JP6767132B2 - Posture stabilizer for suspended objects - Google Patents

Description

The present invention is a suspension for controlling the position and posture of a suspended object (inspection machine, work machine, work box, etc.) suspended by using 2 to 5 striatum (wire, rope, etc.). The present invention relates to a posture stabilizer for an object.

Generally, in order to suspend an object such as an inspection machine or a working machine with a striatum such as a wire or a rope and simultaneously control the position and posture of the suspended object, 6 to 8 striatums are used. It is used.
As a conventional posture stabilizing device for a suspended object of this type, there are, for example, those described in Patent Documents 1 to 3.

U.S. Pat. No. 6,566,834 U.S. Pat. No. 4,883,184 U.S. Pat. No. 5,585,707

Patent Document 1 describes a cable-driven pilot that can accurately steer a suspended object (tool, load, etc.) suspended by six cables. The control machine according to Patent Document 1 consists of six cables and a modular assembly part, and the cables are independently controlled by a winding mechanism, and intuitive control is possible in all six degrees of freedom. , Joystick manual or computer automatic control is possible.

Patent Document 2 describes a load pulling device having an automatic balancing device for lifting a load in a stable state using six cables. The load pulling device according to Patent Document 2 includes a suspension carriage, a lift plate, and six suspension cables. The lift plate is suspended from the crane by a suspension carriage, which is equipped with a cable guide that guides six cables from the cable winch. Then, in order to fix the six cables to the lift plate, the lift plate is provided with three cable attachment frames that are separated from each other at equal intervals. In addition, the lift plate is designed to achieve load stability by sensing the load imbalance with respect to its center of mass and repositioning the load to correct the imbalance. In addition, in order to accurately position the load and apply a controlled force to the load, a device that rotates the load 360 degrees with respect to the horizontal plane and the tilt position of the load up to 90 degrees with respect to the horizontal plane of the lift plate are adjusted. A device for rotating the load and a device for rotating the load 360 degrees around the vertical axis of the load fixing device.

Patent Document 3 describes a robot that supports a platform with eight flexible tendons (tendons). The robot according to Patent Document 3 is configured to include eight platforms, a tendon, a control system, and the like. Eight reels are arranged on a platform supported by eight tendons, and each far end of the eight tendons wound around each reel is fixed in a different position, and each reel is individually fixed by a motor. It is configured to control the position and orientation of the platform in the workspace by rotating and adjusting the storage, contraction, and extension of the tendons.

However, in any of the devices described in Patent Documents 1 to 3, the extension and contraction of 6 to 8 striatum (cable, tendon, etc.) are individually controlled to suspend objects (suspension carriage, platform, etc.). ) Was used to control the position and orientation, so the entire device is complicated and problems such as the striatum being easily entangled during installation and collection are likely to occur, and further, it is complicated and troublesome to control it accurately. There was a problem that it was necessary to do a lot of work.

Generally, in the field of robotics, it is known that four or more wires are required to hold an object at a fixed position by using a plurality of wires in a three-dimensional space.
However, when an object is heavy and gravity acts on the object, the gravity functions as one wire, so at least three wires are required to hold the position of the object. It can be carried out.

FIG. 1 illustrates a state in which an object 100 is suspended by four wires 101 to 104 in a three-dimensional space. The other ends of the four wires 101-104 are extended in all directions so as to be separated from the object 100, and are fixed by reels at their respective far ends. In this state, the position of the object 100 supported at one point by the four wires 101 to 104 can be easily determined by adjusting the lengths of the four wires 101 to 104. , The posture (tilt) of the object 100 cannot be determined. This is because the object 100 is supported at one point.

The mechanism shown in FIG. 5 is one of the methods in which the posture of an object supported by four wires can be held independently and constantly regardless of its hanging position. In FIG. 5, by forming the weighted object 140 with a center of gravity at a position away from the support point 145 to which the four wires 101 to 104 are connected, there are two degrees of freedom other than the posture of the object 140 around the yaw axis. The degree of freedom posture can be held vertically. However, in this case, if an attempt is made to move the object 140 dynamically rather than statically, such as by moving the position of the object 140 quickly, a pendulum motion occurs in the object 140 around the support point 145, and the object There is a problem that the posture of 140 becomes unstable.

FIG. 2 shows a configuration in which the position of the rod-shaped object 110 suspended in the three-dimensional space is controlled, and at the same time, the posture is stably maintained. In this method, a rod-shaped object 110 is vertically fixed to the central portion of a quadrangular support plate 115, and four corners of the support plate 115 are supported by four wires 111 to 114 and fixed to the support plate 115. The rod-shaped object 110 is suspended. The other ends of the four wires 111-114 are extended in all directions so as to be separated from the object 110, and are fixed by reels at their respective far ends. In this state, the postures of the support plate 115 supported at four points by the four wires 111 to 114 and the rod-shaped object 110 fixed to the support plate 115 are the tension of the wires and the suspended object according to the suspended position. It is determined by the relationship of the center of gravity of the hanging object, and when the center of gravity of the suspended object changes, the posture also changes, and the position also changes in synchronization with it.

As a mechanism that can stably hold the posture of the suspended object even if the center of gravity of the suspended object fluctuates, as shown in FIG. 6, the object suspended in the three-dimensional space is supported by six or more wires. The method to do is conceivable. This fixes triangular support plates 157 and 158 at positions isolated in the axial direction of the rod-shaped object 150 to be supported, and three wires 151 to 153 at the three corners of the support plates 157 and 158, respectively. , 154 to 156, and the rod-shaped object 150 fixed to the two support plates 157 and 158 is suspended. The other ends of the three upper and lower wires 151 to 153 and 154 to 156 are extended in three directions so as to be separated from the rod-shaped object 150, and are fixed to the reel at their respective far ends. In this state, since the wires are supported by the three upper and lower wires 151 to 153 and 154 to 156 at three upper and lower points, not only the position of the rod-shaped object 150 but also the posture of the rod-shaped object 150 can be stably maintained.

However, this method has a problem that the number of wires supporting the rod-shaped object 150 is as large as 6, the wires are easily entangled at the time of installation and collection thereof, and the angle range in which the posture of the rod-shaped object 150 can be controlled is narrowly limited. have. Therefore, a new method is required in order to be able to independently control the position and orientation of the suspended object by a small number of striatum of 2 to 5.

In order to explain the basic principle of the new method that enables the position and orientation of the suspended object to be controlled independently, the two-dimensional plane mechanism shown in FIGS. 3 and 4 will be used.
In FIG. 3, three links 121 to 123 are arranged in a triangle on a two-dimensional plane, both ends of the corresponding links are rotatably connected, and one of them, the first link 121, is fixed. Is. In this mechanism, the connection point 125 of the second link 122 and the third link 123 is uniquely determined, and the position of the connection point 125 does not move.

FIG. 4 is a four-section link mechanism in which four-section links 131 to 134 are arranged in a quadrangle and both ends of the corresponding links are rotatably connected to each other and the first link 131 is fixed in the same two-dimensional plane. .. In this mechanism, for example, when the center of gravity of the fourth link 134 connected between the tips of the second link 132 and the tip of the third link 133 changes, its posture changes, and the position also changes accordingly. The reason why such a movement occurs is that the joints at both ends of the fourth link 134 can rotate independently of each other. Therefore, if these two degrees of freedom of rotation are constrained to one degree of freedom, it is considered that this movement can be eliminated.

The present invention has been made in view of the problems in the apparatus according to the prior art, and compares the positions and / or postures of the hanging members on which the objects are supported in a two-dimensional plane or a three-dimensional space. An object of the present invention is to provide a posture stabilizing device for a suspended object that can be easily and accurately controlled by a simple configuration.

The posture stabilizing device for a suspended object of the present invention is located on the left and right with respect to the suspending member to which the object is attached and the suspending member, and up and down around a rotation axis extending in the horizontal direction orthogonal to the vertical direction. A pair of connecting members that are rotatably attached in the direction, and a power transmission angle changing mechanism that is rotatable between the pair of connecting members and connects each other so as to keep the ratio of each rotation angle constant. , Is provided.

In addition, the posture stabilizing device for the suspended object is a hanging member to which the object is attached, three to five strips for suspending the suspending member, and left and right around the suspending member. A pair of connecting members that are located and rotatably attached in the vertical direction around a rotation axis that extends in the horizontal direction that is orthogonal to the vertical direction, and one connecting member that is connected to the striatum at one end and one at the other end. One or two first arm members connected to a shaft pin extending in the vertical direction and rotatably supported in the horizontal direction, and one end connected to the striatum and the other end. Two or three second arm members connected to a shaft pin extending in the direction perpendicular to the connecting member and rotatably supported in the horizontal direction, and two or three second arm members rotatably between the pair of connecting members, respectively. It is characterized by providing a power transmission angle changing mechanism for adjustablely connecting the ratio of the rotation angles of the above.

