JP2024034657A - Turning mechanism and machining device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a turning mechanism and a machining device capable of suppressing an increase in driving force required for turning a structure with a turning fulcrum and a center of gravity thereof different from each other, due to the influence of the gravity, when the structure is turned in a plane crossing a horizontal direction.

SOLUTION: A turning mechanism turns a structure around a turning fulcrum within an intersection plane intersecting with a horizontal plane, in which a position of a center of gravity of the structure within the intersection plane is different from a position of a turning fulcrum. The turning mechanism includes: a turning drive part for imparting a driving force for a turning operation to the structure; and an assist part for connecting a fixed position of a fixed part separated from the structure to a connection position different from the turning fulcrum of the structure. The assist part is configured to cause the structure to generate an assist moment in a direction opposite to a self-weight moment by imparting, to the connection position, an assist force along an expanding/contracting direction of the assist part, in at least part of a turning angle range of the structure while expanding/contracting between the fixed position and the connection position along with the turning operation.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present disclosure relates to a turning mechanism and a processing device.

Regarding a turning mechanism for turning a structure, Patent Document 1 discloses a machine tool having a turning table.

JP2015-217481A

BACKGROUND ART A structure may be rotated by a rotation mechanism using a position different from the center of gravity of the structure as a rotation fulcrum (center of rotation). In this way, when turning a structure whose center of gravity is different from the swing fulcrum, a larger driving force is required for turning than when turning a structure whose center of gravity and the swing fulcrum are the same. This resulted in an increase in the size and cost of the drive unit. In particular, when such a structure is turned in a plane that intersects with a horizontal plane, a larger driving force may be required due to the influence of gravity.

The present disclosure can be realized as the following forms.

(1) According to the first aspect of the present disclosure, a structure is rotated around a pivot point within an intersecting plane intersecting a horizontal plane, and the center of gravity position of the structure and the position of the pivot point within the intersecting plane. A rotating mechanism is provided, each having a different rotation mechanism. This turning mechanism includes: a turning drive section that applies a driving force to the structure for turning operation in the intersecting plane around the turning fulcrum; a fixing position of a fixing section spaced apart from the structure; an assist portion that connects the structure to a connection position closer to the center of gravity than the pivot point within the intersection plane. The assist portion is configured to be able to rotate around the fixed position while expanding and contracting between the fixed position and the connection position in accordance with the turning operation, and to control an angular range in which the structure turns by the turning movement. By applying an assisting force along the expansion/contraction direction of the assisting portion to the connection position in at least a part of the assisting portion, an assisting moment is generated in the structure in a direction opposite to a self-weight moment due to the self-weight of the structure. It is configured.
According to such a configuration, the assist portion generates an assist moment in the opposite direction to the self-weight moment, so when a structure whose center of gravity position and the turning fulcrum are different is turned within the intersecting plane, the driving force required for the turning operation is reduced. can be suppressed from increasing due to the influence of gravity. Therefore, it is possible to suppress the increase in size and cost of the swing drive unit.
(2) The above embodiment further includes a swing control section that controls the swing drive section, the fixed position is arranged above or below the structure in the vertical direction, and the swing control section controls the swing drive section. The structure is rotated within a predetermined angular range in which the center of gravity position is located between the swing fulcrum and the fixed position in the vertical direction, and the assist The portion may be configured such that the assist moment increases as the center of gravity position approaches the pivot point in the vertical direction during the pivot operation. According to such a configuration, it is possible to effectively suppress an increase in the driving force required for the turning operation due to the influence of gravity.
(3) In the above embodiment, the assist portion is configured such that the closer the center of gravity position is to the turning fulcrum in the vertical direction during the turning operation, the more the direction of the assisting force changes between the axis connecting the turning fulcrum and the center of gravity. The configuration may be configured such that an angular difference in the intersecting plane between them becomes large. According to such a configuration, it is possible to easily realize that the assist moment becomes larger as the center of gravity position approaches the turning fulcrum in the vertical direction during the turning operation.
(4) In the above embodiment, the assist portion is configured such that the angular difference is 90° when the center of gravity position is located closest to the pivot point in the vertical direction during the pivot motion. It's okay. According to such a configuration, it is possible to more effectively suppress an increase in the driving force required for the turning operation due to the influence of gravity.
(5) In the above embodiment, when the center of gravity position is located farthest from the swing fulcrum in the vertical direction during the swing operation, the distance between the connection position and the fixed position is They may be arranged to be the shortest. According to such a form, it becomes easy to evenly turn the structure in the left and right direction in the turning operation.
(6) In the above embodiment, the assisting part has a drive cylinder configured to be extendable and retractable between the fixed position and the connection position, and the drive cylinder allows movement between the fixed position and the connection position. The drive cylinder is configured to be extendable and retractable, and when the center of gravity position is located farthest from the swing fulcrum in the vertical direction during the swing operation, the length of the drive cylinder in the extend and contract direction is longer than the drive cylinder. The length may be arranged to match the lower limit of the length of the cylinder. According to this embodiment, the angular range of the structure can be prevented from being limited by the length of the drive cylinder.
(7) In the above embodiment, when the center of gravity position is located farthest from the turning fulcrum in the vertical direction during the turning operation, the center of gravity when viewed along the orthogonal direction perpendicular to the intersecting plane. The position, the pivot point, the connection position, and the fixed position may be arranged on the same straight line. According to such a form, the attitude of the structure can be more easily stabilized.
(8) In the above embodiment, the connection position may be located on the opposite side of the pivot point with the center of gravity in the direction along the axis connecting the pivot point and the center of gravity. In such a configuration, since the assist force has a component in the opposite direction to gravity, the rotation fulcrum is arranged between the center of gravity and the connection position in the direction along the axis, for example. The load on the support shaft and bearings placed at the fulcrum can be suppressed. In addition, for example, compared to a configuration in which the connection position is sandwiched between the rotation fulcrum and the center of gravity in the direction along the axis, the connection position is located further away from the rotation fulcrum, so the assist The moment becomes larger. Therefore, it is possible to more effectively suppress an increase in the driving force required for the turning operation due to the influence of gravity.
(9) In the above embodiment, the assisting section includes a drive cylinder that is configured to be extendable and retractable between the fixed position and the connection position, and the drive cylinder allows movement between the fixed position and the connection position. The drive cylinder may be extendable and retractable, and the drive cylinder may be supported by a trunnion shaft in the fixed position. According to this embodiment, it is possible to prevent the positional relationship between the fixed position and the connected position and the angular range of the structure from being limited by the specifications of the drive cylinder or the like.
(10) In the above embodiment, the assist portion may apply a pulling force from the connection position toward the fixed position to the connection position as the assist force in the fixed position in the vertical direction. According to such a configuration, it is possible to easily suppress an increase in the driving force required for the turning operation due to the influence of gravity.
(11) The above embodiment further includes a swing control unit that controls the swing drive unit, the fixed position is arranged above or below the structure in the vertical direction, and the swing drive unit controls the drive force. The swing control unit includes a motor for applying a rotation angle, and the swing control unit is arranged such that, in the swing operation, the center of gravity position is located between the fixed position and the swing fulcrum in the vertical direction, and is perpendicular to the intersection plane. The absolute value of the turning angle θ representing the angle at which the structure has turned is predetermined based on the state in which an axis connecting the turning fulcrum and the center of gravity is along the vertical direction when viewed along the orthogonal direction. The structure is rotated so that the angle threshold value θ _M of less than 90° is θ M or less. ) may be configured such that the magnitude B of the assist moment satisfies the following equation (3).
M=d・m・g・sin｜θ｜…(1)
B=F・a・sinθ ₁ …(2)
|M-B|≦ _TR …(3)
(d represents the distance between the center of gravity position and the turning fulcrum, m represents the mass of the structure, g represents the magnitude of gravitational acceleration, θ represents the turning angle, F represents the magnitude of the assist force, a represents the distance in the direction along the axis between the connection position and the pivot point, and θ ₁ represents the distance between the axis and the assist force in the intersecting plane. (T _R represents the moment of pivoting of the structure caused by the pivoting drive when the motor is driven at its rated output.)
According to such a configuration, overload of the motor of the swing control section can be suppressed.
(12) According to the second aspect of the present disclosure, a processing device is provided. This processing device includes the turning mechanism of the above-mentioned form and the fixed part, and includes a tool support part as the structure that rotatably supports a tool for processing a workpiece around the axis of the tool, The apparatus further includes a rotation drive section that rotationally drives the rotation drive section, and a cutting control section that controls the rotation drive section.

