JP5432645B2 - Self-weight compensation mechanism - Google Patents

Self-weight compensation mechanism Download PDF

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JP5432645B2
JP5432645B2 JP2009211426A JP2009211426A JP5432645B2 JP 5432645 B2 JP5432645 B2 JP 5432645B2 JP 2009211426 A JP2009211426 A JP 2009211426A JP 2009211426 A JP2009211426 A JP 2009211426A JP 5432645 B2 JP5432645 B2 JP 5432645B2
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cam
rotation
compensation mechanism
weight compensation
self
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JP2011056640A (en
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英之 村山
英雄 藤本
直行 武居
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Toyota Motor Corp
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Description

本発明は、重量を有する物体の保持、移動等を実行する機構において、前記物体の重量による影響を相殺又は低減するための技術に関する。   The present invention relates to a technique for offsetting or reducing the influence of the weight of an object in a mechanism for holding, moving, and the like of the object having a weight.

作業用ロボット、撮像装置用固定具等において、操作の対象となる物体の自重を機械的な構成により打ち消すことができる自重補償機構が用いられる。このような自重補償機構を備えることにより、前記物体を静止状態に維持するための動力を不要又は低減することが可能となる。   In a working robot, an imaging device fixture, and the like, a self-weight compensation mechanism that can cancel the self-weight of an object to be operated by a mechanical configuration is used. By providing such a self-weight compensation mechanism, the power for maintaining the object in a stationary state can be unnecessary or reduced.

特許文献１及び特許文献２において、ワイヤの一端側が引張りバネに連結し、他端側がプーリを介して所定の固定部材に固定され、前記引張りバネの弾性力により物体及びアーム部材の重量を補償する機構が開示されている。   In Patent Document 1 and Patent Document 2, one end of the wire is connected to a tension spring, and the other end is fixed to a predetermined fixing member via a pulley, and the weight of the object and the arm member is compensated by the elastic force of the tension spring. A mechanism is disclosed.

特許文献３において、アーム部材の回動に応じて変位するカム部材と、前記カム部材のカム面に当接するカムフォロアと、前記カムフォロアを前記カム面側に圧接する弾性力を有し収納部材に収納されるバネ部材とを備え、前記カム面は、前記アーム部材の所定の方向への回転に反発するトルクを発生させる形状を有することを特徴とするアームレストが開示されている。   In Patent Document 3, a cam member that is displaced according to the rotation of an arm member, a cam follower that abuts on the cam surface of the cam member, and an elastic force that presses the cam follower against the cam surface side and is stored in a storage member. There is disclosed an armrest characterized in that the cam surface has a shape that generates torque that repels rotation of the arm member in a predetermined direction.

また、特許文献４、特許文献５、及び特許文献６において、他の自重補償機構が例示されている。   In Patent Document 4, Patent Document 5, and Patent Document 6, other self-weight compensation mechanisms are exemplified.

特開２００７−１１９２４９号公報JP 2007-119249 A 特開２００３−１８１７８９号公報JP 2003-181789 A 特開２００７−１９０１６２号公報JP 2007-190162 A 特表２００４−５２０５５８号公報JP-T-2004-520558 特開２００４−１００７４５号公報JP 2004-1000074 A 特開２００６−２８２３００号公報JP 2006-282300 A

上記特許文献１及び特許文献２に開示される機構は、前記ワイヤ、前記プーリ等の機構を必要とする。これらの機構は、耐久性を向上させることが困難なものであり、高荷重状態での使用に適さないという問題がある。また、特許文献３に開示される機構は、アームレストを想定するものであって、高荷重状態での使用において、動作の安定性等に不安があるものである。   The mechanisms disclosed in Patent Document 1 and Patent Document 2 require mechanisms such as the wire and the pulley. These mechanisms have a problem that it is difficult to improve durability and are not suitable for use in a high load state. Further, the mechanism disclosed in Patent Document 3 assumes an armrest, and is uneasy about operational stability and the like when used in a high load state.

本発明は、上記問題に鑑み、耐久性、動作の安定性等に優れた自重補償機構を提供することを目的とする。   In view of the above problems, an object of the present invention is to provide a self-weight compensation mechanism that is excellent in durability, operational stability, and the like.

本発明の一態様は、物体を保持し、回転軸を中心に回動するアーム部材と、前記アーム部材の回動に応じて変位し、前記変位に応じて、前記回転軸からの距離が変化するカム面が形成されたカム部材と、前記カム面に当接し、前記カム部材の変位に応じて変位する従動部材と、前記従動部材を前記カム面に圧接させる方向への弾性力を有する弾性部材と、前記アーム部材に連結されたピニオンと、前記ピニオンと噛み合い、前記カム部材に連結されたラック部材と、を備え、前記アーム部材の回動を前記カム部材の直線運動に変換する自重補償機構である。 One embodiment of the present invention includes an arm member that holds an object and rotates around a rotation axis, and is displaced according to the rotation of the arm member, and a distance from the rotation axis changes according to the displacement. A cam member having a cam surface formed thereon, a driven member that is in contact with the cam surface and is displaced in accordance with the displacement of the cam member, and an elasticity having an elastic force in a direction in which the driven member is pressed against the cam surface. a member, a pinion coupled to the arm member, meshing with the pinion, and a rack member coupled to the cam member, that converts the rotation of the arm member into linear motion of the cam member itself It is a heavy compensation mechanism.

また、本発明の他の態様は、物体を保持し、回転軸を中心に回動するアーム部材と、前記アーム部材の回動に応じて変位し、前記変位に応じて、前記回転軸からの距離が変化するカム面が形成されたカム部材と、前記カム面に当接し、前記カム部材の変位に応じて変位する従動部材と、前記従動部材を前記カム面に圧接させる方向への弾性力を間接的に生じさせる弾性部材と、前記弾性部材の前記弾性力を前記従動部材に伝達するリンク部材と、を備え、前記リンク部材の一端に前記従動部材が接続され、前記リンク部材の他端に前記リンク部材の回転軸が接続され、前記回転軸と前記従動部材との間において前記リンク部材に前記弾性部材の一端が接続され、前記リンク部材は、前記アーム部材の回動面に平行な平面上を回動する部材からなる、自重補償機構である。 According to another aspect of the present invention, there is provided an arm member that holds an object and rotates around a rotation axis, and is displaced according to the rotation of the arm member, and from the rotation axis according to the displacement. A cam member having a cam surface with a variable distance ; a driven member that is in contact with the cam surface and is displaced according to the displacement of the cam member; and an elastic force in a direction in which the driven member is pressed against the cam surface. and an elastic member which causes indirectly caused, and a link member for transmitting before SL driven member the elastic force of the elastic member, the driven member to one end of said link member is connected, the other of said link members One end of the elastic member is connected to the link member between the rotation shaft and the driven member, and the link member is parallel to the rotation surface of the arm member. From a member that rotates on a flat surface That is a weight compensation mechanism.

