JP5560108B2 - Load compensation mechanism and design method thereof - Google Patents

Description

  The present invention relates to a load compensation mechanism and a design method thereof.

  Conventionally, load compensation mechanisms are known. For example, a load compensation mechanism disclosed in Patent Document 1 includes a base, a first arm rotatably connected to the base, a second arm rotatably connected to an end of the first arm, and one end. Is connected to the connecting portion of the first arm and the second arm, the other end is connected to the vicinity of the connecting portion of the first arm on the base, and one end of the first arm is connected to the first arm. A second elastic body connected to a protruding portion that protrudes horizontally from the lower end portion, and having the other end connected to the lower end portion of the base. The load compensation mechanism includes a rotational moment based on the elastic force of the first elastic body and a second elasticity so as to cancel the rotational moment based on the weight of the first arm at an arbitrary rotational position of the first arm. A rotational moment based on the elastic force of the body is applied.

  The load compensation mechanism of Patent Document 2 includes a support, an arm that is rotatably connected to the support, a connection member that is connected to the elastic body via a direction changing member provided at one end of the support and connected to the support. And an elastic body having one end connected to the connecting member and the other end connected to the arm. The load compensation mechanism includes a distance from a connecting portion between the support column and the arm to a connecting portion of the connecting member in the support column, and a distance from the connecting portion between the support column and the arm to the direction changing portion of the connecting member by the direction changing member. By making them equal, the rotational moment based on the elastic force of the elastic body is applied so as to cancel the rotational moment based on the load acting on the arm at any rotational position of the arm.

  The load compensation mechanism of Patent Document 3 includes a fixed base, a movable base that moves in the vertical direction with respect to the fixed base, a support member that connects the fixed base and the movable base, a first elastic body, and a second elastic body. And an elastic body. The fixed base includes a protruding portion that protrudes upward from the horizontal portion. The support member includes a first link and a second link that are coupled in an X shape and are rotatable at the coupling portion. One end of the first link is rotatably connected to the movable table, and the other end is connected to the horizontal portion of the fixed table so as to be slidable in the horizontal direction. One end of the second link is slidably connected to the movable base in the horizontal direction, and the other end is rotatably connected to the horizontal portion of the fixed base. One end of the first elastic body is connected to one end of the first link, and the other end is connected to the other end of the second link. One end of the second elastic body is connected to the other end of the first link, and the other end is connected to the protruding portion of the fixed base.

  Further, the load compensation mechanism of Patent Document 4 is configured substantially the same as the load compensation mechanism of Patent Document 3, and the difference from the load compensation mechanism of Patent Document 3 is that one end of the second elastic body is the first. The other link is connected to the other end of the first link. That is, the first elastic body is disposed in the vertical direction, and the second elastic body is disposed in the horizontal direction. In these load compensation mechanisms disclosed in Patent Documents 3 and 4, when the movable base is moved to an arbitrary height while the work body is placed on the movable base, the first elastic body becomes the work body. A value obtained by adding the upward force exerted and the upward force exerted by the second elastic body on the work piece via the support member is set so as to balance the load of the work piece.

  Incidentally, Patent Documents 5 and 6 disclose techniques for reducing the rotational moment acting on the arm by a load, although it is not a load compensation mechanism. In particular, Patent Document 6 discloses a technique for changing the reduction characteristic of the rotational moment.

Japanese Utility Model Publication No. 61-9298 Japanese Patent No. 4144221 JP 2006-55494 A JP 2008-222348 A Japanese Patent Publication No. 3-17634 JP-A-6-170780

The load compensation mechanisms of Patent Documents 1 to 4 do not disclose a specific design method, although the technical idea for compensating the load is disclosed as described above. Therefore, there is a possibility that it cannot be easily realized if it is actually realized.
It is an object of the present invention to provide a load compensation mechanism that can be easily realized and a design method thereof.

  The load compensation mechanism according to the present invention includes a first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and a first action point on the rotating body. A third action point on which the elastic force of the second elastic body acts, and the second action point is substantially arranged on a straight line connecting the rotation axis of the rotating body and the third action point. The first elastic body and the second elastic body are arranged so as to be substantially orthogonal to each other, and the torque around the rotation axis of the rotating body based on the load acting on the first action point, A resultant torque of a torque around the rotation axis of the rotating body based on the elastic force acting on the second action point and a torque around the rotation axis of the rotating body based on the elastic force acting on the third action point. It is characterized by acting in the reverse rotation direction.

