Self-weight compensation link mechanism

Abstract

To provide a weight compensation linkage mechanism for reducing an occupied space required for operation.SOLUTION: A weight compensation linkage mechanism comprises: a rotation arm which is supported rotatably around a fulcrum; a first arm which is provided on one end of the rotation arm; a supported body provided on the other end of the first arm; a second arm whose one end is provided on the other end of the rotation arm, and which extends in a direction opposite to a direction where the first arm extends; a counterweight provided on the other end of the second arm; and a linkage mechanism for displacing the second arm on the basis of a displacement amount of the first arm. A first angle formed by the rotation arm and the first arm, and a second angle formed by the rotation arm and the second arm are different from each other. The linkage mechanism controls so that, when the position of the first arm is displaced, a position of a combined barycenter obtained by combining a barycenter of the supported body and a barycenter of the counterweight is at a position of the fulcrum or at a prescribed position around the fulcrum.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a self-weight compensation link mechanism.

Background Art

[0002] In recent years, in manufacturing sites, automation by machines, robots, etc. and reduction in the number of workers have been promoted, but it is difficult to completely eliminate manual work. Among manual work, there is work where an operator handles heavy tools. Such work is a major obstacle to improving work efficiency. As a mechanism for compensating the self-weight of such heavy tools, there is a self-weight compensation link mechanism (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a self-weight compensation link mechanism having a first arm element and a second arm element obtained by extending two links of a pantograph-type link structure mounted on an autonomous mobile vehicle, with a working tool detachably attached to a hand at the tip of the first arm element and a counterweight attached to the tip of the second arm element to provide a self-weight compensation function. By using such a configured self-weight compensation link mechanism, it becomes possible to compensate for the self-weight of the tool.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in the case of the self-weight compensation link mechanism disclosed in Patent Document 1, when the working tool attached to the hand is brought close to the fulcrum of the pantograph-type link structure, among the four links, the connecting portion connecting the two upper links is greatly separated from the fulcrum. Therefore, it is necessary to secure a wide occupancy space required for the operation of the pantograph-type link structure.

[0006] The present disclosure has been made to solve the above problems, and an object thereof is to provide a self-weight compensation link mechanism capable of reducing the occupancy space.

Means for Solving the Problems

[0007] In order to solve the above problems, the self-weight compensation link mechanism according to the present disclosure includes a rotating arm extending in one direction and rotatably supported about a fulcrum, a first arm having one end provided at one end of the rotating arm in a rotatable state, a supported body provided at the other end of the first arm, a second arm having one end provided at the other end of the rotating arm in a rotatable state and extending in a direction opposite to the side in which the first arm extends, a counterweight provided at the other end of the second arm, and an interlocking mechanism provided on the rotating arm for displacing the second arm based on the displacement amount of the first arm. The first angle formed by the rotating arm and the first arm is different from the second angle formed by the rotating arm and the second arm, and the interlocking mechanism controls such that when the position of the first arm is displaced, the position of the combined center of gravity obtained by combining the center of gravity of the supported body and the center of gravity of the counterweight becomes the position of the fulcrum or a predetermined position around the fulcrum.

Effects of the Invention

[0008] According to the self-weight compensation link mechanism of the present disclosure, the occupancy space of the self-weight compensation link mechanism can be reduced.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Modes for Carrying Out the Invention

[0010] <First Embodiment> Referring to FIG. 1, the self-weight compensation link mechanism 10 of the first embodiment will be described. In FIG. 1, M1 is the mass of the supported body 16 (hereinafter referred to as "mass M1"), M2 is the mass of the counterweight 18 (hereinafter referred to as "mass M2"), CG1 is the position of the center of gravity of the supported body 16 (hereinafter referred to as "center of gravity position CG1"), CG2 is the position of the center of gravity of the counterweight 18 (hereinafter referred to as "center of gravity position CG2"), CG3 is the position of the combined center of gravity obtained by combining the center of gravity of the supported body 16 and the center of gravity of the counterweight 18 (hereinafter referred to as "combined center of gravity position CG3"), and the Z direction indicates vertically upward. However, since the combined center of gravity position CG3 can vary depending on the mass M1 of the supported body 16, the center of gravity position CG1, the mass M2 of the counterweight 18, and the center of gravity position CG2, the following configuration realizes the function of matching with the fulcrum 29. Here, let the ratio of the mass M2 to the mass M1 (= mass M2 / mass M1) be α.

[0011] (Overall configuration of the self-weight compensation link mechanism) The self-weight compensation link mechanism 10 includes an interlocking mechanism 11, a rotating arm 13, a first arm 14, a supported body 16, a second arm 17, and a counterweight 18.

[0012] (Configuration of the interlocking mechanism) The interlocking mechanism 11 includes a first sprocket 21, a second sprocket 22, a chain 24, and a chain adjustment mechanism 25. The first sprocket 21 is in a disk shape. The first sprocket 21 has a plurality of convex portions 21A. The plurality of convex portions 21A are provided on the outer peripheral portion. The plurality of convex portions 21A are arranged at intervals in the circumferential direction. The plurality of convex portions 21A are portions that engage with the chain 24. The first sprocket 21 is rotatably connected to one end 27 of the rotating arm 13, and receives the weight of the supported body 16 supported by the first arm 14 as torque through the bending moment of the first arm 14.

[0013] The second sprocket 22 is in a disk shape. The second sprocket 22 has a plurality of convex portions 22A. The plurality of convex portions 22A are provided on the outer peripheral portion. The plurality of convex portions 22A are arranged at intervals in the circumferential direction. The plurality of convex portions 22A are portions that engage with the chain 24. The second sprocket 22 is rotatably connected to the other end portion 28 of the rotary arm 13, is arranged away from the first sprocket 21, and receives, as torque, the weight of the counterweight 18 supported by the second arm 17 via the bending moment of the second arm 17.

[0014] The second sprocket 22 configured as described above is arranged at a position away from the first sprocket 21. The pitch diameter of the second sprocket 22 is configured to be equal to the pitch diameter of the first sprocket 21. As the first and second sprockets 21 and 22, for example, sprockets having the same configuration (the same size and the same shape) can be used.

[0015] The chain 24 is attached to the outer peripheral portions (the plurality of convex portions 21A and 22A) of the first and second sprockets 21 and 22 so that the first and second sprockets 21 and 22 are arranged inside.

[0016] Chi The chain adjustment mechanism 25 is provided on the path of the chain 24. Chi The chain adjustment mechanism 25 is configured to be able to adjust the tension state of the chain (able to adjust the relative phase of the first sprocket 21 and the second sprocket 22). Chi As the chain adjustment mechanism 25, for example, a turnbuckle, a chain tensioner, or the like can be used.

[0017] (Configuration of the Rotary Arm) The rotating arm 13 has a rotating arm body 26, one end 27 that rotatably supports the first sprocket 21 via a shaft 31A, the other end 28 that rotatably supports the second sprocket 22 via a shaft 31B, and a fulcrum 29. The rotating arm body 26 extends in one direction (specifically, the direction from the first sprocket 21 toward the second sprocket 22). It is desirable that the center of gravity of the rotating arm body 26 can maintain a balanced state even when the supported body 16 and the counterweight 18 are absent. For this purpose, it is desirable that the center of gravity of the rotating arm body 26 coincides with the fulcrum 29. However, if the rotating arm body 26 is lightweight, the influence is relatively small.

