JP2011105437A - Balancer device for holding tool - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a balancer device for holding a tool, which reduces any void area less than a conventional one, and effectively uses the upper surface of a working table for a working purpose. <P>SOLUTION: The balancer device for holding the tool includes a stay 4, a base side link piece 6 mounted on the stay, an intermediate link piece 38 and a fore end side link piece 52; the base side link piece 6 and the intermediate link piece 38 are turnably connected to each other via a pair of first arms 18, 20, and the intermediate link piece 38 and the fore end side link piece 52 are turnably connected to each other via a pair of second arms 48, 50. The first axis 74 passing through the first turning center P1 of the first arms 18, 20 and the second axis 76 passing through the second turning center P2 thereof are arranged parallel to the axis 26 of the stay 4; and the third axis 78 passing through the third turning center P3 of the pair of second arms 48, 50 and the fourth axis 80 passing through the fourth turning center P4 thereof are arranged orthogonal to the axis 26 of the stay 4. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a tool holding balancer device used for holding a tool such as an electric screwdriver.

  In product production and assembly processes, air drivers, electric drivers, and the like with large tightening torque are used in order to satisfy requirements such as safety, reliability, and quality control according to various standards. Air drivers use compressed air as a drive source, and electric drivers use an electric motor as a drive source. From the viewpoint of energy saving and ecology in recent years, electric drivers with high energy efficiency have become mainstream. It is coming.

  In recent years, production and assembly sites have often switched from the flow production method to the cell production method. This cell production method is a compact work space on the workbench that allows the assembly of various parts within the range of movement of the operator's hands. To complete the assembly. In such a cell production system, assembly work may be performed for a long time with a work tool such as an electric screwdriver. Therefore, in order to reduce the burden during assembly work, the work tool is held. A tool holding balancer device has been proposed and put into practical use (for example, Non-Patent Document 1).

  A conventional tool holding balancer device has a configuration as shown in FIG. 17, for example. In FIG. 17, this conventional tool holding balancer apparatus 200 includes a base 204 attached to a work table 202, and a column 206 (the axis of which is indicated by reference numeral 207) is attached to the base 204. . A base-side link metal fitting 208 is attached to the column 206, an intermediate link metal fitting 214 is attached to the base-side link metal fitting 208 via a pair of first arms 210 and 212, and a pair of second link metal fittings 214 is attached to the intermediate link metal fitting 214. The distal end side link metal fitting 220 is attached via the arms 216 and 218, and a work tool (not shown) is attached to the distal end side link metal fitting 220.

  When such a tool holding balancer device 200 is used, a work tool (for example, an electric screwdriver) is attached to and held by the distal end side link fitting 220, and the holding position (so-called stop position) is determined by the operator. It is a front position above the work table 202, and the work is moved from this position to the lower position. Since the work is held in this position, the operator takes the work tool and performs the required work. Can be easily performed, the amount of movement of the work tool when performing the work is reduced, and the work load on the operator can be reduced.

Product name "Hand Free (model number: HFS1-300-1R)" introduced on the WEB page of Sanwa Giken Co., Ltd.

  In this conventional tool holding balancer device, the inclination angle α1 (angle with respect to the horizontal axis) of the first axis 226 passing through the turning centers 222 and 224 on the rear end side of the pair of first arms 210 and 212 is, for example, 60 degrees. The inclination angle α2 of the second axis 234 that passes through the turning centers 230 and 232 on the distal end side of the pair of first arms 210 and 212 is set to 60 degrees, for example. Further, the inclination angle α3 (angle with respect to the horizontal axis) of the third axis 238 passing through the turning centers 234, 236 on the rear end side of the pair of second arms 216, 218 is set to 60 degrees, for example, and the pair of second arms The inclination angle α4 of the second axis 244 passing through the turning centers 240 and 242 on the tip side of 216 and 218 is set to 60 degrees, for example.

  In the tool holding balancer device having such a configuration, for example, when the lengths of the first arms 210 and 212 and the second arms 216 and 218 are set to, for example, 300 mm, the effective work range is as shown in FIGS. It becomes as shown in. The position shown by the solid line in FIG. 17 is a stop position when there is no action (position when not in use), the area S1 becomes an empty area where work cannot be performed, and the area S2 reduces the work load and performs assembly work and the like. This is an effective work area that can be performed, and there is a limited work area above this area S2 in which the work load increases but assembly work or the like is possible. In this tool holding balancer device 200, the height H1 of the tool stop position is about 375 mm, for example, and the height H2 of the effective work range S2 is about 160 mm, for example. Further, the tool holding balancer device 200 is attached to a work table 202 having a radius R1 of the empty area S1 of about 570 mm, for example, and a radius R2 of the effective work area S2 of about 710 mm, and a depth D1 of 750 mm, for example. When used, an effective work area S2 having a width W1 of about 600 mm and a depth D2 of about 200 mm, for example, can be secured above the work table 202.

  However, as can be understood from FIGS. 18A and 18B, the empty area S <b> 1 existing on the mounting side of the balancer device 200 in the work table 202 is large, and the effective work area S <b> 2 occupying the entire area of the work table 202. The ratio is small, and it cannot be said that the upper surface of the work table 202 is effectively used for work. This requires a large work table 202 to perform required assembly work and the like, and there is a problem that the work space of a factory or the like becomes large.

  An object of the present invention is to provide a tool holding balancer device in which an empty area is made smaller than that of a conventional one and the upper surface of a work table can be effectively used for work.

