JP7187805B2 - protection mechanism - Google Patents

Description

The present invention relates to a mechanism for protecting members.

In some cases, predetermined information is acquired by spatially arranging sensors attached to an arm. In that case, a function for deploying and retracting the arm may be provided (see Patent Document 1). In that case, when the sensor is used, the sensor or the like is spatially arranged at a predetermined position by opening the arm. Then, the arm is put in the retracted state during storage or the like.

FIG. 1 is a conceptual perspective view showing a deployment/storage mechanism 500 that is a general example of a deployment/storage mechanism that deploys and retracts an arm.

The unfolding storage mechanism 500 includes an arm 601 , a driving portion 602 , a driving bracket 603 , a member 604 and a base 605 .

A lower end of the member 604 and a lower end of the driving portion 602 are fixed to the base 605 .

Arm 601 is connected to member 604 by arm support pin 705 . Arm 601 may rotate about arm support pin 705 .

A portion of the arm 601 to the right of the arm support pin (arm right portion) is connected to the vicinity of the left end of the drive bracket 603 by a drive pin 704 . Arm 601 may rotate about drive pin 704 .

The drive unit 602 has a well-known up-and-down mechanism (not shown) capable of moving up and down by a motor or a hydraulic drive device. The vicinity of the right end of the drive bracket 603 is connected to the vertical mechanism.

2A and 2B are conceptual diagrams showing the arm deployment operation by the deployment storage mechanism 500 shown in FIG.

FIG. 2(a) shows the deployment storage mechanism 500 when the arm is retracted.

In the deployable storage mechanism 500 shown in FIG. 2(a), the arm 601 is lowered. When deploying the arm 601, the driving section 602 moves the driving bracket 603 downward. Along with this movement, the drive pin 704 and the vicinity of the right end of the arm 601 connected to the drive pin 704 move downward.

This movement causes the arm 601 to rotate clockwise around the arm support pin 705 .

By this rotation, the portion of the arm 601 to the left of the arm support pin 705 (the left portion of the arm) moves upward, and the deployment/storage mechanism 500 enters the state shown in FIG. 2(b).

When the drive unit 602 moves the drive bracket 603 further downward, the left arm portion moves further upward, and the deploying/storing mechanism 500 is in a state where the arm 601 shown in FIG. 2(c) is horizontally deployed. .

1, the arm 601 may be damaged if an unexpected force is applied downward to the left arm portion. Such breakage often results in an impact being applied to the arm 601, in which case a sensor or the like (not shown) fixed to the arm 601 may be broken.

In order to suppress damage to the arm 601 and the sensor, it is effective to make the drive pin 704 easily damaged.

FIG. 3 is a conceptual diagram showing a drive pin 704 that is easily broken. FIG. 3 shows the drive pin 704 along with the arm 601 and the drive bracket 603 around the drive pin 704, assuming that the arrow 902a shown in FIG. 2(a) is viewed.

Between the portion of the drive pin 704 connected to the arm 601 and the portion connected to the drive bracket 603, a weakened portion 801 having a smaller diameter than the circumference is formed.

When an unexpected downward force is applied to the left arm portion, the fragile portion 801 breaks before the arm 601 breaks.

Then, as shown in FIG. 4, the drive pin 704 is broken into a drive pin 704a and a drive pin 704b, and the left arm portion is lowered as shown in FIG. Arm 601 is protected by the above operation.

JP 2013-160244 A

In addition to its own weight, various external forces may be applied to the arm during deployment from the environment in which it is used.
When the drive pin 704 shown in FIG. 3 is used, if such an external force is a sudden force such as an impact force, the drive pin 704 may react hypersensitively to the force and may break unintentionally. . In that case, the deployment storage mechanism 500 shown in FIG. 1 cannot be used continuously.

The drive pin 704 is constantly loaded and metal fatigue accumulates during normal deployment and retraction operations. Therefore, the strength of the drive pin 704 decreases as the usage time increases, and unintended breakage may occur even during normal deployment and retraction operations.