The power transmission angle changing mechanism includes a pair of cranks arranged side by side with a pair of connecting members rotatably attached in the vertical direction around a rotation axis extending in the horizontal direction of the hanging member, and a slot and others at one end. It has a shaft at the end, and the slot has a pair of slotted levers in which the pivot of the crank is slidably inserted and the shaft at the other end is rotatably fitted to a slider provided in the middle of the pair of connecting members. A pair of crank slotted lever mechanisms are formed by a pair of slotted levers and a pair of cranks, and the slotted lever connecting portion rotatably attached to the slider is attached around the axis of the slotted lever with respect to the slider. It is preferable to have a motion restraining mechanism that allows the sliders to rotate in opposite directions, and to be driven by a linear motion mechanism that moves the slider to an arbitrary position between the pair of connecting members.

In the power transmission angle changing mechanism, from the rotation of a pair of connecting members that rotate in opposite directions around a rotation axis extending in the horizontal direction, the pair of cranks that rotate in response to the rotational movement of each connecting member are in the same direction. A slider that has a power transmission mechanism that changes the direction of rotation so that it rotates to, can move to any position between a pair of connecting members, and has a support shaft, and a pivot and support at the tip of the pair of cranks. It can be configured to have a rod that slidably connects all three axes of the shaft and a drive system for moving the slider to an arbitrary position between the pair of connecting members.

Further, a hanging member, three to five striatum, a pair of connecting members, an upper mechanism portion having one or two first arm members and two or three second arm members, and power. It is provided with a lower mechanism portion having a transmission angle changing mechanism, and the upper mechanism portion and the lower mechanism portion are arranged so as to be separated from each other in the vertical direction, and the upper mechanism portion and the lower mechanism portion are connected so as to be able to transmit power. Can be done.

A rotation shaft extending in the horizontal direction as a power transmission mechanism that converts the rotation of a pair of connecting members into a power transmission mechanism in which a pair of cranks that rotate in response to the rotational movement of each connecting member change their rotation directions to the same direction. It is advisable to use a bevel gear that can be attached to.

Further, the posture stabilizing device for a suspended object of the present invention has a hanging member to which the object is attached, two strips for suspending the hanging member, and left and right around the hanging member. A first arm member that is located, one end connected to one striatum and the other end connected to a horizontally extending shaft pin and rotatably supported in the vertical direction, and one end remaining. The second arm member, which is connected to the striatum and the other end is connected to a shaft pin extending in the horizontal direction and is rotatably supported in the vertical direction, and between the first arm member and the second arm member. It is characterized by providing a power transmission angle changing mechanism that is rotatable and that is connected so that the ratio of each rotation angle can be adjusted.

According to the posture stabilizer of the hanging member of the present invention, the position and posture of the hanging member to which the object is attached are supported by a small number of streaks of 2 to 5 in a two-dimensional plane or a three-dimensional space. However, by selectively pulling these striae, it is possible to easily and accurately control the position and orientation of the suspended object by a device having a relatively simple configuration.

It is explanatory drawing which shows the state which hung and supported four wires gathered at one point of an object in a three-dimensional space. It is explanatory drawing which shows the state which four wires were fixed and hung and supported at the distant points of an object in three-dimensional space. It is explanatory drawing which shows the state which fixed one of three links and hangs and supports an object in a two-dimensional plane. It is explanatory drawing which shows the state which fixed one of four links and hangs and supports an object in a two-dimensional plane. It is explanatory drawing which shows the state which hung and supported the object with a weight directly from the point which gathered four wires at one point in three-dimensional space. It is explanatory drawing which shows the state which supported the two support parts arranged above and below the suspended object by three wires in the three-dimensional space. The basic principle of the power transmission angle changing mechanism according to the posture stabilizing device for a suspended object according to the present invention is explained, and one of the four links shown in FIG. 4 is fixed to suspend the object on a two-dimensional plane. It is explanatory drawing explaining the state which attached the gear to the 2nd link and 3rd link which are axially attached to the shafts at both ends of the 4th link, and meshed these two gears with each other at the time of lowering and supporting. A first embodiment of the power transmission angle changing mechanism according to the posture stabilizing device for a suspended object according to the present invention will be described, and two grooved pulleys and a belt are used instead of the two gears shown in FIG. The power transmission angle changing mechanism is configured. FIG. 8A is a front view, FIG. 8B is a plan view, and FIG. 8C is a side view. A second embodiment of the power transmission angle changing mechanism according to the posture stabilizing device for a suspended object according to the present invention will be described, and the diameters will be different instead of the two grooved pulleys having the same diameter shown in FIG. A power transmission angle changing mechanism is configured by using two grooved pulleys and a belt. FIG. 9A is a front view, FIG. 9B is a plan view, and FIG. 9C is a side view. FIG. 5 is an explanatory diagram showing a power transmission angle changing mechanism shown in FIG. 9A in a schematic diagram including a support ceiling and wires. A pair of crank slotted lever mechanisms according to a third embodiment of a power transmission angle changing mechanism according to a posture stabilizing device for a suspended object according to the present invention are shown, and FIG. 11A shows a main slider at a central portion of a base member. 11B, which is a front view when is located, is also a plan view. A state in which the main slider is moved to the first crank plate side from the state shown in FIG. 11 is shown, FIG. 12A is a front view, and FIG. 12B is a plan view. A state in which the main slider is moved to the second crank plate side from the state shown in FIG. 11 is shown, FIG. 13A is a front view, and FIG. 13B is a plan view. A pair of crank / rod slide mechanisms according to a fourth embodiment of the power transmission angle changing mechanism of the posture stabilizing device for a suspended object according to the present invention are shown. FIG. 14A shows a main slider at the center of a base member. The front view and FIG. 14B in the case of being positioned are also bottom views. A state in which the main slider is moved to the first crank plate side from the state shown in FIG. 14 is shown. FIG. 15A is a front view and FIG. 15B is a bottom view. A state in which the main slider is moved to the second crank plate side from the state shown in FIG. 14 is shown. FIG. 16A is a front view and FIG. 16B is a bottom view. It is a perspective view which shows the pair of crank rod slide mechanism which concerns on 5th Example of the power transmission angle changing mechanism which concerns on the attitude stabilization device of the suspended object which concerns on this invention. FIG. 6 is a perspective view showing a state in which the power transmission angle changing mechanism shown in FIG. 17 is attached to a hanging member to which an object is fixed. It is a perspective view which shows an example of the attitude stabilization device of the suspended object provided with the power transmission angle changing mechanism shown in FIG. It is a top view of the posture stabilizer shown in FIG. The posture stabilizer of FIG. 19 is shown, FIG. 19A is a front view, and FIG. 19B is a side view. FIG. 8 is an explanatory view of a main part of the power transmission angle changing mechanism shown in FIG. 18 as viewed from the front side in a cross section. FIG. 8 is an explanatory view of a main part of the power transmission angle changing mechanism shown in FIG. 18 as viewed from the side surface side in cross section. It is explanatory drawing which looked at the main part of the power transmission angle changing mechanism shown in FIG. 18 from the bottom surface side. It is a front view explaining the schematic structure of the posture stabilizer shown in FIG. It is a top view explaining the schematic structure of the posture stabilization apparatus shown in FIG. It is explanatory drawing explaining an example of operation of the posture stabilization apparatus shown in FIG. It is explanatory drawing explaining another example of the operation of the posture stabilizer shown in FIG. It is explanatory drawing which shows the 1st Example of the use state of the posture stabilizing device of the suspended object which concerns on this invention. It is explanatory drawing which shows the 2nd Example of the use state of the posture stabilizing device of the suspended object which concerns on this invention.

Hereinafter, an example of implementing the posture stabilizing device for a suspended object of the present invention will be described with reference to FIGS. 7 to 30.

FIG. 7 illustrates the basic principle of the power transmission angle changing mechanism according to the posture stabilizing device for a suspended object according to the present invention, and restrains the movement of the fourth link 134 of the section 4 link described in FIG. It will be realized. That is, by attaching two gears 162a and 163a to the rotary joints at both ends of the fourth link 134 shown in FIG. 4 and engaging them, the angles of these joints are constrained to be always the same. The degree of freedom of movement of the joint is reduced from 2 to 1. Specifically, the inclination angle theta ₁ of the center point _{O 1} and the center line OL ₁ and the second link 162 is formed between the center line of the second link 162 connecting the center point _{O 2} of the gear 163a of the gear 162a, the center Since the inclination angle θ ₂ of the third link 163 formed by the line OL ₁ and the center line of the third link 163 is constrained to always be the same angle, all the movements of the four links 161 to 164 It is fixed and the fourth link 164 is stuck. By changing the number of teeth ratio of gears 162a and the gear 163a, it is possible to change the inclination angle theta ₂ in the ratio of the inclination angle theta ₁ and the third link 163 of the second link 162.

FIG. 8 describes a first embodiment of the power transmission angle changing mechanism according to the posture stabilizing device for a suspended object according to the present invention, and shows two gears 162a and 163a in the two-dimensional plane described with reference to FIG. By providing grooved pulleys 172a and 173a instead of the above and connecting the grooved pulleys 172a and 173a with a belt 175 so that power can be transmitted, the same effect as the meshing of the two gears 162a and 163a shown in FIG. This is a mechanism that produces an angle changing mechanism 170 that restrains the posture of the fourth link 174 by being configured in this way. In this case, the center line OL ₂ next grooved line connecting the center point _{O 2} of the center point _{O 1} and grooved pulley 173a of the pulley 172a and the fourth link 174, and the center line OL ₂ the center line of the second link 172 DOO inclination angle theta ₂ of the second link 172 of the inclination angle theta ₁ and the center line OL ₂ and the third link 173 is formed between the center line of the third link 173 is determined eggplant.

