JPH10279300A - Transportation force assist device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce operation force of a transportation force assist device so as to enable the work at a narrow place. SOLUTION: This device has a base 3 which can run along a rail 1, a first arm 34 supported on the base, and a second arm 43 provided at a tip of the first arm in such a manner that it can rotate freely around a Y-axis. The first arm 34 is driven by a first balance cylinder 30 through a first balance valve 35. The second arm 43 is driven by a second balance cylinder 38 through a second balance valve 44. An auxiliary cylinder 39 is also provided on the second arm 43. When it travels in the direction of the rail, auxiliary force is given by a motor 24. When it travels in the direction of Y-axis, the first arm 34 operates mainly. When it travels in the direction of X-axis, the second arm 43 operates mainly. Auxiliary force of the first and second balance cylinders 30, 38 is adjusted by the first and second balance valves 35, 44.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveying force assisting device for reducing the operating force of an operator when manually moving a heavy object.

[0002]

2. Description of the Related Art When using a device such as a nutrunner, which is heavy for manual operation but requires precise positioning during operation, manual operation is desired. 9 is used. This device reduces the labor of the worker by supporting the device on behalf of the worker and assisting or taking over the carrying force in the direction desired by the worker. This carrying force assist device has two traveling rails 1
The base 3 is suspended by a guide roller 2 movable along the traveling rail 1. Therefore, the base 3 is movable in the traveling rail 1 direction (Z-axis direction). Further, the base 3 supports the arm 5 via a rotation shaft 4 around a vertical axis (Y axis). Therefore, the arm 5 is rotatable with respect to the Y axis. A portion indicated by reference numeral 21 in the drawing is a brake for the rotating shaft 4. When the arm 5 is rotated around the Y axis, the brake 21 is released, and when the base 3 is moved in the Z axis direction, the brake 21 is released. Operate to lock the arm 5 with respect to the base 3.

[0003] At the end of the arm 5, a parallel link 9 comprising links 7 and 8 is formed between the arm 5 and the bracket 6, and the arm 5 and the link 7 are connected by a balance cylinder 10. The brackets 6 have shafts 11, 12
And a support arm 14 and an operation lever 15 are provided at the tip of the expandable portion 13. A heavy object such as a nut runner is fixed to the support arm 14. The operation lever 15 is located near the heavy object, and the operator moves the operation lever 15 while watching the positional relationship between the work position and the heavy object, thereby performing accurate positioning. The auxiliary force in the up-down direction is generated by the balance cylinder 10, and the auxiliary force in the front-rear direction is generated by the expansion / contraction unit 13.

The balance cylinder 10 is operated by compressed air. Then, the compressed air is supplied by the air pipe 16. The air pipe 16 is connected to the first path through the regulator 17 and the valve 18 and the regulator 1
9. It has a second path via the valve 20, and the setting of the air pressure supplied to the balance cylinder 10 is changed. Then, according to the load weight of the support arm 14, the operator switches
The first and second paths are selected by turning on and off the switch 15a, and the auxiliary force generated in the balance cylinder 10 is adjusted.

[0005]

When a heavy component such as a tire is carried by this carrying force assisting device and the work of attaching it to an axle is performed, the load weight of the support arm 14 greatly differs depending on the presence or absence of the tire. . Therefore,
Unless the air pressure supplied to the balance cylinder 10 is switched reliably, an appropriate assisting force cannot be obtained, which may hinder the work. When it is necessary to move the entire base 3 in the direction of the traveling rail 1 (Z-axis direction), the weight of the entire apparatus depends on the operation force. Therefore, there is a drawback in that positioning is difficult because the operation force required of the operator is large and the inertia force is also large. Furthermore, considering the case where the movement is performed using the rotating shaft 4, since the worker operates the lever at the position farthest from the Y axis provided on the rotating shaft 4, the turning radius of the worker increases, and There is a disadvantage that the amount of movement increases. Also, it was unsuitable for work in a narrow place.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and an object of the present invention is to provide a transport force assisting device which is easier to operate, has a smaller operating force, and can be operated in a narrow place. Accordingly, it is possible to easily and surely move a heavy object, widen an applicable range, and improve productivity.