上記態様によれば、前記物体及び前記アーム部材が重力方向に変位する時、前記カム部材の変位を妨げるようなトルクが発生する。このトルクは、前記カム面の形状、前記リンク部材の構造等により適宜設定可能なものであり、これを前記物体及び前記アーム部材の重量に相当させることができる。これにより、アクチュエータ、操作者等により加えられた純粋なトルクのみにより前記アーム部材を操作することが可能となる。また、上記態様によれば、機構の動作の安定化を図ることができる。   According to the above aspect, when the object and the arm member are displaced in the direction of gravity, a torque is generated that prevents the cam member from being displaced. This torque can be set as appropriate depending on the shape of the cam surface, the structure of the link member, and the like, and this can correspond to the weight of the object and the arm member. As a result, the arm member can be operated only by a pure torque applied by an actuator, an operator, or the like. Further, according to the above aspect, the operation of the mechanism can be stabilized.

また、上記他の態様において、前記リンク部材には荷重部材が固定されており、この荷重部材の重さにより、前記従動部材が前記カム面に当接する圧力を増加させる、ものであることが好ましい。これにより、更なる動作の安定化を図ることができる。 In the above other embodiments, the have a load member fixed to the link member, that this by the weight of the load member, the driven member is Ru is increased pressure in contact with the cam surface, those Is preferred. As a result, the operation can be further stabilized.

また、前記カム部材は、少なくとも２つの前記カム面を備えていてもよい。このような態様においては、前記カム部材が線対称又は点対称の形状を有することが好ましい。更に、第１及び第２の前記カム面にそれぞれ当接する第１及び第２の前記従動部材と、前記第１及び第２の従動部材をそれぞれ前記カム部材の回転軸へ向かって加圧する機構と、を備えることが好ましい。このような態様により、更なる動作の安定化を図ることができる。また、前記弾性部材の弾性力が前記カム部材に対して両側から略均等に掛かるため、回転軸等の部材に掛かる負担が大幅に軽減される。これにより、耐久性・寿命の向上、小型且つ安価な軸受の使用等が可能となる。 The cam member may include at least two cam surfaces. In such an aspect, it is preferable that the cam member has a line-symmetric or point-symmetric shape. Furthermore, the first and second driven members that are in contact with the first and second cam surfaces, respectively, and a mechanism that pressurizes the first and second driven members toward the rotation shaft of the cam member, respectively. Are preferably provided. By such an aspect, further stabilization of the operation can be achieved. Further, since the elastic force of the elastic member is applied to the cam member from both sides substantially evenly, the load on the member such as the rotating shaft is greatly reduced. This makes it possible to improve durability and life, use a small and inexpensive bearing, and the like.

また、本発明の他の態様は、物体を保持し、回転軸を中心に回動するアーム部材と、前記アーム部材の回動に応じて変位し、前記変位に応じて、前記回転軸からの距離が変化するカム面が形成されたカム部材と、前記カム面に当接し、前記カム部材の変位に応じて変位する従動部材と、前記従動部材を前記カム面に圧接させる方向への弾性力を間接的に生じさせる弾性部材と、前記弾性部材の前記弾性力を前記従動部材に伝達するリンク部材と、を備え、前記リンク部材は、Ｌ字形状であって、当該Ｌ字形状の屈曲部を回転軸とし、一端に前記従動部材が接続され、他端に前記弾性部材が接続され、前記アーム部材の回動面に平行な平面上を回動する部材からなる、自重補償機構である。  According to another aspect of the present invention, there is provided an arm member that holds an object and rotates around a rotation axis, and is displaced according to the rotation of the arm member, and from the rotation axis according to the displacement. A cam member having a cam surface with a variable distance; a driven member that is in contact with the cam surface and is displaced according to the displacement of the cam member; and an elastic force in a direction in which the driven member is pressed against the cam surface. And a link member that transmits the elastic force of the elastic member to the driven member, and the link member is L-shaped, and the L-shaped bent portion. Is a self-weight compensation mechanism composed of a member rotating on a plane parallel to the rotation surface of the arm member, with the driven member connected to one end and the elastic member connected to the other end.

本発明によれば、ワイヤ、プーリ等を必要としない自重補償機構を提供することが可能となる。これにより、耐久性、動作の安定性等に優れた自重補償機構を提供することが可能となる。   According to the present invention, it is possible to provide a self-weight compensation mechanism that does not require a wire, a pulley, or the like. This makes it possible to provide a self-weight compensation mechanism that is excellent in durability, operational stability, and the like.

本発明の実施の形態１に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 1 of this invention. 本発明の実施の形態２に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 2 of this invention. 前記実施の形態２に係るカム部材の構成を示す図である。It is a figure which shows the structure of the cam member which concerns on the said Embodiment 2. FIG. 本発明の実施の形態３に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 3 of this invention. 本発明の実施の形態４に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 4 of this invention. 本発明の実施の形態５に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the self-weight compensation mechanism which concerns on Embodiment 5 of this invention. 本発明の実施の形態６に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 6 of this invention. 本発明の実施の形態７に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 7 of this invention. 本発明の実施の形態８に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the dead weight compensation mechanism which concerns on Embodiment 8 of this invention. 本発明の実施の形態９に係る自重補償機構の構成を示す図である。It is a figure which shows the structure of the self-weight compensation mechanism which concerns on Embodiment 9 of this invention.

以下に、添付した図面を参照して本発明の実施の形態を説明する。尚、異なる実施の形態において、同一又は同様の作用効果を奏する箇所については、同一の符号を付してその説明を省略する。   Embodiments of the present invention will be described below with reference to the accompanying drawings. Note that, in different embodiments, portions having the same or similar operational effects are denoted by the same reference numerals and description thereof is omitted.