In the angle changing mechanism 170 having such a configuration, since the two grooved pulleys 172a and 173a are connected so as to be able to transmit power by the belt 175 on which the two grooved pulleys 172a and 173a are hung, either the second link 172 or the third link 173 By moving one of them, the power is transmitted from one grooved pulley 172a (or 173a) to the other grooved pulley 173a (or 172a), and their inclination angles θ ₁ (or θ ₂ ) are changed. Can be done. In this case, when the diameters of the two grooved pulleys 172a and 173a are the same, their inclination angles θ ₁ and θ ₂ are the same.

FIG. 9 illustrates a second embodiment of the power transmission angle changing mechanism according to the posture stabilizing device for a suspended object according to the present invention, and shows two grooved pulleys 172a and 173a in the two-dimensional plane of FIG. The angle changing mechanism 180 is configured by making the diameters of the above different. A grooved pulley 182a having a radius r ₁ is provided at one end of the second link 182, a grooved pulley 183a having a radius r _{2 having} a diameter larger than that of the grooved pulley 182a is provided at one end of the third link 183, and a double grooved pulley 182a. A belt 185 is hung between 183a and 183a so that power can be transmitted. In this case, the center line OL ₃ next to the grooved central point _{O 1} of the pulley 182a and a grooved line connecting the center point _{O 2} of the pulley 183a and the fourth link 184, the center line OL ₃ of the fourth link 184 second link The inclination angle θ ₁ of the second link 182 formed by the center line of 182 and the inclination angle θ ₂ of the third link 183 formed by the center line OL ₃ of the fourth link 184 and the center line of the third link 183 are respectively. When both bend upward from the linear state of θ ₁ = θ ₂ = 0, those angles θ ₁ and θ ₂ are only so that (θ ₁ / θ ₂ ) = (r ₂ / r ₁ ) holds. Can be bent.

In this angle changing mechanism 180, since the diameters of the two grooved pulleys 182a and 183a are different, by moving either the second link 182 or the third link 183, the power thereof is the one grooved pulley 182a (or It is transmitted from 183a) to the other grooved pulley 183a (or 182a), and their tilt angles θ ₁ (or θ ₂ ) can be changed, but their tilt angles θ ₁ and θ ₂ are different. .. By changing the diameters of the two grooved pulleys 182a and 183a in this way, the ratio of changes in the left and right tilt angles θ ₁ and θ ₂ can be made variable by the movement of the left and right links.

FIG. 10 is an explanatory view showing the angle changing mechanism 180 shown in FIG. 9A by a diagram. The length of the second link 182 is L ₁ , the length of the third link 183 is L ₂ , the length of the fourth link 184 is L _0, and the fourth link is supported so as to be parallel to the first link 181. Assuming that the height (distance) from the center line OL _{3 of} 184 to the first link 181 is H, L ₁ × sinθ ₁ = L ₂ × sinθ ₂ = H.

11 to 13 are views for explaining a pair of crank slotted lever mechanisms showing a third embodiment of the power transmission angle changing mechanism according to the posture stabilizing device of the present invention.
As shown in FIGS. 11A and 11A and 13A and 13B, the pair of crank slotted lever mechanisms 1 have a hanging member 2 to which an object (not shown) is attached and a striatum for suspending the hanging member 2. The four arm members 3A and 3B. 3C. 3D, a pair of connecting members 4A and 4B to which two striatum are connected, a pair of slotted lever portions 5A and 5B capable of changing the inclination angle of the pair of connecting members 4A and 4B, and a pair of slotted It is configured to include a slotted lever connecting portion 6 and the like in which the length of each connecting portion of the pair of slotted lever portions 5A and 5B can be changed by connecting and interlocking the lever portions 5A and 5B.

The hanging member 2 is composed of a plate-shaped member extending in the horizontal direction, and one side of the first connecting member 4A penetrates the hanging member 2 in the horizontal direction on one side in the longitudinal direction. It is rotatably supported in the vertical direction by a first rotating shaft 8A fixed to the hanging member 2 in a cantilever shape. Further, on the other side of the hanging member 2 in the longitudinal direction, one side of the second connecting member 4B penetrates the hanging member 2 in the horizontal direction and is fixed to the hanging member 2 in a cantilever shape. Therefore, it is rotatably supported in the vertical direction.

On the other side of the first connecting member 4A, one side of the first arm member 3A and the second arm member 3B is rotatably attached in the lateral direction. One side of the first arm member 3A and the second arm member 3B is inserted in a recess of a bearing portion provided in a U shape on the other side of the first connecting member 4A in a state of being overlapped with each other. By penetrating the shaft pin 9, it is possible to rotate around the shaft pin 9 in the lateral direction orthogonal to the shaft pin 9. Further, on the other side of the second connecting member 4B, one side of the third arm member 3C and the fourth arm member 3D is rotatably attached in the lateral direction. One side of the third arm member 3C and the fourth arm member 3D is inserted in a recess of a bearing portion provided in a U shape on the other side of the second connecting member 4B in a state of being overlapped with each other. By penetrating the shaft pin 9, it is possible to rotate around the shaft pin 9 in the lateral direction orthogonal to the shaft pin 9.

Although not shown, a wire showing a specific example of a striatum for suspending an object is connected to the other side of the first arm member 3A and the second arm member 3B. Similarly, a wire showing a specific example of a striatum for suspending an object is connected to the other side of the third arm member 3C and the fourth arm member 3D. The far end side of this wire is wound around a drum (not shown), and the length drawn from the drum is adjustable.
The striatum is not limited to the wires shown in this embodiment, and cables, ropes, strings and various other wires can be applied.

The pair of connecting members 4A and 4B are integrally provided with crank plates (cranks) 11A and 11B having pivots 12A and 12B at positions eccentric from the rotating shafts 8A and 8B, respectively. Therefore, the first rotation shaft 8A is penetrated through the central portion of the first crank plate 11A, and the first crank plate 11A is integrated with the first connecting member 4A with the first rotation shaft 8A as the rotation center. It is rotated. A second rotation shaft 8B is penetrated through the center of the second crank plate 11B, and the second crank plate 11B is integrated with the second connecting member 4B with the second rotation shaft 8B as the rotation center. It is rotated. Further, a first pivot 12A projecting in the same direction is provided at a position eccentric to the axis of the first rotation shaft 8A of the first crank plate 11A, and a second rotation shaft 8B of the second crank plate 11B is provided. A second pivot 12B protruding in the same direction is provided at a position eccentric with the axis of the shaft. A first sub-slider 13A is rotatably attached to the first pivot 12A, and a second sub-slider 13B is rotatably attached to the second pivot 12B.

The first secondary slider 13A is slidably fitted into the elongated hole 15A provided in the first slotted lever 14A, and the second secondary slider 13B is slidably fitted into the elongated hole 15B provided in the second slotted lever 14B. Has been done. The first slotted lever 14A and the second slotted lever 14B are made of elongated plate-shaped members, and elongated holes 15A and 15B are provided so as to extend linearly in the longitudinal direction thereof, respectively. Further, the first rotation shaft 16A is provided so as to project laterally on one side of the first slotted lever 14A in the longitudinal direction, and the second rotation shaft 16A is provided on one side of the second slotted lever 14B in the longitudinal direction. 16B is provided so as to project laterally. Further, the first gear 17A is fixed to the first slotted lever 14A so as to be concentric with the first rotating shaft 16A, and the second gear 17A is fixed to the second slotted lever 14B so as to be concentric with the second rotating shaft 16B. The gear 17B is fixed.

The first rotating shaft 16A and the second rotating shaft 16B are rotatably attached to the main slider 18 in a state where the first gear 17A and the second gear 17B are meshed with each other, whereby the pair of slotted levers 14A , 14B is rotatably connected to the slotted lever connecting portion 6. The main slider 18 is slidably engaged with a guide rail 19 provided so as to extend in the same direction as the hanging member 2. The guide rail 19 has a first crank plate 11A and a second crank plate so that the center line extending in the longitudinal direction overlaps the center line OL ₄ connecting the center of the first rotation shaft 8A and the center of the second rotation shaft 8B. It is arranged between 11B and is screwed to the hanging member 2 with a plurality of fixing screws. The main slider 18 is configured to be able to move forward and backward between the first crank plate 11A and the second crank plate 11B by being guided by the guide rail 19 by the operation of a drive unit having an electric motor and a speed reducer (not shown). ..

Thus, in the first slotted lever portion 5A, the length from the first rotation shaft 8A to the first support shaft 16A changes depending on the position of the main slider 18, and the length from the first support shaft 16A to the first pivot shaft 12A correspondingly changes. The length of (the length of the connecting part) changes. Similarly, in the second slotted lever portion 5B, the length from the second rotation shaft 8B to the second support shaft 16B changes depending on the position of the main slider 18, and the length from the second support shaft 16B to the second pivot shaft 12B corresponds accordingly. The length up to (the length of the connecting part) changes.

