Load compensation device

Abstract

Provided is a load compensating device that can achieve higher convenience. A load compensating device (1) includes a support portion (10), a first link (20), a wire (60), and a torque imparting portion (80). The first link (20) has a weight of an object that is a load acting on one end side with respect to a rotation center that is a fulcrum in the support portion (10), and a force for load compensation input on the other end side. The wire (60) is stretched from a position of the fulcrum of the first link (20) and a position where the force for load compensation is input, extends downward in a plumb line from the position of the fulcrum of the first link (20) and the position where the force for load compensation is input, and one end is fixed. The torque imparting portion (80) imparts a torque for winding the other end of the wire (60).

Description

Technical Field

[0001] This invention relates to a load compensation device that generates a force to balance relative loads. Background Technology

[0002] In recent years, auxiliary devices have been used in various scenarios for heavy-duty handling to reduce the burden on workers. However, since most of these devices rely on actuators, they can lead to limitations in their application due to power requirements or reduced safety during coordinated human operation. Therefore, mechanical load compensation devices that do not use actuators are considered effective.

[0003] Here, in Patent Document 1, a load compensation device with a weight switching function is disclosed as a mechanical load compensation device that does not use an actuator.

[0004] In the compensation weight switching type load compensation device described in Patent Document 1, in addition to the structure of the mechanical self-weight compensation mechanism, in order to cope with the situation of adding a new load, a second spring and a switching mechanism composed of gears are added to perform load compensation in two states: the self-weight compensation state of the arm and the situation of adding a set load.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2011-098821 Summary of the Invention

[0008] The problem that the invention aims to solve

[0009] However, when using load compensation devices to assist in handling operations, it is required that the load to be compensated be adjustable at any height. In contrast, conventional load compensation devices require the device to be set to a predetermined reference posture for adjustment of the load to be compensated, leaving room for improvement in terms of convenience.

[0010] The objective of this invention is to realize a load compensation device with greater convenience.

[0011] means for solving technical problems

[0012] To solve the above problems, a load compensation device according to one aspect of the present invention includes:

[0013] Support body;

[0014] The first link component, which acts on one end of the center of rotation, which is the fulcrum in the support, is subjected to the weight of the object that becomes the load, and inputs a force for load compensation at the other end.

[0015] A first rope component, positioned at the fulcrum of the first connecting rod component and at the location where the force for load compensation is input, extends vertically downward from the fulcrum of the first connecting rod component and at the location where the force for load compensation is input, and is fixed at one end; and

[0016] A torque-applying unit applies torque to the other end of the first rope component.

[0017] Invention effects:

[0018] According to the present invention, a load compensation device with greater convenience can be realized. Attached Figure Description

[0019] Figure 1 This is a schematic diagram showing the overall structure of the load compensation device 1 according to the first embodiment.

[0020] Figure 2 This is a schematic diagram showing the overall structure of the load compensation device 1 according to the second embodiment.

[0021] Figure 3 This is a schematic diagram showing the overall structure that allows the components on the front surface side of the load compensation device 1 to partially penetrate. Detailed Implementation

[0022] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0023] [First Implementation Method]

[0024] [structure]

[0025] Figure 1 This is a schematic diagram showing the overall structure of the load compensation device 1 according to the first embodiment. Furthermore, in Figure 1 The linkage structure of the load compensation device 1 is schematically shown in the figure.

[0026] exist Figure 1 In the middle, the load compensation device 1 includes a support part 10, a first connecting rod 20, a second connecting rod 30, a third connecting rod 40, pulleys 50a and 50b, a wire 60, a wire winding part 70, and a torque imparting part 80.

[0027] In addition, Figure 1In this context, g represents gravitational acceleration, M represents the mass of the load, m represents the mass of the first link 20, L represents the distance from the rotation center O of the first link 20 to the point of application of the load, l represents the distance from the rotation center O of the first link 20 to the center of gravity, p represents the distance from the rotation center O of the first link 20 to the point of application of the tension in line 60, and θ represents the angle between the first link 20 and the horizontal direction. Additionally, α represents the gear ratio (gain) of the transmission 82 (described later), and αF represents the output of the transmission 82.

[0028] The support portion 10 is a component that forms the base of the load compensation device 1, and includes: a support column 11 that supports the first link 20 in a manner rotatable on the rotation axis R1; and a sliding mechanism 12 that supports the second link 30 so that it can slide in both the vertical and horizontal directions. Furthermore, the sliding mechanism 12 includes: a linear guide rail 12a that supports the second link 30 so that it can slide in the vertical direction; and a linear guide rail 12b that supports the linear guide rail 12a so that it can slide in the horizontal direction.

