WO2023275925A1 - ポジショナ - Google Patents
ポジショナ Download PDFInfo
- Publication number
- WO2023275925A1 WO2023275925A1 PCT/JP2021/024329 JP2021024329W WO2023275925A1 WO 2023275925 A1 WO2023275925 A1 WO 2023275925A1 JP 2021024329 W JP2021024329 W JP 2021024329W WO 2023275925 A1 WO2023275925 A1 WO 2023275925A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- axis
- rotary table
- power cable
- motor
- brush
- Prior art date
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 15
- 238000009434 installation Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 239000012530 fluid Substances 0.000 description 6
- 230000002093 peripheral effect Effects 0.000 description 6
- 239000004020 conductor Substances 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- 239000000843 powder Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012777 electrically insulating material Substances 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/0009—Energy-transferring means or control lines for movable machine parts; Control panels or boxes; Control parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/50—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism
- B23Q1/54—Movable or adjustable work or tool supports using particular mechanisms with rotating pairs only, the rotating pairs being the first two elements of the mechanism two rotating pairs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/02—Driving main working members
- B23Q5/04—Driving main working members rotary shafts, e.g. working-spindles
- B23Q5/10—Driving main working members rotary shafts, e.g. working-spindles driven essentially by electrical means
Definitions
- This disclosure relates to positioners.
- a single-axis positioner includes a base that is installed on a horizontal installation surface and a rotary table that is rotatably supported with respect to the base around a horizontal rotation axis (see, for example, Patent Document 1). ).
- a motor for rotating the rotary table is arranged parallel to and offset from the rotation axis of the rotary table.
- a speed reducer that reduces the speed of rotation of the motor and transmits it to the rotary table has a hollow portion in a region including the rotation axis.
- a cylindrical conductive shaft having one end fixed to the rotary table is disposed through the hollow portion in a direction along the rotation axis, and a current collecting brush is brought into contact with the outer peripheral surface of the other end of the shaft. ing.
- the collector brush is connected to the other end of an external cable, one end of which is connected to the negative electrode of an external welding power source. In this case, even if the rotary table is driven to rotate infinitely, electrical connection between the welding power source and the rotary table is maintained by contact between the outer peripheral surface of the shaft and the current collecting brush.
- Equipment such as current collecting brushes and conductive shafts is expensive, and there are problems such as the generation of abrasion powder due to friction between the current collecting brushes and shafts, and wear of the current collecting brushes. That is, in applications where the rotary table is operated within a relatively small range of rotation angles, it is preferable to use a mode in which no current collecting brushes or the like are provided. Morphology is preferred. Therefore, it is desirable to be able to easily switch between the two modes.
- a first member a rotary table rotatably supported by the first member about a predetermined axis, and the rotary table arranged offset parallel to the axis a speed reducer disposed between the first member and the rotary table to reduce the speed of rotation of the motor and transmit the speed to the rotary table; and a power cable for supplying power to the rotary table.
- first member and the speed reducer each include a hollow portion passing through a region including the axis in a direction along the axis, and the hollow on the surface of the first member opposite to the rotary table
- a brush mounting portion for detachably fixing a current collecting brush to which one end of the power cable is detachable is provided radially outward of the portion, and the power cable is attached to the surface of the first member away from the axis.
- a positioner extending from the vicinity in a direction away from the rotary table, curved in a U-shape, penetrates the hollow portion along the axis, and has one end detachably fixed to the rotary table. .
- FIG. 1 is a perspective view showing a positioner according to a first embodiment of the present disclosure
- FIG. 2 is a longitudinal sectional view of the positioner of FIG. 1
- FIG. It is the figure which looked at the 1st member of the positioner of FIG. 1 from the back side opposite to the rotary table.