It is an explanatory view showing a schematic structure of a turning mechanism in a 1st embodiment. FIG. 2 is a first diagram illustrating a turning operation of a structure in this embodiment. FIG. 3 is a second diagram illustrating the turning operation of the structure in this embodiment. FIG. 3 is an explanatory diagram showing the relationship between self-weight moment and assist moment. It is a top view showing the schematic structure of the processing device as a 2nd embodiment.

A. First embodiment:
FIG. 1 is an explanatory diagram showing a schematic configuration of a turning mechanism 100 in the first embodiment. FIG. 1 shows arrows along X, Y, and Z directions that are orthogonal to each other. The X, Y, and Z directions are directions along the X-axis, Y-axis, and Z-axis, which are three spatial axes orthogonal to each other, and one side direction along the X-axis, Y-axis, and Z-axis, respectively. Including both opposite directions. The X-axis and Y-axis are axes along a horizontal plane, and the Z-axis is an axis along a vertical line. In other figures as well, arrows along the X, Y, and Z directions are shown as appropriate. The X, Y, and Z directions in FIG. 1 and the X, Y, and Z directions in other figures represent the same direction. Hereinafter, the +Z direction will also be referred to as "up" and the -Z direction will also be referred to as "down". Further, a plane along the X direction and the Y direction is also called an "XY plane", and a plane along the Y direction and the Z direction is also called a "YZ plane". In this embodiment, the "XY plane" is a horizontal plane.

The turning mechanism 100 turns the structure 20 around a turning fulcrum 21 within an intersecting plane intersecting a horizontal plane. In this embodiment, the intersecting plane is a plane parallel to the YZ plane orthogonal to the horizontal plane. The pivot point 21 is a point of the structure 20 within the intersecting plane. Hereinafter, the movement of the structure 20 in turning around the turning fulcrum 21 within the intersecting plane will also be referred to as a turning movement.

As shown in FIG. 1, the center of gravity position 22 of the structure 20 within the intersecting plane and the position of the pivot point 21 are different from each other. "The position of the center of gravity within the intersecting plane" refers to the position of the center of gravity of the structure 20 within the intersecting plane when viewed along the orthogonal direction orthogonal to the intersecting plane. The orthogonal direction includes both one direction along the same axis and the opposite direction, and in this embodiment, it is the direction along the X axis. Therefore, in this embodiment, the center of gravity position 22 is a position where an axis perpendicular to the X-axis passing through the center of gravity of the structure 20 and the intersection plane intersect.

The swing mechanism 100 includes a swing drive section 110, an assist section 150, and a control section 200. The structure 20 is connected to a fixed part 300 separated from the structure 20 via the assist part 150, as described later.

The swing drive unit 110 provides the structure 20 with a driving force for a swing operation. This embodiment includes a shaft-shaped support shaft 111 that rotatably supports the structure 20 at the pivot point 21, and a motor 112 that is connected to the support shaft 111 and applies rotational driving force to the support shaft 111. ing. The support shaft 111 is arranged so that its axial direction is along the X direction. The motor 112 is arranged on the -X direction side of the structure 20. The motor 112 is configured, for example, as a motor having a non-excitation operated brake. The swing drive section 110 is driven under the control of the swing control section 210. In this embodiment, a bearing (not shown) is arranged at the pivot point 21 . The bearing may be, for example, a sliding bearing or a rolling bearing such as a ball bearing or a needle bearing.

In other embodiments, the swing drive unit 110 may swing the structure 20 by, for example, a rack and pinion mechanism. In this case, for example, tooth grooves may be provided on the outer circumferential side of the structure 20 that is pivotally supported at the swing fulcrum 21 to form a rack, and the swing drive unit 110 may be configured as a pinion that moves the structure 20 as the rack. . In other embodiments, the swing drive unit 110 may swing the structure 20 together with the support part by swinging the support part that fixes the structure 20.

The assisting part 150 connects the fixing position 305 of the fixing part 300 and the connecting position 23 of the structure 20 . The connection position 23 is a position of the structure 20 that is different from the pivot point 21 in the intersecting plane. In this embodiment, the connection position 23 is arranged on the direction d1 side of the pivot point 21. The direction d1 is a direction from the pivot point 21 toward the center of gravity position 22. More specifically, in the present embodiment, the connection position 23 is located on the opposite side of the rotation fulcrum 21 with the center of gravity 22 in the direction along the axis AX connecting the center of gravity 22 and the rotation fulcrum 21. . Furthermore, the connection position 23 in this embodiment is arranged on the axis AX when viewed along the X direction. In this embodiment, the fixed position 305 is arranged above the structure 20 in the vertical direction.