[0029] The first link 20 has the weight (load) of the object acting as a load on one end, and a pulley 50b that can rotate on the rotation axis R2 on the other end. In addition, the first link 20 is rotatably supported at its center on the rotation axis R1 of the support portion 10.

[0030] The second link 30 is rotatably supported at one end by the rotation axis R2 of the first link 20. Additionally, the second link 30 is supported by the linear guide 12a of the sliding mechanism 12, allowing it to slide in the vertical direction. Furthermore, the second link 30 supports one end of the third link 40 at the other end, allowing it to rotate on the rotation axis R3.

[0031] The third link 40 is rotatably supported at one end by the rotation axis R3 of the second link 30. The other end of the third link 40 is rotatably supported on the rotation axis R4 by the support portion 10. The distance between the rotation axes R1 and R4 is the same as the length of the second link 30. That is, the portion of the first link 20 from the rotation axis R1 to the rotation axis R2, the second link 30, the third link 40, and the portion of the support portion 10 from the rotation axis R1 to the rotation axis R4 form parallel links. Therefore, when the angle of the first link 20 relative to the support portion 10 changes, the second link 30, while maintaining its vertical orientation, moves relative to the support portion 10 in both the vertical and horizontal directions via the sliding mechanism 12.

[0032] The pulley 50a is positioned at the front end of the support column 11 of the support 10 so that it can rotate around the rotation axis R1 that is rotatably connected to the first link 20.

[0033] The pulley 50b is configured to rotate about the rotation axis R2 that connects the first link 20 and the second link 30.

[0034] The wire 60 is mounted on the pulley 50b, with one end positioned vertically below the pulley 50b on the linear guide 12b of the sliding mechanism 12. Therefore, one end of the wire 60 always extends vertically downward from the pulley 50b. Furthermore, the wire 60 is mounted from the pulley 50b to the pulley 50a, with the other end wound around the wire winding section 70.

[0035] The wire winding section 70 winds or pulls out the wire 60 to achieve the torque supplied by the torque supply section 80. Thus, the tension applied to the wire 60 is controlled by the torque supplied by the torque supply section 80, generating a force for load compensation (load compensation force). Furthermore, the wire winding section 70 is located vertically below the pulley 50a and is configured to extend and wind the other end of the wire 60, which is mounted on the pulley 50a, vertically downwards. One end and the other end of the wire 60 extend vertically downwards from the portion mounted on the pulleys 50a and 50b, with the portion between the pulleys 50a and 50b parallel to the first connecting rod 20. Therefore, the force parallel to the first connecting rod 20 in the force applied to the pulleys 50a and 50b from the wire 60 cancels each other out, leaving only a vertically downward force. That is, on the other end of the first link 20 (pulley 50b), the wire 60 exerts a vertically downward force, which balances the weight of the first link 20 and the load applied to one end with a torque on the wire winding section 70, thereby achieving load compensation.

[0036] The torque imparting section 80 imparts torque to the winding section 70 of the winding line 60.

[0037] Specifically, the torque imparting unit 80 includes a constant torque spring 81 and a transmission 82.

[0038] The constant torque spring 81 is composed of, for example, a contact disc spring, and outputs a constant torque.

[0039] The transmission 82 receives a constant torque from the constant torque spring 81 via a gear connection. Furthermore, the transmission 82 includes a continuously variable or multi-stage transmission mechanism that imparts a gain to the input constant torque and outputs it to the wire winding section 70. By setting the gain imparted in the transmission 82 to a target value, the torque imparted to the wire winding section 70 can be varied, thus allowing adjustment of the load compensated in the load compensation device 1.

[0040] [Principle of Load Compensation]

[0041] In the above structure, the sum of the torque based on the load Mg and the torque based on the weight mg of the first connecting rod 20, and the torque based on the output αF of the transmission 82, are balanced to form the condition for load compensation in the load compensation device 1.

[0042] That is, α needs to be set so that the following equation (1) holds.

[0043] M×g×L×cosθ+m×g×l×cosθ=α×F×p×cosθ (1)

[0044] Here, the output αF of the transmission 82 depends on the torque τ output by the constant torque spring 81 and the drum radius r of the winding section 70. Therefore, when solving equation (1) for α, we get equation (2).

[0045] α=(m×l+M×L)×g×r / (p×τ) (2)

[0046] In equation (2), the angle θ of the first link 20 relative to the horizontal direction is not included in the elements that determine α.