- FIG. 4 is a diagram showing a state in which a shaft is arranged in the second hollow portion of the first member in FIG. 3 and a current collecting brush is attached to the back side surface of the first member
- FIG. 5 is a longitudinal sectional view of the positioner showing the state of FIG. 4
- FIG. 5 is a vertical cross-sectional view showing a positioner according to a second embodiment of the present disclosure;
- the positioner 1 includes a base 2 that is installed on a horizontal installation surface such as a floor surface, and a base 2 that is rotatable about a horizontal first axis A with respect to the base 2. It has a supported first member 3 and a first drive mechanism 4 that drives the first member 3 to rotate.
- the positioner 1 also includes a rotary table 5 supported rotatably with respect to the first member 3 about a second axis (predetermined axis) B perpendicular to the first axis A, and a second rotary table 5 that rotates. 2 drive mechanism 6 . Further, as shown in FIG. 2, the positioner 1 includes a power cable (filament) 7 for connecting the rotary table 5 to the negative electrode for welding and a pipe (filament) for supplying a fluid such as pressurized air. 8.
- the base 2 includes a flat plate-like first support portion 9 and a second support portion 10 arranged parallel to each other with a gap in the first axis A direction.
- the first member 3 is spanned between the first support portion 9 and the second support portion 10 in the form of a beam supported on both sides.
- the first member 3 includes a first shaft portion (shaft portion) 12 supported by a bearing 11 on a first support portion 9 so as to be rotatable about a first axis A, and a second support portion by a first reducer 18 described later.
- 10 is provided with a second shaft portion 13 that is rotatably supported around the first axis A. As shown in FIG.
- the first shaft portion 12 is provided with a first hollow portion 14 extending along the first axis A from the end face.
- a through hole 15 penetrating in the direction of the first axis A is provided in the first support portion 9 .
- a cylindrical sleeve 16 having an inner hole 16 a is fitted into the through hole 15 and fixed to the first support portion 9 . Further, the sleeve 16 is inserted into the first hollow portion 14 from the end face side of the first shaft portion 12 , and the bearing 11 fitted between the outer peripheral surface of the sleeve 16 and the inner peripheral surface of the first hollow portion 14 . , the first shaft portion 12 is rotatably supported around the first axis A. As shown in FIG.
- the first hollow portion 14 provided in the first shaft portion 12 extends in a direction intersecting the first axis A on the second support portion 10 side of the portion supported by the bearing 11 and extends in a direction intersecting the first axis A. is opened on the surface opposite to the rotary table 5 (hereinafter also referred to as the rear surface).
- the rear surface As a result, from the outside of the first support portion 9 in the direction of the first axis A, through the inner hole 16 a of the sleeve 16 and the first hollow portion 14 , between the first support portion 9 and the second support portion 10 .
- a hollow passage 50 penetrating through the back side of the first member 3 is formed.
- the first drive mechanism 4 includes a first motor 17 fixed to the second support portion 10 of the base 2 and a first reduction gear that reduces the speed of rotation of the motor shaft 17a of the first motor 17 and transmits it to the first member 3. 18.
- the first motor 17 is fixed to the outer surface of the second support portion 10 by passing the motor shaft 17 a through a through hole 19 provided in the second support portion 10 from the outside of the second support portion 10 .
- the central axis of the motor shaft 17a coincides with the first axis A. As shown in FIG.
- the first reduction gear 18 includes a fixed member 20 fixed to the inner surface side of the second support portion 10 and an output shaft member 21 rotated around the first axis A with respect to the fixed member 20 . Inside the fixed member 20 and the output shaft member 21 are accommodated a plurality of gears (not shown) including a gear that meshes with the gear 22 fixed to the motor shaft 17a.
- the output shaft member 21 is fixed to the end surface of the second shaft portion 13 of the first member 3 .
- reference numeral 23 denotes a projection provided on the first member 3
- reference numeral 24 denotes a stopper fixed to the base 2 against which the projection 23 abuts.
- the rotary table 5 has a mounting surface 5a on which a workpiece or the like is mounted, is made of a conductive material, and has a disk shape.
