JP6310901B2 - Support device - Google Patents

Description

  The present invention relates to a support device that supports a movable body.

  The support device supports, for example, a movable body that holds a rotary tool (a holding object) such as an electric screwdriver or an electric drill. An example of such a support device is disclosed in Patent Document 1. The support device of Patent Document 1 includes a first link mechanism unit that can support a movable body in a direction (Z-axis direction) that coincides with the Z-axis in a moving range of the movable body, and a direction that coincides with the X-axis (X A second link mechanism that can support the movable body in the axial direction) and a third link mechanism that can support the movable body in a direction that coincides with the Y-axis (Y-axis direction). The first to third link mechanism sections include first to third servo motors constituting a drive source and two first to third links extending in parallel with each other so as to coincide with each axis within the movable range of the movable body. And a third link. One end of the first to third links is swingably connected to the first to third servo motors, and the other end is swingably connected to the movable body. Each of the two first to third links is configured such that the angle formed by the links of the adjacent link mechanism portions within the moving range of the movable body can take 90 degrees.

  When the first to third servo motors are driven, the first to third links swing with respect to the first to third servo motors, and the first to third links are Z-axis. Move in the direction, the Y-axis direction and the Z-axis direction. As a result, the movable body moves in the X-axis direction, the Y-axis direction, and the Z-axis direction while maintaining the posture in a horizontal state with the rotation around the Z-axis, the X-axis, and the Y-axis being restricted. To do. As the movable body moves, the rotary tool moves integrally with the movable body.

JP 2012-240167 A

  By the way, in the support apparatus of patent document 1, the case where the rotary tool is hold | maintained at the movable body in the state in which the axial direction of the output shaft of the rotary tool corresponded to the Z-axis direction, for example is considered. Screw tightening or drilling using a rotary tool is performed while pressing a tip tool such as a bit or a drill attached to the output shaft of the rotary tool against the object to be screwed or drilled in the Z-axis direction. At this time, with the two first links, the rigidity for maintaining the pressing force for pressing the tip tool against the target object (pressing target object) is weak, and it may be difficult to perform screw tightening or drilling using a rotary tool. there were. Therefore, in this case, there is a demand for sufficiently securing the rigidity of the link in the Z-axis direction.

  The present invention has been made to solve the above-described problems, and the object thereof is to sufficiently ensure the rigidity of the link in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction. It is to provide a support device.

  The support device that solves the above-described problem has three links that can support the movable body corresponding to any one of the X-axis direction, the Y-axis direction, and the Z-axis direction in the movable range of the movable body. Each link mechanism unit has an arm connected to the drive unit, one end connected to the arm and the other end connected to the movable body, and the movable body moves within the moving range of the movable body. A link extending so as to be coincident with any of the X axis, the Y axis, and the Z axis, and an angle formed by the links of the adjacent link mechanisms in the moving range of the movable body can take 90 degrees. In the supporting device configured as described above, when the angle formed by the links of the adjacent link mechanism portions in the moving range of the movable body forms 90 degrees, the arm and the link of each link mechanism portion are The angle formed can be 90 degrees. 3 or more of any one of the three link mechanism portions is provided, and the arm of the link mechanism portion provided with the three or more links is within the moving range of the movable body. The movable body is moved while maintaining the posture of the movable body in a constant state and maintaining the three or more links in a parallel state.

  In the support device, the arm is swingably coupled to a drive shaft that is the drive unit, and the link mechanism unit is connected to a rotation shaft that extends in parallel with the drive shaft and the rotation shaft. And a connecting portion swingable with respect to the rotating shaft in a plane parallel to the axial direction of the rotating shaft, and the link is connected to the connecting portion, and with respect to the arm, It is preferable that the rotary shaft is swingable about a swing center, and is swingable with respect to the rotary shaft in the plane via the connecting portion.

  In the above support device, the arm of the link mechanism portion provided with the three or more links can swing on a fixed shaft and a pair of swinging portions that are swingably connected to the driving shaft that is the driving portion. Having a pair of arm portions constituting a parallelogram link mechanism including a pair of swinging portions connected to each other and an integral connecting portion, one side of which is composed of the drive shaft and the fixed shaft, and the opposite side is It is preferable that the connecting portion is formed and the three or more links are connected via the connecting portion.