The strength of drive pin 704 against breakage is determined by the dimensions of fragile portion 801 . Due to manufacturing errors in the fragile portion 801, the drive pin 704 may not break under the intended load, or may break under the intended load or less.

For these reasons, it is difficult to accurately break the drive pin 704, which is easily broken, with a set load.

SUMMARY OF THE INVENTION An object of the present invention is to provide a protective mechanism or the like capable of improving the reproducibility of a protective operation of a predetermined member against force applied to the member.

The protection mechanism of the present invention is rotatable about a first member and a predetermined axis provided on the first member over a third angular range including a first angular range and a second angular range. a third member connected to the first member such that a connecting member is connected so as to be movable in a predetermined direction with respect to the shaft within a movable range; and a first force applied to the second member causes angle adjustment means for monotonically changing the angle of the third member with respect to the first member over the third angle range by the second force applied to the connecting member; and the first angle range. and contact means for contacting said third member located at an angle formed by said third member with said first member at which said third member reaches a mechanically unstable equilibrium state. Included in the second angular range.

The protective mechanism or the like of the present invention can improve the reproducibility of the protective action of a given member against the force applied to that member.

It is a perspective conceptual diagram showing a common expansion|deployment storage mechanism. FIG. 4 is a conceptual diagram showing an arm deployment operation by a general deployment and storage mechanism; It is a conceptual diagram showing the drive pin made easy to break. FIG. 4 is a conceptual diagram showing arm protection operation by a general deployment and storage mechanism. FIG. 2 is a conceptual diagram showing a configuration example of a deployment storage mechanism of the present embodiment; FIG. 10 is a diagram (part 1) showing the arm protection operation in the deployment and storage mechanism of the present embodiment; FIG. 11 is a diagram (part 2) showing the arm protection operation in the deployment and storage mechanism of the present embodiment; FIG. 11 is a diagram (part 3) showing the arm protection operation in the deployment and storage mechanism of the present embodiment; FIG. 4 is a diagram (part 4) showing the arm protection operation in the deployment and storage mechanism of the present embodiment. FIG. 10 is a diagram (No. 5) showing the arm protection operation in the deployment and storage mechanism of the present embodiment; It is a block diagram showing the minimum composition of the protection mechanism of an embodiment.

[Configuration and operation]
FIG. 5 is a conceptual diagram showing the configuration of a deployment storage mechanism 501, which is an example of the deployment storage mechanism of this embodiment. FIG. 5(a) is a perspective view of the deployable storage mechanism 501. FIG. FIG. 5(b) is an enlarged view showing the periphery of the cam 112 shown in FIG.

The deployment storage mechanism 501 includes a base frame 101 , an arm 103 , a rod 105 , a sub-arm 106 , a sub-frame 108 , a spring 111 , a cam 112 and a drive bracket 114 . Deployment storage mechanism 501 further includes pins 202 , 204 , 207 , 209 , 210 , 213 and 215 .

An arm 103 is connected to the base frame 101 by a pin 202 . Arm 103 can rotate around pin 202 .

Arm 103 is connected to rod 105 by pin 204 . Rod 105 is connected to sub-arm 106 by pin 207 . Sub-arm 106 is connected to sub-frame 108 by pin 209 . These connections by pins 204, 207 and 209 allow rotational movement about each pin. Arm 103, rod 105 and sub-arm 106 thereby form a link mechanism.

The subframe 108 is arranged on the side surface of the base frame 101 . A pin 210 fixed to the subframe 108 passes through an elongated hole 151 provided in the base frame 101 . The elongated hole has a shape elongated in the vertical direction of FIG. 5(a). The elongated holes and the pins 210 allow the subframe 108 to move vertically on the side surface of the base frame 101 .

A lower end of a spring 111 is connected to the pin 208 . The upper end of spring 111 is connected to recess 156 provided in cam 112 . A pin 213 passes through the cam 112 . Pins 213 also pass through base frame 101 . Their connection by a pin 213 allows rotational movement about the pin 213 around which the cam 112 can rotate.