[0007]

According to the present invention, there is provided a base which can travel along a rail, an arm supported by the base, and a vertical load applied to the arm. Detecting means, a second detecting means for detecting a rail-direction load applied to the arm, and a first detecting means for applying a predetermined auxiliary force to the arm in accordance with the detected vertical load. And a second driving unit for applying a predetermined auxiliary force to the base in accordance with the detected rail direction load.

According to the present invention, the vertical load is detected by the first detecting means, the rail direction load is detected by the second detecting means, and an auxiliary force corresponding to each load is applied by the first and second driving means. I do. Therefore, at least a part of the vertical and rail operation forces required of the operator can be borne by the first and second driving means, and the labor of the operator can be reduced.

Further, in the present invention, the arm may be provided at a distal end portion of the first arm for performing a vertical operation, and a second arm for performing a horizontal operation is provided rotatably about a vertical axis. desirable. According to this configuration, the vertical and horizontal operations of the arm are shared by the first and second arms, respectively, and the degree of freedom of the operation of the arm is increased. Further, by providing the second arm rotatably on the first arm, it is possible to cause the arm to perform a combination of a horizontal movement and a rotation movement independently of the vertical movement. Therefore, the distance between the tip of the second arm with respect to the rotation axis of the second arm is freely changed, and the radius of rotation of the second arm with respect to the rotation axis is adjusted. At this time, the weight related to the operation force is only the portion ahead of the second arm.

Further, in the present invention, the first detecting means and the first driving means are provided on each of the first and second arms, and at least one of the arms is provided with an auxiliary driving means. Is desirable. The first driving means is responsible for the vertical movement of the first arm, and is responsible for the horizontal movement of the second arm. In any of the arms, the auxiliary force of the first drive unit is adjusted based on the vertical load detected by the first detection unit. Further, by providing the auxiliary power means on at least one of the arms, the force required for operating the arm is shared by the first driving means, the auxiliary power means, and the operator. The load borne by the first driving means and the worker is reduced.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings. Here, the same or corresponding parts as in the conventional example are denoted by the same reference numerals, and detailed description thereof will be omitted.

FIG. 1 shows a conveying force assisting device according to an embodiment of the present invention, together with a circuit for supplying air to the conveying force assisting device. This conveying force assisting device uses a fixed rectangular section member 22 as a support member for the traveling rail 1. The running rail 1 is laid on both sides of the rectangular section member 22. The base 3 can travel in the rail direction (Z-axis direction) by the guide roller 2. Base 3 has
A motor 24 is provided via a speed reducer 23. And
The rotation of the motor 24 is transmitted to the driving roller 28 via the driving pulley 25, the belt 26, and the driven pulley 27. Since the drive roller 28 rotates on the traveling rail 1, an auxiliary force in the Z-axis direction described later can be generated on the base 3. As described above, the driving means for moving the base 3 in the rail direction is also referred to as the second driving means in this description.

The base 3 is provided with a first bracket 29 extending upward, and is provided with a first boom 29a.
The upper end of the balance cylinder 30 is pivotally supported. A link 3 is provided between the first bracket 29 and the second bracket 31.
The first arm 34 is rotatably connected with the first arm 34. The center axis of the second bracket 31 is a vertical axis (Y axis).
It is supported to match. The lower end of the first balance cylinder 30 is connected to a first balance valve 35 described later.
Is attached to the link 32 through the shaft. Therefore, the first
An auxiliary force is applied to the first arm 34 by the balance cylinder 30, and the first arm 34 can be operated up and down while the central axis of the first bracket 29 is maintained in the vertical direction. Then, a second arm 43 described later can be moved in the Y-axis direction. By the way, the first balance valve 35
This is for detecting the load in the Y-axis direction applied to the arm 34.
The auxiliary force generated by the first balance cylinder 30 is
The adjustment is performed based on the load detected by the first balance valve 35.

The second bracket 31 also serves as a bearing for supporting the second boom 36 extending upward from the upper end thereof around a vertical axis (Y axis). Further, a link support portion 37 protruding from the lower end of the second bracket 31 is connected to the second boom 36 inside the second bracket 31. The second boom 36 and the link support 37 are both rotatable. The second boom 36 supports the upper ends of the second balance cylinder 38 and the auxiliary cylinder 39 at the upper end thereof.