11A and 11B show a state in which the main slider 18 is located at the center of the guide rail 19 in the longitudinal direction. In this state, the pair of slotted lever portions 5A and 5B and the pair of connecting members 4A and 4B are left and right. They are arranged symmetrically. Then, this regardless of the position of the main slider 18, and the angle at which the first slotted lever 14A relative to the center line OL ₄ tilts, the angle which the second slotted lever 14B is inclined with respect to the center line OL ₄ is constrained state, each engaged with a gear Because it moves with, it always moves so that it has the same angle α. Then, in this state, when the first connecting member 4A with respect to the center line OL ₄ forms an angle theta ₁ slope also tilt angle theta ₂ of the second coupling member 4B with respect to the center line OL ₄ identical to the first slotted lever 14A The effect of the second slotted lever 14B trying to take an angle is the same value (θ ₁ = θ ₂ ).

12A and 12B show a state in which the main slider 18 is moved to the first connecting member 4A side by operating a drive unit (not shown) from the state shown in FIGS. 11A and 11B. In this state, the inclination angle of the first slotted lever 14A relative to the center line OL _4, the inclination angle of the second slotted lever 14B with respect to the center line OL ₄ is to try to hold the same angle α to each other, the first connection from the main slider 18 Since the distance of the member 4A to the pivot 12A is short and the distance from the main slider 18 to the pivot 12B of the second connecting member 4B is long, the inclination angle θ ₁ of the first connecting member 4A with respect to the center line OL ₄ is the center line. The value (θ ₁ <θ ₂ ) is smaller than the inclination angle θ ₂ of the second connecting member 4B with respect to OL ₄ .

13A and 13B show a state in which the main slider 18 is moved to the second connecting member 4B side by operating a drive unit (not shown) from the state shown in FIGS. 11A and 11B. In this state, the inclination angle of the first slotted lever 14A relative to the center line OL _4, the inclination angle of the second slotted lever 14B with respect to the center line OL ₄ is to try to hold the same angle α to each other, the second connecting the main slider 18 Since the distance of the member 4B to the pivot 12B is short and the distance from the main slider 18 to the pivot 12B of the first connecting member 4A is long, the inclination angle θ ₁ of the first connecting member 4A with respect to the center line OL ₄ is the center line. The value (θ ₁ > θ ₂ ) is larger than the inclination angle θ ₂ of the second connecting member 4B with respect to OL ₄ .

As described above, according to the crank slotted lever mechanism 1 according to the third embodiment, by changing the position of the main slider 18, a pair of gears 17A and 17B swing at equal angles with each other. Due to the effect of the slotted levers 14A and 14B, the tilt angles θ ₁ and θ ₂ of the first connecting member 4A and the second connecting member 4B can be continuously changed.

In this way, the ratio of the inclination angles θ ₁ and θ ₂ of the first connecting member 4A and the second connecting member 4B can be continuously changed, so that the hanging member 2 is tilted from the horizontal state to the inclination angles θ ₁ and θ _2. It can be held in an inclined posture at an arbitrary angle according to θ ₂ . Therefore, by attaching an object to the hanging member 2 and fixing and supporting it, it is possible to control the position and posture of the hanging object to an arbitrary state.

14 to 16 are views for explaining a crank rod slide mechanism 21 showing a fourth embodiment of the power transmission angle changing mechanism according to the posture stabilizing device of the present invention. Here, the power transmission angle changing mechanism according to the fourth embodiment is called a crank rod slide mechanism, which in principle corresponds to a crank slotted lever mechanism, but some of its components are slotted. This name is used because it is a rod, not a lever.

As shown in FIGS. 14A, B to 16A, B, in the crank rod slide mechanism 21, a hanging member 22 to which an object (not shown) is attached and a striatum for suspending the hanging member 22 are connected to each other. The four arm members 23A and 23B. 23C. 23D, a pair of connecting members 24A and 24B to which two striatums are connected, a pair of crank rod portions 25A and 25B capable of changing the inclination angle of the pair of connecting members 24A and 24B, and a pair of cranks. It is configured to include a rod slide support portion 26 and the like that can change the length of each connecting portion of the pair of crank rod portions 25A and 25B by connecting and interlocking the rod portions 25A and 25B.

The hanging member 22 is composed of a square columnar member extending in the horizontal direction, and one side of the first connecting member 24A penetrates the hanging member 22 in the horizontal direction on one side in the longitudinal direction. It is rotatably supported in the vertical direction by a first support shaft 28A fixed to the hanging member 22 in a cantilever shape. Further, one side of the second connecting member 24B on the other side in the longitudinal direction of the hanging member 22 and opposite to the first connecting member 24A penetrates these in the horizontal direction and is a cantilever beam on the hanging member 22. It is rotatably supported in the vertical direction by the second support shaft 28B fixed in a shape.

On the other side of the first connecting member 24A, one side of the first arm member 23A and the second arm member 23B is rotatably attached in the lateral direction. One side of the first arm member 23A and the second arm member 23B is inserted in a recess of a bearing portion provided in a U shape on the other side of the first connecting member 24A in a state of being overlapped with each other. By penetrating the first axis pin 29A, it is possible to rotate around the first axis pin 29A in the lateral direction orthogonal to the first axis pin 29A. Further, on the other side of the second connecting member 4B, one side of the third arm member 23C and the fourth arm member 23D is rotatably attached in the lateral direction. One side of the third arm member 23C and the fourth arm member 23D is inserted in a recess of a bearing portion provided in a U shape on the other side of the second connecting member 24B in a state of being overlapped with each other. By penetrating the second axis pin 29B, it is possible to rotate around the second axis pin 29B in the lateral direction orthogonal to the second axis pin 29B.

Although not shown, a wire showing a specific example of a striatum for suspending an object is connected to the other side of the first arm member 23A and the second arm member 23B. Similarly, a wire showing a specific example of a striatum for suspending an object is connected to the other side of the third arm member 23C and the fourth arm member 23D. The striatum is not limited to the wires shown in this embodiment, and cables, ropes, strings and various other wires can be applied.

A first bevel gear 31A is integrally provided on the first support shaft 28A side of the first connecting member 24A with the tooth surface facing the hanging member 22 side, and the second support shaft 28B of the second connecting member 24B is provided. A second bevel gear 31B is integrally provided on the side with the tooth surface facing the suspending member 22 side. A third bevel gear 31C is meshed with the first bevel gear 31A so as to be able to transmit a rotational force, and a fourth bevel gear 31D is meshed with the second bevel gear 31B so as to be able to transmit a rotational force. The third bevel gear 31C is provided so as to project in a direction orthogonal to the first support shaft 28A on one side of the hanging member 22 in the longitudinal direction and orthogonal to the surface on which the first support shaft 28A projects. It is rotatably supported by the first rotating shaft 32A. Further, the fourth bevel gear 31D is provided so as to be parallel to the first rotating shaft 32A on the other side of the hanging member 22 in the longitudinal direction and on the same surface as the surface on which the first rotating shaft 32A protrudes. It is rotatably supported by the second rotating shaft 32B.

Flat plate-shaped crank plates 33A and 33B are fixed to the back side of the third bevel gear 31C and the fourth bevel gear 31D by fixing means such as screwing, respectively. A fixed bearing 36 that fixes and supports one end of the rod 35 is rotatably attached to one side of the first crank plate 33A in the longitudinal direction. Further, a support bearing 37 that slidably supports the other side of the rod 35 is rotatably attached to one side of the second crank plate 33B in the longitudinal direction. Further, a sliding bearing 38 is mounted on the rod 35, and the sliding bearing 38 is configured to be slidable between the fixed bearing 36 and the support bearing 37. The sliding bearing 38 is rotatably supported by a slider 40 slidably supported by the guide rail 39.

The guide rail 39 is tilted by an inclination angle φ with respect to the center line OL ₅ connecting the center of the first rotation shaft 32A and the center of the second rotation shaft 32B provided on the suspension member 22, and the suspension member 22 is inclined. It is arranged so as to extend in the longitudinal direction of the above, and is screwed to the hanging member 22 with a plurality of fixing screws. The slider 40 mounted on the guide rail 39 is guided by the guide rail 39 by the operation of a drive unit having an electric motor and a speed reducer (not shown), and is between the third bevel gear 31C and the fourth bevel gear 31D. It is configured to be able to move forward and backward.

Thus, in the first crank rod portion 25A and the second crank rod portion 25B, the length from the fixed bearing 36 to the sliding bearing 38 and the length from the sliding bearing 38 to the support bearing 37 (a pair) depending on the position of the slider 40. The length of the connecting portion of the crank rod portions 25A and 25B) changes.