  In the above support device, the arm of the link mechanism portion provided with the three or more links has an extending portion extending between the pair of arm portions, and the three at the distal end portion of the extending portion. It is preferable that one of the above links is connected to be swingable in two directions.

  In the support device, three links of any of the three link mechanisms are provided, and the connection positions of the three links with respect to the movable body can match the three links. When viewed from any one of the X-axis, the Y-axis, and the Z-axis, it is preferable that each connection position is at a position forming an isosceles triangle.

  In the above support device, the connection position with respect to the movable body in at least one link of two link mechanism portions having a link different from the three links, the X-axis capable of matching the three links, It is preferable that the connection position is located inside the isosceles triangle when viewed from either the Y-axis or the Z-axis.

  According to this invention, it is possible to sufficiently ensure the rigidity of the link in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction.

The perspective view which shows the whole support apparatus in embodiment. The perspective view which expanded the support apparatus partially. The perspective view which expanded the support apparatus partially. The perspective view which expanded the support apparatus partially. The perspective view which expanded the support apparatus partially. The perspective view which expanded the support apparatus partially. The perspective view which expanded the support apparatus partially. The perspective view which expanded the support apparatus partially. (A) is a side view schematically showing the state of the support device viewed from the Y-axis direction, and (b) is a schematic diagram schematically showing the connection position of each link with respect to the movable body. The schematic diagram which shows typically the connection position of each link with respect to a movable body. (A) is a side view which shows typically the state which looked at the support apparatus in another embodiment from the Y-axis direction, (b) is a schematic diagram which shows typically the connection position of each link with respect to a movable body. The side view which shows typically the state which looked at the support apparatus in another embodiment from the Y-axis direction. (A) And (b) is a side view which shows typically the state which looked at the support apparatus in another embodiment from the Y-axis direction. (A) And (b) is a side view which shows typically the state which looked at the support apparatus in another embodiment from the Y-axis direction. (A) And (b) is a side view which shows typically the state which looked at the support apparatus in another embodiment from the Y-axis direction. (A) And (b) is a side view which shows typically the state which looked at the support apparatus in another embodiment from the Y-axis direction. The perspective view which shows the whole support apparatus in another embodiment.

Hereinafter, an embodiment in which a support device for supporting a movable body is embodied will be described with reference to FIGS.
As shown in FIG. 1, the support device 10 supports a movable body 11. The movable body 11 holds an electric driver 11a that is a rotary tool (holding object). The support device 10 includes three link mechanism sections 20 that can support the movable body 11 in the X axis direction, the Y axis direction, and the Z axis direction, respectively, within the movement range of the movable body 11. , 30, 40. Then, the support device 10 uses the three link mechanism portions 20, 30, and 40 in a state where the rotation of the movable body 11 around the Z axis, the X axis, and the Y axis is restricted. While maintaining the posture in a constant state, it is supported so as to be movable within a predetermined movement range. In the following description, for convenience of explanation, the link mechanism that can support the movable body 11 in the X-axis direction is referred to as “X-axis link mechanism 20”, and the link mechanism that can support the movable body 11 in the Y-axis direction. May be referred to as “Y-axis link mechanism 30”, and a link mechanism that can support the movable body 11 in the Z-axis direction may be referred to as “Z-axis link mechanism 40”.

  The support device 10 is supported by a substantially rectangular frame-shaped base frame 12 extending along the XY plane, a plurality of standing parts 13 standing in the Z-axis direction from the base frame 12, and the standing parts 13. And a substantially rectangular box-shaped casing 14. A drive shaft 21 that is a drive unit of an X-axis servomotor (not shown) that is a drive source protrudes along a Y-axis direction from a side surface 14 a that extends along the XZ plane of the housing 14. The drive shaft 21 is located at a corner near the standing portion 13 on the side surface 14a. The drive shaft 21 is rotated by the drive of the X-axis servomotor to swing the X-axis link mechanism 20.

