JP2874043B2 - Balance support device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a balance support device for supporting a supported object such as an operating rod for operating a tool or the like in an arbitrary posture.

[0002]

2. Description of the Related Art When constructing power overhead cable,
An operator gets into a bucket mounted on a work vehicle and cuts or connects cables. In recent years, considering the impact on homes, hospitals, factories, etc. around the construction site,
Construction is being performed in a state where power is being transmitted, a so-called hot-line state. In this live line construction,
A tool is attached to the tip of the operation stick called a hot stick made of a long insulator, and the operation handle etc. provided on the base end of the operation stick is operated to peel off the insulation coating of the cable, connect the cable, etc. Like that.

[0003]

However, the operating rod is
It has a weight of about 5 to 6 kg because it incorporates a tool drive source and the like. In addition, 3 to 3
In order to mount a tool having a weight of about 10 kg, it is necessary for the operator to operate the tool while supporting a tool having a weight of about 10 kg or more. It is not easy to perform a predetermined operation suitable for the work purpose. In particular, when working with the operating rod inclined, it is extremely difficult to maintain the operating rod at a predetermined angle because a heavy tool is attached to the tip. For this reason, there has been a demand for the development of a device capable of reducing the burden of the operator supporting the operation rod and facilitating the work.

[0004] The present invention has been made in view of the above demands, and has as its object to reduce the burden on the worker and improve the work efficiency.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an object which is provided with a rotational moment in the opposite direction corresponding to the rotational moment acting on the object such as an operating rod. The support is supported in a balanced manner so that almost no load acts on the operator. That is,
A balance support device according to the present invention includes: a support arm having a base end attached to a support portion in a vertically swingable manner, and a support arm for supporting an object to be tilted attached to a distal end, and the support arm and the support arm. First balance force generating means coupled to the support arm and providing a rotational moment in the opposite direction to the support arm in accordance with the rotational moment acting on the support arm, for performing balance support, and coupled to the support arm and the supported object. And a second balance force generating means for providing a rotational moment in the opposite direction according to the rotational moment acting on the supported object to the supported object to perform balance support.

The second balance force generating means is mounted such that, when the object to be supported is erected, the connecting position between the support arm and the object to be supported is located on the same straight line as the pivot of the object to be supported. . Further, it is desirable that the second balance force generating means is formed so that the coupling position between the support arm and the supported object can be changed on the straight line. The first and second balance force generating means include a cylinder forming a closed space, a cylinder which divides the inside of the cylinder into two chambers, and which is slidable in the cylinder, and one end of which is fixed to the piston. The rod has a rod whose other end is exposed to the outside of the cylinder, and a high-pressure gas which is sealed in each chamber of the cylinder and compressed by a piston slid through the rod to generate a force according to the compression amount. It can be configured as follows.

[0007] The balance support device according to the present invention comprises:
An operation in which a base end is attached to a support part mounted on a work bucket on which an operator rides so as to be vertically swingable, and a tool is attached to a tip end of the support arm so as to be tiltable and a tip is attached. The rod is arranged in parallel with the support arm, and is engaged with the support arm and the support portion to apply a rotational moment in the opposite direction to the support arm in accordance with the rotational moment acting on the support arm to provide balance support. A first gas spring coupled to the support arm and the operating rod, and a second gas spring that applies a rotational moment to the operating rod in an opposite direction according to a rotational moment acting on the operating rod; A first gas spring provided between the arm and the first gas spring, the first gas spring being moved in a direction orthogonal to a longitudinal direction of the support arm to support the first gas spring; Lever length changing means for changing the distance between the lever and the support arm and the support portion, both ends of which are attached to the support arm and the support portion, and resist a reaction force acting on the support arm via the operation rod due to the work by the tool. And a brake means for holding the support arm at the balance support position.