  Alternatively, the load compensation mechanism according to the present invention includes a first action point where a load acts on the rotating body, a second action point where the elastic force of the first elastic body acts on the rotating body, and the rotating body. A third action point on which the elastic force of the second elastic body acts, and the second action point is substantially orthogonal to a straight line connecting the rotation axis of the rotating body and the third action point. The first elastic body and the second elastic body are arranged substantially parallel to each other, and are arranged substantially parallel to each other around the rotation axis of the rotating body based on the load acting on the first action point. And a torque around the rotation axis of the rotating body based on the elastic force acting on the third action point and a torque around the rotation axis of the rotating body based on the elastic force acting on the third action point. The resultant torque is caused to act in a reverse rotation direction.

  The end of the first elastic body or the second elastic body is such that the first elastic body or the second elastic body is not shaken in the rotational direction of the rotating body when the rotating body rotates. As described above, including an allowance portion that allows displacement in a direction substantially orthogonal to the arrangement direction of the first elastic body or the second elastic body at the second action point or the third action point, Is preferred.

  When the first action point is located substantially on a vertically upward straight line passing through the rotation axis of the rotating body, the respective elastic forces of the first elastic body and the second elastic body become substantially zero. It is preferable.

  Alternatively, it is preferable that an elastic force is introduced into the second elastic body in advance when the first action point is substantially positioned on a vertically upward straight line passing through the rotation axis of the rotating body.

In the above-described load compensation mechanism, it is preferable that the following [Equation 1] is satisfied.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, and the distance from the rotation axis of the rotating body to the first action point is l.

Furthermore, in the above-described load compensation mechanism, it is preferable that the following [Equation 1] and [Equation 2] are satisfied when the load acting on the first action point changes by α times.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
[Formula 2] k ₂ l ₂ (l ₂ + l ₂ ′) = αmgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, the distance from the rotation axis of the rotating body to the first action point is l, and the second elasticity Let the amount of change due to the elastic force introduced into the body be l ₂ ′.

The design method of the load compensation mechanism of the present invention preferably satisfies the following [Equation 1] in designing the above-described load compensation mechanism.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, and the distance from the rotation axis of the rotating body to the first action point is l.

Furthermore, in the design method of the load compensation mechanism of the present invention, when designing the load compensation mechanism described above, when the load acting on the first action point changes α times, the following [Equation 1] and [Equation 1] 2] is satisfied, A design method of a load compensation mechanism.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
[Formula 2] k ₂ l ₂ (l ₂ + l ₂ ′) = αmgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, the distance from the rotation axis of the rotating body to the first action point is l, and the second elasticity Let the amount of change due to the elastic force introduced into the body be l ₂ ′.

  As described above, according to the present invention, the load compensation mechanism can be easily realized.

It is a figure which shows typically the basic principle 1 which concerns on this invention. It is a figure explaining the displacement of the 2nd and 3rd action point in the basic principle 1 which concerns on this invention. It is a figure which shows typically the different form of the basic principle 1 which concerns on this invention. It is a figure which shows the basic principle 2 which concerns on this invention typically. It is a figure which shows typically the different form of the basic principle 2 which concerns on this invention. It is a figure which shows the basic principle 3 which concerns on this invention typically. It is a figure which shows typically the form which applied the basic principle which concerns on this invention to the raising / lowering apparatus.

  The best mode for carrying out the present invention will be described below with reference to the accompanying drawings. First, the basic principle of the load compensation mechanism according to the present invention will be described, and then the application form of the load compensation mechanism will be described. Incidentally, in the following description, the direction parallel to the direction in which the load mg acts is the Y-axis direction, and the direction orthogonal to the Y-axis direction is the X-axis direction.

<Basic principle 1>
The basic principle 1 of the load compensation mechanism according to the present invention will be described. In this principle, as shown in FIG. 1, a link 101 that is a rotating body is arranged in the Y-axis direction. The link 101 rotates around the rotation axis O1. One end portion of the link 101 is provided with a first action point P at which a load mg (hereinafter simply referred to as mg) acts.

