JP2021059430A - Interlocking articulated mechanism - Google Patents

Abstract

To provide an interlocking articulated mechanism having high extension and high rigidity at the time of maximum elongation and capable of lifting a ramp from a sufficiently low position to a sufficiently high position.SOLUTION: Base links 6, sequential link units 7, and end links 9 are connected via shaft units 10a, 10b, and 10c to constitute a link chain. The shaft units 10a, 10b, and 10c each comprise: a shaft 11 for rotatably connecting the link on a base link side and the link on an end link side; a rotation transmission disk 12 provided around the shaft of the link on the base link side and connected to the link on the end link side; and a rotation transmission disk 13 provided around the shaft of the link on the end link side and connected to the link on the base link side.SELECTED DRAWING: Figure 3

Description

The present invention relates to an interlocking articulated mechanism and a lifter using the interlocking articulated mechanism.

Conventionally, a lifter that employs a pantograph mechanism is known (see, for example, Patent Document 1 below). This lifter is provided with a pantograph mechanism between the base and the elevating table, and the elevating table is moved up and down in the vertical direction by the bending and stretching operation of the pantograph mechanism.

Since the pantograph mechanism has a structure in which a plurality of intersecting rotating arms are connected so as to be stacked, the lower end of the rotating arm at the lowest position can be moved horizontally to move the rotating arm at the uppermost position in a chain reaction. Can be communicated.

Japanese Unexamined Patent Publication No. 2008-1474

However, due to the structure of the pantograph mechanism, the position of the lift cannot be lowered sufficiently because the rotating arms stacked in the contracted state (minimum lowered state) have a thickness.

Further, in the pantograph mechanism, when in the maximum extended state, each rotating arm becomes close to the standing posture and the whole becomes elongated (the projected area becomes small). For this reason, not only the stability is lowered, but also the durability cannot be ensured and the rattling is increased.

In view of such inconvenience, the present invention provides an interlocking articulated mechanism having a high extension rate and high rigidity at maximum extension, and a lifter capable of raising and lowering the lift from a sufficiently low position to a sufficiently high position. The purpose is to provide.

In order to achieve such an object, the first invention includes a shaft unit, a base link, a forward link unit, and an end link, wherein the shaft unit is a link located on the base link side. A shaft that rotatably connects the link located on the end link side and a rotation connected to the link provided around the axis of the link located on the base link side and connected to the end link side. A transmission disk and a rotation transmission disk provided around the axis of the link located on the end link side and connected to the link located on the base link side are provided, and one of the base links has a ground surface or the like. The shaft unit is fixed to the base of the above, and the shaft unit is attached to the other side. In the forward link unit, the shaft unit located on the base link side and the shaft unit located on the end link side are opposite to each other with their axes parallel to each other. The rotation transmission disk connected to the shaft unit located on the base link side and the rotation transmission disk connected to the shaft unit located on the end link side rotate in the same direction while being provided at both ends so as to face each other. The end link has a shaft unit of the forward link unit at one end and an end rotation shaft at the other end, and the base link and a plurality of the end links are restrained by a ring-shaped string member or a gear. A link chain is configured in which the forward link unit and the end link at the final end are connected in a chain by the shaft units at both ends of the forward link unit, and the rotation of the shaft unit connecting the base link and the forward link unit. By giving a rotational motion to the base link of the transmission disk, the angle formed between all the forward link units can be changed at the same time.