14A and 14B show a state in which the slider 40 is located at the center of the guide rail 39 in the longitudinal direction. In this state, the pair of crank rod portions 25A and 25B and the pair of connecting members 24A and 24B are sliders. They are arranged so as to form point symmetry around 40. At this time, the inclination angle theta ₁ of the first connecting member 24A relative to the center line OL _5, the inclination angle theta ₂ of the second connecting member 24B with respect to the center line OL ₅ has become equal to a value (θ ₁ = θ _2). Further, the inclination angle alpha ₁ of the first crank plate 33A with respect to the center line OL _5, which is the inclination angle alpha ₂ also equal to the second crank plate 33B with respect to the center line _{OL 5 (α 1 = α 2} ). Then, when the slider 40 is moved by the operation of a drive unit (not shown), the inclination angle θ ₁ of the first connecting member 24A with respect to the center line OL ₅ and the first crank plate 33A are increased according to the moving direction and moving position of the slider 40. The inclination angle α ₁ and the inclination angle θ ₂ of the second connecting member 24B with respect to the center line OL ₅ and the inclination angle α ₂ of the second crank plate 33B change.

15A and 15B show a state in which the slider 40 is moved to the third bevel gear 31C side by operating a drive unit (not shown) from the state shown in FIGS. 14A and 14B. In this state, than the slope angle theta ₁ of the first connecting member 24A relative to the center line OL _5, a second connecting member 24B inclination angle theta ₂ towards the large value with respect to the center line _{OL 5 (θ 1 <θ 2} ) It has become. Moreover, than the slope angle alpha ₁ of the first crank plate 33A with respect to the center line OL _5, the inclination angle alpha ₂ of the second crank plate 33B with respect to the center line OL ₅ becomes a large value (α ₁ <α _2).

16A and 16B show a state in which the slider 40 is moved to the fourth bevel gear 31D side by operating a drive unit (not shown) from the state shown in FIGS. 14A and 14B. In this state, towards the tilt angle theta ₁ of the first connecting member 24A relative to the center line OL ₅ is, in the second connecting member 24B larger than the inclination angle theta ₂ of with respect to the center line _{OL 5 (θ 1> θ 2} ) It has become. Further, towards the inclination angle alpha ₁ of the first crank plate 33A with respect to the center line OL ₅ is a second crank plate 33B inclination angle alpha ₂ greater than the with respect to the center line _{OL 5 (α 1> α 2} ) since it There is.

According to the crank rod slide mechanism 21 according to the fourth embodiment, by changing the position of the slider 40, the length of the connecting portion of the pair of crank rod portions 25A and 25B is changed to the ratio of the length of the rod 35 to the length of the rod 35. The inclination angles α ₁ and α ₂ of the pair of crank plates 33A and 33B can be changed. At this time, the inclination angle α ₁ of the first crank plate 33A and the second crank are due to the change in the ratio of the length of the connecting portion of the first crank rod portion 25A to the length of the connecting portion of the second crank rod portion 25B in the rod 35. it is possible to change the inclination angle theta ₁ of the first connecting member 24A by changing the inclination angle alpha ₂ of the plate 33B and the inclination angle theta ₂ of the second coupling member 24B.

In this way, by changing the tilt angles θ ₁ and θ ₂ of the first connecting member 24A and the second connecting member 24B, the hanging member 22 can be tilted from the horizontal state to an arbitrary angle according to the tilt angles θ ₁ and θ _2. You can change your posture. Therefore, by attaching an object to the hanging member 22 and fixing and supporting it, it is possible to control the position and posture of the hanging object to an arbitrary state.
Further, in this embodiment, two operation-side bevel gears (power transmission mechanisms) 31A and 31B are arranged on both sides of the hanging member 22 so as to face each other, and the bevel gears 31A and 31B are respectively arranged. Since the two bevel gears (power transmission mechanism) 31C and 31D located in the middle of meshing are arranged in the same direction, the operating force is input to one of the bevel gears 31A (or 31B) on the operating side. In this case, the rotational force can be transmitted by converting the rotation toward the other bevel gear 31B (or 31A) in the same direction through the operation of the two bevel gears 31C and 31D.

17 to 28 are views for explaining a crank rod slide mechanism 41 showing a fifth embodiment of the power transmission angle changing mechanism according to the posture stabilizing device of the present invention.
As shown in FIGS. 17 and 18, the crank rod slide mechanism 41 is composed of an upper mechanism portion 42 and a lower mechanism portion 43 arranged at a predetermined distance in the vertical direction V.

As shown in FIGS. 17 and 18, the upper mechanism portion 42 includes four wires 45A, 45B, 45C, 45D showing a specific example of the striatum, a hanging member 52 to which an object is attached, and four wires. The four arm members 53A, 53B, 53C, 53D to which the wires 45A to 45D are connected, and a pair of connecting members 54A, 54B to which the four arm members 53A to 53D are connected to each other are provided. There is.

The hanging member 52 has a shape that can be attached to an object to be suspended, and in the fifth embodiment, it is formed as a cylindrical member so that it can be attached to a support column of an inspection device. .. The hanging member 52 is provided with a pair of shaft portions so as to project outward at a position rotationally displaced by 180 degrees, and a first upper bevel gear (power transmission mechanism) 55A is integrated with the first shaft portion. The first upper pulley 56A provided in the above is rotatably supported, and the second upper pulley 56B integrally provided with the second upper bevel gear (power transmission mechanism) 55B is rotatably supported on the second shaft portion. Has been done.

Further, a first connecting member 54A is attached to the first shaft portion of the hanging member 52 so as to be rotatable in the vertical direction V by a first support shaft 57A penetrating them in the horizontal direction H. Similarly, a second connecting member 54B is rotatably attached to the second shaft portion in the vertical direction V by a second support shaft 57B penetrating them in the horizontal direction. Further, the first connecting member 54A is provided with a first upper crossing bevel gear (power transmission mechanism) 58A centered on the first support shaft 57A, and the first upper crossing bevel gear 58A is the first upper. It is meshed with the bevel gear 55A. As a result, when the first upper bevel gear 55A rotates, the rotational force is transmitted to the first connecting member 54A via the first upper cross bevel gear 58A. As a result, the first connecting member 54A is rotated upward or downward around the first support shaft 57A according to the rotation direction of the first upper bevel gear 55A.

Similarly, the second connecting member 54B is provided with a second upper crossing bevel gear (power transmission mechanism) 58B centered on the second support shaft 57B, and the second upper crossing bevel gear 58B is the second. It is meshed with the upper bevel gear 55B. As a result, when the second upper bevel gear 55B rotates, the rotational force is transmitted to the second connecting member 54B via the second upper cross bevel gear 58B. As a result, the second connecting member 54B is rotated upward or downward around the second support shaft 57B according to the rotation direction of the second upper bevel gear 55B.

Further, on the side of the first connecting member 54A opposite to the first upper pulley 56A, one side of the first arm member 53A and the second arm member 53B is rotatably attached in the lateral direction by the first shaft pin 61A. There is. The first shaft pin 61A penetrates one side of the first arm member 53A and the second arm member 53B and is fitted to the shelf portion of the first connecting member 54A from above. As a result, the first arm member 53A and the second arm member 53B are configured to be rotatable in the horizontal direction around the first shaft pin 61A whose axial core line extends in the vertical direction. Further, on the side of the second connecting member 54B opposite to the second upper pulley 56B, one side of the third arm member 53C and the fourth arm member 53D is rotatably attached in the lateral direction by the second shaft pin 61B. There is. The second shaft pin 61B penetrates one side of the third arm member 53C and the fourth arm member 53D and is fitted to the shelf portion of the second connecting member 54B from above. As a result, the third arm member 53C and the fourth arm member 53D are configured to be rotatable in the horizontal direction H around the second axis pin 61B whose axial core line extends in the vertical direction V.

Further, on the other side of the first arm member 53A and the second arm member 53B, a first wire 45A and a second wire 45B showing a specific example of a striatum for suspending an object are connected. Similarly, on the other side of the third arm member 53C and the fourth arm member 53D, a third wire 45C and a fourth wire 45D showing a specific example of a striatum for suspending an object are connected. The striatum is not limited to the wires shown in this embodiment, and it goes without saying that cables, ropes, strings and various other wires can be applied.

The lower mechanism portion 43 is arranged below the upper mechanism portion 42 at a predetermined distance. The lower mechanism portion 43 is a rod slide support portion for changing the inclination angles of a pair of lower pulleys 62A and 62B with bevel gears for connecting to the upper mechanism portion 42 so as to be able to transmit power, and a pair of connecting members 54A and 54B. It is configured to include 65 and the like. The pair of lower pulleys 62A and 62B with bevel gears are installed facing each other with their back surfaces separated from each other by a predetermined distance, and are rotatably supported by the support shaft 77. Then, a first transmission belt 78A is hung between the first lower pulley 62A and the first upper pulley 56A so that power can be transmitted, and a second transmission belt 78A is hung between the second lower pulley 62B and the second upper pulley 56B. The transmission belt 78B is hung so that power can be transmitted.

The rod slide support portion 65 has substantially the same configuration as the rod slide support portions 26 shown in FIGS. 14 to 16, and has a pair of rod crank portions 66A and 66B, and the pair of rod crank portions 66A, By interlocking 66B, the inclination angles of the pair of connecting members 54A and 54B can be changed. That is, the rod slide support portion 65 slides on the pair of lower crossing bevel gears (power transmission mechanism) 67A and 67B, the pair of crank plates 69A and 69B, the rod 70, the fixed bearing 71, and the support bearing 72. It has a bearing 73, a guide rail 75, a slider 76, and the like.

