WO2023053217A1 - 機械の回転要素をバランスさせるバランサユニット、及び機械 - Google Patents

機械の回転要素をバランスさせるバランサユニット、及び機械 Download PDF

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Publication number
WO2023053217A1
WO2023053217A1 PCT/JP2021/035680 JP2021035680W WO2023053217A1 WO 2023053217 A1 WO2023053217 A1 WO 2023053217A1 JP 2021035680 W JP2021035680 W JP 2021035680W WO 2023053217 A1 WO2023053217 A1 WO 2023053217A1
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WO
WIPO (PCT)
Prior art keywords
wall
casing
rod
balancer unit
peripheral surface
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/035680
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English (en)
French (fr)
Japanese (ja)
Inventor
忠示 島田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to PCT/JP2021/035680 priority Critical patent/WO2023053217A1/ja
Priority to CN202180102527.3A priority patent/CN117957100A/zh
Priority to JP2023550802A priority patent/JP7704877B2/ja
Priority to DE112021007964.6T priority patent/DE112021007964T5/de
Priority to US18/693,193 priority patent/US12508725B2/en
Priority to TW111134143A priority patent/TW202319202A/zh
Publication of WO2023053217A1 publication Critical patent/WO2023053217A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0008—Balancing devices
    • B25J19/0016—Balancing devices using springs

Definitions

  • the present disclosure relates to a balancer unit that balances rotating elements of a machine, and a machine.
  • a balancer unit that balances the rotating elements of a machine is known (for example, Patent Document 1)
  • a casing rotatably supported in the housing and receiving the biasing mechanism.
  • the casing has a peripheral wall that surrounds the biasing mechanism, and a hollow shaft receiving portion that is provided on the peripheral wall so as to protrude inwardly from the inner peripheral surface of the peripheral wall and receives the support shaft in a relatively rotatable manner.
  • the shaft receiving portion provided so as to protrude inward from the peripheral wall, stress concentration in the casing is suppressed. It can prevent deformation and damage. As a result, the thickness of the casing of the balancer unit can be reduced, so that the size and weight of the balancer unit can be reduced.
  • FIG. 1 is a schematic diagram of a machine according to one embodiment
  • FIG. FIG. 2 is a cross-sectional view of the balancer unit shown in FIG. 1
  • 3 is a perspective view of a casing main body shown in FIG. 2
  • FIG. 4 is a front view of the casing main body shown in FIG. 3 as seen from the axial direction (arrow IV in FIG. 3);
  • FIG. 4 is a cross-sectional view of the casing main body shown in FIG. 3 taken along a plane perpendicular to the axial direction;
  • FIG. It is a perspective view of the casing main body which concerns on other embodiment.
  • FIG. 11 is a perspective view of a casing main body according to still another embodiment;
  • FIG. 8 is a front view of the casing main body shown in FIG.
  • FIG. 11 is a perspective view of a casing main body according to still another embodiment
  • FIG. 10 is a front view of the casing main body shown in FIG. 9 as seen from the axial direction
  • FIG. 11 is a front view of a casing main body according to still another embodiment as seen from the axial direction
  • FIG. 5 is a cross-sectional view of a balancer unit according to another embodiment
  • the machine 10 is a vertical articulated robot and includes a robot base 12 , a swing trunk 14 , a lower arm 16 , an upper arm 18 and a wrist 20 .
  • the robot base 12 is fixed on the work cell floor or an automated guided vehicle (AGV).
  • a swing barrel 14 is provided on the robot base 12 so as to be rotatable around the axis A1.
  • the axis A1 is, for example, parallel to the vertical direction. More specifically, the swing drum 14 has a base portion 14a and a pair of support walls 14b and 14c (FIG. 2) rising from the base portion 14a so as to face each other.
  • the lower arm part 16 is provided on the revolving barrel 14 so as to be rotatable around the axis A2.
  • Axis A2 is orthogonal to axis A1 (for example, parallel to the horizontal direction). More specifically, the lower arm 16 has a proximal end 16a rotatably supported between a pair of support walls 14b and 14c, and a distal end 16b opposite to the proximal end 16a. .
  • the upper arm 18 includes a proximal arm 18a provided at the distal end 16b of the lower arm 16 so as to be rotatable about the axis A3 and a proximal arm 18a being rotatable about the axis A4. and a distal arm portion 18b provided at the distal end portion of 18a.
  • Axis A3 is parallel to axis A2, and axis A4 is orthogonal to axis A3.
  • the wrist part 20 is provided on a wrist base 20a provided at the tip of the tip arm part 18b so as to be rotatable about the axis A5, and on the wrist base 20a so as to be rotatable about the axis A6.