[0047] That is, regardless of the rotation angle of the first link 20, equation (2) holds true.

[0048] Therefore, in the load compensation device 1, under the condition of compensating any load, the gear ratio α is calculated by equation (2) according to the compensated load, and the gear ratio of the transmission 82 is set to α, so that load compensation under any posture can be realized.

[0049] [effect]

[0050] In the load compensation device 1 with the above structure, when the load Mg acting on the first link 20 is determined, since the weight of the first link 20 is known, the gear ratio (gain) α that the transmission 82 should be set can be calculated by equation (2).

[0051] Furthermore, in the transmission 82, when the operator sets the gear ratio α to the calculated value, the output αF of the transmission 82 is applied to the line 60. This output αF is transmitted through the line 60, generating a torque at the position of pulley 50b that causes the first link 20 to rotate in the opposite direction to the load.

[0052] The torque of the output αF is balanced by the torque around point O generated by the weight of the first link 20 and the load exerted by the object.

[0053] Furthermore, regardless of the rotation angle of the first link 20, equation (2) holds true, thus enabling load compensation under any posture.

[0054] Here, in the load compensation device 1, the load acting on the first link 20 is assumed to be M'g.

[0055] At this time, according to formula (2), the new gear ratio (gain) α' corresponding to the load M'g is calculated, and the operator sets the gear ratio (gain) of the transmission 82 to the calculated value α'.

[0056] Therefore, the torque of the output α'F of the transmission 82 is balanced with the torque around point O generated by the weight of the first link 20 and the new load acting on the object, and load compensation can be achieved in response to the change of load that should be compensated.

[0057] That is, a load compensation device 1 with greater convenience can be realized.

[0058] [Second Implementation]

[0059] Next, the second embodiment of the present invention will be described.

[0060] In the first embodiment, a load compensation device 1 having a structure that uses tension transmitted from the torque imparting part 80 to the line 60 to compensate for the load acting on the first link 20 is described.

[0061] In contrast, the structure can be configured as follows: the links subjected to loads are connected, and the tension transmitted from the torque imparting unit 80 to the line 60 is used to compensate for the load input to each link. That is, in a multi-joint mechanism with multiple links connected, the tension of the line can be used at the other end to compensate for the load acting on one end of each link.

[0062] The following description will use the case where the first link 20 in the first embodiment is a structure formed by connecting two links in series as an example to illustrate the structure of the device for compensating the load of each link.

[0063] [structure]

[0064] Figure 2 This is a schematic diagram showing the overall structure of the load compensation device 1 according to the second embodiment.

[0065] in addition, Figure 3 This is a schematic diagram showing the overall structure that allows partial penetration of components on the front surface side of the load compensation device 1. Furthermore, in Figure 2 and Figure 3 The linkage structure of the load compensation device 1 is schematically shown in the figure.

[0066] exist Figure 2 and Figure 3In the load compensation device 1, a support portion 110, a first connecting rod 120, a second connecting rod 130, a third connecting rod 140, a fourth connecting rod 150, a fifth connecting rod 160, a sixth connecting rod 170, a seventh connecting rod 180, an eighth connecting rod 190, pulleys 200a-200e, wires 210a-210c, wire winding portions 220a and 220b, a torque imparting portion 230, and a stage S. In the load compensation device 1 of the second embodiment, the sixth connecting rod 170, the seventh connecting rod 180, the eighth connecting rod 190, the pulley 200e, the wire 210b, and the wire winding portion 220b are arranged on the back side (inside the paper) of the support portion 110, therefore... Figure 3 In the middle, the components on the front surface side are properly visible so that the components required for explanation can be visualized.

[0067] In addition, Figure 2 and Figure 3 In this diagram, g represents gravitational acceleration, M represents the mass of the load, m1 represents the mass of the first link 120, m2 represents the mass of the fourth link 150, L1 represents the distance from the rotation center O1 of the first link 120 to the point of application of the load, L2 represents the distance from the rotation center O2 of the fourth link 150 to the point of application of the load, l1 represents the distance from the rotation center O1 of the first link 120 to the center of gravity, l2 represents the distance from the rotation center O2 of the fourth link 150 to the center of gravity, p1 represents the distance from the rotation center O1 of the first link 120 to the point of application of the tension in line 60, p2 represents the distance from the rotation center O1 of the sixth link 170 to the point of application of the tension in line 210b, θ1 represents the angle of the first link 120 relative to the horizontal direction, and θ2 represents the angle of the fourth link 150 relative to the horizontal direction. Additionally, α1 represents the gear ratio (gain) of the transmission 232a described later, α1·F1 represents the output of the transmission 232a, α2 represents the gear ratio (gain) of the transmission 232b described later, and α2·F2 represents the output of the transmission 232b described later.