As shown in FIGS. 17 and 22, the first lower bevel gear (power transmission mechanism) 63A is meshed with the first lower bevel gear 67A so as to be able to transmit rotational force, and the second lower bevel gear 67B has a second gear. 2 The lower bevel gear (power transmission mechanism) 63B is meshed so as to be able to transmit rotational force. The first lower bevel gear 67A and the second lower cross bevel gear 67B are rotatably supported in the horizontal direction H by a base plate 81 forming a part of the hanging member 52. A flat plate-shaped first crank plate 69A is fixed to the back side of the first lower bevel gear 67A by fixing means such as screwing, and a flat plate-shaped second crank plate 69A is fixed to the back side of the second lower bevel gear 67B. 69B is fixed by fixing means such as screwing.

A fixed bearing 71 that fixes and supports one end of the rod 70 is rotatably attached to one side of the first crank plate 69A in the longitudinal direction. Further, a support bearing 72 that slidably supports the other side of the rod 70 is rotatably attached to one side of the second crank plate 69B in the longitudinal direction. Further, a sliding bearing 73 is mounted on the rod 70, and the sliding bearing 73 is configured to be slidable between the fixed bearing 71 and the support bearing 72. The sliding bearing 73 is rotatably supported by a slider 76 slidably supported by the guide rail 75. The guide rail 75 is fixed to the bottom surface side of the base plate 81, and the slider 76 mounted on the guide rail 75 is attached to the guide rail 75 by the operation of a drive unit having an electric motor and a speed reducer (not shown). Guided, it is configured to be movable back and forth between the first lower crossing bevel gear 67A and the second lower crossing bevel gear 67B.

Thus, in the rod slide support portion 65 having the first rod crank portion 66A and the second rod crank portion 66B, the length from the fixed bearing 71 to the sliding bearing 73 and the support from the sliding bearing 73 depending on the position of the slider 76. The length up to the bearing 72 (the length of the connecting portion of the pair of rod crank portions 66A and 66B to each other) changes. In this way, it is possible to adjust the inclination angle of the pair of connecting members 54A and 54B by changing the position of the slider 76 and changing the length of the connecting portion of the pair of rod crank portions 66A and 66B. Become.

The operation of the crank rod slide mechanism 41 having such a configuration is as follows.
In FIG. 17, for example, when the first connecting member 54A is rotated about a shaft portion provided on the hanging member 52, the first upper bevel crossing gear 58A integrally with the first connecting member 54A moves in the same direction. Since it rotates, the first upper bevel gear 55A that meshes with the first upper bevel gear 55A is rotated in the corresponding direction, and the rotational force is transmitted to the first lower bevel gear 63A via the first transmission belt 78A, and further, the rotation thereof. The force is transmitted to the first lower crossing bevel gear 67A. By the rotation of the first lower crossing bevel gear 67A, the first crank plate 69A is integrally rotated, and the rotational force is rotatably supported by the first crank plate 69A from the fixed bearing 71 via the rod 70. It is transmitted to the bearing 72, and further, the rotation of the support bearing 72 causes the second crank plate 69B and the second lower crossing bevel gear 67B to be rotated in a direction opposite to the rotation direction of the first lower crossing bevel gear 67A.

Due to the rotation of the second lower crossing bevel gear 67B, the second lower bevel gear 63B that meshes with the second lower bevel gear 67B is rotated in the direction opposite to that of the first lower bevel gear 63A, and the rotational force thereof is passed through the second transmission belt 78B. It is transmitted to the upper pulley 56B. As a result, the rotation of the second upper bevel gear 55B integrally formed with the second upper pulley 56B causes the second upper cross bevel gear 58B to rotate in the corresponding direction, so that the second connecting member 54B is integrally formed with the second upper bevel gear 58B. It is rotated in the same direction.
By controlling the lengths of the first to fourth wires 45A to 45D and the position of the slider 76, it is possible to control the spatial position and posture of the hanging member 52 on which the object is supported.

In the third to fifth embodiments described above, the existence of the arm members 3A to 3D, 23A to 23D, and 53A to 53D has important significance. The reason is that if the arm members 3A to 3D, 23A to 23D, 53A to 53D are eliminated and the tip of each wire is directly attached to the connecting members 4A, 4B, 24A, 24B, 54A, 54B, it is attached to the wire connecting member. Since the bent portion bends locally, even if the inclination angles θ1 and θ2, which are the angles between the connecting members 4A, 4B, 24A, 24B, 54A, 54B and the hanging members 2, 22, 52, are controlled. This is because the effect of the posture stabilizing device according to the present invention is not exhibited.
On the other hand, when the arm members 3A to 3D, 23A to 23D, and 53A to 53D are attached so that they can rotate only about the axis perpendicular to the connecting members 4A, 4B, 24A, 24B, 54A, and 54B, the tension is increased. The hooked wire and the arm member try to become linear. As a result, even if the posture stabilizer is supported by the soft wire, the angle formed by the wire and the hanging member can be reliably controlled so as to have the relationship of the inclination angles θ1 and θ2 described above.

The arm lengths of the first to fourth arm members 3A to 3D, 23A to 23D, and 53A to 53D are preferably set to a value within the range of 0.5 m to 2.0 m. If the arm lengths of the first to fourth arm members 3A to 3D, 23A to 23D, and 53A to 53D are 0.5 m or more, the operating force applied to the wire side is surely applied to the connecting members 4A, 4B, 24A. , 24B, 54A, 54B, for example, the first upper crossing bevel gear 58A or the second upper crossing bevel gear 58B can be reliably rotated. Further, if the arm lengths of the first to fourth arm members 3A to 3D, 23A to 23D, and 53A to 53D are 2.0 m or less, the connecting members 4A, 4B, 24A, 24B, 54A, and 54B can be handled. Can be facilitated.

18 to 24 are views showing a state in which a bridge inspection device 83 showing a specific example of an object is attached to the crank rod slide mechanism 41 described above. The bridge inspection device 83 inspects the state of the bottom surface and the side surface of the bridge, and inspects cracks, peeling, and other defects. The bridge inspection device 83 includes a support column 84 that can be expanded and contracted in a nested manner, a support box 85 or the like that fixes and supports the support column 84 to the center of the upper surface of the base plate 81, and a camera or the like at the upper end of the support column 84. An inspection unit 86 in which inspection tools are stored is provided. A strut receiving member 87 is screwed to the upper surface of the support box 85, and the lower end of the strut 84 is fitted to the strut receiving member 87 and fastened and fixed by a fixing screw.

25 to 28 are views for explaining the operation of the posture stabilizing device including the crank / rod slide mechanism 41.
FIG. 25 is a front view showing a state in which the bridge inspection device 83 is suspended by four wires 45A to 45D, and FIG. 26 is also a plan view. A hanging member 52 is fixed in the middle of the support column 84 in the axial direction, and a pair of connecting members 54A and 54B are rotatably supported on both sides of the hanging member 52 that are rotationally displaced by 180 degrees. There is. Two arm members 53A and 53B are rotatably attached to the first connecting member 54A, and two arm members 53C and 53D are rotatably attached to the second connecting member 54B. Has been done. The lower end of the bridge inspection device 83 plays the role of a weight by mounting an electric motor and other heavy members on the base plate 81. Therefore, by supporting the intermediate portion of the support column 84 in the axial direction with the suspension member 52, the bridge inspection device 83 can be suspended and supported substantially vertically with good stability by utilizing the role of the weight.

FIG. 27 is a diagram showing a state in which the suspension member 52 is tilted by adjusting the slider 76, and the bridge inspection device 83 is tilted in the direction in which the pair of connecting members 54A and 54B face each other. The reference numeral (A) indicates a state in which the posture of the bridge inspection device 83 faces vertically upward, and the suspension member 52 is horizontal. In this state, the inclination angles of the first connecting member 54A, the first arm member 53A, and the second arm member 53B are equal to θ ₁ , and the inclination of the second connecting member 54B, the third arm member 53C, and the fourth arm member 53D is equal. The angles are equal and θ ₂ .

Further, in FIG. 27, the reference numeral (a) indicates a state in which the inspection portion 86 side of the bridge inspection device 83 is tilted toward the first connecting member 54A, and the reference numeral (c) indicates a bridge inspection. It shows a state in which the inspection unit 86 side of the device 83 is tilted toward the second connecting member 54B side.

In FIG. 28, the hanging member 52 is tilted by adjusting the tensile force of the four wires 45A to 45D, and the bridge inspection device 83 is tilted in the direction in which the pair of connecting members 54A and 54B intersect with each other. It is a figure which shows the state. The reference numeral (A) indicates a state in which the posture of the bridge inspection device 83 faces vertically upward, and the suspension member 52 is horizontal. The symbol (a) indicates a state in which the inspection unit 86 side of the bridge inspection device 83 is tilted toward the first arm member 53A and the third arm member 53C, and the symbol (c) indicates a bridge inspection. It shows a state in which the inspection unit 86 side of the device 83 is tilted toward the second arm member 53B and the fourth arm member 53D.