  • wrist flange 20b The axis A5 is orthogonal to the axis A4, and the axis A6 is orthogonal to the axis A5.
  • Machine 10 rotates pivot 14, lower arm 16, proximal arm 18a, distal arm 18b, wrist base 20a, and wrist flange 20b about axes A1, A2, A3, A4, A5, and A6, respectively.
  • an end effector (not shown) attached to the wrist flange 20b is arranged at an arbitrary position.
  • each of pivot barrel 14, lower arm 16, proximal arm 18a, distal arm 18b, wrist base 20a, and wrist flange 20b constitutes a rotating element of machine 10. As shown in FIG.
  • the machine 10 further comprises a balancer unit 50 that imparts a moment Mc to the rotating elements of the machine 10 in order to balance them.
  • a balancer unit 50 is provided on the swing barrel 14 to balance the lower arm 16 . The balancer unit 50 will be described below with reference to FIG.
  • the balancer unit 50 includes a casing 52 and a biasing mechanism 54.
  • Casing 52 is a hollow member having a central axis A7 and receives biasing mechanism 54 . It is rotatably supported by the revolving barrel 14 via a casing 52 and a pair of support shafts 56 and 58 .
  • the casing 52 has a casing body 60 and a lid body 62 fixed to the casing body 60 .
  • the casing main body 60 will be described below with reference to FIGS. 3 to 5.
  • FIG. The casing body 60 has a bottom wall 64, a peripheral wall 66, and a pair of shaft receptacles 68 and 70.
  • the bottom wall 64 is a flat plate member and defines the rear end of the casing body 60 in the axial direction.
  • the peripheral wall 66 is cylindrical and extends axially forward from the bottom wall 64 .
  • the peripheral wall 66 has a central wall 72 and a pair of protruding walls 74 and 76 .
  • the central wall 72 is a cylindrical member having the axis A7 as its central axis, and has an inner peripheral surface 72a and an outer peripheral surface 72b.
  • the central wall 72 is divided into two arc-shaped portions by the bulging walls 74 and 76, and the inner peripheral surface 72a of the central wall 72 defines a substantially cylindrical internal space S1.
  • Each of the bulging walls 74 and 76 is formed integrally with the central wall 72 so as to bulge radially outward from the outer peripheral surface 72b of the central wall 72. As shown in FIG. Each of the bulging walls 74 and 76 has a rectangular outer shape when viewed in the axial direction and extends from the axial front end to the axial rear end of the central wall 72 .
  • the bulging wall 74 includes a pair of side wall portions 74a and 74b facing each other and extending radially outward from the outer peripheral surface 72b, and an end portion extending between the side wall portions 74a and 74b. and a wall portion 74c.
  • the side wall portions 74a and 74b and the end wall portion 74c are substantially perpendicular to each other.
  • An inner space S2 having a substantially square prism shape is defined by the inner surface 74d of the side wall portion 74a, the inner surface 74e of the side wall portion 74b, and the inner surface 74f of the end wall portion 74c.
  • the internal space S2 is defined so as to communicate with the internal space S1 and bulge radially outward from the internal space S1.
  • the bulging wall 76 has a rotationally symmetric shape obtained by rotating the bulging wall 74 by 180° about the axis A7. Specifically, the bulging wall 76 extends between a pair of side wall portions 76a and 76b extending from the outer peripheral surface 72b in the direction opposite to the bulging wall 74 and the side wall portions 76a and 76b. and an end wall portion 76c.
  • An inner space S3 having a substantially square prism shape is defined by the inner surface 76d of the side wall portion 76a, the inner surface 76e of the side wall portion 76b, and the inner surface 76f of the end wall portion 76c.
  • the internal space S3 is defined to communicate with the internal space S1 and bulge radially outward from the internal space S1.
  • the inner peripheral surface 72a of the central wall 72 and the inner surfaces of the bulging walls 74 and 76 form the inner peripheral surface 66a of the peripheral wall 66. defined.
  • an outer peripheral surface 66b of the peripheral wall 66 is defined by the outer peripheral surface 72b of the central wall 72 and the outer surfaces of the bulging walls 74 and 76.
  • the bulging walls 74 and 76 extend with a constant width W (FIG. 5) from the axial front end to the axial rear end of the central wall 72 when viewed in the radial direction of the central wall 72. .
  • the shaft receiving portions 68 and 70 are hollow and are provided in the peripheral wall 66 so as to protrude inward from the inner peripheral surface 66a of the peripheral wall 66 and outward from the outer peripheral surface 66b of the peripheral wall 66.
  • the shaft receiving portion 68 protrudes radially inward from an inner surface 74f of the end wall portion 74c and protrudes radially outward from an outer surface 74g of the end wall portion 74c. It is provided integrally with the portion 74c.