- the rotary table 5 is arranged at a position where the central axis thereof coincides with the second axis B, and is rotatably supported by the first member 3 about the second axis B by a second reduction gear, which will be described later.
- the second drive mechanism 6 includes, as shown in FIGS. 2 and 3, a second motor (motor) 25 fixed to the first member 3 offset parallel to the second axis B, and a second motor and a second reducer (reducer) 26 that reduces the speed of rotation of the motor shaft (not shown) of 25 and transmits it to the rotary table 5 .
- the second motor 25 is fixed to the surface of the first member 3 on the opening 50a side (back side) of the hollow path 50 .
- the second speed reducer 26 is arranged between the first member 3 and the rotary table 5 .
- the rotation of the motor shaft of the second motor 25 offset with respect to the second axis B is once decelerated by the gear 34 and then further decelerated by the second reduction gear 26 and transmitted to the rotary table 5 .
- the second drive mechanism 6 is not provided with the stopper 24 unlike the first drive mechanism 4 .
- the rotary table 5, the second speed reducer 26 and the first member 3 are provided with a second hollow portion (hollow portion) 27 penetrating along the second axis B in a region including the second axis B.
- One end of the second hollow portion 27 in the direction of the second axis B opens on the mounting surface 5a side of the rotary table 5, and the other end opens on the same rear surface as the opening 50a of the hollow path 50 of the first member 3. doing.
- the surface on the back side of the first member 3 located around the opening on the back side of the second hollow portion 27 has a A brush mounting portion 29 is provided to which a current collecting brush 28 can be detachably mounted.
- the current collecting brush 28 includes, for example, a carbon brush portion 30 and a brush portion 30 that presses the brush portion 30 radially inward from the second hollow portion 27 . and a pressing portion 31 having a spring (not shown) for pressing.
- the current collecting brush 28 has a terminal 28a to which the power cable 7 is detachably connected.
- the brush mounting portion 29 is provided with a seat surface 29a that brings the pressing portion 31 into close contact with the direction along the second axis B and on the seat surface 29a. and a screw hole 29b.
- the brush mounting portions 29 are provided at two locations spaced apart in the circumferential direction around the second axis B. As shown in FIG. In the example shown in FIG. 3, the brush mounting portions 29 are arranged at positions that sandwich the second hollow portion 27 in the radial direction and are spaced apart by 180° in the circumferential direction.
- an adapter 33 made of a conductive material is attached to the opening of the second hollow portion 27 of the rotary table 5 and can be attached and detached from the mounting surface 5a side of the rotary table 5 at a position that closes the opening. is fixed to The adapter 33 is provided with a terminal 35 and a through hole 36 to which the power cable 7 and the pipe 8 can be connected as described later.
- reference numeral 37 designates the second hollow portion 27 in order to seal the lubricating space in which the inside of the second reduction gear 26 and the gear 34 are arranged by an oil seal 38 fixed to the first member 3 . It is a cylindrical sleeve member arranged to penetrate in the direction of the axis B.
- Reference numeral 39 denotes an insulating plate that electrically insulates the second reduction gear 26 and the turntable 5
- reference numeral 40 denotes an insulating washer that electrically insulates the bolt 48 and the turntable 5.
- the insulating plate 39 and the insulating washer 40 are made of an electrically insulating material such as an insulating resin.
- one end of the power cable 7 and the pipe 8 is fixed to the power distribution box 41 installed on the side of the second support section 10 .
- a power supply (not shown) and a fluid supply source (not shown) arranged outside are connected to the power cable 7 and the pipe 8 in the power distribution box 41, thereby connecting the turntable 5 to the negative electrode and rotating the turntable 5. It is possible to supply fluid to
- One end of a motor cable (not shown) connected to the first motor 17 and the second motor 25 is also fixed to the power distribution box 41 .
- One end of the motor cable in the power distribution box 41 is connected to a cable (not shown) extending from a control device (not shown) arranged outside.