The second arm 43 is configured such that the link support portion 37 and the third bracket 40 are rotatably connected by links 41 and 42. The third bracket 40 is supported so as to coincide with the horizontal axis direction (the X-axis direction shown). The lower end of the second balance cylinder 38 is pivotally mounted on a link 41 via a second balance valve 44 described later. The lower end of the auxiliary cylinder 39 is pivotally mounted on the link. The third bracket 40 supports the support arm 14 via a torque sensor 46. And the support arm
An operation lever 15 is provided at the distal end of 14.

Since the third bracket 40 is always kept horizontal irrespective of the angle of the arm 43, the support arm 14 can move in the X-axis direction while maintaining the horizontal state. When moving in the X-axis direction, the second balance valve 44 detects a load in the Y-axis direction applied to the second arm 43. Then, the auxiliary force generated by the second balance cylinder 38 is adjusted based on the load detected by the second balance valve 44. By the way, the link support 37 has the second
A changeover switch 45 that operates according to the rotation angle of the arm 43 is provided. The auxiliary force generated by the auxiliary cylinder 39 is adjusted based on the changeover switch 45.

The brake 21 is provided inside the second bracket 31 which supports the second arm 43 so as to be rotatable around the Y axis. When a force in the Z-axis direction is applied to the operation lever 15 with the brake 21 released, the support arm 14 and the second arm 43 rotate around the second bracket 31. Here, when the brake 21 is operated, the rotation of the second arm 43 is locked with respect to the second bracket 31. When a force about the Y axis is applied to the operation lever 15 in this state, the operation force applied to the operation lever 15 in the Z axis direction is applied to the torque sensor 46.
Is detected by Then, the motor 24 is operated based on the detection signal of the torque sensor 46 to move the base 3 in the Z-axis direction. In the present description, the torque sensor 46 for controlling the motor 24 is also referred to as a second detecting unit.

FIG. 1 schematically shows an air supply circuit by a dotted line. Also, what is indicated by reference numeral 47 is
A selection valve for supplying air to the auxiliary cylinder 39. The selection valve 47 detects the position of the support arm 14 by a detection switch (not shown) and operates according to the state. That is, in FIG. 6, the position of the support arm 14 is between (a) and (b) and between (b) and (c).
The state switches. In the present description, the first balance cylinder 30 and the second balance cylinder 38 driven by the air circuit are also referred to as first driving means. Also,
A first balance valve 35 for controlling the first driving means,
The second balance valve 44 is also referred to as first detecting means in this description.

Next, the structure of the first driving means and the first detecting means will be described with reference to FIGS. The first and second balance cylinders 30, 38, which are the first driving means, have the same structure (however, the first balance cylinder 30 has a larger capacity). Further, the first and second balance valves 35 and 44 as the first detecting means also have the same structure (however, the first balance valve 35 has a larger capacity). Therefore, here, the first balance cylinder 30 and the first balance valve 35 will be mainly described.

FIG. 2 shows that the vertical load applied to the link 32 and the auxiliary force of the first balance cylinder 30 are balanced,
The state of the first balance valve 35 in a state where the arm 34 is stopped (balance state) is shown. As described above, the first balance valve 35 is connected to the first balance cylinder 30.
And the link 32 of the first arm 34. Its structure is as follows.

The first balance valve 35 is provided with a knuckle 50 as a connecting portion with the link 32. The knuckle 50 is fixed to a lower end of the bracket 51. The upper end of the bracket 51 is fixed to the driven piston 52.
Therefore, the operation of the link 32 is directly transmitted to the driven piston 52. The lower end 52a of the driven piston 52 has a disk shape. The lower end 52a is connected to the upper body 53 and the lower body.
It is located in a first chamber 55 formed by 54. Further, in the first chamber 55, a diaphragm 56 fixed to the upper main body 53 and the lower main body 54 in a sealed state is provided. The diaphragm 56 is also fixed to the lower end 52a in a closed state. The portion denoted by reference numeral 53a is the first chamber 55 divided by the diaphragm 56.
The upper air hole.

A main control cylinder 57 is provided between the bracket 51 and the upper body 53 so as to cover the periphery of the driven piston 52. The main control cylinder 57 is fixed to the bracket 51 and slidably engages with the upper main body 53. The housing 58 is fixed to the upper main body 53 and slidably moves with respect to the driven piston 52 and the housing 58. And a matching piston 59. The housing 58 includes an operation valve 48
A first port 60 and a second port 61 communicating with (FIGS. 1 and 3) are provided.

