JP2021130161A - Self-weight compensation link mechanism, self-weight compensation robot, self-weight compensation link mechanism with carriage and self-weight compensation robot with carriage - Google Patents

Abstract

To provide a self-weight compensation link mechanism, self-weight compensation robot, self-weight compensation link mechanism with a carriage, self-weight compensation robot with a carriage capable of making an occupied space necessary for operation of the self-weight compensation link mechanism small.SOLUTION: A self-weight compensation link mechanism, etc. include a conjunction mechanism which is provided on a rotary arm and displaces a second arm based on displacement amount of a first arm. Therein, the conjunction mechanism controls it so that a position of combined center of gravity provided by combining a position of gravity of a body to be supported and a position of counter weight comes to a position of fulcrum and/or a predetermined position of circumference of the fulcrum, when a position of the first arm is displaced.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a self-weight compensation link mechanism, a self-weight compensation robot, a self-weight compensation link mechanism with a trolley, and a self-weight compensation robot with a trolley.

In recent years, automation by machines and robots and reduction in the number of workers have been promoted at manufacturing sites, but it is difficult to completely eliminate manual work.
One of the manual operations is that the operator handles heavy tools. Such work is a major obstacle to improving work efficiency.
As a mechanism for compensating for the weight of such a heavy tool, there is a self-weight compensation link mechanism (see, for example, Patent Document 1).

In Patent Document 1, a work tool can be detachably attached to and detachable from a first arm element and a second arm element in which two links of a pantograph type link structure mounted on an autonomous traveling vehicle are extended, and a hand at the tip of the first arm element. A self-weight compensation link mechanism is disclosed in which a counter weight is attached to the tip of the second arm element to provide a self-weight compensation function.
By using the self-weight compensation link mechanism having such a configuration, it is possible to compensate the self-weight of the tool.

Japanese Unexamined Patent Publication No. 2004-291215

However, in the case of the self-weight compensation link mechanism disclosed in Patent Document 1, when the work tool attached to the hand is brought close to the fulcrum of the pantograph type link structure, two of the four links arranged on the upper side are used. Since the connecting portion to be connected is greatly separated from the fulcrum, it is necessary to secure a large occupied space required for the pantograph type link structure to operate.

The present disclosure has been made to solve the above problems, and includes a self-weight compensation link mechanism, a self-weight compensation robot, a self-weight compensation link mechanism with a trolley, and a self-weight compensation robot with a trolley that can reduce the occupied space. The purpose is to provide.

In order to solve the above problems, the self-weight compensation link mechanism according to the present disclosure includes a rotary arm that extends in one direction and is rotatably supported around a fulcrum, and the rotary arm with one end rotatable. A first arm provided at one end, a supported body provided at the other end of the first arm, and one end provided at the other end of the rotating arm in a rotatable state. A second arm that is parallel to the direction in which the first arm extends and extends in the direction opposite to the side on which the first arm extends, a counter weight provided at the other end of the second arm, and the above. The rotary arm is provided with an interlocking mechanism that displaces the second arm based on the displacement amount of the first arm, and the interlocking mechanism is provided when the position of the first arm is displaced. The position of the combined center of gravity obtained by combining the center of gravity of the supported body and the center of gravity of the counter weight is controlled to be the position of the fulcrum or a predetermined position around the fulcrum.

According to the self-weight compensation link mechanism, the self-weight compensation robot, the self-weight compensation link mechanism with a trolley, and the self-weight compensation robot with a trolley of the present disclosure, the occupied space of the self-weight compensation link mechanism can be reduced.

It is a side view for demonstrating the self-weight compensation link mechanism which concerns on 1st Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on the 2nd Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on 3rd Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on 4th Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on 5th Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on the modification of the 5th Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on 6th Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on the modification of the 6th Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation robot which concerns on 7th Embodiment of this disclosure. It is a side view for demonstrating the self-weight compensation link mechanism which concerns on 8th Embodiment of this disclosure.

<First Embodiment>
The self-weight compensation link mechanism 10 of the first embodiment will be described with reference to FIG. In FIG. 1, M1 is the mass of the supported body 16 (hereinafter referred to as “mass M1”), M2 is the mass of the counter weight 18 (hereinafter referred to as “mass M2”), and CG1 is the position of the center of gravity of the supported body 16 (hereinafter referred to as “mass M2”). Hereinafter, "center of gravity position CG1"), CG2 is the position of the center of gravity of the counter weight 18 (hereinafter, referred to as "center of gravity position CG2"), and CG3 is a combination of the center of gravity of the supported body 16 and the center of gravity of the counter weight 18. The position of the synthetic center of gravity (hereinafter referred to as "the position of the synthetic center of gravity CG3") and the Z direction indicate the vertical upper direction. However, since the position CG3 of the composite center of gravity can change depending on the mass M1 of the supported body 16 and the position CG1 of the center of gravity and the mass M2 of the counter weight 18 and the position CG2 of the center of gravity, the function of matching with the fulcrum 29 is provided by the configuration shown below. Realize. Here, the ratio of the mass M2 to the mass M1 (= mass M2 / mass M1) is defined as α.

(Overall configuration of self-weight compensation link mechanism)
The self-weight compensation link mechanism 10 includes an interlocking mechanism 11, a rotating arm 13, a first arm 14, a supported body 16, a second arm 17, and a counterweight 18.

(Structure of interlocking mechanism)
The interlocking mechanism 11 includes a first sprocket 21, a second sprocket 22, a chain 24, and a chain adjusting mechanism 25.
The first sprocket 21 has a disk shape. The first sprocket 21 has a plurality of convex portions 21A.
The plurality of convex portions 21A are provided on the outer peripheral portion. The plurality of convex portions 21A are arranged at intervals in the circumferential direction. The plurality of convex portions 21A are portions that engage with the chain 24.
The first sprocket 21 is rotatably connected to one end 27 of the rotating arm 13, and of the supported body 16 supported by the first arm 14 via the bending moment of the first arm 14. Receives weight as torque.

The second sprocket 22 has a disk shape. The second sprocket 22 has a plurality of protrusions 22A.
The plurality of convex portions 22A are provided on the outer peripheral portion. The plurality of convex portions 22A are arranged at intervals in the circumferential direction. The plurality of convex portions 22A are portions that engage with the chain 24.
The second sprocket 22 is rotatably connected to the other end 28 of the rotating arm 13 and is located away from the first sprocket 21 and through the bending moment of the second arm 17, the second sprocket 22 is second. The weight of the counterweight 18 supported by the arm 17 is received as torque.

The second sprocket 22 having the above configuration is arranged at a position away from the first sprocket 21.
The pitch diameter of the second sprocket 22 is configured to be equal to the pitch diameter of the first sprocket 21. As the first and second sprockets 21 and 22, sprockets having the same configuration (same size and same shape) can be used, for example.

The chain 24 is attached to the outer peripheral portions (plurality of convex portions 21A, 22A) of the first and second sprockets 21 and 22 so that the first and second sprockets 21 and 22 are arranged inside. ..

The chain adjusting mechanism 25 is provided on the path of the chain 24. The chain adjusting mechanism 25 has a configuration in which the tension state of the chain can be adjusted (the relative phases of the first sprocket 21 and the second sprocket 22 can be adjusted).
As the chain adjusting mechanism 25, for example, a turnbuckle, a chain tensioner, or the like can be used.

(Structure of rotating arm)
The rotary arm 13 rotatably supports the second sprocket 22 via the rotary arm body 26, one end 27 that rotatably supports the first sprocket 21 via the shaft 31A, and the shaft 31B. It has the other end 28 to support and a fulcrum 29.
The rotary arm body 26 extends in one direction (specifically, the direction from the first sprocket 21 toward the second sprocket 22).
It is desirable that the center of gravity of the rotating arm main body 26 can be maintained in a balanced state even when the supported body 16 and the counterweight 18 are not present, and for that purpose, it is desirable that the center of gravity of the rotating arm main body 26 coincides with the fulcrum 29. However, if the rotating arm body 26 is lightweight, the effect is relatively small.

The fulcrum 29 is a position where the rotary arm 13 is supported in a rotatable state (rotation center position), and is a line segment connecting the shaft 31A and the shaft 31B on the rotary arm body 26 (dotted line shown in FIG. 1). Is placed at a point that internally divides α: 1. That is, the ratio of the distance L1a to the distance L2a is α: 1.