The spring 111 is mounted in a state of being stretched beyond its free length. The concave portion 156 of the cam 112 is arranged near the slope 108 a with respect to the pin 213 which is the rotation center of the cam 112 . Therefore, the cam 112 generates rotational force due to the force of the spring 111 trying to return to its free length. The roller 112a of the cam 112 is in contact with the slope 108a of the sub-frame 108, thereby restricting rotation due to the rotational force.

When the arm 103 is deployed or retracted, the drive bracket 114 is vertically moved by hydraulic power, electric power, or other power from a drive unit (not shown). The driving section is similar to the driving section 602 shown in FIG.

A drive bracket 114 moves a pin 215 provided on the sub-arm 106 up and down. This vertical motion is converted into rotational motion of the sub-arm 106 with the pin 209 as a fulcrum, and transmitted to the arm 103 via the pin 207 , the rod 105 and the pin 204 . Then, the arm 103 rotates around the pin 202 . The arm 103 is deployed and retracted by the rotational motion.

A force applied to the pin 209 , which is one of the fulcrums of the movement, is transmitted to the subframe 108 , the pin 210 and the spring 111 . The opposite side of the spring 111 is connected to the recess 156 of the cam 112, and the cam 112 is restrained from rotating by the slope 108a of the sub-frame 108, as described above. Therefore, the force applied to pin 209 is supported by cam 112 via spring 111 .

Next, referring to FIGS. 6 to 10, the protection operation of the arm 103 in the deployment/storage mechanism 501 shown in FIG. 5 will be described.

FIG. 6 is a conceptual diagram showing the deployment storage mechanism 501 with the arm 103 deployed. FIG. 6 shows a state in which a predetermined load is applied to the arm 103 by a predetermined external force while the arm 103 is deployed. The external force is within assumptions that can be applied under normal specification conditions.

FIG. 6(a) is a side view of the unfolding/storing mechanism 501. FIG. 6(b) is an enlarged view showing the periphery of the cam 112 shown in FIG. 6(a).

In the state represented in FIG. 6, the drive bracket 114 is stationary and stationary. In this state, when a downward force is applied to the arm 103, the force is transmitted to the sub-arm 106 via the aforementioned link mechanism. Then, the force acts in the direction of lowering the sub-frame 108 with the pin 209 as a fulcrum, and the spring 111 is extended.

At this time, by lowering the subframe 108, the slope 108a rotates the cam 112 counterclockwise around the pin 213. As shown in FIG. The relationship between the amount of descent of the subframe 108 and the amount of rotation of the cam 112 is adjusted by setting the shape of the slope 108a. When the roller 112a of the cam 112 moves while contacting the slope of the 108a, force is applied between the upper end and the lower end of the spring 111, and the spring 111 is extended.

If the external force pushing down the arm 103 disappears from the state shown in FIG. Then, the link mechanism described above restores the arm 103 to its original position where there was no external force pushing down the arm 103 .

7 to 10 show how the unfolding retraction mechanism 501 protects the arm 103 and the spring 111 when an external overload force, which is greater than that shown in FIG. 6, is applied downward to the arm 103. FIG. It is a diagram.

When an overload external force is applied downward to the arm 103, the subframe 108 moves further downward than the state shown in FIG. 6, as shown in FIG. Along with this, the slope 108 a further rotates the cam 112 around the pin 213 .

As shown in FIG. 8, when the center of the spring 111 crosses the vertical straight line passing through the center of the pin 213, which is the rotation axis of the cam 112, to the left, the force that presses the roller 112a against the slope of the slope 108a is Gone. Therefore, the cam 112 rapidly rotates counterclockwise around the pin 213 due to the downward pulling force of the spring 111 .

Then, the unfolding/storage mechanism 501 enters the state shown in FIG. 10 through the state shown in FIG.

In the state shown in FIG. 9, as a result of further rotation of the cam 112 about the pin 213 in the direction indicated by the arrow 901f, the spring 111 loses its fixed end and returns to its free length. At the same time, the holding of the sub-frame 108 by the spring 111 is also lost, and the arm 103 is in a state in which it can freely rotate in the direction indicated by the arrow 901d against the external force.