  A drive shaft 31 that is a drive unit of a Y-axis servomotor (not shown) that is a drive source protrudes along the X-axis direction from a side surface 14b that extends along the YZ plane in the housing 14. The drive shaft 31 is located closer to the standing portion 13 on the side surface 14b. The drive shaft 31 is disposed at a position farther from the standing portion 13 than the drive shaft 21 of the X-axis servomotor in the Z-axis direction. The drive shaft 31 is rotated by the drive of the Y-axis servomotor to swing the Y-axis link mechanism 30.

  Furthermore, from the side surface 14a of the housing 14, a drive shaft 41 that is a drive unit of a Z-axis servomotor (not shown) that is a drive source protrudes along the Y-axis direction. The drive shaft 41 is located near the edge on the side opposite to the standing portion 13 on the side surface 14a. The drive shaft 41 is rotated by the drive of the Z-axis servo motor to swing the Z-axis link mechanism 40.

  The drive shaft 21 of the X-axis servomotor is provided at the end of the support device 10 in the X-axis direction. The drive shaft 31 of the Y-axis servomotor is provided at the end of the support device 10 in the Y-axis direction. The drive shaft 41 of the Z-axis servomotor is provided at the end of the support device 10 in the Z-axis direction. The drive shafts 21, 31, 41 are collectively provided in one housing 14. The movable body 11 is disposed at the endmost side opposite to the drive shafts 21, 31, 41 in each axial direction of the support device 10.

Next, the X axis link mechanism 20 will be described.
As shown in FIG. 2, the X-axis link mechanism 20 includes an arm 22 connected to the drive shaft 21, one end connected to the arm 22 and the other end connected to the movable body 11, and movement of the movable body 11. It has two links 23 extending so as to be coincident with the X axis within the range. Specifically, the arm 22 is fixed to the drive shaft 21 and swings integrally with the drive shaft 21 with the center axis of the drive shaft 21 as the swing center as the drive shaft 21 rotates. The two links 23 have the same length. The arm 22 extends linearly and has one end connected to the drive shaft 21 so that it can swing about the drive shaft 21 as a swing center, and the other end of the swing portion 22a bifurcated into two branches. It is comprised from a pair of support part 22b extended in the direction to separate. A circular hole 22c is formed at the end of each support portion 22b. The through holes 22c of the both support portions 22b face each other in the Y-axis direction.

  The X-axis link mechanism 20 has a rotation shaft 24 that extends parallel to the drive shaft 21. The rotating shaft 24 is inserted into the through holes 22c of the both support portions 22b, and is supported by both the support portions 22b so as to be rotatable. Both end portions of the rotating shaft 24 have a two-sided width shape having a pair of flat surface portions 24a. At both ends of the rotating shaft 24, a plate-like connecting portion 25 that can swing with respect to the rotating shaft 24 in a plane (XY plane) parallel to the axial direction of the rotating shaft 24 is connected to the pair of flat portions 24a. Has been. One end of the two links 23 is connected to each connection portion 25 while being sandwiched between two connection portions 25 connected to one end portion of the rotating shaft 24. One end of the remaining one of the two links 23 is connected to each connection portion 25 while being sandwiched between two connection portions 25 connected to the other end portion of the rotating shaft 24.

  As shown in FIG. 3, the X-axis link mechanism 20 has a pair of rotating shafts 26 that are rotatably supported by the movable body 11. Each rotary shaft 26 extends in parallel with the drive shaft 21. Both end portions of each rotating shaft 26 have a two-sided width shape having a pair of flat surface portions 26a. A pair of planar portions 26 a of each rotating shaft 26 is connected to a plate-like connecting portion 27 that can swing with respect to the rotating shaft 26 in a plane (XY plane) parallel to the axial direction of the rotating shaft 26. Yes. The other end of one of the two links 23 is connected to each connection portion 27 in a state of being sandwiched between two connection portions 27 connected to one end portion of the pair of rotating shafts 26. The other end of the remaining one of the two links 23 is connected to each connection portion 27 while being sandwiched between two connection portions 27 connected to the other ends of the pair of rotating shafts 26. .

  Each link 23 can swing with respect to the arm 22 about the rotation shaft 24 as a swing center, and can swing with respect to the rotation shaft 24 via the connecting portion 25 in the XY plane. The two links 23 move while maintaining a state parallel to each other.