  • the shaft receiving portion 68 is a cylindrical member having a central axis A8 and receives the above-described support shaft 56 (Fig. 2) in a relatively rotatable manner.
  • the axis A8 is orthogonal to the axis A7.
  • a radially inner end surface 68a of the shaft receiving portion 68 is an arcuate surface centered on the axis A7.
  • the end surface 68a may have the same radius of curvature as the inner peripheral surface 72a of the central wall 72, or may have a larger (or smaller) radius of curvature than the inner peripheral surface 72a.
  • the shaft receiving portion 70 has a rotationally symmetric shape obtained by rotating the shaft receiving portion 68 by 180° about the axis A7.
  • the shaft receiving portion 70 is a cylindrical member having a central axis A9, and receives the above-described support shaft 58 (FIG. 2) in a relatively rotatable manner.
  • the shaft receiving portion 70 protrudes radially inward from an inner surface 76f of an end wall portion 76c of the bulging wall 76 and protrudes radially outward from an outer surface 76g of the end wall portion 76c. It is provided integrally with the portion 76c.
  • the radially inner end surface 70a of the shaft receiving portion 70 is an arcuate surface centered on the axis A7.
  • the end surface 70a may have the same radius of curvature as the inner peripheral surface 72a of the central wall 72, or may have a larger (or smaller) radius of curvature than the inner peripheral surface 72a.
  • axes A8 and A9 are coincident with each other (i.e., aligned on the same line), and shaft receivers 68 and 70 are positioned concentrically with respect to axes A8 and A9.
  • the lid body 62 has a body portion 62a and a guide portion 62b.
  • the main body portion 62a is a flat plate-shaped member, and is fixed to the axial front end of the peripheral wall 66 by fasteners (not shown) such as bolts to close the opening defined on the axial front side of the casing main body 60. do.
  • a through hole 62c is formed in the central portion of the body portion 62a.
  • the guide portion 62b is cylindrical and formed integrally with the body portion 62a so as to extend axially rearward from the body portion 62a.
  • the guide portion 62b may be provided so as to further extend axially forward from the body portion 62a.
  • An inner peripheral surface 62d of the guide portion 62b axially communicates with the through hole 62c of the main body portion 62a.
  • the center axis of the guide portion 62b substantially coincides with the axis A7.
  • the inner peripheral surface 62d is composed of a sliding bearing.
  • the casing 52 is arranged between the support walls 14b and 14c of the swing barrel 14 so as to be rotatable around a support shaft 56 provided in the support wall 14b and a support shaft 58 provided in the support wall 14c. be.
  • the central axis of the support shaft 56 coincides with the axis A8, and the central axis of the support shaft 58 coincides with the axis A9.
  • the shaft receiving portions 68 and 70 and the support shafts 56 and 58 are arranged concentrically with respect to the axes A8 and A9 and extend in a direction perpendicular to the axial direction (that is, radial direction). Also, the axes A8 and A9 are substantially parallel to the axis A2 (in other words, the axial direction of the casing 52 is substantially perpendicular to the axis A2).
  • the biasing mechanism 54 biases the lower arm portion 16 to generate a moment Mc in the lower arm portion 16 .
  • the biasing mechanism 54 has a rod 80 and a biasing element 82 .
  • the rod 80 is arranged substantially concentrically with the casing 52 with respect to the axis A7, and is received in the guide portion 62b of the lid 62 so as to be able to move back and forth.
  • the rod 80 includes a cylindrical shaft portion 80a extending straight in the axial direction, a disc-shaped flange portion 80b projecting outward from the axial rear end of the shaft portion 80a, and a shaft and a cylindrical portion 80c fixed to the axial front end of the portion 80a.
  • the shaft portion 80a is inserted through the guide portion 62b and the through hole 62c so as to be axially movable forward and backward.
  • the flange portion 80b is accommodated within the internal space S1, while the cylindrical portion 80c is exposed to the outside of the casing 52.
  • the shaft portion 80a and the flange portion 80b are surrounded by the peripheral wall 66 of the casing main body 60 and arranged concentrically with the central wall 72 of the peripheral wall 66 with the axis A7 as a reference.
  • the outer peripheral surface 80d of the flange portion 80b is slightly spaced radially inward from the inner peripheral surface 72a of the central wall 72 .
  • An outer peripheral surface 80d of the flange portion 80b is substantially parallel to the inner peripheral surface 72a of the central wall 72 and the end surfaces 68a and 70a of the shaft receiving portions 68 and 70, respectively.
  • the outer peripheral surface 80d of the flange portion 80b and the inner peripheral surface 72a of the central wall 72 may contact each other.
