JPS594274B2 - 2D movable arm member - Google Patents

Description

[Detailed description of the invention] The present invention is applicable to moving, assembling, or attaching/detaching heavy objects to/from machines.

The present invention relates to a two-dimensional movable arm member of a heavy object moving device that can save labor in load handling work. Recently, a two-dimensional movable arm device that can arbitrarily move a load horizontally and vertically has been proposed and put into practical use. However, the previously proposed devices are as shown in Figures 1 and 3.
As shown in the figure, the upper end of the vertical second link 2 is pivotally attached to the tip of the horizontal first link 1, and in order to configure this into a pantograph shape, each link 1 is attached to the above-mentioned links 1 and 2. A third horizontal link 3 and a fourth vertical link 410 parallel to the same 2 are pivoted at their tips and upper ends E and C, and the rear and lower ends of both links 3 and 4 are pivoted at B. On the other hand, the lengths of each of these links 1 to 4 are AD; DF
The arm mechanism is configured such that = AC; CB, and this arm mechanism is connected to the vertical guide a provided on the bracket P with the 15 rear end part A of the first link 1, and the third link 3 and the third link 3. The pivot portions B of the four links 4 are slidably housed in the horizontal guides b of the racket P, and the bracket P is supported by the support P in a vertical direction, and
The support point A of the arm mechanism 0 mechanism is connected to the winding drum DR of the drive motor DM, which is provided on the bracket P via the reducer GM.
are connected to each other via a chain CH to form an arm device.

In the arm device shown in FIGS. 1 and 3 above, a load support part is provided at the lower end F of the vertical 5 hand-drawn 2 link 2, and the load W is supported by this part, so that the posture of the arm mechanism is as shown in FIG. In the state shown in , if the load W is represented by vectors Therefore, in this arm device, the load acting on the lower end point F of the second vertical link 2 is supported by dividing the force in the horizontal direction and the vertical direction, and the horizontal component force of the load and the horizontal component force are It can be seen that the position is borne by the horizontal guide b, and the vertical component of the load and the vertical position 5 are borne by the vertical guide a.

Therefore, in order to move the load with the arm device, the motor DM winds up or unwinds the chain CH of the drum DR to move the load W up and down, and the arm device moves the load W in the horizontal direction. Since the support point B of the mechanism is freely supported by the horizontal guide b, a horizontal force is applied to the load W, but this poses a practical problem. That is, in the posture of the arm mechanism shown by the solid line in FIG. 2, near the pivot point D of the first link 1 and the second link 2,
The arm device's own weight W acts on the first link 1 as a moment represented by M in the figure, and a horizontal component force M' of this moment M is applied to the support point within the horizontal guide b. With the effect on B, the support point B of the arm mechanism is moved horizontally and adjusted.In other words, the arm mechanism is at the position shown in the figure. Instead of standing still, a so-called flow phenomenon occurs. This phenomenon is caused by the fact that the second link 2
5, the horizontal component force M' also occurs in the opposite direction to that in the previous example. When this kind of arm phenomenon occurs,
This makes it difficult to move the load to any horizontal position and keep it stationary, which is extremely inconvenient in practical terms.

Therefore, in the present invention, in order to prevent the above-mentioned arm drift phenomenon, the arm device is devised as described below.

For example, as shown in Fig. 4, a short fifth link 5, whose lower end is pivotally connected to point A at the rear end of the horizontal first arm 1, is slidably housed in the vertical guide a. At the same time, a tension spring S is stretched between the upper end G of the link 5 and a point K halfway forward of the first link 1, so that the moment M due to the weight W of the arm mechanism is absorbed by the spring. The repellent force of S was used to cancel it out.

In this case, when the angle of the first link 1 (with respect to the vertical guide a) changes, the magnitude of the moment M also changes, but the spring S also changes in response to the change in the moment M, and the arm The moment M due to the mechanism's own weight W and the moment due to the spring S are designed to almost always cancel each other out.

In order to cancel the moment M due to the arm mechanism's own weight W, a compression type spring S5 or an air cylinder (not shown) may be used.

In this case, instead of link 5 in the above example, a link 52 is housed in the vertical guide a, and a compressed spring or air is installed between the lower end α of the link 5' and the point K. A cylinder is provided to apply a compression force to point K of the first arm 1. In this way, the arm member of the present invention can be used as a movable arm device for a heavy object moving device. By carving, it is possible to balance the horizontal component force generated at the horizontal support point that is slidably supported by the moment due to the arm mechanism's own weight, so it is possible to prevent the arm from drifting. Therefore, the load can be easily and smoothly moved in the horizontal direction, and the load can be stopped at the moved location.

[Brief explanation of the drawing]

Are Figures 1 to 3 the conventional arm equipment? FIG. 4 is a skeleton diagram showing the structure of the arm device according to the present invention. 1...First link, 2...Second link, 3...Third link, 4...Fourth link, 5...Fifth link,
A... Rear end of the first link, B. C,. D. E...
Pivot joint, G...Other end of the fifth link, S...Spring, a...Vertical guide, b...Horizontal guide.

Claims (1)

[Claims] 1 The first, second, third, and fourth links form a pantograph-like arm mechanism, and guide the rear end of the first link and the pivot joint between the third and fourth links. In the arm member, the arm member is formed to be slidable on each of the first and second links, and a load supporting portion is formed at the lower end of the second link.
At the rear end A of the link 1, there is a short fifth part that slides within the guide.
One end of the link 5 is pivotally connected, and a spring S or an air cylinder or the like is installed between the other end G of the fifth link 5 and a position closer to the tip than the center of the first link 1. A two-dimensional movable arm member used in a heavy object moving device, characterized in that the arm mechanism is balanced in the horizontal direction.