WO2021241461A1 - 荷重補償装置 - Google Patents

荷重補償装置 Download PDF

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Publication number
WO2021241461A1
WO2021241461A1 PCT/JP2021/019481 JP2021019481W WO2021241461A1 WO 2021241461 A1 WO2021241461 A1 WO 2021241461A1 JP 2021019481 W JP2021019481 W JP 2021019481W WO 2021241461 A1 WO2021241461 A1 WO 2021241461A1
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WO
WIPO (PCT)
Prior art keywords
link
load
pulley
end side
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/019481
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English (en)
French (fr)
Japanese (ja)
Inventor
祐希 加賀
寿郎 森田
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Wintest Corp
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Wintest Corp
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Filing date
Publication date
Application filed by Wintest Corp filed Critical Wintest Corp
Priority to JP2022527006A priority Critical patent/JP7808550B2/ja
Priority to CN202180038431.5A priority patent/CN115667125B/zh
Publication of WO2021241461A1 publication Critical patent/WO2021241461A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F19/00—Hoisting, lifting, hauling or pushing, not otherwise provided for

Definitions

  • the present invention relates to a load compensating device that generates a force that balances a load.
  • Patent Document 1 discloses a compensation weight switching type load compensation device as a mechanical load compensation device that does not use an actuator.
  • a second spring and a gear can be used to cope with a new load.
  • the load compensator when used to support the transportation work, it is required to be able to adjust the load to be compensated at any height.
  • the conventional load compensating device there is room for improvement in terms of convenience, such as the need to adjust the load to be compensated with the load compensating device as a predetermined reference posture.
  • An object of the present invention is to realize a load compensating device having higher convenience.
  • the load compensating device is With the support, A first link member in which the weight of an object that is a load acts on one end side and a force for load compensation is input on the other end side with respect to the rotation center serving as a fulcrum in the support.
  • the position of the fulcrum of the first link member and the position where the force for load compensation is input are crossed, and the position of the fulcrum of the first link member and the force for load compensation are input.
  • the first cord member which extends vertically downward from the position where one end is fixed, and A torque applying means for applying a rotational torque for winding the other end of the first cord member, and To prepare for.
  • FIG. 1 is a schematic view showing the overall configuration of the load compensating device 1 according to the first embodiment.
  • FIG. 1 schematically shows the link structure of the load compensating device 1.
  • the load compensating device 1 includes a support portion 10, a first link 20, a second link 30, a third link 40, pulleys 50a and 50b, a wire 60, and a wire winding portion 70. It is provided with a torque applying unit 80.
  • g is the gravitational acceleration
  • M is the mass applying the load
  • m is the mass of the first link
  • L is the distance from the rotation center O of the first link 20 to the load acting point
  • l is the first link.
  • p is the distance from the rotation center O of the first link 20 to the point of action of the tension of the wire 60
  • ⁇ is the angle from the horizontal direction of the first link 20.
  • ⁇ represents the gear ratio (gain) of the transmission 82, which will be described later
  • ⁇ F represents the output of the transmission 82.
  • the support portion 10 is a base member that supports the entire load compensating device 1, and the support portion 11 that rotatably supports the first link 20 on the rotation axis R1 and the second link 30 in the vertical and horizontal directions. It is provided with a sliding mechanism 12 that slidably supports the vehicle.
  • the sliding mechanism 12 includes a linear guide 12a that slidably supports the second link 30 in the vertical direction, and a linear guide 12b that slidably supports the linear guide 12a in the horizontal direction.
  • the first link 20 is provided with a pulley 50b rotatably on the rotation shaft R2 on the other end side while the weight (load) of the object as a load acts on one end side. Further, the first link 20 is rotatably supported at the central portion on the rotation axis R1 of the support portion 10.
  • the second link 30 is rotatably supported by the rotation axis R2 of the first link 20 on one end side. Further, the second link 30 is slidably supported in the vertical direction by the linear guide 12a of the sliding mechanism 12. Further, the second link 30 rotatably supports one end of the third link 40 on the other end side on the rotation shaft R3.