[0008]

According to the present invention constructed as described above, for example, a supported object such as an operating rod for operating a tool is balanced and supported by a second balancing force generating means provided on a support arm supporting the supported object. Further, since the support arm itself is balanced and supported by the first balance force generating means coupled to the support portion and the support arm, the labor for supporting the object to be supported by the worker can be extremely reduced. Greatly reduce the burden of Moreover, since the worker hardly receives the load of the supported object, the operator can easily and accurately operate the supported object supported by the support arm,
Work efficiency can be greatly improved. Further, when the coupling position of the second balance force generating means is made variable, the mounting position of the second balance force generating means is changed according to the weight of the supported object, that is, the magnitude of the rotational moment acting on the supported object. In addition, it is possible to easily and reliably perform the balance support of the supported object. If the first and second balance force generating means use a so-called gas spring having a high-pressure gas built-in type, a high-pressure source or a pipe for supporting the balance is not required, and the apparatus can be downsized.

[0009]

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a balancer support device according to the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 is an explanatory view of a balance support device according to an embodiment of the present invention, and shows an example applied to overhead wire work.

In FIG. 1, a balance supporting device 10 comprises:
It has a hook portion 14 for attaching to a bucket 12 of an aerial work vehicle.
Of the balance support device 1
0 can be attached to the bucket 12. An elevating rail 16 that can be arranged vertically along the inner surface of the bucket 12 is fixed to the hook portion 14, and an elevating block 18 fitted to the elevating rail 16 is moved up and down as indicated by an arrow 20. It can be moved in any direction. On the upper part of the elevating block 18, there is provided a swivel block 22, which is a support for supporting the support arm 26.
By turning as shown in FIG. 4, the support arm 26 attached to the turning block 22 can be rotated in a horizontal plane.

At the tip of the support arm 26, a swing support portion 30, which will be described in detail later, is provided upright, and an operation rod 32 is attached to the swing support portion 30 in a tiltable manner.
The support arm 26 has a posture support mechanism, which will be described in detail later, and has a base end pivotally attached to a shaft 27 fixed to the revolving block 22, and swings up and down as indicated by an arrow 28. Thus, the operation rod 32 attached via the swing support portion 30 can be moved up and down without changing the posture. Further, a first gas spring 34 as a first balance force generating means is provided near the base end of the support arm 26, and the operator 36 swings the support arm 26 up and down by hand. When the hand is released, the support arm 26 can be balancedly supported at the swing position.

As shown in FIG. 2, the first gas spring 34 has a cylinder head pivotally mounted near the base end of the support arm 26 with the rod directed downward. Also,
At the tip (lower end) of the rod of the gas spring 34, a pin 38 is provided so as to protrude on both sides. The pin 38 is inserted into a guide groove 42 provided in a guide block 40 in a horizontal direction. The guide block 40 is fixed to a horizontal portion 43 of an L-shaped bracket 44 formed integrally with the turning block 22 below the turning block 22. The first gas spring 34 is disposed in parallel with the vertical portion 45 of the bracket 44, and the cylinder is mounted on the support arm 26.
Is connected to the upper part of the vertical part 45 via a link 46 parallel to the vertical axis. Therefore, the turning block 22 including the vertical portion 45 of the bracket 44, the support arm 26, and the gas spring 3
4 form a parallel link, and when the support arm 26 swings as shown by the arrow 28, the pin 38 provided on the rod of the gas spring 34 moves in the left-right direction of FIG. As a result, the gas spring 34 moves in parallel, and the rod of the gas spring 34 expands and contracts, and a force corresponding to the amount of expansion and contraction of the rod is applied to the support arm 26 to hold the support arm 26 at its rotational position.

The support arm 26 is, as shown in FIG.
A case 48 serving as an arm body is provided, and a support shaft 52 is rotatably attached to a distal end portion of the case 48 via a bearing 50. A gear 5 is provided on the peripheral surface of the support shaft 52.
4 is fixed. A toothed belt 56 wound around a gear (not shown) rotatably provided on the shaft 27 fixed to the turning block 22 is wound around the gear 54. A gear (not shown) provided on the shaft 27 and the gear 5
No. 4 has the same outer diameter and the same number of teeth. The support shaft 52, the gear 54, the toothed belt 56, and the like constitute a posture holding mechanism that raises and lowers the operation rod 32 without changing the posture when the support arm 26 swings. When swinging, the toothed belt 56 is rotated,
The rotation of the toothed belt 56 rotates the support shaft 52 via the gear 54, and the swing support portion 3 attached to the support shaft 52.
0 is held upright and moved up and down.