[0018] The fulcrum 29 is the position (rotation center position) where the rotating arm 13 is supported in a rotatable state, and is arranged at a point that internally divides the line segment connecting the shaft 31A and the shaft 31B on the rotating arm body 26 (the dotted line shown in FIG. 1) in the ratio of α:1. That is, the ratio of the distance L1a to the distance L2a is α:1.

[0019] (Configuration of the first arm) The first arm 14 has one end 14A and the other end 14B arranged at a position separated from the one end 14A by a distance L1b. The one end 14A is rotatably provided at one end 27 of the rotating arm 13 via a shaft 31A in a rotatable state.

[0020] (Configuration of the supported body) The supported body 16 is detachably attached to the other end 14B of the first arm 14. Examples of the supported body 16 include heavy objects (e.g., heavy tools, etc.) used by workers in factories or the like. When the mass of the supported body 16 is M1, a gravity of M1×g (where g represents the acceleration due to gravity) acts on the supported body 16 in the downward direction in the Z direction, and this force acts on the other end 14B of the first arm 14. The supported body 16 may be connected to the other end 14B of the first arm 14 via a connector such as a gimbal. Also, even when the supported body 16 is suspended from the other end 14B of the first arm 14 via a wire, a force of mass M1×g acts on the other end 14B of the first arm 14 in the downward direction of the Z-axis in the same manner as the above configuration.

[0021] (Configuration of the second arm) The second arm 17 is parallel to the first arm 14 and extends on the side opposite to the side where the first arm 14 extends. The second arm 17 has one end 17A and the other end 17B disposed at a position separated from the one end 17A by a distance L2b. One end 17A is rotatably provided at the other end 28 of the rotating arm 13 via a shaft 31B in a rotatable state.

[0022] Here, the ratio of the distance L1b to the distance L2b is set to α:1.

[0023] It is desirable that the first arm 14 and the second arm 17 can maintain a balanced state even when the supported body 16 and the counterweight 18 are absent. For this purpose, it is desirable that the mass of the second arm 17 is α times the mass of the first arm 14. In addition, it is desirable that the ratio of the distance from one end 14A of the first arm to the center of gravity position of the first arm to the length L1b of the first arm is the same as the ratio of the distance from one end 17A of the second arm to the center of gravity position of the second arm to the length L2b of the second arm.

[0024] (Configuration of the counterweight) The counterweight 18 is detachably attached to the other end 17B of the second arm 17. When the mass of the counterweight 18 is mass M2, a gravity of mass M2×g (where g represents the acceleration due to gravity) acts on the counterweight 18 in the downward direction of the Z-axis. Regarding the counterweight 18 as well, it is possible to connect it to the other end 17B of the second arm 17 via a connector such as a gimbal and to suspend it from the other end 17B of the second arm 17 via a wire.

[0025] In the self-weight compensation link mechanism 10 configured as described above, the first angle θ1 formed by the straight line L1a connecting the rotation center of the shaft 31A and the fulcrum 29 and the straight line L1b connecting the rotation center of the shaft 31A and the position CG1 of the center of gravity of the supported body 16, and the straight line L2a connecting the rotation center of the shaft 31B and the fulcrum 29 and the straight line L2b connecting the rotation center of the shaft 31B and the position CG2 of the center of gravity of the counterweight 18. The interlocking mechanism 11 keeps the magnitudes of the second angle θ2 equal, and keeps the first arm 14 and the second arm 17 parallel. At this time, the position CG3 of the combined center of gravity exists at a point that internally divides the line segment connecting the position CG1 of the center of gravity of the supported body 16 and the position CG2 of the center of gravity of the counterweight in the ratio of α:1, and coincides with the fulcrum 29.

[0026] Such a function is such that in addition to the similarity ratio of the first triangle Tr1 formed by the straight line connecting the position CG3 of the combined center of gravity and one end 14A of the first arm 14, the first straight line L1, and the first arm 14, and the second triangle Tr2 formed by the straight line connecting the position CG3 of the combined center of gravity and one end 17A of the second arm 17, the second straight line L2, and the second arm 17 always being maintained at α:1, the relative positional relationship between the first triangle Tr1 and the second triangle Tr2 is rotationally symmetric about the position CG3 of the combined center of gravity. Therefore, it can be explained that the position CG3 of the combined center of gravity always coincides with the fulcrum 29. As a result, when the operator changes the position of the first arm 14, the position CG3 of the combined center of gravity can always be made to coincide with the position of the fulcrum 29, so that the self-weight of the supported body 16 can be compensated.

[0027] For example, when the mass M1 of the supported body 16 is 15 kg and the mass M2 of the counterweight 18 is 45 kg, that is, when the ratio (= mass M2 / mass M1) α of the mass M2 to the mass M1 is 3, the ratio of the length of the first straight line L1 to the length of the second straight line L2 always maintains 3:1. Therefore, the position CG3 of the combined center of gravity can be made to coincide with the position of the fulcrum 29.

[0028] When the position of the first arm 14 is displaced, the interlocking mechanism 11 described above keeps the magnitudes of the first angle θ1 and the second angle θ2 equal, maintains the parallel state of the first arm 14 and the second arm 17, and then displaces the second arm 17 according to the displacement amount of the first arm 14, thereby having the function of always making the position of the combined center of gravity CG3 coincide with the position of the fulcrum 29.

[0029] (Function and effect of the self-weight compensation link mechanism) According to the self-weight compensation link mechanism 10 of the first embodiment, when the position of the first arm 14 is displaced, the position of the combined center of gravity CG3 obtained by combining the center of gravity of the supported body 16 and the center of gravity of the counterweight 18 is always made to coincide with the fulcrum 29, so that the self-weight of the supported body 16 can be compensated. In addition, since the self-weight compensation link mechanism 10 is a serial link mechanism, the occupied space required when operating the rotating arm 13, the first arm 14, and the second arm 17 (three links) can be reduced compared with a pantograph-type link mechanism having four links.

[0030] Since the self-weight compensation link mechanism 10 keeps the sum of the potential energies of the mass M1 of the supported body 16 and the mass M2 of the counterweight 18 substantially constant, a driving motor or the like for compensating the self-weight is not required, and weight reduction is possible. As a result, it becomes easier to carry, and the self-weight compensation link mechanism 10 can be installed even on a floor with a low load-bearing capacity.

[0031] <Second Embodiment> Referring to FIG. 2, the self-weight compensation link mechanism 30 of the second embodiment will be described. In FIG. 2, the same reference numerals are given to the same components as those in the structure shown in FIG. 1.

[0032] (Overall configuration of the self-weight compensation link mechanism) The self-weight compensation link mechanism 30 is configured in the same manner as the self-weight compensation link mechanism 10, except that it has an interlocking mechanism 32 instead of the interlocking mechanism 11 that constitutes the self-weight compensation link mechanism 10 of the first embodiment.

[0033] (Overall Structure of the Linkage Mechanism) The linkage mechanism 32 includes a first pulley 35, a second pulley 36, and a wire 38.

[0034] (Structure of the First Pulley) The first pulley 35 is a member that guides the wire 38 and is rotatably arranged on the shaft 31A.

[0035] (Structure of the Second Pulley) The second pulley 36 is a member that guides the wire 38 and is rotatably arranged on the shaft 31B. The second pulley 36 is arranged away from the first pulley 35 in the direction in which the rotating arm 13 extends. The second pulley 36 is arranged on the opposite side of the first pulley 35 with respect to the fulcrum 29 as a reference.

[0036] (Structure of the Wire) The wire 38 has one end 38A and the other end 38B. One end 38A is connected to a portion at a certain distance from the shaft 31A on the one - end 14A side of the first arm 14. The other end 38B is connected to a portion at a certain distance from the shaft 31B on the one - end 17A side of the second arm 17. Among the wire 38 located between one end 38A and the other end 38B, a part is in contact with the first and second pulleys 35, 36, and the path of the wire 38 is guided.