  • the third link 40 is rotatably supported by the rotation axis R3 of the second link 30 on one end side. Further, the other end of the third link 40 is rotatably supported by the support portion 10 on the rotation shaft R4.
  • the distance between the rotation axis R1 and the rotation axis R4 is the same as the length of the second link 30. That is, the portion of the first link 20 from the rotary shaft R1 to the rotary shaft R2, the portion of the second link 30, the third link 40, and the support portion 10 from the rotary shaft R1 to the rotary shaft R4 constitutes a parallel link. There is. Therefore, when the angle of the first link 20 with respect to the support portion 10 changes, the second link 30 maintains the posture along the vertical vertical direction, and the sliding mechanism 12 acts to move the first link 20 in the vertical direction and to the support portion 10. Move horizontally.
  • the pulley 50a is rotatably installed at the tip of the support column 11 of the support portion 10 around a rotation shaft R1 to which the first link 20 is rotatably connected.
  • the pulley 50b is rotatably installed around a rotation shaft R2 to which the first link 20 and the second link 30 are connected.
  • the wire 60 is hung around the pulley 50b, and one end thereof is installed at a position vertically below the pulley 50b in the linear guide 12b of the sliding mechanism 12. Therefore, the wire 60 is maintained in a state in which one end always extends vertically downward from the pulley 50b. Further, the wire 60 is hung from the pulley 50b to the pulley 50a, and the other end is wound around the wire winding portion 70.
  • the wire winding unit 70 winds the wire 60 and unwinds the wire 60 so as to have the rotational torque applied by the torque applying unit 80.
  • the tension applied to the wire 60 is controlled by the rotational torque applied from the torque applying portion 80, and a force for load compensation (load compensating force) is generated.
  • the wire winding portion 70 is installed vertically below the pulley 50a, and is installed so that the other end of the wire 60 laid around the pulley 50a extends vertically downward and is wound.
  • One end side and the other end side of the wire 60 extend vertically downward from the portion laid around the pulleys 50a and 50b, and the portion between the pulleys 50a and 50b is parallel to the first link 20.
  • the torque applying unit 80 applies a rotational torque for winding the wire 60 to the wire winding unit 70.
  • the torque applying unit 80 includes a constant torque spring 81 and a transmission 82.
  • the constant torque spring 81 is composed of, for example, a contact type spiral spring or the like, and outputs a constant rotational torque.
  • the transmission 82 is connected to the constant torque spring 81 by a gear, so that a constant rotational torque output by the constant torque spring 81 is input. Further, the transmission 82 is provided with a stepless or multi-step transmission mechanism, and gives a gain to the input constant rotational torque and outputs the gain to the wire winding unit 70. By setting the gain given in the transmission 82 to a target value, the rotational torque given to the wire winding unit 70 can be changed, so that the load compensated by the load compensating device 1 can be adjusted. ..
  • the condition of load compensation in the load compensating device 1 is that the total of the rotational torque due to the load Mg and the rotational torque due to the own weight mg of the first link 20 and the rotational torque due to the output ⁇ F of the transmission 82 are balanced. Become. That is, it is necessary to set ⁇ so that the following equation (1) holds.
  • M ⁇ g ⁇ L ⁇ cos ⁇ + m ⁇ g ⁇ l ⁇ cos ⁇ ⁇ ⁇ F ⁇ p ⁇ cos ⁇ (1)
  • the load compensating device 1 having a configuration in which the load acting on the first link 20 is compensated by the tension transmitted from the torque applying portion 80 to the wire 60 has been described.
  • the links on which the load acts can be connected, and the load input to each link can be compensated by the tension transmitted from the torque applying portion 80 to the wire 60. That is, in an articulated mechanism in which a plurality of links are connected, it is possible to compensate the load acting on one end side of each link by the tension of the wire on the other end side.
