WO2012035593A1 - サポートアーム - Google Patents
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- Publication number
- WO2012035593A1 WO2012035593A1 PCT/JP2010/065716 JP2010065716W WO2012035593A1 WO 2012035593 A1 WO2012035593 A1 WO 2012035593A1 JP 2010065716 W JP2010065716 W JP 2010065716W WO 2012035593 A1 WO2012035593 A1 WO 2012035593A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- shaft
- parallel link
- support arm
- bracket
- joint
- Prior art date
Links
- 230000005484 gravity Effects 0.000 claims abstract description 11
- 238000002485 combustion reaction Methods 0.000 description 15
- 239000000446 fuel Substances 0.000 description 12
- 239000002828 fuel tank Substances 0.000 description 6
- 230000004308 accommodation Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 239000003502 gasoline Substances 0.000 description 3
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 2
- ATUOYWHBWRKTHZ-UHFFFAOYSA-N Propane Chemical compound CCC ATUOYWHBWRKTHZ-UHFFFAOYSA-N 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
- 239000003990 capacitor Substances 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229910001416 lithium ion Inorganic materials 0.000 description 1
- 229910052987 metal hydride Inorganic materials 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- PXHVJJICTQNCMI-UHFFFAOYSA-N nickel Substances [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 1
- -1 nickel metal hydride Chemical class 0.000 description 1
- 239000001294 propane Substances 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L3/00—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets
- F16L3/01—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets for supporting or guiding the pipes, cables or protective tubing, between relatively movable points, e.g. movable channels
- F16L3/015—Supports for pipes, cables or protective tubing, e.g. hangers, holders, clamps, cleats, clips, brackets for supporting or guiding the pipes, cables or protective tubing, between relatively movable points, e.g. movable channels using articulated- or supple-guiding elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/0016—Balancing devices using springs
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/14—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction with ball-joint
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/2092—Undercarriages with or without wheels comprising means allowing depth adjustment, i.e. forward-backward translation of the head relatively to the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R13/00—Details of coupling devices of the kinds covered by groups H01R12/70 or H01R24/00 - H01R33/00
- H01R13/60—Means for supporting coupling part when not engaged
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/04—Balancing means
- F16M2200/044—Balancing means for balancing rotational movement of the undercarriage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M2200/00—Details of stands or supports
- F16M2200/06—Arms
- F16M2200/063—Parallelogram arms
Definitions
- the present invention generally relates to a support arm, and more particularly to a support arm for supporting a charging connector connected to a hybrid vehicle or an electric vehicle.
- Patent Document 1 Japanese Patent Application Laid-Open No. 2003-181789 discloses a mechanical self-weight compensator that aims to balance the gravity of the operating arm with respect to three orthogonal axes in the space with a simple structure. Is disclosed (Patent Document 1).
- Patent Document 1 an apparatus (FIG. 6) that forms a parallel link by two upper and lower arms is shown as a conventional mechanism.
- Japanese Patent Laid-Open No. 9-296856 discloses a manipulator for the purpose of realizing a lighter and higher output drive source (Patent Document 2).
- the manipulator disclosed in Patent Document 2 includes a first arm that is swingably attached to a frame via a first joint, and a first arm that is swingably supported by a distal end portion of the first arm via a second joint. 2 arms and a gripper attached to the tip of the second arm for gripping the workpiece.
- positioned between a 1st joint and a 2nd joint is formed from a pair of link member which comprises a parallelogram link.
- JP 2003-181789 A Japanese Patent Laid-Open No. 9-296856
- an object of the present invention is to solve the above-described problems and to provide a support arm that realizes a large movable range.
- the support arm includes a first joint portion supported by the base, a second joint portion disposed away from the first joint portion, and the first joint portion and the second joint portion.
- a first parallel link that is disposed and is rotatably connected to the first joint and the second joint, and a self-weight compensator that generates a force that cancels gravity acting on the first parallel link.
- the first parallel link has a first shaft and a second shaft that are arranged in parallel with a space between each other and change the space as the first parallel link rotates.
- the first shaft and the second shaft are arranged so as to be shifted from each other in the axial direction in which the first parallel link rotates.
- the first parallel link can be operated with a smaller force by providing the self-weight compensation device.
- the first shaft and the second shaft are arranged so as to be shifted from each other in the axial direction in which the first parallel link rotates, the first parallel link rotates with respect to the first joint portion and the second joint portion. In doing so, the first shaft and the second shaft do not interfere with each other. Thereby, the rotation area
- the support arm is stored when the first parallel link is positioned so as to rise upward from the first joint.