[0068] The support portion 110 is a component that forms the base of the entire load compensation device 1. The support portion 110 includes: a support column 111 that supports the first link 120 in a manner rotatable on the rotation axis R1; a sliding mechanism 112 that supports the second link 130 so that it can slide in both the vertical and horizontal directions; and a sliding mechanism 113 that supports the seventh link 180 so that it can slide in both the vertical and horizontal directions. Furthermore, the sliding mechanism 112 includes: a linear guide rail 112a that supports the second link 130 so that it can slide in the vertical direction; and a linear guide rail 112b that supports the linear guide rail 112a so that it can slide in the horizontal direction. Furthermore, the sliding mechanism 113 includes: a linear guide rail 113a that supports the seventh link 180 so that it can slide in the vertical direction; and a linear guide rail 113b that supports the linear guide rail 113a so that it can slide in the horizontal direction.

[0069] The first link 120 is configured as a parallel link, comprising an upper link member 120A and a lower link member 120B. The weight of an object acting as a load acts on one end of the upper link member 120A, and a pulley 200b rotatable on the rotation axis R2 is provided on the other end of the first link 120. Furthermore, the upper link member 120A is rotatably supported at its center on the rotation axis R1 of the support portion 110. Similarly, the lower link member 120B of the first link 120 acts on the weight of an object acting as a load on one end, and is rotatably supported on the rotation axis R5 by the support portion 110.

[0070] The second link 130 is rotatably supported at one end by the rotation axis R2 of the first link 120. Additionally, the second link 130 is supported by the linear guide 112a of the sliding mechanism 112, allowing it to slide in the vertical direction. Furthermore, the second link 130 supports one end of the third link 140 at the other end in a manner rotatable on the rotation axis R3.

[0071] The third link 140 is rotatably supported at one end by the rotation axis R3 of the second link 130. Furthermore, the other end of the third link 140 is rotatably supported by the support portion 110 on the rotation axis R4. The distance between the rotation axes R1 and R4 is the same as the length of the second link 130. That is, the portion of the first link 120 from the rotation axis R1 to the rotation axis R2, the second link 130, the third link 140, and the portion of the support portion 110 from the rotation axis R1 to the rotation axis R4 constitute parallel links. Therefore, when the angle of the first link 120 relative to the support portion 110 changes, the second link 130, while maintaining its vertical orientation, moves relative to the support portion 110 in both the vertical and horizontal directions via the sliding mechanism 112.

[0072] The fourth link 150 is configured as a parallel link, comprising an upper link member 150A and a lower link member 150B. The weight of an object acting as a load acts on one end of the fourth link 150 via the upper link member 150A, and the other end is rotatably supported on the rotation axis R6 by the upper link member 120A of the first link 120. Similarly, the weight of an object acting as a load acts on one end of the lower link member 150B of the fourth link 150, and the other end is rotatably supported on the rotation axis R7 by the lower link member 120B of the first link 120.

[0073] The fifth link 160 rotatably supports the upper link component 120A of the first link 120 and the upper link component 150A of the fourth link 150 on the rotation axis R6, and rotatably supports the lower link component 120B of the first link 120 and the lower link component 150B of the fourth link 150 on the rotation axis R7.

[0074] The sixth link 170 is rotatably supported at one end on the rotation axis R1 of the support portion 110, and the seventh link 180 is rotatably supported at the other end on the rotation axis R8.

[0075] The seventh link 180 is rotatably supported at one end by the rotation axis R8 of the sixth link 170. Additionally, the seventh link 180 is supported by the linear guide 113a of the sliding mechanism 113, allowing it to slide in the vertical direction. Furthermore, the seventh link 180 supports one end of the eighth link 190 at the other end in a manner rotatable on the rotation axis R9.

[0076] The eighth link 190 is rotatably supported at one end on the rotation axis R9 of the seventh link 180, and rotatably supported at the other end on the rotation axis R4 of the support part 110.

[0077] The pulley 200a is positioned at the front end of the support column 111 of the support 110 so that it can rotate around the rotation axis R1, which is rotatably connected to the first link 120.

[0078] The pulley 200b is configured to rotate about the rotation axis R2, which is connected to the first link 120 and the second link 130.