  The other end of the link 101 is provided with a second action point A where the elastic force of the first elastic body 102 acts. The first elastic body 102 is disposed in the X-axis direction. For example, a coil spring can be used as the first elastic body 102, but a member such as rubber having an elastic coefficient may be used. One end of the first elastic body 102 is connected to the base 100. The other end of the first elastic body 102 is connected to the second action point A. The first elastic body 102 is arranged so as to have a natural length (zero tension) in a state where the link 101 is not rotating, that is, in a state arranged in the Y-axis direction in FIG. Incidentally, in FIG. 1, in order to clearly show the arrangement of the link 101, the arrangement position of the first elastic body 102 is not accurately shown.

  Here, when the link 101 rotates around the rotation axis O1, the allowance portion 1021 that allows the displacement of the link 101 in the Y-axis direction is prevented so that the first elastic body 102 is not twisted in the Y-axis direction. It is preferable to provide. The permissible portion 1021 includes a protruding portion 1021 a that protrudes from the second action point A in the Z-axis direction, and a sliding plate 1021 b provided at the other end of the first elastic body 102. Thereby, as shown in FIG. 1, when mg acts on the first action point P of the link 101 and the link 101 rotates in the direction of the arrow R, the projecting portion 1021a slides on the sliding plate 1021b. Then, the sliding plate 1021b is pushed in. Therefore, the first elastic body 102 is not twisted following the rotation of the link 101.

  On the link 101, the elastic force of the second elastic body 103 is placed on the straight line L1 connecting the rotation axis O1 and the second action point A, that is, the first action point P and the second action point A in this principle. A third action point B at which is applied is provided. The third action point B is arranged at a position between the rotation axis O1 and the second action point A. The second elastic body 103 is arranged in the Y-axis direction. For example, a coil spring can be used as the second elastic body 103, but a member such as rubber having an elastic coefficient may be used. One end of the second elastic body 103 is connected to the base 100. The other end of the second elastic body 103 is connected to the third action point B. The second elastic body 103 is arranged so as to have a natural length when the link 101 is not rotating. Incidentally, in FIG. 1, in order to clearly show the arrangement of the link 101, the arrangement position of the second elastic body 103 is not accurately shown.

  Here, when the link 101 rotates about the rotation axis O1, the allowance part 1031 that allows the displacement of the link 101 in the X-axis direction is prevented so that the second elastic body 103 is not twisted in the X-axis direction. It is preferable to provide. The allowable portion 1031 includes a protruding portion 1031 a that protrudes from the third action point B in the Z-axis direction, and a sliding plate 1031 b provided at the other end of the second elastic body 103. Thereby, as shown in FIG. 1, when mg acts on the first action point P of the link 101 and the link 101 rotates in the direction of the arrow R, the protrusion 1031a slides on the sliding plate 1031b. The sliding plate 1031b is pushed in. Therefore, the second elastic body 103 is not twisted following the rotation of the link 101.

That is, the rotation moment τ _P around the rotation axis O1 based on mg acting on the first action point P and the rotation axis O1 around the rotation axis O1 based on the elastic force of the first elastic body 102 acting on the second action point A. a rotation moment tau _a and the third second rotational moment of the rotation axis O1 around based on the elastic force of the elastic body 103 tau _B acting on the action point B, and about the rotation axis O1 of each other in the rotational direction opposite Works. Therefore, if the rotational moment τ _P and the value obtained by adding the rotational moments τ _A and τ _B are equal, a mechanism for compensating mg is obtained.

Specifically, as shown in FIG. 2, if mg acts on the first action point P and the link 101 rotates about the rotation axis O1 in the direction of the arrow R by the rotation angle θ, The rotational moment τ _P around the rotation axis O1 based on mg acting on the point of action _P is expressed by [Expression 1].
[Formula 1] τ _P = mgl _P sin θ
However, the distance to the rotational axis O1 and l _P from the first working point P.

The displacement x in the X-axis direction of the first elastic body 102 at this time is expressed by [Expression 2].
[Formula 2] x = l _A sin θ
However, the distance from the second action point A to the rotation axis O1 is l _A.
Further, the displacement y in the Y-axis direction of the second elastic body 103 is expressed by [Expression 3].
[Formula 3] y = l _B (1-cos θ)
However, the distance from the third action point B to the rotation axis O1 is assumed to be 1 _B.