- the first shaft and the second shaft are disposed so as to overlap each other when viewed from the axial direction in which the first parallel link rotates. According to the support arm configured in this way, the storage state of the support arm can be made compact.
- the first shaft and the second shaft extend in the vertical direction from the first joint portion toward the second joint portion. According to the support arm configured as described above, the storage state of the support arm can be further reduced.
- the first parallel link has a plurality of first shafts arranged to be shifted from the second shaft in the axial direction in which the first parallel link rotates. According to the support arm configured as described above, it is possible to improve the durability of the support arm by dispersing the force acting on the first parallel link to the plurality of first shafts.
- the plurality of first shafts are arranged symmetrically on both sides of the second shaft in the axial direction in which the first parallel link rotates.
- the durability of the support arm can be further improved by evenly distributing the force acting on the first parallel link to the plurality of first shafts.
- the first shaft is disposed above the second shaft when the first parallel link is positioned so as to extend laterally from the first joint.
- the second shaft has a larger thickness than the first shaft. According to the support arm configured in this way, the weight of the first shaft acts on the second shaft in addition to the weight of the second shaft itself, so the thickness of the second shaft is made smaller than the thickness of the first shaft. Also make it bigger. Thereby, the rigidity of a 2nd shaft can be improved and durability of a support arm can be improved.
- a wire extending from the first joint portion toward the second joint portion is fixed to the second shaft.
- the wiring can be supported by the highly rigid second shaft.
- the support arm is disposed between the second joint portion and the third joint portion, and is disposed between the second joint portion and the third joint portion.
- a second parallel link that is rotatably connected to the second link.
- the second parallel link has a third shaft and a fourth shaft that are arranged in parallel with a distance from each other and change the distance as the second parallel link rotates.
- the third shaft and the fourth shaft are arranged so as to be shifted from each other in the axial direction in which the second parallel link rotates.
- the third shaft and the fourth shaft are arranged so as to be shifted from each other in the axial direction in which the second parallel link rotates. And when making it rotate with respect to a 3rd joint part, a 3rd shaft and a 4th shaft do not interfere.
- the rotation area of the second parallel link in addition to the rotation area of the first parallel link, the rotation area of the second parallel link also widens, so that the movable range of the support arm can be set larger.
- the support arm is housed when the first parallel link is positioned so as to rise upward from the first joint, and the second parallel link is folded with respect to the first parallel link with the second joint as a fulcrum. Is obtained.
- the first shaft and the second shaft are arranged to overlap each other when viewed from the axial direction in which the first parallel link rotates, and the third shaft and the fourth shaft are the second parallel link.
- the support arm configured in this way, the storage state of the support arm can be made compact.
- the support arm is further provided with a charging connector which is provided so as to be connectable to the vehicle and moves in accordance with the rotation of the first parallel link.
- a charging connector which is provided so as to be connectable to the vehicle and moves in accordance with the rotation of the first parallel link.
- a support arm capable of realizing a large movable range can be provided.
- FIG. 11 is a cross-sectional view showing a use state of the support arm along the line XIII-XIII in FIG. 10.
- FIG. 9 is a cross-sectional view showing a support arm in a retracted state along line XIV-XIV in FIG. It is sectional drawing which shows the modification of the support arm shown in FIG.
- FIG. 1 is a perspective view of a hybrid vehicle viewed from one side.
- FIG. 2 is a perspective view of the hybrid vehicle of FIG. 1 as viewed from the other side.
- hybrid vehicle 200 has a power source including an internal combustion engine 210 to which fuel is supplied and motor generators MG1 and MG2 as electric motors to which electric power is supplied from chargeable / dischargeable power storage device 240.
- the hybrid vehicle 200 includes a body 200 ⁇ / b> A that forms the exterior of the vehicle, an internal combustion engine 210, a transaxle 220, a fuel tank 230, a power storage device 240, a fuel supply unit 250, and a power supply unit 260.
- the internal combustion engine 210 is accommodated in the engine compartment ER.
- the internal combustion engine 210 is typically a gasoline engine or a diesel engine, and generates power to drive the wheels when supplied with gasoline.
- the transaxle 220 is housed in the engine compartment ER together with the internal combustion engine 210.
- Transaxle 220 has motor generators MG 1 and MG 2 and a power split mechanism 221.
- the power split mechanism 221 is coupled to the internal combustion engine 210 and the motor generators MG1, MG2, and distributes power between them.