  • the first link 20 in the first embodiment has a configuration in which two links are connected in series will be taken as an example, and a device configuration for performing load compensation for each link will be described.
  • FIG. 2 is a schematic diagram showing the overall configuration of the load compensating device 1 according to the second embodiment.
  • FIG. 3 is a schematic view showing an overall configuration in which a member on the front surface side of the load compensating device 1 is partially transmitted. Note that FIGS. 2 and 3 schematically show the link structure of the load compensating device 1.
  • the load compensating device 1 includes a support portion 110, a first link 120, a second link 130, a third link 140, a fourth link 150, a fifth link 160, and a sixth.
  • the link 170, the seventh link 180, the eighth link 190, the pulleys 200a to 200e, the wires 210a to 210c, the wire winding portions 220a and 220b, the torque applying portion 230, and the loading platform S are provided. There is.
  • the sixth link 170, the seventh link 180, the eighth link 190, the pulley 200b, the wire 210b, and the wire winding portion 220b are on the back side (back side of the paper surface) of the support portion 110.
  • the members necessary for explanation are visualized by appropriately transmitting the members on the front side.
  • g is the gravitational acceleration
  • M is the mass to provide a load
  • m1 is the mass of the first link 120
  • m @ 2 is the mass of the fourth link 0.99
  • L1 is the rotational center O 1 of the first link 120 distance from to the load action point
  • L2 is the distance to the load acting point from the rotation center O 2 of the fourth link 0.99
  • l 1 is the distance to the center of gravity from the rotation center O 1 of the first link 120
  • p1 is the distance to the point of action of the tension of the wire 60 from the rotation center O 1 of the first link 120
  • p2 wire 210b from the rotation center O 1 of the sixth link 170
  • ⁇ 1 represents the angle of the first link 120 from the horizontal direction
  • ⁇ 2 represents the angle of the fourth link 150 from the horizontal direction.
  • ⁇ 1 is the gear ratio (gain) of the transmission 232a described later
  • ⁇ 1 and F1 are the outputs of the transmission 232a
  • ⁇ 2 is the gear ratio (gain) of the transmission 232b described later
  • ⁇ 2 and F2 are the transmissions 232b described later. Represents the output.
  • the support portion 110 is a base member that supports the entire load compensating device 1, and supports the support portion 111 that rotatably supports the first link 120 on the rotation axis R1 and the second link 130 in the vertical and horizontal directions.
  • a sliding mechanism 112 that slidably supports the seventh link 180 and a sliding mechanism 113 that slidably supports the seventh link 180 in the vertical and horizontal directions are provided.
  • the sliding mechanism 112 includes a linear guide 112a that slidably supports the second link 130 in the vertical direction, and a linear guide 112b that slidably supports the linear guide 112a in the horizontal direction.
  • the sliding mechanism 113 includes a linear guide 113a that slidably supports the seventh link 180 in the vertical direction, and a linear guide 113b that slidably supports the linear guide 113a in the horizontal direction.
  • the first link 120 is configured as a parallel link and includes an upper link member 120A and a lower link member 120B.
  • the first link 120 is provided with a pulley 200b rotatably on the rotation shaft R2 on the other end side while the weight (load) of the object acting as a load acts on one end side of the upper link member 120A.
  • the upper link member 120A is rotatably supported at the central portion on the rotation shaft R1 of the support portion 110.
  • the weight (load) of the object to be a load acts on one end side, and the other end side is rotatably supported by the support portion 110 on the rotation shaft R5. ..
  • the second link 130 is rotatably supported by the rotation axis R2 of the first link 120 on one end side. Further, the second link 130 is slidably supported in the vertical direction by the linear guide 112a of the sliding mechanism 112. Further, the second link 130 rotatably supports one end of the third link 140 on the other end side on the rotation shaft R3.
  • the third link 140 is rotatably supported by the rotation axis R3 of the second link 130 on one end side. Further, the other end of the third link 140 is rotatably supported by the support portion 110 on the rotation shaft R4.