Next, the Y-axis link mechanism 30 will be described.
As shown in FIG. 4, the Y-axis link mechanism 30 includes an arm 32 connected to the drive shaft 31, one end connected to the arm 32 and the other end connected to the movable body 11, and movement of the movable body 11. One link 33 extending so as to be coincident with the Y axis in the range is included. Specifically, the arm 32 is fixed to the drive shaft 31, and swings integrally with the drive shaft 31 with the center axis of the drive shaft 31 as the swing center as the drive shaft 31 rotates. The arm 32 extends linearly and has one end connected to the drive shaft 31 so that it can swing about the drive shaft 31 as a swing center. It is comprised from a pair of support part 32b extended along a Z-axis direction. A circular hole 32c is formed at the end of each support portion 32b. The through holes 32c of both the support portions 32b face each other in the X-axis direction.

  The Y-axis link mechanism 30 has a rotation shaft 34 extending in parallel with the drive shaft 31. The rotating shaft 34 is inserted into the through holes 32c of the both support portions 32b, and is rotatably supported by both the support portions 32b. The central portion of the rotating shaft 34 has a two-plane width shape having a pair of flat portions 34a. A plate-like connection portion 35 that can swing with respect to the rotation shaft 34 in a plane (XY plane) parallel to the axial direction of the rotation shaft 34 is connected to the pair of plane portions 34a. One end of one link 33 is connected to each connection portion 35 while being sandwiched between the two connection portions 35.

  As shown in FIG. 3, the Y-axis link mechanism 30 has a rotation shaft 36 that is rotatably supported by the movable body 11. The rotation shaft 36 extends in parallel with the drive shaft 31. The center part of the rotating shaft 36 has a two-sided width shape having a pair of flat surface parts 36a. A plate-like connecting portion 37 that can swing with respect to the rotation shaft 36 in a plane (XY plane) parallel to the axial direction of the rotation shaft 36 is connected to the pair of plane portions 36a. The other end of the link 33 is connected to each connection portion 37 while being sandwiched between the two connection portions 37. The link 33 can swing with respect to the arm 32 about the rotation shaft 34 as a swing center, and can swing with respect to the rotation shaft 34 via the connecting portion 35 in the XY plane.

Next, the Z-axis link mechanism 40 will be described.
As shown in FIGS. 5, 6, and 7, the Z-axis link mechanism unit 40 has an arm 42 connected to the drive shaft 41, one end connected to the arm 42, and the other end connected to the movable body 11. And three links 43 extending so as to be coincident with the Z-axis within the moving range of the movable body 11. The three links 43 have the same length. The arm 42 includes a fixed shaft 44, a connecting portion 45, a pair of swinging portions 47, a rotating shaft 48, a pair of swinging portions 49, a rotating shaft 50, and a connecting portion 51, which will be described later.

  The fixed shaft 44 protrudes from the side surface 14 a of the housing 14 along the Y-axis direction and extends in parallel with the drive shaft 41. The protruding position of the fixed shaft 44 from the side surface 14a is located on the same straight line as the protruding position of the drive shaft 41 from the side surface 14a in the Z-axis direction. The connecting portion 45 connects the end portion of the drive shaft 41 in the protruding direction and the end portion of the fixed shaft 44 in the protruding direction. The drive shaft 41 is supported so as to be rotatable with respect to the connecting portion 45. Therefore, the connecting portion 45 functions as a bearing for the drive shaft 41. The connecting portion 45 is supported on the side surface 14 a of the housing 14 via the support portion 46. And since the drive shaft 41 and the fixed shaft 44 are connected via the connecting portion 45 supported by the side surface 14 a of the housing 14 via the support portion 46, the axial rigidity of the drive shaft 41 and the fixed shaft 44 is connected. Are increased, and are maintained parallel to each other.