A balancer device for holding a tool according to claim 1 of the present invention includes a support column provided to extend substantially vertically, a base side link fitting attached to the support column, and a rear end portion of the base side link fixture. A pair of first arms coupled to be pivotable about a first pivot center; an intermediate link fitting in which tips of the pair of first arms are pivotally coupled about a second pivot center; and the intermediate A pair of second arms whose rear ends are connected to the link fitting so as to be rotatable about the third turning center, and tip ends of the pair of second arms are connected to be rotatable about the fourth turning center. In a tool holding balancer device comprising a tip side link metal fitting, and a work tool attached to the tip side link metal fitting,
The first axis passing through the first turning center of the pair of first arms and the second axis passing through the second turning center are arranged so as to be substantially parallel to the axis of the support column, and the base portion The side link fitting, the intermediate link fitting and the pair of first arms constitute a first parallelogram link structure, and a third axis passing through the third turning center of the pair of second arms and their A fourth axis passing through the fourth turning center is arranged to be substantially perpendicular to the axis of the support column, and the intermediate link fitting, the distal end side link fitting, and the pair of second arms are in a second parallel. It is characterized by constituting a quadrilateral link structure.

  In the tool holding balancer device according to claim 2 of the present invention, the rear end portions of the pair of first arms are pivotally connected to one end portions of the base side link metal fittings, and the base side link metal fittings The other end portion of the spring means is mounted on the column so as to be pivotable about its axis, and a spring means is interposed between the pair of first arms, and the spring means is attached to the upper first arm on one end side of the spring means. The part is arranged on the base side link metal fitting side with respect to the attachment part to the lower first arm on the other end side of the spring means.

According to a third aspect of the present invention, there is provided a tool holding balancer device comprising: a column provided so as to extend substantially vertically; a base side link fitting attached to the column; and a rear end on the base side link fitting. A pair of first arms that are pivotably connected about a first turning center, and an intermediate link fitting in which tip ends of the pair of first arms are pivotally connected about a second turning center; A pair of second arms whose rear ends are connected to the intermediate link fitting so as to be rotatable about a third turning center, and tip ends of the pair of second arms are connected to be rotatable about a fourth turning center. A tip-side link fitting, and a tool holding balancer device in which a work tool is attached to the tip-side link fitting,
A first axis passing through the first turning center of the pair of first arms and a second axis passing through the second turning center are arranged so as to be substantially perpendicular to the axis of the column, and the base side The link metal fitting, the intermediate link metal fitting, and the pair of first arms constitute a first parallelogram link structure, and a third axis passing through the third turning center of the pair of second arms and their A fourth axis passing through the fourth turning center is disposed so as to be substantially parallel to the axis of the support column, and the intermediate link fitting, the distal end side link fitting, and the pair of second arms include a second parallel four sides It is characterized by constituting a shaped link structure.

  Moreover, in the tool holding balancer device according to claim 4 of the present invention, an attachment member is attached to the column so as to be pivotable about its axis, and the base side link metal fitting is fixed to the attachment member, The rear end of the first arm of the first arm is pivotally connected to the base-side link metal fitting, and spring means is interposed between the pair of first arms, and the front first arm on one end side of the spring means The mounting part is arranged closer to the base-side link metal fitting than the mounting part to the rear first arm on the other end side of the spring means.

  Furthermore, in the tool holding balancer device according to claim 5 of the present invention, an attachment member is attached to the support column so as to be rotatable about its axis, and the base side link metal fitting is fixed to the attachment member, The rear end of the first arm of the first arm is pivotally connected to the base-side link metal fitting, and spring means is interposed between the pair of first arms, and the front first arm on one end side of the spring means The mounting part is arranged closer to the intermediate link fitting than the mounting part to the rear first arm on the other end side of the spring means.

  According to the tool holding balancer device of the first aspect of the present invention, the pair of first arms are interposed between the base side link fitting and the intermediate link fitting, and the rear end side of the pair of first arms is turned. The first axis passing through the first turning center that is the center and the second axis passing through the second turning center that is the turning center on the distal end side of the pair of first arms are substantially parallel to the axis of the column. Since it is arranged, the base side link bracket, the intermediate link bracket and the pair of first arms constitute the first parallelogram link structure, and swivel up and down while maintaining the connection position relationship of the intermediate link bracket Can be made. In addition, a pair of second arms are interposed between the intermediate link fitting and the tip side link fitting, and a third axis passing through a third turning center that is a turning center on the rear end side of the pair of second arms, Since the fourth axis passing through the fourth turning center, which is the turning center on the tip side of the second arm, is arranged so as to be substantially perpendicular to the axis of the support column, the intermediate link fitting, the tip side link fitting, and the pair The second arm constitutes a second parallelogram link structure and can be pivoted up and down while maintaining the connection position relationship of the distal end side link fittings. A tool, for example, an electric screwdriver, can be moved in the vertical direction while maintaining the attached state. In addition, since the third and fourth axes are arranged so as to be substantially perpendicular to the axis of the support column, it is possible to widen the swivel range in the front-rear direction of the second arm. The empty area S1 existing on the mounting side of the apparatus can be reduced, and as a result, the ratio of the effective work area to the entire area of the workbench can be increased, and the upper surface of the workbench can be effectively used for work. be able to.

  Further, according to the tool holding balancer device according to claim 2 of the present invention, the spring means is interposed between the pair of first arms, and the mounting portion to the upper first arm on one end side of the spring means is: The first arm is elastically upward with the first turning center as a center by the spring means, since it is disposed on the base side link metal fitting side with respect to the attachment portion to the lower first arm on the other end side of the spring means. Therefore, it can be advantageously applied to a configuration that balances in a state of being swung upward.

