JP3757760B2 - Auxiliary device and operation force adjusting method thereof - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an assisting device including a turning shaft that enables a work gripping hand that grips a work to turn in a horizontal direction, and an operation force adjusting method thereof.
[0002]
[Prior art]
In recent years, as a work to be mounted on the body of an automobile body assembly line, a cockpit module that integrates various parts such as an instrument panel around the driver's seat or a front end module that integrates various parts such as a radiator core support. The modularization represented is progressing, and the workpieces to be loaded are becoming larger and heavier due to the modularization.
[0003]
For this reason, it is practically impossible to manually mount the large and heavy workpieces, and a multi-axis arm type assisting device having a workpiece gripping hand at the tip is used (for example, Japanese Patent Laid-Open No. Hei 10). -187221). In this multi-axis arm type assisting device, a bearing is used for the pivot shaft of each arm, and the weight of the work is balanced by a gravity balance mechanism such as an air balancer. Therefore, the work is a heavy object. However, the worker can move the workpiece with a light force.
[0004]
[Problems to be solved by the invention]
By the way, in the above-described conventional assisting device, for example, in the cockpit module, it is necessary to carry the workpiece into the vehicle and position the dash portion without interfering with the periphery of the opening from the narrow door opening. In the front-end module, it is necessary to load the work between the narrow body pitches on the conveyor and position a part of the assisting device in front of the engine room of the car body. When doing so, a fine positioning operation is required.
[0005]
However, as described above, the assisting device has a light operating force so that the worker can easily move the workpiece. Therefore, after the above-mentioned fine positioning operation or the gripped workpiece is moved quickly, this assisting device is too light. Therefore, it becomes necessary to hold down the reaction of the work by hand, and the operability is deteriorated. In addition, in order to facilitate the above positioning work, it is only necessary to set a heavy operating force. In this case, the workpiece is gripped by the assisting device from the delivery pallet and lifted, and the handling is performed while approaching the vehicle body. The operating force will be too heavy, leading to a reduction in the original operability of the assisting device.
[0006]
Accordingly, an object of the present invention is to facilitate detailed work such as positioning work while ensuring the original operability of the assisting device when moving the work.
[0007]
[Means for Solving the Problems]
  In order to achieve the above-mentioned object, the invention according to claim 1 is directed to an assisting device for transferring the workpiece by rotating a workpiece gripping hand that grips the workpiece. A turning shaft that can turn in the direction is provided, and an operating force variable means for changing a turning operation force for an operator to turn the work gripping hand is provided on the turning shaft.An operation portion for changing the turning operation force by the operation force varying means is provided on an operation handle that is gripped by an operator when the work gripping hand is turned.As a configuration.
[0008]
  According to the assisting device having such a configuration, an operator, in the case of a fine work such as a positioning work, increases the turning operation force on the turning shaft while the work requiring a large movement such as handling a work. When doing this, lighten the operating force.
  Further, when the operator moves the workpiece by operating the operation handle, the operator operates the operation unit while holding the operation handle to change the turning operation force on the turning axis.
  According to a second aspect of the present invention, in the configuration of the first aspect of the invention, the turning operation force is gradually changed by operating the operation portion.
  According to the said structure, turning operation force changes gradually by operating an operation part.
[0009]
  Claim3The invention of claim 1Or 2In the configuration of the invention, the workpiece gripping hand can pivot in the horizontal direction around the pivot axis of the hand portion on the distal end side of the pivot arm, and the pivot arm grips the workpiece around the pivot axis on the proximal end side. It can turn in the horizontal direction together with the hand, and is configured such that an operating force variable means is provided on each of the hand part turning shaft and the turning shaft.
[0010]
According to the above configuration, when the turning arm turns around the turning axis, the workpiece gripping hand at the tip of the turning arm also turns simultaneously, and the workpiece holding hand itself turns around the turning axis of the hand unit.
[0011]
  Claim4The invention of claim 1Or any one of 3In the configuration of the invention, the operating force varying means includes a release arm that causes the movable friction plate and the fixed friction plate to be pressed against each other by the elastic means and to change the pressing force by the elastic means. As a configuration.
[0012]
According to the above configuration, the pressing force between the friction plates by the elastic means is changed by the release arm, and accordingly, the turning resistance on the turning shaft is changed, and the turning operation force by the operator is changed.