[0079] The pulley 200c is rotatably mounted on the rotating shaft R6 and rotates integrally with the upper connecting rod component 150A of the fourth connecting rod 150.

[0080] The pulley 200d is located at the front end of the support column 111 of the support 110 so that it can rotate around the rotation axis R1 and rotate integrally with the sixth link 170.

[0081] Furthermore, a torque transmission line 210c is wound on pulleys 200c and 200d to link the upper link component 150A of the fourth link 150 with the sixth link 170.

[0082] The pulley 200e is configured to rotate around the rotation axis R8, which connects the sixth link 170 and the seventh link 180.

[0083] The wire 210a is mounted on the pulley 200b, with one end positioned vertically below the pulley 200b on the linear guide 112b of the sliding mechanism 112. Therefore, one end of the wire 210a maintains a vertically downward extension from the pulley 200b. Furthermore, the wire 210a is mounted from the pulley 200b to the pulley 200b, and the other end is wound around the wire winding section 220a.

[0084] The wire 210b is mounted on the pulley 200e, with one end positioned vertically below the pulley 200e on the linear guide 113b of the sliding mechanism 113. Therefore, one end of the wire 210b maintains a vertically downward extension from the pulley 200e. Furthermore, the wire 210b extends from the pulley 200e to the pulley 200d, with the other end wound around the wire winding section 220b.

[0085] The wire 210c is wound around pulleys 200c and 200d, causing the upper link component 150A of the fourth link 150 and the sixth link 170 to move together. That is, the wire 210c transmits torque on the upper link component 150A of the fourth link 150 and the sixth link 170.

[0086] The wire winding section 220a winds or pulls out the wire 210a to achieve the torque supplied by the torque supply section 230. Thus, the tension applied to the wire 210a is controlled by the torque supplied from the torque supply section 230, generating a force (load compensation force) for load compensation in the first link 120. Furthermore, the wire winding section 220a is located vertically below the pulley 200a and is configured to extend and wind the other end of the wire 210a, which is mounted on the pulley 200a, vertically downwards. One end and the other end of the wire 210a extend vertically downwards from the portions mounted on the pulleys 200a and 200b, with the portion between the pulleys 200a and 200b parallel to the first link 120. Therefore, the force applied to the pulleys 200a and 200b from the wire 210a cancels out the force parallel to the first link 120, leaving only a vertically downward force. That is, on the other end of the first link 120 (pulley 200b), the wire 210a exerts a vertically downward force, which balances the weight of the first link 120 and the load applied to one end, thereby imparting torque to the wire winding portion 220a, thereby achieving load compensation in the first link 120.

[0087] The wire winding section 220b winds or pulls out the wire 210b to achieve the torque supplied by the torque supply section 230. Thus, the tension applied to the wire 210b is controlled by the torque supplied from the torque supply section 230, generating a force (load compensation force) for load compensation in the fourth link 150. Furthermore, the wire winding section 220b is located vertically below the pulley 200d and is configured such that the other end of the wire 210b, which is mounted on the pulley 200d, extends vertically downward and is wound around it. One end and the other end of the wire 210b extend vertically downward from the portion mounted on the pulleys 200d and 200e, with the portion between the pulleys 200d and 200e parallel to the sixth link 170. Therefore, the force applied to the pulleys 200d and 200e from the wire 210b cancels out the force parallel to the sixth link 170, leaving only a vertically downward force. That is, at the other end of the sixth link 170 (pulley 200e), a vertically downward force is exerted by the wire 210b, which is transmitted as torque to the pulley 200c via the wire 210c. The torque is applied to the wire winding portion 220b in a manner that balances the force (torque) transmitted by the wire 210c with the weight of the fourth link 150 and the load applied to one end, thereby achieving load compensation in the fourth link 150.

[0088] The torque-applying unit 230 applies torque to the winding sections 220a and 220b, respectively, to the winding wires 210a and 210b. In this embodiment, the torque-applying unit 230 is configured to apply different torques to the winding sections 220a and 220b.

[0089] As an example, the torque-applying section 230 can separately have a torque-applying mechanism for the wire winding section 220a and a torque-applying mechanism for the wire winding section 220b.

[0090] That is, the torque-applying part 230 serves as a torque-applying mechanism for the wire winding part 220a, and includes a constant torque spring 231a and a transmission 232a.

[0091] The constant torque spring 231a is composed of, for example, a contact disc spring, and outputs a constant torque.

