventional one. There is a need to develop a new compensation force generation mechanism that replaces the self-weight compensation mechanism that uses a spring as an elastic body as found in the prior art.

本発明はかかる問題に鑑みたもので、軽量でコンパクトな機械式自重補償装置を提供することを目的とする。   The present invention has been made in view of such problems, and an object thereof is to provide a lightweight and compact mechanical self-weight compensator.

上記目的を達成するため、請求項１に記載の発明では、天板と、底板と、同じ長さの複数本のリンクとから構成され、前記複数本のリンクは前記天板を押し下げた場合に正方向に回転するリンクと逆方向に回転するリンクとを有するリンク機構と、前記リンク機構内の内側のリンクに固定され、前記底板および前記天板に枢軸されたギヤと、前記複数本のリンクのうち異方向に回転するリンク間に張られた第１のゴム弾性体と、前記底板に鉛直に組みつけられた支柱と、前記天板と前記底板間に前記支柱上に配置したプーリを介して張られた第２のゴム弾性体とから構成され、任意の高さにおいて、前記天板に載せた重量物の自重を補償することのできる機械式自重補償装置を特徴とする。   In order to achieve the above object, in the invention described in claim 1, the top plate, the bottom plate, and a plurality of links having the same length are configured, and the plurality of links are formed when the top plate is pushed down. A link mechanism having a link rotating in the forward direction and a link rotating in the reverse direction; a gear fixed to an inner link in the link mechanism and pivoted on the bottom plate and the top plate; and the plurality of links A first rubber elastic body stretched between links rotating in different directions, a column vertically mounted on the bottom plate, and a pulley disposed on the column between the top plate and the bottom plate. And a mechanical self-weight compensator capable of compensating the self-weight of a heavy object placed on the top plate at an arbitrary height.

また、請求項２に記載の発明では、請求項１に記載の機械式自重補償装置において、前記天板が指定位置よりも上に上がらないように前記支柱にストッパが取り付けられていることを特徴とする。   According to a second aspect of the present invention, in the mechanical self-weight compensator according to the first aspect, a stopper is attached to the column so that the top plate does not rise above a specified position. And

本発明の実施形態に係る自重補償装置の模式的な構成図である。It is a typical block diagram of the dead weight compensator which concerns on embodiment of this invention.

本発明の実施形態に係る自重補償装置は、車いす等の持ち運びを必須とする装置において、軽量でありながらも、モータ等の動力源を用いずに、人の体重程度の重量を完全に支えることのできる機械式自重補償装置であり、車椅子やリハビリ支援装置などの福祉機器に内蔵することが可能な、軽量でコンパクトな自重補償装置である。   The self-weight compensation device according to the embodiment of the present invention is a device that requires carrying a wheelchair or the like, and is completely lightweight, and completely supports the weight of a human body without using a power source such as a motor. It is a light weight and compact weight compensation device that can be built in welfare equipment such as a wheelchair and a rehabilitation support device.

このため、本実施形態では、天板と底板と同じ長さの８本のリンクから構成されるリンク機構と、前記リンク機構内の内側のリンクに固定され、前記底板および前記天板に枢軸された２対のギヤと、前記底板に鉛直に組みつけられた支柱と、リンク間に前記底板に平行に配置した第１のゴム弾性体と、前記天板と前記底板間に前記支柱上に配置したプーリを介して張られた第２のゴム弾性体から構成され、任意の高さにおいて、前記天板に載せた重量物の自重を補償することのできる機械式自重補償装置としている。   Therefore, in this embodiment, the link mechanism is configured by eight links having the same length as the top plate and the bottom plate, and is fixed to the inner link in the link mechanism, and is pivoted to the bottom plate and the top plate. Two pairs of gears, a column vertically assembled to the bottom plate, a first rubber elastic body arranged in parallel to the bottom plate between links, and arranged on the column between the top plate and the bottom plate The mechanical self-weight compensator is composed of a second rubber elastic body stretched through a pulley, and can compensate the self-weight of a heavy object placed on the top plate at an arbitrary height.