実施の形態１
図１は、本発明の実施の形態１に係る自重補償機構１の構成を示している。前記自重補償機構１は、アーム部材２、カム部材３、従動部材４、及び弾性部材５を備えている。 Embodiment 1
FIG. 1 shows the configuration of a self-weight compensation mechanism 1 according to Embodiment 1 of the present invention. The self-weight compensation mechanism 1 includes an arm member 2, a cam member 3, a driven member 4, and an elastic member 5.

前記アーム部材２は、その先端部に任意の物体１０を保持可能な機構を備え、その後端部が回転軸１１により所定の固定部材に回動可能に軸支されている。本実施の形態に係る前記アーム部材２は、関節機構を持たないロッド状の部材である。前記物体１０は、所定の質量Ｍを有し、鉛直方向（図中下方）に重量Ｍｇを発生させる。本実施の形態に係る前記アーム部材２は、前記回転軸１１を中心として回動可能なピニオン１２に固定されている。これにより、前記ピニオン１２は前記アーム部材２と共に回動する。   The arm member 2 is provided with a mechanism capable of holding an arbitrary object 10 at the tip thereof, and the rear end thereof is pivotally supported by a predetermined fixing member by a rotation shaft 11. The arm member 2 according to the present embodiment is a rod-shaped member having no joint mechanism. The object 10 has a predetermined mass M and generates a weight Mg in the vertical direction (downward in the figure). The arm member 2 according to the present embodiment is fixed to a pinion 12 that can rotate around the rotating shaft 11. As a result, the pinion 12 rotates together with the arm member 2.

前記カム部材３は、カム面１５を備え、ラック１６に固定されている。前記ラック１６は、前記ピニオン１２と噛合し、前記ピニオン１２の回動に応じて矢印Ａ方向にスライドする。この構成により、前記カム部材３は、前記ピニオン１２の回転（前記アーム部材２及び前記物体１０の変位）に伴い、同一平面上を矢印Ａ方向にスライドする。前記カム面１５は、滑らかな曲面から構成され、本実施の形態においては、矢印ｘ方向に向かうに従い、徐々にその高さｙが大きくなる形状を有している。   The cam member 3 has a cam surface 15 and is fixed to a rack 16. The rack 16 meshes with the pinion 12 and slides in the arrow A direction according to the rotation of the pinion 12. With this configuration, the cam member 3 slides in the direction of arrow A on the same plane as the pinion 12 rotates (displacement of the arm member 2 and the object 10). The cam surface 15 is formed of a smooth curved surface, and in the present embodiment, the cam surface 15 has a shape in which the height y gradually increases in the direction of the arrow x.

前記従動部材４は、前記カム面１５に当接し、前記カム面１５の形状に沿って変位する。前記従動部材４として、例えば車輪等の機構を適用することができる。   The driven member 4 abuts on the cam surface 15 and is displaced along the shape of the cam surface 15. As the driven member 4, for example, a mechanism such as a wheel can be applied.

前記弾性部材５は、前記従動部材４を前記カム面１５に圧接させる方向（図中矢印Ｆで示す方向）への弾性力を有する。前記弾性部材５として、例えばコイルバネ等を適用することができる。   The elastic member 5 has an elastic force in a direction (indicated by an arrow F in the drawing) in which the driven member 4 is pressed against the cam surface 15. As the elastic member 5, for example, a coil spring or the like can be applied.

上記本実施の形態によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記アーム部材２及び前記ピニオン１２は回転角θが増加する方向（矢印の方向）に回動し、前記ラック１６及び前記カム部材３が図中右側にスライドする。この時、前記受動部材４が接する部分の前記カム面１５の高さｙが徐々に高くなり、前記弾性部材５のたわみ量が増加し、前記矢印Ｆ方向への圧力が増加する。これにより、前記カム部材３及び前記ラック１６の図中右側へのスライド、前記ピニオン１２及び前記アーム部材２の前記回転角θの増加方向への回動、及び前記物体１０の下降が妨げられる。   According to the present embodiment, when the object 10 and the arm member 2 are displaced downward in the figure, the arm member 2 and the pinion 12 are rotated in the direction in which the rotation angle θ increases (the direction of the arrow). Then, the rack 16 and the cam member 3 slide to the right side in the drawing. At this time, the height y of the cam surface 15 where the passive member 4 contacts gradually increases, the amount of deflection of the elastic member 5 increases, and the pressure in the arrow F direction increases. This prevents the cam member 3 and the rack 16 from sliding to the right in the figure, the pinion 12 and the arm member 2 from rotating in the increasing direction of the rotation angle θ, and the object 10 from being lowered.

上記構成において、前記物体１０及び前記アーム部材２の重量、前記アーム部材２の長さ等に対応し、前記カム面１５の形状、前記弾性部材５のばね定数、前記ピニオン１２及び前記ラック１６のギア比等を適切に設定することにより、前記物体１０及び前記アーム部材２の自重を効果的に補償する（打ち消す）ことができる機構を構築することができる。   In the above configuration, the shape of the cam surface 15, the spring constant of the elastic member 5, the pinion 12 and the rack 16 correspond to the weight of the object 10 and the arm member 2, the length of the arm member 2, and the like. By appropriately setting the gear ratio and the like, it is possible to construct a mechanism that can effectively compensate (cancel) the dead weights of the object 10 and the arm member 2.

実施の形態２
図２は、本発明の実施の形態２に係る自重補償機構２１の構成を示している。前記自重補償機構２１は、上記実施の形態１に係る自重補償機構１と比して、カム部材２３の形状、及び前記アーム部材２と前記カム部材２３との連結構造が異なっている。 Embodiment 2
FIG. 2 shows the configuration of the self-weight compensation mechanism 21 according to Embodiment 2 of the present invention. The self-weight compensation mechanism 21 is different from the self-weight compensation mechanism 1 according to the first embodiment in the shape of the cam member 23 and the connection structure between the arm member 2 and the cam member 23.

本実施の形態に係る前記アーム部材２は、回転板２２に固定されている。前記回転板２２は、前記回転軸１１を中心に回動可能に軸支されている。前記カム部材２３は、前記回転板２２に直接固定されている。   The arm member 2 according to the present embodiment is fixed to a rotating plate 22. The rotating plate 22 is pivotally supported so as to be rotatable about the rotating shaft 11. The cam member 23 is directly fixed to the rotating plate 22.

