JPH10182099A - Balance device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a usable balance device for various usages. SOLUTION: A first lever 14 is supported oscillationally on a movable base 4 which can be moved along a horizontally arranged rail 1. A second lever 24 is oscillationally supported on one side of the first lever 14, while a cylinder 32 is arranged on the other side of the first lever 14. A cord type body 38 connecting the first lever 14 side and the second lever 24 side together is wound on a movable pulley 36 installed at the tip of a piston rod 34 in the cylinder 32 and on a fixed pulley 40 arranged on the first lever 14, so that the cylinder 32 and the second lever 24 are connected together and balanced with each other. A jig 26 supporting a conveyed body 25 is supported oscillationally around a fulcrum pin 28 arranged in the second lever 24, and a pressure regulating means 52, by which a pressure of fluid supplied to the cylinder 32 is regulated to a pressure coping with the weight of the conveyed body 25, is arranged.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a balance device for suspending and moving a transferred object by a cylinder so that the transferred object can be lifted and lowered with a small force.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 5, a movable table 202 is movably supported along a horizontally arranged rail 200, and a cylinder 204 is suspended from the movable table 202 via eyebolts 206. The object 210 is hung on the piston rod 208 of the cylinder 204 and the cylinder 2
The pneumatic pressure source 216 is connected to the working chamber 212 of FIG. There is a configuration in which the transported object 210 is balanced by a compressed air pressure supplied to the working chamber 212 so as to be in a zero-gravity state, and the transported object 210 can be moved up and down with a small force.

On the other hand, as shown in FIG. 6, a lever 22 is mounted on a movable base 220 movably supported along a rail 200.
2 is swingably supported. Then, the moving table 220 and the lever 222 are connected by the cylinder 224, and the cylinder 2
An air pressure source 216 is connected to the 24 working chambers 226 via a pressure regulating circuit 214. In some cases, the end of the lever 222 is configured to hold the transported object 210.

[0004]

However, in the former case,
Since the cylinder 204 is suspended through the eyebolts 206 and the cylinder 204 can be approximately swung, the transferred object 210 can be slightly moved horizontally. In addition, since the apparatus is suspended via the eyebolts 206, no torque is generated between the cylinder 204 and the rail 200, so that there is an advantage that the apparatus is simplified.

[0005] On the other hand, when the transported object 210 is inserted into an intermediate stage of the shelf 218 as shown in FIG.
The cylinder 204 hits the shelf 218 and it is difficult to insert it in the middle stage. Further, when it is desired to increase the vertical stroke of the transported object 210, the cylinder 204 becomes longer in the axial direction. Further, the stroke amount of the cylinder 204 is equal to the vertical movement amount of the transported object 210,
There is a disadvantage that it is not suitable for quickly moving the transported object 210 up and down due to the followability of the pressure adjusting circuit 214.

On the other hand, in the latter case, the transported object 210 can be easily inserted into the intermediate stage of the shelf 218 by the lever 222. Also, since the principle of leverage is used, the transported object 2
Even if it is desired to raise and lower the lever 10 in the vertical direction, if the leverage is increased, it is not necessary to increase the stroke of the cylinder 224, and the size can be reduced. Furthermore, the leverage has an advantage that the followability is improved with respect to the moving speed of the transported object 210.

On the other hand, it is difficult to minutely move the object 210 in the horizontal plane because the entire apparatus must be minutely moved along the rail 200. In addition, since the transported object 210 is hung at the tip of the lever 222, torque is generated, and the lever 222, the moving table 220, and the like are required to have strength against them, and the apparatus is heavy and complicated.

As described above, the conventional device has the above-mentioned advantages and disadvantages, and there is a problem that the device must be used properly depending on the application. It is an object of the present invention to provide an easy-to-use balance device that does not have these disadvantages.

[0009]

In order to achieve the above object, the present invention takes the following means to solve the problem. That is, the first lever is swingably supported on a movable table movable along a horizontally arranged rail, and the second lever is swingably supported on one side of the first lever, and A cylinder is arranged on the other side of the first lever, and the second lever is swingably connected by the cylinder.
These are balanced, and a jig that supports the transferred object swingably around a fulcrum disposed on the second lever is supported, and the pressure of the fluid supplied to the cylinder is opposed to the weight of the transferred object. The balance device is provided with a pressure adjusting means for adjusting the pressure.