- the other end of the motor cable for the first motor 17 is connected to the first motor 17 in close proximity to the power distribution box 41 .
- the power cable 7 and the pipe 8 are led from the power distribution box 41 to the first support portion 9 side, for example, passing through the lower part of the base 2 together with the motor cable for the second motor 25 connected to the second motor 25. After that, it is introduced into the hollow path 50 from the outside of the first support portion 9 .
- the filamentary body such as the power cable 7 introduced into the hollow path 50 extends in the vicinity of the first axis A along the first axis A in the hollow path 50, and then reaches the opening 50a on the back side of the first member 3. is pulled out of the hollow path 50 from the .
- a motor cable for the second motor 25 pulled out from the opening 50 a on the back side of the first member 3 is connected to the second motor 25 fixed to the first member 3 .
- a filamentary body such as the power cable 7 pulled out from the opening 50a on the back side of the first member 3 extends in a direction away from the rotary table 5 from near the surface of the first member 3 away from the second axis B. , is bent in a U shape by about 180°.
- a filamentous body such as the curved power cable 7 extends along the second axis B, is introduced into the second hollow portion 27 through an opening on the back side of the second hollow portion 27, and has the other end attachable to and detachable from the adapter 33. is fixed to
- the 180° curved portion of the linear body such as the power cable 7 is positioned closer to the rotary table 5 than the end of the second motor 25 on the head side in the direction along the second axis B. That is, the filamentous body such as the power cable 7 is folded back 180° at a position not exceeding the head-side end of the second motor 25 .
- the power cable 7 and the pipe 8 passing through the second hollow portion 27 pass through the vicinity of the second axis B almost straight along the second axis B.
- the power cable 7 and the pipe 8 curved in a U shape between the position pulled out from the opening 50a of the first member 3 and the position connected to the adapter 33 of the rotary table 5 are displaced without interfering with surrounding members. It is in a state of freedom where it is possible to
- the positioner 1 configured in this way will be described below.
- the power cable 7 and the pipe 8 are connected to the adapter 33 fixed to the rotary table 5, so that the work mounted on the mounting surface 5a of the rotary table 5 is connected to the negative electrode. can be connected to and supplied with fluid.
- the tilt angle of the workpiece about the first axis A can be changed.
- the tilt angle of the workpiece about the first axis A can be changed.
- the angle around the second axis B of the workpiece can be changed.
- a torsional force acts on the power cable 7 and the pipe 8 in the portion arranged in the hollow passage 50 . Since the power cable 7 and the pipe 8 in the hollow path 50 extend in the vicinity of the first axis A along the first axis A, the torsional force can be absorbed by torsionally deforming this portion.
- the rotation of the first member 3 about the first axis A with respect to the base 2 changes the inclination angle of the workpiece with respect to the horizontal plane. A large torsional force does not act on 7 and piping 8 .
- the filamentous body such as the power cable 7 from the opening 50a of the hollow passage 50 in the first member 3 to the adapter 33 is folded back 180 degrees in a U-shape, so that it can be freely extended over a relatively long range. state. Therefore, even if the rotary table 5 rotates around the second axis B and receives a torsional force around the second axis B, the filaments such as the power cable 7 from the opening 50a of the first member 3 to the adapter 33 are free to move. Torsional forces can be effectively absorbed by torsionally or bendingly deforming the portion. As a result, the load applied to the filaments such as the power cable 7 can be reduced.
- the linear body such as the power cable 7 may be affected. It can be used as a movable cable with reduced load. In this case, there is no need for a current collecting brush and a shaft that allow infinite rotation, and by not mounting these, there is an advantage that the cost can be reduced and maintenance can be facilitated.
- the positioner 1 is used in applications where the rotary table 5 needs to be infinitely rotated around the second axis B, or where the rotary table 5 needs to be rotated in a relatively large rotation angle range exceeding 360°, for example.