Therefore, the force f _A acting in the X-axis direction at the second action point _A is expressed by [Expression 4].
[Formula 4] f _A = k ₁ x = k ₁ l _A sin θ
However, the elastic modulus of the first elastic body 102 and _{k 1.}
Further, the force f _B acting in the Y-axis direction at the third action point _B is expressed by [Expression 5].
[Formula 5] f _B = k ₂ y = k ₂ l _B (1-cos θ)
However, the elastic modulus of the second elastic member 103 and _{k 2.}

Therefore, the rotational moment τ _A around the rotation axis O1 based on the elastic force of the first elastic body 102 acting on the second action point A is expressed by [Expression 6].
[Formula 6] τ _A = k ₁ l _A ² sin θ cos θ
Further, the rotational moment τ _B around the rotation axis O1 based on the elastic force of the second elastic body 103 acting on the third action point B is expressed by [Expression 7].
[Expression 7] τ _B = k ₂ l _B ² (1-cos θ) sin θ

Therefore, the total torque (synthetic torque) τ _k of the rotational moments τ _A and τ _B is expressed by [Equation 8].
[Expression 8] τ _k = k ₁ l _A ² sin θ cos θ + k ₂ l _B ² (1−cos θ) sin θ
Here, when k ₁ l _A ² = k ₂ l _B ² , [Expression 8] is expressed by [Expression 9].
[Expression 9] τ _k = k ₂ l _B ² sin θ
Therefore, the force ω acting upward is expressed by [Formula 10].
[Expression 10] ω = τ _k / (l _p sin θ) = k ₂ l _B ² / l _p
Thereby, the above-described principle can make the force acting upwards constant.

Further, assuming that k ₁ l _A ² = k ₂ l _B ² = C, [Expression 8] is expressed by [Expression 11].
[Formula 11] τ _k = C sin θ
Therefore, from [Equation 1], if C = mgl is satisfied, a mechanism capable of compensating mg can be realized.

As described above, when the applicant satisfies the relationship of k ₁ l _A ² = k ₂ l _B ² = mgl as described above, the force ω acting upward can be made constant and mg can be compensated. Thus, the load compensation mechanism can be easily realized by designing as described above.

Since the load compensation mechanism design method described above can only compensate for a load up to mg, it is preferable to introduce an initial elastic force into the second elastic body 103.
That is, in order to introduce an initial elastic force to the second elastic body 103, as shown in FIG. 1, the initial installation point (equal point) is moved downward by l _B ′.

Thereby, [Formula 3] changes to [Formula 12].
[Formula 12] y = l _B (1-cos θ) + l _B ′
Here, 'a, _{l B} using _{l B' l B} is expressed as _{= l B (α-1)} , represented by [Expression 9] [Formula 13].
[Formula 13] τ _k = Cα sin θ

In this case, α = 1 means that the initial displacement l _B = 0, and mg is compensated. When α = 2, l _B ′ = l _B , and the load that can be compensated is doubled. In this way, the corresponding load can be adjusted simply by introducing the initial elastic force to the second elastic body 103. Incidentally, if the second elastic body 103 is extended and installed in advance, the corresponding load can be reduced. The reason for introducing the initial elastic force only to the second elastic body 103 is to enable cos θ to be extinguished as described above, and the same applies to the principle described later. Therefore, an initial elastic force is introduced into the elastic body that generates a rotational moment in the y-axis direction.

  In the above principle, the second action point A and the third action point B are provided on the opposite side of the rotation axis O1 and the side where the first action point P is provided in the link 101. FIG. As shown in FIG. 2, a second action point A and a third action point B may be provided between the first action point P and the rotation axis O1 in the link 101. In short, with respect to the rotational moment around the rotation axis O1 based on mg acting on the first action point P, the rotation around the rotation axis O1 based on the elastic force of the first elastic body 102 acting on the second action point A is obtained. The resultant moment of the rotational moment around the rotational axis O1 based on the rotational moment and the elastic force of the second elastic body 103 acting on the third action point B acts in the opposite rotational direction and is equal. The second action point A and the third action point B, and the arrangement and elastic modulus of the first elastic body 102 and the second elastic body 103 are appropriately changed, but at least the rotation axis O1 and the third action point. When the second action point A is arranged on the straight line L1 connecting B, the first elastic body 102 and the second elastic body 103 are arranged so as to be substantially orthogonal to each other.