図３は、本実施の形態に係る前記カム部材２３の形状を示している。前記カム部材２３は、カム面２５及び平坦面２６を有する。前記カム面２５は、前記従動部材４が当接する部分であり、曲率が異なる滑らかな曲面から構成される。前記曲率は、回転角αが増加する方向（矢印の方向）に向かうに従い、小さくなる。前記平坦面２６には、回転中心部２７が形成されている。前記回転中心部２７は、前記回転軸１１に固定される部分であり、前記平坦面２６の中心部より図中右側にずれた位置に形成されている。距離ｒは、前記回転中心部２７から前記カム面２５までの距離を示している。前記距離ｒは、前記回転角αが増加するに従い、大きくなる。   FIG. 3 shows the shape of the cam member 23 according to the present embodiment. The cam member 23 has a cam surface 25 and a flat surface 26. The cam surface 25 is a portion with which the driven member 4 comes into contact, and is composed of smooth curved surfaces with different curvatures. The curvature decreases as the rotation angle α increases (in the direction of the arrow). A rotation center portion 27 is formed on the flat surface 26. The rotation center portion 27 is a portion fixed to the rotation shaft 11 and is formed at a position shifted to the right side in the drawing from the center portion of the flat surface 26. The distance r indicates the distance from the rotation center portion 27 to the cam surface 25. The distance r increases as the rotation angle α increases.

上記本実施の形態によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記アーム部材２、前記回転板２２、及び前記カム部材２３は前記回転角θが増加する方向に回動する。この時、前記カム面２５の前記受動部材４が接する部分は、前記回転角αが増加する方向に移行していく。即ち、徐々に前記距離ｒが増加し、前記弾性部材５のたわみ量が増加し、前記矢印Ｆ方向への圧力が増加する。これにより、前記物体１０及び前記アーム部材２の自重が補償される。   According to the present embodiment, when the object 10 and the arm member 2 are displaced downward in the drawing, the arm member 2, the rotating plate 22, and the cam member 23 are in the direction in which the rotation angle θ increases. To turn. At this time, the portion of the cam surface 25 that is in contact with the passive member 4 moves in the direction in which the rotation angle α increases. That is, the distance r gradually increases, the amount of deflection of the elastic member 5 increases, and the pressure in the arrow F direction increases. Thereby, the dead weights of the object 10 and the arm member 2 are compensated.

実施の形態３
図４は、本発明の実施の形態３に係る自重補償機構３１の構成を示している。前記自重補償機構３１は、上記実施の形態２に係る自重補償機構２１と比して、リンク部材３２を備える点で異なっている。 Embodiment 3
FIG. 4 shows the configuration of the self-weight compensation mechanism 31 according to Embodiment 3 of the present invention. The self-weight compensation mechanism 31 is different from the self-weight compensation mechanism 21 according to the second embodiment in that a link member 32 is provided.

前記リンク部材３２は、弾性部材３５の弾性力を前記従動部材４に間接的に伝達するものである。本実施の形態に係る前記リンク部材３２は、ロッド状の部材であり、その一端部は回転軸３３により矢印Ｃ方向に回動可能に軸支される。前記リンク部材３２の他端部には、前記従動部材４が固定される。また、前記弾性部材３５の一端部は、所定の不動部３６に固定され、その他端部は、前記リンク部材３２の中間部（前記一端部と前記他端部との間）に固定される。前記弾性部材３５は、矢印Ｄ方向への弾性力を有する。   The link member 32 indirectly transmits the elastic force of the elastic member 35 to the driven member 4. The link member 32 according to the present embodiment is a rod-shaped member, and one end portion thereof is pivotally supported by the rotation shaft 33 so as to be rotatable in the direction of arrow C. The driven member 4 is fixed to the other end portion of the link member 32. One end of the elastic member 35 is fixed to a predetermined immovable portion 36, and the other end is fixed to an intermediate portion (between the one end and the other end) of the link member 32. The elastic member 35 has an elastic force in the arrow D direction.

上記本実施の形態によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記弾性部材３５の引張量が増加し、前記矢印Ｆ方向への圧力が増加する。上記のように、前記従動部材４と前記弾性部材３５との間に前記リンク部材３２を介在させることにより、前記従動部材４等の動作を安定化させることができる。   According to the present embodiment, when the object 10 and the arm member 2 are displaced downward in the drawing, the tensile amount of the elastic member 35 increases and the pressure in the direction of the arrow F increases. As described above, by interposing the link member 32 between the driven member 4 and the elastic member 35, the operation of the driven member 4 and the like can be stabilized.

実施の形態４
図５は、本発明の実施の形態４に係る自重補償機構４１の構成を示している。前記自重補償機構４１は、上記実施の形態３に係る自重補償機構３１と比して、カム部材４３の形状、前記リンク部材３２と前記弾性部材３５との連結構造等が異なっている。 Embodiment 4
FIG. 5 shows the configuration of the self-weight compensation mechanism 41 according to Embodiment 4 of the present invention. The self-weight compensation mechanism 41 differs from the self-weight compensation mechanism 31 according to the third embodiment in the shape of the cam member 43, the connection structure between the link member 32 and the elastic member 35, and the like.

前記カム部材４３は、穿設部４４を備える円板状の部材である。前記穿設部４４は、カム面４５及び平坦面４６を有する。前記カム面４５は、上記実施の形態２及び３に係るカム面２５に相当する。本実施の形態に係るカム面４５は、図中右側に向かう程その曲率が小さくなる。前記平坦面４６には、上記実施の形態２係る回転中心部２７（図３参照）に相当する回転中心部４７が形成されている。前記回転中心部４７は、前記平坦面４６の中心部より図中左側にずれた位置に形成されている。また、前記カム部材４３は、前記アーム部材２に直接固定されており、前記回転軸１１を中心に前記アーム部材２と共に回動する。前記従動部材４は、前記穿設部４４内で前記カム面４５に当接する。前記弾性部材３５は、前記リンク部材３２の中間部に連結され、矢印Ｅ方向への弾性力を有する。   The cam member 43 is a disk-like member having a perforated portion 44. The drilling portion 44 has a cam surface 45 and a flat surface 46. The cam surface 45 corresponds to the cam surface 25 according to the second and third embodiments. The curvature of the cam surface 45 according to the present embodiment becomes smaller toward the right side in the figure. On the flat surface 46, a rotation center portion 47 corresponding to the rotation center portion 27 (see FIG. 3) according to the second embodiment is formed. The rotation center portion 47 is formed at a position shifted to the left in the drawing from the center portion of the flat surface 46. The cam member 43 is directly fixed to the arm member 2 and rotates together with the arm member 2 about the rotation shaft 11. The driven member 4 abuts on the cam surface 45 in the drilling portion 44. The elastic member 35 is connected to an intermediate portion of the link member 32 and has an elastic force in the direction of arrow E.