- the adapter 33 is removed from the rotary table 5 , the power cable 7 and the pipe 8 connected to the adapter 33 are removed, and pulled out from the second hollow portion 27 . Also, the sleeve member 37 fixed to the rotary table 5 is removed.
- another adapter 44 having a cylindrical shaft 42 made of a conductive material and a rotary joint 43 arranged in an inner hole 42a of the shaft 42 is attached to the rotary table 5.
- the shaft 42 and the rotary joint 43 are arranged coaxially with the second axis B through the second hollow portion 27 .
- the tip of the shaft 42 is arranged at a position protruding outside from the opening on the back side of the second hollow portion 27 .
- the outer diameter of the shaft 42 is the same as the outer diameter of the sleeve member 37, and the sealing of the lubricating space by the oil seal 38 is maintained.
- the collector brush 28 is attached to the brush attachment portion 29 provided on the first member 3 .
- the collector brush 28 is attached to the first member 3 by fixing the pressing portion 31 to the brush attachment portion 29 .
- the brush portion 30 is pressed radially outward against the outer peripheral surface of the shaft 42 exposed on the back side of the first member 3 by the spring of the pressing portion 31 .
- the power cable 7 removed from the adapter 33 is connected to the collector brush 28 via the terminal 28 a, and the pipe 8 is connected to the rotary joint 43 . Accordingly, when the rotary table 5 is rotated around the second axis B, the shaft 42 is rotated together with the rotary table 5, and the contact between the outer peripheral surface of the shaft 42 and the brush portion 30 is maintained. Therefore, even if the rotary table 5 rotates infinitely, the current collecting brush 28 allows the rotary table 5 to continue to be connected to the negative electrode while the power cable 7 remains fixed.
- the brush mounting portions 29 are provided at two locations across the second hollow portion 27 in the radial direction.
- the brush portion 30 can be pressed against the surface.
- the pressing force of the brush portion 30 acting on the shaft 42 can be offset, and biased force can be prevented from acting on the shaft 42 .
- the pipe 8 can be connected to the rotary joint 43, even if the rotary table 5 rotates around the second axis B, the flow path of the fluid can be maintained in a connected state. Therefore, the fluid can be continuously supplied to the turntable 5 regardless of the rotation angle of the turntable 5 .
- the filaments such as the power cable 7 directly connected to the adapter 33 had a sufficient extra length for movement by being bent in a U-shape, so that the current collecting brush 28 or the rotary joint 43, it has a sufficient length.
- the power cable 7 and the pipe 8 are relatively thick and rigid, they are sufficiently long as described above, so that they can be easily bent. It can be easily handled.
- the power cable 7 connected to the current collecting brush 28 and the pipe 8 connected to the rotary joint 43 are kept stationary regardless of the rotation of the rotary table 5 .
- the power cable 7 and the like pulled out from the opening 50a of the hollow passage 50 of the first member 3 are preferably fixed to the first member 3 by a binding band 46, a clamp member, or the like so as not to move.
- the positioner 51 is a uniaxial positioner that only rotates the rotary table 5 around its central axis C with respect to the base 2, as shown in FIG.
- the base 2 corresponds to the first member 3.
- the filaments such as the power cable 7 extending from the power distribution box 41 are located in the middle of the longitudinal direction and close to the back side of the turntable 5 at a position away from the central axis C of the turntable 5 . It is fixed by the clamp member 47 at the position where it does.
- the filamentary body such as the power cable 7 is bent in a direction away from the turntable 5 from the position fixed by the clamp member 47, and then bent in a U shape by 180° so that the central axis of the turntable 5 is bent. It is introduced into the second hollow portion (hollow portion) 27 along C.
- a filamentary body such as the power cable 7 introduced into the second hollow portion 27 is directly connected to the adapter 33 of the rotary table 5 .
- the shaft 42 and the rotary joint 43 are attached to the rotary table 5, and the collector brush 28 is attached to the brush attachment portion 29.