(Structure of the first arm)
The first arm 14 has one end 14A and the other end 14B arranged at a distance L1b from one end 14A. One end 14A is rotatably provided on one end 27 of the rotating arm 13 via a shaft 31A in a rotatable state.

(Structure of supported body)
The supported body 16 is attached to the other end 14B of the first arm 14 in a detachable state. As the supported body 16, for example, a heavy object (for example, a heavy tool) used by a worker in a factory or the like can be exemplified.
When the mass of the supported body 16 is the mass M1, the gravity of the mass M1 × g (g indicates the gravitational acceleration) acts on the supported body 16 on the lower side in the Z direction, and this force acts on the supported body 16 other than the first arm 14. Acts on the end 14B.
The supported body 16 may be connected to the other end 14B of the first arm 14 via a connector such as a gimbal. Further, even when the supported body 16 is hung from the other end 14B of the first arm 14 via a wire, the force of the mass M1 × g is applied to the lower side in the Z direction of the first arm 14 as in the above configuration. Acts on the other end 14B of.

(Structure of the second arm)
The second arm 17 is parallel to the first arm 14 and extends on the side opposite to the side on which the first arm 14 extends. The second arm 17 has one end 17A and the other end 17B arranged at a distance L2b from the one end 17A. One end 17A is rotatably provided on the other end 28 of the rotating arm 13 via a shaft 31B in a rotatable state.

Here, the ratio of the distance L1b to the distance L2b is α: 1.

It is desirable that the first arm 14 and the second arm 17 can maintain a balanced state even in the absence of the supported body 16 and the counterweight 18, and for that purpose, the mass of the second arm 17 is the mass of the first arm. It is desirable that it is α times the mass of 14.
In addition, the ratio of the distance from one end 14A of the first arm to the position of the center of gravity of the first arm with respect to the length L1b of the first arm and the position of one end 17A of the second arm to the position of the center of gravity of the second arm. It is desirable that the ratio of the distance to the second arm length L2b is the same.

(Counterweight configuration)
The counterweight 18 is attached to the other end 17B of the second arm 17 in a detachable state. When the mass of the counter weight 18 is the mass M2, the gravity of the mass M2 × g (g indicates the gravitational acceleration) acts on the counter weight 18 on the lower side in the Z direction.
The counterweight 18 can also be connected to the other end 17B of the second arm 17 via a connector such as a gimbal, and can be hung from the other end 17B of the second arm 17 via a wire.

In the self-weight compensation link mechanism 10 having the above configuration, the first straight line L1a connecting the rotation center of the shaft 31A and the fulcrum 29 and the straight line L1b connecting the rotation center of the shaft 31A and the position CG1 of the center of gravity of the supported body 16 is formed. The size of the angle θ1 and the second angle θ2 formed by the straight line L2a connecting the rotation center of the shaft 31B and the fulcrum 29 and the straight line L2b connecting the rotation center of the shaft 31B and the position CG2 of the center of gravity of the counter weight 18. The interlocking mechanism 11 keeps the same, and the first arm 14 and the second arm 17 are kept parallel. At this time, the position CG3 of the synthetic center of gravity exists at the point where the line segment connecting the position CG1 of the center of gravity of the supported body 16 and the position CG2 of the center of gravity of the counterweight is internally divided by α: 1 and coincides with the fulcrum 29. ..

Such a function includes a straight line connecting the position CG3 of the synthetic center of gravity and one end 14A of the first arm 14, a first straight line L1, a first triangle Tr1 formed by the first arm 14, and a synthetic center of gravity. The similarity ratio between the straight line connecting the position CG3 and one end 17A of the second arm 17, the second straight line L2, and the second triangle Tr2 formed by the second arm 17 is always kept at α: 1. In addition to sagging, the relative positional relationship between the first triangle Tr1 and the second triangle Tr2 is rotationally symmetric with respect to the position CG3 of the synthetic center of gravity, so that the position CG3 of the synthetic center of gravity is always the fulcrum 29. Explain that they match.
As a result, when the operator changes the position of the first arm 14, the position CG3 of the combined center of gravity can always be matched with the position of the fulcrum 29, so that the weight of the supported body 16 can be compensated. Can be done.

For example, when the mass M1 of the supported body 16 is 15 kg and the mass M2 of the counter weight 18 is 45 kg, that is, when the ratio of the mass M2 to the mass M1 (= mass M2 / mass M1) α is set to 3, the first Since the ratio of the length of the straight line L1 to the length of the second straight line L2 is always 3: 1, the position CG3 of the combined center of gravity can be matched with the position of the fulcrum 29.

The interlocking mechanism 11 described above keeps the sizes of the first angle θ1 and the second angle θ2 equal to each other when the position of the first arm 14 is displaced, and the first arm 14 and the second arm 14 and the second arm 14 have the same size. By displacing the second arm 17 according to the displacement amount of the first arm 14 while maintaining the parallel state with the arm 17, the position CG3 of the combined center of gravity always coincides with the position of the fulcrum 29. It has a function to make it.

(Effect of self-weight compensation link mechanism)
According to the self-weight compensation link mechanism 10 of the first embodiment, when the position of the first arm 14 is displaced, the position CG3 of the combined center of gravity obtained by combining the center of gravity of the supported body 16 and the center of gravity of the counterweight 18 is set. By always matching with the fulcrum 29, the weight of the supported body 16 can be compensated.
Further, since the self-weight compensation link mechanism 10 is a serial link mechanism, the rotating arm 13, the first arm 14, and the second arm 17 (3) are compared with the pantograph type link mechanism provided with four links. The occupied space required to operate the two links) can be reduced.

Since the self-weight compensation link mechanism 10 keeps the sum of the potential energies of the mass M1 of the supported body 16 and the mass M2 of the counterweight 18 substantially constant, a drive motor or the like for compensating the self-weight is not required, and the weight is reduced. It becomes possible. This makes it easy to carry and allows the self-weight compensation link mechanism 10 to be installed even on a floor having a low load capacity.

<Second embodiment>
The self-weight compensation link mechanism 30 of the second embodiment will be described with reference to FIG. In FIG. 2, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.

(Overall configuration of self-weight compensation link mechanism)
The self-weight compensation link mechanism 30 is configured in the same manner as the self-weight compensation link mechanism 10 except that it has an interlocking mechanism 32 instead of the interlocking mechanism 11 constituting the self-weight compensation link mechanism 10 of the first embodiment.

(Overall configuration of interlocking mechanism)
The interlocking mechanism 32 has a first pulley 35, a second pulley 36, and a wire 38.

(Structure of the first pulley)
The first pulley 35 is a member that guides the wire 38, and is rotatably arranged on the shaft 31A.

(Structure of second pulley)
The second pulley 36 is a member that guides the wire 38, and is rotatably arranged on the shaft 31B.
The second pulley 36 is arranged away from the first pulley 35 in the direction in which the rotary arm 13 extends. The second pulley 36 is arranged on the opposite side of the first pulley 35 with respect to the fulcrum 29.

(Wire configuration)
The wire 38 has one end 38A and the other end 38B. One end 38A is connected to a portion having a certain distance from the shaft 31A on the one end 14A side of the first arm 14. The other end 38B is connected to a portion having a certain distance from the shaft 31B on the one end 17A side of the second arm 17. A part of the wire 38 located between the one end 38A and the other end 38B comes into contact with the first and second pulleys 35 and 36, and the path of the wire 38 is guided.

(Effect of self-weight compensation link mechanism)
As described above, by forming the interlocking mechanism 32 by using the first pulley 35, the second pulley 36, and the wire 38, the displacement amount of the first arm 14 is changed to the second through the wire 38. It can be transmitted to the arm 17 so that the position of the synthetic center of gravity CG3 and the position of the fulcrum 29 can always be matched.

Further, when the self-weight compensation link mechanism 10 (chain sprocket mechanism) described in the first embodiment is used, it is between the first sprocket 21 and the first arm 14, and the second sprocket 22 and the second. A component configuration such as keyway processing, spline processing, or bolt fastening for transmitting torque between the arm 17 and the arm 17 is required. On the other hand, the first and second pulleys 35 and 36 need only have a function of guiding the wire 38 while maintaining a constant radius, and may be in a freely rotating state. Therefore, the self-weight compensation link mechanism 30 can simplify the processing and component configuration for torque transmission. Further, the bending strength for the torque transmission mechanism is not required at one end 14A of the first arm 14 and the one end 17A of the second arm 17.
Further, the structure can be simpler than that when the chain sprocket mechanism is used.