  The pair of swinging portions 47 extend linearly and have one end connected to the drive shaft 41. The pair of oscillating portions 47 are fixed to the drive shaft 41, and oscillate integrally with the drive shaft 41 about the central axis of the drive shaft 41 as the drive shaft 41 rotates. The pair of swinging portions 47 extend in parallel to each other. A through hole 47 a is formed at the other end of each swinging portion 47. The through holes 47a of the pair of swing parts 47 face each other in the Y-axis direction. In the Y-axis direction, a cylindrical sleeve 45 a is provided between the connecting portion 45 and the swinging portion 47 on the connecting portion 45 side of the pair of swinging portions 47. The connecting portion 45 and the swinging portion 47 are maintained in a separated state by the sleeve 45a.

  The rotating shaft 48 extends in parallel with the drive shaft 41, is inserted into the through holes 47 a of both swinging portions 47, and is supported by both swinging portions 47 so as to be rotatable. The pair of swinging portions 49 extend linearly and have one end connected to the fixed shaft 44 so as to be swingable about the central axis of the fixed shaft 44 as a swing center. The pair of swing parts 49 extend in parallel to each other. A through hole 49 a is formed at the other end of each swinging portion 49. The through holes 49a of the pair of swinging portions 49 face each other in the Y-axis direction. The rotating shaft 50 extends in parallel with the drive shaft 41 (fixed shaft 44), is inserted into the through holes 49a of the both swinging portions 49, and is rotatably supported by both swinging portions 49.

  The connecting portion 51 connects both the rotating shafts 48 and 50 to each other. The connecting portion 51 includes a first connecting portion 51 a that connects portions of the rotating shafts 48 and 50 that are closer to the pair of swinging portions 47 and 49, and a pair of swinging portions 47 and 49 that are connected to the rotating shafts 48 and 50. 2nd connection part 51b which connects the site | parts on the other side, and 3rd connection part 51c which connects the 1st connection part 51a and the 2nd connection part 51b. The third linking part 51 c extends along the Y-axis direction between the two rotation shafts 48 and 50. The connecting portion 51 is H-shaped when viewed from the X-axis direction. Both rotating shafts 48 and 50 are supported so as to be rotatable with respect to the first connecting portion 51a and the second connecting portion 51b.

  In the Y-axis direction, the first connecting portion 51a and the pair of swinging portions 47 are connected to the swinging portion 47 on the first connecting portion 51a side, and the second connecting portion 51b and the pair of swinging portions 47 are connected to the first connecting portion 51a. Cylindrical sleeves 47b are respectively provided between the swinging portions 47 on the two connecting portions 51b side. The sleeve 47b keeps the first connecting portion 51a and the swinging portion 47 spaced apart from each other and the second connecting portion 51b and the swinging portion 47 from each other.

  In the Y-axis direction, the first connecting portion 51a and the pair of swinging portions 49 are connected to the swinging portion 49 on the first connecting portion 51a side, and the second connecting portion 51b and the pair of swinging portions 49 are connected to the first connecting portion 51a. Cylindrical sleeves 49b are respectively provided between the swinging portions 49 on the two connecting portions 51b side. The sleeve 49b keeps the first connecting portion 51a and the swinging portion 49 spaced apart from each other, and the second connecting portion 51b and the swinging portion 49 are separated from each other.

  The distance between the central axis of the drive shaft 41 and the central axis of the rotary shaft 48 matches the distance between the central axis of the fixed shaft 44 and the central axis of the rotary shaft 50, and the central axes of both rotary shafts 48 and 50 The rotary shafts 48 and 50 are connected by the first connecting portion 51a and the second connecting portion 51b so that the distance between the two shafts and the distance between the center axis of the drive shaft 41 and the center axis of the fixed shaft 44 coincide with each other. ing. Furthermore, since both the rotating shafts 48 and 50 are connected via the 1st connecting part 51a and the 2nd connecting part 51b which were mutually connected by the 3rd connecting part 51c, the axial direction in both the rotating shafts 48 and 50 is carried out. The rigidity is increased and the parallel state is maintained.