<Basic principle 2>
The basic principle 2 of the load compensation mechanism according to the present invention will be described. This principle is based on the same technical idea as the basic principle 1 described above, and the arrangement of the second action point A and the second elastic body 103 is different. In addition, the description which overlaps with the above-described basic principle 1 is omitted.

  That is, as shown in FIG. 4, the link 201 of the present principle is formed in a T shape. Specifically, a first action point P is provided at one end of the link 201. A third action point B is provided at the other end of the link 201. And the 2nd action point A is provided on the straight line L3 orthogonal to the straight line L2 which ties the 1st action point P and the 3rd action point B, and passes along the rotating shaft O2. The first elastic body 102 is connected to the second action point A arranged in this way in the Y-axis direction. Further, the second elastic body 103 is connected to the third action point B in the Y-axis direction.

At this time, if the link 201 rotates about the rotation axis O2 in the arrow R direction by a rotation angle θ, the displacement y _A of the first elastic body 102 in the Y-axis direction is expressed by [Expression 14].
[Formula 14] y _A = l _A sin θ
Further, the displacement y _B of the second elastic body 103 in the Y-axis direction is expressed by [Expression 15].
[Formula 15] y _B = l _B (1-cos θ)

Therefore, the force f _A acting in the Y-axis direction at the second action point _A is expressed by [Expression 16].
[Formula 16] f _A = k ₁ l _A sin θ
Further, the force f _B acting in the Y-axis direction at the third action point _B is expressed by [Expression 17].
[Formula 17] f _B = k ₂ l _B (1-cos θ)

Therefore, the rotational moment τ _A around the rotation axis O2 based on the elastic force of the first elastic body 102 acting on the second action point A is expressed by [Equation 18].
[Formula 18] τ _A = k ₁ l _A ² sin θ cos θ
Further, the rotational moment τ _B around the rotation axis O2 based on the elastic force of the second elastic body 103 acting on the third action point B is expressed by [Equation 19].
[Formula 19] τ _B = k ₂ l _B ² (1-cos θ) sin θ

  In this way, [Equation 18] is equal to [Equation 6] of Basic Principle 1 and [Equation 19] is equivalent to [Equation 7] of Basic Principle 1, and thereafter, if designed in the same manner as Basic Principle 1, The principle can also realize a mechanism that can compensate for the load.

  In the above principle, the first elastic body 102 and the second elastic body 103 are arranged in the Y-axis direction, but they may be arranged in the X-axis direction as shown in FIG. In short, with respect to the rotational moment around the rotation axis O2 based on mg acting on the first action point P, the rotation around the rotation axis O2 based on the elastic force of the first elastic body 102 acting on the second action point A is applied. The resultant moment of the rotational moment about the rotational axis O2 based on the rotational moment and the elastic force of the second elastic body 103 acting on the third action point B acts in the opposite rotational direction and is equal. The second action point A, the third action point B, the arrangement of the first elastic body 102 and the second elastic body 103, and the elastic coefficient are appropriately changed.

  For example, as an application example of the above principle, the principle shown in FIG. 6 may be used. The principle shown in FIG. 6 includes a first link 301, a second link 302, and a third link 303. The first link 301 is formed in an L shape. That is, the first link 301 includes a first side 301a and a second side 301b orthogonal to the end of the first side 301a. A first action point P is provided at one end of the first side 301 a of the first link 301. A rotation axis O <b> 3 is provided at the other end of the first side 301 a of the first link 301. A fourth action point D is provided at a position between the rotation axis O <b> 3 and the first action point P in the first link 301. One end of the second link 302 is rotatably connected to the fourth action point D. Although the other end of the second link 302 is not specifically illustrated, it is configured to be slidable in the X-axis direction. The other end of the second link 302 is coupled to the first elastic body 102 disposed in the X-axis direction. That is, the other end of the second link 302 is a second action point A.

  A fifth action point E is provided at the end of the second side 301 b of the first link 301. One end of the third link 303 is rotatably connected to the fifth action point E. Although the other end of the third link 303 is not specifically illustrated, it is configured to be slidable in the X-axis direction. The other end of the third link 303 is connected to the second elastic body 103 arranged in the X-axis direction. That is, the other end portion of the third link 303 is a third action point B.