  According to the tool holding balancer device of the third aspect of the present invention, the pair of first arms are interposed between the base side link fitting and the intermediate link fitting, and the rear end side of the pair of first arms. The first axis passing through the first turning center that is the turning center of the pair of arms and the second axis passing through the second turning center that is the turning center on the distal end side of the pair of first arms are substantially perpendicular to the axis of the column. Therefore, the base side link metal fitting, the intermediate link metal fitting and the pair of first arms constitute the first parallelogram link structure, and the vertical link direction is maintained while maintaining the connection positional relationship of the intermediate link metal fitting. It can be swung. In addition, a pair of second arms are interposed between the intermediate link fitting and the tip side link fitting, and a third axis passing through a third turning center that is a turning center on the rear end side of the pair of second arms, Since the fourth axis passing through the fourth turning center, which is the turning center on the tip side of the second arm, is arranged so as to be substantially parallel to the axis of the support column, the intermediate link fitting, the tip side link fitting and the pair The second arm constitutes a second parallelogram link structure and can be pivoted up and down while maintaining the connection position relationship of the distal end side link fittings. A tool, for example, an electric screwdriver, can be moved in the vertical direction while maintaining the attached state. In addition, since the first and second axes are arranged so as to be substantially perpendicular to the axis of the support column, it is possible to widen the swivel range in the front-rear direction of the first arm. The empty area S1 existing on the mounting side of the apparatus can be made very small, and as a result, the ratio of the effective work area to the entire area of the workbench can be greatly increased, and the upper surface of the workbench can be used for work. Can be used effectively.

  According to the balancer device for holding a tool according to claim 4 of the present invention, the spring means is interposed between the pair of first arms, and the attachment site to the front first arm on one end side of the spring means is: The first arm is elastically moved to the front centered on the first turning center by the spring means because the spring means is disposed on the base side link metal fitting side with respect to the mounting portion to the rear first arm on the other end side of the spring means. Therefore, the present invention can be advantageously applied to a configuration in which the first arm is balanced at the front side position.

  According to the balancer device for holding a tool according to claim 5 of the present invention, the spring means is interposed between the pair of first arms, and the attachment site to the front first arm on one end side of the spring means is: The first arm is elastically moved rearward with the first turning center as a center by the spring means, since it is arranged on the intermediate link metal fitting side with respect to the attachment portion to the rear first arm on the other end side of the spring means. Therefore, the present invention can be advantageously applied to a configuration in which the first arm is balanced at the rear side position.

The side view which shows 1st Embodiment of the balancer apparatus for tool holding | maintenance according to this invention. The side view which shows the state which turned the 1st arm to the horizontal angle position in the balancer apparatus of FIG. The side view which shows the state which turned the 1st arm to the descent | fall angle position in the balancer apparatus of FIG. The partial expanded sectional view which expands and shows the base side link metal fitting and its vicinity in the balancer apparatus of FIG. The partial expanded sectional view which shows the connection state in the intermediate link metal fitting of the balancer apparatus of FIG. The fragmentary expanded sectional view which shows the connection state in the front end side link metal fitting of the balancer apparatus of FIG. The top view which shows the spring means with which the 1st arm was mounted | worn in the balancer apparatus of FIG. 1, and its vicinity. The side view which shows the spring means shown in FIG. 7, and its vicinity. The top view which shows the actual work area | region in the balancer apparatus of FIG. FIG. 10A is a plan view showing an effective work area in the balancer apparatus of FIG. 1, and FIG. 10B is a side view showing the effective work area. The side view which shows 2nd Embodiment of the balancer apparatus for tool holding | maintenance according to this invention. The side view which shows 3rd Embodiment of the balancer apparatus for tool holding | maintenance according to this invention. The top view which shows the balancer apparatus of FIG. The simplified side view for demonstrating the turning motion of the 1st and 2nd arm in the balancer apparatus of FIG. The simplified side view for demonstrating the turning motion of the 1st and 2nd arm when it is used with the other usage pattern in the balancer apparatus of FIG. 16A is a plan view showing an effective work area in the balancer apparatus of FIG. 12, and FIG. 16B is a side view showing the effective work area. The side view which shows the conventional balancer apparatus for tool holding. FIG. 18A is a plan view showing an effective work area in a conventional balancer device, and FIG. 18B is a side view showing the effective work area.

  Various embodiments of the tool holding balancer device according to the present invention will be described below with reference to FIGS.

1st Embodiment With reference to FIGS. 1-10, 1st Embodiment of the balancer apparatus for tool holding | maintenance according to this invention is described. In FIG. 1, the illustrated tool holding balancer device 1 includes a support column 4 attached to a work table 2 for performing assembly work and the like, and a base-side link metal fitting 6 is attached to the support column. In this embodiment, a rectangular base 8 is attached to the work table 2 with attachment screws or the like, and a lower end portion of the support column 4 is inserted into an attachment portion 10 provided at the center of the base 8. The support column 4 is fixed to the base 8.

  The support column 4 extends substantially vertically upward from the upper surface of the work table 2, and the base side link fitting 6 is attached to the support column 4 so that the position thereof can be adjusted in the vertical direction. Referring also to FIG. 4, the base side link metal fitting 6 is substantially U-shaped, and has a pair of side walls 12, 14 and a connection wall 16 connecting the side walls 12, 14. The rear ends of the first arms 18 and 20 are pivotally connected between the open ends of the first arm 6, specifically the pair of side walls 12 and 14. In this embodiment, a connecting shaft 22 having male threaded portions at both ends is used, the first arms 18 and 20 are positioned between the one side walls 12 and 14, the connecting shaft 22 is inserted through these, and the side walls 12 and 14 are inserted. By screwing mounting nuts 24 onto both ends of the connecting shaft 22 protruding from the rear end portions of the first arms 18 and 20, the connecting shaft 22 is pivotably connected, and the axis of the connecting shaft 22 is The first arm 18, 20 functions as a first turning center P <b> 1 serving as a turning center at the rear end portion.