[0013]
  Claim5The invention of claim4In the configuration of the invention, one friction plate is provided on the inner peripheral surface of a casing in which viscous oil is sealed, and the other friction plate is accommodated in the casing and pressed by elastic means.
[0014]
According to the above configuration, the other friction plate is pressed by the elastic means against the one friction plate on the inner peripheral surface of the casing via the viscous oil, and a turning resistance in the turning shaft is generated.
[0015]
  Claim6The invention of claim5In the configuration of the present invention, the release arm has a structure in which one end protrudes outside the casing, and an actuator that is connected to the one end side and rotates the release arm is provided.
[0016]
According to the above configuration, when the actuator is driven, the pressing force between the friction plates by the elastic means changes via the release arm.
[0017]
  Claim7The invention of claim6In the configuration of the invention, the actuator is configured to be a hydraulic type using a hydraulic cylinder.
[0018]
According to the above configuration, the pressing force between the friction plates changes with a simple structure and low cost.
[0019]
  Claim8The invention of claim6In the configuration of the invention, the actuator is configured to be an electric type using a servo motor.
[0020]
According to the said structure, the change of the pressing force between friction plates can be performed with high precision.
[0021]
  Claim9The invention of claim6Or8Either1 itemIn the configuration of the invention ofThe operation partOperation lever operated by the operator to drive the actuatorIsAs a configuration.
[0022]
According to the above configuration, when the operator moves the workpiece by operating the operation handle, the operator operates the operation lever while grasping the operation handle to change the turning operation force on the turning axis.
[0023]
  Claim10In the method for adjusting the operating force of the assisting device in which the work is moved by the operator turning the work gripping hand that grips the work, the work gripping hand that grips the work can be turned in the horizontal direction. A turning axis is provided, and the turning operation force by the operator when turning the work gripping hand around the turning axis is provided., By operating an operation portion provided on an operation handle that is grasped by an operator when the work gripping hand is turned.This is a method for adjusting the operating force to be changed.
[0024]
According to the above operating force adjustment method, the operator increases the turning operation force on the turning axis in the case of fine work such as positioning work, while the work requires a large movement such as handling the work. To reduce the operating force.
[0025]
  According to an eleventh aspect of the present invention, in the operation force adjusting method according to the tenth aspect, the turning operation force is gradually changed by operating the operation portion.
  According to the operation force adjustment method, the turning operation force gradually changes as the operator operates the operation unit.
  Claim12In the assisting device for transferring the workpiece by an operator turning the workpiece holding hand that holds the workpiece, the workpiece holding hand that holds the workpiece and turns it horizontally around the turning axis of the hand portion. And a revolving arm that revolves horizontally with the work gripping hand around the swivel axis on the base end side,Generated by the resistance applying meansSwivel resistance and swivel arm on the swivel axisGenerated by the resistance applying meansThe turning resistance is different from each other.
[0026]
According to the above configuration, for example, by adding a certain amount of turning resistance to the turning axis of the turning arm having a large movement so as not to deteriorate the original operability of the assisting device, the operating force is increased. The moment of inertia when swinging a workpiece with slashes decreases.
[0027]
  Claim13The invention of claim12In the configuration of the invention, the turning resistance of the turning arm that turns largely is set to be larger than the turning resistance of the work gripping hand that turns slightly.
[0028]
According to the above configuration, the operator has a heavy weight by adding a certain amount of turning resistance to the turning axis of the turning arm having a large movement within a range that does not deteriorate the original operability of the assisting device, thereby increasing the operating force. The moment of inertia when the workpiece is swung is reduced.
[0029]
【The invention's effect】
  According to the first aspect of the present invention, the operation force variable means for changing the turning operation force for turning the work gripping hand is provided on the turning shaft that enables the work gripping hand to turn in the horizontal direction. In the case of work that requires a large movement, such as handling a workpiece, while making the turning operation force heavy on the turning axis, the lightening of the operation force makes it easier to work. The optimum operating force can be obtained and workability can be improved.
  Also,Since the operation part for changing the turning operation force by the operation force variable means is provided on the operation handle that the operator grips when turning the work gripping hand, the operator can easily change the turning operation force on the turning axis. Can be made.