[0092] The transmission 232a receives a constant torque from the constant torque spring 231a via a gear connection. Furthermore, the transmission 232a includes a continuously variable or multi-stage transmission mechanism that imparts a gain to the input constant torque and outputs it to the wire winding section 220a. By setting the gain imparted in the transmission 232a to a target value, the torque imparted to the wire winding section 220a can be varied, thus allowing adjustment of the load compensated in the first link 120.

[0093] In addition, the torque-applying section 230 serves as a torque-applying mechanism for the wire winding section 220b, and includes a constant torque spring 231b and a transmission 232b.

[0094] The constant torque spring 231b is composed of, for example, a contact disc spring, and outputs a constant torque.

[0095] The transmission 232b receives a constant torque from the constant torque spring 231b via a gear connection. Furthermore, the transmission 232b includes a continuously variable or multi-stage transmission mechanism that imparts a gain to the input constant torque and outputs it to the winding section 220b. By setting the gain imparted in the transmission 232b to a target value, the torque imparted to the winding section 220b can be varied, thus allowing adjustment of the load compensated in the fourth link 150.

[0096] The stage S holds the object that is subject to the load compensation device 1. In addition, the stage S functions as a link in the parallel link by supporting the upper link member 150A and the lower link member 150B of the fourth link 150 in a rotatable manner.

[0097] In the above structure, load compensation in the first link 120 and load compensation in the fourth link 150 are performed independently. The load compensated in the first link 120 includes the self-weight of the fourth link 150 and the load of the object.

[0098] The principle of load compensation in the first link 120 and the principle of load compensation in the fourth link 150 are the same as in the first embodiment.

[0099] That is, in this embodiment, if the torque output by the constant torque spring 231a is set to τ1 and the drum radius of the wire winding section 220a is set to r1, then the speed ratio α1 used for load compensation of the first link 120 is expressed by the following formula (3).

[0100] α1=(m1×l1+(m2+M)×L1)×g×r1 / (p1×τ1) (3)

[0101] Similarly, in this embodiment, if the torque output by the constant torque spring 231b is set to τ2 and the drum radius of the winding part 220b is set to r2, then the speed ratio α2 used for load compensation of the fourth link 150 is expressed by the following formula (4).

[0102] α2=(m2×l2+M×L2)×g×r2 / (p2×τ2) (4)

[0103] [effect]

[0104] In the load compensation device 1 with the above structure, when the load Mg acting on the fourth link 150 is determined, since the weights of the first link 120 and the fourth link 150 are known, the gear ratios (gains) α1 and α2 that should be set for each of the transmissions 232a and 232b can be calculated using equations (3) and (4).

[0105] Furthermore, in the transmission 232a, when the operator sets the gear ratio α1 to the calculated value, the output α1·F1 of the transmission 232a is applied to the line 210a. This output α1·F1 is transmitted by the line 210a and generates a torque at the position of the pulley 200b that causes the first link 120 to rotate in the opposite direction to the load.

[0106] The torque of the output α1·F1 is balanced by the torque around point O1 generated by the weight of the first link 120, the weight of the fourth link 150, and the load exerted by the object.

[0107] Furthermore, regardless of the rotation angle of the first link 120, equation (3) holds true, thus enabling load compensation under any posture.

[0108] Similarly, in transmission 232b, when the operator sets the gear ratio α2 to the calculated value, the output α2·F2 of transmission 232b is applied to line 210b. This output α2·F2 is transmitted by line 210b, generating a torque at pulley 200e that causes the sixth link 170 to rotate in the opposite direction to the load. This torque is transmitted via line 210c as torque to pulley 200c (i.e., the fourth link 150).

[0109] The torque of the output α2·F2 is balanced by the torque around point O2 generated by the weight of the fourth link 150 and the load exerted by the object.

[0110] In addition, Equation (4) holds true regardless of the rotation angle of the fourth link 150, thus enabling load compensation under any posture.

[0111] Here, in the load compensation device 1, the load acting on the fourth link 150 is assumed to be M'g.

[0112] At this time, according to formula (3), the new gear ratio (gain) α1' corresponding to the load M'g is calculated, and the operator sets the gear ratio (gain) of the transmission 232a to the calculated value α1'.

[0113] Similarly, according to equation (4), the new gear ratio (gain) α2' corresponding to the load M'g is calculated, and the operator sets the gear ratio (gain) of the transmission 232b to the calculated value α2'.

[0114] Therefore, the torque of the output α1'F1 of the transmission 232a is balanced with the torque of the pivot point O1 generated by the weight of the first link 120, the weight of the fourth link 150, and the load exerted by the object. In the first link 120, load compensation can be achieved in response to the change of load that should be compensated.