The swing support section 30 is composed of a lower support member 58 and an upper cylindrical body 60. A rail-shaped slider 62 is horizontally mounted on the lower side of the lower support member 58. The slider 62 is fitted to a concave slide guide 64 fixed to a mounting portion 63 provided at the tip of the support shaft 52 through the case 48. Therefore, when the support portion 30 is moved in the longitudinal direction of the support arm 26,
The slider 62 slides on the slide guide 64 so that the mounting position of the swing support portion 30 with respect to the support arm 26 can be changed.

The upper cylindrical body 60 is attached to the lower supporting member 58 via a bearing 66, and is rotatable relative to the lower supporting member 58. Further, as shown in FIG. 4, a plate-like arm 6 is provided on the side of the lower support member 58.
8 are integrally formed, and a stopper 70 is fixed to the upper surface of the tip of the arm 66. And the stopper 7
0 is a set screw 72 screwed to the lower end of the upper cylindrical body 60
Are screwed into each other so that the relative rotation between the lower support member 58 and the upper cylindrical body 60 can be prevented.

On the peripheral surface of the upper cylindrical body 60, a plurality of convex portions 74 are formed at equal intervals in the axial direction and the circumferential direction.
reference). Then, on the outer peripheral surface of the upper cylindrical body 60, the second gas springs 82 and 8 serving as second balance force generating means are provided.
4 is fitted with a mounting ring 76.
The mounting ring 76 has a projection 78 on an inner peripheral surface thereof which is fitted into a groove 77 between the convex portions 74 adjacent to each other in the vertical direction of the upper cylindrical body 60.
(See FIG. 3). The protrusions 78 of the attachment ring 76 are formed intermittently in the circumferential direction, and the width in the circumferential direction is smaller than the gap a between the convex portions 74 adjacent in the circumferential direction of the upper cylindrical body 60. By setting 78 to a position corresponding to the gap a, the mounting ring 76 can be moved up and down. A pair of shaft portions 80 are formed integrally on the outer peripheral surface of the mounting ring 76. The shafts 80 are formed on both sides in the diameter direction of the mounting ring 76, and the distal ends of the rods 86 of the second gas springs 82 and 84 are pivotally connected to the shafts 80.

The second gas springs 82 and 84 have a basic structure similar to that of the first gas spring 34 that balances and supports the support arm 26.
A screw portion (not shown) is formed on the outer peripheral surface of. A cover cylinder 90 into which the upper part of the rod 86 is inserted is screwed to a lower part of the main body cylinder 88, and a high-pressure gas is sealed inside. On the other hand, the rod 86 has a stopper 92 attached to a portion inserted into the cover cylinder 90 to prevent the rod 86 from slipping off. The rod 86 slides inside the cylinder at the upper end and partitions the inside of the cylinder into a head side chamber 94 and a rod side chamber 96. Piston 98 is fixed.
A small hole (not shown) is formed in the piston 98 in the axial direction. The head side chamber 94 and the rod side chamber 96 communicate with each other through the small hole so that the initial position of the rod 86 can be changed. Has become.