  According to the second aspect of the present invention, the turning operation force can be gradually changed by operating the operation unit.
[0030]
  Claim3According to the invention, the workpiece gripping hand can pivot in the horizontal direction around the pivot axis of the hand portion on the distal end side of the pivot arm, and the pivot arm can be used together with the workpiece gripping hand around the pivot axis on the proximal end side. It is possible to turn in the horizontal direction, and the operation force variable means is provided on the hand part turning axis and the turning axis, respectively, so that the operation force can be changed by each operation force changing means on the hand part turning axis and the turning axis. Thus, workability can be improved.
[0031]
  Claim4According to the invention, the operating force variable means includes a release arm that allows the movable friction plate and the fixed friction plate to be pressed against each other by the elastic means, and the pressing force by the elastic means is variable. Therefore, the pressing force between the friction plates by the elastic means, that is, the turning operation force on the turning shaft can be changed by the release arm.
[0032]
  Claim5According to the invention, one friction plate is provided on the inner peripheral surface of the casing in which viscous oil is sealed, and the other friction plate is accommodated in the casing and pressed by elastic means. The friction plates can exhibit an appropriate turning resistance through the viscous oil.
[0033]
  Claim6According to the invention, since the release arm is provided with one end projecting outside the casing and provided with the actuator connected to the one end side to rotate the release arm, the friction by the elastic means via the release arm is provided. It is possible to reliably change the pressing force between the plates.
[0034]
  Claim7According to the invention, since the actuator is a hydraulic type using a hydraulic cylinder, a change in the pressing force between the friction plates can be achieved with a simple structure and low cost.
[0035]
  Claim8According to the invention, since the actuator is an electric type using a servo motor, it is possible to change the pressing force between the friction plates with high accuracy.
[0036]
  Claim9According to the invention, the operation lever operated by the operator to drive the actuator is provided with the work lever.Gripping handTherefore, the operator can easily change the turning operation force on the turning shaft.
[0037]
  Claim10According to the invention, since the work gripping hand for gripping the work is provided with the turning shaft that can turn in the horizontal direction, and the turning operation force by the operator on the turning shaft is changed, the operator can perform the positioning work. In the case of work that requires a large movement, such as handling a workpiece, the work force can be reduced by lightening the operation force. The optimum operating force can be obtained and workability can be improved.
  In addition, since the turning operation force by the operator on the turning axis is changed by operating the operation unit provided on the operation handle that the operator holds when turning the work gripping hand, The turning operation force can be easily changed.
  According to the eleventh aspect of the invention, the turning operation force can be gradually changed by operating the operation portion.
[0038]
  Claim12According to the present invention, the work gripping hand on the hand part turning axisGenerated by the resistance applying meansSwivel resistance and swivel arm swing axisGenerated by the resistance applying meansSince the turning resistance is made different from each other, for example, the turning resistance of the turning arm is set to be heavier than the turning resistance of the work gripping hand as long as the operability of the assisting device is not deteriorated. Thus, the moment of inertia when the worker swings a heavy workpiece greatly decreases, and the operability when stopping or positioning the workpiece can be improved.
[0039]
  Claim13According to the invention, the turning resistance of the turning arm on the turning axis is set to be heavier than the turning resistance of the work gripping hand on the turning part of the hand part within a range not deteriorating the original operability of the assisting device. The moment of inertia when a person swings a heavy workpiece greatly decreases, and the operability when stopping or positioning the workpiece can be improved.
[0040]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
[0041]
FIG. 1 shows a state in which a cockpit module 5 as a work is mounted in a vehicle body 3 of an automobile by an assisting device 1 showing an embodiment of the present invention. The assisting device 1 is provided with a first operating force variable joint 11 at the upper end of a column 9 erected on a base 7, and a gravity such as an balancer is provided above the first operating force variable joint 11. A balance mechanism 13 is attached to maintain a balance with respect to the gravity of the cockpit module 5.
[0042]
The gravity balance mechanism 13 is connected to the proximal end of a primary arm 15 as a swivel arm composed of two parallel links. The primary arm 15 is pivotable in the vertical direction with the connecting portion on the gravity balance mechanism 13 side as a fulcrum, and always holds a secondary arm 21 to be described later horizontally. The first operating force variable joint 11 rotates the primary arm 15 in the horizontal direction with respect to the support column 9 about the main turning axis S1, and includes an operating force variable means for making the operating force variable during the turning. The detailed structure will be described later.