The assist portion 150 in this embodiment is configured as a cylinder mechanism having a drive cylinder 151 configured to be extendable and retractable between a fixed position 305 and a connecting position 23. The assist portion 150 functions as a link connecting the fixed position 305, which is a fixed end, and the connection position 23, which is a free end. The assist portion 150 is configured to be able to rotate around the fixed position 305 while expanding and contracting between the fixed position 305 and the connection position 23 as the structure 20 rotates.

The drive cylinder 151 in this embodiment is constituted by a single-acting retractable type hydraulic cylinder device, and includes a cylinder portion 152 and a rod inserted into the cylinder portion 152 so that the amount of protrusion from the cylinder portion 152 can be adjusted. 153. In this embodiment, the cylinder portion 152 is fixed at the fixed position 305, and the tip end of the rod portion 153 in the protruding direction is fixed at the connection position 23. By adjusting the oil pressure in the cylinder part 152, the amount of protrusion of the rod part 153 from the cylinder part 152 and the magnitude of the pulling force by the drive cylinder 151 are adjusted. The oil pressure in the cylinder section 152 is controlled by the control section 200 controlling various valves, pumps, etc. (not shown in the drawings) arranged in piping connecting the drive cylinder 151 and the oil tank. Note that in other embodiments, the drive cylinder 151 may be configured as a double-acting type cylinder device, for example. Further, the drive cylinder 151 may be configured as an air cylinder or an electric cylinder, for example.

In this embodiment, the drive cylinder 151 is fixed at a fixed position 305 by a trunnion shaft 306 . More specifically, a portion between the rear end and the tip in the protruding direction of the cylinder portion 152 is fixed at a fixed position 305 by a trunnion shaft 306. This manner of fixing the drive cylinder 151 using the trunnion shaft 306 is also called a "trunnion type."

The control unit 200 is configured by a computer including one or more processors, a main storage device, and an input/output interface that inputs and outputs signals to and from the outside. In other embodiments, the control unit 200 may be configured by, for example, a combination of multiple circuits.

The control unit 200 includes a swing control unit 210 that controls the swing drive unit 110. The swing control unit 210 in this embodiment is a functional unit realized by the control unit 200 executing a program. In other embodiments, the swing control unit 210 may be configured as, for example, a computer separate from the control unit 200.

FIG. 2 is a first diagram illustrating the turning operation of the structure 20 in this embodiment. FIG. 3 is a second diagram illustrating the turning operation of the structure 20 in this embodiment. In FIG. 2, the state of the turning mechanism 100 when the turning angle θ of the structure 20 is 30 degrees is shown by a solid line. Further, in FIG. 2, the structure 20 when the turning angle θ is −30° and the assist portion 150 in that case are shown by broken lines. In FIG. 3, the state of the turning mechanism 100 when the turning angle θ is 46° is shown by a solid line.

The turning angle θ represents the turning angle of the structure 20. The turning angle θ is such that the center of gravity 22 is located between the fixed position 305 and the turning fulcrum 21 in the vertical direction, and the center of gravity 22 and the turning fulcrum 21 are located between the center of gravity 22 and the turning fulcrum 21 when viewed along the orthogonal direction perpendicular to the intersecting plane. This is an angle based on the state where the angles are located on the same line along the vertical direction, and in this state it becomes 0°. That is, in FIG. 1, the turning angle θ is 0°. It can also be said that the turning angle θ corresponds to the rotation angle of the axis AX accompanying the turning operation, with reference to the axis AX0 in the state of FIG. In this embodiment, the turning angle θ takes a + value when the structure 20 turns clockwise with respect to 0° when viewed along the +X direction, and takes a + value when the structure 20 turns counterclockwise. is defined to take a negative value. Therefore, in the present embodiment, the absolute value of the turning angle θ increases as the structure 20 turns either clockwise or counterclockwise when viewed along the +X direction, and the center of gravity position 22 increases as the structure 20 turns clockwise or counterclockwise. When located directly below the fulcrum 21, the maximum angle is 180°.

Hereinafter, the state in which the turning angle θ is 0° as shown in FIG. 1 will also be referred to as "the state in which the structure 20 is not turning." Further, as shown in FIGS. 2 and 3, a state in which the turning angle θ is larger than 0° or smaller than 0° is also referred to as a "state in which the structure 20 has turned." In addition, a state in which the turning angle θ is larger than 0° is also called a "state in which the structure 20 has turned to the right," and a state in which the turning angle θ is smaller than 0° is also called a "state in which the structure 20 has turned to the left." Also called "state of being". Further, the movement of the structure 20 such that the center of gravity position 22 is directed upward is also referred to as "upward turning motion." In other words, the "upward pivoting motion" is a pivoting motion that goes against gravity. Turning of the structure 20 so that the center of gravity position 22 is directed further downward is also referred to as a "downward turning motion." In this embodiment, the upward turning motion corresponds to a turning motion that makes the absolute value of the turning angle θ smaller, and the downward turning action corresponds to a turning action that makes the absolute value of the turning angle θ larger. .

The angular range in which the structure 20 turns by the turning operation is also referred to as the turning range. In the present embodiment, the swing control unit 210 controls the swing drive unit 110 to select a predetermined range within the angular range in which the center of gravity position 22 is located between the swing fulcrum 21 and the fixed position 305 in the vertical direction. The structure 20 is rotated within a specified angle range. In other words, the turning range in this embodiment matches the specified angle range. Note that "the center of gravity position 22 is located between the pivot point 21 and the fixed position 305 in the vertical direction" includes a case where the center of gravity position 22 is located at the same position as the pivot point 21 in the vertical direction. It can also be said that the turning control unit 210 turns the structure 20 in the turning operation so that the absolute value of the turning angle θ is equal to or less than a predetermined angle threshold value θ _M of 90° or less. In this embodiment, the angle threshold θ _M is 46°. That is, in the present embodiment, the specified angle range is a range in which the turning angle θ is from −46° to 46°. Further, FIG. 3 shows a state in which the absolute value of the turning angle θ and the angle threshold value θ _M match.

As shown in FIGS. 1 to 3, when the structure 20 is rotated within a specified angle range in a configuration in which the fixed position 305 is disposed on the upper side, the fixed position 305 is the pivot point, and the center of gravity position 22 is the pivot point. Move the upper side of 21. On the other hand, in other embodiments, the fixed location 305 may be located on the underside of the structure 20. When the structure 20 is turned within a specified angle range in a configuration in which the fixed position 305 is disposed below the structure 20, the center of gravity position 22 moves below the turning fulcrum 21 in the turning operation.