<Third embodiment>
The self-weight compensation link mechanism 40 of the third embodiment will be described with reference to FIG. In FIG. 3, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.

(Structure of self-weight compensation link mechanism)
The self-weight compensation link mechanism 40 arranges the fulcrum 29 at a position different from the position of the fulcrum 29 of the self-weight compensation link mechanism 10 of the first embodiment, does not match the position CG3 of the synthetic center of gravity, and does not match the position CG3 of the synthetic center of gravity. For example, the fulcrum 29 is arranged above the position CG3 of the composite center of gravity at a position around the above. Specifically, as shown in FIG. 3, the fulcrum 29 is arranged above and the position CG3 of the synthetic center of gravity exists below the fulcrum 29 as compared with the first embodiment shown in FIG.
The self-weight compensation link mechanism 40 is configured in the same manner as the self-weight compensation link mechanism 10 except that the position CG3 of the combined center of gravity and the fulcrum 29 are arranged so as not to coincide with each other.

(Effect of self-weight compensation link mechanism)
As described above, by arranging the fulcrum 29 above the position CG3 of the synthetic center of gravity in the Z direction, the force (restoring force) at which the position CG3 of the synthetic center of gravity tries to move directly below the fulcrum 29 due to the action of gravity. Occurs. As a result, the state in which the rotary arm 13 is tilted by a predetermined angle with respect to the Z direction becomes a stable equilibrium state.
By setting this state as the neutral position in advance, when the operator releases his / her hand from the supported body 16, the rotating arm 13 is prevented from rotating in an unstable state around the fulcrum 29 in an unintended direction. Above, the rotary arm 13 can be automatically returned to the neutral position.

<Fourth Embodiment>
The self-weight compensation link mechanism 50 of the fourth embodiment will be described with reference to FIG. In FIG. 4, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.

(Structure of self-weight compensation link mechanism)
The self-weight compensation link mechanism 50 adjusts the chain 24 from the state of the self-weight compensation link mechanism 10 of the first embodiment, breaks the parallel relationship between the first arm 14 and the second arm 17, and positions the combined center of gravity CG3. Is configured in the same manner as the self-weight compensation link mechanism 10 except that the fulcrum 29 is arranged at a different position from the fulcrum 29.

In the self-weight compensation link mechanism 50, the position CG3 of the combined center of gravity does not match the position of the fulcrum 29 and is arranged around the fulcrum. Specifically, when the state in which the rotary arm 13 is tilted by a predetermined angle with respect to the Z direction is set as the neutral position, the chain 24 and the fulcrum 29 shown below can be set to allow the fulcrum 29 to be set in the neutral position in the Z direction. The position CG3 of the synthetic center of gravity is arranged below.

In the self-weight compensation link mechanism 50, the first angle θ1 and the second angle θ2 are made different by loosening the upper side of the chain 24 so that the first arm 14 and the second arm 17 are not parallel to each other. By doing so, the position CG3 of the synthetic center of gravity is arranged at a position lower than the fulcrum 29.

The fulcrum 29 is moved in the horizontal direction so that the fulcrum 29 is arranged vertically above the position CG3 of the combined center of gravity arranged at a position lower than the fulcrum 29. With these settings, the position CG3 of the combined center of gravity can be arranged vertically below the fulcrum 29.

(Effect of self-weight compensation link mechanism)
As described above, by arranging the position CG3 of the synthetic center of gravity downward in the vertical direction of the fulcrum 29 in the neutral position, the rotating arm 13 is automatically placed in the neutral position when the operator releases his / her hand from the supported body 16. Can be restored to.
Further, since the first arm 14 and the second arm 17 can be returned to a stable balanced state, it is possible to suppress the self-weight compensation link mechanism 50 from performing an unintended operation in an unstable state. The self-weight compensation link mechanism 50 can be stabilized.

<Fifth Embodiment>
The self-weight compensation link mechanism 60 of the fifth embodiment will be described with reference to FIG. In FIG. 5, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.

(Structure of self-weight compensation link mechanism)
The self-weight compensation link mechanism 60 has the configuration of the self-weight compensation link mechanism 10 of the first embodiment, and further includes a first elastic deformation member 61, a first damper 62, a second elastic deformation member 64, and a second elastic deformation member 64. It is configured in the same manner as the self-weight compensation link mechanism 10 except that it is provided with the damper 65 of the above.

(Structure of the first elastically deforming member)
The first elastically deforming member 61 includes a portion of the rotating arm body 26 located on one end 27 side and a portion of the first arm 14 located on one end 14A side of the first arm 14. Is provided to connect.
As the first elastically deforming member 61, for example, a spring (for example, a coil spring) can be used.

(Structure of the first damper)
The first damper 62 connects a portion of the rotating arm main body 26 located on the one end 27 side and a portion of the first arm 14 located on the one end 14A side of the first arm 14. It is provided as follows. The first damper 62 is connected in parallel with the first elastically deforming member 61.
As the first damper 62, for example, an oil damper, a friction damper, or a variable damper whose damping coefficient can be adjusted can be used.

(Action and effect of the first elastically deforming member and the first damper)
By having the first elastic deformation member 61 and the first damper 62 having the above configuration, it is possible to set the angle of the neutral position of the first arm 14 and the second arm 17 with respect to the rotating arm main body 26. At the same time, when the operator releases his / her hand from the supported body 16, it is possible to prevent the position of the first arm 14 from being suddenly changed with respect to the rotating arm 13. As a result, unintended operation of the self-weight compensation link mechanism 60 can be suppressed, and stability in a balanced state can be obtained.
Further, for example, by limiting the range of motion of the first elastically deforming member 61 and the first damper 62 in advance, the rotating arm 13 and the first arm 14 are aligned, that is, the state of the dead center position. Since it is possible to avoid falling into, it is possible to prevent the operability of the first arm 14 from being lowered.
Further, since it is possible to apply and adjust a constant damping force while the first arm 14 is moving, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, and the operability can be improved. Can be done.

(Structure of the second elastically deformable member)
The second elastic deformation member 64 is provided on the rotary arm main body 26 so as to connect a portion separated from the fulcrum 29 by a certain distance from the fixing member 67. The fixing member 67 is a member whose position is regulated, and is a support column fixed or installed on a floor surface or the like described in the first embodiment, a trolley that can be moved by human power, or a human operation or autonomous control. It is possible to be regulated by a self-propelled mobile trolley or the like.
As the second elastically deforming member 64, for example, a spring (for example, a coil spring) can be used.

(Structure of the second damper)
The second damper 65 is arranged on the rotating arm main body 26 so as to connect a portion separated from the fulcrum 29 by a certain distance from the fixing member 67. The second damper 65 is connected in parallel with the second elastically deforming member 64.
As the second damper 65, for example, an oil damper, a friction damper, or a variable damper whose damping coefficient can be adjusted can be used.

(Action and effect of the second elastically deforming member and the second damper)
By having the second elastic deformation member 64 and the second damper 65 having the above configuration, it becomes possible to set in advance a position where the rotary arm 13 is tilted by a predetermined angle with respect to the Z direction as a neutral position. When the operator releases his / her hand from the supported body 16, the rotating arm 13 can be automatically returned to the neutral position after suppressing the unintended movement of the rotating arm 13 around the fulcrum. ..
Further, since it is possible to apply and adjust a constant damping force while the rotary arm 13 is moving, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, and the operability can be improved. can.

(Effect of self-weight compensation link mechanism)
As described above, it is possible to suppress the self-weight compensation link mechanism 60 from performing an unintended operation, and it is possible to improve the stability and operability of the self-weight compensation link mechanism 60.

<Modified example of the fifth embodiment>
The self-weight compensation link mechanism 70 of the modified example of the fifth embodiment will be described with reference to FIG. In FIG. 6, the same components as those of the structure shown in FIG. 5 are designated by the same reference numerals.