この自重補償装置は、前記底板と前記天板に枢軸された前記ギヤにより、前記リンク機構内の内側のリンクが左右対称に回転し、これにより、前記天板の運動は上下方向に拘束されまた前記天板は常に水平に維持される。   In the self-weight compensator, the inner link in the link mechanism rotates symmetrically by the gear pivoted on the bottom plate and the top plate, whereby the movement of the top plate is restricted in the vertical direction. The top plate is always kept horizontal.

本装置では、前記天板が指定位置よりも上に上がらないように前記支柱にストッパが取り付けられており、これにより前記リンク機構内の各リンクは特異姿勢にならず常に同側に屈曲する。また、各リンクの長さは全て同じであるので、これにより、天板を押し下げた場合に前記リンク機構内の半数のリンクは正方向に、残る半数のリンクは逆方向にそれぞれ同じ角度だけ回転する。   In this apparatus, a stopper is attached to the column so that the top plate does not rise above a specified position, whereby each link in the link mechanism does not have a specific posture but always bends to the same side. In addition, since all the links have the same length, when the top plate is pushed down, half of the links in the link mechanism rotate in the forward direction, and the remaining half of the links rotate in the opposite direction by the same angle. To do.

その結果、異方向に回転するリンク間に水平に張られた前記ゴム弾性体１はリンク回転角θの正弦に比例する長さだけ伸張させられることになる。   As a result, the rubber elastic body 1 stretched horizontally between links rotating in different directions is stretched by a length proportional to the sine of the link rotation angle θ.

また、前記天板が下降するにつれて、前記支柱上に配置したプーリを介して張られたゴム弾性体２は伸張させられる。   Further, as the top plate descends, the rubber elastic body 2 stretched through a pulley disposed on the support column is stretched.

この結果、ゴム弾性体１、ゴム弾性体２の伸張によって生じる復元力が発生し、天板を上方に押し戻す力が生成されることになる。このとき、ゴム弾性体１とゴム弾性体２のヤング率を、補償重量、各リンクの長さ，ゴム弾性体のリンク上の取り付け位置に応じ、後述するように適切に選定することで、天板に載せた重量物の自重をちょうど支えるだけの補償力を生成することができる。   As a result, a restoring force generated by extension of the rubber elastic body 1 and the rubber elastic body 2 is generated, and a force for pushing the top plate upward is generated. At this time, the Young's modulus of the rubber elastic body 1 and the rubber elastic body 2 is appropriately selected as described later according to the compensation weight, the length of each link, and the mounting position of the rubber elastic body on the link. It is possible to generate a compensation force that just supports the weight of the heavy object placed on the plate.

本装置において、ゴム弾性体を組み付ける際には、天板が最上点にあるときに全てのゴムが自然長になるように調節する。また、ゴムの材質を選定する際には、まず、リンク機構の構造と天板の可動域からゴム伸張量の最大値を決定し、バネ定数は決定された最大伸張量以上の最大たわみを有するゴム材を複数枚並列に並べることで所望のヤング率を有するゴム弾性体を構成する。   In this apparatus, when the rubber elastic body is assembled, when the top plate is at the uppermost point, adjustment is made so that all the rubbers have a natural length. When selecting the rubber material, first, the maximum value of the rubber extension is determined from the structure of the link mechanism and the movable range of the top plate, and the spring constant has the maximum deflection greater than the determined maximum extension. A rubber elastic body having a desired Young's modulus is configured by arranging a plurality of rubber materials in parallel.

このように複数枚のゴム材を並列に並べることで、所望の大きなヤング率と大きな最大たわみを有するゴム弾性体を構成することで、本発明の装置では従来のバネを用いた自重補償機構に比べて軽量かつコンパクトな自重補償装置を構成することが可能となる。   By arranging a plurality of rubber materials in parallel in this way to form a rubber elastic body having a desired large Young's modulus and a large maximum deflection, the device according to the present invention has a conventional weight compensation mechanism using a spring. Compared to this, it is possible to configure a self-weight compensator that is lighter and more compact.

以下、本実施形態を、図面を参照しつつ具体的に説明する。   Hereinafter, the present embodiment will be specifically described with reference to the drawings.