[0037] (Function and Effect of the Self - Weight Compensation Linkage Mechanism) As described above, by constructing the linkage mechanism 32 using the first pulley 35, the second pulley 36, and the wire 38, the displacement amount of the first arm 14 can be transmitted to the second arm 17 via the wire 38, and the position of the combined center of gravity CG3 and the position of the fulcrum 29 can always be made to coincide.

[0038] Also, when using the self-weight compensation link mechanism 10 (chain and sprocket mechanism) described in the first embodiment, keyway machining, spline machining, bolt fastening, or other component configurations for torque transmission are required between the first sprocket 21 and the first arm 14, and between the second sprocket 22 and the second arm 17. On the other hand, the first and second pulleys 35, 36 only need to have the function of guiding the wire 38 while maintaining a constant radius, and can be in a freely rotating state. Therefore, in the self-weight compensation link mechanism 30, the machining and component configurations for torque transmission can be simplified. Also, the bending strength for the torque transmission mechanism is not required at one end 14A of the first arm 14 and one end 17A of the second arm 17. Furthermore, it can have a simpler structure than when using a chain and sprocket mechanism.

[0039] <Third Embodiment> Referring to FIG. 3, the self-weight compensation link mechanism 40 of the third embodiment will be described. In FIG. 3, the same reference numerals are given to the same component parts as those shown in FIG. 1.

[0040] (Configuration of the self-weight compensation link mechanism) The self-weight compensation link mechanism 40 has the fulcrum 29 arranged at a position different from the position of the fulcrum 29 of the self-weight compensation link mechanism 10 of the first embodiment, and does not coincide with the position of the combined center of gravity CG3. Instead, it is configured to arrange the fulcrum 29, for example, above the position of the combined center of gravity CG3, at a position around the position of the combined center of gravity CG3. Specifically, as shown in FIG. 3, compared with the first embodiment shown in FIG. 1, the fulcrum 29 is arranged upward, and the position of the combined center of gravity CG3 exists below the fulcrum 29. The self-weight compensation link mechanism 40 is configured in the same manner as the self-weight compensation link mechanism 10, except that the position of the combined center of gravity CG3 and the fulcrum 29 are arranged not to coincide.

[0041] (Function and effect of the self-weight compensation link mechanism) As described above, in the Z direction, by arranging the fulcrum 29 above the position CG3 of the combined center of gravity, a force (restoring force) is generated by the action of gravity, causing the position CG3 of the combined center of gravity to move directly below the fulcrum 29. As a result, the state in which the rotating arm 13 is inclined at a predetermined angle with respect to the Z direction becomes a stable balanced state. By setting this state as the neutral position in advance, when the operator releases their hand from the supported object 16, it is possible to suppress the rotating arm 13 from rotating in an unintended direction in an unstable state around the fulcrum 29, and to automatically return the rotating arm 13 to the neutral position.

[0042] <Fourth Embodiment> Referring to FIG. 4, the self-weight compensation link mechanism 50 of the fourth embodiment will be described. In FIG. 4, the same reference numerals are given to the same components as those of the structure shown in FIG. 1.

[0043] (Configuration of the self-weight compensation link mechanism) The self-weight compensation link mechanism 50 is configured in the same manner as the self-weight compensation link mechanism 10 of the first embodiment, except that the chain 24 is adjusted from the state of the self-weight compensation link mechanism 10 of the first embodiment, the parallel relationship between the first arm 14 and the second arm 17 is disrupted, and the position CG3 of the combined center of gravity is arranged at a position different from the fulcrum 29.

[0044] In the self-weight compensation link mechanism 50, the position CG3 of the combined center of gravity does not coincide with the position of the fulcrum 29 and is arranged around it. Specifically, when setting the state in which the rotating arm 13 is inclined at a predetermined angle with respect to the Z direction as the neutral position, by setting the chain 24 and the fulcrum 29 shown below, in the neutral position, in the Z direction, the position CG3 of the combined center of gravity is arranged below the fulcrum 29.

[0045] In the self-weight compensation link mechanism 50, by loosening the upper side of the chain 24 to make the first angle θ1 and the second angle θ2 different, and preventing the first arm 14 and the second arm 17 from being parallel, the position CG3 of the combined center of gravity is arranged at a position lower than the fulcrum 29.

[0046] With respect to the position CG3 of the combined center of gravity arranged at a position lower than the fulcrum 29 as described above, the fulcrum 29 is moved horizontally so that the fulcrum 29 is arranged vertically above. With these settings, it becomes possible to arrange the position CG3 of the combined center of gravity vertically below the fulcrum 29.

[0047] (Function and effect of the self-weight compensation link mechanism) As described above, by arranging the position CG3 of the combined center of gravity vertically below the fulcrum 29 in the neutral position, when the operator releases the hand from the supported object 16, the rotary arm 13 can be automatically returned to the neutral position. In addition, since it becomes possible to return the first arm 14 and the second arm 17 to a stable balanced state, it is possible to suppress the self-weight compensation link mechanism 50 from operating unintentionally in an unstable state, and the self-weight compensation link mechanism 50 can be stabilized.

[0048] <Fifth Embodiment> With reference to FIG. 5, the self-weight compensation link mechanism 60 of the fifth embodiment will be described. In FIG. 5, the same reference numerals are given to the same constituent parts as those of the structure shown in FIG. 1.

[0049] (Configuration of the self-weight compensation link mechanism) The self-weight compensation link mechanism 60 is configured in the same manner as the self-weight compensation link mechanism 10 of the first embodiment, except that it further includes a first elastic deformation member 61, a first damper 62, a second elastic deformation member 64, and a second damper 65.

[0050] (Configuration of the first elastic deformation member) The first elastic deformation member 61 is provided so as to connect a portion of the rotary arm main body 26 located on one end portion 27 side and a portion of the first arm 14 located on one end 14A side of the first arm 14. As the first elastic deformation member 61, for example, a spring (for example, a coil spring) can be used.

[0051] (Configuration of the First Damper) The first damper 62 is provided so as to connect a portion of the rotary arm body 26 located on one end portion 27 side and a portion of the first arm 14 located on one end 14A side of the first arm 14. The first damper 62 is connected in parallel with the first elastic deformation member 61. As the first damper 62, for example, an oil damper, a friction damper, or a variable damper capable of adjusting their damping coefficients can be used.

[0052] (Function and Effect of the First Elastic Deformation Member and the First Damper) By having the first elastic deformation member 61 and the first damper 62 configured as described above, it becomes possible to set the angles of the neutral positions of the first arm 14 and the second arm 17 with respect to the rotary arm body 26, and it is possible to suppress a sudden change in the position of the first arm 14 with respect to the rotary arm 13 when the operator releases their hand from the supported body 16. Thereby, it is possible to suppress an unintended operation of the gravity compensation link mechanism 60 and obtain stability in the balanced state. Also, for example, by restricting the movable range of the first elastic deformation member 61 and the first damper 62 in advance, it is possible to avoid the state where the rotary arm 13 and the first arm 14 are in a straight line, that is, the dead point position state, so that it is possible to prevent a decrease in the operability of the first arm 14. Furthermore, since it is possible to apply and adjust a certain damping force while the first arm 14 is moving, the operation resistance of the gravity compensation link mechanism 60 can be adjusted, and the operability can be improved.