  The other end portion of the base side link metal fitting 6 is attached to the support column 4 so as to be pivotable in the lateral direction around the axis line 26. In this embodiment, a sleeve bearing 28 is mounted between the upper end portion and the lower end portion of the pair of side walls 12, 14, and the sleeve bearing 28 is supported by the bearing support member 30, and the bearing support member 30 is the base side link fitting 6. The support column 4 is rotatably supported via a pair of sleeve bearings 28.

  A lower stopper member 32 is mounted on the outer side (lower side in FIG. 4) of the lower bearing support member 30, and the lower stopper member 32 is attached by a fixing screw 33 so that its position can be adjusted. A sliding bearing 34 for supporting a thrust load is interposed between the lower stopper member 32 and the lower bearing support member 30. Further, an upper stopper member 36 is mounted on the outer side of the upper bearing support member 30 (upper side in FIG. 4), and the upper stopper member 36 is attached by a fixing screw 37 so that the position can be adjusted. Since it is configured in this manner, the mounting position of the base side link fitting 6 in the vertical direction (the direction of the axis 26 of the column 4) is adjusted by adjusting the vertical positions of the lower stopper member 32 and the upper stopper member 36. Can be adjusted.

  Referring to FIGS. 1 and 5, the tip portions of the pair of first arms 18 and 20 are pivotally connected to the intermediate link fitting 38. The intermediate link metal fitting 38 has substantially the same configuration as the base side link metal fitting 6 and includes a pair of side walls 40 and 42 and a connection wall 44 that connects the side walls 40 and 42. Similarly to the connection of the base 20 to the base side link fitting 6, the distal ends of the first arms 18 and 20 are pivotally connected to the rear end side of the intermediate link fitting 38 via the connection shaft 46. Functions as the second turning center P2 which is the turning center of the tip of the first arm 18,20.

  A rear end portion of the pair of second arms 48 and 50 is pivotally connected to the front end side of the intermediate link metal fitting 38. The rear end portions of the pair of second arms 48 and 50 are connected to each other through a connecting shaft so as to be pivotable, like the tip portions of the pair of first arms 18 and 20, and the axis of the connecting shaft is the second arm 48. , 50 functions as a third turning center P3 serving as a turning center of the rear end portion.

  Referring to FIGS. 1 and 6, the distal end portions of the pair of second arms 48 and 50 are pivotally connected to the distal end side link fitting 52. The distal end side link metal fitting 52 has substantially the same configuration as the base side link metal fitting 6 and the intermediate link metal fitting 38, and has a pair of side walls 54, 56 and a connection wall 60 that connects the side walls 54, 58. Similarly to the connection of the second arms 48, 50 to the intermediate link fitting 38, the distal ends of the second arms 48, 50 are pivotally connected to the distal end side link fitting 52 via the connection shaft 62, and the connection shaft 62 is connected. This axis functions as the fourth turning center P4 that is the turning center of the tip of the second arm 18, 20.

  Returning to FIG. 1 again, a tool attachment member 66 is attached to the distal end side link metal fitting 52, and an axis 68 extending in the vertical direction on the tool attachment member 66 (this axis extends substantially parallel to the axis of the column 4. The tool holding member 70 is attached so as to be pivotable in the horizontal direction around the center of the tool), and a work tool 72 such as an electric screwdriver 72 is attached to the front side of the tool holding member 70.

  With this configuration, the base side link metal fitting 6 and the intermediate link metal fitting 38 are pivotally connected via the pair of first arms 18 and 20, and the pair of first arms 18 and 20 are connected to the base side link. The bracket 6 and the intermediate link bracket 38 extend substantially in parallel with a space in the vertical direction, and the base side link bracket 6, the intermediate link bracket 38, and the pair of first arms 18 and 20 have first parallel sides. Forms a link mechanism. The intermediate link fitting 38 and the distal end side link fitting 52 are pivotally connected via a pair of second arms 48 and 50, and the pair of second arms 48 and 50 are connected to the intermediate link fitting 38 and the distal end side link fitting 52. The intermediate link fitting 38, the distal end side link fitting 52, and the pair of second arms 48 and 50 constitute a second parallelogram link mechanism.

  In the tool holding balancer device 1 of this form, in relation to the first arms 18 and 20, the first axis 74 passing through the first turning center P1 at the rear end of the first arms 18 and 20, and the first arm It is important that the second axis 76 passing through the second turning center P2 at the tip ends of 18 and 20 is configured to be substantially parallel to the axis 26 of the support column 4 and is related to the second arms 48 and 50. Then, the third axis 78 passing through the third turning center P3 at the rear ends of the second arms 48, 50 and the fourth axis 80 passing through the fourth turning center P4 at the tips of the second arms 48, 50 are: It is important to configure it to be substantially perpendicular to the column axis 26 of the column. With this configuration, as can be understood from FIGS. 1 to 3, the second arms 48 and 50 with respect to the intermediate link fitting 38 are anteroposteriorly about the third turning center P3 (in FIGS. 1 to 3). It is allowed to swivel over a large angular range in the left-right direction).

  For example, FIG. 1 shows a state in which the first arms 18 and 20 have turned to the uppermost upper turning angle position about the first turning center P1, and in this turning state, the second arms 48 and 50 are shown. Is pivotable between a forward angle position indicated by a solid line (second arms 48, 50 indicated by a solid line) and a rear angle position indicated by a two-dot chain line (second arms 48, 50 indicated by a two-dot chain line). The electric driver 72 held by the tool holding member 70 can move between a front position indicated by numeral 72 and a rear position indicated by numeral 72A. The distance L1 between the first turning center P1 and the second turning center P2 of the first arms 18 and 20 is the turning length of the first arms 18 and 20, and the second arms 48 and 50 The distance L2 between the third turning center P3 and the fourth turning center P4 is the turning length of the second arms 48 and 50.