Further, one end is fastened to the first lever side,
A string-like body having the other end fastened to the second lever side is provided, and the string-like body is wound around a moving pulley attached to the tip of a piston rod of a cylinder and a constant pulley arranged on the first lever. And the second lever may be connected.

Alternatively, a string-like body having one end fastened to the piston rod of the cylinder and the other end fastened to the second lever is wound around a constant pulley arranged on the first lever, and the cylinder and the first shaft are connected to the cylinder. The two levers may be connected, or the cylinder and the second lever may be connected via a link mechanism.

[0012]

Embodiments of the present invention will be described below in detail with reference to the drawings.

[0013]

First Embodiment As shown in FIG. 1, reference numeral 1 denotes a horizontally arranged rail, on which a movable table 4 is movably suspended along a rail 1 via wheels 2. The movable base 4 is provided with a hook member 8 rotatable around a vertical axis via a thrust bearing 6.
An eyebolt 10 is hung in a swingable state. The eyebolt 10 is attached to a connecting member 12, and a first lever 14 is swingably supported by the connecting member 12 via a fulcrum pin 16.

At the end of the first lever 14, a link 20 and a second lever 24 are supported coaxially and swingably.
A rod 22 is provided between the link 20 and the connecting member 12.
Are supported by the link 20 and the connecting member 12 at both ends thereof. A so-called parallel link is formed by the connecting member 12, the first lever 14, the link 20, and the rod 22.

At the tip of the second lever 24, a jig 26 on which the object 25 can be placed is supported swingably around a fulcrum pin 28. Between the link 20 and the jig 26, a rod 30 whose both ends are supported by the link 20 and the jig 26 is stretched. The second lever 24,
A so-called parallel link is formed by the jig 26, the link 20, and the rod 30.

On the other hand, the first lever 14 has an eyebolt 1
0, the cylinder 3
2 are integrally formed, and a moving pulley 36 is rotatably supported at the tip of a piston rod 34 of the cylinder 32. String-like body 3 having one end fastened to the first lever 14 side
8 is wound around a moving pulley 36, and the string-shaped body 38 is further wound around a constant pulley 40 rotatably supported by the first lever 14, and then the distal end thereof is fastened to the second lever 24. I have.

The cylinder 32 has a working chamber 42 which projects the piston rod 34 when compressed air is introduced, and a chamber 46 on the opposite side of the piston 44 is communicated with the atmosphere through an exhaust port 48. The cylinder 32 is provided with a brake mechanism 50 for clamping the piston rod 34.
As disclosed in Japanese Patent Application Laid-Open No. 900, the brake is released by compressed air constantly introduced from the outside, and is brought into a brake state when the introduction of the compressed air is stopped.

When the first lever 14 is suspended via the eyebolt 10 and the fulcrum pin 28 is located immediately below the eyebolt 10, that is, the eyebolt 10 and the two fulcrum pins 16 and 2 are provided.
When the rod 8 is on the vertical line, the cylinder 32, the moving pulley 36, the first lever 14, the rod 2
The weights of the link 2, 30, the link 20, the second lever 24, the constant pulley 40, and the like are configured to be balanced.

The working chamber 42 includes a pressure regulating circuit 52 and a check valve 5.
The brake mechanism 50 is connected to the air pressure source 56 via a throttle 58 and a check valve 60 parallel to the throttle 58. Further, the pressure adjustment circuit 52 is connected to a weight detection mechanism 62 provided on the jig 26.

The pressure adjusting circuit 52 is operated by the operating chamber 4 in accordance with a detected pressure corresponding to the weight of the transported object 25 from the weight detecting mechanism 62.
2 is a well-known device that supplies compressed air having a pressure that balances with the transported object 25. Incidentally, without using the weight detecting mechanism 62, as disclosed in Japanese Patent Application Laid-Open No.
A well-known type that detects a pressure change in the inside and supplies compressed air to the working chamber 42 from the pressure regulating circuit so as to suppress the pressure change may be used. Alternatively, a mechanism for electrically detecting the weight, such as a load cell, may be used as the weight detection mechanism 62, and a flow control valve or the like that supplies compressed air having a pressure balanced with the transported body 25 to the working chamber 42 may be used.