  • the distance between the rotation axis R1 and the rotation axis R4 is the same as the length of the second link 130. That is, the portion of the first link 120 from the rotary shaft R1 to the rotary shaft R2, the portion of the second link 130, the third link 140, and the support portion 110 from the rotary shaft R1 to the rotary shaft R4 constitutes a parallel link. There is. Therefore, when the angle of the first link 120 with respect to the support portion 110 changes, the second link 130 maintains the posture along the vertical vertical direction, and the sliding mechanism 112 acts to move the second link 130 in the vertical direction with respect to the support portion 110. Move horizontally.
  • the fourth link 150 is configured as a parallel link and includes an upper link member 150A and a lower link member 150B.
  • the weight (load) of the object to be a load acts on one end side of the upper link member 150A, and the other end side is rotatable on the upper link member 120A of the first link 120 on the rotation axis R6. It is supported.
  • the weight (load) of the object to be a load acts on one end side, and the other end side rotates on the lower link member 120B of the first link 120 on the rotation axis R7. It is supported as much as possible.
  • the fifth link 160 rotatably supports the upper link member 120A of the first link 120 and the upper link member 150A of the fourth link 150 on the rotation axis R6, and also supports the lower link member 120B and the first link 120 of the first link 120.
  • the lower link member 150B of the 4 link 150 is rotatably supported by the rotation shaft R7.
  • One end of the sixth link 170 is rotatably supported by the rotation shaft R1 of the support portion 110, and the seventh link 180 is rotatably supported by the rotation shaft R8 on the other end side.
  • the seventh link 180 is rotatably supported by the rotation axis R8 of the sixth link 170 on one end side. Further, the seventh link 180 is slidably supported in the vertical direction by the linear guide 113a of the sliding mechanism 113. Further, the seventh link 180 rotatably supports one end of the eighth link 190 on the other end side on the rotation shaft R9.
  • the eighth link 190 is rotatably supported on one end side by the rotation shaft R9 of the seventh link 180, and is rotatably supported by the rotation shaft R4 of the support portion 110 on the other end side.
  • the pulley 200a is rotatably installed at the tip of the support column 111 of the support portion 110 about a rotation shaft R1 to which the first link 120 is rotatably connected.
  • the pulley 200b is rotatably installed around a rotation shaft R2 to which the first link 120 and the second link 130 are connected.
  • the pulley 200c is rotatably installed on the rotation shaft R6 and rotates integrally with the upper link member 150A of the fourth link 150.
  • the pulley 200d is rotatably installed around the rotation shaft R1 at the tip of the support column 111 of the support portion 110, and rotates integrally with the sixth link 170.
  • a wire 210c for torque transmission is wound around the pulley 200c and the pulley 200d, and the upper link member 150A of the fourth link 150 and the sixth link 170 are interlocked with each other.
  • the pulley 200e is rotatably installed around a rotation shaft R8 to which the sixth link 170 and the seventh link 180 are connected.
  • the wire 210a is hung around the pulley 200b, and one end thereof is installed at a position vertically below the pulley 200b in the linear guide 112b of the sliding mechanism 112. Therefore, one end of the wire 210a is always maintained in a state of extending vertically downward from the pulley 200b. Further, the wire 210a is hung from the pulley 200b to the pulley 200a, and the other end is wound around the wire winding portion 220a.
  • the wire 210b is hung around the pulley 200e, and one end thereof is installed at a position vertically below the pulley 200e in the linear guide 113b of the sliding mechanism 113. Therefore, one end of the wire 210b is always maintained in a state of extending vertically downward from the pulley 200e. Further, the wire 210b is hung from the pulley 200e to the pulley 200d, and the other end is wound around the wire winding portion 220b.
  • the wire 210c is wound around the pulley 200c and the pulley 200d, and the upper link member 150A of the fourth link 150 and the sixth link 170 are interlocked with each other. That is, the wire 210c transmits rotational torque between the upper link member 150A of the fourth link 150 and the sixth link 170.