図１は本発明の実施形態に係る自重補償装置を概念的に示す図である。本実施形態の自重補償装置は天板に重量物を載せた状態で天板を押し下げた場合に、装置内のゴムが伸張し、一定の補償力を鉛直上方に天板に発生させることで、任意の高さで自重を感じさせることなく天板を昇降させることを可能にした１自由度の自重補償装置である。   FIG. 1 is a diagram conceptually showing a self-weight compensator according to an embodiment of the present invention. In the self-weight compensation device of this embodiment, when the top plate is pushed down in a state where a heavy object is placed on the top plate, the rubber in the device is stretched, and a certain compensation force is generated vertically on the top plate, This is a one-degree-of-freedom self-weight compensator that makes it possible to raise and lower the top without feeling the self-weight at an arbitrary height.

本実施形態の自重補償装置は、基台となる底板１４と、底板１４に枢軸された第１ギヤ１と第２ギヤ２、第１ギヤ１と第２ギヤ２に固定されて互いに逆方向に回転する第１リンク５と第２リンク６、重量物を積載するための天板１３、天板１３に枢軸された第３ギヤ３と第４ギヤ４、第３ギヤ３と第４ギヤ４に固定されて互いに逆方向に回転する第３リンク７と第４リンク８、天板１３と底板１４に枢軸された第５リンク９と第６リンク１０および第７リンク１１と第８リンク１２、第１リンク５と第６リンク１０の間に第２リンク６上のプーリを介して張られた第１ゴム弾性体１５と第２ゴム弾性体１６、第２リンク６と第５リンク９の間に第１リンク５上のプーリを介して張られた第３ゴム弾性体１７と第４ゴム弾性体１８、第３リンク７と第８リンク１２の間に第４リンク８上のプーリを介して張られた第５ゴム弾性体１９と第６ゴム弾性体２０、第４リンク８と第７リンク１１の間に第３リンク７上のプーリを介して張られた第７ゴム弾性体２１と第８ゴム弾性体２２、底板１４に垂直に組みつけられた支柱２３、支柱２３に枢軸されたプーリ２４、底板１４と天板１３の間に張られた第９ゴム弾性体２５と、天板１３が指定位置よりも上に上がらないように支柱２３に取り付けられたストッパ２６とから構成される。   The self-weight compensator according to this embodiment is fixed to the bottom plate 14 serving as a base, the first gear 1 and the second gear 2 pivoted on the bottom plate 14, and the first gear 1 and the second gear 2, and in opposite directions. Rotating first link 5 and second link 6, top plate 13 for loading heavy objects, third gear 3 and fourth gear 4 pivoted on top plate 13, third gear 3 and fourth gear 4 The third link 7 and the fourth link 8 which are fixed and rotated in opposite directions, the fifth link 9 and the sixth link 10 pivoted on the top plate 13 and the bottom plate 14, the seventh link 11 and the eighth link 12, Between the first link 5 and the sixth link 10 via a pulley on the second link 6, the first rubber elastic body 15 and the second rubber elastic body 16, and between the second link 6 and the fifth link 9. A third rubber elastic body 17 and a fourth rubber elastic body 18 stretched through a pulley on the first link 5, a third link The fifth rubber elastic body 19 and the sixth rubber elastic body 20 stretched between the first link and the eighth link 12 via a pulley on the fourth link 8, and the third link between the fourth link 8 and the seventh link 11. 7, a seventh rubber elastic body 21 and an eighth rubber elastic body 22, which are stretched through pulleys on the top 7, a support 23 assembled perpendicularly to the bottom plate 14, a pulley 24 pivoted on the support 23, the bottom plate 14 and the top plate Ninth rubber elastic body 25 stretched between 13 and a stopper 26 attached to the column 23 so that the top plate 13 does not rise above the specified position.

各ゴム弾性体は、天板１３が最上点、つまり、第１リンク５〜第８リンク１２が全て直立姿勢になった状態で、自然長にあるように 配置される。   Each rubber elastic body is disposed so that it has a natural length with the top plate 13 being the uppermost point, that is, the first link 5 to the eighth link 12 are all in an upright posture.