Furthermore, in this embodiment, when the center of gravity position 22 is located farthest from the swing fulcrum 21 in the vertical direction during the swing operation, that is, when the swing angle θ is 0°, the assist unit 150 moves to the connection position 23. and the fixed position 305 are arranged so that the distance between them is the shortest. For example, the distance La between the connection position 23 and the fixed position 305 in FIG. 1 is shorter than the similar distance Lb in FIG. 2 and the similar distance Lc in FIG. 3. Note that the distance Lb is shorter than the distance Lc.

Furthermore, the drive cylinder 151 is arranged such that when the turning angle θ is 0°, the length of the drive cylinder 151 in the expansion and contraction direction matches the lower limit of the length of the drive cylinder 151 in the expansion and contraction direction. . Therefore, the length Lm of the drive cylinder 151 in the expansion/contraction direction in FIG. 1 matches the lower limit of the length of the drive cylinder 151. In the state shown in FIG. 1, it can be said that the amount of protrusion of the rod portion 153 from the cylinder portion 152 matches the lower limit of the amount of protrusion.

The assist portion 150 generates an assist moment by applying an assist force FA to the connection position 23 in at least a portion of the turning range. The assist force FA refers to a force along the direction of expansion and contraction of the assist portion 150. The assist moment refers to a moment in the opposite direction to the self-weight moment, which is generated by the assist force FA. The self-weight moment refers to a moment due to the self-weight of the structure 20. In this embodiment, the self-weight moment acts as a moment that causes the structure 20 to pivot in a direction that increases the absolute value of the pivot angle θ. On the contrary, the assist moment acts as a moment that causes the structure 20 to turn in a direction that reduces the absolute value of the turning angle θ.

As shown in FIGS. 1 to 3, the assist unit 150 in this embodiment is configured to apply a pulling force to the connection position 23 from the connection position 23 toward the fixed position 305 as the assist force FA. More specifically, in this embodiment, the hydraulic pressure in the cylinder section 152 is controlled to be constant by the control section 200, so that the assist section 150 applies a constant tensile force to the connection position 23 regardless of the turning angle θ. . As shown in FIG. 1, in this embodiment, when the turning angle θ is 0°, the center of gravity position 22, the turning fulcrum 21, the connecting position 23, and the fixed position 305 are the same when viewed along the X direction. Since they are arranged to line up on the axis AX, the angular difference θ ₁ between the axis AX and the direction of the assist force FA in the intersecting plane is 0°. Therefore, no assist moment is generated when the turning angle θ is 0°. On the other hand, as shown in FIGS. 2 and 3, when the absolute value of the turning angle θ is larger than 0° and smaller than 180°, the angular difference θ ₁ becomes larger than 0°. In this state, the assist force FA has a component perpendicular to the axis AX, more specifically, a component FAv1 shown in FIG. 2 and a component FAv2 shown in FIG. 3, so that an assist moment is generated by the assist force FA. Note that in the state shown in FIG. 3, the assist force FA has only a component FAv2.

In this embodiment, the assist unit 150 is configured such that the angle difference θ ₁ increases as the center of gravity position 22 approaches the pivot point 21 in the vertical direction during the pivot operation, that is, as the pivot angle θ increases. . More specifically, when the center of gravity position 22 is located closest to the turning fulcrum 21 in the vertical direction during the turning operation, the assisting part 150 in this embodiment is configured such that the absolute value of the turning angle θ is equal to or smaller than the angle threshold θ _M The configuration is such that the angle difference θ ₁ becomes 90°, which is the maximum value, when the angular difference θ 1 coincides with the angle θ 1 . As a result, the assist portion 150 in this embodiment is configured such that the assist moment increases as the center of gravity position 22 approaches the pivot point 21 in the vertical direction during a pivot operation, that is, as the pivot angle θ increases. . For example, the magnitude of the assist moment in FIG. 3 is greater than the assist moment in FIG. This is because component FAv2 in FIG. 3 is larger than component FAv1 in FIG. 2.

Note that in the turning operation, the angular difference θ ₁ is a function of the turning angle θ. More specifically, the angular difference θ ₁ monotonically increases up to 90° as the absolute value of the turning angle θ increases, and then monotonically decreases. The degree of increase or decrease of the angle difference θ ₁ with respect to the rotation angle θ and the magnitude of the rotation angle θ when the angle difference θ ₁ becomes 90° are determined by the fixed position 305 and the connection position 23 relative to the position of the rotation fulcrum 21. Varies depending on location. For example, if the connection position 23 is located farther from the pivot point 21 on the axis AX than in this embodiment, the magnitude of the pivot angle θ when the angle difference θ ₁ becomes 90° is , 46°. Furthermore, if the fixed position 305 is located higher than in this embodiment, the magnitude of the turning angle θ when the angle difference θ ₁ becomes 90° will be larger than 46°. Therefore, by appropriately adjusting the positions of the fixed position 305 and the connection position 23 with respect to the position of the turning fulcrum 21, for example, as in the present embodiment, the assist portion 150 can be adjusted such that the larger the turning angle θ, the larger the angle difference _θ1 . It can be configured as follows.

FIG. 4 is an explanatory diagram showing the relationship between the magnitude M of the self-weight moment and the magnitude B of the assist moment in this embodiment. FIG. 4 shows a graph in which the horizontal axis represents the absolute value of the turning angle θ and the vertical axis represents the magnitude of the moment.

The magnitude M of the self-weight moment shown in FIG. 4 is expressed by the following formula (1).
M=d・m・g・sin｜θ｜…(1)
However, in the above equation (1), |θ|≦θ _M. d represents the distance between the center of gravity position 22 and the pivot point 21. m represents the mass of the structure 20. g represents the magnitude of gravitational acceleration. The magnitude B of the assist moment is expressed by the following equation (2).
B=F・a・sinθ ₁ …(2)
F represents the magnitude of assist force FA. a represents the distance between the connection position 23 and the pivot point 21 in the direction along the axis AX. That is, in this embodiment, the distance a corresponds to the distance between the connection position 23 and the pivot point 21.