  • the inner peripheral surface 72a may be composed of a sliding bearing, or lubricating oil may be applied to the inner peripheral surface 72a.
  • the cylindrical portion 80c has a central axis A10 and receives the connecting shaft 84 therein so as to be relatively rotatable.
  • the axis A10 is orthogonal to the axis A7 (or parallel to the axis A2).
  • the biasing element 82 is accommodated in the internal space S1 and biases the rod 80.
  • the biasing element 82 is an elastic member (more specifically, a compression coil spring) inserted between the flange portion 80b of the rod 80 and the body portion 62a of the lid 62. It is The biasing element 82 biases the rod 80 axially rearward by applying an elastic force to the flange portion 80b so as to separate the flange portion 80b from the body portion 62a.
  • the cylindrical portion 80c of the rod 80 is rotatably connected to the lower arm portion 16 via a connecting shaft 84. More specifically, a cylindrical portion 16c is fixed to the base end portion 16a of the lower arm portion 16 so as to protrude outward from the base end portion 16a. The cylindrical portion 16c is arranged concentrically with the cylindrical portion 80c of the rod 80 with respect to the axis A10, and receives the connecting shaft 84. As shown in FIG. Thus, the rod 80 has its cylindrical portion 80c rotatably connected to the cylindrical portion 16c of the lower arm 16 via the connecting shaft 84. As shown in FIG.
  • the lower arm 16 When the lower arm 16 rotates from the upright posture in which the lower arm 16 is approximately parallel to the vertical direction and tilts toward the horizontal posture in which it is approximately parallel to the horizontal direction by rotating around the axis A2, the lower arm 16 is affected by gravity.
  • a gravitational moment Mg (Fig. 1) acts.
  • the biasing mechanism 54 biases the lower arm 16 to give the lower arm 16 a moment Mc in a direction opposite to the gravitational moment Mg. .
  • the rod 80 is pulled axially forward via the connecting shaft 84 by the cylindrical portion 16c rotating about the axis A2. , is withdrawn from the casing 52 and advances axially forward. Then, the biasing element 82 is axially compressed, and as a reaction force, an axially rearward elastic force is applied to the rod 80 (specifically, the flange portion 80b), thereby causing the rod 80 to move axially rearward. energize.
  • the rod 80 applies a force to the cylindrical portion 16c via the connecting shaft 84 to urge the lower arm portion 16 in a direction opposite to the gravitational moment Mg. give rise to
  • the balancer unit 50 balances the lower arm 16 against gravity.
  • the rod 80 is retracted axially rearward and pushed into the casing 52 .
  • Such forward and backward movement of the rod 80 in the axial direction is guided by the guide portion 62 b of the lid 62 .
  • the balancer unit 50 then rotates around the support shafts 56 and 58 (that is, the axes A8 and A9) in accordance with the forward and backward movement of the rod 80.
  • the shaft receiving portions 68 and 70 of the casing main body 60 support such forward/backward motion of the rod 80 and rotational motion of the balancer unit 50 about the axes A8 and A9.
  • the casing 52 includes the peripheral wall 66 surrounding the biasing mechanism 54 (specifically, the shaft portion 80a and the flange portion 80b) and the inner peripheral surface 66a of the peripheral wall 66.
  • Shaft receiving portions 68 and 70 are provided on the peripheral wall 66 so as to project inwardly.
  • the inventor performed a simulation analysis of the stress generated in the casing 52 during operation of the balancer unit 50, and as a result, formed the shaft receiving portions 68 and 70 so as to protrude inward from the peripheral wall 66. , the stress concentration occurring in the casing 52 can be reduced.
  • the shaft receiving portions 68 and 70 protruding inwardly of the peripheral wall 66 support the forward/backward motion of the rod 80 and the rotational motion of the balancer unit 50, whereby the casing 52 (specifically, Specifically, the occurrence of stress concentration in the casing body 60) can be suppressed, thereby preventing the casing 52 from being deformed and damaged.
  • the shaft receiving portions 68 and 70 further protrude outward from the outer peripheral surface 66b of the peripheral wall 66.
  • the length of the shaft receiving portions 68 and 70 protruding radially outward from the outer peripheral surface 66b is reduced, and the lengths of the shaft receiving portions 68 and 70 in the directions of the axes A8 and A9 are increased.
  • the occurrence of stress concentration in the casing body 60 can be effectively suppressed, and the strength of the shaft receiving portions 68 and 70 can be increased.
  • the peripheral wall 66 includes a central wall 72 arranged concentrically with the biasing mechanism 54 (specifically, the shaft portion 80a and the flange portion 80b), and an outer peripheral surface 72b of the central wall 72.