An oscillating cylinder 100 is pivotally mounted on the upper end of the upper cylinder 60, and oscillates (tilts) in the same direction as the gas springs 82 and 84, that is, in a direction perpendicular to the plane of FIG. I can do it. And the oscillating cylinder 10
Reference numeral 0 denotes a hydraulic motor 104 for driving a tool (not shown) mounted on the distal end of the operation rod 32, while the operation rod 32 is rotatably attached to the upper end via a bearing 102. Also, on the upper outer peripheral surface of the oscillating cylinder 100,
The convex portions 106 similar to the convex portions 74 of the upper cylindrical body 60 are formed at equal intervals in the vertical direction and the circumferential direction. These convex portions 1
The vertical pitch and the circumferential pitch of 06 are the same as those of the convex portion 74 of the upper cylindrical body 60. Then, the second gas springs 82 and 8 are provided on the upper outer peripheral surface of the swing cylinder 100.
A mounting ring 108 for supporting a head portion, which is the upper end of the mounting member 108
Is fitted outside. The mounting ring 108 has a projection 112 on the inner peripheral surface thereof that fits into a groove 110 formed by vertically adjacent projections 106 of the swing cylinder 100. The protrusion 112 has a width in the circumferential direction of the swing cylinder 100.
Is smaller than the gap b between the adjacent convex portions 106 in the circumferential direction, and the mounting ring 108 can be moved up and down by aligning the protrusion 112 with the position corresponding to the gap b.

A pair of pivots 114 are provided on both sides in the diameter direction of the outer peripheral surface of the mounting ring 108 so as to protrude. These pivot portions 114 are, as shown in FIG.
08, a pair of projecting pieces 117 protrudingly formed on the main body 116.
And a support ring 120 screwed to the heads of the gas springs 82 and 84 by the protruding piece 117 and the mounting piece 118. Is formed. A pair of shafts 124 are formed on the support ring 120 on both diametrical sides of the second gas springs 82, 84, and these shafts 124 are provided in the main body 116 and the mounting piece 118. 126 and the support ring 120 is attached to the mounting ring 1.
08 is rotatably supported.

In the embodiment configured as described above, the mounting positions of the second gas springs 82 and 84 are moved up and down in accordance with the weight of the tool mounted on the tip of the operating rod 32.
A rotational moment in the opposite direction corresponding to the rotational moment acting on the operating rod 32 is given to the swinging cylinder 100 so that the operating rod 3
2 to support balance. That is, before the balance support device 10 is attached to the bucket 12 of the work vehicle or in a state where the balance support device 10 is attached, as shown in FIG.
2, 84 are brought to a state where the tension is completely extended to zero. Then, the mounting rings 76 and 108 are rotated in the circumferential direction to
The positions of 8 and 112 are changed to the upper cylinder 60 and the swing cylinder 10.
0, gaps a and b between adjacent convex portions 74 and 106 in the circumferential direction
Move to the position corresponding to.

When the projections 78 and 112 reach the positions corresponding to the gaps a and b, the gas springs 82 and 84 are moved up and down along the swinging cylinder 100, and the gas springs 82 and
The position at which the rotational moment given to the oscillating cylinder 100 by 84 corresponds to the rotational moment acting on the operation rod 32 obtained in advance. After that, the mounting rings 76 and 108 are rotated in the circumferential direction, and the projections 78 and 112 provided on the inner circumferential surfaces thereof are vertically
0, 106, and the mounting rings 76, 108 are attached to the upper
0 and the oscillating cylinder 100. At this time, the axes of the shaft portions 80 and 124 of the mounting rings 76 and 108 and the axis of the swing center of the swing cylinder 100 are parallel to each other.

When the operating rod 32 is upright, the second gas springs 82 and 84 are fully extended, the tension of the gas springs 82 and 84 is zero, and the operating rod 32 is a swing cylinder. It is supported by the upper cylindrical body 60 of the support member 30 via 100. When the operating rod 32 is inclined, the gas springs 82 and 84 apply a rotational moment in the opposite direction corresponding to the rotational moment acting on the operating rod 32 to the swing cylinder 100 to support the operating rod 32 in a balanced manner.

That is, as schematically shown in FIG.
The operating rod 32 including the oscillating cylinder 100 and a tool (not shown)
Is W, and the operating rod 32 is shifted from the upright state by θ.
Let's say that it is only inclined. At this time, the rotational moment Mw acting on the operating rod 32 is

## EQU1 ## Mw = W × B. Here, B is the swing center of the operation rod 32, that is, the pivot point of the swing cylinder 100 and the center of mass P of the operation rod 32.
Is the horizontal distance between The center of mass P is the weight and length of the oscillating cylinder 100, the weight and length of the operation rod 32,
If the weight and size of the tool mounted on the operation rod 32 are known, it can be easily obtained by calculation. Therefore, if the inclination angle θ of the operation rod 32 is known, the distance B can be obtained.