  • the wire winding unit 220a winds the wire 210a and unwinds the wire 210a so as to have the rotational torque applied by the torque applying unit 230.
  • the tension applied to the wire 210a is controlled by the rotational torque applied from the torque applying portion 230, and a force for load compensation (load compensating force) at the first link 120 is generated.
  • the wire winding portion 220a is installed vertically below the pulley 200a, and is installed so that the other end of the wire 210a laid around the pulley 200a extends vertically downward and is wound.
  • One end side and the other end side of the wire 210a extend vertically downward from the portion laid around the pulleys 200a and 200b, and the portion between the pulleys 200a and 200b is parallel to the first link 120. Therefore, of the forces applied to the pulleys 200a and 200b from the wire 210a, the forces parallel to the first link 120 cancel each other out, and only the vertically downward force acts. That is, a vertically downward force acts on the other end side (pulley 200b) of the first link 120 by the wire 210a, and the wire is wound so that this force balances with the own weight of the first link 120 and the load applied to one end side. By applying the rotational torque to the portion 220a, the load compensation in the first link 120 is realized.
  • the wire winding unit 220b winds up the wire 210b and unwinds the wire 210b so as to have the rotational torque applied by the torque applying unit 230.
  • the tension applied to the wire 210b is controlled by the rotational torque applied from the torque applying portion 230, and a force for load compensation (load compensating force) at the fourth link 150 is generated.
  • the wire winding portion 220b is installed vertically below the pulley 200d, and is installed so that the other end of the wire 210b laid around the pulley 200d extends vertically below and is wound.
  • One end side and the other end side of the wire 210b extend vertically downward from the portion laid around the pulleys 200d and 200e, and the portion between the pulleys 200d and 200e is parallel to the sixth link 170. Therefore, of the forces applied to the pulleys 200d and 200e from the wire 210b, the forces parallel to the sixth link 170 cancel each other out, and only the vertically downward force acts. That is, a vertically downward force acts on the other end side (pulley 200e) of the sixth link 170 by the wire 210b, and this force is transmitted as a rotational torque of the pulley 200c via the wire 210c.
  • the load compensation at the fourth link 150 can be achieved. It will be realized.
  • the torque applying portion 230 applies a rotational torque for winding the wires 210a and 210b to the wire winding portions 220a and 220b.
  • the torque applying unit 230 is configured to be able to apply different rotational torques to the wire winding unit 220a and the wire winding unit 220b.
  • the torque applying unit 230 can individually include a torque applying mechanism for the wire winding unit 220a and a torque applying mechanism for the wire winding unit 220b.
  • the torque applying portion 230 includes a constant torque spring 231a and a transmission 232a as a torque applying mechanism for the wire winding portion 220a.
  • the constant torque spring 231a is composed of, for example, a contact type spiral spring or the like, and outputs a constant rotational torque.
  • the transmission 232a is connected to the constant torque spring 231a by a gear, so that a constant rotational torque output by the constant torque spring 231a is input.
  • the transmission 232a is provided with a stepless or multi-step transmission mechanism, and gives a gain to the input constant rotational torque and outputs the gain to the wire winding unit 220a. By setting the gain given in the transmission 232a to a target value, the rotational torque given to the wire winding portion 220a can be changed, so that the load compensated in the first link 120 can be adjusted. ..
  • the torque applying unit 230 includes a constant torque spring 231b and a transmission 232b as a torque applying mechanism for the wire winding unit 220b.
  • the constant torque spring 231b is composed of, for example, a contact type spiral spring or the like, and outputs a constant rotational torque.
  • the transmission 232b is connected to the constant torque spring 231b by a gear, so that a constant rotational torque output by the constant torque spring 231b is input.
  • the transmission 232b is provided with a stepless or multi-step transmission mechanism, and gives a gain to the input constant rotational torque and outputs the gain to the wire winding unit 220b. By setting the gain given in the transmission 232b to a target value, the rotational torque given to the wire winding portion 220b can be changed, so that the load compensated in the fourth link 150 can be adjusted. ..