The self-weight compensating link mechanism 70 has a self-weight compensating link mechanism 60, except that the positions where the first elastically deforming member 61 and the first damper 62 constituting the self-weight compensating link mechanism 60 of the fifth embodiment are provided are different. It is configured in the same way as.

The first elastically deforming member 61 includes a portion of the rotating arm body 26 located on the other end 28 side and a portion of the second arm 17 located on the one end 17A side of the second arm 17. , Are provided to connect.

The first damper 62 connects the portion of the rotary arm 13 located on the other end 28 side and the portion of the second arm 17 located on the one end 17A side of the second arm 17. It is provided. The first damper 62 is connected in parallel with the first elastically deforming member 61.

(Effect of self-weight compensation link mechanism)
The self-weight compensation link mechanism 70 having such a configuration can obtain the same effect as the self-weight compensation link mechanism 60 of the fifth embodiment described above.

<Sixth Embodiment>
The self-weight compensation link mechanism 80 of the sixth embodiment will be described with reference to FIG. 7. In FIG. 7, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.

(Overall configuration of self-weight compensation link mechanism)
The self-weight compensation link mechanism 80 is the same as the self-weight compensation link mechanism 10 except that the self-weight compensation link mechanism 10 of the first embodiment is further provided with the rotary arm brake mechanism 81 and the brake mechanism 82. It is configured.

(Structure of brake mechanism for rotating arm)
The rotary arm brake mechanism 81 is provided in a portion of the rotary arm main body 26 corresponding to the fulcrum 29. The rotary arm brake mechanism 81 stops the rotation of the rotary arm 13 when the inclination angle of the rotary arm main body 26 with respect to the Z direction becomes a desired angle, and maintains the posture of the rotary arm 13. That is, the rotary arm brake mechanism 81 has a braking function and an angle holding function of the rotary arm 13.
The rotary arm brake mechanism 81 releases the brake when it is desired to rotate the rotary arm 13 from a state in which the rotation of the rotary arm 13 is stopped.
Further, since the rotary arm brake mechanism 81 also functions as a damper by adjusting its braking force, it can also be used as a means of substituting the function of the second damper 65.

(Brake mechanism configuration)
The brake mechanism 82 is provided at a joint portion where one end 27 of the rotating arm 13 and one end 14A of the first arm 14 are connected. The brake mechanism 82 stops the rotation of the first arm 14 with respect to the rotating arm 13 and maintains the posture of the first arm 14 with respect to the rotating arm 13. That is, the brake mechanism 82 has a braking function and an angle holding function related to the rotation of the connection portion between one end 27 of the rotating arm 13 and one end 14A of the first arm 14.
The brake mechanism 82 releases the brake when it is desired to rotate the first arm 14 from the state where the rotation of the first arm 14 is stopped.
Further, since the brake mechanism 82 also functions as a damper by adjusting its braking force, it can also be used as a means of substituting the function of the first damper 62.

(Effect of self-weight compensation link mechanism)
By having the above-described rotary arm brake mechanism 81, when the angle of the rotary arm 13 with respect to the Z direction becomes a desired angle, the rotation of the rotary arm 13 is stopped, and the posture of the rotary arm 13 is adjusted at a desired angle. Can be maintained.
Further, by having the brake mechanism 81 for the rotary arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 moves to a desired position, the rotary arm 13 and the first arm 14 The rotation of the arm 14 can be stopped and the position of the supported body 16 can be maintained.

<Modified example of the sixth embodiment>
The self-weight compensation link mechanism 90 of the modified example of the sixth embodiment will be described with reference to FIG. In FIG. 8, the same components as those of the structure shown in FIG. 7 are designated by the same reference numerals.

(Structure of self-weight compensation link mechanism)
The self-weight compensation link mechanism 90 is configured in the same manner as the self-weight compensation link mechanism 80, except that the position where the brake mechanism 82 constituting the self-weight compensation link mechanism 80 of the sixth embodiment is provided is different.
The brake mechanism 82 is provided at a joint portion where the other end 28 of the rotating arm 13 and one end 17A of the second arm 17 are connected, and stops the rotation of the second arm 17 with respect to the rotating arm 13. The posture of the second arm 17 with respect to the rotating arm 13 is maintained.

(Effect of self-weight compensation link mechanism)
The self-weight compensation link mechanism 90 having the above configuration has the brake mechanism 81 for the rotating arm, so that when the angle of the rotating arm 13 with respect to the Z direction becomes a desired angle, the rotation of the rotating arm 13 is stopped. The posture of the rotary arm 13 can be maintained at a desired angle.
Further, by having the brake mechanism 81 for the rotary arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 moves to a desired position, the rotary arm 13 and the second arm 13 and the second arm 14 The rotation of the arm 17 can be stopped and the position of the supported body 16 can be maintained.

<7th Embodiment>
The self-weight compensating robot 100 of the seventh embodiment will be described with reference to FIG. In FIG. 9, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.

(Overall configuration of self-weight compensation robot)
The self-weight compensation robot 100 includes a self-weight compensation link mechanism 10 of the first embodiment, a first rotation mechanism 101, a second rotation mechanism 102, and a control device 103.

(Structure of the first rotating mechanism)
The first rotation mechanism 101 rotates the first arm 14 with respect to the rotation arm 13. The first rotation mechanism 101 is, for example, a rotation drive motor shown in FIG. 9 (or an actuator arranged so as to connect the rotation arm main body 26 and the first arm 14 and expandable and contractible in one direction). Can be used.
When an actuator that can be expanded and contracted in one direction is used, the tip where the first elastically deforming member 61 and the first damper 62 described in FIG. 5 are connected in parallel is an actuator that can be expanded and contracted in one direction. It can be replaced.

(Structure of the second rotation mechanism)
The second rotating mechanism 102 rotates the rotating arm 13 in the Z direction (vertical direction). The second rotating mechanism 102 is arranged at a fulcrum 29 on the rotating arm main body 26. As the second rotation mechanism 102, for example, the rotation drive motor shown in FIG. 9 (or a portion of the rotation arm body 26 that is separated from the fulcrum 29 by a certain distance and the fixing member 67 are arranged so as to be connected to each other. It is possible to use an actuator that can expand and contract in the direction).
When an actuator that can be expanded and contracted in one direction is used, it is possible to replace the tip where the second elastic deformation member 64 and the second damper 65 are connected in parallel with an actuator that can be expanded and contracted in one direction.

The control device 103 is electrically connected to the first and second rotating mechanisms 101 and 102. The control device 103 controls the first and second rotation mechanisms 101 and 102 so that the first and second angles θ1 and θ2 are desired angles, respectively.
Here, when an electric motor is used for the first and second rotating mechanisms 101 and 102, the control device 103 sends electric power to the first and second rotating mechanisms 101 and 102 to perform electrical control.
Further, when a hydraulic motor is used for the first and second rotating mechanisms 101 and 102, the control device 103 sends hydraulic pressure to the first and second rotating mechanisms 101 and 102 in a circuit using a working fluid. It is controlled by a certain hydraulic circuit.
Although the terms "flood control", "hydraulic motor", and "hydraulic circuit" are used here, it is also possible to use other liquids such as water as the working fluid, and a fluid capable of transmitting force. If so, the type of the liquid does not matter. It is also possible to use "pneumatic", "pneumatic motor", "pneumatic circuit" and the like.

(Effect of self-weight compensation robot)
By having the first rotation mechanism 101, the second rotation mechanism 102, and the control device 103 having the above configuration, the movements of the first and second arms 14 and 17 can be automatically controlled. ..

In the self-weight compensation robot 100 of the seventh embodiment, the case where the self-weight compensation link mechanism 10 of the first embodiment is provided as an example has been described as an example, but instead of the self-weight compensation link mechanism 10, the above The self-weight compensating robot may be configured by using any one of the self-weight compensating link mechanisms 30, 40, 50, 60, 70, 80, 90 described in the above. In this case, the same effect as that of the self-weight compensation robot 100 of the seventh embodiment can be obtained.

Further, in the seventh embodiment, as an example, the case where the first rotation mechanism 101 rotates the first arm 14 with respect to the rotation arm 13 has been described as an example. The rotation mechanism 101 may be configured to rotate the second arm 17 with respect to the rotation arm 13.
In this case, the same effect as that of the self-weight compensation robot 100 of the seventh embodiment can be obtained.