When the operating rod 32 tilts by θ, the gas springs 82 and 84 tilt with the tilt of the operating rod 32, and the rod 86 is pushed into the cylinder by δL and tilts by an angle β. The amount δ of the rod 86 to be pushed
L and the inclination angle β are the distance between the shaft 80 of the mounting ring 76 and the pivot point of the oscillating cylinder 100, and the distance between the pivot point of the oscillating cylinder 100 and the shaft 124 of the support ring 116. And the inclination angle θ of the operating rod 32. Then, the gas springs 82, 8
In No. 4, when the rod 86 is pushed in by δL, the volume of the head side chamber 94 is reduced and the enclosed gas is compressed, and the repulsive force generates F force. Therefore, the force Fn directed vertically upward by the gas springs 82 and 84 is

## EQU2 ## Fn = 2 × Fcosβ. The rotational moment Mc given to the oscillating cylinder 100 by Fn is:

## EQU3 ## Mc = D × Fn = D × 2Fcosβ. Here, D is the horizontal distance between the upper and lower shaft portions 80, 124.

Therefore,

## EQU4 ## By selecting the gas springs 82 and 84 that generate the force F that satisfies Mc = Mw, the operating rod 32 can be supported by the gas springs 82 and 84 in a balanced manner.

On the other hand, when the support arm 26 swings up and down, the link 46 swings integrally with the support arm 26. Since the link 46 constitutes a parallel link together with the support arm 26, the gas spring 34 is translated in the horizontal direction. The gas spring 34 translates while standing upright, and generates a constant force for the rod to expand and contract to support the support arm 26 in a balanced manner.

Therefore, the operator 36 can easily and accurately operate the tool provided at the tip of the operation rod 32 without requiring the labor for holding the operation rod 32 at a predetermined angle required for the operation. And reduce the burden on workers,
Work can be done quickly.

FIG. 7 shows another embodiment. In this embodiment, a parallel link mechanism is used as a posture holding mechanism. That is, the support arm 130 that supports the swingable operation rod 32 is attached to the operation rod 3.
2 and a link arm 134 connecting the base end of the tip arm 132 and the turning block 22. Link arm 13
4 arranges the auxiliary link 136 and the main link 138 of equal length in parallel, and pivotally connects the base end thereof to the turning block 22;
The distal end is pivotally connected to a distal arm 132. Also,
Below the link arm 134, a first gas spring 140 is provided. This gas spring 140
The head is pivotally connected to the revolving block 22 and the tip of the rod is pivotally connected to a bracket 142 provided below the tip arm 132. Other configurations are the same as those of the above-described embodiment.

In this embodiment, the link arm 1
When the arm 34 swings up and down, the tip arm 132 moves up and down while being held horizontally, so that the operation rod 32 supported by the tip arm 132 can be moved up and down without changing the posture. In the present embodiment, since the first gas spring 140 is installed sideways, FIG.
As shown in FIG.
Can be turned outside, and the working range can be widened.

FIGS. 8 and 9 show a mechanism capable of changing the vertical relative position of the link arm 134 and the gas spring 140, that is, the lever length in the embodiment shown in FIG. In these figures, the main link 138 constituting the link arm 134 is composed of a pair of plate-like links 138a and 138b, and these plate-like links 138a and 138b are arranged on both sides of the first gas spring 140. (See FIG. 8). And
The distal ends of the plate-like links 138a and 138b are pivotally connected to a pivot 150 passing through the plate-like link 138b.
Further, the pivot 150 between the plate-like links 138a and 138b is provided.
, The lower end of the connecting link 152 is pivotally mounted. Further, a plate-like link 138 is provided above the connection link 152.
a, the auxiliary link 13 arranged in the upper middle part of 138b
The tip of 6 is rotatably mounted via a pin.

