1A2-A22 エンジン搬送型自重補償装置の開発

概要

論文の詳細を見る
In the assembly task of the heavy parts such as the engine and the instrument panel, the hydraulic and pneumatic actuators have been used to raise and lower them. However, such the drive sources are unsuitable in the recent production line from the standpoint of the environmental problems, safety and the easiness of the maintenance. Thus, this paper attempted to develop a gravity compensation device constructed by the passive elements without having special power sources. The proposed device is composed of the closed link system with the pantograph structure and the gravity compensation mechanisms consist of the springs and the L shape links. By the proposed device, the weight of the parts is successfully compensated at any positions and the backlash of the platform is drastically reduced. The effectiveness of the proposed device was evaluated quantitatively by measuring the generated compensation force in the up-down task.