[0053] (Configuration of the Second Elastic Deformation Member) The second elastic deformation member 64 is provided so as to connect a portion of the rotary arm main body 26 that is at a certain distance from the fulcrum 29 and the fixing member 67. The fixing member 67 is a member whose position is restricted, and can be restricted by a support column fixed or installed on the floor surface or the like described in the first embodiment, a cart that can be moved manually, or a moving cart that can move autonomously by human operation or autonomous control. As the second elastic deformation member 64, for example, a spring (for example, a coil spring) can be used.

[0054] (Configuration of the second damper) The second damper 65 is arranged so as to connect a portion of the rotary arm main body 26 that is at a certain distance from the fulcrum 29 and the fixing member 67. The second damper 65 is connected in parallel with the second elastic deformation member 64. As the second damper 65, for example, an oil damper, a friction damper, or a variable damper whose damping coefficient can be adjusted can be used.

[0055] (Function and effect of the second elastic deformation member and the second damper) By having the second elastic deformation member 64 and the second damper 65 configured as described above, it becomes possible to set in advance a position where the rotary arm 13 is inclined at a predetermined angle with respect to the Z direction as a neutral position, and when the operator releases his hand from the supported body 16, the rotary arm 13 is suppressed from performing an unintended operation around the fulcrum, and the rotary arm 13 can be automatically returned to the neutral position. Furthermore, since a certain damping force can be applied and adjusted while the rotary arm 13 is moving, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, and the operability can be improved.

[0056] (Function and effect of the self-weight compensation link mechanism) As described above, the self-weight compensation link mechanism 60 can be suppressed from performing an unintended operation, and the stability and operability of the self-weight compensation link mechanism 60 can be improved.

[0057] <Modification of the Fifth Embodiment> Referring to FIG. 6, the self-weight compensation link mechanism 70 of the modification of the fifth embodiment will be described. In FIG. 6, the same reference numerals are given to the same components as those in the structure shown in FIG. 5.

[0058] The self-weight compensation link mechanism 70 is configured in the same manner as the self-weight compensation link mechanism 60, except that the positions where the first elastic deformation member 61 and the first damper 62 constituting the self-weight compensation link mechanism 60 of the fifth embodiment are provided are different.

[0059] The first elastic deformation member 61 is provided so as to connect a portion of the rotary arm body 26 located on the other end 28 side and a portion of the second arm 17 located on the one end 17A side of the second arm 17.

[0060] The first damper 62 is provided so as to connect a portion of the rotary arm 13 located on the other end 28 side and a portion of the second arm 17 located on the one end 17A side of the second arm 17. The first damper 62 is connected in parallel with the first elastic deformation member 61.

[0061] (Function and Effect of the Self-Weight Compensation Link Mechanism) The self-weight compensation link mechanism 70 configured as described above can obtain the same effects as the self-weight compensation link mechanism 60 of the fifth embodiment described above.

[0062] <Sixth Embodiment> Referring to FIG. 7, the self-weight compensation link mechanism 80 of the sixth embodiment will be described. In FIG. 7, the same reference numerals are given to the same components as those in the structure shown in FIG. 1.

[0063] (Overall Configuration of the Self-Weight Compensation Link Mechanism) The self-weight compensation link mechanism 80 is configured in the same manner as the self-weight compensation link mechanism 10 of the first embodiment, except that it further includes a brake mechanism 81 for the rotary arm and a brake mechanism 82.

[0064] (Configuration of the Brake Mechanism for the Rotating Arm) The brake mechanism 81 for the rotating arm is provided at a portion of the rotating arm body 26 corresponding to the fulcrum 29. The brake mechanism 81 for the rotating arm stops the rotation of the rotating arm 13 and maintains the posture of the rotating arm 13 when the inclination angle of the rotating arm body 26 with respect to the Z direction reaches a desired angle. That is, the brake mechanism 81 for the rotating arm has a braking function and an angle holding function for the rotating arm 13. The brake mechanism 81 for the rotating arm releases the brake when it is desired to rotate the rotating arm 13 from the state where the rotation of the rotating arm 13 has stopped. In addition, since the brake mechanism 81 for the rotating arm also functions as a damper by adjusting its braking force, it can also be used as a means to replace the function of the second damper 65.

[0065] (Configuration of the Brake Mechanism) The brake mechanism 82 is provided at a joint portion where one end 27 of the rotating arm 13 and one end 14A of the first arm 14 are connected. The brake mechanism 82 stops the rotation of the first arm 14 with respect to the rotating arm 13 and maintains the posture of the first arm 14 with respect to the rotating arm 13. That is, the brake mechanism 82 has a braking function and an angle holding function regarding the rotation of the connection portion between one end 27 of the rotating arm 13 and one end 14A of the first arm 14. The brake mechanism 82 releases the brake when it is desired to rotate the first arm 14 from the state where the rotation of the first arm 14 has stopped. In addition, since the brake mechanism 82 also functions as a damper by adjusting its braking force, it can also be used as a means to replace the function of the first damper 62.

[0066] (Function and Effect of the Self-Weight Compensation Link Mechanism) By having the above-described brake mechanism 81 for the rotating arm, when the angle of the rotating arm 13 with respect to the Z direction reaches a desired angle, the rotation of the rotating arm 13 can be stopped and the posture of the rotating arm 13 can be maintained at the desired angle. In addition, by having the brake mechanisms 81 and 82 for the rotating arm, when the supported body 16 provided at the other end 14B of the first arm 14 has moved to a desired position, the rotation of the rotating arm 13 and the first arm 14 can be stopped, and the position of the supported body 16 can be maintained.

[0067] <Modification of the Sixth Embodiment> Referring to FIG. 8, the self-weight compensation link mechanism 90 of the modification of the sixth embodiment will be described. In FIG. 8, the same reference numerals are given to the same components as those in the structure shown in FIG. 7.

[0068] (Configuration of the self-weight compensation link mechanism) The self-weight compensation link mechanism 90 is configured in the same manner as the self-weight compensation link mechanism 80, except that the position where the brake mechanism 82 constituting the self-weight compensation link mechanism 80 of the sixth embodiment is provided is different. The brake mechanism 82 is provided at the joint portion where the other end 28 of the rotating arm 13 and one end 17A of the second arm 17 are connected, stops the rotation of the second arm 17 with respect to the rotating arm 13, and maintains the posture of the second arm 17 with respect to the rotating arm 13.

[0069] (Operation and effect of the self-weight compensation link mechanism) The self-weight compensation link mechanism 90 configured as described above has the brake mechanism 81 for the rotating arm, so that when the angle of the rotating arm 13 with respect to the Z direction reaches a desired angle, the rotation of the rotating arm 13 can be stopped, and the posture of the rotating arm 13 can be maintained at the desired angle. In addition, by having the brake mechanism 81 for the rotating arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 has moved to a desired position, the rotation of the rotating arm 13 and the second arm 17 can be stopped, and the position of the supported body 16 can be maintained.

[0070] <Seventh Embodiment> Referring to FIG. 9, the self-weight compensation robot 100 of the seventh embodiment will be described. In FIG. 9, the same reference numerals are given to the same components as those in the structure shown in FIG. 1.

[0071] (Overall Structure of Self-Weight Compensation Robot) The self-weight compensation robot 100 includes a self-weight compensation link mechanism 10 of the first embodiment, a first rotation mechanism 101, a second rotation mechanism 102, and a control device 103.