The base ends of the plate-like links 138a and 138b are rotatably attached to the turning block 22 via a bracket 154. The base end of the auxiliary link 136 is also pivotally connected to the turning block 22 via the bracket 156. A guide groove 158 is formed in the turning block 22 in the vertical direction, and a moving bracket 160 is slidably fitted in the guide groove 158 (see FIG. 9). Further, a guide bracket 161 in which the head side of the second gas spring 140 is inserted movably in the axial direction is pivotally attached to the movable bracket 160. A slider 164 is pivotally attached to the rod 162 of the gas spring 140. The slider 164 is connected to the plate-like link 13.
A beam 166 erected between 8a and 138b is slidably fitted on a rail 168 extending vertically. Therefore, the second gas spring 140 is supported by the guide bracket 161 so as to be movable in the axial direction, and is guided by the guide groove 158 and the rail 168 of the turning block 122 via the moving bracket 160 and the slider 164. It can be moved up and down in parallel. Note that the beam 166 is connected to the second gas spring 14.
It functions as a lever for transmitting the output of 0 to the main link 134.

A link 170 which constitutes a lever length changing means is provided between the pivotally attached portion of the guide bracket 161 and the support ring 169 which supports the distal end side of the main body cylinder of the gas spring 140 so as to be movable in the axial direction. , 172 are pivotally attached. Further, the links 170 and 172 have the same length, and have a substantially triangular swing plate 17 on the distal end side.
One of the vertices 4, 176 is pivoted. Further, the links 170 and 172 are arranged so as to be parallel to each other, and the line connecting the proximal pivot points is parallel to the line connecting the proximal and distal pivot points of the main link 138. ing.

The oscillating plate 174 and the oscillating plate 176 are provided in pairs, and as shown in FIG.
0 and are rotatably attached to the plate-like links 138a, 138b at one vertex. The swing plate 176 supports a support ring 196 through which the gas spring 140 passes through a link 172 pivotally connected to the distal end side. The swing plate 17
4 and the rocking plate 176 at the other apexes, the plate-like connecting rod 1
78 are pivotally connected and connected to each other by connecting rods 178. As will be described later, connecting points 180 and 182 are connected to the plate-like links 138a and 138b by connecting rods 178.
To rotate integrally around the center.

A pair of rocking plates 1 on the base end side of the main link 138
In the portion between 74 and 174 where the connecting rod 178 is pivoted,
A connecting rod (not shown) is attached, and the pair of rocking plates 174 are connected to each other by the connecting rod. A female screw portion is formed in the center of the connecting rod in the longitudinal direction.
2 is screwed into a male thread provided on a shaft 184 that penetrates in the lateral direction. The shaft 184 is connected to the turning block 22 via a spherical bearing 186 whose outer peripheral surface is formed in a spherical shape on the base end side.
And is rotatably supported by the rotating block 2
The knob 188 is fixed to the base end exposed from 2,
By rotating the knob 188 as shown by the arrow 190 in FIG. 9, the shaft 184 can be rotated. Further, since the shaft 184 is supported by the turning block 22 via the spherical bearing 186, the knob 188 can be tilted integrally with the shaft 184 in an arbitrary direction as shown by an arrow 192 in FIG. I have. And knob 188
The shaft 184, the connecting rod 178, the swing plates 174, 176,
A lever length changing mechanism is configured together with the link 170172 and the like. As will be described later, by rotating the knob 188, the second gas cylinder 14 moves in a direction perpendicular to the axis, and the lever 166 becomes a beam 166. The action point of the gas spring 140 can be changed.