本実施形態の自重補償装置では、天板１３をｈだけ下方に押し下げたとき、第１リンク５〜第８リンク１２は図のように角度θだけ左右に傾く。このとき、第１リンク５の底板１４との枢着軸から距離Ｌ１のところに張られた第１ゴム弾性体１５は底板１４と平行に In the self-weight compensator of this embodiment, when the top plate 13 is pushed down by h, the first link 5 to the eighth link 12 are tilted left and right by an angle θ as shown in the figure. At this time, the first rubber elastic body 15 stretched at a distance L 1 from the pivotal axis of the first link 5 with the bottom plate 14 is parallel to the bottom plate 14.

だけ伸張する。これにより、第１ゴム弾性体１５には、第１ゴム弾性体１５のヤング率をＫ１とすると、 Only stretches. Accordingly, the first rubber elastic body 15 and a Young's modulus of the first rubber elastic body 15 and K 1,

の弾性エネルギーが蓄積されることになる。 The elastic energy is accumulated.

同様にして、第ｉリンクの天板１３もしくは底板１４との枢着点から第ｉゴム弾性体（i＝１〜８）の取り付け点までの距離をＬｉとすると、第１ゴム弾性体１５〜第８ゴム弾性体２２に蓄えられる弾性エネルギーは全体で Similarly, when the distance from the pivot point between the top plate 13 or bottom plate 14 of the i-th link to the attachment point of the i rubber elastic body (i = 1 to 8) and L i, the first rubber elastic body 15 ~ The elastic energy stored in the eighth rubber elastic body 22 as a whole

となる。 It becomes.

一方、幾何学的な関係から、各リンクの長さをＬとすると、   On the other hand, from the geometric relationship, if the length of each link is L,

が成り立つから、第９ゴム弾性体２５のヤング率をＫ９とすると第９ゴム弾性体２５には Since holds, when the Young's modulus of the ninth rubber elastic body 25 and K 9 Ninth rubber elastic body 25

のエネルギーが蓄積されることになる。
これより、 Energy will be accumulated.
Than this,

とすることで、ゴム弾性体全体に蓄積される全エネルギーは Therefore, the total energy accumulated in the entire rubber elastic body is

となる。
一方、直立姿勢からの重力エネルギーの変化は、積載物の質量をＭとして It becomes.
On the other hand, the change in gravitational energy from an upright position is defined as the mass of the load being M.

とかけるから、条件： Because it takes

を満たすようにゴム弾性体のヤング率を設定することで、重力エネルギーの変化とゴムに蓄えられる弾性エネルギーの和が０になり、その結果、任意の位置において釣り合いの状態が保たれ、正確な自重補償を実現することができる。 By setting the Young's modulus of the rubber elastic body so as to satisfy the condition, the sum of the change in gravitational energy and the elastic energy stored in the rubber becomes 0. As a result, a balanced state is maintained at an arbitrary position and accurate Self-weight compensation can be realized.

以上において、本発明を実施形態に即して説明したが、本発明は上記実施形態に制限されるものではなく、その趣旨を逸脱しない範囲で適宜変更して適用できることはいうまでもない。   In the above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the above embodiment, and it is needless to say that the present invention can be appropriately modified and applied without departing from the spirit of the present invention.

また説明を簡便にするため、上記実施形態ではゴム弾性体を９個配置した場合について説明したが、並列に配置するゴムの本数は補償重量に合わせていくらでも多くすることができる。   Further, in order to simplify the description, the above embodiment has described the case where nine rubber elastic bodies are arranged, but the number of rubbers arranged in parallel can be increased as much as the compensation weight.

本発明に係る自重補償装置は、車いすやリハビリ支援装置に限らず、組立工場における作業アシスト装置や、重量の重い機械の動力補助にも利用可能である。また、ヒューマノイドロボットの駆動系の出力補助としても利用可能である。   The self-weight compensation device according to the present invention can be used not only for a wheelchair and a rehabilitation support device, but also for a work assist device in an assembly factory and power assist for a heavy machine. It can also be used as an output assist for the drive system of a humanoid robot.