  The drive shaft 41, the fixed shaft 44, and the connecting portion 45 form a rectangle when viewed from the X-axis direction, and enhance the deformation rigidity of the rectangle. The rotary shafts 48 and 50, the first connecting portion 51a, and the second connecting portion 51b form a rectangle when viewed from the X-axis direction, and the deformation rigidity of the rectangle is increased. The pair of swinging portions 47 and 49, the connecting portion 45, and the connecting portion 51 form a parallelogram (rectangular shape) when viewed from the Y-axis direction. Furthermore, when viewed from the Z-axis direction, the drive shaft 41, the pair of oscillating portions 47, and the rotation shaft 48 form a rectangle, and the deformation rigidity of the rectangle is increased. In addition, the fixed shaft 44, the pair of swinging portions 49, and the rotation shaft 50 form a rectangle when viewed from the Z-axis direction, and the deformation rigidity of the rectangle is increased.

  The pair of swinging portions 47 and 49, the connecting portion 45, the connecting portion 51, the fixed shaft 44, and the rotating shafts 48 and 50 form a parallelogram link mechanism that is swingably connected to the drive shaft 41. A pair of arm portions 42A is configured. One side of the arm portion 42 </ b> A is composed of the drive shaft 41 and the fixed shaft 44, and the opposite side is composed of an integral connecting portion 51, and the three links 43 are connected via the connecting portion 51. Therefore, the arm 42 has a pair of arm portions 42A. The pair of arm portions 42A are integrated with each other via a connecting portion 51 that constitutes a part of each arm portion 42A.

  The connecting portion 51 has an extending portion 52 that extends between the pair of arm portions 42A. The extending portion 52 is provided integrally with the third connecting portion 51c. Therefore, the connecting portion 51 including the extending portion 52 is T-shaped when viewed from the Y-axis direction and the Z-axis direction. A rotating shaft 53 extending along the X-axis direction is provided at the distal end portion of the extending portion 52. The rotating shaft 53 is supported so as to be rotatable with respect to the extending portion 52. The tip of the rotating shaft 53 has a two-sided width shape having a pair of flat portions 53a. Connected to the pair of flat portions 53a is a plate-like connecting portion 54 that can swing with respect to the rotary shaft 53 in a plane parallel to the axial direction of the rotary shaft 53 (XZ plane). One end of the first Z-axis link 43 a, which is one of the three links 43, is connected to each connection portion 54 while being sandwiched between the two connection portions 54.

  Further, both end portions of the rotating shaft 48 have a two-sided width shape having a pair of flat surface portions 48a. At both ends of the rotating shaft 48, a pair of flat surface portions 48a is connected to a plate-like connecting portion 55 that can swing with respect to the rotating shaft 48 in a plane parallel to the axial direction of the rotating shaft 48 (YZ plane). Has been. One end of the second Z-axis link 43 b, which is one of the remaining two of the three links 43, is sandwiched between two connection portions 55 connected to one end of the rotating shaft 48. It is connected to each connection part 55. One end of the third Z-axis link 43c, which is the remaining one of the three links 43, is sandwiched between two connection portions 55 connected to the other end portion of the rotating shaft 48, and each connection portion. 55.

  As shown in FIG. 8, the Z-axis link mechanism 40 has a rotation shaft 56 that is rotatably supported by the movable body 11 and that is disposed to face the rotation shaft 53 in the Z-axis direction. Both rotary shafts 53 and 56 extend in parallel to each other. The end of the rotating shaft 56 has a two-plane width shape having a pair of flat portions 56a. A plate-like connecting portion 57 that can swing with respect to the rotation shaft 56 in a plane (XZ plane) parallel to the axial direction of the rotation shaft 56 is connected to the pair of plane portions 56a. The other end of the first Z-axis link 43 a is connected to each connection portion 57 while being sandwiched between the two connection portions 57.

  The Z-axis link mechanism unit 40 has a pair of rotating shafts 58 that are rotatably supported by the movable body 11 and that are opposed to both ends of the rotating shaft 48 in the Z-axis direction. Each rotary shaft 58 extends in parallel with the drive shaft 41. The end of each rotating shaft 58 has a two-sided width shape having a pair of flat portions 58a. A pair of flat surface portions 58a of each rotation shaft 58 is connected to a plate-like connection portion 59 that can swing relative to the rotation shaft 58 in a plane parallel to the axial direction of the rotation shaft 58 (YZ plane). Yes. The other end of the second Z-axis link 43b is connected to each connection portion 59 in a state of being sandwiched between two connection portions 59 connected to one end portion of the pair of rotating shafts 58. The other end of the third Z-axis link 43 c is connected to each connection portion 59 in a state of being sandwiched between two connection portions 59 connected to the other ends of the pair of rotating shafts 58.