The second invention includes a shaft unit, a base link, a forward link unit, a reverse link unit, and an end link, and the shaft unit is a link located on the base link side. A shaft that rotatably connects the link located on the end link side and a rotation provided around the axis of the link located on the base link side and connected to the link located on the end link side. A transmission disk and a rotation transmission disk provided around the axis of the link located on the end link side and connected to a link located on the base link side are provided, and one of the base links has a ground surface or the like. The shaft unit is fixed to the base of the above, and the shaft unit is attached to the other side. In the forward link unit, the shaft unit located on the base link side and the shaft unit located on the end link side are opposite to each other with their axes parallel to each other. The rotation transmission disk connected to the shaft unit located on the base link side and the rotation transmission disk connected to the shaft unit located on the end link side rotate in the same direction while being provided at both ends so as to face each other. The shaft unit of the base link is used as one shaft unit, and the reverse link unit is a shaft unit located on the base link side and the end link. Shaft units located on the side are provided at both ends so that their axes are parallel and opposite to each other, and the rotation transmission disk of the shaft unit located on the base link side and the shaft unit located on the end link side The rotation transmission disk is motion-constrained by a figure-eight string member or a gear so as to rotate in opposite directions, the shaft unit of the forward link unit becomes one shaft unit, and the end link is the reverse link. The shaft unit of the unit is provided at one end and the end rotating shaft is provided at one end, and the base link, the forward link unit, the reverse link unit, and the end link are connected by the shaft unit, respectively. The distance between the shafts at both ends of the forward link unit and the end link is equal, and the rotation transmission disk of the forward link unit is rotated with respect to the base link. It is characterized in that the end rotation axis of the end link is linearly moved.

In the first or second invention, the shaft unit has an inner shaft centered on the rotation axis of the rotation transmission disk of one of the links adjacent to each other and a rotation axis of the rotation transmission disk of the other. It is characterized by having an outer shaft as a center.

According to the above configuration, in the contracted state, all the links are overlapped and converged, and in the maximum extended state, all the links are linearly arranged, and an extremely large progress rate can be obtained.

Moreover, since the size and shape of each link member can be set relatively freely, for example, a rotating shaft or bearing having a large diameter can be adopted, and the rigidity at the time of maximum extension can be easily improved.

Further, it is a lifter provided with a plurality of interlocking articulated mechanisms of the first invention, which is provided between a base, an elevating table provided above the base, and between the elevating table and the base. The interlocking articulated mechanism is provided with a plurality of interlocking articulated mechanisms and a synchronization means for synchronizing the bending and stretching movements of the interlocking articulated mechanisms, and the base links of the interlocking articulated mechanism are arranged at predetermined intervals in the horizontal direction. The shaft units of the interlocking articulated mechanism that are adjacent to each other in the horizontal direction and bend outward are rotatably connected by a connecting member, and the elevating table is fixed to the connecting member at the uppermost position, and the interlocking units synchronized by the synchronization means. By bending and stretching the articulated mechanism, the elevating table is moved up and down while maintaining a position parallel to and directly above the base.

Further, it is a lifter provided with a plurality of interlocking articulated mechanisms of the invention of the second month, which is provided between a base, an elevating table provided above the base, and between the elevating table and the base. The interlocking articulated mechanism is provided with a plurality of interlocking articulated mechanisms and a synchronization means for synchronizing the bending and stretching movements of the interlocking articulated mechanisms, and the base links of the interlocking articulated mechanism are arranged at predetermined intervals in the horizontal direction. , The shaft units of the interlocking articulated mechanism that are adjacent to each other in the horizontal direction in the horizontal direction and the shaft units of the end link are rotatably connected by connecting members, and the elevating table is the connecting member at the uppermost position. It is characterized in that the elevating table is moved up and down while maintaining a position parallel to and directly above the base by bending and stretching of each interlocking articulated mechanism synchronized with the synchronization means.

The lifter of the present invention can be raised and lowered while maintaining the position parallel to the base and directly above the base by the synchronous bending and stretching of each interlocking articulated mechanism. At this time, since the interlocking articulated mechanism has the above-described configuration, it has high rigidity at the time of maximum extension and has a large extension rate, and the lifting platform can be brought close to the platform at the lowest position. it can.

As described above, according to the lifter of the present invention, not only the stable ascending / descending operation of the elevating table can be obtained by each interlocking articulated mechanism, but also the maximum ascending position of the elevating table is raised while maintaining high rigidity. Furthermore, the lift can be lowered to an extremely low position, which is convenient.