- the form can be easily switched.
- the filamentous body such as the power cable 7 has a sufficient extra length for movement, it has a sufficient length even when it is connected to the collector brush 28 or the rotary joint 43 .
- the filamentous body of the power cable 7 or the like is relatively thick and rigid, the long filamentous body can be bent relatively easily, and the wiring for connection to the current collecting brush 28 and the rotary joint 43 can be reduced. It has the advantage of being easy to implement.
- two brush mounting portions 29 are provided radially outward of the second hollow portion 27 of the first member 3 with a space therebetween in the circumferential direction. , or alternatively, one or three or more.
- the brush attachment portions 29 are disposed at regular intervals in the circumferential direction around the central axis of the rotary table 5 .
- the pressing force applied from the brush portion 30 to the shaft 42 can be offset to eliminate bias.
- the brush mounting portions 29 instead of arranging the brush mounting portions 29 at equal intervals in the circumferential direction around the central axis of the rotary table 5, if bias in the pressing force can be allowed, they can be arranged at one place or at uneven intervals in the circumferential direction. may be placed at multiple locations. Further, instead of arranging the plurality of current collecting brushes 28 at circumferentially spaced positions, the plurality of current collecting brushes 28 are arranged in the direction along the central axis of the rotary table 5 at the same position in the circumferential direction. may be placed. As a result, the installation space for the current collecting brushes 28 around the central axis of the rotary table 5 can be reduced while maintaining the redundancy of the current collecting brushes 28 .
- a bearing surface 29a is provided to closely contact the pressing portion 31 in the direction along the central axes A and C of the rotary table 5.
- the seat surface 29a is formed along a plane orthogonal to the central axes A,C.
- the seat surface 29a may be formed along a plane parallel to the central axes A and C of the rotary table 5.
- a dustproof cover 45 may be provided at a position covering the opening of the second hollow portion 27 .
- the current collecting brush 28 when the current collecting brush 28 is attached to the brush mounting portion 29 , the current collecting brush 28 and the shaft 42 can also be arranged inside the dustproof cover 45 . As a result, dust from the outside can be prevented from adhering between the brush portion 30 and the shaft 42, and abrasion powder from the brush portion 30 or the shaft 42 can be prevented from scattering to the outside.
- the curved portion of the filamentary body such as the power cable 7 is folded back at a position not exceeding the end of the second motor 25 on the head side, the rear side of the first member 3 including the second motor 25 is bent.