  The three links 43 (the first Z-axis link 43a, the second Z-axis link 43b, and the third Z-axis link 43c) are the second Z with respect to the arm 42 about the rotation shaft 48 as a swing center. When the shaft link 43b and the third Z-axis link 43c swing, the first Z-axis link 43a can swing with respect to the rotation shaft 53 via the connection portion 54 in the XZ plane. Further, when the second Z-axis link 43b and the third Z-axis link 43c swing through the connecting portion 55 with respect to the rotary shaft 48 in the YZ plane, the first Z-axis link 43a is turned into the rotary shaft. By rotating 53, the rotary shaft 53 can be swung around the swing center. Therefore, the first Z-axis link 43 a, which is one of the three links that are swingably connected to the distal end portion of the extending portion 52 via the rotation shaft 53, is connected to the second portion via the rotation shaft 53. It is connected so that it can swing in the direction. The arm 42 moves while maintaining the three links 43 in a parallel state. Since the three links 43 are connected to the connecting portion 51 via the rotary shafts 50 and 53, the connecting portion 51 moves while maintaining its posture. Move while maintaining the positional relationship.

  As shown in FIGS. 9A and 9B, in the Z-axis direction, the connection position of the first Z-axis link 43a to the arm 42 is the second Z-axis link 43b and the third Z-axis link 43c. It is closer to the movable body 11 than the connection position with respect to the arm 42. Since the three links 43 have the same length, the connection position of the first Z-axis link 43a to the movable body 11 in the Z-axis direction is the second Z-axis link 43b and the third Z-axis link. It is in a position farther from the arm 42 than the connection position to the movable body 11 at 43c.

  In addition, the connection positions of the two links 23 of the X-axis link mechanism 20 to the movable body 11 are the same in the Z-axis direction as the connection positions of the second Z-axis link 43b and the third Z-axis link 43c. It is located on a straight line and is located on the opposite side of the housing 14 in the Z-axis direction with respect to the connection positions of the second Z-axis link 43b and the third Z-axis link 43c.

  As shown in FIG. 10, when the connection positions of the three links 43 of the Z-axis link mechanism 40 to the movable body 11 are viewed from the Z-axis direction, the connection positions are at positions that form an isosceles triangle T1. . Moreover, when the connection position with respect to the movable body 11 in the link 33 of the Y-axis link mechanism 30 is viewed from the Z-axis direction, the connection position is located inside the isosceles triangle T1. The electric driver 11a is held by the movable body 11 in a state where the axial direction of the output shaft 11b of the electric driver 11a coincides with the Z-axis direction. The output shaft 11b is located on the side of the isosceles triangle T1 when viewed from the Z-axis direction. In the present embodiment, the output position 11b is connected to the movable body 11 in the second Z-axis link 43b and the third Z-axis. The shaft link 43c is located on a straight line connecting the connection position to the movable body 11.

  The support device 10 is configured such that the angle formed by the links 23, 33, and 43 of the adjacent link mechanism units 20, 30, and 40 within the moving range of the movable body 11 can take 90 degrees. For example, as shown in FIG. 1, when the angles formed by the links 23, 33, and 43 of the adjacent link mechanisms 20, 30, and 40 in the moving range of the movable body 11 form 90 degrees, each link mechanism The angles formed by the arms 22, 32, and 42 (swinging portions 22a, 32a, and 47) of the portions 20, 30, and 40 and the links 23, 33, and 43 can be 90 degrees.