上記構成によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記カム部材４３は前記回転角θが増加する方向に回転する。この時、前記カム面４５の前記受動部材４が接する部分の曲率が徐々に増加し、前記弾性部材３５の引張量が増加し、前記矢印Ｇ方向への圧力が増加する。これにより、前記物体１０及び前記アーム部材２の自重が補償される。   According to the above configuration, when the object 10 and the arm member 2 are displaced downward in the figure, the cam member 43 rotates in a direction in which the rotation angle θ increases. At this time, the curvature of the portion of the cam surface 45 where the passive member 4 contacts gradually increases, the amount of tension of the elastic member 35 increases, and the pressure in the arrow G direction increases. Thereby, the dead weights of the object 10 and the arm member 2 are compensated.

実施の形態５
図６は、本発明の実施の形態５に係る自重補償機構５１の構成を示している。前記自重補償機構５１は、上記実施の形態４に係る自重補償機構４１と比して、カム部材５３の形状、加重部材５８を備える点等で異なっている。 Embodiment 5
FIG. 6 shows the configuration of the self-weight compensation mechanism 51 according to the fifth embodiment of the present invention. The self-weight compensation mechanism 51 is different from the self-weight compensation mechanism 41 according to the fourth embodiment in that the cam member 53 has a shape, a weight member 58, and the like.

前記カム部材５３は、図３に示す前記カム部材２３を、前記平坦面２６を対称線として反転させ一体化した形状を有している。前記カム部材５３は、図中上下にそれぞれ前記カム面２５を備えており、これら両カム面２５の曲率は、共に図中右側程大きく、左側程小さい。前記カム部材５３には、前記回転中心部２７に相当する回転中心部５７が形成されている。前記カム部材５３は、前記アーム部材２に直接固定され、前記回転軸１１を中心に前記アーム部材２と共に回動する。   The cam member 53 has a shape in which the cam member 23 shown in FIG. 3 is integrated by reversing the flat surface 26 with a symmetrical line. The cam member 53 includes the cam surfaces 25 at the top and bottom in the drawing, and the curvatures of both the cam surfaces 25 are both larger toward the right side and smaller toward the left side in the diagram. The cam member 53 is formed with a rotation center portion 57 corresponding to the rotation center portion 27. The cam member 53 is directly fixed to the arm member 2 and rotates together with the arm member 2 about the rotation shaft 11.

前記リンク部材３２は、上記実施の形態３又は４と同様に、その一端部が前記回転軸３３により軸支され、その他端部が前記従動部材４に固定されている。そして、前記リンク部材３２の中間部には、前記弾性部材３５が連結されると共に、前記荷重部材５８が固定される。前記弾性部材３５は、矢印Ｈ方向への弾性力を有する。前記荷重部材５８は、質量ｍを有し、鉛直方向に重量ｍｇを発生させる。   As in the third or fourth embodiment, one end of the link member 32 is pivotally supported by the rotating shaft 33 and the other end is fixed to the driven member 4. The elastic member 35 is connected to an intermediate portion of the link member 32 and the load member 58 is fixed. The elastic member 35 has an elastic force in the arrow H direction. The load member 58 has a mass m and generates a weight mg in the vertical direction.

上記構成によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記カム面２５の形状により前記弾性部材３５のたわみ量が増加して前記矢印Ｆ方向への圧力が増加し、更に前記荷重部材５８の重量ｍｇが前記カム面２５に掛かる。これにより、上記他の実施の形態よりもばね定数が小さい前記弾性部材３５を用いて、前記物体１０及び前記アーム部材２の自重を補償することができる。   According to the above configuration, when the object 10 and the arm member 2 are displaced downward in the figure, the amount of deflection of the elastic member 35 increases due to the shape of the cam surface 25, and the pressure in the direction of the arrow F increases. Further, the weight mg of the load member 58 is applied to the cam surface 25. As a result, the weight of the object 10 and the arm member 2 can be compensated for using the elastic member 35 having a smaller spring constant than the other embodiments.

実施の形態６
図７は、本発明の実施の形態６に掛かる自重補償機構６１の構成を示している。前記自重補償機構６１の特筆すべき点は、カム部材６３の形状、従動部材６４及び弾性部材６５の配置等である。 Embodiment 6
FIG. 7 shows a configuration of a self-weight compensation mechanism 61 according to the sixth embodiment of the present invention. The notable points of the self-weight compensation mechanism 61 are the shape of the cam member 63, the arrangement of the driven member 64 and the elastic member 65, and the like.

前記カム部材６３は、図３に示す上記実施の形態２に係るカム部材２３を、前記回転中心部２７を対称点として１８０°回転させた形状を有している。前記カム部材６３は、図中上下側にそれぞれ前記カム面２５が位置するように配置される。上側の前記カム面２５の曲率は、図中左側へ行く程小さくなり、下側の前記カム面２５の曲率は、図中右側へ行く程小さくなる。前記カム部材６３は、前記アーム部材２に直接固定され、前記回転軸１１を中心に前記アーム部材２と共に回動する。   The cam member 63 has a shape obtained by rotating the cam member 23 according to the second embodiment shown in FIG. 3 by 180 ° with the rotation center portion 27 as a symmetry point. The cam members 63 are arranged such that the cam surfaces 25 are positioned on the upper and lower sides in the drawing. The curvature of the upper cam surface 25 decreases as it goes to the left in the figure, and the curvature of the lower cam surface 25 decreases as it goes to the right in the figure. The cam member 63 is directly fixed to the arm member 2 and rotates together with the arm member 2 about the rotation shaft 11.