The first balance valve 35 has a connection plate 76 as a connection portion with the first balance cylinder 30.
have. The connection plate 76 is fixed to the upper main body 53.

The driven piston 52 is provided with a ventilation hole 52b penetrating from the center of the lower end 52a to the upper end.
The ventilation hole 52b is closed by the upper end 62a of the spool 62 from below. The vent 52b and the upper end 62
The hermetically sealed portion constituted by a is referred to as a first seal 68. The spool 62 is supported by a lower body 54 and a cap 63 fixed further below the lower body 54 so as to be movable in the vertical direction in FIG.

A sealing sheet 64 is provided in a space defined by the lower body 54 and the cap 63. Sealing sheet 64
Has an opening in the center thereof, and a spool 62 passes through the opening. The opening of the sealing sheet 64 is sealed by the intermediate portion 62b of the spool 62. The sealed portion formed by the sealing sheet 64 and the intermediate portion 62b is referred to as a second seal 69. Spaces vertically divided by the sealing sheet 64 and the intermediate portion 62b are referred to as a second chamber 65 and a third chamber 66, respectively. The spool 62 is a biasing means such as a spring.
It is urged upward by the 67 and the airtightness of the second seal 69 is maintained. Also, regarding the first seal 68, the link
Since a weight of 32 or the like is always applied to the driven piston 52, the hermetic seal is maintained here.

Further, an air supply source 70 is
An air supply port 71 communicating with (FIG. 3) and an air circulation port 72 communicating with the first balance cylinder 30 are provided. The lower body 54 has an air supply port 71 and a third
A passage 73 communicating with the chamber 66, a passage 74 communicating the second chamber 65 with the air circulation port 72, an air circulation port
A passage 75 communicating between 72 and the first chamber 55 is formed.

The operating valve 48 shown in FIGS. 1 and 3 is a four-way operating valve as shown in FIG. An external view of the operation valve 48 is shown in (a), and a circuit diagram is shown in (b). The operation valve 48 is provided at the tip of the support arm 14 (FIG. 1).

Here, the operation of the first driving means and the first detecting means having the above construction will be described with reference to FIGS.
It will be described based on. First, the first balance valve 35
Consider a case where the load applied to the first arm 34 increases in the balance state as shown in FIG.

When the load (the load in the Y direction) of the first arm 34 (FIG. 1) increases, the link 32 shown in FIG. 2 moves downward. The operation is transmitted to the driven piston 52 via the knuckle 50 and the bracket 51. Then, the driven piston 52 pushes down the spool 62 to open the second seal 69. Then, the air supply port 71, the passage 73, the third chamber
A communication path is formed in the order of 66, the second seal 69, the second chamber 65, the passage 74, and the air circulation port 72, and the compressed air from the air supply source 70 is supplied to the first balance cylinder 30. Then, the auxiliary force (force for raising the arm) of the first balance cylinder 30 is increased. When the first balance cylinder 30 is raised, the upper body 53 is pulled up by the connection plate 76. And the driven piston through the diaphragm 56
The power to raise 52 works.

At the same time, the compressed air is supplied to the air distribution port.
From 72, it is supplied to the first chamber 55 through a passage 75. Then, the pressure in the lower portion of the first chamber 55 divided into a closed state by the diaphragm 56 is increased. The driven piston 52 is also pushed up by this pressure, and the spool 62 returns to the balanced state shown in FIG. Then, the second seal 69 returns to the closed state, and the supply of the compressed air to the first balance cylinder 30 is stopped. Therefore, the first balance valve 35 enters a balanced state in a state where the load applied to the arm is increased.

Next, consider the case where the load on the first arm 34 decreases when the first balance valve 35 is in a balanced state as shown in FIG. In this case, the link 32 moves upward, and the operation is transmitted to the driven piston 52. Then, the driven piston 52 rises and the first seal
Release 68. Then, the compressed air of the first balance cylinder 30 is released to the atmosphere through the route of the air circulation port 72, the passage 75, the first seal 68, and the ventilation hole 52b. Then, the auxiliary force of the first balance cylinder 30 is reduced. Therefore, the first
The balance cylinder 30 is lowered, and the upper body 53 is pushed down by the connection plate 76. And diaphragm 56
A force is applied to push down the driven piston 52 via. At the same time, the pressure below the first chamber 55 divided by the diaphragm 56 also decreases, and the driven piston 52 descends. Then, the first seal 68 returns to the closed state again, and stops releasing the compressed air from the first balance cylinder 30 to the atmosphere. At this time, the first balance valve 35 is in a balanced state with the load applied to the arm reduced.