[0072] (Structure of the First Rotation Mechanism) The first rotation mechanism 101 rotates the first arm 14 with respect to the rotation arm 13. As the first rotation mechanism 101, for example, a rotation drive motor shown in FIG. 9 (or an actuator etc. arranged to connect the rotation arm main body 26 and the first arm 14 and capable of expanding and contracting in one direction) can be used. When using an actuator capable of expanding and contracting in one direction, the connection point where the first elastic deformation member 61 and the first damper 62 described in FIG. 5 are connected in parallel can be replaced with an actuator capable of expanding and contracting in one direction.

[0073] (Structure of the Second Rotation Mechanism) The second rotation mechanism 102 rotates the rotation arm 13 with respect to the Z direction (vertical direction). The second rotation mechanism 102 is arranged at the fulcrum 29 on the rotation arm main body 26. As the second rotation mechanism 102, for example, a rotation drive motor shown in FIG. 9 (or an actuator etc. arranged to connect a portion at a certain distance from the fulcrum 29 on the rotation arm main body 26 and the fixing member 67 and capable of expanding and contracting in one direction) can be used. When using an actuator capable of expanding and contracting in one direction, the connection point where the second elastic deformation member 64 and the second damper 65 are connected in parallel can be replaced with an actuator capable of expanding and contracting in one direction.

[0074] The control device 103 is electrically connected to the first and second rotation mechanisms 101, 102. The control device 103 controls the first and second rotation mechanisms 101, 102 so that the first and second angles θ1, θ2 respectively become desired angles. Here, when electric motors are used for the first and second rotation mechanisms 101 and 102, the control device 103 supplies power to the first and second rotation mechanisms 101 and 102 and performs electrical control. Also, when hydraulic motors are used for the first and second rotation mechanisms 101 and 102, the control device 103 supplies hydraulic pressure to the first and second rotation mechanisms 101 and 102 and performs control by a hydraulic circuit, which is a circuit using a working fluid. Here, although the terms "hydraulic pressure", "hydraulic motor", and "hydraulic circuit" are used, it is also possible to use other liquids such as water as the working fluid, and the type of the liquid does not matter as long as it is a fluid capable of transmitting force. Also, it is possible to use "pneumatic pressure", "pneumatic motor", "pneumatic circuit", etc.

[0075] (Function and Effect of the Self-Weight Compensation Robot) By having the first rotation mechanism 101, the second rotation mechanism 102, and the control device 103 configured as described above, the movements of the first and second arms 14 and 17 can be automatically controlled.

[0076] Note that in the self-weight compensation robot 100 of the seventh embodiment, as an example, the case of including the self-weight compensation link mechanism 10 of the first embodiment was described. However, instead of the self-weight compensation link mechanism 10, any one of the self-weight compensation link mechanisms 30, 40, 50, 60, 70, 80, and 90 described above may be used to configure the self-weight compensation robot. In this case, the same effects as those of the self-weight compensation robot 100 of the seventh embodiment can be obtained.

[0077] Also, in the seventh embodiment, as an example, the case where the first rotation mechanism 101 rotates the first arm 14 with respect to the rotating arm 13 was described. However, for example, the first rotation mechanism 101 may be configured to rotate the second arm 17 with respect to the rotating arm 13. In this case, the same effects as those of the self-weight compensation robot 100 of the seventh embodiment can be obtained.

[0078] <Eighth Embodiment> Referring to FIG. 10, the self-weight compensation link mechanism 110 of the eighth embodiment will be described. In FIG. 10, the same reference numerals are given to the same components as those shown in FIG. 1. In FIG. 10, A represents the center position of the shaft 31A (hereinafter referred to as "center position A"), B represents the connection position between the first hydraulic cylinder 111 and the first arm 14 on the first arm 14 (hereinafter referred to as "connection position B"), and C represents the connection position between the first hydraulic cylinder 111 and the rotating arm 13 on the rotating arm 13 (hereinafter referred to as "connection position C"). Also, in FIG. 10, a represents the center position of the shaft 31B (hereinafter referred to as "center position a"), b represents the connection position between the second hydraulic cylinder 112 and the second arm 17 on the second arm 17 (hereinafter referred to as "connection position b"), and c represents the connection position between the second hydraulic cylinder 112 and the rotating arm 13 on the rotating arm 13 (hereinafter referred to as "connection position c").

[0079] (Overall Configuration of Self-Weight Compensation Robot) The self-weight compensation link mechanism 110 includes a rotating arm 13, a first arm 14, a supported body 16, a second arm 17, a counterweight 18, shafts 31A and 31B, a first hydraulic cylinder 111, a second hydraulic cylinder 112, and a hydraulic circuit 113.

[0080] The first hydraulic cylinder 111 is configured to be telescopic, is connected to the rotating arm 13 at the connection position C, and is connected to the first arm 14 at the connection position B. The second hydraulic cylinder 112 is configured to be telescopic, is connected to the second arm 17 at the connection position b, and is connected to the rotating arm 13 at the connection position c.

[0081] The hydraulic circuit 113 is connected to the first and second hydraulic cylinders 111 and 112. The hydraulic circuit 113 adjusts so that the length of the first hydraulic cylinder 111 and the length of the second hydraulic cylinder 112 become equal. That is, the hydraulic circuit 113 controls the first and second hydraulic cylinders 111 and 112 so that △ABC and △abc are congruent (i.e., AB = ab, BC = bc, CA = ca), or △ABC and △acb are congruent (i.e., AB = ac, BC = cb, CA = ba). 。 In order to more precisely adjust the lengths of the first hydraulic cylinder 111 and the second hydraulic cylinder 112 to be equal, it is desirable to use double-acting hydraulic cylinders for the first hydraulic cylinder 111 and the second hydraulic cylinder 112. However, a configuration using single-acting hydraulic cylinders is also possible. Here, although the terms "hydraulic circuit" and "hydraulic cylinder" are used, the working fluid can be replaced with other liquids such as water, and the type of the liquid does not matter as long as it is a fluid capable of transmitting force. It is also possible to use pneumatic pressure.

[0082] (Function and effect of the self-weight compensation link mechanism) The self-weight compensation link mechanism 110 of the eighth embodiment can obtain the same effects as the self-weight compensation link mechanisms of the first to fourth embodiments described above, and the self-weight compensation robot 100 of the seventh embodiment. Also, it can obtain the effect of substituting for a part of the functions of the fifth and sixth embodiments. Specifically, the first 、 The interlocking mechanisms 11 of the third and seventh embodiments, and the interlocking mechanism 32 of the second embodiment can achieve the same functions by replacing them with a hydraulic circuit composed of the first and second hydraulic cylinders 111 and 112 and the hydraulic circuit 113. Also, in comparison with the fourth embodiment, by providing a difference between the length of the first hydraulic cylinder 111 and the second hydraulic cylinder 112 by adjusting the hydraulic circuit 113, the same function as the adjustment of the chain 24 in the fourth embodiment can be achieved. Furthermore, regarding the first damper 62 in the fifth embodiment, it is possible to provide the same function by providing flow resistance to a part of the hydraulic circuit (providing an orifice, restricting the flow rate with a valve, etc.). In addition, regarding the brake mechanism 82 in the sixth embodiment, by closing the hydraulic circuit 113, the movement of the first and second hydraulic cylinders 111 and 112 can be restricted, thereby providing a similar function.

[0083] As described above, the preferred embodiments of the present disclosure have been described in detail. However, the present disclosure is not limited to such specific embodiments, and various modifications and changes are possible within the scope of the gist of the present disclosure described within the scope of the claims.