In this embodiment, the assist unit 150 is configured such that the magnitude M of the self-weight moment and the magnitude B of the assist moment satisfy the relationship expressed by the following formula (3).
|M-B|≦ _TR …(3)
T _R represents the magnitude of the turning moment of the structure 20 generated by the turning drive section 110 when the motor 112 is driven at the rated output. The magnitude of the moment T _R is determined, for example, by being calculated based on various dimensions of the swing mechanism 100, the rated torque of the motor 112, and the like. Hereinafter, the absolute value of the difference between the assist moment and the magnitude B, that is, |MB| in the above equation (3) will also be simply referred to as value A. As shown in FIG. 4, in this embodiment, the value A takes the maximum value V1 when the turning angle θ is 46°. Therefore, in this embodiment, the magnitude of the moment T _R only needs to be larger than the value V1. The relationship in equation (3) above can be more easily satisfied by configuring the assist unit ₁₅₀ so that the maximum value of value A is as small as possible in the range where the absolute value of the turning angle θ is equal to or less than the angle threshold value θ M. Become.

Note that, as shown in FIG. 4, in this embodiment, when the absolute value of the turning angle θ is smaller than the angle value θt, the self-weight moment is smaller than the assist moment. Therefore, when the absolute value of the turning angle θ is smaller than the angle value θt, the turning control unit 210 has at least a lower rotation angle than a case where the self-weight moment and the assist moment match in order to turn the structure 20 downward. It is necessary that a downward moment greater by the value A be generated by the swing drive 110. In this way, when an angular range in which the assist moment is larger than the self-weight moment occurs in the turning range, the assist section 150 is configured such that the maximum value of the value A is smaller than the maximum value V2 of the self-weight moment. It is preferable if it is done. Further, in this case, it is more preferable that the assist portion 150 is configured such that when the absolute value of the turning angle θ is smaller than the angle value θt, the value A is smaller than the magnitude M of the self-weight moment. When adjusting the assist part 150 in this way, for example, one or more of the various positions such as the pivot point 21, the center of gravity position 22, the connection position 23, and the oil pressure inside the drive cylinder 151 are adjusted. is adjusted accordingly. In this case, for example, by fixing another member to the structure 20, it is also possible to change the position of the center of gravity 22 while keeping the positional relationship between the pivot point 21 and the connection position 23 fixed. By adjusting the assist portion 150 as described above, the possibility that the magnitude of the moment required for turning the structure 20 as a whole can be further reduced increases.

In the turning mechanism 100 according to the present embodiment described above, the assist part 150 that connects the connection position 23 of the structure 20 and the fixed position 305 of the fixed part 300 moves to the fixed position 305 as the structure 20 rotates. and the connection position 23 while being able to rotate around the fixed position 305, and applying an assist force FA along the expansion/contraction direction to the connection position 23 in at least a part of the rotation range of the structure 20. The structure is configured to generate an assist moment in the opposite direction to the self-weight moment. As a result, the assist portion 150 generates an assist moment in the opposite direction to its own weight moment, so that when the structure 20 whose center of gravity position 22 and the turning fulcrum 21 are different is turned within the intersecting plane, the driving force required for the turning operation is reduced. Increase due to the influence of gravity can be suppressed. Therefore, it is possible to suppress an increase in the size and cost of the swing drive unit 110.

Further, in the present embodiment, the swing control unit 210 that controls the swing drive unit 110 selects a predetermined designation within the angular range in which the center of gravity position 22 is located between the swing fulcrum 21 and the fixed position 305 in the vertical direction. The structure 20 is rotated within an angular range, and the assist portion 150 is configured such that the assist moment increases as the center of gravity position 22 approaches the pivot point 21 in the vertical direction during the pivot operation. The closer the center of gravity position 22 is to the pivot point 21 in the vertical direction during the pivoting operation, that is, the greater the absolute value of the pivot angle θ, the more the self-weight moment of the structure 20 increases. Therefore, as in the present embodiment, by configuring the assist portion 150 so that the assist moment increases as the center of gravity position 22 approaches the turning fulcrum 21 in the vertical direction during the turning operation, the driving force required for the turning operation can be reduced. Increases due to the influence of gravity can be effectively suppressed.

Furthermore, in the present embodiment, the assist unit 150 is configured such that the closer the center of gravity position 22 is to the swing fulcrum 21 in the vertical direction during the swing operation, the larger the angular difference θ ₁ between the axis AX and the assist force FA becomes. has been done. Therefore, it is possible to easily realize that the assist moment becomes larger as the center of gravity position 22 approaches the turning fulcrum 21 in the vertical direction during the turning operation. In other words, it can be easily realized that the larger the absolute value of the turning angle θ is, the larger the assist moment becomes.

Furthermore, in the present embodiment, the assist unit 150 is configured such that the angular difference θ ₁ is 90° when the center of gravity position 22 is located closest to the swing fulcrum 21 in the vertical direction during the swing operation. . Therefore, it is possible to more effectively suppress an increase in the driving force required for the turning operation due to the influence of gravity.

In addition, in the present embodiment, when the center of gravity position 22 is located farthest from the swing fulcrum 21 in the vertical direction during the swing operation, the distance between the connection position 23 and the fixed position 305 is the shortest. It is arranged so that Thereby, in the turning operation, the structure 20 can be easily turned left and right evenly with respect to the turning angle θ of 0°.

Further, in the present embodiment, when the center of gravity position 22 of the drive cylinder 151 is located farthest from the swing fulcrum 21 in the vertical direction during the swing operation, the length Lm of the drive cylinder 151 in the expansion/contraction direction is are arranged to match the lower limit of length. Therefore, the turning range can be prevented from being limited by the length of the drive cylinder 151.

In addition, in the present embodiment, when the center of gravity position 22 is located farthest from the swing fulcrum 21 in the vertical direction during a turning operation, when viewed along the X direction, the center of gravity 22 and the swing fulcrum 21, The connection position 23 and the fixed position 305 are arranged on the same straight line. Therefore, especially when the turning angle θ is 0°, it is easier to stabilize the posture of the structure 20.

Further, in this embodiment, the connection position 23 is disposed on the opposite side of the pivot point 21 with the center of gravity position 22 in between in the direction along the axis AX. As a result, the assist force FA has a component in the opposite direction to gravity, so compared to, for example, a configuration in which the swing fulcrum 21 is sandwiched between the center of gravity position 22 and the connection position 23 in the direction along the axis AX. , it is possible to suppress the load on the support shaft 111 and bearings arranged at the pivot point 21. Furthermore, for example, compared to a configuration in which the connection position 23 is disposed between the rotation fulcrum 21 and the center of gravity position 22 in the direction along the axis AX, the connection position 23 is located further away from the rotation fulcrum 21. The assist moment becomes larger. Therefore, it is possible to more effectively suppress an increase in the driving force required for the turning operation due to the influence of gravity.