  • the loading platform S places an object to be compensated for the load in the load compensating device 1. Further, the loading platform S functions as one link of the parallel link by rotatably supporting the upper link member 150A and the lower link member 150B of the fourth link 150.
  • the load compensation at the first link 120 and the load compensation at the fourth link 150 are performed independently, and the load compensated at the first link 120 is the weight of the fourth link 150 and the object. Will be included.
  • the principle of load compensation in the first link 120 and the principle of load compensation in the fourth link 150 are the same as in the case of the first embodiment.
  • the gear ratio ⁇ 1 used for the load compensation of the first link 120 is as follows, assuming that the rotational torque output by the constant torque spring 231a is ⁇ 1 and the drum radius of the wire winding portion 220a is r1. It is represented by (3).
  • ⁇ 1 (m1 ⁇ l 1 + (m2 + M) ⁇ L1) ⁇ g ⁇ r1 / (p1 ⁇ ⁇ 1) (3)
  • the gear ratio ⁇ 2 used for the load compensation of the fourth link 150 is as follows, assuming that the rotational torque output by the constant torque spring 231b is ⁇ 2 and the drum radius of the wire winding portion 220b is r2. It is represented by the equation (4).
  • ⁇ 2 (m2 ⁇ l 2 + M ⁇ L2) ⁇ g ⁇ r2 / (p2 ⁇ ⁇ 2) (4)
  • the outputs ⁇ 2 and F2 of the transmission 232b are added to the wire 210b, and the outputs ⁇ 2 and F2 are transmitted by the wire 210b.
  • a rotational torque is generated to rotate the sixth link 170 in the direction opposite to the direction of the load.
  • This rotational torque is transmitted as the rotational torque of the pulley 200c (that is, the fourth link 150) via the wire 210c.
  • Rotational torque by the output [alpha] 2 ⁇ F2 becomes possible commensurate with the rotational torque around the O 2 point caused by load acting due to the weight and an object of the fourth link 150.
  • load compensation in an arbitrary posture is realized.
  • the rotational torque by the output ⁇ 1'F1 transmission 232a becomes a the balanced self-weight of the first link 120, the rotational torque around the O 1 point caused by load acting due to the weight and an object of the fourth link 150, first At the link 120, load compensation can be realized in response to changes in the load to be compensated.
  • the rotational torque by the output ⁇ 2'F2 transmission 232b becomes a possible commensurate with the rotational torque around the O 2 point caused by load acting due to the weight and an object of the fourth link 150, the fourth link 150, to be compensated
  • Load compensation can be realized in response to changes in load. That is, it is possible to realize the load compensating device 1 having higher convenience.
  • the load compensating device 1 comprises a support portion 10 (110), a first link 20 (120), a wire 60 (210a), and a torque applying portion 80 (230). Be prepared.
  • the weight of the object to be a load acts on one end side of the rotation center O which is a fulcrum in the support portion 10 (110), and the other end side is used for load compensation.
  • Force is input.
  • the wire 60 (210a) is laid between the position of the fulcrum of the first link 20 (120) and the position where the force for load compensation is input, and the position of the fulcrum of the first link 20 (120) and the load compensation.
  • the torque applying portion 80 (230) applies a rotational torque for winding the other end of the wire 60 (210a).
  • the torque applying portion 80 (which is input to the other end side of the first link 20 (120) via the wire 60 (210a) is a force that balances the load acting on one end side of the first link 20 (120). It can be applied by the rotational torque from 230). Therefore, it is possible to realize the load compensating device 1 having higher convenience.
  • the first link 20 (120) is provided with a pulley 50b (200b) on the other end side while the weight of the object as a load acts on one end side.
  • the support portion 10 (110) rotatably supports between one end side and the other end side of the first link 20 (120) on the rotation shaft R1 which is the rotation center O, and is installed coaxially with the rotation shaft R1.