[0115] Furthermore, the torque of the output α2'F2 based on the transmission 232b is balanced with the torque of the winding point O2 generated by the weight of the fourth link 150 and the load exerted by the object. In the fourth link 150, load compensation can be achieved in response to the change of load that should be compensated.

[0116] That is, a load compensation device 1 with greater convenience can be realized.

[0117] As described above, the load compensation device 1 according to the present invention includes a support portion 10 (110), a first connecting rod 20 (120), a line 60 (210a), and a torque imparting portion 80 (230).

[0118] The first link 20 (120) has the weight of the object acting as a load on one end relative to the rotation center O, which is the fulcrum in the support 10 (110), and a force for load compensation is input on the other end.

[0119] Line 60 (210a) is erected at the fulcrum position of the first link 20 (120) and the position where the force for load compensation is input, extending vertically downward from the fulcrum position of the first link 20 (120) and the position where the force for load compensation is input, and one end is fixed.

[0120] The torque-applying section 80 (230) applies torque to the other end of the winding line 60 (210a).

[0121] Therefore, the torque from the torque-giving part 80 (230) input to the other end of the first link 20 (120) via line 60 (210a) can be used to balance the load acting on one end of the first link 20 (120).

[0122] Therefore, a load compensation device 1 with greater convenience can be realized.

[0123] In addition, the first link 20 (120) has the weight of the object that becomes the load on one end side, and has a pulley 50b (200b) on the other end side.

[0124] The support portion 10 (110) rotatably supports one end of the first link 20 (120) on the rotation shaft R1, which is the rotation center O, and has a pulley 50a (200a) coaxially arranged with the rotation shaft R1.

[0125] In addition, the support portion 10 (110) includes a wire winding portion 70 which is provided vertically below the pulley 50a (200a) and winds the wire 60 (210a) with a set torque.

[0126] One end of the line 60 (210a) is located vertically below the pulley 50b (200b) of the first connecting rod 20 (120), and is mounted on the pulleys 50a (200a) and 50b (200b), while the other end is wound on the line winding part 70 (220a).

[0127] In addition, the torque imparting section 80 (230) imparts torque to the wire winding section 70 (220a) for winding the wire 60 (210a).

[0128] Therefore, the torque from the torque imparting unit 80 (230) can be adjusted to the torque set by the online winding unit 70 (220a). Moreover, by using the adjusted torque, it is possible to achieve balance with the load acting on one end of the first connecting rod 20 (120).

[0129] Therefore, a load compensation device 1 with greater convenience can be realized.

[0130] In addition, the torque imparting unit 80 (230) is equipped with a constant torque spring 81 (231a, 231b) and a transmission 82 (232a, 232b).

[0131] The constant torque spring 81 (231a, 231b) outputs a constant torque.

[0132] The transmission 82 (232a, 232b) changes and outputs the torque supplied by the constant torque spring 81 (231a, 231b).

[0133] Therefore, the torque output can be flexibly adjusted through a simple structure.

[0134] In addition, the load compensation device 1 includes a first link 120 (upper link component 120A and lower link component 120B), a fourth link 150 (upper link component 150A and lower link component 150B), a sixth link 170, wires 210b and 210c, a wire winding portion 220b, and a torque imparting portion 230.

[0135] The fourth link 150 (upper link component 150A and lower link component 150B) has the weight of an object acting as a load on one end, and is supported on one end of the first link 120 (upper link component 120A and lower link component 120B) in a manner that allows it to rotate on the rotation shafts R6 and R7, and has a pulley 200c coaxially arranged with the rotation shaft R6.

[0136] The pulley 200d is supported by the support part 110 so that it can rotate on the rotating shaft R1.

[0137] The sixth link 170 is connected to pulley 200d at one end and has pulley 200e at the other end.

[0138] Line 210c is installed between pulleys 200c and 200d, keeping the fourth link 150 (upper link component 150A) and the sixth link 170 parallel, and transmitting the torque of the fourth link 150 (upper link component 150A) about the rotation axis R6 and the torque of the sixth link 170 about the rotation axis R1.

[0139] One end of line 210b is positioned vertically below pulley 200e of the sixth link 170, and is mounted on pulleys 200d and 200e.

[0140] The wire winding section 220b is located vertically below the pulley 200d and winds the other end of the wire 210b with a set torque.

[0141] The torque imparting section 230 imparts torque to the wire winding section 220b for winding the wire 210b.