FIG. 29 illustrates the usage state of the attitude stabilizer 90 of the suspended object in the three-dimensional space. The bridge inspection device 83 is applied as the suspended object, and the bridge inspection device 83 is used on the lower surface of the bridge 91. It is explanatory drawing which checks the state. The attitude stabilizer 90 holding the bridge inspection device 83 is suspended below the bridge 91 by four wires 45A to 45D. The four wires 45A to 45D are supported by a total of four support legs 92A, 92B, 92C, and 92D, two on each side arranged at a predetermined distance in the traffic direction on both sides of the bridge 91 in the width direction. There is.

By adjusting the lengths of the four wires 45A to 45D, as shown in FIG. 29, the attitude stabilizer 90 of the suspended object can be arranged at an arbitrary position on the lower surface of the bridge 91. Then, by expanding and contracting or inclining the columns of the bridge inspection device 83, the state of the bridge can be inspected at a desired position.

In the examples shown in FIGS. 17 to 21 and 25 to 29, an example in which four wires and four arm members are used in a three-dimensional space has been described, but the numbers of the wires and the arm members are different, respectively. Three may be used, or five may be used. When the number of wires and arm members is 3 each, the hanging member can be supported with good stability, and when 5 wires and arm members are used, the number of wires and the like is increased. Can be prevented from becoming complicated.

Further, in the third to fifth embodiments described above, the inclination angles θ ₁ and θ ₂ of the first connecting members 4A, 24A and 54A and the second connecting members 4B, 24B and 54B can be continuously changed. However, the present invention is not limited to this, and the ratio may be fixed to a constant value. In this case, the postures of the hanging members 2, 22 and 52 cannot be directly controlled, but the postures of the wires of the hanging members 2, 22 and 52 can be fixed, which is highly effective. Conceivable.

FIG. 30 is a diagram illustrating a configuration of a sixth embodiment of the power transmission angle changing mechanism according to the posture stabilizing device of the present invention and a second embodiment of a usage state.
The power transmission angle changing mechanism (crank / rod slide mechanism) 200 shown in FIG. 30 includes a hanging member 201 to which an object is attached, two arm members 202A and 202B for suspending the hanging member 201, and these. Two wires 203A and 203B showing a specific example of a striatum connected to the tips of the two arm members 202A and 202B, respectively, and a pair of supports to which these two wires 203A and 203B are individually connected. A pair of crank rods by connecting and interlocking the arms 204A and 204B, the pair of crank rod portions 205A and 205B whose inclination angles of the pair of arm members 202A and 202B can be changed, and the pair of crank rod portions 205A and 205B. It is configured to include a rod slide support portion 206 or the like capable of changing the length of each connecting portion of the portions 205 and 205B.

The hanging member 201 has a shape to which an object to be hung can be attached, and the object to be hung according to the sixth embodiment is used, for example, for window cleaning work of a high-rise building 300. A work box (not shown) or the like can be applied, and can be provided for use in window cleaning work or the like. The hanging member 201 is composed of a square columnar member extending in the horizontal direction, and a first horizontal support shaft 207A is fixed to a side surface on one side in the longitudinal direction so as to project laterally, and the length thereof is long. The second horizontal support shaft 207B is fixed to the side surface on the other side in the direction so as to project to the side opposite to the first horizontal support shaft 207A. The first horizontal bevel gear 208A is rotatably supported by the first horizontal support shaft 207A, and the second cross bevel gear 208B is rotatably supported by the second horizontal support shaft 207B.

The base end of the first arm member 202A is fixed on the side opposite to the tooth surface of the first cross bevel gear 208A, and the base end of the second arm member 202B is fixed on the side opposite to the tooth surface of the second cross bevel gear 208B. Has been done. The first arm member 202A and the second arm member 202B are each formed in a crank shape so as to bend toward the cross bevel gear side in the middle portion in the longitudinal direction. Then, one end of the first wire 203A is connected to the tip of the first arm member 202A, and one end of the second wire 203B is connected to the tip of the second arm member 202B. The other end of the first wire 203A is supported by the first drum 210A so that it can be wound and unwound, and the other end of the second wire 203B is supported by the second drum 210B so that it can be wound and unwound.

The first drum 210A is rotatably supported by the first main bracket 211A, and the second drum 210B is rotatably supported by the second main bracket 211B. Then, the first main bracket 211A is installed on one side of the roof of the high-rise building 300, for example, and the second main bracket 211B is installed on the other side of the roof of the high-rise building 300. The base portion of the first support arm 204A is rotatably supported on the first main bracket 211A, and the first sub bracket 212A is attached to the tip portion of the first support arm 204A.

A first guide reel in which the other side of the first wire 203A, one side of which is wound around the first drum 210A, penetrates the inside of the first support arm 204A and is rotatably supported by the first sub bracket 212A. Guided by 213A, the tip of the first arm member 202A is connected. Further, the other side of the second wire 203B, one side of which is wound around the second drum 210B, penetrates the inside of the second support arm 204B and is rotatably supported by the second auxiliary bracket 212B. Guided by the guide reel 213B, the tip of the second arm member 202B is connected. The striatum is not limited to the wires shown in this embodiment, and cables, ropes, strings and various other wires can be applied.

Further, the first vertical support shaft 215A is fixed to the lower surface of the hanging member 201 on one side in the longitudinal direction so as to project downward, and the second vertical support shaft 215A is fixed to the lower surface on the other side in the longitudinal direction so as to project downward. The vertical support shaft 215B is fixed. The first bevel gear 216A is rotatably supported by the first vertical support shaft 215A, and the second bevel gear 216B is rotatably supported by the second vertical support shaft 215B. Further, the first cross bevel gear 208A is meshed with the first bevel gear 216A so as to be able to transmit power, and the second cross bevel gear 208B is meshed with the second bevel gear 216B so as to be able to transmit power. A flat plate-shaped first crank plate 217A is fixed to the back side of the first bevel gear 216A by fixing means such as screwing. Further, on the back side of the second bevel gear 216B, a second crank plate 217B is fixed by a fixing means such as screwing to form a flat plate.

A fixed bearing 220 that fixedly supports one end of the rod 218 is rotatably attached to one side of the first crank plate 217A in the longitudinal direction. Further, a support bearing 221 that slidably supports the other side of the rod 218 is rotatably attached to one side of the second crank plate 217B in the longitudinal direction. Further, a sliding bearing 222 is mounted on the rod 218, and the sliding bearing 222 is configured to be slidable between the fixed bearing 220 and the support bearing 221. The sliding bearing 222 is rotatably supported by a slider 224 slidably supported by the guide rail 223 via a support shaft 225.

The guide rail 223 is tilted by a certain inclination angle with respect to the center line connecting the center of the first vertical support shaft 215A and the center of the second vertical support shaft 215B provided on the suspension member 201, and the length of the suspension member 201. It is arranged so as to extend in the direction, and is screwed to the hanging member 201 with a plurality of fixing screws. The slider 224 mounted on the guide rail 223 is guided by the guide rail 223 by the operation of a drive unit having an electric motor and a speed reducer (not shown), and is between the first bevel gear 216A and the second bevel gear 216B. It is configured to be able to move forward and backward. Thus, in the first crank rod portion 205A and the second crank rod portion 205B, the length from the fixed bearing 220 to the sliding bearing 222 and the length from the sliding bearing 222 to the support bearing 221 according to the position of the slider 224. (The length of the joint portion of the pair of crank rod portions 205A and 205B) changes so as to be inversely proportional.

FIG. 30 shows a state in which the slider 224 is located at the center of the guide rail 223 in the longitudinal direction. In this state, the pair of crank rod portions 205A and 205B and the pair of arm members 202A and 202B have the slider 224. It is arranged so as to form point symmetry as the center. At this time, the inclination angle of the first arm member 202A with respect to the center line connecting the center of the first vertical support shaft 215A and the center of the second vertical support shaft 215B is equal to the inclination angle of the second arm member 202B with respect to the center line. It is a value. Then, when the slider 224 is moved by the operation of a drive unit (not shown), the tilt angle of the first arm member 202A and the tilt angle of the first crank plate 217A with respect to the center line are determined according to the moving direction and moving position of the slider 224. , The inclination angle of the second arm member 202B and the inclination angle of the second crank plate 217B with respect to the center line change.
In this way, by changing the position of the slider 224 and changing the length of the connecting portion of the pair of crank rod portions 205A and 205B, it is possible to adjust the inclination angle of the pair of arm members 202A and 202B. Become.

The operation of the crank rod slide mechanism 200 having such a configuration is as follows.
In FIG. 30, for example, when the first arm member 202A is rotated about the first horizontal support shaft 207A provided on the hanging member 201, the first cross bevel gear 208A integrally with the first arm member 202A is formed. Since it rotates in the same direction, the first bevel gear 216A that meshes with the bevel gear 216A is rotated in the corresponding direction. The rotation of the first bevel gear 216A causes the first crank plate 217A to rotate integrally, and the rotational force is rotatably supported by the first crank plate 217A from the fixed bearing 220 to the support bearing 221 via the rod 218. The second crank plate 217B and the second cap gear 216B are rotated in the direction opposite to the rotation direction of the first cap gear 216A due to the rotation of the support bearing 221.

As a result, the second cross bevel gear 208B that meshes with the second bevel gear 216B is rotated in the direction opposite to that of the first cross bevel gear 208A. As a result, the second arm member 202B to which the second cross bevel gear 208B is fixed to the base is rotated in the direction opposite to that of the first arm member 202A.