- a planetary gear mechanism having three rotation shafts of a sun gear, a planetary carrier, and a ring gear is used. These three rotating shafts are connected to the rotating shafts of internal combustion engine 210 and motor generators MG1, MG2.
- the internal combustion engine 210 and the motor generators MG1 and MG2 can be mechanically connected to the power split mechanism 221 by making the rotor of the motor generator MG1 hollow and passing the crankshaft of the internal combustion engine 210 through the center thereof.
- the rotating shaft of the motor generator MG2 is coupled to the wheels by a reduction gear and a differential gear (not shown).
- a power reducer for the rotation shaft of motor generator MG2 may be further incorporated in power split device 221.
- the motor generator MG1 is incorporated in the hybrid vehicle 200 so as to operate as a generator driven by the internal combustion engine 210 and to operate as an electric motor that can start the internal combustion engine 210.
- Motor generator MG ⁇ b> 2 is incorporated in hybrid vehicle 200 as an electric motor that drives the wheels of hybrid vehicle 200.
- Motor generators MG1, MG2 are, for example, three-phase AC synchronous motors.
- Motor generators MG1 and MG2 have a three-phase coil including a U-phase coil, a V-phase coil, and a W-phase coil as a stator coil.
- Motor generator MG1 generates a three-phase AC voltage using the output of internal combustion engine 210, and outputs the generated three-phase AC voltage to an inverter (not shown). Motor generator MG1 generates driving force by the three-phase AC voltage received from the inverter, and starts internal combustion engine 210.
- Motor generator MG2 generates vehicle driving torque by the three-phase AC voltage received from the inverter. Motor generator MG2 generates a three-phase AC voltage and outputs it to the inverter during regenerative braking of the vehicle.
- An inverter (not shown) converts DC power stored in the power storage device 240 into AC power and supplies it to the motor generators MG1 and MG2.
- the inverter converts AC power supplied from motor generators MG ⁇ b> 1 and MG ⁇ b> 2 into DC power and supplies it to power storage device 240.
- the fuel tank 230 is provided in a portion located below the rear seat in the vehicle compartment.
- the fuel tank 230 contains gasoline that is liquid fuel.
- ethanol, propane gas that is a gaseous fuel, or the like is stored in the fuel tank 230.
- the power storage device 240 is provided in a portion located below the rear seat in the vehicle compartment.
- a secondary battery such as a nickel metal hydride battery, a lithium ion battery, or a lead storage battery can be used.
- a large-capacity electric double layer capacitor can be used as the power storage device 240.
- a fuel supply unit 250 is provided on one side surface of the body 200A.
- the fuel supply unit 250 is provided so that the fuel supply connector 200B can be connected.
- fuel is supplied to the fuel tank 230 from the outside.
- a power supply unit 260 is provided on the other side surface of the body 200A.
- the power supply unit 260 is provided so that the charging connector 200C can be connected.
- power is supplied to power storage device 240 from the outside.
- FIG. 3 is a side view showing the charging connector in FIG.
- charging connector 200C has a main body 201C and a connecting portion 202C.
- a power wiring 203C is connected to the main body 201C.
- connecting portion 202 ⁇ / b> C in charging connector 200 ⁇ / b> C is fitted to power supply portion 260.
- the connecting portion 202C is formed in a cylindrical shape.
- the connecting portion 202C protrudes from the front end of the main body 201C in the insertion direction P to the power supply portion 260.
- FIG. 4 is a front view showing the power supply unit in FIG.
- power supply unit 260 includes an outer lid 261, a head portion 262, and an inner lid 263.
- the outer lid 261 opens and closes an opening formed in the rear fender of the body 200A.
- the head portion 262 is provided on the body 200A.
- the inner lid 263 is provided so as to cover the end surface of the head portion 262.
- the head portion 262 is formed in a cylindrical shape. On the end surface of the head portion 262, a plurality of hole portions for receiving terminals and tube portions provided on the charging connector 200C are formed. As described above, the connecting portion 202C of the charging connector 200C is formed in a hollow cylindrical shape. Thereby, the connection part 202C can receive the head part 262. When the head part 262 enters the connection part 202C, each terminal of the charging connector 200C enters a hole formed in the head part 262. Thereby, charging via the charging connector 200C becomes possible.
- the charging connector 200C is supported by the support arm in the present embodiment.
- the support arm is folded when not used (not charged) and extended when used (charged).
- the folded state when not in use is referred to as a “storing state”, and the extended state during use is referred to as a “used state”.
- the support arm can be installed by efficiently using space.
- FIG. 5 is a side view showing the storage state of the support arm in the embodiment of the present invention.