前記両カム面２５に対応して、それぞれ前記従動部材６４、前記弾性部材６５、ガイド部材６７、及び台部材６８が設けられている。前記従動部材６４は、車輪等により構成され、前記ガイド部材６７に軸支される。前記弾性部材６５の一端部は、前記ガイド部材６７に固定され、その他端部は前記台部材６８に固定される。前記台部材６８は、装置本体のケーシング等に固定される不動の部材である。本実施の形態においては、一対の前記ガイド部材６７及び前記台部材６８の間に、２つの前記弾性部材６５が配置されている。前記弾性部材６５は、矢印Ｉ方向への弾性力を有する。尚、上記構成は、前記カム部材６３の実用的な可動範囲が回転角β程度となるように設計されることが好ましい。   The driven member 64, the elastic member 65, the guide member 67, and the base member 68 are provided corresponding to the two cam surfaces 25, respectively. The driven member 64 is constituted by wheels or the like and is pivotally supported by the guide member 67. One end of the elastic member 65 is fixed to the guide member 67, and the other end is fixed to the base member 68. The base member 68 is a stationary member that is fixed to a casing or the like of the apparatus main body. In the present embodiment, the two elastic members 65 are disposed between the pair of guide members 67 and the base member 68. The elastic member 65 has an elastic force in the direction of arrow I. In addition, it is preferable that the said structure is designed so that the practical movable range of the said cam member 63 may be about rotation angle (beta).

上記構成によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記カム面２５の形状により前記各弾性部材６５のたわみ量が増加して矢印Ｊ方向への圧力が増加する。これにより、前記物体１０及び前記アーム部材２の自重が補償される。このように、本実施の形態においては、前記カム部材６３が点対称の形状を備え、前記弾性部材６５の弾性力が前記カム部材６３の上下方向から作用する。これにより、動作の安定化を図ることができる。また、前記弾性部材６５の弾性力が前記カム部材６３に対して上下方向から略均等に掛かるため、前記回転軸１１等の部材に掛かる負担が大幅に軽減される。これにより、耐久性・寿命の向上、小型且つ安価な軸受の使用による低コスト化等を実現することができる。   According to the above configuration, when the object 10 and the arm member 2 are displaced downward in the drawing, the amount of deflection of each elastic member 65 increases due to the shape of the cam surface 25, and the pressure in the direction of arrow J increases. To do. Thereby, the dead weights of the object 10 and the arm member 2 are compensated. Thus, in the present embodiment, the cam member 63 has a point-symmetric shape, and the elastic force of the elastic member 65 acts from the vertical direction of the cam member 63. As a result, the operation can be stabilized. Further, since the elastic force of the elastic member 65 is applied to the cam member 63 from the vertical direction substantially evenly, the load on the members such as the rotating shaft 11 is greatly reduced. As a result, it is possible to realize improvement in durability and life, cost reduction by using a small and inexpensive bearing, and the like.

実施の形態７
図８は、本発明の実施の形態７に係る自重補償機構７１の構成を示している。前記自重補償機構７１は、上記実施の形態６に係る自重補償機構６１と比して、前記カム部材６３、弾性部材７５、ガイド部材７６の配置等が異なっている。 Embodiment 7
FIG. 8 shows the configuration of the self-weight compensation mechanism 71 according to Embodiment 7 of the present invention. The self-weight compensation mechanism 71 differs from the self-weight compensation mechanism 61 according to the sixth embodiment in the arrangement of the cam member 63, the elastic member 75, the guide member 76, and the like.

前記カム部材６３は、前記両カム面２５が図中左右側に位置するように配置される。前記カム部材６３は、前記アーム部材２に固定され、前記アーム部材２と共に回動する。前記従動部材６４は、前記ガイド部材７６に軸支され、前記各カム面２５に当接する。前記両ガイド部材７６は、それらの長手方向が図中上下方向に沿うように配置される。前記弾性部材７５は、前記両ガイド部材７６の間に配置される。前記弾性部材７５の両端部は、前記両ガイド部材７６の対面する両端部に固定される。前記弾性部材７５は、矢印Ｋ方向への弾性力を有する。   The cam member 63 is arranged so that the cam surfaces 25 are positioned on the left and right sides in the figure. The cam member 63 is fixed to the arm member 2 and rotates together with the arm member 2. The driven member 64 is pivotally supported by the guide member 76 and abuts on the cam surfaces 25. The two guide members 76 are arranged such that their longitudinal directions are along the vertical direction in the drawing. The elastic member 75 is disposed between the two guide members 76. Both end portions of the elastic member 75 are fixed to opposite end portions of the both guide members 76. The elastic member 75 has an elastic force in the arrow K direction.

上記構成によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記カム面２５の形状により前記各弾性部材７５の引張量が増加して矢印Ｌ方向への圧力が増加する。これにより、前記物体１０及び前記アーム部材２の自重が補償される。このような構成によっても、前記弾性部材７５の弾性力を前記カム部材６３の両側から作用させることができるので、動作の安定化を図ることができる。また、本実施の形態においては、前記弾性部材７５が前記両ガイド部材７６の間に配置されるため、上記実施の形態６に係る前記台部材６８に相当する部材を不要にすることができる。これにより、上記実施の形態６に記載した効果に加え、機構の縮小化、軽量化等を図ることができる。   According to the above configuration, when the object 10 and the arm member 2 are displaced downward in the figure, the tensile amount of each elastic member 75 increases due to the shape of the cam surface 25, and the pressure in the direction of the arrow L increases. To do. Thereby, the dead weights of the object 10 and the arm member 2 are compensated. Even with such a configuration, the elastic force of the elastic member 75 can be applied from both sides of the cam member 63, so that the operation can be stabilized. In the present embodiment, since the elastic member 75 is disposed between the guide members 76, a member corresponding to the pedestal member 68 according to the sixth embodiment can be eliminated. Thereby, in addition to the effects described in the sixth embodiment, it is possible to reduce the mechanism and reduce the weight.

実施の形態８
図９は、本発明の実施の形態８に係る自重補償機構８１の構成を示している。前記自重補償機構８１は、上記実施の形態７に係る自重補償機構７１と比して、リンク部材８６、弾性部材８５の構造等が異なっている。 Embodiment 8
FIG. 9 shows a configuration of a self-weight compensation mechanism 81 according to Embodiment 8 of the present invention. The self-weight compensation mechanism 81 differs from the self-weight compensation mechanism 71 according to the seventh embodiment in the structure of the link member 86 and the elastic member 85.

前記リンク部材８６は、Ｌ字型の形状を有する。前記リンク部材８６の屈曲部は、回転軸８２により回動可能に軸支される。前記リンク部材８６の一端部には前記従動部材６４が軸支され、その他端部８３には前記弾性部材８５の一端部が固定される。前記弾性部材８５の他端部８４は、ケーシング等の不動部に固定される。前記弾性部材８５は、矢印Ｍ方向への弾性力を有する。   The link member 86 has an L shape. The bent portion of the link member 86 is pivotally supported by a rotation shaft 82 so as to be rotatable. The driven member 64 is pivotally supported at one end of the link member 86, and one end of the elastic member 85 is fixed to the other end 83. The other end 84 of the elastic member 85 is fixed to a stationary part such as a casing. The elastic member 85 has an elastic force in the arrow M direction.