<8th Embodiment>
The self-weight compensation link mechanism 110 of the eighth embodiment will be described with reference to FIG. In FIG. 10, the same components as those of the structure shown in FIG. 1 are designated by the same reference numerals.
In FIG. 10, A is the center position of the shaft 31A (hereinafter, referred to as “center position A”), and B is the connection position between the first hydraulic cylinder 111 and the first arm 14 on the first arm 14 (hereinafter, referred to as “center position A”). “Connection position B”) and C indicate connection positions (hereinafter, referred to as “connection position C”) between the first hydraulic cylinder 111 and the rotary arm 13 on the rotary arm 13.
Further, in FIG. 10, a is the center position of the shaft 31B (hereinafter referred to as “center position a”), and b is the connection position between the second hydraulic cylinder 112 and the second arm 17 on the second arm 17 (hereinafter, referred to as “center position a”). Hereinafter, "connection position b") and c indicate connection positions (hereinafter, "connection position c") between the second hydraulic cylinder 112 and the rotary arm 13 on the rotary arm 13.

(Overall configuration of self-weight compensation robot)
The self-weight compensation link mechanism 110 includes a rotating arm 13, a first arm 14, a supported body 16, a second arm 17, a counter weight 18, shafts 31A and 31B, and a first hydraulic cylinder 111. A second hydraulic cylinder 112 and a hydraulic circuit 113 are provided.

The first hydraulic cylinder 111 has a structure that allows expansion and contraction, is connected to the rotary arm 13 at the connection position C, and is connected to the first arm 14 at the connection position B.
The second hydraulic cylinder 112 has a structure that allows expansion and contraction, is connected to the second arm 17 at the connection position b, and is connected to the rotary arm 13 at the connection position c.

The hydraulic circuit 113 is connected to the first and second hydraulic cylinders 111 and 112. The hydraulic circuit 113 adjusts so that the length of the first hydraulic cylinder 111 and the length of the second hydraulic cylinder 112 are equal to each other.
That is, in the hydraulic circuit 113, ΔABC and Δabc are congruent (that is, AB = ab, BC = bc, CA = ca), or ΔABC and Δacb are congruent (that is, AB = ac, BC = cb). , CA = ba), the first and second hydraulic cylinders 111 and 112 are controlled (however, A is the center position a, A and the connection positions b, B, c, C).
In order to make more precise adjustments so that the length of the first hydraulic cylinder 111 and the length of the second hydraulic cylinder 112 become equal, the first hydraulic cylinder 111 and the second hydraulic cylinder 112 are combined with each other. It is preferable to use a double-acting hydraulic cylinder. However, it is also possible to use a single-acting hydraulic cylinder.
Here, the terms "hydraulic circuit" and "hydraulic cylinder" are used, but the working fluid can be replaced with another liquid such as water, as long as it is a fluid capable of transmitting force. The type of the liquid does not matter. It is also possible to use air pressure.

(Effect of self-weight compensation link mechanism)
The self-weight compensation link mechanism 110 of the eighth embodiment obtains the same effect as the self-weight compensation link mechanism of the first to fourth embodiments and the self-weight compensation robot 100 of the seventh embodiment described above. Can be done. In addition, it is possible to obtain an effect of substituting a part of the functions of the fifth and sixth embodiments.
Specifically, the interlocking mechanism 11 of the first third and seventh embodiments and the interlocking mechanism 32 of the second embodiment are composed of the first and second hydraulic cylinders 111 and 112 and the hydraulic circuit 113. The same function can be realized by replacing it with a hydraulic circuit that is used.
Further, in comparison with the fourth embodiment, the adjustment of the chain 24 in the fourth embodiment is performed by providing a difference between the length of the first hydraulic cylinder 111 and the second hydraulic cylinder 112 by adjusting the hydraulic circuit 113. The same function as the above can be realized.
Further, the first damper 62 in the fifth embodiment can be provided with the same function by giving a flow path resistance to a part of the hydraulic circuit (providing an orifice, limiting the flow rate with a valve) or the like. Is.
In addition, the brake mechanism 82 in the sixth embodiment can be provided with the same function by restricting the movements of the first and second hydraulic cylinders 111 and 112 by closing the hydraulic circuit 113. Is.

Although the preferred embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to such specific embodiments, and various aspects are within the scope of the gist of the present disclosure described in the claims. It can be transformed and changed.

For example, one of the above-mentioned self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110, a self-weight compensation link mechanism, and a trolley that rotatably supports the fulcrum 29. A self-weight compensation link mechanism with a dolly may be configured.
Further, the self-weight compensating robot 100 with the self-weight compensating robot 100 and the bogie that rotatably supports the fulcrum 29 may be configured.
The trolley is a trolley that can be moved by human power, or a trolley that can self-propell by human operation or autonomous control, and has its own weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90 or. It is possible to use a robot having a support column capable of rotating the self-weight compensation robot 100.
The self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90, 110 and the fulcrum 29 constituting the self-weight compensation robot 100 can be rotated by a support fixed or installed on the floor or the like. May be supported by.

For example, by using a combination of a bevel gear and a drive shaft, a combination of a hypoid gear and a drive shaft, or the like as a rotating arm constituting the interlocking mechanism, the positions of the first and second arms 14 and 17 can be used. May be changed so that the first angle θ1 and the second angle θ2 are always the same.

For example, in the self-weight compensation link mechanism 30 of the second embodiment, the first elastically deforming member 61, the first damper 62, the second elastically deforming member 64, and the second damper 65 shown in FIGS. A structure made of the same may be provided.
Further, the self-weight compensation link mechanism 30 of the second embodiment may be provided with the rotary arm brake mechanism 81 and the brake mechanism 82 shown in FIGS. 7 and 8.

<Additional notes>
The self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90, 110, and the self-weight compensation robot 100 described in each embodiment are grasped as follows, for example.

(1) The self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90, 110 according to the first aspect extends in one direction and is rotatably supported around a fulcrum 29. The arm 13, the first arm 14 provided on one end 27 of the rotating arm 13 with one end 14A rotatable, and the supported end 14B provided on the other end 14B of the first arm 14. The body 16 and one end 17A in a rotatable state are provided at the other end 28 of the rotating arm 13, parallel to the direction in which the first arm 14 extends, and the side on which the first arm 14 extends. Is based on a second arm 17 extending to the opposite side, a counter weight 18 provided on the other end 17B of the second arm 17, and a displacement amount of the first arm 14 provided on the rotating arm 13. The interlocking mechanism 11 is provided with an interlocking mechanism 11 that displaces the second arm 17, and the interlocking mechanism 11 includes the center of gravity of the supported body 16 and the counter weight 18 when the position of the first arm 14 is displaced. The position CG3 of the combined center of gravity combined with the center of gravity of the above is controlled to be the position of the fulcrum 29 or a predetermined position around the fulcrum 29.

When the position of the first arm 14 is displaced in this way, the position CG3 of the combined center of gravity obtained by combining the center of gravity of the supported body 16 and the center of gravity of the counter weight 18 is set to the position of the fulcrum 29 or around the fulcrum 29. By controlling the position so that it is in a predetermined position, the weight of the supported body 16 can be compensated.
Further, since the self-weight compensation link mechanism 10 is a serial link mechanism, the rotating arm 13, the first arm 14, and the second arm 17 (3) are compared with the pantograph type link mechanism provided with four links. The occupied space required to operate the two links) can be reduced.

(2) The self-weight compensation link mechanism 10, 30, 60, 70, 80, 90, 110 according to the second aspect is the self-weight compensation link mechanism 10, 30, 60, 70, 80, 90, 110 of (1). Therefore, the straight line connecting the position CG3 of the synthetic center of gravity and the position CG1 of the center of gravity of the supported body 16 is defined as the first straight line L1, and the position CG3 of the synthetic center of gravity and the position CG2 of the center of gravity of the counter weight 18 are designated. When the straight line to be connected is the second straight line L2, the value of (length of the first straight line L1) / (length of the second straight line L2) is (mass M2 of the counter weight 18) / (supported body). It is configured to be equal to the value of the mass M1) of 16, and the interlocking mechanisms 11 and 32 include the first angle θ1 formed by the rotating arm 13 and the first arm 14 and the rotating arm 13. After making the size of the second arm 17 and the second angle θ2 equal to each other and maintaining the parallel state between the first arm 14 and the second arm 17, the second arm 17 is maintained in a parallel state. Arm 17 may be displaced.