Further, in this embodiment, the drive cylinder 151 is supported by a trunnion shaft 306 at the fixed position 305. Therefore, compared to the case where the driving cylinder 151 is fixed in a foot shape or a flange shape, for example, it is easier to set the positional relationship between the fixed position 305 and the connection position 23 to a desired positional relationship, and This makes it easier to achieve a turning range of For example, if the rear end of the cylinder portion 152 in the protruding direction is fixed to the fixed position 305 in a foot-shaped or flange-shaped form, the distance between the fixed position 305 and the connection position 23 may be too long. Furthermore, when the tip of the cylinder portion 152 in the protruding direction is fixed at the fixed position 305, the length of the rod portion 153 that protrudes from the cylinder portion 152 when the rotation angle θ is 0° becomes longer, realizing the desired rotation range. It may not be possible. By supporting the drive cylinder 151 by the trunnion shaft 306, it is possible to prevent the positional relationship between the fixed position 305 and the connection position 23 and the rotation range from being restricted by the specifications of the drive cylinder 151.

Further, in the present embodiment, the assist portion 150 applies a pulling force toward the fixed position 305 to the connection position 23 as the assist force FA in the vertical direction of the fixed position 305 . Therefore, it is possible to easily prevent the driving force required for the turning operation from increasing due to the influence of gravity.

Further, in this embodiment, the magnitude M of the self-weight moment and the magnitude B of the assist moment due to the assist force FA are configured to satisfy the relationship of the above equation (3). Therefore, overload of the motor 112 of the swing control section 210 can be suppressed.

B. Second embodiment:
FIG. 5 is a top view showing a schematic configuration of a processing device 400 as a second embodiment. The processing device 400 includes a turning mechanism 101, a fixed part 301, and a tool support part 410 that supports the tool TL, which is the structure 20 described in the first embodiment. FIG. 5 shows a state in which the tool support portion 410 as the structure 20 is turned to the right. In addition, in FIG. 5, a part of the rod part 153 of the assist part 150 is shown by a broken line. Of the configuration of the turning mechanism 101 in the second embodiment, parts not particularly described are the same as those in the first embodiment.

The processing device 400 in this embodiment is configured as a grinding device that grinds the workpiece W using a tool TL. As shown in FIG. 5, the processing device 400 includes, in addition to the above-mentioned turning mechanism 101, fixing section 301, and tool support section 410, a rotation drive section 420 that rotationally drives the tool TL, and a drive that controls the rotation drive section 420. A control unit 220 is provided. Further, the processing device 400 includes a table 440 that supports the workpiece W. The workpiece W to be processed by the processing device 400 may be arbitrary, such as a bearing, a crankshaft, a camshaft, a gear, or the like.

The tool support section 410 supports the tool TL for processing the workpiece W so as to be rotatable about the axis RX of the tool TL. The tool support portion 410 in this embodiment includes a first portion 411 having a substantially disk shape and a second portion 412 having a substantially rectangular plate shape. The first portion 411 and the second portion 412 are arranged such that each plate surface is along an intersecting plane. The second portion 412 is fixed to the first portion 411 such that the surface of the second portion 412 on the −X direction side contacts the surface of the first portion 411 on the +X direction side. The support shaft 111 passes through the first portion 411 and the second portion 412 along the X direction at the pivot point 21 . The pivot point 21 in this embodiment is located at the substantially circular center of the first portion 411 .

The second portion 412 has a longitudinal direction and a lateral direction. The second portion 412 has a dimension longer than the diameter of the disk-shaped first portion 411 in the longitudinal direction, and has a dimension shorter than the diameter of the disk of the first portion 411 in the width direction. There is. As a result, the second portion 412 has a protrusion 413 that protrudes more than the first portion 411 in the longitudinal direction. The connection position 23 in this embodiment is located at the protrusion 413.

In this embodiment, the tool TL is fixed to the end of the second portion 412 opposite to the protrusion 413 in the longitudinal direction of the second portion 412 . The tool TL in this embodiment is configured as a grindstone having a substantially cylindrical shape. The tool TL is arranged such that the end opposite to the protruding portion 413 protrudes slightly more than the first portion 411 in the longitudinal direction of the second portion 412 . The tool TL is rotated about the axis RX by the rotational driving force of a rotational driving section 420 configured by, for example, a motor or the like. In this embodiment, the axis RX is along the longitudinal direction of the second portion 412.

The fixing portion 301 in this embodiment includes a third portion 302 and a fourth portion 303. The third portion 302 is configured as a frame having a substantially trapezoidal outer shape when viewed along the X direction. The fourth portion 303 has a substantially fan-shaped flat plate shape. The fourth portion 303 is fixed to the lower end of the third portion 302. The fixing part 301 is fixed, for example, to a support (not shown) of the processing device 400 or a moving mechanism to be described later via a fixing device such as a bolt.

In this embodiment, the fixed position 305 is located in the third portion 302. The trunnion shaft 306 is arranged at the fixed position 305 so as to connect the cylinder section 152 of the assist section 150 and the third section 302. The fourth portion 303 is arranged such that its substantially fan-shaped central corner portion overlaps the substantially circular center portion of the first portion 411 when viewed along the X direction. The fourth portion 303 is penetrated by the support shaft 111 along with the first portion 411 and the second portion 412 at the center corner portion of the substantially sector-shaped portion. Thereby, the tool support section 410 can pivot about the pivot point 21 with respect to the fixed section 301.

The control section 201 in this embodiment includes the above-mentioned drive control section 220 in addition to the swing control section 210. The drive control unit 220 in this embodiment is a functional unit realized by the control unit 201 executing a program. In other embodiments, the drive control unit 220 may be configured as, for example, a computer separate from the control unit 201.

The table 440 is configured as, for example, a rotary table that can be rotated by a rotational driving force such as a motor (not shown). Thereby, the workpiece W supported by the table 440 can be rotated together with the table 440 when the workpiece W is processed by the tool TL. Further, the table 440 is configured such that the relative position between the tool support portion 410 and the table 440 can be changed by a moving mechanism (not shown) configured by, for example, a two-axis or three-axis actuator. In this case, the moving mechanism may be configured to move the table 440 relative to the tool support section 410, may be configured to move the tool support section 410 relative to the table 440, or may be configured to move the table 440 relative to the tool support section 410, or both. may be configured to move. In addition, in this embodiment, when the tool support part 410 is moved by the movement mechanism, the tool support part 410 is moved by, for example, connecting the fixed part 301 to an actuator of the movement mechanism and moving the fixed part 301 by the actuator. You may move it.