[0142] Therefore, the loads that should be compensated in each of the series-connected links can be variably compensated, thus enabling a load compensation device 1 with greater convenience.

[0143] Furthermore, in the above embodiments, the example described is the case of placing an object on the stage S. However, according to the present invention, the object of the compensating load is not limited to the case of placing an object on the stage S. That is, the present invention can be applied to systems in which the front end of a component or load can be replaced by means of detachment or threaded fixing (e.g., a manual shut-off machine capable of setting various shut-off bars).

[0144] Furthermore, the present invention has a structure that can appropriately adjust the compensated load without the need for a power source, and therefore can be used in a wide range of situations.

[0145] For example, the present invention can be applied to stacking operations in agricultural operations, loading operations on truck loading docks, cargo packing operations, passenger and passenger assistance in vehicles for the disabled, or chairs to assist standing.

[0146] In addition, the elastic component can be divided into multiple parts, or a link or support part 10, 110 or other component can be divided into multiple parts, as long as it can perform the same function as the link structure of the load compensation device 1 shown in the above embodiment.

[0147] Furthermore, the above embodiments illustrate an example of the application of the present invention and do not limit the technical scope of the present invention. That is, without departing from the spirit of the present invention, the present invention can be modified in various ways, such as omissions or substitutions, and various embodiments other than those described above can be adopted. The various embodiments and variations of the present invention that can be adopted are included within the scope of the invention and its equivalents as described in the claims.

[0148] [Symbol Explanation]

[0149] 1. Load compensation device; 10, 110 Support parts; 11, 111 Column parts; 12, 112, 113 Sliding mechanisms; 12a, 12b, 112a, 112b, 113a, 113b Linear guides; 20, 120 First connecting rod; 30, 130 Second connecting rod; 40, 140 Third connecting rod; 50a, 50b, 200a~200e Pulleys; 60, 210a~210c Lines; 70 220a, 220b wire winding section; 80, 230 torque imparting section; 81, 231a, 231b constant torque spring; 82, 232a, 232b gearbox; S platform; 150 fourth link; 160 fifth link; 170 sixth link; 180 seventh link; 190 eighth link; 120A, 150A upper link assembly; 120B, 150B lower link assembly; R1 to R9 rotating shafts.

Claims

1. A load compensation device, characterized in that, have: Support body; The first link component, which acts on one end of the center of rotation, which is the fulcrum in the support, is subjected to the weight of the object that becomes the load, and inputs a force for load compensation at the other end. A first rope component, positioned at the fulcrum of the first connecting rod component and at the location where the force for load compensation is input, extends vertically downward from the fulcrum of the first connecting rod component and at the location where the force for load compensation is input, and is fixed at one end; and A torque-applying unit applies torque to the other end of the first rope component. The first connecting rod component has the weight of an object acting as a load on one end side, and has a first pulley on the other end side. The support body comprises: The second pulley is rotatably supported between one end and the other end of the first connecting rod component on a first rotating shaft that serves as the center of rotation, and is coaxial with the first rotating shaft. as well as A first winding mechanism, positioned vertically below the second pulley, winds the first rope component with a predetermined torque. One end of the first rope component is positioned vertically below the first pulley of the first connecting rod component, and is supported on the first pulley and the second pulley; the other end is wound around the first winding mechanism. The torque-applying unit applies torque to the first winding mechanism for winding the first rope component.

2. The load compensation device according to claim 1, characterized in that, The torque imparting unit has the following features: A constant torque source that outputs a constant torque; and A torque regulating unit that alters and outputs the torque supplied by the constant torque source.

3. The load compensation device according to claim 1 or 2, characterized in that, have: The second link component has the weight of an object acting as a load on one end, and the other end is supported on the one end of the first link component in a manner that allows it to rotate on the second rotation axis, and has a third pulley coaxially arranged with the second rotation axis. The fourth pulley is supported by the support body in a manner that allows it to rotate on the first rotating shaft; The third link component is connected to the fourth pulley at one end and has a fifth pulley at the other end; The second rope component, which is installed between the third pulley and the fourth pulley, keeps the second link component and the third link component parallel, and transmits the torque of the second link component about the second rotation axis and the torque of the third link component about the first rotation axis. The third rope component has one end located vertically below the fifth pulley of the third connecting rod component and is mounted on the fourth pulley and the fifth pulley; as well as The second winding mechanism, located vertically below the fourth pulley, winds the other end of the third rope component at a predetermined torque. The torque-applying unit applies torque to the second winding mechanism for winding the third rope component.

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