  With such a configuration, as indicated by a broken line in FIG. 6, when the first link 301 is not rotating, the second link 302 is moved in the Y-axis direction together with the first side 301 a of the first link 301. Be placed. The second side 301b of the first link 301 and the third link 303 are expanded in the X-axis direction with the fifth action point E interposed therebetween.

  Incidentally, in order to make the end portions of the second and third links 302 and 303 slidable, for example, a pin protruding in the Z-axis direction is provided at the end portion of the link, and the pin is provided in the X-axis direction. It is realizable by the structure of inserting in the groove | channel formed.

Here, as shown in FIG. 6, the distance from the rotation axis O3 to the fourth action point D and the distance from the second action point A to the fourth action point D are set to l _A / 2. The distance from the rotation axis O3 to the fifth action point E and the distance from the third action point B to the fifth action point E are set to l _B / 2.

By setting in this manner, the first link 301 arrow rotation angle in the direction R theta, and rotated about an axis of rotation O3, displacement x _A in the X-axis direction of the first elastic body 102, [ [Expression 20]
[Expression 20] x _A = l _A sin θ
The displacement _{x B} in the X-axis direction of the second elastic member 103 is represented by [Expression 21].
[Formula 21] x _B = l _B (1-cos θ)

When obtaining the rotational moment τ _A about the rotation axis O3 based on the elastic force of the first elastic body 102 acting on the second action point A, the position of the second action point A is set as the rotation axis O3. It is possible to simulate the position of the point A ′ on the straight line L4 connecting the fourth action point D, and as a result, it can be obtained by the above-mentioned [Expression 18].

Further, when obtaining the rotational moment τ _B around the rotation axis O3 based on the elastic force of the second elastic body 103 acting on the third action point B, the position of the third action point B is set as the rotation axis O3. It is possible to simulate the position of the point B ′ on the straight line L5 connecting to the fifth action point E, and as a result, it can be obtained by the above-mentioned [Equation 19].
Therefore, the mechanism of FIG. 6 can realize a mechanism that can compensate for the load, similarly to the principles of FIGS.

<Application form>
The form which applied the above-mentioned basic principle to the raising / lowering apparatus is demonstrated. As shown in FIG. 7, the lifting device 1 of this application form includes a link mechanism 2, a base 3, a lifting platform 4, a first elastic body 5, and a second elastic body 6. Yes.

  The link mechanism 2 includes a linear first link 21, an L-shaped second link 22, and a linear third link 23. The first link 21 and the second link 22 are rotatably connected at the central portion in the longitudinal direction. The second link 22 includes a first side 221 and a second side 222 orthogonal to the lower end of the first side.

  One end of the first link 21 is connected to the base 3 so as to be slidable in the X-axis direction. The other end of the first link 21 is rotatably connected to the lifting platform 4. One end of the first side 221 of the second link 22 is coupled to the lifting platform 4 so as to be slidable in the X-axis direction. The other end of the first side 221 of the second link 22 is rotatably connected to the base 3. One end of the third link 23 is rotatably connected to the end of the second side 222 of the second link 22. The other end of the third link 23 is connected to the base 3 so as to be slidable in the X-axis direction.

  The base 3 includes a first groove portion 31 extending in the X-axis direction so that the other end of the first link 21 can be slid. A pin 21 a provided at the other end of the first link 21 is inserted into the first groove 31. Moreover, the base 3 is provided with the 2nd groove part 32 extended in a X-axis direction so that the other edge part of the 3rd link 23 can be slid. A pin 23 a provided at the other end of the third link 23 is inserted into the second groove 32.

  The lifting platform 4 includes a groove 41 that extends in the X-axis direction so that one end of the first side 221 of the second link 22 can slide. A pin 221 a provided at one end of the first side 221 of the second link 22 is inserted into the groove 41.

  The first elastic body 5 is disposed in the X-axis direction. One end of the first elastic body 5 is connected to one end of the first side 221 of the second link 22. The other end of the first elastic body 5 is connected to the lifting platform 4. The second elastic body 6 is also arranged in the X-axis direction. One end of the second elastic body 6 is connected to the other end of the third link 23. The other end of the second elastic body 6 is connected to the base 3. The first elastic body 5 and the second elastic body 6 are connected so as to have a natural length when the first link 21 and the second link 22 are not rotating, that is, when θ = 0 °. Yes. Incidentally, in this embodiment, since the first elastic body 5 and the second elastic body 6 are arranged in the X-axis direction, the elastic body can be stored in the base 3 or the lifting platform 4 and functions as a lifting device. Configuration. Further, it is possible to ensure a large range in which the lifting platform 4 is moved up and down as compared with the case where the elastic body is arranged in the Y-axis direction.