In this embodiment, when the workpiece W is processed by the tool TL, the contact angle and position of the tool TL with respect to the workpiece W can be adjusted by appropriately adjusting the rotation angle of the tool support section 410 using the rotation control section 210. Thereby, for example, the workpiece W can be tapered or the workpiece W can be precisely controlled in dimension.

Also according to the second embodiment described above, the upward turning movement of the tool support part 410 as the structure 20 can be assisted by the assist part 150, so that the driving force of the turning drive part 110 required for the upward turning movement can be reduced. Can be reduced.

Note that in the second embodiment, the processing device 400 is configured as a grinding device, but may be configured as a cutting device, for example. Moreover, the tool TL does not have to be a grindstone, and may be, for example, various mills such as a face mill or an end mill.

C. Other embodiments:
(C-1) In the above embodiment, the intersecting plane is orthogonal to the horizontal plane. On the other hand, the intersecting plane does not need to be orthogonal to the horizontal plane as long as it intersects with the horizontal plane.

(C-2) In the above embodiment, the assist unit 150 is configured such that when the absolute value of the turning angle θ matches the angle threshold value θ _M , the angular difference θ ₁ becomes 90°. On the other hand, the assist section 150 does not have to be configured in this way. Note that without configuring the assist unit 150 in this way, it may be realized that when the absolute value of the turning angle θ is less than or equal to the angle threshold value θ _M , the angle difference θ ₁ becomes larger as the turning angle θ becomes larger. . For example, the assist unit 150 may be configured such that when the absolute value of the turning angle θ matches the angle threshold θ _M , the angular difference θ ₁ is less than 90°.

(C-3) In the above embodiment, the assist unit 150 is configured such that when the absolute value of the turning angle θ is less than or equal to the angle threshold value θ _M , the angle difference θ ₁ increases as the turning angle θ increases. . On the other hand, the assist section 150 does not have to be configured in this way. Note that without configuring the assist unit 150 in this manner, it may be realized that when the absolute value of the turning angle θ is less than or equal to the angle threshold value θ _M , the assist moment becomes larger as the turning angle θ becomes larger. For example, the greater the absolute value of the turning angle θ, the greater the assist force FA by the assist portion 150 may be. In this case, for example, the greater the absolute value of the turning angle θ, the higher the oil pressure within the cylinder portion 152 may be. Further, the assist portion 150 made of an elastic member such as a spring may be arranged so that the larger the absolute value of the turning angle θ, the larger the tensile force generated by the elastic member.

(C-4) In the above embodiment, the assist unit 150 is configured such that when the absolute value of the turning angle θ is less than or equal to the angle threshold value θ _M , the assist moment increases as the turning angle θ increases. On the other hand, the assist section 150 does not need to be configured in this way.

(C-5) In the above embodiment, when the turning angle θ is 0°, when viewed along the Although they are arranged side by side on a line, the center of gravity position 22 etc. do not have to be arranged in this way.

(C-6) In the above embodiment, the turning control unit 210 turns the structure 20 in the turning operation so that the absolute value of the turning angle θ is equal to or less than the angle threshold value θ _M of 90° or less. On the other hand, the turning control unit 210 may turn the structure 20 such that the absolute value of the turning angle θ becomes larger than 90° in the turning operation. For example, the turning drive section 110 and the assisting section 150 may be configured to be able to turn the structure 20 by 360° within the intersecting plane. Moreover, the turning control unit 210 does not have to evenly turn the structure 20 left and right based on the turning angle of 0°. Further, the turning range of the structure 20 does not need to include a turning angle of 0°.

(C-7) In the above embodiment, when the rotation angle θ is 0°, the distance La1 between the connection position 23 and the fixed position 305 is different from the rotation angle θ of 0°. The distance Lb and the distance Lc are arranged so as to be shorter than the distance Lb and the distance Lc in the case. On the other hand, the assist section 150 may not be arranged in this way; for example, the distance La may be the same as the distance Lb or the distance Lc, or the distance La may be longer than the distance Lb or the distance Lc. Good too.

(C-8) In the above embodiment, the drive cylinder 151 is arranged so that the length Lb of the drive cylinder 151 matches the lower limit of the length of the drive cylinder 151 when the turning angle θ is 0°. has been done. On the other hand, if the desired turning range can be achieved, the drive cylinder 151 does not have to be arranged in this manner.

(C-9) In the above embodiment, the connection position 23 is arranged on the opposite side of the pivot point 21 with the center of gravity position 22 in between in the direction along the axis AX. On the other hand, the connection position 23 does not need to be arranged in this way as long as it is arranged at a position different from the pivot point 21. For example, the connection position 23 may be placed between the pivot point 21 and the center of gravity position 22 in the direction along the axis AX. Further, for example, the pivot point 21 may be placed between the center of gravity position 22 and the connection position 23 in the direction along the axis AX. In this case, the assist force FA needs to have a component directed vertically downward in the same direction as the direction of gravity. Therefore, in the case where the fixed position 305 is arranged above the structure 20 as in the above embodiment, the pivot point 21 is arranged so as to be sandwiched between the center of gravity position 22 and the connection position 23 in the direction along the axis AX. , the assist portion 150 can be configured as, for example, a cylinder mechanism that applies a pressing force from the fixed position 305 toward the connection position 23 to the connection position 23.

(C-10) In the above embodiment, the driving cylinder 151 is fixed in the form of a trunnion, but may be in the form of a foot or a flange, for example.

(C-11) In the above embodiment, the assist section 150 is configured as a cylinder mechanism having the drive cylinder 151, but the assist section 150 does not need to be configured as a cylinder mechanism. For example, the assist portion 150 may be formed of an elastic member such as a spring.

(C-12) In the above embodiment, the assist portion 150 is arranged above the structure 20 in the vertical direction. On the other hand, the assist part 150 does not need to be arranged above the structure 20 in the vertical direction. For example, the assist part 150 may be arranged below the structure 20 in the vertical direction. In such a form, when the connection position 23 is arranged on the direction d1 side of the turning fulcrum 21, the assist part 150 applies a pressing force from the fixed position 305 toward the connection position 23 as the assist force FA, for example, to the connection position 23. It can be configured as a cylinder mechanism, etc. in addition to the above. In addition, in the form in which the fixed position 305 is disposed below the structure 20, when the pivot point 21 is disposed so as to be sandwiched between the center of gravity position 22 and the connection position 23 in the direction along the axis AX, the assist portion 150 can be configured, for example, as a cylinder mechanism that applies a pulling force from the connection position 23 toward the fixed position 305 to the connection position 23.