[0084] For example, among the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110 described above, a self-weight compensation link mechanism with a cart may be configured, which includes any one of the self-weight compensation link mechanisms and a cart that rotatably supports the fulcrum 29. Further, a self-weight compensation robot with a cart may be configured, which includes the self-weight compensation robot 100 described above and a cart that rotatably supports the fulcrum 29. As the above cart, a cart that can be moved manually or a cart that can move autonomously by human operation or autonomous control, and that is provided with a support column capable of rotating the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90 or the self-weight compensation robot 100 can be used. Note that the fulcrum 29 that constitutes the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110 and the self-weight compensation robot 100 may be rotatably supported by a support column or the like fixed or installed on the floor surface or the like.

[0085] For example, as the rotating arm that constitutes the interlocking mechanism, by using a combination of a bevel gear and a drive shaft, a combination of a hypoid gear and a drive shaft, etc., the positions of the first and second arms 14 and 17 may be changed so that the first angle θ1 and the second angle θ2 are always the same angle.

[0086] For example, a structure including a first elastic deformation member 61, a first damper 62, a second elastic deformation member 64, and a second damper 65 shown in FIGS. 5 and 6 may be provided in the self-weight compensation link mechanism 30 of the second embodiment. Further, a rotation arm brake mechanism 81 and a brake mechanism 82 shown in FIGS. 7 and 8 may be provided in the self-weight compensation link mechanism 30 of the second embodiment.

[0087] <Appendix> The self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110, and the self-weight compensation robot 100 described in each embodiment are understood as follows, for example.

[0088] (1) The self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110 according to the first aspect include a rotating arm 13 extending in one direction and rotatably supported about a fulcrum 29, a first arm 14 having one end 14A provided at one end 27 of the rotating arm 13 in a rotatable state, a supported body 16 provided at the other end 14B of the first arm 14, a second arm 17 having one end 17A provided at the other end 28 of the rotating arm 13 in a rotatable state, parallel to the direction in which the first arm 14 extends, and extending on the side opposite to the side on which the first arm 14 extends, a counterweight 18 provided at the other end 17B of the second arm 17, and an interlocking mechanism 11 provided on the rotating arm 13 for displacing the second arm 17 based on the displacement amount of the first arm 14. The interlocking mechanism 11 controls such that when the position of the first arm 14 is displaced, the position CG3 of the combined center of gravity obtained by combining the center of gravity of the supported body 16 and the center of gravity of the counterweight 18 becomes the position of the fulcrum 29 or a predetermined position around the fulcrum 29.

[0089] In this way, by controlling the position CG3 of the combined center of gravity obtained by combining the center of gravity of the supported body 16 and the center of gravity of the counterweight 18 to be the position of the fulcrum 29 or a predetermined position around the fulcrum 29 when the position of the first arm 14 is displaced, the self-weight of the supported body 16 can be compensated. In addition, since the self-weight compensation link mechanism 10 is a serial link mechanism, it is possible to reduce the occupied space required to operate the rotating arm 13, the first arm 14, and the second arm 17 (three links) as compared with a pantograph link mechanism having four links.

[0090] (2) The self-weight compensation link mechanisms 10, 30, 60, 70, 80, 90, 110 according to the second aspect are the self-weight compensation link mechanisms 10, 30, 60, 70, 80, 90, 110 of (1). When a straight line connecting the position CG3 of the combined center of gravity and the position CG1 of the center of gravity of the supported body 16 is defined as a first straight line L1, and a straight line connecting the position CG3 of the combined center of gravity and the position CG2 of the center of gravity of the counterweight 18 is defined as a second straight line L2, the value of (the length of the first straight line L1) / (the length of the second straight line L2) is configured to be equal to the value of (the mass M2 of the counterweight 18) / (the mass M1 of the supported body 16). The interlocking mechanisms 11, 32 may make the magnitudes of a first angle θ1 formed by the rotating arm 13 and the first arm 14 and a second angle θ2 formed by the rotating arm 13 and the second arm 17 equal, maintain the parallel state of the first arm 14 and the second arm 17, and then displace the second arm 17.

[0091] With such a configuration, it is possible to always keep constant the similarity between a first triangle Tr1 formed by a straight line connecting the position CG3 of the combined center of gravity and one end 14A of the first arm 14, the first straight line L1, and the first arm 14, and a second triangle Tr2 formed by a straight line connecting the position CG3 of the combined center of gravity and one end 17A of the second arm 17, the second straight line L2, and the second arm 17. Also, it is possible to make the relative positional relationship between the first triangle Tr1 and the second triangle Tr2 always rotationally symmetric about the fulcrum 29. Thereby, when an operator displaces the position of the first arm 14, it is possible to always position the position CG3 of the combined center of gravity at the position of the fulcrum 29 or a predetermined position around the fulcrum 29, so that the self-weight of the supported body 16 can be compensated.

[0092] (3) The self-weight compensation link mechanisms 10, 60, 70, 80, 90, 110 according to the third aspect are the self-weight compensation link mechanisms 10, 60, 70, 80, 90, 110 of (2), wherein the interlocking mechanism 11 is rotatably connected to one end 27 of the rotating arm 13 and receives, as torque, the weight of the supported body 16 supported by the first arm 14 through the bending moment of the first arm 14. A first sprocket 21, a second sprocket 22 that is rotatably connected to the other end 28 of the rotating arm 13, is disposed away from the first sprocket 21, and receives, as torque, the weight of the counterweight 18 supported by the second arm 17 through the bending moment of the second arm 17, and a chain 24 attached to the first and second sprockets 21, 22 such that the first and second sprockets 21, 22 are disposed inside, and a chain adjustment mechanism 25 capable of adjusting the tension state of the chain 24.

[0093] With such a configuration, when the operator displaces the position of the first arm 14, the position CG3 of the combined center of gravity can always be set to the position of the fulcrum 29 or a predetermined position around the fulcrum 29, so that the self-weight of the supported body 16 can be compensated. Also, by using a chain and sprocket mechanism as the interlocking mechanism 11, it is possible to prevent the chain 24 from loosening even when the operator suddenly releases the hand from the supported body 16.

[0094] (4) The self-weight compensation link mechanism 30 according to the fourth aspect is the self-weight compensation link mechanism 30 of (2), wherein the interlocking mechanism 32 includes a first pulley 35 rotatably connected to one end 27 of the rotating arm 13, a second pulley 36 rotatably connected to the other end 28 of the rotating arm 13 and disposed away from the first pulley 35 in the extending direction of the rotating arm 13, and a wire 38 having one end 38A connected to a portion of the first arm 14 away from the first pulley 35 and the other end 38B connected to one end 17A side of the second arm 17 and contacting the outer circumferences of the first and second pulleys 35, 36.

[0095] In this way, by configuring the interlocking mechanism 32 using the first pulley 35, the second pulley 36, and the wire 38, the displacement amount of the first arm 14 is transmitted to the second arm 17 via the wire 38, and the position of the combined center of gravity CG3 can be controlled so as to always be at the position of the fulcrum 29 or a predetermined position around the fulcrum 29.

[0096] Also, when using a chain - sprocket mechanism, a torque - transmission mechanism for transmitting torque is required between the first sprocket 21 and the first arm 14, and between the second sprocket 22 and the second arm 17. On the other hand, the first and second pulleys 35, 36 may be in a freely - rotating state. For this reason, in the self - weight compensation link mechanism 30, there is no need to provide a structure or components for transmitting torque between the first and second pulleys 35, 36 and the first and second arms 14, 17, and the bending strength for the torque - transmission mechanism is not required. Furthermore, a simpler structure can be achieved compared to the case of using a chain - sprocket mechanism.