  • the shaft receiving portions 68 and 70 extend inwardly from the inner peripheral surfaces (specifically, inner surfaces 74f and 76f) of the bulging walls 74 and 76. are provided on the bulging walls 74 and 76 so as to protrude toward.
  • This configuration allows the size (i.e., radius) of central wall 72 to be minimized while laterally bulging bulging walls 74 and 76 on which shaft receivers 68 and 70 are located. , the strength of the bulging walls 74 and 76 can be increased. As a result, an increase in the total weight of the casing body 60 can be suppressed.
  • the bulging walls 74 and 76 extend from the axial front end to the axial rear end of the central wall 72 and have a constant width W when viewed from the radial direction of the central wall 72 . exist. With this configuration, the strength of the bulging walls 74 and 76 can be effectively increased. In addition, in this embodiment, the bulging walls 74 and 76 have a rectangular outer shape when viewed from the axial direction of the central wall 72 . With this configuration, the strength of the bulging walls 74 and 76 can be increased more effectively.
  • the biasing mechanism 54 includes a rod 80 that is connected to the rotating element (more specifically, the lower arm) 16 and is received in the casing 52 so as to be able to move back and forth, and a rod 80 that is housed inside the casing 52 .
  • the support shafts 56 and 58 extend in a direction (that is, radial direction) perpendicular to the advancing/retreating direction (that is, axial direction) of the rod 80 .
  • the urging force generated by the urging element 82 can be efficiently applied to the rotating element 16 through the rod 80, and the casing 52 moves along the support shafts 56 and 58 (specifically, as the rod 80 advances and retreats). Specifically, since it is rotatable around the axes A7 and A8), it is possible to effectively support the advancing and retreating motion of the rod 80 . Thereby, the moment Mc can be effectively generated in the rotating element 16 .
  • the biasing element 82 is interposed between the rod 80 (specifically, the flange portion 80b) and the casing 52 (specifically, the body portion 62a of the lid 62). , an elastic member (compression coil spring) that biases the rod 80 by applying an elastic force to the rod 80 .
  • an elastic member compression coil spring
  • a biasing force can be effectively applied to the rod 80 by an elastic member having a relatively simple structure such as a compression coil spring.
  • the central wall 72 and the side wall portion 74a or 74b, the central wall 72 and the side wall portion 76a or 76b, the side wall portion 74a or 74b and the end wall portion 74c, the side wall portion 76a or 76b and the end wall portion 76c, the shaft A connecting portion between the receiving portion 68 and the end wall portion 74c or between the shaft receiving portion 70 and the end wall portion 76c may be formed as a rounded corner portion (so-called corner R portion). As a result, stress concentration occurring in the casing body 60 can be more effectively avoided.
  • the length L1 (FIG. 5) by which the shaft receiving portion 68 protrudes radially inward from the inner surface 74f of the end wall portion 74c, and the shaft receiving portion 68 extends radially outward from the outer surface 74g of the end wall portion 74c.
  • the biasing element 82 described above may be composed of a tension coil spring interposed between the flange portion 80b and the body portion 62a. In this case, the biasing element 82 biases the rod 80 forward in the axial direction by applying an elastic force to the flange portion 80b so as to bring the flange portion 80b closer to the lid body 62 .
  • FIG. A casing body 90 shown in FIG. 6 differs from the casing body 60 described above in a peripheral wall 92 .
  • the peripheral wall 92 includes the above-described central wall 72 and a pair of bulging walls 94 and 96 formed integrally with the central wall 72 so as to bulge radially outward from the outer peripheral surface 72b of the central wall 72. have.
  • each of the bulging walls 94 and 96 extends so that the width W of the center wall 72 decreases from the axial front end toward the axial rear end. More specifically, the bulging wall 94 includes a pair of side wall portions 94a and 94b extending radially outward from the outer peripheral surface 72b facing each other, and an end wall portion 94c orthogonal to the side wall portions 94a and 94b. and
  • An inner space S2 bulging radially outward from the inner space S1 is defined by the inner surface 94d of the side wall portion 94a, the inner surface 94e of the side wall portion 94b, and the inner surface 94f of the end wall portion 94c.
  • the side wall portions 94a and 94b extend toward each other from the axial front end toward the axial rear end of the central wall 72 and are connected to each other at the axial rear ends. As a result, the width W of the bulging wall 94 decreases toward the rear in the axial direction.
  • the bulging wall 96 has a rotationally symmetric shape obtained by rotating the bulging wall 94 by 180° about the axis A7.
  • bulging wall 96 has side wall portion 96a, side wall portion 96b and end wall portion 96c corresponding to side wall portion 94a, side wall portion 94b and end wall portion 94c, respectively.