With such a configuration, a straight line connecting the position CG3 of the synthetic center of gravity and one end 14A of the first arm 14, the first straight line L1, and the first triangle Tr1 formed by the first arm 14 , The similarity between the straight line connecting the position CG3 of the synthetic center of gravity and one end 17A of the second arm 17, the second straight line L2, and the second triangle Tr2 formed by the second arm 17 is always constant. At the same time, the relative positional relationship between the first triangle Tr1 and the second triangle Tr2 can always be rotationally symmetric with respect to the fulcrum 29.
As a result, when the operator displaces the position of the first arm 14, the position CG3 of the combined center of gravity can always be set to the position of the fulcrum 29 or a predetermined position around the fulcrum 29, so that it is supported. The weight of the body 16 can be compensated.

(3) The self-weight compensation link mechanism 10, 60, 70, 80, 90, 110 according to the third aspect is the self-weight compensation link mechanism 10, 60, 70, 80, 90, 110 of (2). The interlocking mechanism 11 is rotatably connected to one end 27 of the rotating arm 13, and the supported body supported by the first arm 14 via a bending moment of the first arm 14. The first sprocket 21 that receives the weight of 16 as torque is rotatably connected to the other end 28 of the rotating arm 13, and is arranged away from the first sprocket 21 and the second sprocket 21. The second sprocket 22 that receives the weight of the counter weight 18 supported by the second arm 17 as torque through the bending moment of the arm 17, and the first and second sprockets 21 and 22 are inside. A chain 24 attached to the first and second sprockets 21 and 22 and a chain adjusting mechanism 25 capable of adjusting the tension state of the chain 24 may be provided so as to be arranged.

With such a configuration, when the operator displaces the position of the first arm 14, the position CG3 of the combined center of gravity can always be set to the position of the fulcrum 29 or a predetermined position around the fulcrum 29. Therefore, the weight of the supported body 16 can be compensated.
Further, by using the chain sprocket mechanism as the interlocking mechanism 11, it is possible to prevent the chain 24 from loosening even when the operator suddenly releases his / her hand from the supported body 16.

(4) The self-weight compensation link mechanism 30 according to the fourth aspect is the self-weight compensation link mechanism 30 of (2), and the interlocking mechanism 32 is rotatably connected to one end 27 of the rotating arm 13. The first pulley 35 is rotatably connected to the other end 28 of the rotary arm 13, and the second pulley is arranged away from the first pulley 35 in the direction in which the rotary arm 13 extends. 36 and one end 38A are connected to a portion of the first arm 14 away from the first pulley 35, and the other end 38B is connected to one end 17A side of the second arm 17, said first and It may have a wire 38 that contacts the outer periphery of the second pulleys 35 and 36.

In this way, by forming the interlocking mechanism 32 by using the first pulley 35, the second pulley 36, and the wire 38, the displacement amount of the first arm 14 is transferred to the second arm via the wire 38. It is possible to control the position CG3 of the composite center of gravity so as to always be the position of the fulcrum 29 or a predetermined position around the fulcrum 29 by informing the 17th.

When a chain sprocket mechanism is used, torque is transmitted between the first sprocket 21 and the first arm 14 and between the second sprocket 22 and the second arm 17. A mechanism is required. On the other hand, the first and second pulleys 35 and 36 may be in a free rotation state. Therefore, in the self-weight compensation link mechanism 30, it is not necessary to provide a structure or a component for transmitting torque between the first and second pulleys 35 and 36 and the first and second arms 14 and 17. Further, the bending strength for the torque transmission mechanism becomes unnecessary.
Further, the structure can be simpler than that when the chain sprocket mechanism is used.

(5) The self-weight compensating link mechanism 40 according to the fifth aspect is the self-weight compensating link mechanism 40 according to any one of (1) to (4), and the rotating arm 13 is directed in the vertical direction. When the neutral position is set to be tilted by a predetermined angle, the fulcrum 29 may be arranged above the position CG3 of the combined center of gravity in the vertical direction in the neutral position.

In this way, by arranging the fulcrum 29 above the position CG3 of the synthetic center of gravity in the vertical direction, the force (restoring force) that the position CG3 of the synthetic center of gravity tries to move directly below the fulcrum 29 is generated by the action of gravity. appear.
As a result, the position where the rotary arm 13 is tilted by a predetermined angle with respect to the vertical direction is set to the neutral position in advance, so that when the operator releases his / her hand from the supported body 16, the rotary arm 13 is centered on the fulcrum 29. The rotating arm 13 can be automatically returned to the neutral position after suppressing rotation in an unintended direction in an unstable state.

(6) The self-weight compensating link mechanism 60 according to the sixth aspect is the self-weight compensating link mechanism 60 according to any one of (1) to (5), and is one of the rotating arms 13. A first elastic deforming member 61 connecting a portion located on the end portion 27 side and a portion of the first arm 14 located on the one end 14A side of the first arm 14, and the rotating arm. 13 is provided between a portion of 13 located on one end 27 side and a portion of the first arm 14 located on one end 14A side of the first arm 14, and is provided with the first elasticity. A first damper 62 connected in parallel with the deforming member 61, a second elastic deforming member 64 connecting a fixed member 67 with a position on the rotating arm 13 at a certain distance from the fulcrum 29, and the rotation. A second damper 65 provided on the arm 13 between the fixing member 67 and a portion separated from the fulcrum 29 by a certain distance and connected in parallel with the second elastic deformation member 64 is provided. The fixing member 67 may be a member whose position is restricted.

By having the first elastic deforming member 61 and the first damper 62 having such a configuration, the position of the first arm 14 with respect to the rotating arm 13 when the operator releases his / her hand from the supported body 16. Can be suppressed from sudden changes. As a result, unintended operation of the self-weight compensation link mechanism can be suppressed, and stability in a balanced state can be obtained.
Further, for example, by limiting the range of motion of the first elastically deforming member 61 and the first damper 62 in advance, the rotating arm 13 and the first arm 14 are aligned, that is, the state of the dead center position. Since it is possible to avoid falling into, it is possible to prevent the operability of the first arm 14 from being lowered.
Further, since it is possible to apply and adjust a constant damping force while the first arm 14 is moving, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, and the operability is improved. be able to.
As the first and second dampers 62 and 65, for example, dampers having an adjustable damping coefficient may be used.

Further, by having the second elastic deformation member 64 and the second damper 65, it becomes possible to set a position in which the rotary arm 13 is inclined by a predetermined angle with respect to the Z direction as a neutral position in advance, and an operator. The rotating arm 13 can be automatically returned to the neutral position after suppressing the unintended movement of the rotating arm 13 around the fulcrum when the hand is released from the supported body 16.
Further, since it is possible to apply and adjust a constant damping force while the rotary arm 13 is moving, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, and the operability can be improved. can.

(7) The self-weight compensating link mechanism 70 according to the seventh aspect is the self-weight compensating link mechanism 70 according to any one of (1) to (5), and is the other of the rotating arms 13. A first elastic deforming member 61 connecting a portion located on the end 28 side and a portion of the second arm 17 located on the one end 17A side of the second arm 17, and the rotating arm. 13 is provided between a portion of the second arm 17 located on the other end 28 side and a portion of the second arm 17 located on the one end 17A side of the second arm 17, and is provided with the first elasticity. A first damper 62 connected in parallel with the deforming member 61, a second elastic deforming member 64 connecting a portion of the rotating arm 13 at a certain distance from the fulcrum 29 and the fixing member 67, and the rotation. A second damper 65 provided on the arm 13 between the fixing member 67 and a portion separated from the fulcrum 29 by a certain distance and connected in parallel with the second elastic deformation member 64 is provided. The fixing member 67 may be a member whose position is restricted.