As described above, even if the load applied to the first arm 34 changes, the air pressure of the first balance cylinder 30 is instantaneously adjusted, and the balance state is restored without the position of the first arm 34 largely changing. can do.

Next, let us consider a case where the arm is raised by a worker's will. In this case, the operation valve 48 shown in FIG. Then, as shown in FIG. 3, the compressed air supplied from the air supply source 70 is supplied to the first port 60 provided in the housing 58 of the main control cylinder 57 through the pipe 77. Then push up the piston 59. The piston 59 rises, and the upper body 53, the lower body 54, the sealing sheet
Raise 64. Then, the second seal 69 is opened, and the air supply port 71, the passage 73, the third chamber 66, the second seal 6
9, a communication path is formed in the order of the second chamber 65, the passage 74, and the air circulation port 72. Therefore, the compressed air supplied from the air supply source 70 flows into the first balance cylinder 30, and the first balance cylinder 30 continuously increases the auxiliary force.
Therefore, the link 32 is pulled up together with the first balance valve 35 by the first balance cylinder 30, and the first arm
34 rises.

When the operation of the operation lever 15 is stopped, the supply of the compressed air to the first port 60 is stopped, and the piston 59 is moved to the position shown in FIG.
The balance returns to the balance state shown in FIG. Then, the second seal 69
Returns to the closed state, and the first balance valve 35 instantaneously enters the balanced state.

When the arm is to be lowered by a worker's intention, the operating valve 48 shown in FIG. Then, the compressed air from the air supply source 70 is supplied to the second port 61 through the pipe 78, and pushes down the piston 59. Then, the compressed air of the first balance cylinder 30 is released to the atmosphere by opening the first seal. Further, when the operation of the operation lever 15 is stopped, the first balance valve 35 instantaneously enters the balance state.

In the above description, the second balance cylinder
The same applies to 38 and the second balance valve 44. Incidentally, the second arm 43 is provided with an auxiliary cylinder 39 in addition to the second balance cylinder 38. When the auxiliary cylinder 39 is provided, the force required for the operation of the arm is shared by the second balance cylinder 38, the auxiliary cylinder 39, and the operator. Therefore, it is possible to reduce the load borne by the second balance cylinder and the worker. Further, the capacity of the second balance cylinder 38 and the second balance valve 44 can be reduced. The auxiliary force generated by the auxiliary cylinder is adjusted by the changeover switch 45. The changeover switch 45 includes a mechanical regulator 79 shown in FIG. 1 and a cam 80 that comes into contact with the mechanical regulator 79. And
The mechanical regulator 79 is fixed to the second bracket 31, and the cam 80 is rotatable together with the link 41. The selection valve 47 for operating the auxiliary cylinder 39 is operated by a detection switch (not shown) as described above.

FIG. 6 shows main positions in the movable range of the second arm 43. (A) is a state where it has moved in the X-axis direction by + 45 °. At this time, the selection valve 47 is moved to the auxiliary cylinder 39 by a detection switch (not shown).
Has switched to the direction of extension. (B) shows the neutral position (0 °). At around 0 °, the auxiliary force is not applied by the auxiliary cylinder 39. (C) is -45
This is a state in which it has moved in the X-axis direction by degrees. At this time,
The selection valve 47 is switched in a direction to shorten the auxiliary cylinder 39 by a detection switch (not shown). In FIG.
Values that change according to the position of the second arm 43 are displayed in a graph. The dotted line 81 indicates a change in the force applied to the second balance cylinder 38 when only the second balance cylinder 38 is used. A two-dot chain line 82 indicates a change in the auxiliary force generated by the auxiliary cylinder 39. Further, a solid line 83 indicates a change in the force actually applied to the second balance cylinder 38 (combined force of 81 and 82). As shown in FIG.
By increasing the auxiliary force 82 by the auxiliary cylinder 39 at a constant rate in accordance with the angle change of the above, the force 83 of the second balance cylinder 38 can be made substantially constant.