[0097] (5) The self - weight compensation link mechanism 40 according to the fifth aspect is the self - weight compensation link mechanism 40 according to any one of (1) to (4), and when setting the state in which the rotating arm 13 is inclined at a predetermined angle with respect to the vertical direction as the neutral position, at the neutral position, the fulcrum 29 may be arranged above the position of the combined center of gravity CG3 in the vertical direction.

[0098] In this way, by arranging the fulcrum 29 above the position of the combined center of gravity CG3 in the vertical direction, due to the action of gravity, a force (restoring force) that causes the position of the combined center of gravity CG3 to move directly below the fulcrum 29 is generated. Thereby, by previously setting the position where the rotating arm 13 is inclined at a predetermined angle with respect to the vertical direction as the neutral position, when the operator releases the hand from the supported body 16, rotation of the rotating arm 13 in an unintended direction in an unstable state around the fulcrum 29 can be suppressed, and the rotating arm 13 can be automatically returned to the neutral position.

[0099] (6) The self-weight compensation link mechanism 60 according to the sixth aspect is the self-weight compensation link mechanism 60 according to any one of (1) to (5), and among the rotating arms 13, a portion located on the side of one end 27 and among the first arms 14, a portion located on the side of one end 14A of the first arm 14 are connected by a first elastic deformation member 61; a first damper 62 is provided between a portion located on the side of one end 27 of the rotating arm 13 and a portion located on the side of one end 14A of the first arm 14 among the first arms 14, and is connected in parallel with the first elastic deformation member 61; a second elastic deformation member 64 connects a position on the rotating arm 13 that is at a certain distance from the fulcrum 29 and a fixing member 67; and a second damper 65 is provided between a portion on the rotating arm 13 that is at the certain distance from the fulcrum 29 and the fixing member 67, and is connected in parallel with the second elastic deformation member 64. The fixing member 67 may be a member whose position is restricted.

[0100] By having the first elastic deformation member 61 and the first damper 62 configured in this way, when the operator releases their hand from the supported body 16, it is possible to suppress a sudden change in the position of the first arm 14 with respect to the rotating arm 13. Thereby, unintended operations of the self-weight compensation link mechanism can be suppressed, and stability in the balanced state can be obtained. Also, for example, by restricting the movable ranges of the first elastic deformation member 61 and the first damper 62 in advance, it is possible to avoid the state where the rotating arm 13 and the first arm 14 are in a straight line, that is, the dead point position state, and thus prevent a decrease in the operability of the first arm 14. Furthermore, since it is possible to apply and adjust a certain damping force while the first arm 14 is moving, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, and the operability can be improved. Note that, as the first and second dampers 62 and 65, for example, dampers with adjustable damping coefficients may be used.

[0101] Moreover, by having the second elastic deformation member 64 and the second damper 65, it becomes possible to set in advance, as the neutral position, a position where the rotating arm 13 is inclined by a predetermined angle with respect to the Z direction. Also, when the operator releases their hand from the supported body 16, the rotating arm 13 can be automatically returned to the neutral position while suppressing the occurrence of unintended movements about the fulcrum. Furthermore, since a constant damping force can be applied and adjusted while the rotating arm 13 is in motion, the operating resistance of the self-weight compensation link mechanism 60 can be adjusted, improving the operability.

[0102] (7) The self-weight compensation link mechanism 70 according to the seventh aspect is the self-weight compensation link mechanism 70 according to any one of (1) to (5), and includes a first elastic deformation member 61 that connects a portion of the rotating arm 13 located on the other end 28 side and a portion of the second arm 17 located on the one end 17A side of the second arm 17; a first damper 62 provided between the portion of the rotating arm 13 located on the other end 28 side and the portion of the second arm 17 located on the one end 17A side of the second arm 17 and connected in parallel with the first elastic deformation member 61; a second elastic deformation member 64 that connects a portion of the rotating arm 13 at a certain distance from the fulcrum 29 and a fixing member 67; and a second damper 65 provided between the portion of the rotating arm 13 at the certain distance from the fulcrum 29 and the fixing member 67 and connected in parallel with the second elastic deformation member 64. The fixing member 67 may be a member whose position is regulated.

[0103] By having the first elastic deformation member 61 and the first damper 62 configured as described above, it becomes possible to suppress a sudden change in the position of the first arm 14 with respect to the rotating arm 13 when the operator releases their hand from the supported body 16. As a result, it is possible to suppress the occurrence of unintended movements of the self-weight compensation link mechanism 70 and obtain stability in the balanced state. Further, by having the second elastic deformation member 64 and the second damper 65, it becomes possible to set in advance a position where the rotary arm 13 is inclined by a predetermined angle with respect to the vertical direction (Z direction) as a neutral position. When the operator releases their hand from the supported body 16, the rotary arm 13 can be automatically returned to the neutral position while suppressing the occurrence of unintended movement of the rotary arm 13 about the fulcrum 29. Furthermore, since a constant damping force can be applied and adjusted while the rotary arm 13 is moving, the operating resistance of the self-weight compensation link mechanism 70 can be adjusted, improving the operability.

[0104] (8) The self-weight compensation link mechanism 80 according to the eighth aspect is the self-weight compensation link mechanism 80 according to any one of (1) to (7), and is provided at a portion of the rotary arm 13 corresponding to the fulcrum 29, and includes a brake mechanism 81 for the rotary arm that stops the rotation of the rotary arm 13 and maintains the posture of the rotary arm 13, and is provided at a joint portion where one end 27 of the rotary arm 13 and one end 14A of the first arm 14 are connected, and includes a brake mechanism 82 that stops the rotation of the first arm 14 with respect to the rotary arm 13 and maintains the posture of the first arm 14 with respect to the rotary arm 13.

[0105] By having the brake mechanism 81 for the rotary arm configured as described above, when the angle of the rotary arm 13 with respect to the vertical direction (Z direction) reaches a desired angle, the rotation of the rotary arm 13 can be stopped and the posture of the rotary arm 13 can be maintained at the desired angle. Further, by having the brake mechanism 81 for the rotary arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 has moved to a desired position, the rotation of the rotary arm 13 and the first arm 14 can be stopped and the position of the supported body 16 can be maintained.

[0106] (9) The self-weight compensation link mechanism 90 according to the ninth aspect is the self-weight compensation link mechanism 90 according to any one of (1) to (7), and is provided at a portion of the rotating arm 13 corresponding to the fulcrum 29, and stops the rotation of the rotating arm 13 and maintains the posture of the rotating arm 13. A brake mechanism 81 for the rotating arm, and is provided at a joint portion where the other end 28 of the rotating arm 13 and one end 17A of the second arm 17 are connected, and stops the rotation of the second arm 17 with respect to the rotating arm 13 and rotates the second arm 17 with respect to the rotating arm 13. It may be provided with a brake mechanism 82 for maintaining the posture.

[0107] By having the brake mechanism 81 for the rotating arm configured as described above, when the angle of the rotating arm 13 with respect to the vertical direction (Z direction) reaches a desired angle, the rotation of the rotating arm 13 can be stopped and the posture of the rotating arm 13 can be maintained at the desired angle. Further, by having the brake mechanism 81 for the rotating arm and the brake mechanism 82, when the supported body 16 provided at the other end 14B of the first arm 14 moves to a desired position, the rotations of the rotating arm 13 and the second arm 17 can be stopped and the position of the supported body 16 can be maintained. Further, when the position of the first arm reaches a desired position, the brake mechanism for the rotating arm and the brake mechanism are used to stop the rotation of the rotating arm and the second arm, and the posture of the first arm 14 can be maintained at the desired position.