  • An inner space S3 bulging radially outward from the inner space S1 is defined by the inner surface 96d of the side wall portion 96a, the inner surface 96e of the side wall portion 96b, and the inner surface 96f of the end wall portion 96c.
  • An inner peripheral surface 92a of the peripheral wall 92 is defined by the inner peripheral surface 72a of the central wall 72 and the inner surfaces of the bulging walls 94 and 96 (inner surfaces 94d, 94e, 94f, 96d, 96e and 96f).
  • an outer peripheral surface 92b of the peripheral wall 92 is defined by the outer peripheral surface 72b of the central wall 72 and the outer surfaces of the bulging walls 94 and 96. As shown in FIG.
  • the shaft receiving portion 68 is provided integrally with the end wall portion 94c so as to protrude radially inward from an inner surface 94f of the end wall portion 94c and protrude radially outward from an outer surface 94g of the end wall portion 94c.
  • the shaft receiving portion 70 is integral with the end wall portion 96c so as to protrude radially inward from an inner surface 96f of the end wall portion 96c and protrude radially outward from an outer surface 96g of the end wall portion 96c.
  • the bulging walls 94 and 96 may be formed to have a substantially elliptical outer shape when viewed from the directions of the axes A8 and A9 (that is, radially outward). With this configuration, the aesthetics of the casing main body 90 can be improved.
  • the bulge walls 94 and 96 may also extend axially rearward from the axial forward end of the central wall 72 and terminate at a position axially forward of the bottom wall 64 .
  • the axial rear end of the central wall 72 is annular
  • the bottom wall 64 has the same external shape as the central wall 72 and is provided integrally with the axial rear end of the central wall 72 .
  • the wall portion 94c or the connection between the shaft receiving portion 70 and the end wall portion 96c may be formed with rounded corners.
  • a casing main body 100 shown in FIGS. 7 and 8 differs from the above-described casing main body 60 in a peripheral wall 102 .
  • the peripheral wall 102 includes the above-described central wall 72 and a pair of bulging walls 104 and 106 formed integrally with the central wall 72 so as to bulge radially outward from the outer peripheral surface 72b of the central wall 72. have.
  • Each of the bulging walls 104 and 106 has a circular outer shape when viewed from the axial direction. More specifically, the bulging wall 104 extends in an arc so as to bulge radially outward from one circumferential edge 104a to the other circumferential edge 104b. It extends with a constant width W (FIG. 8) from the axial front end to the axial rear end. An arcuate inner peripheral surface 104c of the bulging wall 104 defines an internal space S2 that bulges radially outward from the internal space S1.
  • the bulging wall 106 extends in an arcuate shape so as to bulge radially outward from one circumferential edge 106a to the other circumferential edge 106b. It extends with a constant width W from the front end to the rear end in the axial direction.
  • An arcuate inner peripheral surface 106c of the bulging wall 106 defines an internal space S3 that bulges radially outward from the internal space S1.
  • Each of bulging walls 104 and 106 has a smaller radius of curvature than central wall 72 and end surfaces 68a and 70a.
  • the inner peripheral surface 102a of the peripheral wall 102 is defined by the inner peripheral surface 72a of the central wall 72 and the inner peripheral surfaces 104c and 106c of the bulging walls 104 and 106.
  • the outer peripheral surface 102b of the peripheral wall 102 is defined by the outer peripheral surface 72b of the central wall 72, the outer peripheral surface 104d of the bulging wall 104, and the outer peripheral surface 106d of the bulging wall .
  • the shaft receiving portion 68 protrudes radially inward from an inner peripheral surface 104c of the protruding wall 104 and protrudes radially outward from an outer peripheral surface 104d of the protruding wall 104. are integrated. Further, the shaft receiving portion 70 protrudes radially inward from an inner peripheral surface 106c of the protruding wall 106 and protrudes radially outward from an outer peripheral surface 106d of the protruding wall 106. 106 is integrally provided.
  • the protruding walls 104 and 106 have a circular outer shape when viewed from the axial direction, stress concentration on the protruding walls 104 and 106 can be effectively suppressed. Therefore, the strength of the protruding walls 104 and 106 can be improved.
  • the connecting portion between the central wall 72 and the bulging wall 104 or 106, the shaft receiving portion 68 and the end wall portion 94c, or the connecting portion between the shaft receiving portion 70 and the end wall portion 96c is rounded. may be formed.
  • a casing main body 110 shown in FIGS. 9 and 10 differs from the above-described casing main body 60 in a peripheral wall 112 .
  • Peripheral wall 112 has an elliptical profile with a major axis parallel to the direction in which support shafts 56 and 58 extend. More specifically, the peripheral wall 112 has an elliptical profile with a major axis coinciding with the axes A8 and A9 and a minor axis perpendicular to the axes A7, A8 and A9.