１…第１ギヤ
２…第２ギヤ
３…第３ギヤ
４…第４ギヤ
５…第１リンク
６…第２リンク
７…第３リンク
８…第４リンク
９…第５リンク
DESCRIPTION OF SYMBOLS 1 ... 1st gear 2 ... 2nd gear 3 ... 3rd gear 4 ... 4th gear 5 ... 1st link 6 ... 2nd link 7 ... 3rd link 8 ... 4th link 9 ... 5th link

１０…第６リンク
１１…第７リンク
１２…第８リンク
１３…天板
１４…底板
１５…第１ゴム弾性体
１６…第２ゴム弾性体
１７…第３ゴム弾性体
１８…第４ゴム弾性体
１９…第５ゴム弾性体
２０…第６ゴム弾性体
２１…第７ゴム弾性体
２２…第８ゴム弾性体
２３…支柱
２４…プーリ
２５…第９ゴム弾性体
２６…ストッパ DESCRIPTION OF SYMBOLS 10 ... 6th link 11 ... 7th link 12 ... 8th link 13 ... Top plate 14 ... Bottom plate 15 ... 1st rubber elastic body 16 ... 2nd rubber elastic body 17 ... 3rd rubber elastic body 18 ... 4th rubber elastic body DESCRIPTION OF SYMBOLS 19 ... 5th rubber elastic body 20 ... 6th rubber elastic body 21 ... 7th rubber elastic body 22 ... 8th rubber elastic body 23 ... Column 24 ... Pulley 25 ... 9th rubber elastic body 26 ... Stopper

Claims (2)

天板と、底板と、同じ長さの複数本のリンクとから構成され、前記複数本のリンクは前記天板を押し下げた場合に正方向に回転するリンクと逆方向に回転するリンクとを有するリンク機構と、前記リンク機構内の内側のリンクに固定され、前記底板および前記天板に枢軸されたギヤと、前記複数本のリンクのうち異方向に回転するリンク間に張られた第１のゴム弾性体と、前記底板に鉛直に組みつけられた支柱と、前記天板と前記底板間に前記支柱上に配置したプーリを介して張られた第２のゴム弾性体とから構成され、任意の高さにおいて、前記天板に載せた重量物の自重を補償することのできる機械式自重補償装置。   It is composed of a top plate, a bottom plate, and a plurality of links having the same length, and the plurality of links include a link that rotates in the forward direction and a link that rotates in the reverse direction when the top plate is pushed down. A link mechanism, a gear fixed to an inner link in the link mechanism, pivoted on the bottom plate and the top plate, and a first link stretched between links that rotate in different directions among the plurality of links. It is composed of a rubber elastic body, a column vertically assembled to the bottom plate, and a second rubber elastic body stretched between the top plate and the bottom plate via a pulley disposed on the column. A mechanical self-weight compensator capable of compensating the self-weight of a heavy object placed on the top plate at a height of 5 mm. 前記天板が指定位置よりも上に上がらないように前記支柱にストッパが取り付けられていることを特徴とする請求項１に記載の機械式自重補償装置。   The mechanical self-weight compensator according to claim 1, wherein a stopper is attached to the support so that the top plate does not rise above a specified position.
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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4883249A (en) * 1987-02-04 1989-11-28 Garland Thomas A Counterbalancing
JPH07267595A (en) * 1994-03-30 1995-10-17 Central Conveyor Kk Table lifter of load-linked operation type
JP2006055494A (en) * 2004-08-23 2006-03-02 Hiroshima Univ Equal repulsion spring mechanism
JP2007107678A (en) * 2005-10-17 2007-04-26 Oga Co Ltd Link spring device
JP2008222348A (en) * 2007-03-09 2008-09-25 Hiroshima Univ Lifting device
JP2009018157A (en) * 2007-06-11 2009-01-29 Exact Dynamics Bv Arm support, and seat support having such arm support

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4883249A (en) * 1987-02-04 1989-11-28 Garland Thomas A Counterbalancing
JPH07267595A (en) * 1994-03-30 1995-10-17 Central Conveyor Kk Table lifter of load-linked operation type
JP2006055494A (en) * 2004-08-23 2006-03-02 Hiroshima Univ Equal repulsion spring mechanism
JP2007107678A (en) * 2005-10-17 2007-04-26 Oga Co Ltd Link spring device
JP2008222348A (en) * 2007-03-09 2008-09-25 Hiroshima Univ Lifting device
JP2009018157A (en) * 2007-06-11 2009-01-29 Exact Dynamics Bv Arm support, and seat support having such arm support

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