On the outside of the plate-like link 138a, the operating rod 3
A brake cylinder (brake means) 194 is provided to prevent the displacement of the support arm 130 due to a reaction force when working with a tool attached to the tip of the second. The brake cylinder 194 has rods 198 and 200 at both ends of a cylinder body 196, and the rod 200 is pivotally connected via a pin 202 to a bracket 154 to which the base end of a plate-like link 138a is pivotally connected. . The rod 198 is
A pin for pivoting the swing plate 176 to the plate-like link 138a, and a bracket 204 fixed to the plate-like link 138a.
The cylindrical shaft 206 passed between the pin and the
It penetrates perpendicularly to the axis of 06. As shown in FIG. 9, the brake cylinder 194 is mounted with the rod 198, which is the tip side, slightly upward, and hydraulic pressure is applied when the normal support arm 130 is operated. No, it is hydraulically locked by the valve when working with the tool attached to the operating rod 32,
The support arm 13 is provided by the tension force of the rod 200.
0 can be held at a predetermined angle supported by balance.

A mounting portion 63 similar to the mounting portion 63 described with reference to FIG. 3 is provided at the distal end of the pivot 150 penetrating the plate-like link 138b.
A distal end arm 132 serving as a slider is fitted to the slide guide 64 fixed to 3 so that the distal end arm 132 can be slid and guided in a long direction. Reference numeral 210 shown in FIG. 9 is an operation lever for operating the operation rod 32 or a tool attached to the tip of the operation rod 32.

In the lever length changing mechanism configured as described above, when the knob 188 is rotated as shown by the arrow 190, the shaft 184 is rotated integrally with the knob 188, and the tip of the shaft 184 is screwed. , A pair of rocking plates 174, 174
The connecting rod (not shown) interconnecting the components moves left and right in FIG. Therefore, the swing plate 174 rotates as indicated by an arrow 212 around a pivot point 180 to the plate link 138b. The rotation of the swing plate 174 is transmitted to the swing plate 176 via the connecting rod 178, and the swing plate 176 is rotated.
Is rotated integrally with the rocking plate 174 as indicated by an arrow 214 around a pivot point 182 to the plate-like link 138b. For this reason, the links 170 and 172 having the other ends pivotally connected to the rocking plates 174 and 176 rotate with the rotation of the rocking plates 174 and 176, and the link between the base end side and the distal end side of the main link 138 is formed. When the pivot point is connected, the distance b between the line connecting the pivot point of the link 170 to the guide bracket 161 and the pivot point of the link 172 to the support ring 169 changes, and the lever length (to the beam 166) is changed. The action point of the gas spring 140) can be changed.

Therefore, the load acting on the tip arm 132 changes, or the tip arm 132
Even if it is moved back and forth along
, A balance force corresponding to the load (load) acting on the main link 138 can be generated without changing the output of the gas spring 140. That is, as schematically shown in FIG. 10, when the gas spring 140 balances and supports the main link 138 by the output f when the load G acts on the tip of the main link 138, the main link 138 due to the load G and down moment M _d at the base end pivot point 180, it is necessary to mutually hanging and the upward moment M _u by the output f of the gas spring 140 at the Q point.

The moment M _{d at the} pivot point 180 due to the load G is represented by the length L of the main link 138 and the length of the main link 13
If the inclination of 8 is θ,

[Equation 5] M_d = G · Lcosα. Further, Q by the output f of the gas spring 140
Moment M at a point u is

[6] is an M _u = d · fcosα.

Therefore, the condition of the balance is M _d = M _u ,

G · Lcosα = d · fcosα That is, the balance force f that the gas spring 14 should output is

[Mathematical formula-see original document] where f = (L / d) G, and even when the load G changes, the balance can be supported without changing the output f by changing the interval d.

In the above embodiment, a case has been described in which a gas spring is used as the balance force generating means. However, a hydraulic cylinder, an air cylinder, or the like may be used as the balance force generating means. Further, in the above-described embodiment, the case where the supported object is the operation rod for attaching the tool for overhead wire work has been described, but the supported object may be a tool itself, a welding torch, a flag pole, or the like. And in the said embodiment, although the case where the balance apparatus was attached to the bucket 12 of the work vehicle was demonstrated,
However, the present invention is not limited to this. Further, in the above-described embodiment, a case has been described in which the entire second gas springs 82 and 84 are moved up and down in order to generate a rotational moment according to the operation rod 32. However, only the position on the rod side or the head side is described. May be changed. Further, the brake cylinder 194 can be applied to the device shown in FIG.