[0043]
The distal end of the primary arm 15 is connected to a side portion of the connector 17 so as to be pivotable in the vertical direction, and a second operation force variable joint 19 as an operation force variable means is provided at the lower part of the connector 17. Yes. A base end of a secondary arm 21 as a turning arm is connected to the second operating force variable joint 19. The second operating force variable joint 19 rotates the secondary arm 21 in the horizontal direction with respect to the primary arm 15 about the rotation axis S2, and has the same structure as the first operating force variable joint 11. is there.
[0044]
The secondary arm 21 has a vertical portion 21a with a tip bent downward, and a third operating force variable joint 23 as an operating force variable means is provided at the lower end of the vertical portion 21a. A work gripping hand 25 is connected to the third operating force variable joint 23. The third operating force variable joint 23 rotates the workpiece gripping hand 25 in the horizontal direction with respect to the secondary arm 21 around the hand part turning axis S3, and is similar to the first operating force variable joint 11. Structure.
[0045]
  The work gripping hand 25 includes a hand main body 27 extended to both sides around the third operating force variable joint 23 corresponding to the shape of the cockpit module 5 that is long in the vehicle width direction. Support claws 29 for supporting a steering member (not shown) in the cockpit module 5 are provided at both ends of the hand main body 27, and an operator can place a cockpit module on the side of the hand main body 27 opposite to the support claws 29. An operation handle 31 is provided to be grasped when performing the mounting work 5. The operation handle 31 changes each turning resistance in each of the operation force variable joints 11, 19 and 23, that is, each turning operation force when the primary arm 15, the secondary arm 21 and the work gripping hand 25 are turned ( To adjust)Become the operation unitAn operation lever 33 is attached.
[0046]
Next, the structure of each of the first, second, and third operating force variable joints 11, 19, and 23 will be described as a representative of each second operating force variable joint 19. FIG. 2 is an enlarged view of the periphery of the second operating force variable joint 19 in FIG. 1 as seen from a different angle, and FIG. 3 is a further enlarged cross-sectional view of FIG.
[0047]
A cylindrical casing 35 filled with viscous oil is fixed to the upper part of the secondary arm 21, and a plurality of friction plates 37 on the movable side are arranged at equal intervals in the vertical direction on the inner peripheral surface of the casing 35. And integrated with the casing 35. A through hole 37 a is formed at the center of each friction plate 37.
[0048]
On the other hand, a main shaft 41 that is relatively rotatable with respect to the casing 35 via a bearing 39 around the turning axis S2 is fixed to the lower portion of the connector 17. The main shaft 41 is inserted into the insertion hole 35a on the upper surface of the casing 35, and the friction plate 43 serving as a fixed side disposed on the upper side of each friction plate 37 is integrated. The distance between the friction plates 43 is equal to the distance between the friction plates 37 described above.
[0049]
A return spring 45 as an elastic means is interposed between the uppermost friction plate 43 and the upper inner surface of the casing 35, and the return spring 45 causes each friction plate 43 to correspond to each corresponding friction plate on the casing 35 side. 37 respectively pressed. Due to this pressing operation, when the secondary arm 21 is rotated with respect to the primary arm 15, a turning resistance corresponding to the pressing force of the return spring 45 is generated.
[0050]
One end of a release arm 47 is inserted between the uppermost friction plate 43 and the return spring 45. The one end side of the release arm 47 is bifurcated, and the main shaft 41 is inserted between the bifurcated branches.
[0051]
The other end on the right side of the release arm 47 in FIG. 3 protrudes to the outside through the cutout hole 35 b of the casing 35, and is rotatably attached to a support bracket 49 provided on the casing 35 via a support pin 51. A hydraulic cylinder 53 serving as an actuator for rotating the release arm 47 is mounted on the outer side surface of the lower casing 35 of the release arm 47 in FIG. The piston rod 55 protruding upward in FIG. 3 of the hydraulic cylinder 53 is connected to the release arm 47 via a connecting pin 57. The connecting pin 57 is set so as to be movable along the longitudinal direction of the release arm 47 as the piston rod 55 advances and retreats, and allows the pivoting operation of the release arm 47 around the support pin 51. ing.