Explanatory side view of the lifter of the first embodiment. Explanatory front view of the lifter of the first embodiment. Explanatory sectional view which shows an example of a shaft unit. Explanatory drawing which shows the attitude change of a forward link unit. Explanatory drawing which shows the attitude change of the reverse link unit. The explanatory view which shows the operation of the 1st Embodiment lifter. Explanatory side view of the lifter of the second embodiment. Explanatory plan view of the lifter of the second embodiment.

The first embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1 and 2, the lifter 1 of the first embodiment is located between the base 2 and the elevating table 3 provided above the base 2, and between the elevating table 3 and the base 2. It is provided with a plurality of (four in this embodiment) interlocking articulated mechanisms 4 provided.

Below the base 2, a driving means 5 for driving the bending and stretching operation of each interlocking articulated mechanism 4 is provided. Further, as will be described later, the driving means 5 has a function as a synchronization means for synchronizing the bending and stretching operations of the interlocking articulated mechanisms 4.

Each interlocking articulated mechanism 4 is arranged at the four corners of the base 2, and supports the four corners of the elevating table 3. Here, the configuration of the interlocking articulated mechanism 4 will be described. The interlocking articulated mechanism 4 includes a base link 6, a forward link unit 7, a reverse link unit 8, and an end link 9.

The base link 6 is provided as a support column erected on the base 2. Between the upper end of the base link 6 and the base end of the forward link unit 7, between the tip of the forward link unit 7 and the base end of the reverse link unit 8, the tip and end of the reverse link unit 8. Shaft units 10a, 10b, and 10c having the same configuration are provided between the link 9 and the base end portion, respectively.

As shown in FIG. 3, the shaft unit 10b includes a shaft 11 (inner shaft), a first rotation transmission disk 12, and a second rotation transmission disk 13.

In this embodiment, the shaft 11 is fixed to the reverse link unit 8 and extends inside the forward link unit 7. The first rotation transmission disk 12 is fixed to the tip of the shaft 11 located inside the forward link unit 7.

The forward link unit 7 includes a bearing 14 (outer shaft), and the shaft 11 is rotatably supported by the bearing 14. The bearing 14 extends inside the reverse link unit 8. The second rotation transmission disk 13 is fixed to the tip of the bearing 14 located inside the reverse link unit 8.

As a result, when a rotational force is applied to the first rotation transmission disk 12, the reverse link unit 8 rotates. At this time, the reverse link unit 8 rotates relative to the second rotation transmission disk 13.

Although FIG. 3 shows the shaft unit 10b built in the tip end portion of the forward link unit 7 and the base end portion of the reverse link unit 8, the shaft unit 10a also has the same configuration. Although not shown, the shaft unit 10c has the same configuration as the shaft unit 10c except that the second rotation transmission disk 13 is not provided.

As shown in FIGS. 1 and 2, an elevating table 3 is rotatably connected to the inside of the tip end portion of the end link 9 via an end rotation shaft 15.

As shown in FIG. 4, the forward link unit 7 has a second rotation transmission disk 13 (sprocket in this embodiment) and a tip side (reverse link) of the shaft unit 10a on the base end side (end portion on the base link 6 side). The first rotation transmission disk 12 (sprocket in this embodiment) of the shaft unit 10b (on the unit 8 side) is motion-constrained by the ring-shaped string member 16 (chain in this embodiment) so as to rotate in the same direction.

When the second rotation transmission disk 13 and the first rotation transmission disk 12 at both ends of the forward link unit 7 are composed of pulleys, the ring-shaped string member 16 may be formed by a belt, and the second rotation transmission disk 13 and the second rotation transmission disk 13 may be formed. When the first rotation transmission disk 12 is used as a gear, power is transmitted by the gear instead of the ring-shaped string member 16, although not shown.

As shown in FIG. 5, the reverse link unit 8 has a second rotation transmission disk 13 (sprocket in this embodiment) and a tip side (end link 9 side) of the shaft unit 10b on the base end side (forward link unit 7 side). ) First rotation transmission disk 12 (sprocket in this embodiment) is restrained by a figure eight string member 17 (chain in this embodiment) so as to rotate in opposite directions.

