JPH06115899A - Table mechanism - Google Patents

Abstract

PURPOSE:To perform reliable maintenance of a table in a horizontal state by driving each elevating device of a table drive means based on detected values for an inclination angle and acceleration, in a table mechanism loaded on a conveying truck and operated to insulate vibration produced by a road and keep a loaded substance in a horizontal state. CONSTITUTION:An inclination angle detector 10 to detect inclination in a roll direction and a pitch direction and an acceleration detector 11 to detect acceleration in a vertical direction are fixed on the central part of the upper surface of a table 1. One end of a table supporting means 4 to guide the table 1 in a vertical direction is fixed to the central part (approximately a position of a center of gravity) of the under surface of the table 1 and one end of a table drive means 5 to drive the table l in a perpendicular direction is fixed in at least three spots on the under surface of the table 1 in a manner to surround the table support means 4. The ends on the other side of the means 4 and 5 are fixed to a fixed platform 3, such as the load-carrying platform of a conveyance truck. Each table drive means 5 is caused to drive and control the table 1 based on an inclination angle and detected values from detectors 10 and 11 for an inclination angle and acceleration so that the table is maintained in a horizontal state.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention
The present invention relates to a table mechanism that blocks sway received from a road surface and keeps a load horizontally.

[0002]

2. Description of the Related Art When an article is conveyed by an automatic carrier, unevenness on the road surface may give unnecessary vibrations to the load and sometimes damage the article. Further, when the liquid is transported on an inclined road surface, the liquid may sometimes be spilled because the loading table of the truck is not horizontal. In order to solve such a drawback, as a first conventional example, a mechanism in which a linear motion actuator is arranged in the vertical direction and two points of the table mechanism are driven in the vertical direction by two actuators has been proposed. In this example, when the two actuators move out of sync, the linear distance between the two support points changes. In order to absorb the change, the conventional mechanism supports a table (swaying plate) in the vertical direction by a spring, a ball caster, a ball caster and a rail, and the table is displaced in the rail direction ("ball screw drive system"). Local Attitude Control of a Floating Structure by ".: Proceedings of the 43rd Academic Lecture Meeting of the Japan Society for Marine Engines P62-65). As a second conventional example, four legs that expand and contract in a linear direction such as a hydraulic jack fixed to the floor are provided, and the four corners of the table are supported by these legs, and the gimbal mechanism and the contact plate fixed vertically to the table are used. According to the output of the tilt detector, the leg is expanded and contracted to drive the table (for example, JP-A-55-13).
5290 publication).

[0003]

However, in the first conventional example, since the two linear motion actuators drive the table at two points, the plane motion of rolling and pitching (two directions) is possible, but the vertical motion is possible. I can't move in the direction. When the table slides on the slide, it may cause an undesired rotational moment in the yawing direction.
There is a problem that the load falls. In addition, when the moving carriage climbs over a step, an operation of rapidly descending the table is required in order to suppress the shaking of the table. In this case, the table (swing plate) is set by springs and ball casters.
Since the ball is supported vertically, when the nut portion of the ball screw suddenly descends, the spring may contract due to the upward force applied to the spring, and the table (swaying plate) may come off the supporting portion. Further, in the second conventional example, the legs fixed to the floor surface are expanded and contracted to vertically move the four corners of the table to adjust the inclination. When the legs expand and contract at the same time, they are likely to interfere. There is a need for a loading table mechanism that does not sway or tilt due to the inclination or vibration of the road surface while the carrier truck or the like is traveling. In order to achieve this, it is essential that the table move freely in space. Specifically, it is necessary to freely drive the table in three directions of vertical, roll and pitch by the actuator. SUMMARY OF THE INVENTION It is an object of the present invention to solve all the problems described above, and to provide a table mechanism that can freely move only in three directions of vertical, roll, and pitch, block sway received from a road surface, and keep a load horizontally. And

[0004]

In order to solve the above problems, in a table mechanism provided with a table for loading articles, a table drive means for driving the table, and a fixed base for fixing the table drive means, An inclination angle detector for detecting the inclination angle of the table, an acceleration detector for detecting the vertical acceleration of the table, a universal joint having one end fixed to the lower surface / center portion (near the center of gravity position) of the table, and A table support means having an elevating device having one end fixed to the other end of the universal joint and the other end fixed to a fixed base, and the tilt angle detector and the acceleration detector provided at at least three places surrounding the table support means. Table driving means having an elevating device that operates in accordance with the detected value of.