[0052]
When the piston rod 55 is in the retreat limit position (the state shown in FIG. 3), the friction plate 43 is most strongly pressed against the friction plate 37 by the return spring 45. That is, at this time, the turning operation force (resistance) of the secondary arm 21 fixed to the movable casing 35 is the largest. When the piston rod 55 gradually advances upward in the drawing from the state of FIG. 3, the release arm 47 moves the return spring 45 upward, and the pressing force against the friction plate 43 by the return spring 45 gradually weakens. The pressing force of the friction plate 43 against the friction plate 37 gradually decreases. That is, at this time, the turning operation force (resistance) of the secondary arm 21 becomes gradually lighter (smaller).
[0053]
  FIG. 4 shows a simplified pipe connection state between the hydraulic cylinder 53 and the operation lever 33 provided on the operation handle 31 of the workpiece gripping hand 25. The operation lever 33 can be rotated with respect to the operation handle 31 via a support pin 59. When the operator grips the operation lever 33, the operation lever 33 is moved in the arrow B direction, and the projection 61 pushes the push pin 63 into the spring 65. The hydraulic oil in the case 67 that is fixed to the operation handle 31 acts on the hydraulic cylinder 53 via the hydraulic pipe 69 by being moved upward in the figure against the above. When hydraulic oil acts on the hydraulic cylinder 53,releaseThe arm 47 pivots upward, the pressing force to the friction plate 43 by the return spring 45 is weakened, the rotational resistance between the friction plates 37 and 43 is reduced, and the turning operation force is lightened.
[0054]
The hydraulic pipe 69 is also connected to actuators in the other second and third operating force variable joints 11 and 23, that is, hydraulic cylinders (not shown), respectively. The turning operation force in each of the third operation force variable joints 11, 19, and 23 changes simultaneously.
[0055]
As shown in FIG. 5, this turning operation force is in the state of L1 in which the operation lever 33 is completely gripped, that is, the free state in which the pressing force between the friction plates 37 and 43 is released, and the operation lever 33 is not operated. It can be arbitrarily and continuously changed depending on the operation position of the operation lever 33 between the state of L2 completely separated from each other, that is, the state immediately before the lock where the pressing force between the friction plates 37 and 43 is maximum.
[0056]
Next, the mounting operation of the cockpit module 5 on the vehicle body 3 using the assisting device 1 will be described. First, with the operator gripping the operation handle 31, the work gripping hand 25 is brought close to the cockpit module 5 on a delivery pallet (not shown), and the support claw 29 is inserted from the lower side of the instrument panel to be a steering member. The cockpit module 5 is gripped by supporting. At this time, the operator does not operate the operation lever 33 or moves it slightly in the direction of arrow B in FIG.
[0057]
Therefore, the turning resistance at each of the operating force variable joints 11, 19, 23 at this time is large, and the turning operation force for moving the work gripping hand 25 together with the cockpit module 5 is heavy. The operation of inserting the support claw 29 from the lower side of the instrument panel to support the steering member is a fine operation requiring a certain degree of accuracy. This eliminates the troublesome work of restricting the movement of the cockpit module 5 that is more than necessary, and the work gripping hand 25 does not interfere with the component parts of the cockpit module 5 and the workability is improved.
[0058]
Next, the work gripping hand 25 that grips the cockpit module 5 is lifted from the delivery pallet and moved to the door opening 3 a of the vehicle body 3. At this time, the operator squeezes the operating lever 33 and moves it greatly in the direction of arrow B to reduce the turning resistance in each of the operating force variable joints 11, 19, and 23, and to keep the turning operation force light. Thereby, movement operation to the door opening part 3a vicinity of the cockpit module 5 which is a heavy article becomes easy.
[0059]
Further, when the cockpit module 5 is moved to the vicinity of the door opening 3a, the operation of the operation lever 33 is released to increase the turning resistance in each of the operation force variable joints 11, 19, and 23, thereby increasing the turning operation force. deep. As a result, the moment of inertia when the cockpit module 5 which is a heavy object is greatly moved and swung is reduced, and interference of the cockpit module 5 with the vehicle body 3 can be avoided.