- FIG. 6 is a side view showing a use state of the support arm in FIG.
- FIG. 7 is a top view showing a use state of the support arm in FIG.
- the support arm 10 in the present embodiment includes a bracket 26, a parallel link 30, a bracket 27, a parallel link 40, and a bracket 28.
- the bracket 26 is fixed to a support 21 installed in the charging stand.
- the bracket 27 is provided away from the bracket 26.
- the parallel link 30 is provided between the bracket 27 and the bracket 26.
- the parallel link 30 is rotatably connected to the bracket 27 and the bracket 26 using a bearing (not shown).
- the bracket 28 is provided apart from the bracket 27.
- the parallel link 40 is provided between the bracket 27 and the bracket 28.
- the parallel link 40 is rotatably connected to the bracket 27 and the bracket 28 using a bearing (not shown).
- a charging connector attaching portion 71 to which the charging connector 200C in FIG. 2 is attached is connected to the bracket 28.
- the parallel link 30 has an upper shaft 31 and a lower shaft 36.
- the upper shaft 31 and the lower shaft 36 are arranged in parallel with a space therebetween.
- the upper shaft 31 is positioned above the lower shaft 36.
- an upper shaft 31m and an upper shaft 31n are provided as the upper shaft 31.
- the one end of the upper shaft 31 is connected to the bracket 26 so as to rotate about the central axis 101p.
- the other end of the upper shaft 31 is connected to the bracket 27 so as to rotate about the central axis 101q.
- the upper shaft 31 is formed by linearly extending from the central axis 101p toward the central axis 101q.
- One end of the lower shaft 36 is connected to the bracket 26 so as to rotate about the central axis 101r.
- the other end of the lower shaft 36 is connected to the bracket 27 so as to rotate about the central axis 101s.
- the lower shaft 36 is formed by linearly extending from the central axis 101r toward the central axis 101s.
- the central axis 101p, the central axis 101q, the central axis 101r, and the central axis 101s extend in parallel to each other.
- the central axis 101p and the central axis 101r are arranged on the same straight line extending in the vertical direction.
- the central axis 101q and the central axis 101s are arranged on the same straight line extending in the vertical direction.
- the distance between the central axis 101p and the central axis 101q is equal to the distance between the central axis 101r and the central axis 101s.
- the upper shaft 31 and the lower shaft 36 have an axial direction in which the parallel link 30 rotates, that is, an axial direction of the central axes 101p to 101r (shown by an arrow 111 in FIG. 7). In the direction).
- the upper shaft 31m and the upper shaft 31n are arranged on both sides of the lower shaft 36 in the axial direction of the central axes 101p to 101r.
- the upper shaft 31m and the upper shaft 31n are equally disposed on both sides of the lower shaft 36. That is, the distance between the lower shaft 36 and the upper shaft 31m in the axial direction of the central axes 101p to 101r is equal to the distance between the lower shaft 36 and the upper shaft 31n in the axial direction of the central axes 101p to 101r. .
- the parallel link 40 has an upper shaft 41 and a lower shaft 46.
- the upper shaft 41 and the lower shaft 46 are arranged in parallel with a space therebetween.
- the upper shaft 41 is positioned above the lower shaft 46.
- an upper shaft 41m and an upper shaft 41n are provided as the upper shaft 41.
- the one end of the upper shaft 41 is connected to the bracket 27 so as to rotate about the central axis 106p.
- the other end of the upper shaft 41 is connected to the bracket 28 so as to rotate about the central axis 106q.
- the upper shaft 41 is formed by extending linearly from the central axis 106p toward the central axis 106q.
- One end of the lower shaft 46 is connected to the bracket 27 so as to rotate about the central axis 106r.
- the other end of the lower shaft 46 is connected to the bracket 28 so as to rotate about the central axis 106s.
- the lower shaft 46 is formed by linearly extending from the central axis 106r toward the central axis 106s.
- the central axis 106p, the central axis 106q, the central axis 106r, and the central axis 106s extend in parallel to each other.
- the central axis 106p and the central axis 106r are arranged on the same straight line extending in the vertical direction.
- the central axis 106q and the central axis 106s are arranged on the same straight line extending in the vertical direction.
- the distance between the central axis 106p and the central axis 106q is equal to the distance between the central axis 106r and the central axis 106s.
- the central axes 101p to 101s and the central axes 106p to 106s extend in parallel to each other.
- the central axis 101p, the central axis 101q, the central axis 106p, and the central axis 106q are arranged on the same line extending in the horizontal direction.