Next, based on FIG. 1, FIG. 7 and FIG.
The detection means and the second drive means will be described. As described above, the second driving means generates an auxiliary force for moving the entire apparatus in the rail direction (Z-axis direction). As shown in FIG. 1, the conveying force assisting device according to the present embodiment is configured to move on the traveling rail 1 by rotating a driving roller 28 by a motor 24.
By the way, when performing the movement in the Z-axis direction, the brake 21 provided on the second bracket 31 is operated, and the second bracket 31 is operated.
The rotation of the second arm 43 with respect to 31 is locked. Then, an operation force (rail direction load) applied to the operation lever 15 by the operator applying a force in a desired movement direction to the support arm 14 is detected by the torque sensor 46 as the second detection means.

As shown in FIG. 7, the controller 84 controls the motor 24 based on the detection signal obtained by the torque sensor 46. The control device 84 performs processing as shown in FIG. A two-dot chain line 85 indicates the input voltage obtained from the torque sensor 46. Although the positive and negative values of the input voltage differ depending on the direction of the operating force applied to the support arm 14, the operating force F and the voltage V are in a proportional relationship. In the control device 84,
A dead zone 86 is set for the input voltage 85. Then, when the input voltage ± a (v) exceeding the dead zone 86 is detected, the control device 84 outputs the output voltage 87 shown by the solid line to the motor 24 for the first time. The output voltage 87 increases in proportion to the operating force F. However, when the input voltage 85 exceeds ± b (v), the output voltage 87 is set to 0 (v).

The dead zone 86 is set as a play area for preventing malfunction due to vibration or the like. If the input voltage 85 exceeds ± b (v), the output voltage 87 is set to 0 (v) because the device may be damaged due to excessive movement when the device comes into contact with something in the working range. In order to prevent this, the operation is stopped for an operation force equal to or more than a predetermined value.

The operation and effect obtained from the embodiment of the present invention having the above configuration are as follows. According to the present embodiment, by providing the second driving means on the base 3, an auxiliary force in the rail direction (Z-axis direction) is generated. Z
Since axial movement will move the entire device,
Although the operating force and the inertial force generated by the movement increase, the burden on the operator is reduced by the assisting force of the second driving means,
Movement and positioning can be easily performed.

Further, the arm is constituted by a first arm 34 mainly performing the operation in the vertical direction (Y-axis direction) and a second arm 43 mainly performing the operation in the horizontal direction (X-axis direction). Therefore, the operation of the arm can be performed more freely, and workability is improved. Further, the second arm 43 is provided at the end of the first arm 34 so as to be rotatable around the Y axis. Therefore, the portion that moves when performing the movement around the Y axis is only the portion ahead of the second arm 43. At this time, the weight related to the operation force is only the portion ahead of the second arm 43, and the operation force borne by the operator can be reduced. For the same reason, the inertial force generated by the movement is also reduced, so that the positioning when performing the movement around the Y axis can be easily performed.

Further, when the rotation operation around the Y axis is performed in the state shown in FIG. 6C, the rotation radius of the operation lever 15 becomes small because the operation lever 15 is close to the Y axis.
The movement amount of the worker can be reduced. Also, workability in a narrow place is improved.

The first balance cylinder 30 and the first balance valve 35 related to the first arm 34 and the second arm 43
Both the second balance cylinder 38 and the second balance valve 44 receive the load applied to each arm as a vertical load. The first and second balance valves 35 and 44 detect the load in the vertical direction, and the first and second balance cylinders 30 and 38 appropriately output mainly the auxiliary force mainly in the vertical direction. The first arm 34 uses this auxiliary force as a vertical auxiliary force, and the second arm 43 uses it as a horizontal auxiliary force. Since both the first arm 34 and the second arm 43 manage the load applied thereto and the assisting force to be applied, the balance state is maintained regardless of the position of the arm and the change in the load. Can be obtained instantaneously, and the operating force in each direction (horizontal direction, vertical direction) can be reduced.

Further, in the second arm 43, by using the auxiliary cylinder 39 together with the second balance cylinder 38,
The load on the second arm 43 is transferred to the second balance cylinder 38,
The auxiliary cylinder 39 is shared by workers. Then, the load borne by the first driving means and the worker is reduced, and the operation can be performed with a smaller operation force. Further, the capacity of the second balance cylinder 38 and the second balance valve 44 can be set small.