By having the first elastic deforming member 61 and the first damper 62 having such a configuration, the position of the first arm 14 with respect to the rotating arm 13 when the operator releases his / her hand from the supported body 16. Can be suppressed from sudden changes. As a result, it is possible to suppress the self-weight compensation link mechanism 70 from performing an unintended operation, and it is possible to obtain stability in a balanced state.
Further, by having the second elastic deformation member 64 and the second damper 65, it is possible to set in advance a position where the rotary arm 13 is tilted by a predetermined angle with respect to the vertical direction (Z direction) as a neutral position. At the same time, when the operator releases his / her hand from the supported body 16, the rotating arm 13 is automatically returned to the neutral position after suppressing the unintended movement of the rotating arm 13 around the fulcrum 29. Can be done.
Further, since it is possible to apply and adjust a constant damping force while the rotary arm 13 is moving, the operating resistance of the self-weight compensation link mechanism 70 can be adjusted, and the operability can be improved. can.

(8) The self-weight compensation link mechanism 80 according to the eighth aspect is the self-weight compensation link mechanism 80 according to any one of (1) to (7), and is the fulcrum of the rotating arm 13. A brake mechanism 81 for a rotary arm, which is provided in a portion corresponding to the rotary arm 13 to stop the rotation of the rotary arm 13 and maintain the posture of the rotary arm 13, one end 27 of the rotary arm 13 and the first The first arm 14 is provided at a joint portion connected to one end 14A of the arm 14, the rotation of the first arm 14 with respect to the rotating arm 13 is stopped, and the posture of the first arm 14 with respect to the rotating arm 13 is adjusted. A brake mechanism 82 for maintaining the brake mechanism 82 may be provided.

By having the rotary arm brake mechanism 81 having such a configuration, when the angle of the rotary arm 13 with respect to the vertical direction (Z direction) becomes a desired angle, the rotation of the rotary arm 13 is stopped, which is desired. The posture of the rotary arm 13 can be maintained at the angle of.
Further, by having the brake mechanism 81 for the rotary arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 moves to a desired position, the rotary arm 13 and the first arm 14 The rotation of the arm 14 can be stopped and the position of the supported body 16 can be maintained.

(9) The self-weight compensation link mechanism 90 according to the ninth aspect is the self-weight compensation link mechanism 90 according to any one of (1) to (7), and is the fulcrum of the rotating arm 13. A brake mechanism 81 for a rotary arm, which is provided in a portion corresponding to the rotary arm 13 to stop the rotation of the rotary arm 13 and maintain the posture of the rotary arm 13, and the other end 28 of the rotary arm 13 and the first. The second arm 17 is provided at a joint portion connected to one end 17A of the arm 17, and stops the rotation of the second arm 17 with respect to the rotating arm 13, so that the posture of the second arm 17 with respect to the rotating arm 13 is adjusted. A brake mechanism 82 for maintaining the brake mechanism 82 may be provided.

By having the rotary arm brake mechanism 81 having such a configuration, when the angle of the rotary arm 13 with respect to the vertical direction (Z direction) becomes a desired angle, the rotation of the rotary arm 13 is stopped, which is desired. The posture of the rotary arm 13 can be maintained at the angle of.
Further, by having the brake mechanism 81 for the rotary arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 moves to a desired position, the rotary arm 13 and the second arm 13 and the second arm 14 The rotation of the arm 17 can be stopped and the position of the supported body 16 can be maintained.
Further, when the position of the first arm reaches a desired position, the rotation of the rotating arm and the second arm is stopped by using the rotating arm brake mechanism and the braking mechanism, and the first arm is stopped at the desired position. The posture of the arm 14 can be maintained.

(10) The self-weight compensation link mechanism 50 according to the tenth aspect is the self-weight compensation link mechanism 50 of (1), and a state in which the rotating arm 13 is tilted by a predetermined angle with respect to the vertical direction is set as a neutral position. At that time, in the neutral position, the position CG3 of the synthetic center of gravity may be arranged below the fulcrum 29 in the vertical direction.

In this way, by arranging the position CG3 of the synthetic center of gravity below the fulcrum 29 in the Z direction in the neutral position, the rotating arm 13 is automatically neutralized when the operator releases his / her hand from the supported body 16. It can be returned to the position.
Further, since the first arm 14 and the second arm 17 can be balanced with each other, it is possible to suppress the self-weight compensation link mechanism 50 from performing an unintended operation and stabilize the self-weight compensation link mechanism 50. be able to.

(11) The self-weight compensation link mechanism 50 according to the eleventh aspect is the self-weight compensation link mechanism 50 of (10), and the interlocking mechanism 11 is a first one to which one end 14A of the first arm 14 is connected. The second sprocket 22 is connected to the second sprocket 21 and one end 17A of the second arm 17, and is arranged apart from the first sprocket 21 in the direction in which the rotary arm 13 extends, and the first and first sprocket 21. A chain 24 attached to the first and second sprockets 21 and 22 so that the sprockets 21 and 22 of 2 are arranged inside, and a chain adjusting mechanism 25 capable of adjusting the tension state of the chain. The chain adjusting mechanism 25 has a first angle θ1 formed by the rotating arm 13 and the first arm 14 by loosening the upper side of the chain 24, and the rotating arm 13 and the second arm. By making the second angle θ2 formed by the arm 17 different from each other so that the first arm 14 and the second arm 17 are not parallel to each other, the position of the synthetic center of gravity CG3 is set to the fulcrum 29. It may be placed below.

In this way, the interlocking mechanism 11 is configured by using the first sprocket 21, the second sprocket 22, and the chain 24, and the upper side of the chain 24 is loosened to form the first angle θ1 and the second angle θ2. By making the first arm 14 and the second arm 17 not parallel to each other, the position CG3 of the synthetic center of gravity can be arranged below the fulcrum 29.

(12) The self-weight compensating link mechanism 110 according to the twelfth aspect is the self-weight compensating link mechanism 110 of (1) or (2), and the interlocking mechanism is the second arm with respect to the rotating arm 13. A first rotation mechanism 101 that rotates 17 and a second rotation mechanism 102 that rotates the rotation arm 13 in a vertical direction (Z direction), and the first and second rotation mechanisms. The first angle θ1 formed by the rotating arm 13 and the first arm 14 and the rotating arm 13 which are electrically connected to 101 and 102 or connected to a circuit (hydraulic circuit 113) using a working fluid. A control device 103 that controls the first and second rotation mechanisms 101 and 102 so that the second angle θ2 formed by the second arm 17 becomes a desired angle, respectively, may be provided. ..

With such a configuration, the movements of the rotating arm 13 and the first and second arms 14 and 17 can be automatically controlled with a low driving force.

(13) The self-weight compensation robot 100 according to the thirteenth aspect has the self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90 according to any one of (1) to (11). A first rotation mechanism 101 that rotates the first arm 14 with respect to the rotation arm 13, and a second rotation mechanism that rotates the rotation arm in the vertical direction (Z direction). The 102 is electrically connected to the first and second rotating mechanisms 101 and 102, or is connected to a circuit (hydraulic circuit 113) using a working fluid, and the rotating arm 13 and the first arm 14 are connected to each other. The first and second rotation mechanisms 101 and 102 so that the first angle θ1 formed by the above and the second angle θ2 formed by the rotating arm 13 and the second arm 17 are desired angles, respectively. A control device 103 for controlling the above may be provided.

With such a configuration, the movements of the rotating arm 13 and the first and second arms 14 and 17 can be automatically controlled with a low driving force.

(14) The self-weight compensation link mechanism with a trolley according to the 14th aspect is the self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80 according to any one of (1) to (12). , 90, 110 and the self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90, 110 may be supported, and a movable carriage may be provided.

As described above, the self-weight compensation link mechanism 10, 30, 40, 50, 60, 70, 80, 90, 110 can be used in a state of being mounted on the trolley.

(15) The self-weight compensating robot with a trolley according to the fifteenth aspect may include the self-weight compensating robot 100 of (13), the self-weight compensating robot 100, and a movable trolley.

In this way, the self-weight compensation robot 100 can be used in a state of being mounted on a trolley.