- the central axis 101r, the central axis 101s, the central axis 106r, and the central axis 106s are arranged on the same line extending in the horizontal direction.
- the upper shaft 41 and the lower shaft 46 have an axial direction in which the parallel link 40 rotates, that is, an axial direction of the central axes 106p to 106r (shown by an arrow 111 in FIG. 7). In the direction).
- the specific arrangement of the upper shaft 41 and the lower shaft 46 is the same as the arrangement of the upper shaft 31 and the lower shaft 36 described above.
- the support arm 10 in the present embodiment further includes a self-weight compensator 50 and a self-weight compensator 60.
- the self-weight compensator 50 generates a force that cancels the gravity acting on the parallel link 30 and the parallel link 40
- the self-weight compensator 60 generates a force that cancels the gravity acting on the parallel link 40.
- the self-weight compensation device 50 includes a spring part 51, a pulley 52, a pin 53 and a wire 56.
- the spring portion 51 is supported by the bracket 27, and the pulley 52 is supported by the lower shaft 36.
- the spring portion 51 is provided at a position adjacent to the bracket 27 when viewed from the axial direction of the central shafts 101p to 101s.
- the spring part 51 is composed of a plurality of springs connected in parallel.
- the pulley 52 is rotatably supported at a position adjacent to the bracket 26.
- the pin 53 is fixed to the bracket 26.
- the pin 53 is disposed on the opposite side of the central axis 101r with respect to the central axis 101p.
- the pin 53 is disposed on a line connecting the central axis 101p and the central axis 101r.
- the wire 56 is stretched between the spring portion 51 and the pin 53.
- the wire 56 drawn out from the spring portion 51 extends in a direction close to the bracket 26. Further, the wire 56 changes its direction by being hooked on the pulley 52 and extends toward the pin 53.
- the self-weight compensator 60 has a spring part 61, a pulley 62, a pin 63 and a wire 66.
- the spring portion 61 is supported by the bracket 28, and the pulley 62 is supported by the lower shaft 46.
- the spring portion 61 is provided at a position adjacent to the bracket 28 when viewed from the axial direction in which the parallel link 40 rotates.
- the spring part 61 is composed of a plurality of springs connected in parallel.
- the spring portion 51 is composed of a larger number of springs than the spring portion 61.
- the pulley 62 is rotatably supported at a position adjacent to the bracket 27.
- the pin 63 is fixed to the bracket 27.
- the pin 63 is disposed on the opposite side of the central axis 106r with respect to the central axis 106p.
- the pin 63 is disposed on a line connecting the central axis 106p and the central axis 106r.
- the wire 66 is stretched between the spring portion 61 and the pin 63.
- the wire 66 drawn out from the spring portion 61 extends in a direction close to the bracket 27. Further, the wire 66 changes its direction by being hooked on the pulley 62 and extends toward the pin 63.
- the support arm 10 When shifting from the use state shown in FIG. 6 to the storage state shown in FIG. 5, the gravity centers of the parallel link 30 and the parallel link 40 are moved upward against the gravity acting on the parallel link 30 and the parallel link 40. There is a need.
- the support arm 10 is shifted from the use state to the housed state with a smaller force by providing the self-weight compensators 50 and 60 that cancel the gravitational force using the spring force. Can do.
- FIG. 8 is a perspective view showing the support arm in the stowed state.
- FIG. 9 is a perspective view showing an intermediate state between the storage state and the use state of the support arm.
- FIG. 10 is a perspective view showing a use state of the support arm.
- FIG. 11 is a side view showing the form of the upper arm and the lower arm when the support arm is stored.
- the parallel link 30 is positioned so as to rise upward from the bracket 26, and the parallel link 40 is folded with respect to the parallel link 40 using the bracket 27 as a fulcrum. It becomes the form.
- the parallel link 30 is positioned so as to extend obliquely from the bracket 26 with respect to the vertically upward direction, and the parallel link 40 extends vertically downward from the bracket 26.
- the parallel link 30 is positioned so as to extend in the horizontal direction from the bracket 26, and the parallel link 40 is positioned so as to extend in the horizontal direction from the bracket 27.
- the parallel link 30 and the parallel link 40 change their inclinations.
- the upper shaft 31 and the lower shaft 36 are disposed between the upper shaft 31 and the lower shaft 36 when viewed from the axial direction of the central axes 101p to 101s while maintaining the parallel arrangement.
- the distance changes. Specifically, the distance between the upper shaft 31 and the lower shaft 36 increases in the use state, and the distance between the upper shaft 31 and the lower shaft 36 decreases in the stored state.