[0060]
The cockpit module 5 that has reached the vicinity of the door opening 3a is pushed by the operator into the vehicle together with the work gripping hand 25 from the door opening 3a. At this time, the turning operation force remains heavy. It will not move excessively more than necessary, and interference with the peripheral edge of the door opening 3a is avoided.
[0061]
When the cockpit module 5 is pushed to the front of the dash part in the vehicle, with the operating lever 33 gripped again to reduce the turning operation force, pay attention to the front end (engine room side) of the instrument panel and both ends of the steering member. The cockpit module 5 is pushed forward. Since the work at this time does not require fine positioning, a light operating force is sufficient.
[0062]
Next, a notch portion formed in the steering member is fitted into a locating pin (not shown) protruding from the vehicle body 3 side and positioned. At the time of this positioning operation, the turning resistance in each of the operation force variable joints 11, 19, and 23 is increased, and the turning operation force is increased. Thereby, the positioning work which is a fine work can be easily performed without the cockpit module 5 moving too much.
[0063]
As described above, when the work is performed by moving the work gripping hand 25 while gripping the cockpit module 5, the support claw 29 is inserted under the instrument panel of the cockpit module 5, or the cockpit module 5 is narrowly closed. When carrying out fine work that requires precision and requires precision, such as inserting into the vehicle through the door opening 3a or positioning the cockpit module 5 on the vehicle body 3, the operating force is heavy. By doing so, workability can be improved. On the other hand, in work that does not require accuracy, such as moving the cockpit module 5 greatly, the ease of use as a conventional assisting device is not hindered by reducing the operating force.
[0064]
FIG. 6 shows an example in which a servo motor 71 is used as an actuator instead of the hydraulic cylinder 53 in FIG. In this example, a drive rod 73 is provided at the top of the servo motor 71 in the figure, and the rotational driving force of the servo motor 71 is converted into a linear direction so as to reciprocate in the vertical direction in the figure. The release arm 47 is connected to the connection arm 57 via a connection pin 57.
[0065]
  Here, the release arm 47 is rotatably supported by the casing 35 of the second operating force variable joint 19 via a rotation support pin 75. That is, the state of FIG.returnAs in the state of FIG. 3 in which the pressing force against the friction plate 43 by the spring 45 is maximized, the driving rod 73 is moved backward from the state of FIG. Gradually decreases and the turning operation force gradually decreases.
[0066]
On the other hand, a variable resistor 77 is provided on the operation handle 31 side, and the resistance value of the variable resistor 77 is changed by grasping the operation lever 33 and moving it in the direction of arrow B, and the electric output E based on this changes the servomotor 71. And the servo motor 71 is driven. The electric output E is simultaneously input to actuators in the other first and third operating force variable joints 11 and 23, that is, servo motors (not shown). The turning resistance (turning operation force) in the second and third operation force variable joints 11, 19, and 23 changes simultaneously.
[0067]
FIG. 7 is an overall configuration diagram of an assisting device showing another embodiment of the present invention, and the same components as those in FIG. 1 are denoted by the same reference numerals. In this embodiment, the turning operation resistances of the main turning axis S1 and the turning axis S2 and the hand part turning axis S3 are different from each other. Specifically, the rotation resistance of the rotary joints 79 and 81 on the main turning axis S1 and the turning axis S2 that turn greatly is increased within a range that does not deteriorate the original operability of the assisting device to increase (heavy) the turning operation resistance. On the other hand, the rotational resistance of the rotary joint 83 in the hand part turning axis S3 that turns slightly is reduced to reduce (lighten) the turning operation resistance.
[0068]
  As the structure of each rotary joint 79, 81 and 83, for example, in FIG.It becomes a resistance giving meansThis can be dealt with by changing the spring load of the return spring 45. However, the release arm 47 is not used here, and the turning operation resistance is not changed.
[0069]
As a result, the operator swung the heavy workpiece W by adding a certain amount of operation resistance to the main pivot axis S1 and the pivot axis S2 of the primary arm 15 and the secondary arm 21 with large movement. Moment of inertia is reduced, and the operability when stopping or positioning the workpiece W is improved.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a state where a cockpit module is mounted in a vehicle by an assisting device according to an embodiment of the present invention.
FIG. 2 is an enlarged view of the vicinity of each first operating force joint in FIG. 1 as seen from a different angle.