Further, in this embodiment, since the moving pulley 36 is used and the lever principle is used by the second lever 24 and the string-like body 38, the pressure A detected by the weight detecting mechanism 62 It is sufficient that the pressure regulation circuit 52 generates a pressure of (1/2 × y / x) × A and supplies the pressure to the working chamber 42. Here, x is the horizontal distance between the fulcrum pin 28 and the swing center of the link 20, and y is the horizontal distance between the fastening position of the cord 38 to the second lever 24 and the swing center of the link 20. It is.

Next, the operation of the above-described balance device of the present embodiment will be described. First, the transported object 2 is placed on the jig 26.
5, the compressed air is supplied to the working chamber 42 by the pressure regulating circuit 52 in accordance with the pressure detected by the weight detection mechanism 62 corresponding to the weight of the transported object 25. . Therefore, due to the tension of the string-like body 38 via the moving pulley 36 by the cylinder 32, an acting force acts on the second lever 24 in a direction of lifting the transported body 25 against the gravity. Thus, the transported body 25 is supported in a zero gravity state.

When the operator grasps and raises the handle 26a of the jig 26, the weight detecting mechanism 62 detects the same, and the pressure regulating circuit 52 supplies compressed air to the working chamber 42.
Keep weightless. On the other hand, when it is lowered, the weight detecting mechanism 62 detects this, and the pressure regulating circuit 52 discharges the compressed air from the working chamber 42, and similarly maintains the zero gravity state.

When the transported object 25 is to be slightly moved in the horizontal plane, the handle 26a is similarly pressed and slightly pushed or pulled, so that the hook member 8 and the eyebolt 10 are moved between the hook member 8 and the eyebolt 10. By swinging, the transported body 25 can be easily and minutely moved in a substantially horizontal plane.

Further, when the transported object 25 is to be inserted into the intermediate stage of the shelf 64, the transported object 25 is lifted to a position slightly above the intermediate stage by grasping the handle 26a, and then the handle 26a Press to move along the rail 1. After inserting the transported object 25 into the intermediate stage, the transported object 25 is lowered onto the shelf 26. In this way, even in the middle stage of the shelf 64, the second lever 24 does not interfere with the shelf 64,
5 can be easily inserted.

Even when it is desired to move the transported body 25 largely in the vertical direction, the stroke of the cylinder 32 can be shortened by the leverage principle based on the relationship between the fastening position y of the string-like body 38 and the position x of the fulcrum pin 28. Therefore, the size of the device is reduced. Further, since the speed of the cylinder 32 is smaller than the vertical speed of the transported object 25 by the leverage magnification of the second lever 24, even if the following speed of the pressure regulating circuit 52 is low,
The vertical movement of the transported body 25 can be reduced.

Furthermore, since the object 25 is hung via the eyebolts 10, when the object 25 is hung, the object 25 comes just below the eyebolts 10 and becomes balanced, so that no torque is generated. Since it is not necessary to provide the appropriate strength, the apparatus is simplified.

[0028]

Second Embodiment Next, a balance device of a second embodiment different from the balance device of the above-described embodiment will be described with reference to FIG. Note that the same members as those of the above-described balance device are denoted by the same reference numerals, and detailed description thereof will be omitted. The same applies hereinafter.

In the balance device of this embodiment, the moving table 80
Are two wheels 8 arranged on the rail 1 at a predetermined interval L1
2 and 84 movably supported along the rail 1. The movable lever 80 has a first lever 14 connected to the fulcrum pin 16.
And is supported so as to be swingable through
Is also pivotally supported at one end.

The jig 26 is configured to place the transported body 25 at a position separated from the fulcrum pin 28 by a distance L2. Thus, a torque of weight W2 × distance L2 is generated by weight W2 of the transported object 25. But,
If the torque based on the total weight W1 of the apparatus (total weight W1 × predetermined interval L1) is greater than this, the torque by the transported object 25 can be opposed.