- the height of the dustproof cover 45 covering the can be minimized. Accordingly, it is possible to reduce the size of the positioner 1 while preventing interference between the dust cover 45 and the base 2 when the first member 3 rotates about the first axis A.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Machine Tool Units (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
Description
本実施形態に係るポジショナ1は、図1に示されるように、床面等の水平な被設置面に設置されるベース2と、水平な第1軸線A回りにベース2に対して回転可能に支持された第1部材3と、第1部材3を回転駆動する第1駆動機構4とを備えている。
アダプタ33には、後述するように電源ケーブル7および配管8を接続可能な端子35および貫通孔36が設けられている。
第1部材3の背面側の開口50aから引き出された第2モータ25用のモータケーブルは、第1部材3に固定されている第2モータ25に接続されている。
本実施形態に係るポジショナ1によれば、回転テーブル5に固定されたアダプタ33に電源ケーブル7および配管8が接続されているので、回転テーブル5の載置面5aに搭載されたワークを負電極に接続し、流体を供給することができる。
特に、ベース2に対する第1部材3の第1軸線A回りの回転は、ワークの水平面に対する傾斜角度を変化させるものであり、突起23およびストッパ24によって回転角度範囲が制限されているため、電源ケーブル7および配管8に大きな捩り力が作用することはない。
まず、アダプタ33を回転テーブル5から取り外して、アダプタ33に接続されていた電源ケーブル7および配管8を取り外し、第2中空部27から引き出す。また、回転テーブル5に対して固定されたスリーブ部材37を取り外す。
集電ブラシ28は、押付け部31をブラシ取付部29に固定することにより、第1部材3に取り付けられる。ブラシ部30は、押付け部31のバネによって、第1部材3の背面側に露出しているシャフト42の外周面に径方向外方から押し付けられる。
これにより、回転テーブル5が第2軸線B回りに回転させられると、回転テーブル5とともにシャフト42が回転させられ、シャフト42の外周面とブラシ部30との接触が維持される。したがって、集電ブラシ28により、回転テーブル5が無限に回転しても、電源ケーブル7を固定したままの状態で回転テーブル5を負電極に接続し続けることができる。
そして、電源ケーブル7および配管8は比較的太く、硬質であるが、上述のように十分な長さを有するために容易に曲げることができ、集電ブラシ28およびロータリジョイント43に接続するための取り回しを容易に行うことができる。
2 ベース(第1部材)
3 第1部材
5 回転テーブル
7 電源ケーブル
12 第1軸部(軸部)
25 第2モータ(モータ)
26 第2減速機(減速機)
27 第2中空部(中空部)
28 集電ブラシ
29 ブラシ取付部
50 中空経路
A 第1軸線
B 第2軸線(所定の軸線)
C 中心軸(所定の軸線)
Claims (2)
- 第1部材と、
該第1部材に対して、所定の軸線回りに回転可能に支持された回転テーブルと、
前記軸線に対して平行にオフセットして配置され前記回転テーブルを回転駆動するモータと、
前記第1部材と前記回転テーブルとの間に配置され、前記モータの回転を減速して前記回転テーブルに伝達する減速機と、
前記回転テーブルに電源を供給する電源ケーブルとを備え、
前記第1部材および前記減速機が、前記軸線を含む領域に該軸線に沿う方向に貫通する中空部を備え、
前記第1部材の前記回転テーブルとは反対側の表面の前記中空部の径方向外方に、前記電源ケーブルの一端を着脱可能な集電ブラシを着脱可能に固定するブラシ取付部が設けられ、
前記電源ケーブルは、前記軸線から離れた前記第1部材の前記表面付近から、前記回転テーブルから離れる方向に延び、U字状に湾曲させられた後、前記軸線に沿って前記中空部内を貫通し、一端が前記回転テーブルに着脱可能に固定されているポジショナ。 - 水平な被設置面に設置されるベースを備え、
前記第1部材が、前記軸線に直交する水平な第1軸線回りに前記ベースに対して回転可能に支持される軸部を備えるとともに、該軸部の端部から前記第1軸線を含む領域に該第1軸線に沿って延び、前記表面に開口する中空経路を備え、
前記電源ケーブルが前記中空経路を貫通して、外部の電源装置に接続される請求項1に記載のポジショナ。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/550,999 US20240157489A1 (en) | 2021-06-28 | 2021-06-28 | Positioner |
DE112021007502.0T DE112021007502T5 (de) | 2021-06-28 | 2021-06-28 | Positionierer |
JP2023531143A JPWO2023275925A1 (ja) | 2021-06-28 | 2021-06-28 | |
CN202180099729.7A CN117545586A (zh) | 2021-06-28 | 2021-06-28 | 定位器 |
PCT/JP2021/024329 WO2023275925A1 (ja) | 2021-06-28 | 2021-06-28 | ポジショナ |
TW111122300A TW202302266A (zh) | 2021-06-28 | 2022-06-15 | 定位器 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2021/024329 WO2023275925A1 (ja) | 2021-06-28 | 2021-06-28 | ポジショナ |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2023275925A1 true WO2023275925A1 (ja) | 2023-01-05 |
Family
ID=84689812
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2021/024329 WO2023275925A1 (ja) | 2021-06-28 | 2021-06-28 | ポジショナ |
Country Status (6)
Country | Link |
---|---|
US (1) | US20240157489A1 (ja) |