When the second rotation transmission disk 13 and the first rotation transmission disk 12 at both ends of the reverse link unit 8 are composed of pulleys, the figure 8 string member 17 may be formed by a belt, and the second rotation transmission disk 12 may be formed. When 13 and the first rotation transmission disk 12 are used as gears, power is transmitted by gears instead of the figure-eight string member 17, which is not shown.

Further, referring to FIGS. 1 and 2, rotation is transmitted to the shaft unit 10a of the base link 6 by the power transmission belt 18 of the drive means 5. Then, the driving force of the driving means 5 is transmitted in a chain reaction to the forward link unit 7, the reverse link unit 8, and the end link 9, so that the bending and stretching motion is formed.

As shown in FIG. 4, when the forward link unit 7 is rotated, the vertical position of the reverse link unit 8 changes without changing the posture of the reverse link unit 8 due to the action of the ring-shaped string member 16. That is, when the reverse link unit 8 is in a posture extending in the vertical direction (when the posture is parallel to the standing posture of the base link 6), even if the forward link unit 7 rotates with respect to the base link 6, the posture is such. Regardless of the rotation angle, the posture extending in the vertical direction of the reverse link unit 8 (the posture parallel to the standing posture of the base link 6) is maintained.

Further, as shown in FIG. 5, when the forward link unit 7 rotates, the end link 9 moves in the opposite direction to the forward link unit 7 due to the action of the 8-shaped string member 17 of the reverse link unit 8. Rotate. That is, as the figure 8 string member 17 performs reverse rotation transmission, the rotation direction of the end link 9 with respect to the reverse link unit 8 becomes the direction opposite to the rotation direction of the forward link unit 7 with respect to the reverse link unit 8. , The rotation angle of the end link 9 with respect to the reverse link unit 8 and the rotation angle of the forward link unit 7 with respect to the reverse link unit 8 are equivalent.

Further, as shown in FIGS. 1 and 2, the strength of the lifter 1 in the lateral direction is improved by providing a connecting frame 19 at the base end of the reverse link unit 8 and connecting the interlocking articulated mechanisms 4 to each other. Can be done.

Further, as shown in FIGS. 1 and 2, the drive means 5 uses the motor 20 as a drive source, and is a shaft of each interlocking articulated mechanism 4 from the drive shaft 21 of the motor 20 via the synchronization belt 22 and the power distribution pulley 23. The unit 10a is synchronously rotated. That is, in the drive means 5, the synchronization belt 32 and the power distribution pulley 33 impart the functions of the synchronization means of the present invention.

Here, the operation of the lifter 1 using the interlocking articulated mechanism 4 having the above configuration will be described. First, the forward link unit 7 is placed in a downward posture with its tip facing down. As a result, the forward link unit 7, the reverse link unit 8 and the end link 9 are weighed against the base link 6. In this state, as shown in FIG. 6A, since the tip of the end link 9 faces downward, the elevating table 3 is in the lowest position, and is extremely low in proximity to the upper surface of the base 2. It is considered to be a position.

As described above, since the elevating table 3 at the lowest position is at an extremely low position, it is possible to easily perform the mounting work of a part of the cover.

Next, as shown in FIG. 6B, when the forward link unit 7 is rotated in the upright direction with respect to the base link 6, the elevating base 3 maintains a horizontal posture and linearly in the direction directly above the base 2. To rise. 1 and 2 are postures at substantially intermediate positions between FIGS. 6B and 6C.

Further, as shown in FIG. 6C, when the forward link unit 7 rotates and takes an upright posture (a posture extending in the vertical direction), the links 6, 7, 8 and 9 are aligned in a straight line, and the lift 3 , It becomes the highest position.

Then, as shown in FIGS. 6A to 6C, the lifter 1 is in a sufficiently low position when the lift 3 is in the lowest position, and can be linearly moved to a sufficiently high position. Further, the projected area when the elevating table 3 is in the lowest position and the projected area when the elevating table 3 is in the uppermost position do not change.