[0043]

As described above, according to the present invention, the balance is supported by the second balance force generating means provided on the support arm supporting the object to be supported, and the support arm is attached to the fixed portion. Since the balance is supported by the mounting portion to be mounted via the first balance force generating means, the labor for supporting the object to be supported by the operator can be extremely reduced, and the burden on the operator is greatly reduced. The operation of the tool or the like attached to the supported object can be easily and accurately performed, and the working efficiency can be greatly improved. Further, by changing the coupling position of the second balance force generating means, the mounting position of the second balance force generating means can be changed according to the weight of the supported object, that is, the magnitude of the rotational moment acting on the supported object. As a result, it is possible to easily and reliably perform the balance support of the supported object. Further, since the first and second balance force generating means use a so-called gas spring of a high-pressure gas built-in type, a high-pressure source or a pipe for balance support is not required, and the apparatus can be downsized. it can.

[0044]

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of a balance support device according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of an attached state of a first balance force generating unit according to the embodiment.

FIG. 3 is a cross-sectional view showing details of an attached state of a second balance force generating unit according to the embodiment.

FIG. 4 is a side view showing an attached state of a second balance force generating unit according to the embodiment.

FIG. 5 is a sectional view taken along line AA of FIG. 4;

FIG. 6 is an explanatory diagram of an operation of a second balance force generating unit according to the embodiment.

FIG. 7 is an explanatory diagram of another embodiment of the present invention.

FIG. 8 is a plan view showing a lever length changing mechanism according to the embodiment.

FIG. 9 is a side view showing a lever length changing mechanism according to the embodiment.

FIG. 10 is a schematic diagram illustrating the operation of the lever length changing mechanism according to the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Balance support device 14 Hook part 16 Elevating rail 18 Elevating block 22 Support part (rotation block) 26 Support arm 27,52,54,56 Posture holding mechanism (shaft, support shaft,
Gears, toothed belts) 30 swing support parts 32 supported objects (operation rods) 34, 140 first balance force generating means (first gas spring) 76, 108 mounting rings 82, 84 second balance force generating means ( 100 second oscillating cylinder 134 attitude holding mechanism (link arm) 136 auxiliary link 138 main link 170, 172, 174, 176, 178, 184, 1
88 Lever length changing means (link, rocking plate, connecting rod, shaft, knob) 194 Brake means (brake cylinder)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hirotaka Ohashi 5-6-4 Tsukiji, Chuo-ku, Tokyo Mitsui Engineering & Shipbuilding Co., Ltd.

Claims (3)

(57) [Claims] 1. A support arm having a base end attached to a support portion so as to be vertically swingable and supporting a supported object such as a tool which is attached to a tip end so as to be tiltable, and a swing fulcrum of the support arm . A vertical turn that is coupled to the distal end side and the support portion and acts on the distal end side of the arm.
The rotational moment in the opposite direction according to the rolling moment
First balance force generating means for giving balance support to the support arm, and a tip end side of the tilted fulcrum of the supported object,
Combined with the support arm , acts on the tip side of the supported object
The rotation mode in the opposite direction according to the rotation moment in the vertical direction
And a second balance force generating means for providing a balance to the supported object by providing a balance to the supported object. 2. The apparatus according to claim 2, wherein, when the supported object stands upright, the connecting position between the support arm and the supported object is the same as the swing fulcrum of the supported object. 2. The balance support device according to claim 1, wherein the balance support device is attached so as to be on a line, and a coupling position between the support arm and the supported object is variable on the straight line. 3. The first and second balance force generating means includes: a cylinder forming a closed space; a cylinder which divides the inside of the cylinder into two chambers; A rod fixed to the piston and having the other end exposed to the outside of the cylinder and a piston sealed in each chamber of the cylinder and slid via the rod and compressed by the piston, and a force corresponding to the amount of compression. And a high-pressure gas for generating pressure.
Or the balance support device according to 2.