Further, by changing the in / out amount (length) of the first wire 203A and the second wire 203B, the first wire 203A and the second wire 203B are suspended in the region from the vertical lower side of the first support arm 204A to the vertical lower side of the second support arm 204B. The member 201 can be moved to any position in the left-right direction and diagonally upward or diagonally downward. That is, the hanging member 201 can be moved to an arbitrary position by controlling the amount of the pair of wires 203A and 203B in and out. In this case, the length adjustment of the amount (length) of the first wire 203A and the second wire 203B in and out is calculated in advance by the microcomputer of the controller that controls the operation of the first drum 210A and the second drum 120B. By memorizing the above, it can be easily performed.

Then, in a state where the hanging member 201 is in an arbitrary position, the position of the slider 224 is changed to change the length of the connecting portion of the pair of crank rod portions 205A and 205B to each other, thereby changing the length of the pair of arm members 202A, The tilt angle of 202B can be adjusted to any angle. As a result, the inclination angle of the hanging member 201 can be freely changed at that position without changing the position of the hanging member 201.

In this way, the rotation operation (rotation direction and rotation angle) of the first drum 210A and the second drum 210B is controlled to control the amount (length) of the first and second wires 203A and 203B in and out. However, by controlling the position of the slider 224, the plane position of the hanging member 201 and its posture (tilt) can be freely set in the two-dimensional plane.
Therefore, by applying this power transmission angle changing mechanism (crank / rod slide mechanism) 200 to, for example, a window glass cleaning work device in a high-rise building 300, a work gondola can be supported by a relatively simple configuration. It can be applied to window cleaning work equipment that can be used.

The application of the present invention is not limited to the inspection of the bridge in the above-described embodiment, and in addition, unloading and unloading work on a ship, loading and unloading work in a warehouse, painting the outer wall of a high-rise building, and outer wall. It can be applied to cleaning and various other devices.

As described above, the present invention is not limited to the above embodiment, and various modifications can be made within the range of equality, and various modifications can be made within the scope of the invention described in the claims. It will be easily understood by those skilled in the art.

1 ... Crank slotted lever mechanism (power transmission angle changing mechanism), 2,22,52,201 ... Suspension member, 3A to 3D, 23A to 23D, 53A to 53D, 202A, 202B ... Arm member, 4A, 4B, 24A, 24B, 54A, 54B ... Connecting member, 5A, 5B ... Slotted lever part, 6 ... Slotted lever connecting part, 8A, 8B, 32A, 32B, 68A, 68B ... Rotating shaft, 9, 29A, 29B, 61A, 61B ... Shaft pin, 11A, 11B, 33A, 33B, 69A, 69B, 217A, 217B ... Crank plate (crank), 12A, 12B ... Axis, 13A, 13B ... Secondary slider, 14A, 14B ... Slotted lever, 15A, 15B … Long hole, 16A, 16B, 28A, 28B, 57A, 57B, 77… Support shaft, 17A, 17B… Gear, 18… Main slider, 19, 39, 75, 223… Guide rail, 21, 200… Crank rod Slide mechanism (power transmission angle changing mechanism), 25A, 25B, 66A, 66B, 205A, 205B ... Crank rod part, 26 ... Rod slide support part, 28A, 28B, 57A, 57B, 77, 207A, 207B, 215A, 215B , 225 ... Support shaft, 31A, 31B, 31C, 31D, 208A, 208B, 216A, 216B ... Bevel gear (power transmission mechanism), 35, 70, 218 ... Rod, 36, 71,220 ... Fixed bearing, 37, 72 , 221 ... Support bearing, 38, 73, 222 ... Sliding bearing, 36a, 37a, 38a ... Slider support rotation shaft, 40, 76, 224 ... Slider, 41 ... Crank rod slide mechanism (power transmission angle changing mechanism), 42 ... Upper mechanism part, 43 ... Lower mechanism part, 45A, 45B, 45C, 45D, 203A, 203B ... Wire (straight body), 55A, 55B ... Upper bearing gear (power transmission mechanism), 56A, 56B ... Upper pulley , 58A, 58B ... Upper cross bearing gear (power transmission mechanism), 62A, 62B ... Lower pulley, 63A, 63B ... Lower cap gear (power transmission mechanism), 65 ... Rod slide support, 67A, 67B ... Lower cross bearing gear (Power transmission mechanism), 78A, 78B ... Belt, 81 ... Base plate, 83 ... Bridge inspection device (object), 84 ... Support, 86 ... Inspection section, 90 ... Attitude stabilizer, 161-164, 172-174 182-184 ... Link, 162a, 163a ... Gear, 170, 180, 20 0 ... Power transmission angle changing mechanism, 172a, 173a, 182a, 183a ... Grooved pulley, 204A, 204B ... Support arm, 210A, 210B ... Drum, O ₁ , O ₂ ... Center point, OL ₁ , OL ₂ , OL ₃ , OL ₄ , OL ₅ ... Center line, θ ₁ , θ ₂ ... Tilt angle, α, α ₁ , α ₂ ... Tilt angle

Claims (7)

The hanging member to which the object is attached and
A pair of connecting members that are located on the left and right sides of the hanging member and are rotatably attached in the vertical direction around a rotation axis that extends in the horizontal direction orthogonal to the vertical direction.
A power transmission angle changing mechanism that is rotatable between the pair of connecting members, each of which rotates in the opposite direction, and connects the two members so as to keep the ratio of the rotation angles constant is provided. A posture stabilizer for suspended objects. The hanging member to which the object is attached and
Three to five striatum for suspending the suspending member, and
A pair of connecting members that are located on the left and right sides of the hanging member and are rotatably attached in the vertical direction around a rotation axis that extends in the horizontal direction orthogonal to the vertical direction.
One or two first arms that are rotatably supported in the horizontal direction, one end connected to the striatum and the other end connected to a shaft pin extending perpendicularly to one of the connecting members. Two or three members and one end connected to the striatum and the other end connected to a shaft pin extending perpendicularly to the other connecting member and rotatably supported in the horizontal direction. 2nd arm member and
It is characterized by providing a power transmission angle changing mechanism that is rotatable between the pair of connecting members, each of which rotates in the opposite direction, and that connects the ratio of the rotation angles in an adjustable manner. A posture stabilizer for suspended objects. The power transmission angle changing mechanism includes a pair of cranks juxtaposed with the pair of connecting members attached so as to be rotatable in the vertical direction about the rotating shaft extending in the horizontal direction of the hanging member, and one end thereof. The slot has a shaft at the other end and the pivot of the crank is slidably inserted into the slot, and the shaft at the other end is rotatably fitted to a slider provided in the middle of the pair of connecting members. Equipped with a pair of slotted levers
The pair of crank slotted levers and the pair of cranks form a pair of crank slotted lever mechanisms.
The slotted lever connecting portion rotatably attached to the slider has a motion restraining mechanism that allows the slider to rotate in opposite directions around the axis of the slotted lever, and connects the slider to the pair. The posture stabilizing device for a suspended object according to claim 2, wherein the device is driven by a linear motion mechanism that moves the members to an arbitrary position. In the power transmission angle changing mechanism, a pair of cranks that rotate in response to the rotational movement of each connecting member from the rotation of the pair of connecting members that rotate in opposite directions around a rotation axis extending in the horizontal direction, mutually. It has a power transmission mechanism that changes the direction of rotation so that it rotates in the same direction.
A slider that can be moved to an arbitrary position between the pair of connecting members and has a support shaft, and a rod that slidably connects all three axes of the pivot axis at the tip of the pair of cranks and the support shaft. 2. The posture stabilizing device for a suspended object according to claim 2, further comprising a drive system for moving the slider to an arbitrary position between the pair of connecting members. An upper mechanism portion having the hanging member, the three to five striatum, the pair of connecting members, the one or two first arm members, and the two or three second arm members. When,
A lower mechanism portion having the power transmission angle changing mechanism is provided.
The posture of the suspended object according to claim 2, wherein the upper mechanism portion and the lower mechanism portion are arranged so as to be separated from each other in the vertical direction, and the upper mechanism portion and the lower mechanism portion are connected so as to be able to transmit power. Stabilizer. A rotation extending in the horizontal direction as a power transmission mechanism that converts the rotation of the pair of connecting members so that the pair of cranks that rotate in response to the rotational movement of each connecting member change their rotation directions to the same direction. The posture stabilizing device for a suspended object according to claim 2, wherein a bevel gear attached to a moving shaft is used. The hanging member to which the object is attached and
Two striatum for suspending the suspending member and
A first unit located on the left and right sides of the suspension member, one end connected to the one striatum and the other end connected to a shaft pin extending in the horizontal direction and rotatably supported in the vertical direction. An arm member and a second arm member having one end connected to the remaining one striatum and the other end connected to a shaft pin extending in the horizontal direction and rotatably supported in the vertical direction.
A power transmission angle changing mechanism that is rotatable between the first arm member and the second arm member and whose rotation angles are opposite to each other and that can adjustably connect the ratio of the rotation angles . A posture stabilizer for suspended objects, which is characterized by being provided with.

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