Next, the second embodiment will be described. As shown in FIGS. 7 and 8, the lifter 30 of the second embodiment is located between the base 31 and the elevating table 32 provided above the base 31, and between the elevating table 32 and the base 32. It is provided with a plurality of (four in this embodiment) interlocking articulated mechanisms 33 provided.

As shown in FIG. 7, the interlocking articulated mechanism 33 used for the lifter 30 of the second embodiment includes the base link 34 and a plurality of (five in this embodiment) forward link units 35a, 35b, 35c, 35d. , 35e and the end link 36 are connected via shaft units 37a, 37b, 37c, 37d, 37e, 37f, respectively. The forward link units 35a, 35b, 35c, 35d, 35e and the end link 36 have the same configuration as the forward link unit 7 and the end link 9 of the first embodiment, respectively. The shaft units 37a, 37b, 37c, 37d, 37e, and 37f also have the same configuration as the shaft units 10a, 10b, 10c of the first embodiment.

In the interlocking articulated mechanism 33, the forward link unit 35a at the lowest position is connected to the base link 34, and the forward link unit 35 at the highest position is connected to the end link 36.

Further, as shown in FIGS. 7 and 8, in the four interlocking articulated mechanisms 33, a connecting frame 38 is provided between the shaft units 37b adjacent to each other in the lateral direction, and a connecting frame 38 is provided between the shaft units 37d. 39 is provided. Thereby, the strength of the lifter 30 in the lateral direction can be improved.

The lifter 30 of the second embodiment having the above configuration includes the base link 34, the forward link units 35a, 35b, 35c, 35d, 35e, and the end link 36 as the shaft units 37a, 37b, 37c, 37d. By constructing a link chain connected in a chain by 37e, 37e, 37e, 37e, the ascending / descending operation is performed by simultaneously changing the angle formed between all the forward link units 35a, 35b, 35c, 35d, 35e. As a result, the same effect as that of the lifter 1 of the first embodiment can be obtained.

In each of the above embodiments, a lifter using four interlocking articulated mechanisms is shown. However, the number of interlocking articulated mechanisms is not limited to this, and it is sufficient to provide a number of interlocking articulated mechanisms capable of stably raising and lowering the platform. For example, although not shown, two interlocking articulated mechanisms may be provided diagonally in a plan view of the elevating table, or when the elevating table is large and can handle a large load, along the peripheral edge of the elevating table. A large number (six or more) of interlocking articulated mechanisms may be provided.

1,30 ... Lifter, 2,31 ... Base, 3,32 ... Lift, 4,33 ... Interlocking articulated mechanism, 6,34 ... Base link, 7,35a, 35b, 35c, 35d, 35e ... In order Link unit, 8 ... Reverse link unit, 9, 36 ... End link, 10a, 10b, 10c, 37a, 37b, 37c, 37d, 37e, 37f ... Axis unit, 11 ... Axis, 12 ... First rotation transmission disk ( Rotation transmission disk), 13 ... 2nd rotation transmission disk (rotation transmission disk), 15 ... end rotation shaft, 16 ... ring-shaped string member, 17 ... 8-shaped string member.

Claims (5)