- the parallel link 40 the distance between the upper shaft 41 and the lower shaft 46 when viewed from the axial direction of the central axes 106p to 106s while the upper shaft 41 and the lower shaft 46 are maintained in parallel. Changes. Specifically, the distance between the upper shaft 41 and the lower shaft 46 increases in the use state, and the distance between the upper shaft 41 and the lower shaft 46 decreases in the stored state.
- the upper shaft 31 and the lower shaft 36 are arranged so as to be shifted from each other in the axial direction of the central axes 101p to 101s.
- the shaft 46 is disposed so as to be shifted from each other in the axial direction of the central axes 106p to 106s.
- the upper shaft 31 and the lower shaft 36 are viewed from each other when viewed from the axial direction of the central axes 101p to 101s.
- the upper shaft 41 and the lower shaft 46 overlap each other when viewed from the axial direction of the central axes 106p to 106s. Thereby, the horizontal width of the folded upper shaft 31 and lower shaft 36 is reduced, and a compact storage state can be obtained.
- FIG. 12 is a side view showing a modified example of the upper arm and the lower arm when the support arm is stored.
- parallel link 30 in the retracted state of support arm 10, parallel link 30 is positioned so as to extend vertically upward from bracket 26, and parallel link 40 is vertically downward from bracket 26. Positioned to stretch in the direction.
- the parallel link 30 and the parallel link 40 are positioned so as to be arranged in parallel to each other. According to such a configuration, a more compact storage state can be obtained.
- the number and arrangement of the upper shaft 31 (41) and the lower shaft 36 (46) are not limited to the above-described forms.
- one upper shaft 31 (41) and two lower shafts 36 (46) may be provided.
- FIG. 13 is a cross-sectional view showing the use state of the support arm along the line XIII-XIII in FIG.
- FIG. 14 is a cross-sectional view showing a state in which the support arm is housed along the line XIV-XIV in FIG.
- the upper shaft 31 (upper shaft 31m, upper shaft 31n) and the spring portion 51 and the pulley 52 constituting the self-weight compensator 50 are mutually in the axial direction of the central axes 101p to 101s. They are offset. More specifically, the spring part 51 and the pulley 52 are disposed on both sides of the upper shaft 31 in the axial direction of the central axes 101p to 101s. With such a configuration, it is possible to prevent the upper shaft 31, the spring portion 51, and the pulley 52 from interfering with each other when the support arm 10 is stored.
- the upper shaft 31m, the lower shaft 36, and the upper shaft 31n are arranged so as to be located at the apexes of the triangle.
- the upper shaft 31 and the lower shaft 36 have a hollow collar shape extending between the bracket 26 and the bracket 27.
- the upper shaft 31 and the lower shaft 36 have a substantially rectangular cross-sectional shape.
- the lower shaft 36 has a larger thickness than the upper shaft 31m and the upper shaft 31n provided as the upper shaft 31. That is, when the upper shaft 31 and the lower shaft 36 are cut by a plane orthogonal to the direction connecting the bracket 26 and the bracket 27, the outer peripheral length of the cut surface of the lower shaft 36 is the outer periphery of the cut surface of the upper shaft 31m. It is larger than the length and larger than the outer peripheral length of the cut surface of the upper shaft 31n. In addition to the weight of the lower shaft 36, the weight of the upper shaft 31 acts on the lower shaft 36. For this reason, durability of the support arm 10 can be improved by making the thickness of the lower shaft 36 larger than the thickness of the upper shafts 31m and 31n.
- the wiring 76 is fixed to the lower shaft 36.
- Wiring 76 includes a power cable through which a current for charging the power storage device flows, a ground wire, a signal wire, and the like.
- the wiring 76 is fixed to the top surface 36 u of the lower shaft 36.
- the wiring 76 is disposed inside a triangle connecting the upper shaft 31m, the upper shaft 31n, and the lower shaft 36 when the support arm 10 is in use. According to such a configuration, the wiring 76 can be more reliably supported by the lower shaft 36 having a large thickness and high rigidity. Further, since the wiring 76 is fixed to the lower shaft 36 having a large thickness, the heat generated from the wiring 76 due to energization is efficiently radiated from the lower shaft 36 having a large heat radiation area.
- the structure in which the wiring 76 is fixed to the top surface 36u of the lower shaft 36 has been described.
- the position where the wiring 76 is fixed to the lower shaft 36 is not particularly limited.