上記構成によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記カム面２５の形状により前記弾性部材８６の引張量が増加して矢印Ｌ方向への圧力が増加する。これにより、前記物体１０及び前記アーム部材２の自重が補償される。このような構成によっても、前記弾性部材８５の弾性力を前記カム部材６３の両側から作用させることができるので、動作の安定化、前記回転軸１１等への負担の軽減、耐久性・寿命の向上、低コスト化等を図ることができる。また、本実施の形態によれば、前記弾性部材８５を複数用いる必要がない。   According to the above configuration, when the object 10 and the arm member 2 are displaced downward in the figure, the tensile amount of the elastic member 86 is increased due to the shape of the cam surface 25 and the pressure in the direction of the arrow L is increased. . Thereby, the dead weights of the object 10 and the arm member 2 are compensated. Even with such a configuration, the elastic force of the elastic member 85 can be applied from both sides of the cam member 63, so that the operation is stabilized, the burden on the rotary shaft 11 and the like is reduced, and the durability / lifetime is improved. Improvement and cost reduction can be achieved. Further, according to the present embodiment, it is not necessary to use a plurality of the elastic members 85.

実施の形態９
図１０は、本発明の実施の形態９に係る自重補償機構９１の構成を示している。前記自重補償機構９１は、上記実施の形態８に係る自重補償機構８１と比して、リンク部材９６、弾性部材９５の構造等が異なっている。 Embodiment 9
FIG. 10 shows the configuration of the self-weight compensation mechanism 91 according to Embodiment 9 of the present invention. The self-weight compensation mechanism 91 is different from the self-weight compensation mechanism 81 according to the eighth embodiment in the structure of the link member 96 and the elastic member 95.

前記リンク部材９６の一端部は、回転軸９２により回動可能に軸支される。前記リンク部材９６の他端部９３は、揺動可能な状態となっている。前記弾性部材９５の一端部は、前記回転軸９２に固定される。前記弾性部材９５の他端部は、前記リンク部材９６の他端部９３に固定される。前記弾性部材９５は、矢印Ｎ方向への弾性力を有する。前記従動部材６４は、前記リンク部材９６の中間部に軸支され、前記カム面２５に当接する。   One end of the link member 96 is pivotally supported by a rotating shaft 92. The other end portion 93 of the link member 96 is swingable. One end of the elastic member 95 is fixed to the rotating shaft 92. The other end of the elastic member 95 is fixed to the other end 93 of the link member 96. The elastic member 95 has an elastic force in the arrow N direction. The driven member 64 is pivotally supported at an intermediate portion of the link member 96 and abuts on the cam surface 25.

上記構成によれば、前記物体１０及び前記アーム部材２が図中下方に変位する時、前記カム面２５の形状により前記弾性部材９５の引張量が増加して矢印Ｌ方向への圧力が増加する。これにより、前記物体１０及び前記アーム部材２の自重が補償される。このような構成によっても、前記弾性部材９５の弾性力を前記カム部材６３の両側から作用させることができるので、動作の安定化、前記回転軸１１等への負担の軽減、耐久性・寿命の向上、低コスト化等を図ることができる。   According to the above configuration, when the object 10 and the arm member 2 are displaced downward in the figure, the tensile amount of the elastic member 95 is increased due to the shape of the cam surface 25 and the pressure in the direction of the arrow L is increased. . Thereby, the dead weights of the object 10 and the arm member 2 are compensated. Even with such a configuration, the elastic force of the elastic member 95 can be applied from both sides of the cam member 63, so that the operation is stabilized, the burden on the rotary shaft 11 and the like is reduced, and the durability and life span are improved. Improvement and cost reduction can be achieved.

尚、本発明は上記実施の形態に限られるものではなく、趣旨を逸脱しない範囲で適宜構成の変更、入れ替え、組み合わせ等が可能なものである。   Note that the present invention is not limited to the above-described embodiment, and can be appropriately changed, replaced, combined, and the like without departing from the spirit of the present invention.

１，１１，２１，３１，４１，５１，６１，７１，８１，９１ 自重補償機構
２ アーム部材
３，２３，４３，５３，６３ カム部材
４，６４ 従動部材
５，３５，６５，７５，８５，９５ 弾性部材
１５、２５，４５ カム面
３２，８６，９６ リンク部材
５８ 荷重部材
６７，７６ ガイド部材 1, 11, 21, 31, 41, 51, 61, 71, 81, 91 Self-weight compensation mechanism 2 Arm member 3, 23, 43, 53, 63 Cam member 4, 64 Drive member 5, 35, 65, 75, 85 , 95 Elastic member 15, 25, 45 Cam surface 32, 86, 96 Link member 58 Load member 67, 76 Guide member

Claims (8)