[0005]

According to the above-mentioned means, each elevating device of the table driving means provided at three places moves up and down according to the detection values of the tilt angle detector and the acceleration detector, and the table is made horizontal in accordance with the instruction of the control device. keep. At this time, the table supporting means follows the vertical movement of the table by the lifting device while restraining the rotation and the plane movement of the table.

[0006]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of a table mechanism according to the present invention. FIG. 2 is a side view showing the table supporting means used in the present invention. FIG. 3 is a side view showing the table driving means used in the present invention. In FIG. 1, a tilt angle detector 10 (for example, Gyrati) that detects tilts in a roll direction and a pitch direction is provided at a central portion of an upper surface of a table 1 on which articles are loaded.
(Gyroengine etc. manufactured by ON Co.) and an acceleration detector 11 for detecting vertical acceleration or a gyro 111 for detecting vertical vibration velocity are fixed. One end of a table support means 4 for guiding the table 1 only in the vertical / vertical direction is fixed to the central portion of the lower surface of the table 1 (which can be said to be the position of the center of gravity). The other end of the table supporting means 4 is fixed to a fixed base 3 such as a carrier of a carrier truck. At least three places on the lower surface of the table 1 are surrounded by the table supporting means 4, and a table driving means 5 for driving the table 1 in the vertical direction so that the center of each fulcrum is located substantially at the center of gravity of the table 1. One end is fixed. The other end of the table driving means 5 is fixed to the fixed base 3. The details of the table support means 4 are, as shown in FIG. 2, a linear guide which is an elevating device in which one end is attached to the lower surface of the table 1 of the universal joint 2 which is freely movable only in the roll direction and the pitch direction, and the other end is restrained in the rotation direction. It is fixed to a guide bar 41 (for example, Japanese Patent Publication No. 57-50969, a key guide, etc.). The guide bar 41 is slidably fitted on a slider 42 of a linear guide. The slider 42 is fitted and stored in the stand 43. The stand 43 is fixed to the fixed base 3. For details of the table driving means 5, as shown in FIG. 3, the pair of universal joints 2A and 2B are connected by a connecting rod 51, and the upper portion of the first universal joint 2A is fixed to the lower surface of the table 1. The lower part of the universal joint 2B of 2 is fixed to the tip of the rod 53 of the cylinder 52 which is an elevating device, such as hydraulic, pneumatic or electric. Cylinder 52
Is fixed to the fixed base 3.

The operation of the present invention will be described below. Corresponding to the detection values of the tilt angle detector 10 and the acceleration detector 11,
In accordance with a command from a control device (not shown), the rod 53 of the cylinder 52 has a degree of freedom by the three sets of universal joints 2A and 2B and the connecting rod 51 so that each table driving means 5 keeps the table 1 horizontal. Expand and contract. At this time, the table support means 4 follows the vertical movement of the table 1 while restraining the rotation and the plane movement of the table 1. As another embodiment of the table drive means, instead of the cylinder 52, a drive mechanism is rotationally driven by a motor or the like, the torque transmission direction is converted to an orthogonal direction via a bevel gear, and the expansion / contraction direction of the drive shaft and the rod is orthogonal. An elevating device that vertically expands and contracts the rod 53 by the orthogonal cylinder converted to (for example, our product name: MOVAC E linear type) may be configured. . In this case, the height of the table driving means 5 in the vertical direction can be reduced. Figure 4 (a)
Is a front view showing another embodiment of the table driving means 5,
(B) is a side view thereof, in which at least three places on the lower surface of the table 1 surrounding the table supporting means 4 are fixed with the motor 54 with a reducer on the fixed base 3, and the output shaft 55 of the reducer is provided with the cam 56. A cam follower 57, which is attached and is in contact with the cam 56, is fixed to the lower surface of the table 1 to form an elevating device.
The contact points between the rotation center of the cam 56 and the cam 56 of the cam follower 57 are arranged on substantially the same vertical line. Further, the table 1 is provided at at least three places around the table supporting means 4.
A tension spring 58 is provided between the lower surface of the base plate 3 and the fixed base 3 to generate a compressive force between the cam 56 and the cam follower 57 so that the cam 56 and the cam follower 57 always maintain stable contact. Similar to the cylinder 52, the operation corresponds to the detection values of the tilt angle detector 10 and the acceleration detector 11, and three sets of cams are provided so that each table driving means 5 keeps the table 1 horizontal in accordance with a command from the control device. While having a free movement by 56 and the cam follower 57, the portion of the table 1 to which each cam follower 57 is fixed is moved up and down. At this time, the table support means 4 follows the vertical movement of the table 1 while restraining the rotation and the plane movement of the table 1. In this case, since the load of the load applied to the table driving means cannot be the rotational moment of the cam, the energy for driving the cam is unnecessary when the cam is stationary, and the energy source such as the battery is unnecessary. It can prevent unnecessary consumption.