[0031]

Third Embodiment Next, a balance device according to a third embodiment different from the above-described embodiment will be described with reference to FIG.
The hook member 8 is inserted into an insertion hole 14 a formed in the first lever 14, and the first lever 14 is swingably supported by the movable base 4. Further, after the string-like body 38 having one end fastened to the piston rod 34 of the cylinder 32 is wound around the fixed pulley 40 without using the moving pulley 36, the string-like body 3
The other end of 8 is fastened to the second lever 24.

One end of the rod 30 is pivotally supported by the first lever 14 so as to be swingable.
4. A so-called parallel link is formed by the jig 26 and the rod 30. With this balance device as well, the transported body 25 can be minutely moved in the same manner as described above, and can be easily inserted into an intermediate stage of a shelf or the like.

[0033]

Fourth Embodiment Next, still another balance device will be described with reference to FIG. In this embodiment, the link mechanism 100 does not use the cord-
And the second lever 24 are connected. Link mechanism 10
Reference numeral 0 denotes a link member 102 pivotally supported by the first lever 14 so as to be swingable, and the link member 102 is connected to be swingable by the cylinder 32.

The link member 102 further includes a rod 10
6 is pivotally supported at one end, and the other end of the rod 106 is pivotally supported by the second lever 24. With this balance device as well, the transported body 25 can be minutely moved in the same manner as described above, and can be easily inserted into an intermediate stage of a shelf or the like.

As described above, the present invention is not limited to such embodiments at all, and can be implemented in various modes without departing from the gist of the present invention.

[0036]

As described in detail above, when the balance device of the present invention is provided with the eyebolts, the transported object can be easily and minutely moved in a substantially horizontal plane, and the transported object can be moved to the middle stage of the shelf. This has the effect of being able to be easily inserted without interfering with the shelves. Further, even when it is desired to move the transported object largely in the vertical direction, the stroke of the cylinder can be shortened by using the leverage principle, so that the apparatus can be downsized. Further, since the speed of the cylinder is smaller than the vertical speed of the transported object due to the leverage magnification of the second lever, the vertical movement of the transported object can be maintained even if the follow-up speed of the pressure regulating circuit is slow. Can be light. Further, when the apparatus is hung via the eyebolt, the transported object comes directly under the eyebolt and comes into equilibrium, so that no torque is generated and it is not necessary to provide a strength corresponding thereto, so that the apparatus is simplified.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a balance device as a first embodiment of the present invention.

FIG. 2 is a schematic configuration diagram of a balance device as a second embodiment of the present invention.

FIG. 3 is a schematic configuration diagram of a balance device as a third embodiment of the present invention.

FIG. 4 is a schematic configuration diagram of a balance device as a fourth embodiment of the present invention.

FIG. 5 is a schematic configuration diagram of a conventional balance device.

FIG. 6 is a schematic configuration diagram of another conventional balancing device.

[Explanation of symbols]

 1,200 rails 4,80,202 moving table 8 hook member 10,206 eye bolt 14 first lever 16 fulcrum pin 24 second lever 25,210 transported object 26 jig 28 fulcrum Pin 32: Cylinder 36: Moving pulley 38: String-like body 40: Constant pulley 42: Working chamber 50: Brake mechanism 52, 214 ... Pressure regulating circuit 62: Weight detection mechanism

Claims (4)

[Claims] A first lever swingably supported by a movable table movable along a horizontally arranged rail,
A second lever is swingably supported on one side of the first lever, and a cylinder is disposed on the other side of the first lever, and the cylinder is connected to swing the second lever. A jig that supports the transported object swingably around a fulcrum disposed on the second lever, and antagonizes the pressure of the fluid supplied to the cylinder to the weight of the transported object. A balancing device comprising a pressure adjusting means for adjusting pressure. 2. A moving pulley having one end fastened to the first lever side and the other end fastened to the second lever side, wherein the string-like body is attached to a tip end of a piston rod of a cylinder. The balance device according to claim 1, wherein the cylinder and the second lever are connected by being wound around a constant pulley disposed on the first lever. 3. A string-like body having one end fastened to a piston rod of the cylinder and the other end fastened to the second lever is wound around a constant pulley arranged on the first lever, and the cylinder and the cylinder are connected to each other. The balance device according to claim 1, wherein the two levers are connected. 4. The balance device according to claim 1, wherein said cylinder and said second lever are connected via a link mechanism.