JPH061599Y2 - Heavy goods movement guide device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a device for guiding and moving a heavy object that can be used for moving heavy objects and for training walking.

[Conventional technology]

FIG. 8, FIG. 9 and FIG. 10 are mechanical views of a generally used moving guide device for heavy objects, in which 1'is a vertical arm, 2'is a parallel arm, and 3'is a horizontal arm. Arm 4 '
Is a horizontal movement guide, 5'is a vertical movement guide, 6'is a loading cylinder, 7'is a fixed fulcrum, 8'is a side plate, 9 is a double link, 10 'and 10 "are connecting arms. In each of the mechanisms shown, a vertical arm 1 ', a horizontal arm 2', a parallel arm 3 ', and a connecting arm 10' constitute a pantograph mechanism having a predetermined arm ratio, and by operating a load cylinder 6 ', A heavy load, which is a load, can be moved and guided, and is balanced by a counter weight (not shown) when there is no load.

[Problems to be solved by the invention]

However, in each of the conventional mechanisms described above, the horizontal movement guide 4'and the vertical movement guide 5'are required to guide the movement of the arm, so that the guide function is complicated. In addition, the mechanism shown in FIG. 8 has a drawback in that the arm has no fixed fulcrum and thus has a low rigidity. In addition, the mechanism shown in FIG. 9 requires a separate connecting arm 10 ″ to mount the double link 9 ′, and it is necessary to move the vertical movement guide 5 ′ through a bearing. There is a drawback in that the rigidity of 9'cannot be made sufficiently strong.Also, in the mechanism shown in Fig. 10, although the fixed fulcrum 7'can be provided on the arm, the side plate 8'itself is provided on the loading cylinder 6 '. Since it is necessary to lift ′, there is a drawback that the mechanism becomes more complicated.

The present invention has been proposed in view of the above-mentioned conventional drawbacks, and has a high rigidity and an extremely simple mechanism,
It is an object of the present invention to provide a practically extremely effective movement guide device for heavy objects, which can obtain a stable balance in each direction of turning and can be used not only for moving heavy objects but also for walking training. It is a thing.

[Means for solving problems]

In order to solve the above problems, the present invention configures a vertical arm having a fixed fulcrum, a parallel arm parallel to the fulcrum, a horizontal arm receiving a load at the tip, and a pantograph mechanism having a predetermined arm ratio by a connecting arm. However, a counterweight for balancing when there is no load is provided on the operation end side of the vertical arm, and a vertically operating load cylinder for balancing the load is provided on the operation end side of the parallel arm. Is configured to be guided by a horizontal movement guide so as to be able to self-follow in the horizontal direction by a thrust force acting on itself, so that a heavy-weight movement guide device is configured.

[Action]

Since the heavy object movement guide device of the present invention is configured as described above, the arm weight is balanced by the counter weight provided on the operation end side of the vertical arm when no load is applied, and the load is applied to the tip of the horizontal arm. In operation, the load will be balanced by actuating a loading cylinder on the operating end side of the parallel arm. At this time, the thrust acts on the load cylinder as a component force in the horizontal direction. Therefore, the load cylinder is guided by the horizontal movement guide and follows the horizontal direction in self, and balances with the thrust.

〔Example〕

Hereinafter, the present invention will be specifically described with reference to the embodiments shown in the drawings.

FIG. 1 is a side view of a heavy object movement guide device according to an embodiment of the present invention, and FIG. 2 is a rear view thereof. In the figure, 1 is a vertical arm, which is pivotally supported by a side plate 8 via a fixed fulcrum 7. A parallel arm 2 has the same length as the vertical arm 1 and is arranged in parallel with the vertical arm 1. Reference numeral 3 denotes a horizontal arm that receives a load at its tip. The upper ends of the vertical arm 1 and the parallel arm 2 are pivotally supported by the horizontal arm 3, and the vertical arm 1
The operation side end of the parallel arm 2 is pivotally supported by the end of the connecting arm 10 to form a pantograph mechanism having a predetermined arm ratio. Reference numeral 11 denotes a counterweight provided at the end of the vertical arm 1 on the operation side, and is accommodated in the space sandwiched by the side plates 8 so that the arm weight is just balanced when there is no load. FIG. 3 is a rear view corresponding to FIG. 2 showing another embodiment of the present invention, but as shown in FIG. 3, the counterweight 11 may be provided on both outer sides of the side plate 8.

Next, 6 is a load cylinder provided on the operation end side of the parallel arm 2, which operates vertically to balance the load, and the rod side is pivotally supported on the lower end of the parallel arm 2. Reference numeral 4 is a horizontal movement guide for causing the load cylinder 6 to follow itself in the horizontal direction by the thrust acting on the load cylinder 6, and in this embodiment, the rollers 4a supported on both sides of the lower end portion of the load cylinder 6 are mounted on the side plate 8a. The load cylinder 6 is configured to be movable in the horizontal direction by being guided along a rail 4b provided on the inside. However, in the structure of the horizontal movement guide 4, a linear motion bearing is attached to the lower end of the load cylinder 6 in addition to the illustrated embodiment, and the linear motion bearing horizontally moves on the base 1 to follow itself. Such a horizontal movement guide mechanism is also possible, and various design changes are possible.

Next, the mechanism and balance mechanism of the heavy load moving indoor unit of the present embodiment having the above-mentioned configuration and the operation thereof will be described.