  In this embodiment, as shown in FIGS. 1 and 2, the first contact piece 82 is provided on the lower surface of the upper first arm 18, and the first contact piece 82 is the upper surface of the lower first arm 20. , The turning movement of the pair of first arms 18 and 20 exceeding the upper limit turning angle position is prevented. The first contact piece 82 may be provided on the upper surface of the lower first arm 20 instead of the upper first arm 18. Further, a second contact piece 84 is provided on the lower surface of the upper second arm 48, and the second contact piece 84 contacts the upper surface of the lower second arm 50, thereby a pair of second arms 48. , 50 is prevented from turning forward beyond the forward angular position. The second contact piece 84 may be provided on the upper surface of the lower second arm 50 instead of the upper second arm 48.

  In the state where the first arms 18 and 20 are at the upper limit turning angle position, the second arms 48 and 50 are turnable as described above. Therefore, the region S1 on the column 4 side becomes an empty region, and the front of this empty region S1 The side area S2 is an effective work area, and the height H1 is the tool height at the front position.

  Further, for example, FIG. 2 shows a state in which the first arms 18 and 20 are turned to the horizontal turning angle position about the first turning center P1, and in this turning state, the second arms 48 and 50 are It is pivotable between a forward angle position indicated by a solid line (second arms 48 and 50 indicated by a solid line) and a rear angle position indicated by a two-dot chain line (second arms 48 and 50 indicated by a two-dot chain line); The electric driver 72 held by the tool holding member 70 can move between a front position indicated by a number 72 and a rear position indicated by a number 72A. In the state at this horizontal turning angle position, since the second arms 48 and 50 can turn as described above, the region S1 on the support column 4 side becomes an empty region, and the region S2 on the front side of this empty region S1 becomes It becomes an effective work area, and the height H1 is the tool height at the front position.

  Further, for example, FIG. 3 shows a state in which the first arms 18 and 20 are turned to the lower turning angle position around the first turning center P1, and in this turning state, the second arms 48 and 50 are It is pivotable between a forward angle position indicated by a solid line (second arms 48 and 50 indicated by a solid line) and a rear angle position indicated by a two-dot chain line (second arms 48 and 50 indicated by a two-dot chain line); The electric driver 72 held by the tool holding member 70 can move between a front position indicated by numeral 72 (indicated by a solid line) and a rear position indicated by reference numeral 72A (indicated by a two-dot chain line). . In the state of the lower turning angle position, since the second arms 48 and 50 can turn as described above, the region S1 on the column 4 side becomes an empty region.

  In FIG. 3, the angle position indicated by the alternate long and short dash lines 18A, 20A (38A) is the upper limit turning angle position (the turning angle position shown in FIG. 1) of the first arm 18, 20 (intermediate link metal fitting 38). The turning angle position indicated by 20B (38B) is the horizontal turning angle position (turning angle position shown in FIG. 2) of the first arms 18 and 20 (intermediate link fitting 38), and also indicated by alternate long and short dash lines 18C and 20C (38C). In the tool holding balancer device 1 in which the angular position is the lower limit turning angle position of the first arm 18, 20 (intermediate link metal fitting 38), and the first arm 18, 20 and the second arm 48, 50 can be turned in this way, An area S0 in FIG. 3 is an effective work area of the balancer device 1, that is, an effective work range.

  Referring to FIGS. 7 and 8 together with FIGS. 1 and 2, in the tool holding balancer device 1, a first spring means 86 is provided to balance the load acting on the first arms 18 and 20. ing. In the illustrated form, the first spring means 86 includes a pair of coil springs 88, and the coil springs 88 are interposed between the pair of first arms 18 and 20. Through holes are provided in the first arms 18 and 20, and support pins 90 and 92 are inserted through the through holes, and metal sleeves 94 are provided at both ends of the support pins 90 and 92 protruding from the first arms 18 and 20 on both sides. Are attached to a support pin 90 attached to the upper first arm 18 via a metal sleeve 94, and the other end is attached to the lower first arm 20. The support pin 92 is mounted via a metal sleeve 94.

  In this embodiment, the mounting position of the coil spring 88 on the upper first arm 18 on one end side (the mounting position of the support pin 90) and the mounting position on the lower first arm 20 on the other end side (the mounting position of the support pin 20). 8), as shown in FIG. 8, the mounting position of the coil spring 88 on the upper first arm 18 is closer to the base-side link fitting 6 side than the mounting position on the lower first arm 20 on the other end side. It is desirable to arrange so that the By arranging in this positional relationship, it is possible to bias the first arms 18 and 20 upward about the first turning center P1 using the return elastic force of the coil spring 88. The elastic force increases as the first arms 18 and 20 are turned downward. For this reason, for example, the first arm 18 or 20 can be applied to a configuration in which the turning angle position at which the upper limit turning angle position is the standby position is the standby position. When released, the first arms 18 and 20 return to the standby position by the action of the coil spring 88.

  When a larger return elastic force is applied by the first spring means 86, the number of coil springs constituting the first spring means 86 may be increased. For example, in addition to the pair of coil springs 88, a pair of coil springs 96 (FIG. 8). The coil spring 96 can be mounted in the same manner as the coil spring 88 described above, for example.