  • the pulley 50a (200a) is provided.
  • the support portion 10 (110) is installed vertically below the pulley 50a (200a) and includes a wire winding portion 70 that winds the wire 60 (210a) with a set rotational torque.
  • One end of the wire 60 (210a) is installed vertically below the pulley 50b (200b) of the first link 20 (120), and the wire 60 (210a) is hung around the pulley 50a (200a) and the pulley 50b (200b) and the other end is wound with a wire. It is wound up by a picking unit 70 (220a). Further, the torque applying unit 80 (230) applies a rotational torque for winding the wire 60 (210a) to the wire winding unit 70 (220a). As a result, the rotational torque from the torque applying portion 80 (230) can be adjusted to the rotational torque set by the wire winding portion 70 (220a). Then, the adjusted rotational torque can realize the balance with the load acting on one end side of the first link 20 (120). Therefore, it is possible to realize the load compensating device 1 having higher convenience.
  • the torque applying unit 80 includes a constant torque spring 81 (231a, 231b) and a transmission 82 (232a, 232b).
  • the constant torque spring 81 (231a, 231b) outputs a constant rotational torque.
  • the transmission 82 (232a, 232b) changes and outputs the rotational torque output by the constant torque spring 81 (231a, 231b). This makes it possible to flexibly adjust the output of the rotational torque with a simple configuration.
  • the load compensating device 1 includes a first link 120 (upper link member 120A and lower link member 120B), a fourth link 150 (upper link member 150A and lower link member 150B), a sixth link 170, and a wire 210b. , 210c, a wire winding unit 220b, and a torque applying unit 230.
  • the fourth link 150 (upper link member 150A and lower link member 150B)
  • the weight of the object that is a load acts on one end side
  • the other end side is the first link 120 (upper link member 120A and lower link member 120B).
  • a pulley 200c rotatably supported by the rotating shafts R6 and R7 and installed coaxially with the rotating shaft R6 is provided on one end side of the above.
  • the pulley 200d is rotatably supported by the support portion 110 on the rotation shaft R1.
  • the sixth link 170 is connected to the pulley 200d on one end side and includes the pulley 200e on the other end side.
  • the wire 210c is laid between the pulley 200c and the pulley 200d to maintain the fourth link 150 (upper link member 150A) and the sixth link 170 in parallel, and the fourth link 150 (4th link 150) around the rotation axis R6.
  • the rotation torque of the upper link member 150A) and the rotation torque of the sixth link 170 around the rotation shaft R1 are transmitted.
  • One end of the wire 210b is installed vertically below the pulley 200e of the sixth link 170, and is laid around the pulley 200d and the pulley 200e.
  • the wire winding portion 220b is installed vertically below the pulley 200d, and winds the other end of the wire 210b with a set rotational torque.
  • the torque applying unit 230 applies a rotational torque for winding the wire 210b to the wire winding unit 220b.
  • the object for compensating the load according to the present invention is not limited to the case where the object is placed on the loading platform S. That is, the present invention can be applied to a system (for example, a manual type barrier in which various barrier rods can be installed) in which the member at the tip portion and the load can be replaced by a detachable type or screwing. Further, the present invention can be used in a wide range of situations because it has a configuration in which the load to be compensated can be appropriately adjusted without requiring a power source.
  • the present invention can be applied to palletizing work in agricultural work, loading work on a truck bed, cargo handling work, boarding / alighting assistance in a vehicle for persons with disabilities, chairs assisting standing up, and the like.
  • the elastic member may be divided into a plurality of pieces and installed, or one link or support portions 10, 110 and the like may be installed. It is possible to divide the members of the above into a plurality of parts and install them.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
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PCT/JP2021/019481 2020-05-26 2021-05-21 荷重補償装置 Ceased WO2021241461A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2022527006A JP7808550B2 (ja) 2020-05-26 2021-05-21 荷重補償装置
CN202180038431.5A CN115667125B (zh) 2020-05-26 2021-05-21 载荷补偿装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
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