In the state shown in FIG. 10, the arm 103 continues to rotate around the pin 209 due to its own weight and external force, and as a result, it hangs down and stops. In the state shown in FIG. 10, no external force is applied to the arm 103 and the arm 103 is protected.
[effect]
In the deployment storage mechanism of the present embodiment, when force within the allowable range is applied downward to the arm, the force is relieved by elongation of the spring. Therefore, the deployment storage mechanism can prevent damage to the arm or the like due to the impact force.

When a downward force exceeding the allowable range is applied to the arm, the unfolding/retracting mechanism shifts the spring that maintains the arm in the unfolded state to a natural state, puts the arm in the retracted state, and no more force is applied to the arm. make it Therefore, the deployment storage mechanism can prevent damage to the arm even when an unexpected force is applied downward to the arm.

The unfolding retraction mechanism performs the above operation without using the fragile drive pin described in the background section. Therefore, the unfolding storage mechanism does not have the problems described in the section on the problems to be solved by the invention. Therefore, the unfolding and retracting mechanism can make the force for bringing the arm into the retracted state more constant than when the drive pin is used. In other words, the deployment and retraction mechanism can improve the reproducibility of the protective action of the arm against force applied to the arm.

FIG. 11 is a conceptual diagram showing the configuration of a protection mechanism 501x, which is the minimum protection mechanism of the present invention.

The protection mechanism 501x includes a first member, a third member, a connecting member, an angle adjustment means, and a contact means (not shown).

The third member is rotatable about a predetermined axis provided on the first member over a third angular range including a first angular range and a second angular range. connected to one member.

The connecting member is movably connected to the shaft in a predetermined direction within a movable range.

The angle adjustment means adjusts the angle of the third member with respect to the first member over the third angle range by a second force applied to the connecting member by a first force applied to the second member. to change monotonically.

The contact means contacts the third member located in the first angular range.

Further, the second angle range includes an angle formed by the third member with the first member at which the third member reaches a dynamically unstable equilibrium state.

In the protection mechanism 501x, when the second force increases and becomes stronger, the angle adjustment means monotonically changes the angle of the third member with respect to the first member over the third angle range. The second force is then released or relaxed when the angle exceeds that at which the third member reaches a mechanically unstable equilibrium state. Releasing or relaxing the second force also releases or relaxes the first force.

That is, the protection mechanism 501x can protect the second member.

The protection mechanism 501x performs the above operation without using the breakable drive pin described in the background section. Therefore, the protection mechanism 501x does not have the problems described in the section on the problems to be solved by the invention. Therefore, the protection mechanism 501x can protect the second member with a more constant force than when the drive pin is used.

Therefore, the protection mechanism 501x has the effects described in the section [Effects of the Invention] due to the above configuration.

Note that the protection mechanism 501x is, for example, the deployment/storage mechanism 501 shown in FIG. Also, the first member is, for example, the base frame 101 . Also, the third member is, for example, the cam 112 . Also, the second member is the arm 103, for example. The connecting member is, for example, the subframe 108 . Also, the angle adjusting portion is, for example, the spring 111 . Also, the contact member is the slope 108a.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and further modifications, replacements, and adjustments can be made without departing from the basic technical idea of the present invention. can be added. For example, the configuration of elements shown in each drawing is an example for helping understanding of the present invention, and the configuration is not limited to the configuration shown in these drawings.