  • Each of the shaft receiving portions 68 and 70 is integral with the peripheral wall 112 so as to protrude radially inward from an inner peripheral surface 112a of the peripheral wall 112 and radially outward from an outer peripheral surface 112b of the peripheral wall 112. is formed in In this embodiment, since the peripheral wall 112 has an elliptical outer shape, stress concentration on the peripheral wall 112 can be effectively suppressed. Therefore, the strength of the peripheral wall 112 can be increased.
  • the connecting portion between the peripheral wall 112 and the shaft receiving portion 68 or 70 may be formed in a rounded corner.
  • the peripheral wall 112 is not limited to an elliptical shape, and has an outer shape of any shape (for example, a polygon such as a rectangle, a rhombus, or a hexagon) having a longitudinal direction in the direction of the axes A8 and A9 when viewed from the axial direction. may
  • the casing body 120 shown in FIG. 11 differs from the casing body 60 described above in shaft receiving portions 68' and 70'.
  • the shaft receiving portion 68' projects radially inwardly from the inner surface 74f of the end wall portion 74c, but does not project outwardly from the outer surface 74g of the end wall portion 74c.
  • the shaft receiving portion 70' projects radially inwardly from the inner surface 76f of the end wall portion 76c, but does not project outwardly from the outer surface 76g of the end wall portion 76c.
  • the connecting portion between the end wall portion 74c and the shaft receiving portion 68' or between the end wall portion 76c and the shaft receiving portion 70' may be formed at a rounded corner. In the present embodiment as well, stress concentration in the casing body 120 is suppressed, so that the casing body 120 can be made thinner, so that the balancer unit 50 can be made smaller and lighter.
  • shaft receiving portions 68' and 70' may be applied to the casing body 90, 100 or 110 described above. In this case, shaft receiving portions 68' and 70' project inwardly from the inner peripheral surface of peripheral wall 92, 102 or 112, but do not project outwardly from the outer peripheral surface of peripheral wall 92, 102 or 112.
  • the balancer unit 50' shown in FIG. 12 has a casing 52 and a biasing mechanism 54' comprising a rod 80' and a biasing element 82'.
  • the rod 80' has the above-described shaft portion 80a and cylindrical portion 80c, and a flange portion 80b' projecting outward from the axial rear end of the shaft portion 80a.
  • the flange portion 80b' has the same outer shape as the peripheral wall 66, and is slidably in close contact with the inner peripheral surface 66a of the peripheral wall 66. As shown in FIG.
  • biasing element 82' is fluid enclosed in spaces S1, S2 and S3 between rod 80' and casing 52. More specifically, the urging element 82' is gas or oil, for example, and is positioned in the internal spaces S1, S2 and S3 of the casing 52, the flange portion 80b' of the rod 80' and the bottom wall 64 of the casing body 60. enclosed in the space between
  • the biasing element 82' acts in the same manner as the biasing element 82 made up of a compression coil spring to push the flange portion 80b' toward the lid body 62.
  • the rod 80' is urged axially rearward by applying pressure to the flange portion 80b' away from.
  • the biasing element 82' acts in the same manner as the biasing element 82 composed of a tension coil spring, and pushes the flange portion 80b' toward the lid body 62.
  • the rod 80' is urged axially forward by applying pressure to the flange portion 80b' to bring it closer to.
  • a bottom wall 64 of the casing body 60 is formed with a fluid inlet 64a, through which the biasing element 82' may be introduced into the internal spaces S1, S2, S3 of the casing 52. After introduction of biasing element 82 ′, fluid inlet 64 a may be tightly closed by plug 114 .
  • At least one of the axes A8 and A9 may be inclined with respect to the axis A7 (or the axis A2).
  • the shaft receiving portion 68 or 70 is not limited to a cylindrical shape, and may have, for example, a polygonal outer shape or any hollow shape.
  • the central wall 72 described above is not limited to a cylindrical shape, and may be, for example, an elliptical shape having a long axis coinciding with the axes A8 and A9, or may have any other external shape.
  • the bulging wall 74, 76, 94, 96, 104 or 106 may have any external shape, not limited to rectangular or circular, when viewed from the axial direction.
  • the present invention is not limited to this, and one of the shaft receiving portions 68 and 70 may be omitted.
  • support shaft 58' projecting radially outwardly from peripheral wall 66, 92, 102 or 112 is formed integrally with peripheral wall 66.
  • the casing body 60 can be rotatably supported on the swing drum 14 via the support shaft 58' and the support shaft 56.
  • one of the pair of shaft receiving portions 68' and 70' may be omitted.