- the wiring 76 may be passed through the hollow portion of the side shaft 36.
- FIG. 15 is a cross-sectional view showing a modification of the support arm shown in FIG. Referring to FIG. 15, in this modification, wirings 76 are fixed to upper shaft 31m and upper shaft 31n, respectively.
- the thickness of the upper shaft 31m and the upper shaft 31n in order to support the wiring 76. Furthermore, if the thickness of the upper shaft 31m and the upper shaft 31n is increased, it is necessary to further increase the thickness of the lower shaft 36 on which the weight of the upper shaft 31 acts. In this case, the thicknesses of the upper shaft 31 and the lower shaft 36 are larger than those shown in FIG. 13, and the physique of the support arm 10 is increased. On the other hand, if the wiring 76 is fixed to the lower shaft 36 as shown in FIGS. 13 and 14, the physique of the support arm 10 is reduced in size, so that the operability during charging of the hybrid vehicle can be improved.
- the support arm 10 in the present embodiment is the bracket 26 as the first joint portion supported by the column 21 as the base. And a bracket 27 as a second joint portion disposed away from the bracket 26, a first parallel disposed between the bracket 26 and the bracket 27, and rotatably coupled to the bracket 26 and the bracket 27.
- a parallel link 30 as a link and a self-weight compensator 50 that generates a force that cancels gravity acting on the parallel link 30 are provided.
- the parallel links 30 are arranged in parallel to each other with an interval between them, and an upper shaft 31 as a first shaft and a lower shaft 36 as a second shaft that change the interval as the parallel link 30 rotates. Have.
- the upper shaft 31 and the lower shaft 36 are displaced from each other in the axial direction in which the parallel link 30 rotates.
- the movable range of the support arm 10 can be set large.
- This invention is mainly used for a support arm for supporting a charging connector of a hybrid vehicle or the like.
- 10 support arms, 21 struts, 26, 27, 28 brackets, 30, 40 parallel links, 31, 31m, 31n, 41, 41m, 41n upper shaft, 36, 46 lower shaft, 36u top surface, 50, 60 weight compensation Device, 51, 61 Spring part, 52, 62 pulley, 53, 63 pin, 56, 66 wire, 71 Charging connector mounting part, 76 wiring, 101p-101s, 106p-106s central axis, 200 hybrid car, 200A body, 200C charging connector, 200B fuel supply connector, 201C main body, 202C connection part, 203C power wiring, 210 internal combustion engine, 220 transaxle, 221 power split mechanism, 230 fuel tank, 240 power storage device, 250 fuel supply part, 26 Power supply unit, 261 the outer lid, 262 head unit, 263 in the lid.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Manipulator (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Description
Claims (10)
- 基台(21)に支持される第1関節部(26)と、
前記第1関節部(26)と離れて配置される第2関節部(27)と、
前記第1関節部(26)と前記第2関節部(27)との間に配置され、前記第1関節部(26)および前記第2関節部(27)に対して回動自在に連結される第1平行リンク(30)と、
前記第1平行リンク(30)に作用する重力をキャンセルする力を発生する自重補償装置(50)とを備え、
前記第1平行リンク(30)は、互いに間隔を設けて平行に配置され、かつ前記第1平行リンク(30)の回動運動に伴ってその間隔を変化させる第1シャフト(31)および第2シャフト(36)を有し、
前記第1シャフト(31)と前記第2シャフト(36)とは、前記第1平行リンク(30)が回動する軸方向において互いにずれて配置されている、サポートアーム。 - 前記第1平行リンク(30)が前記第1関節部(26)から上方に立ち上がるように位置決めされた時にサポートアームの収納状態が得られ、
その収納状態において、前記第1シャフト(31)と前記第2シャフト(36)とは、前記第1平行リンク(30)が回動する軸方向から見た場合に互いに重なって配置される、請求項1に記載のサポートアーム。 - サポートアームの収納状態において、前記第1シャフト(31)および前記第2シャフト(36)は、前記第1関節部(26)から前記第2関節部(27)に向けて鉛直方向に延伸する、請求項2に記載のサポートアーム。