  The adjustment of the acting force by the return elastic force of the first spring means 86 can be performed as follows, for example. The acting force (in other words, the moment about the first turning center P1) by the first spring means 86 becomes larger as the distance from the first turning center P1 becomes larger. This is the length to the mounting position on the lower first arm 20 (the mounting position of the support pin 92). For example, the coil spring 88 has a distance Q1 from the first turning center P1 to the mounting position on the lower first arm 20, and the coil spring 96 has a distance from the first turning center P1 to the mounting position on the lower first arm 20. As can be easily understood from this, the mounting position on the other end side of the coil springs 88 and 96 (the mounting position on the lower first arm 20) is positioned on the intermediate link metal fitting 38 side. Thus, the acting force of the first spring means 86 can be adjusted to the increase side.

  In the tool holding balancer device 1, second spring means 96 is provided to balance the load acting on the second arms 48 and 50. In the illustrated form, the second spring means 96 is composed of a pair of coil springs 98, and the coil spring 98 is interposed between the pair of second arms 148, 50. The coil spring 98 can be mounted in the same manner as the coil spring 88 of the first spring means 86, and the coil spring 100 can be additionally provided as the second spring means 96 as required.

  In this embodiment, the positional relationship between the mounting position of the coil spring 98 (100) on the upper second arm 48 on one end side and the mounting position on the lower second arm 50 on the other end side is shown in FIGS. As described above, the mounting position of the coil spring 98 (100) on the upper second arm 48 is arranged closer to the base side link fitting 6 than the mounting position of the other end side to the lower second arm 50. It is desirable to do. By arranging in this positional relationship, the second arms 48 and 50 can be biased upward about the third turning center P3 using the return elastic force of the coil spring 88 (100). The return elastic force increases as the second arms 48 and 50 are turned downward. For this reason, for example, the present invention can be applied to a configuration in which the turning angle position where the second arms 48 and 50 are turned upward is the standby position. In this case, the worker releases the electric driver 72. Then, the second arms 48 and 50 return to the standby position by the action of the coil spring 88 (100).

  The movement in the tool holding balancer apparatus 1 is as follows. 1, 3, and 9, when the electric driver 72 (work tool) held by the tool holding member 70 is moved downward (or upward), the pair of first arms 18, 20 are turned in the first direction. When the electric driver 72 is swung downward (or upward) around the center P1, and the electric driver 72 is moved to the front side (or rear side), the pair of second arms 18 and 20 are moved forward (or around the third turning center P3) (or Swiveled backwards). Further, when the electric driver 72 is largely moved in the direction indicated by the arrow 102 (or the direction indicated by the arrow 104), the base side link fitting 6 is turned in the direction indicated by the arrow 102 (or the direction indicated by the arrow 104) around the axis 26 of the support column 4. As a result of this turning movement, the pair of first arms 18 and 20, the intermediate link fitting 38, the pair of second arms 48 and 50, the tip side link fitting 52 and the like are also turned integrally with the base side link fitting 6. The When the electric driver 72 is further moved in the direction indicated by the arrow 106 (or arrow 108), the tool holding member 70 is centered on the axis 68 (extending in the vertical direction parallel to the axis 26 of the support column 4), and the arrow 106 (or arrow). 108), and the turn is, for example, in an angle range indicated by reference sign θ1. The In the actual assembling work, the electric driver 72 is moved in a complicated manner, and therefore the movement of the tool holding balancer device 1 is a combination of the above-described movements.

  In the tool holding balancer device 1 having such a configuration, when the lengths of the first arms 18 and 20 and the second arms 48 and 50 are set to, for example, 300 mm, as in the conventional apparatus shown in FIGS. The effective work range on the work table 2 is as shown in FIG.

  In FIG. 10, a region S1 radially inward of the alternate long and short dash line 110 becomes an empty region where work cannot be performed, and a region S2 between the alternate long and short dash line 110 and the outer one-dot chain line 112 reduces the work load and performs assembly work. It becomes an effective work area (effective work range) in which it can be performed. Further, the height H2 of the effective work range S2 in the tool holding balancer device 1 is, for example, about 330 mm. Further, the radius R1 of the empty area S1 is, for example, about 260 mm, and the radius R2 of the effective work area S2 is, for example, about 690 mm. For example, the tool holding balancer is attached to the work table 2 having a depth D1 of 750 mm and a width W1 of 1100 mm. When the apparatus 2 is attached and used, an effective work area S2 having a width W2 of about 610 mm and a depth D2 of about 360 mm, for example, can be secured above the work table 2. The effective work range S2 in the tool holding balancer device 1 increases in depth and approaches the support column as easily understood by comparing with the effective work range S2 in the conventional balancer device 200 shown in FIG. The effective work range S2 can be set up to the area, the proportion of the effective work range S2 in the surface (total area) of the work table 2 can be significantly increased, and the work table 2 can be used more effectively. Become.

Second Embodiment Next, a second embodiment of the tool holding balancer device according to the present invention will be described with reference to FIG. In the second embodiment, the structure for attaching the support is improved. In the following embodiments, the same reference numerals are assigned to substantially the same components as those in the first embodiment described above, and the description thereof is omitted.

  In FIG. 11, in the second embodiment, the base 8 is attached to a ceiling 122 such as an assembly factory, and the column 4 extends substantially vertically downward from the base 8. Note that the base 8 may be attached to an upper attachment portion such as a facility or a structure installed in a factory instead of the ceiling 122. And the base side link metal fitting 6 is attached to this support | pillar 4 so that position adjustment is possible in the up-down direction, and the position adjustment of this base side link metal fitting 6 is the same as in the first embodiment, and the lower stopper member 32 and the upper stopper member. This is done by adjusting the mounting position of 36 in the vertical direction. Other configurations of the second embodiment, i.e., the configuration of the pair of first arms 18 and 20, the intermediate link fitting 38, the pair of second arms 48 and 50, the distal end side link fitting 52, and the like, are the first described above. It may be substantially the same as the embodiment. Also in the second embodiment, since the basic configuration is substantially the same as that of the first embodiment described above, the same operational effects as described above are achieved.