FIG. 3 is an enlarged cross-sectional view taken along the line AA in FIG. 2;
4 is an explanatory diagram showing a simplified pipe connection state between the hydraulic cylinder shown in FIGS. 2 and 3 and an operation lever on the workpiece gripping hand side. FIG.
FIG. 5 is a correlation diagram between an operation position of an operation lever and a turning operation force.
6 is an explanatory view corresponding to FIG. 4 when a servo motor is used instead of the hydraulic cylinder of FIGS. 2 and 3. FIG.
FIG. 7 is an overall configuration diagram of an assisting device showing another embodiment of the present invention.
[Explanation of symbols]
5 Cockpit module (work)
11 First operation force variable joint (operation force variable means)
19 Second operation force variable joint (operation force variable means)
15 Primary arm (swivel arm)
21 Secondary arm (swivel arm)
23 Third operating force variable joint (operating force variable means)
25 Workpiece gripping hand
31 Operation handle
33 Control lever
35 casing
37 Friction plate (movable side)
43 Friction plate (fixed side)
45 Return spring (elastic means)
47 Release arm
53 Hydraulic cylinder (actuator)
71 Servo motor (actuator)
S1 Main turning axis (turning axis)
S2 Rotating axis
S3 Hand part turning axis (turning axis)

Claims (13)

In an assisting device for transferring the workpiece by an operator turning a workpiece gripping hand that grips the workpiece, the assisting device includes a turning shaft that enables the workpiece holding hand that holds the workpiece to turn in a horizontal direction. An operation force variable means for changing a turning operation force for an operator to turn the work gripping hand, and an operation unit for changing the turning operation force by the operation force changing means is provided on the work gripping hand. An assisting device provided on an operation handle that an operator grasps when turning . The assisting device according to claim 1, wherein the turning operation force gradually changes by operating the operation unit. The workpiece gripping hand can pivot in the horizontal direction around the pivot axis of the hand section on the distal end side of the pivot arm, and the pivot arm pivots in the horizontal direction together with the workpiece gripping hand around the pivot axis on the proximal end side. The assisting device according to claim 1 or 2 , wherein an operating force variable means is provided on each of the hand part turning shaft and the turning shaft. The operating force varying means is provided with a release arm that changes the pressing force by the elastic means when the movable friction plate and the fixed friction plate are pressed against each other by the elastic means. The assisting device according to any one of claims 1 to 3 . 5. The friction plate according to claim 4 , wherein one friction plate is provided on an inner peripheral surface of a casing in which viscous oil is enclosed, and the other friction plate is accommodated in the casing and pressed by elastic means. Helping device. 6. The assisting device according to claim 5, wherein one end of the release arm protrudes from the casing, and an actuator is provided that is connected to the one end side to rotate the release arm. The assisting device according to claim 6 , wherein the actuator is a hydraulic type using a hydraulic cylinder. The assisting device according to claim 6 , wherein the actuator is an electric type using a servo motor. Operation unit, assisted apparatus according to any one of claims 6 to 8, wherein the operator in order to drive the actuator is a lever for operating. In an operation force adjustment method of an assisting device for transferring a workpiece by an operator turning a workpiece gripping hand that grips the workpiece, the workpiece gripping hand for gripping the workpiece is provided with a turning shaft that can turn horizontally. The turning operation force by the operator when turning the workpiece gripping hand around the turning axis is changed by operating the operation unit provided on the operation handle that the operator grips when turning the workpiece holding hand . A method for adjusting the operating force of the assisting device. The method for adjusting an operating force of an assisting device according to claim 10, wherein the turning operating force is gradually changed by operating the operating unit. In the assisting device for transferring the work by turning the work gripping hand that grips the work, the work gripping hand is provided with a work gripping hand that grips the work and swings in the horizontal direction around the hand part turning axis. A pivot arm that pivots in the horizontal direction together with the workpiece gripping hand around a pivot axis on the base end side, the pivoting resistance generated by the resistance imparting means of the workpiece gripping hand on the pivot part of the hand unit, and the pivoting on the pivot axis An assisting device characterized in that the turning resistances generated by the resistance applying means of the arms are different from each other. The assisting device according to claim 12 , wherein the turning resistance of the turning arm that turns largely is set larger than the turning resistance of the work gripping hand that turns slightly.

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