- 前記第1平行リンク(30)は、前記第1平行リンク(30)が回動する軸方向において前記第2シャフト(36)とずれて配置される複数の前記第1シャフト(31)を有する、請求項1に記載のサポートアーム。
- 複数の前記第1シャフト(31)は、前記第1平行リンク(30)が回動する軸方向における前記第2シャフト(36)の両側に対称に配置される、請求項4に記載のサポートアーム。
- 前記第1平行リンク(30)が前記第1関節部(26)から側方に延伸するように位置決めされた時に、前記第1シャフト(31)は、前記第2シャフト(36)よりも上方に配置され、
前記第2シャフト(36)は、前記第1シャフト(31)よりも大きい太さを有する、請求項1に記載のサポートアーム。 - 前記第2シャフト(36)には、前記第1関節部(26)から前記第2関節部(27)に向けて延びる配線(76)が固定される、請求項6に記載のサポートアーム。
- 前記第2関節部(27)と離れて配置される第3関節部(28)と、
前記第2関節部(27)と前記第3関節部(28)との間に配置され、前記第2関節部(27)および前記第3関節部(28)に対して回動自在に連結される第2平行リンク(40)とをさらに備え、
前記第2平行リンク(40)は、互いに間隔を設けて平行に配置され、かつ前記第2平行リンク(40)の回動運動に伴ってその間隔を変化させる第3シャフト(41)および第4シャフト(46)を有し、
前記第3シャフト(41)と前記第4シャフト(46)とは、前記第2平行リンク(40)が回動する軸方向において互いにずれて配置されている、請求項1に記載のサポートアーム。 - 前記第1平行リンク(30)が前記第1関節部(26)から上方に立ち上がるように位置決めされ、前記第2平行リンク(40)が前記第2関節部(27)を支点に前記第1平行リンク(30)に対して折り畳まれた時にサポートアームの収納状態が得られ、
その収納状態において、前記第1シャフト(31)と前記第2シャフト(36)とは、前記第1平行リンク(30)が回動する軸方向から見た場合に互いに重なって配置され、前記第3シャフト(41)と前記第4シャフト(46)とは、前記第2平行リンク(40)が回動する軸方向から見た場合に互いに重なって配置される、請求項8に記載のサポートアーム。 - 車両に対して接続可能に設けられ、前記第1平行リンク(30)の回動運動に伴って移動する充電用コネクタ(200C)をさらに備える、請求項1に記載のサポートアーム。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
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CN201080066557.5A CN103079774B (zh) | 2010-09-13 | 2010-09-13 | 支承臂 |
EP10857227.2A EP2617532B1 (en) | 2010-09-13 | 2010-09-13 | Support arm |
US13/638,384 US8985537B2 (en) | 2010-09-13 | 2010-09-13 | Support arm |
PCT/JP2010/065716 WO2012035593A1 (ja) | 2010-09-13 | 2010-09-13 | サポートアーム |
JP2012533755A JP5376065B2 (ja) | 2010-09-13 | 2010-09-13 | サポートアーム |
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PCT/JP2010/065716 WO2012035593A1 (ja) | 2010-09-13 | 2010-09-13 | サポートアーム |
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WO2012035593A1 true WO2012035593A1 (ja) | 2012-03-22 |
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PCT/JP2010/065716 WO2012035593A1 (ja) | 2010-09-13 | 2010-09-13 | サポートアーム |
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US (1) | US8985537B2 (ja) |
EP (1) | EP2617532B1 (ja) |
JP (1) | JP5376065B2 (ja) |
CN (1) | CN103079774B (ja) |
WO (1) | WO2012035593A1 (ja) |
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JP5482909B2 (ja) * | 2010-11-05 | 2014-05-07 | トヨタ自動車株式会社 | サポートアーム |
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CA2966909A1 (en) * | 2014-11-16 | 2016-05-19 | Garrett W. Brown | Tensile parallelogram arm |
US10471610B2 (en) * | 2015-06-16 | 2019-11-12 | Samsung Electronics Co., Ltd. | Robot arm having weight compensation mechanism |
US20190001830A1 (en) * | 2016-08-31 | 2019-01-03 | Faraday&Future Inc. | Method and system for auto-charging |
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US10040207B1 (en) * | 2017-09-18 | 2018-08-07 | Institute of Nuclear Energy Research, Atomic Energy Council, Executive Yuan, R.O.C. | Adjustable passive gravity compensation apparatus |
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Also Published As
Publication number | Publication date |
---|---|
CN103079774A (zh) | 2013-05-01 |
EP2617532A4 (en) | 2014-05-21 |
US8985537B2 (en) | 2015-03-24 |
CN103079774B (zh) | 2015-03-04 |
EP2617532A1 (en) | 2013-07-24 |
JP5376065B2 (ja) | 2013-12-25 |
EP2617532B1 (en) | 2016-05-18 |
JPWO2012035593A1 (ja) | 2014-01-20 |
US20130157501A1 (en) | 2013-06-20 |
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