Also, part or all of the above embodiments may be described as the following additional remarks, but are not limited to the following.
(Appendix 1)
a first member;
connected to the first member so as to be rotatable about a predetermined axis provided on the first member through a third range of angles including a first range of angles and a second range of angles; a third member;
a connecting member connected movably in a predetermined direction with respect to the shaft within a movable range;
A second force applied to the connecting member by a first force applied to the second member causes the angle of the third member with respect to the first member to vary monotonically over the third range of angles. angle adjustment means;
contact means for contacting the third member located in the first angular range;
with
A protection mechanism, wherein an angle formed by the third member with the first member, wherein the third member reaches a dynamically unstable equilibrium state, is included in the second angle range.
(Appendix 2)
The angle adjustment means comprises an elastic member, the first position of the elastic member is connected to the first connecting portion of the third member, and the second force is applied to the second position of the elastic member. , Supplementary Note 1.
(Appendix 3)
2. The protection mechanism of clause 2, wherein the resilient member is a spring.
(Appendix 4)
In the elastic member, the first connecting portion is a first straight line passing through the center of a second axis connecting the third member and the first member and perpendicular to the first direction, which is the direction of the first force. in a first state in a second direction perpendicular to the second straight line with respect to a second straight line that is opposite to the first direction and parallel to the first direction and that passes through the center 4. The protection mechanism of clause 2 or clause 3, wherein the protection mechanism is in a stretched state due to a second force and in a natural state in a second state in which the first connection is in the first orientation with respect to the first straight line, respectively.
(Appendix 5)
5. The protection mechanism according to appendix 4, wherein the contact surface of the contact means is oriented in an orientation including the first orientation.
(Appendix 6)
The contact means contacts a predetermined portion of the third member in the first state, and moves the third member along with movement of the portion maintaining the contact with an increase in the first force. Transitioning from the first state to the second state through rotation about a second axis;
Protection mechanism as described in appendix 5.
(Appendix 7)
7. The protection mechanism of clause 6, wherein the surface is planar.
(Appendix 8)
8. A protection mechanism according to Clause 6 or Clause 7, wherein said portion is provided with rollers rolling over said contact means.
(Appendix 9)
9. The protection mechanism of any one of Appendixes 1-8, comprising the second member.
(Appendix 10)
10. The protection mechanism of any one of Appendixes 1-9, wherein the second member is an arm.
(Appendix 11)
11. The protection mechanism of appendix 10, further comprising a link mechanism for opening and closing the arm.
(Appendix 12)
12. The protection mechanism according to Appendix 10 or Appendix 11, further comprising a drive for opening and closing the arm.

101 Base frame 103, 601 Arm 105 Rod 106 Sub-arm 108 Sub-frame 108a Slope 111 Spring 112 Cam 112a Roller 114 Drive bracket 151 Long hole 156 Recess 202, 204, 207, 208, 209, 210, 213 Pin 500, 501 Deployment storage mechanism 501x protection mechanism 602 drive unit 603 drive bracket 604 member 605 base 704, 704a, 704b drive pin 705 arm support pin 801 fragile portion 901a, 901d, 902a arrow

Claims (4)

base frame,
a cam rotatably connected to the base frame at a first connection point and having a recess;
a subframe comprising an elastic member having one end attached to the recess of the cam, the other end of the elastic member being attached and the tip of the cam contacting;
an arm rotatably connected to the second connection point of the base frame and capable of being deployed and retracted;
a rod pivotally connected at one end to a third connection point between the tip of the arm and the second connection point; and
a sub arm having one end rotatably connected to the other end of the rod and the other end rotatably connected to the sub frame;
A protection mechanism comprising
When an external force is applied to the deployed arm, the arm rotates about the second connection point, and the rod and the sub-arm rotate in accordance with the rotation of the arm, whereby the sub-arm rotates. The frame moves to the other end side of the sub-arm, the elastic member attached to the sub-frame is stretched, the force is transmitted to the cam, and the tip of the cam in contact with the sub-frame becomes the first connection. rotate toward the arm with the point as a fulcrum,
When the external force is greater than or equal to the allowable range, the tip of the cam separates from the sub-frame due to further rotation of the cam toward the arm, the stretched elastic member is released, and the arm is accommodated. ,
protection mechanism. 2. The protection mechanism according to claim 1 , wherein a portion of said sub-arm that contacts the tip of said cam is provided with a slope that inclines toward said arm, and said tip of said cam rotates along said slope . When an external force within an allowable range is applied to the deployed arm, the rod and the sub-arm rotate in accordance with the rotation of the arm about the second connection point, and are attached to the sub-frame. 3. The protection mechanism according to claim 1, wherein said elastic member is stretched to relieve said external force . 4. A protection mechanism according to claim 1, 2 or 3, wherein said tip of said cam is provided with a roller .

Images