10, 30, 40, 50, 60, 70, 80, 90, 110 ... Self-weight compensation link mechanism 11, 32 ... Interlocking mechanism 13 ... Rotating arm 14 ... First arm 14A, 17A, 38A ... One end 14B, 17B, 38B The other end 16 ... Supported body 17 ... Second arm 18 ... Counter weight 21 ... First sprocket 21A, 22A ... Convex part 21B, 22B ... Protruding part 22 ... Second sprocket 24 ... Chain 25 ... Chain adjustment mechanism 26 ... Rotating arm body 27 ... One end 28 ... The other end 29 ... Amphitheater 31A, 31B ... Shaft 35 ... First pulley 36 ... Second pulley 38 ... Wire 61 ... First elastic deforming member 62 ... 1st damper 64 ... 2nd elastic deformation member 65 ... 2nd damper 67 ... Fixed member 81 ... Brake mechanism for rotating arm 82 ... Brake mechanism 100 ... Self-weight compensation robot 101 ... 1st rotating mechanism 102 ... 2nd Rotation mechanism 103 ... Control device 111 ... First hydraulic cylinder 112 ... Second hydraulic cylinder 113 ... Hydraulic circuit a, A ... Center position b, B, c, C ... Connection position L1 ... First straight line L1a, L1b, L2a, L2b ... Straight line L2 ... Second straight line CG1, CG2 ... Position of center of gravity CG3 ... Position of synthetic center of gravity M1, M2 ... Mass Tr1, Tr2 ... Triangle θ1 ... First angle θ2 ... Second angle

Claims (15)

A rotating arm that extends in one direction and is rotatably supported around the fulcrum,
A first arm provided at one end of the rotating arm with one end rotatable, and
With the supported body provided at the other end of the first arm,
A second arm that is rotatably provided at one end of the other end of the rotating arm, is parallel to the direction in which the first arm extends, and extends in the direction opposite to the side on which the first arm extends. When,
A counterweight provided at the other end of the second arm and
An interlocking mechanism provided on the rotating arm that displaces the second arm based on the amount of displacement of the first arm.
With
In the interlocking mechanism, when the position of the first arm is displaced, the position of the combined center of gravity obtained by combining the center of gravity of the supported body and the center of gravity of the counter weight is the position of the fulcrum and / or the position around the fulcrum. A self-weight compensation link mechanism that controls the position so that it is in a predetermined position. When the straight line connecting the position of the composite center of gravity and the position of the center of gravity of the supported body is defined as the first straight line, and the straight line connecting the position of the composite center of gravity and the position of the center of gravity of the counter weight is defined as the second straight line. , The value of (the length of the first straight line) / (the length of the second straight line) is configured to be equal to the value of (the mass of the counter weight) / (the mass of the supported body).
The interlocking mechanism keeps the size of the first angle formed by the rotating arm and the first arm equal to the size of the second angle formed by the rotating arm and the second arm, and the first one. The self-weight compensation link mechanism according to claim 1, wherein the second arm is displaced while maintaining a parallel state between the arm and the second arm. The interlocking mechanism is rotatably connected to one end of the rotating arm and torques the weight of the supported body supported by the first arm via the bending moment of the first arm. The first sprocket you receive as
The counter rotatably connected to the other end of the rotating arm, located away from the first sprocket, and supported by the second arm via the bending moment of the second arm. A second sprocket that receives the weight of the weight as torque,
With the chain attached to the first and second sprockets so that the first and second sprockets are placed inside.
A chain adjustment mechanism that can adjust the tension of the chain,
2. The self-weight compensation link mechanism according to claim 2. The interlocking mechanism includes a first pulley that is rotatably connected to one end of the rotating arm.
A second pulley rotatably connected to the other end of the rotary arm and disposed away from the first pulley in the direction in which the rotary arm extends.
A wire having one end connected to a portion on the first arm away from the pulley and the other end connected to one end side of the second arm and in contact with the outer periphery of the first and second pulleys.
2. The self-weight compensation link mechanism according to claim 2. Claim that when the state in which the rotary arm is tilted by a predetermined angle with respect to the vertical direction is set as the neutral position, the fulcrum is arranged above the position of the synthetic center of gravity in the vertical direction in the neutral position. The self-weight compensation link mechanism according to any one of 1 to 4. A first elastically deforming member that connects a portion of the rotating arm located on one end side and a portion of the first arm located on one end side of the first arm.
The first elastically deforming member provided between a portion of the rotary arm located on one end side and a portion of the first arm located on one end side of the first arm. With the first damper connected in parallel with
A second elastically deforming member that connects the fixing member to a portion of the rotating arm that is separated from the fulcrum by a certain distance.
A second damper provided between the fixing member and a portion of the rotating arm at a certain distance from the fulcrum and connected in parallel with the second elastically deforming member.
With
The self-weight compensation link mechanism according to any one of claims 1 to 5, wherein the fixing member is a member whose position is regulated. A first elastically deforming member that connects a portion of the rotating arm located on the other end side and a portion of the second arm located on the one end side of the second arm.
The first elastically deforming member provided between a portion of the rotary arm located on the other end side and a portion of the second arm located on the one end side of the second arm. With the first damper connected in parallel with
A second elastically deforming member that connects a portion of the rotating arm that is separated from the fulcrum by a certain distance and a fixing member.
A second damper provided on the rotary arm between the fixing member and a portion separated from the fulcrum by a certain distance and connected in parallel with the second elastically deforming member.
With
The self-weight compensation link mechanism according to any one of claims 1 to 5, wherein the fixing member is a member whose position is regulated. A rotary arm brake mechanism provided in a portion of the rotary arm corresponding to the fulcrum to stop the rotation of the rotary arm and maintain the posture of the rotary arm.
The first arm is provided at a joint portion where one end of the rotary arm and one end of the first arm are connected to stop the rotation of the first arm with respect to the rotary arm, and the first arm with respect to the rotary arm. Brake mechanism that maintains the posture of the arm and
The self-weight compensation link mechanism according to any one of claims 1 to 7. A rotary arm brake mechanism provided in a portion of the rotary arm corresponding to the fulcrum to stop the rotation of the rotary arm and maintain the posture of the rotary arm.
The second end of the rotary arm is provided at a joint portion where the other end of the rotary arm and one end of the second arm are connected to stop the rotation of the second arm with respect to the rotary arm, and the second arm with respect to the rotary arm. Brake mechanism that maintains the posture of the arm and
The self-weight compensation link mechanism according to any one of claims 1 to 7. Claim that when the state in which the rotary arm is tilted by a predetermined angle with respect to the vertical direction is set as the neutral position, the position of the synthetic center of gravity in the neutral position is arranged below the fulcrum in the vertical direction. The self-weight compensation link mechanism described in 1. The interlocking mechanism includes a first sprocket to which one end of the first arm is connected.
A second sprocket to which one end of the second arm is connected and arranged away from the first sprocket in the direction in which the rotating arm extends.
With the chain attached to the first and second sprockets so that the first and second sprockets are placed inside.
A chain adjustment mechanism that can adjust the tension of the chain,
Have,
The chain adjusting mechanism adjusts the first angle formed by the rotating arm and the first arm and the second angle formed by the rotating arm and the second arm by loosening the upper side of the chain. Different,
The self-weight compensation link mechanism according to claim 10, wherein the position of the combined center of gravity is arranged below the fulcrum by preventing the first arm and the second arm from being parallel to each other. The interlocking mechanism includes a first rotating mechanism that rotates the second arm with respect to the rotating arm, and a first rotating mechanism.
A second rotating mechanism that rotates the rotating arm in the vertical direction,
The first angle formed by the rotating arm and the first arm, and the rotating arm and the first, which are electrically connected to the first and second rotating mechanisms or connected to a circuit using a working fluid. A control device that controls the first and second rotation mechanisms so that the second angles formed by the two arms are desired angles, respectively.
The self-weight compensation link mechanism according to claim 1 or 2. The self-weight compensation link mechanism according to any one of claims 1 to 11.
A first rotating mechanism that rotates the first arm with respect to the rotating arm,
A second rotating mechanism that rotates the rotating arm in the vertical direction,
The first angle formed by the rotating arm and the first arm, and the rotating arm and the first, which are electrically connected to the first and second rotating mechanisms or connected to a circuit using a working fluid. A control device that controls the first and second rotation mechanisms so that the second angles formed by the two arms are desired angles, respectively.
Self-weight compensation robot equipped with. The self-weight compensation link mechanism according to any one of claims 1 to 12, and
In addition to supporting the self-weight compensation link mechanism, a movable trolley and
Self-weight compensation link mechanism with trolley. The self-weight compensation robot according to claim 13 and
In addition to supporting the self-weight compensation robot, a movable trolley and
Self-weight compensation robot with a dolly equipped with.

Images