Third Embodiment Next, a third embodiment of a tool holding balancer device according to the present invention will be described with reference to FIGS. In the third embodiment, the base side link metal fitting mounting structure, the first arm connecting structure, and the second arm connecting structure are modified.

  12 to 14, in the third embodiment, the attachment member 152 is attached to the support column 4 so as to be movable in the vertical direction along the axis 26, and the base side link metal fitting 6 </ b> A is fixed to the attachment member 152. ing. As described above, the mounting member 152 is adjusted in the vertical position of the mounting member 152 by changing the mounting positions of the lower stopper member 32 and the upper stopper member 36, and the base portion is adjusted by adjusting the position. The vertical position of the side link fitting 6A is adjusted. In this third embodiment, the support column 4 is attached to the work table 2 by the base 8. However, as in the second embodiment, the support column 4 is attached to the ceiling or the like via the base 8. You may do it.

  Further, the rear ends of the pair of first arms 18A, 20A are pivotally connected to the base side link fitting 6A, and their distal ends are pivotally connected to the intermediate link fitting 38A. In the same manner as described above, it is pivotally connected via a connecting shaft (not shown). That is, the rear ends of the pair of first arms 18A and 20A are connected to the base side link metal fitting 6A via the connecting shaft, and the axis of the connecting shaft serves as the pivot center of the rear ends of the first arms 18A and 20A. It functions as the first turning center P1. The tip ends of the pair of first arms 18A, 20A are connected to the intermediate link metal fitting 38A via a connecting shaft, and the second turning in which the axis of the connecting shaft is the turning center of the tip of the first arms 18A, 20A. It functions as the center P2.

  The rear ends of the pair of second arms 48A and 50A are pivotally connected to the intermediate link metal fitting 38A, and the tip ends thereof are pivotally connected to the front end side link metal fitting 52A. In the same manner as described above, it is pivotally connected via a connecting shaft (not shown). That is, the rear ends of the pair of second arms 48A and 50A are connected to the intermediate link fitting 38A via the connecting shaft, and the axis of the connecting shaft serves as the turning center of the rear ends of the second arms 48A and 50A. 3 functions as a turning center P3. The tip ends of the pair of second arms 18A and 20A are connected to the tip-side link metal fitting 52A via a connecting shaft, and the axis of the connecting shaft is the fourth turning center of the tip portion of the second arms 48A and 50A. It functions as the turning center P4.

  Since it is configured in this manner, the base side link metal fitting 6A and the intermediate link metal fitting 38A are pivotally connected via a pair of first arms 18A and 20A parallel to each other. The metal fitting 38A and the pair of first arms 18A and 20A constitute a first parallelogram link mechanism. The intermediate link fitting 38A and the distal end side link fitting 52A are pivotally connected via a pair of second arms 48 and 50 parallel to each other, and the intermediate link fitting 38A, the distal end side link fitting 52A and the pair of second arms. The arms 48 and 50 constitute a second parallelogram link mechanism.

  In the third embodiment of the tool holding balancer device 1A, in relation to the first arms 18A and 20A, a first axis 74A passing through the first turning center P1 at the rear end of the first arms 18A and 20A, and It is important that the second axis 76 passing through the second turning center P2 at the tip of the first arm 18A, 20A is configured to be substantially perpendicular to the axis 26 of the column 4, and the second arm In relation to 48A and 50A, the third axis 78A passing through the third turning center P3 at the rear end of the second arms 48A and 50A and the fourth passing through the fourth turning center P4 at the tip of the second arms 48A and 50A. It is important that the four axes 80 </ b> A are configured to be substantially parallel to the axis 26 of the support column 4. With this configuration, as can be understood from FIGS. 12, 14, and 15, the first arms 18A and 20A with respect to the base-side link fitting 6A are anteroposteriorly about the first turning center P1 (FIG. 12). 14 and 15 is allowed to pivot over a large angle range (in the left-right direction in FIG. 14 and FIG. 15), and the first arm 18A, 20A can be pivoted on the side of the support column 4. As shown in FIG. 16, the effective work area S2 (effective work range) can be further widened.

  In this tool holding balancer apparatus 1A, when the lengths of the first arms 18A, 20A and the second arms 48A, 50A are set to 300 mm, for example, as in the conventional apparatus shown in FIGS. The effective work range at is as shown in FIG.

  In FIG. 16, a region S1 radially inward of the alternate long and short dash line 162 becomes an empty region where work cannot be performed, and the region S2 between the alternate long and short dash line 162 and the outer one-dot chain line 164 reduces the work load and performs assembly work. It becomes an effective work area (effective work range) in which it can be performed. Further, the height H2 of the effective work range S2 in the tool holding balancer device 1A is, for example, about 230 mm. Further, the radius R1 of the empty area S1 is about 200 mm, for example, and the radius R2 of the effective work area S2 is about 630 mm, for example, the worktable 2 having a depth D1 of 750 mm and a width W1 of 1100 mm. When the apparatus 1A is attached and used, an effective work area S2 having a width W2 of, for example, about 600 mm and a depth D2 of, for example, about 350 mm can be secured above the work table 2, and the effective work area S2 is Therefore, the proportion of the effective work range S2 in the surface (total area) of the work table 2 can be increased as in the first embodiment, and the surface of the work table 2 can be increased. It can be used more effectively.