When the luggage 7 is placed on the lifting platform 4 of the lifting device 1 having such a configuration and has an arbitrary height, the first elastic body 5 and the second elastic body 6 are the first link 21 and the second link 22. Are not rotated, that is, they are connected so as to have a natural length at θ = 0 °, so that the X-axis of one end of the first side 221 of the second link 22 is shown in FIG. direction of displacement _{x 1} is represented by [expression 22].
[Formula 22] x ₁ = l ₁ sin θ
However, the length of the first side 221 of the second link 22 is assumed to be l ₁ .
The displacement x ₂ in the X-axis direction of the other end of the third link 23 is represented by [Expression 23].
[Formula 23] x ₂ = l ₂ (1-cos θ)
However, the length of the second side 222 of the second link 22 _l 2/2, the length of the third link 23 and _l 2/2.

  That is, in this embodiment, one end of the first side 221 of the second link 22 is made to correspond to the first action point A of the basic principle 1 described above, and the other end of the third link 23 is It is possible to correspond to the third action point B of the basic principle 2 described above, and when designed based on the basic principle described above, the lifting device 1 capable of compensating for the load can be realized.

  As described above, the embodiments of the load compensation mechanism and the design method thereof according to the present invention have been described. However, the present invention is not limited to the above configuration, and can be changed without departing from the technical idea of the present invention.

DESCRIPTION OF SYMBOLS 1 Lifting apparatus 2 Link mechanism 3 Base, 31 1st groove part, 32 2nd groove part 4 Lift base, 41 Groove part 5 1st elastic body 6 2nd elastic body 7 Luggage 21 1st link, 21a Pin 22 2nd link, 221 1st edge, 221a pin, 222 2nd edge 23 3rd link, 23a pin 100 Base 101 Link 102 1st elastic body 103 2nd elastic body 201 Link 301 1st link, 301a 1st side, 301b 2nd side 302 2nd link 303 3rd link 1021 Permissible part, 1021a Protruding part, 1021b Sliding plate 1031 Permissible part, 1031a Protruding part, 1031b Sliding plate

Claims (9)