  • the balancer unit 50 or 50' may be provided, for example, at the distal end 16b of the lower arm 16 to balance the upper arm 18, or any rotating element of the machine 10. It may be provided to balance 14, 16, 18a, 18b, 20a, 20b.
  • the machine 10 is not limited to a vertical articulated robot, but may be any type of machine with a rotating element, such as a horizontal articulated robot, a parallel link robot, or a rotary positioner that rotates a workpiece.
  • a rotating element such as a horizontal articulated robot, a parallel link robot, or a rotary positioner that rotates a workpiece.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • General Engineering & Computer Science (AREA)
  • Axle Suspensions And Sidecars For Cycles (AREA)
  • Support Of The Bearing (AREA)
  • Pivots And Pivotal Connections (AREA)
  • Applications Or Details Of Rotary Compressors (AREA)
PCT/JP2021/035680 2021-09-28 2021-09-28 機械の回転要素をバランスさせるバランサユニット、及び機械 Ceased WO2023053217A1 (ja)

Priority Applications (6)

Application Number Priority Date Filing Date Title
PCT/JP2021/035680 WO2023053217A1 (ja) 2021-09-28 2021-09-28 機械の回転要素をバランスさせるバランサユニット、及び機械
CN202180102527.3A CN117957100A (zh) 2021-09-28 2021-09-28 使机械的旋转要素平衡的平衡器单元和机械
JP2023550802A JP7704877B2 (ja) 2021-09-28 2021-09-28 機械の回転要素をバランスさせるバランサユニット、及び機械
DE112021007964.6T DE112021007964T5 (de) 2021-09-28 2021-09-28 Ausgleichseinheit zum auswuchten eines drehelements einer maschine, und zugehörige maschine
US18/693,193 US12508725B2 (en) 2021-09-28 2021-09-28 Balancer unit for balancing rotary element of machine, and machine
TW111134143A TW202319202A (zh) 2021-09-28 2022-09-08 使機械的旋轉元件平衡的平衡器單元及機械

Applications Claiming Priority (1)

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PCT/JP2021/035680 WO2023053217A1 (ja) 2021-09-28 2021-09-28 機械の回転要素をバランスさせるバランサユニット、及び機械

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WO2023053217A1 true WO2023053217A1 (ja) 2023-04-06

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JP (1) JP7704877B2 (https=)
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DE (1) DE112021007964T5 (https=)
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CN116878732B (zh) * 2023-08-30 2026-01-30 蚌埠东陵机电科技股份有限公司 一种辐条轮动平衡检测装置

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JPS61102749U (https=) * 1984-07-31 1986-06-30
JPH11216697A (ja) * 1998-02-02 1999-08-10 Fanuc Ltd バネバランサ構造
JPH11277479A (ja) * 1998-03-31 1999-10-12 Fanuc Ltd バネバランサ装置
CN108015807A (zh) * 2017-12-07 2018-05-11 上海宇航系统工程研究所 应用于工业机器人的并联压缩弹簧式双作用平衡缸
JP2019188513A (ja) * 2018-04-24 2019-10-31 ファナック株式会社 ロボット用重力バランサおよびロボット

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CN102990677A (zh) * 2011-09-13 2013-03-27 鸿富锦精密工业（深圳）有限公司 平衡机构及应用该平衡机构的机器人
JP6378482B2 (ja) * 2013-12-25 2018-08-22 川崎重工業株式会社 バランサ装置
EP3463768B1 (en) * 2016-05-23 2020-05-13 ABB Schweiz AG Spring balancing device and industrial robot comprising a spring balancing device
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JPS606388A (ja) * 1983-06-22 1985-01-14 株式会社日立製作所 関節形ロボツトの関節部の構造
JPS61102749U (https=) * 1984-07-31 1986-06-30
JPH11216697A (ja) * 1998-02-02 1999-08-10 Fanuc Ltd バネバランサ構造
JPH11277479A (ja) * 1998-03-31 1999-10-12 Fanuc Ltd バネバランサ装置
CN108015807A (zh) * 2017-12-07 2018-05-11 上海宇航系统工程研究所 应用于工业机器人的并联压缩弹簧式双作用平衡缸
JP2019188513A (ja) * 2018-04-24 2019-10-31 ファナック株式会社 ロボット用重力バランサおよびロボット

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TW202319202A (zh) 2023-05-16
US20240383159A1 (en) 2024-11-21
CN117957100A (zh) 2024-04-30
JP7704877B2 (ja) 2025-07-08
DE112021007964T5 (de) 2024-08-01
US12508725B2 (en) 2025-12-30
JPWO2023053217A1 (https=) 2023-04-06

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