JP (1) | JPWO2023275925A1 (ja) |
CN (1) | CN117545586A (ja) |
DE (1) | DE112021007502T5 (ja) |
TW (1) | TW202302266A (ja) |
WO (1) | WO2023275925A1 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006001146A1 (ja) * | 2004-06-25 | 2006-01-05 | Kabushiki Kaisha Yaskawa Denki | ポジショナおよび複合カールコード |
WO2010029670A1 (ja) * | 2008-09-12 | 2010-03-18 | パナソニック株式会社 | ポジショナ |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7277314B2 (ja) | 2019-08-23 | 2023-05-18 | ファナック株式会社 | ワーク支持装置 |
-
2021
- 2021-06-28 CN CN202180099729.7A patent/CN117545586A/zh active Pending
- 2021-06-28 DE DE112021007502.0T patent/DE112021007502T5/de active Pending
- 2021-06-28 WO PCT/JP2021/024329 patent/WO2023275925A1/ja active Application Filing
- 2021-06-28 US US18/550,999 patent/US20240157489A1/en active Pending
- 2021-06-28 JP JP2023531143A patent/JPWO2023275925A1/ja active Pending
-
2022
- 2022-06-15 TW TW111122300A patent/TW202302266A/zh unknown
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2006001146A1 (ja) * | 2004-06-25 | 2006-01-05 | Kabushiki Kaisha Yaskawa Denki | ポジショナおよび複合カールコード |
WO2010029670A1 (ja) * | 2008-09-12 | 2010-03-18 | パナソニック株式会社 | ポジショナ |
Also Published As
Publication number | Publication date |
---|---|
JPWO2023275925A1 (ja) | 2023-01-05 |
US20240157489A1 (en) | 2024-05-16 |
TW202302266A (zh) | 2023-01-16 |
CN117545586A (zh) | 2024-02-09 |
DE112021007502T5 (de) | 2024-04-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CA1210421A (en) | Split-ball type wrist and manipulator assembly for robot | |
JP5001917B2 (ja) | ワイヤ送給装置 | |
JP5338301B2 (ja) | 水平多関節型ロボット | |
JP4263189B2 (ja) | 多関節マニピュレータ | |
KR100877471B1 (ko) | 플랜지면 자동 가공장치 | |
US20180370049A1 (en) | Robot arm mechanism | |
JP2010184328A (ja) | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット | |
JP2010247324A (ja) | デルタ運動ロボット | |
JP2004216535A (ja) | 多関節ロボット | |
JP2002283275A (ja) | ロボットの手首構造 | |
US11821496B2 (en) | Linear actuator | |
US5833569A (en) | Geared drive unit for imparting motion to a load | |
EP0929766B1 (en) | Cable assembly holder for an industrial robot | |
KR100217545B1 (ko) | 전동가압식 건의 전극가압 구동방법 및 장치 | |
JP2007237316A (ja) | ロボット | |
US5624364A (en) | Tool change device for manipulators | |
WO2023275925A1 (ja) | ポジショナ | |
EP1520661A1 (en) | Cable laying structure with clamping means for a robot | |
JP2015137065A (ja) | 電気ケーブルの支持構造 | |
JP2006525130A (ja) | 産業用ロボット | |
JP2007237314A (ja) | ロボット | |
WO2017217415A1 (ja) | 関節ユニット | |
JP6577543B2 (ja) | 回転可能なワークテーブルを備えるワーク支持装置 | |
WO2022004708A1 (ja) | ワーク支持装置 | |
JP2011056661A (ja) | 3自由度を有する姿勢変更機構を備えたパラレルリンクロボット |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 21948239 Country of ref document: EP Kind code of ref document: A1 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18550999 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2023531143 Country of ref document: JP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112021007502 Country of ref document: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202180099729.7 Country of ref document: CN |