[0008]

As described above, according to the present invention, 1
Since the tables are driven through the universal joints of a set or more, each table driving means does not interfere with each other, and unnecessary force is not applied to the driving means. Therefore, the movement of the table becomes smooth, and the occurrence of stick slip and resonance can be prevented. Further, since the table driving means is connected by the pair of universal joints, the loading table and the driving means do not come off. Also, when using the cam and cam follower for the table drive means, a universal joint is not required,
The structure is simplified and unnecessary consumption of the energy source such as the battery can be prevented. Therefore, vertical,
There is an effect that it is possible to provide a table mechanism that is free to move only in three directions of roll and pitch, blocks sway received from the road surface, keeps a load horizontally, and consumes little energy.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a side view showing table supporting means used in the embodiment of the present invention.

FIG. 3 is a side view showing a table driving means used in the embodiment of the present invention.

FIG. 4A is a front view and FIG. 4B is a side view showing a table driving means used in another embodiment of the present invention.

[Explanation of symbols]

1 table, 2 universal joint, 2A first universal joint,
2B 2nd universal joint, 3 fixed base, 4 table support means, 41 guide bar, 42 slider, 43 stand, 5 table drive means, 51 connecting rod, 52 cylinder, 53 rod, 54 electric motor with reduction gear, 55 output shaft , 56 cam, 57 cam follower, 58 tension spring, 10 tilt angle detector, 11
Accelerometer, 111 gyro

Claims (5)

[Claims] 1. A table mechanism comprising a table for loading articles, table driving means for driving the table, and a fixing base for fixing the table driving means,
An inclination angle detector for detecting the inclination angle of the table, an acceleration detector for detecting the vertical acceleration of the table, a universal joint having one end fixed to the lower surface / center portion (near the center of gravity position) of the table, and A table support means having an elevating device having one end fixed to the other end of the universal joint and the other end fixed to a fixed base, and the tilt angle detector and the acceleration detector provided at at least three places surrounding the table support means. And a table drive means having an elevating device that operates according to the detected value of the table mechanism. 2. The table supporting means lifting device includes a guide bar of a linear guide that expands and contracts only in the vertical and vertical directions, a slider of the linear guide that fits with the guide bar, and the fixing base that accommodates the slider. The table mechanism according to claim 1, comprising a stand fixed to the table. 3. The lifting device for the table driving means comprises:
A first universal joint having one end fixed to the lower surface of the table, a connecting rod having one end fixed to the other end of the first universal joint, and a second universal joint having one end fixed to the other end of the connecting rod. And a rod fixed to the other end of the second universal joint and extending / contracting only in the vertical / vertical direction, and a cylinder extending / contracting the rod only in the vertical / vertical direction and fixed to the fixing base. Or the table mechanism described in 2. 4. The table mechanism according to claim 1, wherein the ascending / descending rod of the ascending / descending device of the table driving means is driven by a drive shaft extending in a direction orthogonal to the ascending / descending direction. 5. A center of rotation of the cam, wherein an elevating device of the table driving means includes a cam follower provided on a lower surface of the table, and a cam that comes in contact with the cam follower and rotates to elevate the table. 3. The table mechanism according to claim 1, wherein contact points between the cam follower and the cam are arranged on substantially the same vertical line.