It has a shaft unit, a base link, a forward link unit, and an end link.
The shaft unit is provided around a shaft that rotatably connects a link located on the base link side and a link located on the end link side, and around the axis of the link located on the base link side. A rotation transmission disk connected to a link located on the end link side and a link-connected rotation transmission disk provided around the axis of the link located on the end link side and located on the base link side. With and
One of the base links is fixed to a base such as the ground surface, and the shaft unit is attached to the other.
The forward link unit is provided at both ends so that the shaft unit located on the base link side and the shaft unit located on the end link side are parallel to each other and in opposite directions, and the base is provided. The rotation transmission disk connected to the shaft unit located on the base link side and the rotation transmission disk connected to the shaft unit located on the end link side are motion-constrained by a ring-shaped string member or a gear so as to rotate in the same direction.
The end link has a shaft unit of the forward link unit at one end and an end rotation shaft at the other end.
A link chain is configured in which the base link, a plurality of forward link units, and the end link at the final end are connected in a chain by the shaft units at both ends of the forward link unit.
The feature is that the rotation transmission disk of the shaft unit connecting the base link and the forward link unit is given a rotational motion to the base link to change the angles formed between all the forward link units at the same time. Interlocking articulated mechanism. It is equipped with an axis unit, a base link, a forward link unit, a reverse link unit, and an end link.
The shaft unit is provided around a shaft that rotatably connects a link located on the base link side and a link located on the end link side, and around the axis of the link located on the base link side. A rotation transmission disk connected to a link located on the end link side and a rotation transmission connected to a link provided around the axis of the link located on the end link side and connected to the base link side. Equipped with a disk,
One of the base links is fixed to a base such as the ground surface, and the shaft unit is attached to the other.
The forward link unit is provided at both ends so that the shaft unit located on the base link side and the shaft unit located on the end link side are parallel to each other and in opposite directions, and the base is provided. The rotation transmission disk connected to the shaft unit located on the base link side and the rotation transmission disk connected to the shaft unit located on the end link side are motion-constrained by a ring-shaped string member or a gear so as to rotate in the same direction. The shaft unit of the base link is used as one shaft unit.
The reverse link unit is provided at both ends so that the shaft unit located on the base link side and the shaft unit located on the end link side are parallel to each other and in opposite directions, and the base link side is provided. The rotation transmission disk of the shaft unit located at and the rotation transmission disk of the shaft unit located on the end link side are motion-constrained by a figure-eight string member or a gear so as to rotate in opposite directions. The shaft unit of the link unit is one of the shaft units.
The end link has a shaft unit of the reverse link unit at one end and an end rotation shaft at the other end.
The base link, the forward link unit, the reverse link unit, and the end link are connected by a shaft unit, respectively, and the forward link unit and the end link are provided at both ends. The distances between the axes are equal, and by rotating the rotation transmission disk of the forward link unit with respect to the base link, the end rotation axis of the end link is linearly moved. Joint mechanism. The shaft unit includes an inner shaft centered on the rotation axis of the rotation transmission disk of one of the links adjacent to each other and an outer shaft centered on the rotation axis of the rotation transmission disk of the other link. The interlocking articulated mechanism according to claim 1 or 2. A lifter having a plurality of interlocking articulated mechanisms according to claim 1.
A base, an elevating table provided above the base, a plurality of the interlocking articulated mechanisms provided between the elevating table and the base, and bending and stretching operations between the interlocking articulated mechanisms. Equipped with a synchronization means to synchronize,
The base links of the interlocking articulated mechanism are arranged at predetermined intervals in the horizontal direction, and each shaft unit that is adjacent to the interlocking articulated mechanism in the horizontal direction and bends outward is rotatable by a connecting member. Connected, the lift is fixed to the topmost connecting member,
A lifter characterized in that the elevating table is moved up and down while maintaining a position parallel to and directly above the base by bending and stretching of each interlocking articulated mechanism synchronized by the synchronization means. A lifter having a plurality of interlocking articulated mechanisms according to claim 2.
A base, an elevating table provided above the base, a plurality of the interlocking articulated mechanisms provided between the elevating table and the base, and bending and stretching operations between the interlocking articulated mechanisms. Equipped with a synchronization means to synchronize,
The base links of the interlocking articulated mechanism are arranged at predetermined intervals in the horizontal direction, and the shaft units of the reverse link units of the interlocking articulated mechanism are adjacent to each other in the horizontal direction and the shafts of the end links. The units are rotatably connected to each other by connecting members, and the lift is fixed to the connecting member at the highest position.
A lifter characterized in that the elevating table is moved up and down while maintaining a position parallel to and directly above the base by bending and stretching of each interlocking articulated mechanism synchronized by the synchronization means.

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