(C-13) The turning mechanism 100 may be applied, for example, as a rotation mechanism or a positioning mechanism for a table of a processing device. Moreover, the turning mechanism 100 may be applied to other than processing equipment. For example, the turning mechanism 100 may be used as a turning base for steering a vehicle, or a control mechanism for controlling the position and angle of a transporting tool such as a rotating fork or a side dump bucket in various transport equipment such as a forklift or a side dump truck. It may also be used as

The present disclosure is not limited to the embodiments described above, and can be implemented in various configurations without departing from the spirit thereof. For example, the technical features in each embodiment that correspond to the technical features in the form described in the summary column of the invention may be used to solve some or all of the above-mentioned problems, or to achieve one of the above-mentioned effects. In order to achieve some or all of the above, it is possible to replace or combine them as appropriate. Further, unless the technical feature is described as essential in this specification, it can be deleted as appropriate.

20...Structure, 21...Swivel fulcrum, 22...Center of gravity position, 23...Connection position, 100, 101...Swivel mechanism, 110...Swivel drive section, 111...Shaft section, 112...Motor, 150...Assist section, 151...Drive Cylinder, 152... Cylinder part, 153... Rod part, 200, 201... Control part, 210... Swivel control part, 220... Drive control part, 300, 301... Fixed part, 302... Third part, 303... Fourth part, 305... Fixed position, 306... Trunnion shaft, 400... Processing device, 410... Tool support part, 411... First part, 412... Second part, 413... Projection part, 420... Rotation drive part, 440... Table

Claims (12)

A turning mechanism that rotates a structure around a turning fulcrum within an intersecting plane intersecting a horizontal plane, the center of gravity of the structure within the intersecting plane and the position of the turning fulcrum being different from each other,
a swing drive unit that applies a driving force to the structure for a swing operation in the intersecting plane around the swing fulcrum;
an assisting part that connects a fixed position of the fixed part separated from the structure and a connection position different from the pivot point of the structure,
The assist part is
Along with the turning operation, it can be rotated around the fixed position while expanding and contracting between the fixed position and the connection position, and
By applying an assisting force along the expansion/contraction direction of the assist portion to the connection position in at least a part of the angular range in which the structure turns by the turning operation, the structure is free from the weight due to the structure's own weight. configured to generate an assist moment in the opposite direction to the moment;
Swivel mechanism. The turning mechanism according to claim 1,
comprising a swing control section that controls the swing drive section,
The fixed position is located above or below the structure in the vertical direction,
The swing control unit controls the swing drive unit so that the center of gravity position is within a predetermined angular range within an angular range located between the swing fulcrum and the fixed position in the vertical direction. pivoting the structure;
The assist portion is configured such that the assist moment increases as the center of gravity position approaches the pivot point in the vertical direction during the pivot operation. The turning mechanism according to claim 2,
The assist portion is arranged such that the closer the center of gravity position is to the turning fulcrum in the vertical direction during the turning operation, the more the center of gravity is within the intersecting plane between the axis connecting the turning fulcrum and the center of gravity and the direction of the assist force. A turning mechanism configured to increase the angle difference. The turning mechanism according to claim 3,
The assist portion is configured such that the angular difference is 90° when the center of gravity is located closest to the pivot point in the vertical direction during the pivot operation. The turning mechanism according to claim 2,
The assist portion is arranged such that the distance between the connection position and the fixed position is the shortest when the center of gravity position is located farthest from the rotation fulcrum in the vertical direction during the rotation operation. It has a rotating mechanism. The turning mechanism according to claim 5,
The assist portion has a drive cylinder configured to be extendable and retractable between the fixed position and the connection position, and is configured to be extendable and retractable between the fixed position and the connection position by the drive cylinder,
When the center of gravity of the drive cylinder is located farthest from the swing fulcrum in the vertical direction during the swing operation, the length of the drive cylinder in the expansion/contraction direction is equal to the length of the drive cylinder. A pivoting mechanism arranged to coincide with the lower limit. The turning mechanism according to claim 2,
When the center of gravity position is located farthest from the turning fulcrum in the vertical direction during the turning operation, when viewed along an orthogonal direction perpendicular to the intersecting plane, the center of gravity position and the turning fulcrum are . A turning mechanism, wherein the connection position and the fixed position are arranged on the same straight line. The turning mechanism according to claim 1,
The connection position is a turning mechanism arranged on the opposite side of the turning fulcrum with respect to the center of gravity in a direction along an axis connecting the turning fulcrum and the center of gravity. The turning mechanism according to claim 1,
The assist portion has a drive cylinder configured to be extendable and retractable between the fixed position and the connection position, and is configured to be extendable and retractable between the fixed position and the connection position by the drive cylinder,
A pivot mechanism in which the drive cylinder is supported by a trunnion shaft in the fixed position. The turning mechanism according to claim 1,
The assist portion is a turning mechanism that applies a pulling force from the connection position toward the fixed position to the connection position as the assist force. The turning mechanism according to claim 1,
comprising a swing control section that controls the swing drive section,
The fixed position is located above or below the structure in the vertical direction,
The swing drive unit includes a motor for applying the driving force,
The turning control unit is configured such that, in the turning operation, the center of gravity position is located between the fixed position and the turning fulcrum in the vertical direction, and when viewed along an orthogonal direction perpendicular to the intersecting plane. An angle threshold θ M in which the absolute value of the turning angle θ representing the angle at which the structure has turned is less than a predetermined 90°, based on a state in which an axis connecting the turning fulcrum and the center of gravity is along the vertical direction _. Rotate the structure so that:
In the assist portion, the magnitude M of the self-weight moment expressed by the following formula (1) and the magnitude B of the assist moment expressed by the following formula (2) are determined by the following formula (3). A pivoting mechanism configured to satisfy the relationship.
M=d・m・g・sin｜θ｜…(1)
B=F・a・sinθ ₁ …(2)
|M-B|≦ _TR …(3)
(d represents the distance between the center of gravity position and the turning fulcrum, m represents the mass of the structure, g represents the magnitude of gravitational acceleration, θ represents the turning angle, F represents the magnitude of the assist force, a represents the distance between the connection position and the pivot point in the direction along the axis, and θ ₁ represents the distance between the axis and the assist force in the intersecting plane. (T _R represents the moment of pivoting of the structure caused by the pivoting drive when the motor is driven at its rated output.) A turning mechanism according to any one of claims 1 to 11,
The fixing part,
The structure includes a tool support part that rotatably supports a tool for processing a workpiece around the axis of the tool,
a rotational drive unit that rotationally drives the tool;
A processing device further comprising: a drive control section that controls the rotation drive section.

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