物体を保持し、回転軸を中心に回転するアーム部材と、
前記アーム部材に連結されたピニオンと、
前記ピニオンと噛み合い、前記アーム部材の回動によって直線運動するラック部材と、
前記ラック部材に連結されて当該ラック部材の直線運動に伴って直線運動するとともに、前記ラック部材の直線運動を前記ラック部材の直線運動方向に対して直交する方向であるｙ方向の直線運動に変換するためのカム面を有するカム部材と、
前記カム面に当接し、前記カム部材の前記直線運動変位に応じて前記ｙ方向に直線運動変位する従動部材と、
前記従動部材を前記カム面に圧接させる方向への弾性力を有する弾性部材と、を備え、
前記カム面は、
前記物体が下方に移動する向きに前記アーム部材が回動するに従って前記従動部材を前記弾性力に抗して徐々に押すように、前記ｙ方向における前記ラック部材からの距離が徐々に大きくなる形状である
ことを特徴とする自重補償機構。 Holding the object, and the arm member you rotate about an axis of rotation,
A pinion connected to the arm member;
A rack member that meshes with the pinion and linearly moves by rotation of the arm member ;
The rack member is connected to the rack member and linearly moves with the linear motion of the rack member , and the linear motion of the rack member is converted into a linear motion in the y direction that is orthogonal to the linear motion direction of the rack member. A cam member having a cam surface for
A driven member that contacts the cam surface and linearly moves in the y direction in response to the linear motion displacement of the cam member;
And an elastic member having an elastic force in a direction for pressing the driven member to the cam surface,
The cam surface is
A shape in which the distance from the rack member in the y direction gradually increases so as to gradually push the driven member against the elastic force as the arm member rotates in the direction in which the object moves downward. Is
A self-weight compensation mechanism characterized by that . 物体を保持し、回転軸を中心に回転するアーム部材と、
前記アーム部材に連結されて当該アーム部材の回転に伴って回転運動するとともに、前記アーム部材の回転運動を前記アーム部材の前記回転軸に直交する方向の直線運動に変換するためのカム面を有するカム部材と、
前記カム面に当接し、前記カム部材の回転運動に応じて直線運動変位する従動部材と、
前記従動部材を前記カム面に圧接させる方向への弾性力を間接的に生じさせる弾性部材と、
前記弾性部材の前記弾性力を前記従動部材に伝達するリンク部材と、を備え、
前記リンク部材の一端に前記従動部材が接続され、前記リンク部材の他端に前記リンク部材の回転軸が接続され、
前記リンク部材の前記回転軸と前記従動部材との間において前記リンク部材に前記弾性部材の一端が接続され、
前記リンク部材は、前記アーム部材の回動面に平行な平面上を回動する部材からなり、
前記カム面は、
前記物体が下方に移動する向きに前記アーム部材が回動するに従って前記従動部材を前記弾性力に抗して徐々に押すように、前記アーム部材の前記回転軸からの距離が徐々に変化する形状である
ことを特徴とする自重補償機構。 Holding the object, and the arm member you rotate about an axis of rotation,
The cam member is connected to the arm member and rotates with the rotation of the arm member, and has a cam surface for converting the rotation of the arm member into a linear motion in a direction perpendicular to the rotation axis of the arm member. A cam member;
A driven member for linear movement displaced the cam surface contact, depending on the rotational movement of the cam member,
An elastic member that indirectly generates an elastic force in a direction in which the driven member is pressed against the cam surface;
A link member that transmits the elastic force of the elastic member to the driven member;
The driven member is connected to one end of the link member, and the rotation shaft of the link member is connected to the other end of the link member,
One end of the elastic member is connected to the link member between the rotation shaft of the link member and the driven member,
The link member is Ri Do a member which rotates on a plane parallel to the rotation plane of the arm member,
The cam surface is
A shape in which the distance of the arm member from the rotation axis gradually changes so that the driven member is gradually pushed against the elastic force as the arm member rotates in the direction in which the object moves downward. Is
Self weight compensation mechanism, characterized in that. 請求項２に記載の自重補償機構において、
前記リンク部材には荷重部材が固定されており、この荷重部材の重さにより、前記従動部材が前記カム面に当接する圧力を増加させる
ことを特徴とする自重補償機構。 In the self-weight compensation mechanism according to claim 2,
A load member is fixed to the link member, and the weight of the load member increases the pressure with which the driven member abuts the cam surface.
Self weight compensation mechanism, characterized in that. 請求項２または請求項３に記載の自重補償機構において、
前記カム部材は、少なくとも２つの前記カム面を備える
ことを特徴とする自重補償機構。 In the self-weight compensation mechanism according to claim 2 or claim 3,
The cam member includes at least two cam surfaces.
Self weight compensation mechanism, characterized in that. 請求項４に記載の自重補償機構において、
前記カム部材は、線対称の形状を有する
ことを特徴とする自重補償機構。 In the self-weight compensation mechanism according to claim 4,
The cam member, that have a shape of a line symmetry
Self weight compensation mechanism, characterized in that. 請求項４に記載の自重補償機構において、
前記カム部材は、点対称の形状を有する
ことを特徴とする自重補償機構。 In the self-weight compensation mechanism according to claim 4,
The cam member, that have a shape of point symmetry
Self weight compensation mechanism, characterized in that. 請求項５または請求項６に記載の自重補償機構において、
第１及び第２の前記カム面にそれぞれ当接する第１及び第２の前記従動部材と、
前記第１及び第２の従動部材をそれぞれ前記カム部材の回転軸へ向かって加圧する機構と、を備える
ことを特徴とする自重補償機構。 In the self-weight compensation mechanism according to claim 5 or 6,
The first and second driven members abutting on the first and second cam surfaces, respectively;
And a mechanism for pressurizing toward the axis of rotation of the first and second driven members respectively said cam member
Self weight compensation mechanism, characterized in that. 物体を保持し、回転軸を中心に回転するアーム部材と、
前記アーム部材に連結されて当該アーム部材の回転に伴って回転運動するとともに、前記アーム部材の回転運動を前記アーム部材の前記回転軸に直交する方向の直線運動に変換するためのカム面を有するカム部材と、
前記カム面に当接し、前記カム部材の回転運動に応じて直線運動変位する従動部材と、
前記従動部材を前記カム面に圧接させる方向への弾性力を間接的に生じさせる弾性部材と、
前記弾性部材の前記弾性力を前記従動部材に伝達するリンク部材と、を備え、
前記リンク部材は、Ｌ字形状であって、当該Ｌ字形状の屈曲部を回転軸とし、一端に前記従動部材が接続され、他端に前記弾性部材が接続され、前記アーム部材の回動面に平行な平面上を回動する部材からなり、
前記カム面は、
前記物体が下方に移動する向きに前記アーム部材が回動するに従って前記従動部材を前記弾性力に抗して徐々に押すように、前記アーム部材の前記回転軸からの距離が徐々に大きくなる形状である
ことを特徴とする自重補償機構。 Holding the object, and the arm member you rotate about an axis of rotation,
The cam member is connected to the arm member and rotates with the rotation of the arm member, and has a cam surface for converting the rotation of the arm member into a linear motion in a direction perpendicular to the rotation axis of the arm member. A cam member;
A driven member that comes into contact with the cam surface and linearly moves in accordance with the rotational movement of the cam member;
An elastic member that indirectly generates an elastic force in a direction in which the driven member is pressed against the cam surface;
A link member that transmits the elastic force of the elastic member to the driven member;
The link member is L-shaped, the L-shaped bent portion is a rotation axis, the driven member is connected to one end, the elastic member is connected to the other end, and the rotation surface of the arm member Do a member which rotates on a plane parallel to the Ri,
The cam surface is
A shape in which the distance from the rotation shaft of the arm member gradually increases so that the driven member is gradually pushed against the elastic force as the arm member rotates in the direction in which the object moves downward. Is
Self weight compensation mechanism, characterized in that.
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