  In the third embodiment, the first use form (usage form shown in FIGS. 12 to 14) in which the second arms 48 </ b> A and 50 </ b> A mainly move in the front region of the support column 4, and the second arms 48 </ b> A and 50 </ b> A It can be used mainly in the second usage pattern (the usage pattern shown in FIG. 15) that moves in the lateral region of the support column 4, and when used in the first usage pattern, the coil of the first spring means The spring 88 is interposed as shown in FIG. That is, one end side of the coil spring 88 is attached to the front first arm 18A, the other end side is attached to the rear first arm 20A, and the attachment portion of the coil spring 88 on one end side to the front first arm 18A is The coil spring 88 is disposed closer to the base-side link metal fitting 6A than the attachment site to the rear first arm 20A on the other end side.

  When the coil spring 88 is arranged in this way, the first arms 18A and 20A are elastically biased to the front side around the first turning center P1, and accordingly, the first arms 18A and 20A are moved forward. It can be conveniently applied when used to balance at the position of.

  When used in the second usage pattern, the coil spring 88 of the first spring means is interposed as shown in FIG. That is, one end side of the coil spring 88 is attached to the front first arm 18A, the other end side is attached to the rear first arm 20A, and the attachment portion of the coil spring 88 on one end side to the front first arm 18A is The coil spring 88 is disposed closer to the intermediate link metal fitting 38A than the attachment part to the rear first arm 20A on the other end side.

  When the coil spring 88 is arranged in this way, the first arms 18A and 20A are elastically biased rearward about the first turning center P1, and therefore the first arms 18A and 20A are rearward. It can be conveniently applied when used to balance in side position.

  In the third embodiment, in the standby state, as shown in FIGS. 12 and 13, it is desirable that the first arms 18 </ b> A and 20 </ b> A be configured to be substantially parallel to the axis 26 of the support column 4. By configuring the first arm 18A, the first arm 18A, 20A can be easily moved in the front-rear direction. In addition, the other structure in this 3rd Embodiment may be the same as that of 1st Embodiment mentioned above.

  While various embodiments of the tool holding balancer device according to the present invention have been described above, the present invention is not limited to such embodiments, and various changes or modifications can be made.

1, 1A Tool holding balancer 2 Work table 6, 6A Base side link bracket 18, 18A, 20, 20A First arm 38, 38A Intermediate link bracket 48, 48A, 50, 50A Second arm 52, 52A Tip side link Metal fitting 72 Electric driver 86 First spring means 96 Second spring means

Claims (5)

A column provided so as to extend substantially vertically, a base-side link fitting attached to the column, and a pair of first links whose rear ends are connected to the base-side link fitting so as to be rotatable around a first turning center. One arm, an intermediate link fitting in which the tip ends of the pair of first arms are pivotally connected around the second turning center, and a rear end of the intermediate link fitting is rotatable around the third turning center A pair of second arms connected to each other, and a tip side link fitting in which tip ends of the pair of second arms are pivotally connected around a fourth turning center. In a tool holding balancer device to which a tool is attached,
The first axis passing through the first turning center of the pair of first arms and the second axis passing through the second turning center are arranged so as to be substantially parallel to the axis of the support column, and the base portion The side link fitting, the intermediate link fitting and the pair of first arms constitute a first parallelogram link structure, and a third axis passing through the third turning center of the pair of second arms and their A fourth axis passing through the fourth turning center is arranged to be substantially perpendicular to the axis of the support column, and the intermediate link fitting, the distal end side link fitting, and the pair of second arms are in a second parallel. A balancer device for holding a tool characterized by constituting a quadrilateral link structure.   The rear end portions of the pair of first arms are pivotally connected to one end portions of the base side link metal fittings, and the other end portions of the base side link metal fittings are attached to the support columns so as to be pivotable about their axes. A spring means is interposed between the pair of first arms, and a mounting portion to the upper first arm on one end side of the spring means is connected to the lower first arm on the other end side of the spring means. 2. The tool holding balancer device according to claim 1, wherein the tool holding balancer device is disposed closer to the intermediate link fitting than the mounting portion. A column provided so as to extend substantially vertically, a base-side link fitting attached to the column, and a pair of first links whose rear ends are connected to the base-side link fitting so as to be rotatable around a first turning center. One arm, an intermediate link fitting in which the tip ends of the pair of first arms are pivotally connected around the second turning center, and a rear end of the intermediate link fitting is rotatable around the third turning center A pair of second arms connected to each other, and a tip side link fitting in which tip ends of the pair of second arms are pivotally connected around a fourth turning center. In a tool holding balancer device to which a tool is attached,
A first axis passing through the first turning center of the pair of first arms and a second axis passing through the second turning center are arranged so as to be substantially perpendicular to the axis of the column, and the base side The link metal fitting, the intermediate link metal fitting, and the pair of first arms constitute a first parallelogram link structure, and a third axis passing through the third turning center of the pair of second arms and their A fourth axis passing through the fourth turning center is disposed so as to be substantially parallel to the axis of the support column, and the intermediate link fitting, the distal end side link fitting, and the pair of second arms include a second parallel four sides A tool-holding balancer device comprising a link structure.   A mounting member is attached to the support column so as to be pivotable about its axis, the base side link metal fitting is fixed to the attachment member, and the rear end portions of the pair of first arms are rotatable to the base side link metal fitting. And a spring means is interposed between the pair of first arms, and a mounting portion of the spring means on the rear first arm on one end side is a front first on the other end side of the spring means. The balancer device for holding a tool according to claim 3, wherein the balancer device is disposed closer to the intermediate link fitting than the mounting portion on the arm.   A mounting member is attached to the support column so as to be pivotable about its axis, the base side link metal fitting is fixed to the attachment member, and the rear end portions of the pair of first arms are rotatable to the base side link metal fitting. And a spring means is interposed between the pair of first arms, and a mounting portion of the spring means on the rear first arm on one end side is a front first on the other end side of the spring means. 4. The tool holding balancer device according to claim 3, wherein the tool holding balancer device is disposed closer to the base-side link metal fitting than an attachment part to the arm.

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