[0108] (10) The self-weight compensation link mechanism 50 according to the tenth aspect is the self-weight compensation link mechanism 50 according to (1), and when setting a state in which the rotating arm 13 is inclined at a predetermined angle with respect to the vertical direction as a neutral position, at the neutral position, the position CG3 of the combined center of gravity may be arranged below the fulcrum 29 in the vertical direction.

[0109] In this way, in the neutral position, by arranging the position CG3 of the combined center of gravity below the fulcrum 29 in the Z direction, when the operator releases the hand from the supported object 16, the rotary arm 13 can be automatically returned to the neutral position. Also, since the first arm 14 and the second arm 17 can be balanced, it is possible to suppress the unintentional operation of the self-weight compensation link mechanism 50, and the self-weight compensation link mechanism 50 can be stabilized.

[0110] (11) The self-weight compensation link mechanism 50 according to the eleventh aspect is the self-weight compensation link mechanism 50 of (10), wherein the interlocking mechanism 11 includes a first sprocket 21 to which one end 14A of the first arm 14 is connected, a second sprocket 22 to which one end 17A of the second arm 17 is connected and which is arranged away from the first sprocket 21 in the direction in which the rotary arm 13 extends, a chain 24 attached to the first and second sprockets 21, 22 so that the first and second sprockets 21, 22 are arranged inside, and a chain adjustment mechanism 25 capable of adjusting the tension state of the chain. The chain adjustment mechanism 25 loosens the upper side of the chain 24 to make the first angle θ1 formed by the rotary arm 13 and the first arm 14 different from the second angle θ2 formed by the rotary arm 13 and the second arm 17, and by preventing the first arm 14 and the second arm 17 from being parallel, the position of the combined center of gravity CG3 may be arranged below the fulcrum 29.

[0111] In this way, by constructing the interlocking mechanism 11 using the first sprocket 21, the second sprocket 22, and the chain 24, loosening the upper side of the chain 24 to make the first angle θ1 different from the second angle θ2, and preventing the first arm 14 and the second arm 17 from being parallel, the position of the combined center of gravity CG3 can be arranged below the fulcrum 29.

[0112] (12) The self-weight compensation link mechanism 110 according to the 12th aspect is the self-weight compensation link mechanism 110 of (1) or (2), and the interlocking mechanism includes a first rotation mechanism 101 that rotates the second arm 17 with respect to the rotation arm 13, and a second rotation mechanism 102 that rotates the rotation arm 13 with respect to the vertical direction (Z direction), and is electrically connected to the first and second rotation mechanisms 101 and 102, or is connected to a circuit ( Hydraulic circuit ) using a working fluid, and a control device 103 that controls the first and second rotation mechanisms 101 and 102 so that a first angle θ1 formed by the rotation arm 13 and the first arm 14 and a second angle θ2 formed by the rotation arm 13 and the second arm 17 each become a desired angle may be provided.

[0113] With such a configuration, the movements of the rotation arm 13 and the first and second arms 14 and 17 can be automatically controlled with a low driving force.

[0114] (13) The self-weight compensation robot 100 according to the 13th aspect includes any one of the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90 described in any one of (1) to (11), a first rotation mechanism 101 that rotates the first arm 14 with respect to the rotation arm 13, and a second rotation mechanism 102 that rotates the rotation arm 13 with respect to the vertical direction (Z direction), and is electrically connected to the first and second rotation mechanisms 101 and 102, or is connected to a circuit ( Hydraulic circuit ) using a working fluid, and a control device 103 that controls the first and second rotation mechanisms 101 and 102 so that a first angle θ1 formed by the rotation arm 13 and the first arm 14 and a second angle θ2 formed by the rotation arm 13 and the second arm 17 each become a desired angle may be provided.

[0115] With such a configuration, the movements of the rotation arm 13 and the first and second arms 14 and 17 can be automatically controlled with a low driving force.

[0116] (14) The bogie-equipped self-weight compensation link mechanism according to the 14th aspect may include the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110 described in any one of (1) to (12), and a movable bogie that supports the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110.

[0117] In this way, the self-weight compensation link mechanisms 10, 30, 40, 50, 60, 70, 80, 90, 110 can be used while mounted on a bogie.

[0118] (15) The bogie-equipped self-weight compensation robot according to the 15th aspect may include the self-weight compensation robot 100 described in (13), and a movable bogie that supports the self-weight compensation robot 100.

[0119] In this way, the self-weight compensation robot 100 can be used while mounted on a bogie.

Explanation of Reference Numerals

[0120] 10, 30, 40, 50, 60, 70, 80, 90, 110... Self-weight compensation link mechanism 11, 32... Interlocking mechanism 13... Rotating arm 14... First arm 14A, 17A, 38A... One end 14B, 17B, 38B... The other end 16... Supported body 17... Second arm 18... Counterweight 21... First sprocket 21A, 22A... Convex Part 22... Second sprocket 24... Chain 25... Chain adjustment mechanism 26... Rotating arm body 27... One end portion 28... The other end portion 29... Fulcrum 31A, 31B... Shaft 35…First pulley 36…Second pulley 38…Wire 61…First elastic deformation member 62…First damper 64…Second elastic deformation member 65…Second damper 67…Fixing member 81…Brake mechanism for rotating arm 82…Brake mechanism 100…Self-weight compensation robot 101…First rotation mechanism 102…Second rotation mechanism 103…Control device 111…First hydraulic cylinder 112…Second hydraulic cylinder 113…Hydraulic circuit a,A…Center position b,B,c,C…Connection position L1…First straight line L1a,L1b,L2a,L2b…Straight line L2…Second straight line CG1, CG2…Positions of the center of gravity CG3…Position of the combined center of gravity M1, M2…Mass Tr1, Tr2…Triangles θ1…First angle θ2…Second angle

Claims

1. A rotating arm that extends in one direction and is supported so as to be rotatable around a fulcrum; a first arm provided at one end of the rotating arm in a rotatable state; A supported body provided at the other end of the first arm; a second arm having one end rotatably attached to the other end of the rotating arm and extending in a direction opposite to the side to which the first arm extends; a counterweight provided at the other end of the second arm; an interlocking mechanism provided on the rotating arm and configured to displace the second arm based on a displacement amount of the first arm; Equipped with a first angle formed between the rotating arm and the first arm and a second angle formed between the rotating arm and the second arm are different from each other, The interlocking mechanism is a weight compensation link mechanism that controls the position of the combined center of gravity of the supported body and the center of gravity of the counterweight to be the position of the fulcrum or a predetermined position around the fulcrum when the position of the first arm is displaced.

2. The interlocking mechanism includes a first rotation mechanism that rotates the second arm relative to the rotation arm; a second rotation mechanism that rotates the rotation arm with respect to a vertical direction; a control device electrically connected to the first and second rotation mechanisms or connected to a circuit using a working fluid, the control device controlling the first and second rotation mechanisms so that a first angle formed by the rotating arm and the first arm and a second angle formed by the rotating arm and the second arm are each a desired angle; 2. The weight compensation linkage of claim 1, further comprising:

3. The interlocking mechanism includes a first rotation mechanism that rotates the first arm relative to the rotation arm; a second rotation mechanism that rotates the rotation arm with respect to a vertical direction; a control device electrically connected to the first and second rotation mechanisms or connected to a circuit using a working fluid, the control device controlling the first and second rotation mechanisms so that a first angle formed by the rotating arm and the first arm and a second angle formed by the rotating arm and the second arm are each a desired angle; 2. The weight compensation linkage of claim 1, further comprising:

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