[0046]

According to the present invention, the following effects are obtained. According to the conveying force assisting device according to claim 1 of the present invention, the vertical load is detected by the first detecting means,
The rail direction load is detected by the second detecting means, and an auxiliary force corresponding to each load is applied by the first and second driving means. Therefore, at least a part of the vertical and rail operation forces required of the worker is borne by the first and second detecting means, and the labor of the worker can be reduced. Also, unlike the conventional transport force assist device, there is no need for the operator to switch the assist force according to the load change, and it responds instantaneously to the load change, maintaining the arm balance state and reducing the operating force. Can be done.

Further, according to the second embodiment of the present invention, the vertical and horizontal movements of the arm are shared by the first and second arms, respectively. It can be performed more freely. Therefore, workability can be improved as compared with the conventional conveying force assisting device. In addition, by providing the second arm rotatably on the first arm, independently of the vertical operation,
The arm can be made to move in a combination of the horizontal movement and the rotation movement. Therefore, it is possible to freely change the distance between the tip of the second arm and the rotation axis of the second arm and freely adjust the radius of rotation of the second arm with respect to the rotation axis. For this reason, the movement amount of the worker can be reduced. In addition, the work can be performed in a narrow place, and the applicable range can be expanded. In addition, since the weight of the portion related to the operation in the rotation direction is only the portion ahead of the second arm, the operation force required for the operator is reduced.
Further, since the inertial force is reduced, the positioning can be performed more accurately.

Further, according to the third aspect of the present invention, the first driving means is responsible for the vertical movement of the first arm and the horizontal movement of the second arm. Also, in any arm,
The auxiliary force of the first driving means can be adjusted accurately based on the vertical load detected by the first detection means.
Further, by providing the auxiliary power means on at least one of the arms, the force required for the operation of the arm is shared between the first driving means, the auxiliary power means, and the worker. The load borne by the person is reduced. Further, it is possible to set the capacity of the first driving unit and the first detecting unit to be small.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of a transportation force assisting device according to an embodiment of the present invention.

FIG. 2 is a schematic sectional view showing a first detecting means used in the conveying force assisting device of FIG.

FIG. 3 is a schematic diagram showing an air circuit relating to a first detecting means and a first driving means used in the conveying force assisting device of FIG. 1;

FIG. 4 is a schematic diagram of an operation valve and an operation lever.

5 is a graph showing a state of a change in a force applied to a first driving unit and an auxiliary driving unit according to a position of a second arm in the conveying force assisting device of FIG. 1;

FIG. 6 is a schematic diagram showing a main position in a movable range of a second arm.

FIG. 7 is a configuration diagram of a second detection unit used in the conveyance force assisting device of FIG. 1;

FIG. 8 is a graph illustrating control contents of a second detection unit used in the transportation force assisting device of FIG. 1;

FIG. 9 is a schematic view showing a conventional conveying force assisting device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Guide rail 2 Guide roller 15 Operating lever 24 Motor 25 Drive pulley 26 Belt 27 Follower pulley 28 Drive roller 30 1st balance cylinder 34 1st arm 35 1st balance valve 38 2nd balance cylinder 43 2nd arm 44 2nd balance valve 45 Selector switch 47 Selection valve 48 Operation valve 79 Mechanical regulator 80 Cam

Continued on the front page (72) Inventor Masumi Sawada 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Yasuhiro Mizutani 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation (72) Inventor Kazuo Kato 3005 Hayasaki, Kita-gaiyama, Komaki-shi, Aichi Prefecture Inside CK Corporation (72) Inventor Motohiro Chikushi 12-2 Kamidaimon, Kanehira-cho, Gamagori-shi, Aichi Prefecture

Claims (3)

[Claims] 1. A base capable of traveling along a rail, an arm supported by the base, first detecting means for detecting a vertical load applied to the arm, and a rail-directional load applied to the arm. A second detecting means for detecting, a first driving means for applying a predetermined assisting force to the arm corresponding to the detected vertical load, and a predetermined driving force applied to the base corresponding to the detected rail direction load. And a second driving means for applying the auxiliary force. 2. The apparatus according to claim 1, wherein said arm has a second arm for performing a horizontal operation at a tip end of a first arm for performing a vertical operation.
2. The assisting device according to claim 1, wherein the arm is rotatably provided around a vertical axis. 3. The first detecting means and the first driving means are provided on each of a first arm and a second arm, and at least one of the arms is provided with an auxiliary driving means. Item 3. The carrying force assisting device according to Item 2.