FIG. 4 is an arm configuration diagram of the heavy goods movement guide device shown in the embodiment. The members corresponding to the members shown in FIGS. 1 and 2 are designated by the same reference numerals, and the description of each member will be omitted. As is clear from the figure, the pantograph mechanism composed of the vertical arm 1, the parallel arm 2, the horizontal arm 3, and the connecting arm 10 is such that A / a = B / b = i, where i is the arm ratio. It is configured and ΔPCO and ΔEGO are similar. The 0 point in the figure corresponds to the fixed fulcrum 7.

Next, FIG. 5 is a balance mechanism diagram in the embodiment.
Now, in this figure, load is W ₀ , arm weight is W ₁ , W
_If it is set to ₂ , the load W ₀ may be balanced by applying a force F _{1 to the} point E by the load cylinder 6, and the force F ₁ required for this is F ₁ = W ₀ × i (where i is an arm). Ratio).

When the load is W ₀ = 0 and there is no load, the arm weights W ₁ , W
Balance of ₂ may be Seshimere act _{F 2} becomes the force to point G, the force _{F 2} required for this _{F 2 = W 1 × i +} W 2 × l / b
You can obtain it with this F ₂ counterweight 1
It is sufficient to load as 1.

Next, FIG. 6 is an explanatory diagram of horizontal movement of the load cylinder 6. Now, the tip P of the horizontal arm 3 acts as the load W ₀ .
When moving to P ', the joint E between the rod of the loading cylinder 6 and the operating end of the parallel arm 2 moves to E'by tilting the vertical arm 1 as shown by the dotted line. At this time, if the center of the roller 4a is H, then EH
In the meantime, due to the load cylinder 6, a force that minimizes the EH interval, that is, F ₁ always acts. Therefore, when E moves to E ', F at the H point
_If the horizontal component force E _h of ₁ is θ, the angle of ∠EHE ′ is
F _h = F ₁ × sin θ, and it can be seen that the horizontal component force F _h increases as the angle θ increases. Therefore,
As shown in the present embodiment, if the horizontal movement of the load cylinder 6 is allowed by the horizontal movement guide 4 having a sufficiently small frictional force, the movement of the point E will follow the movement of the point H at the same time.

That is, if the unbalanced force at the tip of the horizontal arm 3 due to the angle θ is W ₀ ′, then W ₀ ′ = F ₁ × con θ / i, and the larger the angle θ, the greater the unbalanced force W ₀ ′. Since the horizontal component force F _h also becomes large, the load cylinder 6 moves in a self-tracking manner by the thrust force of the horizontal component force F _h , and the balance is achieved. Next, FIG. 7 is a side view showing an embodiment in which the present invention is applied to a walking training machine.

In the present embodiment, the horizontal arm 3 is provided at its tip with a drafting device 12 for drafting and holding the body of a trainee through a load cell 11, and a link-shaped handrail 13, which is attached to the vertical arm 1 or the parallel arm. The main body 14 that supports the arm 2 and the like is rotated around a post 16 that is erected on a carriage 15, and can be stopped at an arbitrary position by a swing brake 17. Reference numeral 18 is a vertical potentiometer.

Since the arm structure and the balance mechanism adopted in this embodiment are the same as those shown in FIGS. 4 and 5, the description thereof will be omitted.

[Effect of device]

As described above in detail, according to the heavy object movement guide device of the present invention, one movement guide, which is conventionally required to guide the movement of the arm, is one horizontal movement guide of the load cylinder. The structure is extremely simple and can be manufactured at low cost. Further, since the vertical arm is provided with the fixed fulcrum, the rigidity of the arm can be enhanced. In addition, the load cylinder has many advantages such as good stability and ease of use because the imbalance force is eliminated by self-following in the horizontal direction by the thrust acting on the load cylinder. It can be sufficiently used in such cases. It is possible to provide a movement guide device for a heavy object that is extremely effective in practice.

[Brief description of drawings]

FIG. 1 is a side view of a heavy object movement guide device according to an embodiment of the present invention, FIG. 2 is a rear view thereof, and FIG. 3 is corresponding to FIG. 2 showing another embodiment of the present invention. FIG. 4 is a rear view, FIG. 4 is an arm configuration diagram of a heavy load movement guide device shown in the embodiment, FIG. 5 is a balance mechanism view in the embodiment, FIG. 6 is a horizontal movement explanatory view of a load cylinder, and FIG. Side view showing an embodiment in which the invention is applied to a walking training machine, FIG. 8, FIG. 9 and FIG.
FIG. 0 is a block diagram of a moving guide device for a heavy object which is generally used in the past. 1, 1 '... vertical arm, 2, 2' ... parallel arm, 3.
3 '... horizontal arm, 4, 4'horizontal movement guide, 4a ... roller, 4b ... rail, 5' ... vertical movement guide, 6, 6 '
… Cylinder for load, 7,7 ′… Fixed fulcrum, 8,8 ′…
Side plate, 9 '... Double link 10, 10,',
Reference numeral 10 ″ ... Connection arm, 11 ... Load cell, 12 ... Lifting device, 13 ... Handrail, 14 ... Main body, 15 ... Truck, 16 ... Post, 17 ... Slewing brake, 18 ... Vertical potentiometer, 19 ... Base.

Claims (1)

[Scope of utility model registration request] 1. A vertical arm having a fixed fulcrum, a parallel arm parallel to the vertical fulcrum, and a horizontal arm receiving a load at its tip,
A pantograph mechanism with a predetermined arm ratio is formed by the connecting arms, a counterweight for balancing when there is no load is provided on the operation end side of the vertical arm, and a vertical direction for balancing the load on the operation end side of the parallel arm. A heavy-duty movement guide device characterized in that a load cylinder that operates on the load cylinder is provided, and the load cylinder is guided by a horizontal movement guide so that the load cylinder can follow itself in the horizontal direction by the thrust acting on the load cylinder.