A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second working point, is arranged a third point of action and the rotation axis of the rotating body to sintering BuTadashi line,
Wherein the first elastic body and the second elastic member, disposed in a straight intersect each,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third And a resultant torque of the torque around the rotation axis of the rotating body based on the elastic force acting on the acting point of the load acting in the opposite direction of rotation. A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second working point, and placed in a straight line and a straight interlinked straight line connecting the third point of action and the rotation axis of the rotating body,
Wherein the first elastic body and the second elastic body, is disposed on a flat row,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third and the resultant torque of the rotary axis of the torque the rotary member based on the elastic force acting on the point of action, to act in the rotational direction opposite to,
When the first action point is located on a vertically upward straight line passing through the rotation axis of the rotating body, the respective elastic forces of the first elastic body and the second elastic body are zero,
The following load compensation mechanism you and satisfies the equation 1].
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, and the distance from the rotation axis of the rotating body to the first action point is l. A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second action point is arranged on a straight line orthogonal to a straight line connecting the rotation axis of the rotating body and the third action point,
The first elastic body and the second elastic body are arranged in parallel,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third A resultant torque of the torque around the rotation axis of the rotating body based on the elastic force acting on the point of action of
When the first action point is located on a vertically upward straight line passing through the rotation axis of the rotating body, an elastic force is introduced into the second elastic body in advance,
A load compensation mechanism that satisfies the following [Equation 1] and [Equation 2] when a load acting on the first action point changes by α times.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
[Formula 2] k ₂ l ₂ (l ₂ + l ₂ ′) = αmgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, the distance from the rotation axis of the rotating body to the first action point is l, and the second elasticity Let the amount of change due to the elastic force introduced into the body be l ₂ ′. The end of the first elastic body or the second elastic body is such that the first elastic body or the second elastic body is not shaken in the rotational direction of the rotating body when the rotating body rotates. as such, further comprising a permitting portion for permitting the displacement to the second point of action or the third orientation and straight direction orthogonal to the first elastic member or the second elastic member at the working point The load compensation mechanism according to any one of claims 1 to 3, wherein The allowable portion includes a protruding portion protruding from the second operating point or the third operating point, a sliding plate provided at an end of the first elastic body or the second elastic body, With
The load compensation mechanism according to claim 4, wherein when the rotating body rotates, the projecting portion slides on the sliding plate. A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second action point is arranged on a straight line connecting the rotation axis of the rotating body and the third action point,
The first elastic body and the second elastic body are arranged so as to be orthogonal,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third A load compensation mechanism design method for causing a resultant torque of a torque around a rotation axis of the rotating body based on an elastic force acting on an acting point of the load to act in a reverse rotation direction,
When the first action point is located on a vertically upward straight line passing through the rotation axis of the rotating body, the respective elastic forces of the first elastic body and the second elastic body are set to zero,
A design method for a load compensation mechanism, which satisfies the following [Equation 1].
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, and the distance from the rotation axis of the rotating body to the first action point is l. A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second action point is arranged on a straight line connecting the rotation axis of the rotating body and the third action point,
The first elastic body and the second elastic body are arranged so as to be orthogonal,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third A load compensation mechanism design method for causing a resultant torque of a torque around a rotation axis of the rotating body based on an elastic force acting on an acting point of the load to act in a reverse rotation direction,
When the first action point is located on a vertically upward straight line passing through the rotation axis of the rotating body, an elastic force is introduced into the second elastic body in advance,
A load compensation mechanism design method characterized by satisfying the following [Equation 1] and [Equation 2] when a load acting on the first action point changes α-fold.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
[Formula 2] k ₂ l ₂ (l ₂ + l ₂ ′) = αmgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, the distance from the rotation axis of the rotating body to the first action point is l, and the second elasticity Let the amount of change due to the elastic force introduced into the body be l ₂ ′. A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second action point is arranged on a straight line orthogonal to a straight line connecting the rotation axis of the rotating body and the third action point,
The first elastic body and the second elastic body are arranged in parallel,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third A load compensation mechanism design method for causing a resultant torque of a torque around a rotation axis of the rotating body based on an elastic force acting on an acting point of the load to act in a reverse rotation direction,
When the first action point is located on a vertically upward straight line passing through the rotation axis of the rotating body, the respective elastic forces of the first elastic body and the second elastic body are set to zero,
A design method for a load compensation mechanism, which satisfies the following [Equation 1].
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, and the distance from the rotation axis of the rotating body to the first action point is l. A first action point at which a load acts on the rotating body, a second action point at which the elastic force of the first elastic body acts on the rotating body, and an elastic force of the second elastic body acts on the rotating body. Providing a third point of action,
The second action point is arranged on a straight line orthogonal to a straight line connecting the rotation axis of the rotating body and the third action point,
The first elastic body and the second elastic body are arranged in parallel,
Torque around the rotation axis of the rotating body based on the load acting on the first action point, torque around the rotation axis of the rotating body based on elastic force acting on the second action point, and the third A load compensation mechanism design method for causing a resultant torque of a torque around a rotation axis of the rotating body based on an elastic force acting on an acting point of the load to act in a reverse rotation direction,
When the first action point is located on a vertically upward straight line passing through the rotation axis of the rotating body, an elastic force is introduced into the second elastic body in advance,
A load compensation mechanism design method characterized by satisfying the following [Equation 1] and [Equation 2] when a load acting on the first action point changes α-fold.
[Formula 1] k ₁ l ₁ ² = k ₂ l ₂ ² = mgl
[Formula 2] k ₂ l ₂ (l ₂ + l ₂ ′) = αmgl
However, the elastic coefficient of the first elastic body is k ₁ , the distance from the rotation axis of the rotating body to the second action point is l ₁ , the elastic coefficient of the second elastic body is k ₂ , and the rotating body The distance from the rotation axis to the third action point is l ₂ , the load acting on the first action point is mg, the distance from the rotation axis of the rotating body to the first action point is l, and the second elasticity Let the amount of change due to the elastic force introduced into the body be l ₂ ′.

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