  In the support device 10, when position information for moving the movable body 11 is input to a computer (not shown), a command signal corresponding to the information is sent from the controller to the X-axis servomotor, the Y-axis servomotor, and the Z-axis. Output to servo motor. Then, based on the command signal, the drive shafts 21, 31, 41 rotate, and the arms 22, 32, 42 of the link mechanism portions 20, 30, 40 swing with respect to the drive shafts 21, 31, 41, respectively. To do. Then, in conjunction with the swinging of the arms 22, 32, 42, the links 23, 33, 43 move in the X axis direction, the Y axis direction, and the Z axis direction, respectively. As a result, the movable body 11 is controlled in the X-axis direction, the Y-axis direction, and the X-axis direction while maintaining the posture of the movable body 11 in a constant state in a state where the rotation about the X-axis, the Y-axis, and the Z-axis is restricted. Move in the Z-axis direction. As the movable body 11 moves, the electric driver 11 a moves integrally with the movable body 11. In the present embodiment, the movable body 11 can move within a predetermined movement range while maintaining the state where the axial direction of the output shaft 11b of the electric driver 11a coincides with the Z-axis direction. In the present embodiment, the arm 42 of the Z-axis link mechanism unit 40 maintains the posture of the movable body 11 in a constant state within the movement range of the movable body 11, and the three links 43 are parallel to each other. The moving mechanism is configured to move while maintaining the above.

Next, the operation of this embodiment will be described.
By the way, the screw tightening operation using the electric screwdriver 11a is performed while pressing a bit 11c (tip tool) attached to the output shaft 11b of the electric screwdriver 11a against the object to be screwed in the Z-axis direction. At this time, for example, compared to the case where there are two links 43 constituting the Z-axis link mechanism unit 40 as in the prior art, three of the connection portions on the drive shaft 41 side are maintained in the mutual posture. The link 43 increases the rigidity for maintaining the pressing force for pressing the bit 11c against the object. Specifically, since the movable body 11 is surface-supported at three points by the three links 43, the support rigidity of the receiving surface is increased. When viewed from the Z-axis direction, the connection position of the three links to the movable body 11 is a triangle, and a triangular prism (three quadrangles) is formed by the three parallel links 43. Only the three Z-axis links 43 can be held with high rigidity.

  Furthermore, since the three links 43 are positioned by the connecting portion 51 constituting the arm portion 42A of the arm 42 and maintained in the posture, the three links 43 are held with high rigidity. More specifically, the two links 43 b and 43 c are received by the pair of swing parts 47. One link 43 a acts on the extending portion 52 of the connecting portion 51. The difference in force between the links 43a, 43b, and 43c acts as a moment to the connecting portion 51, but is converted into tension of the swinging portion 47 of the arm portion 42A and compression of the swinging portion 49. Canceled by equilibrium. Thus, the mutual positional relationship of the three links 43 is maintained without fluctuation. Accordingly, the rigidity of the link 43 in the Z-axis direction is sufficiently ensured.

  The external force in the X-axis direction applied to the movable body 11 is directly received by the two links 23 and the arm 22 of the X-axis link mechanism 20. The angle formed by the arm 22 and the link 23 is 90 degrees when the angles formed by the links 23, 33, and 43 of the adjacent link mechanisms 20, 30, and 40 in the moving range of the movable body 11 form 90 degrees. I can take it. For this reason, the external force in the X-axis direction applied to the movable body 11 is easily received by the two links 23 and the arm 22 of the X-axis link mechanism 20.

  The external force in the Y-axis direction applied to the movable body 11 is directly received by one link 33 and the arm 32 of the Y-axis link mechanism portion 30. The angle formed by the arm 32 and the link 33 is 90 degrees when the angle formed by the links 23, 33, and 43 of the adjacent link mechanisms 20, 30, and 40 in the moving range of the movable body 11 forms 90 degrees. I can take it. For this reason, the external force in the Y-axis direction applied to the movable body 11 is easily received by the one link 33 and the arm 32 of the Y-axis link mechanism 30.

  The external force in the Z-axis direction applied to the movable body 11 is directly received by the three links 43 and the arm 42 of the Z-axis link mechanism 40. The angle formed by the arm 42 and the link 43 is 90 degrees when the angle formed by the links 23, 33, and 43 of the adjacent link mechanisms 20, 30, and 40 in the moving range of the movable body 11 forms 90 degrees. I can take it. For this reason, the external force in the Z-axis direction applied to the movable body 11 is easily received by the three links 43 and the arms 42 of the Z-axis link mechanism 40.

In the above embodiment, the following effects can be obtained.
(1) When the angle formed by the links 23, 33, and 43 of the adjacent link mechanism units 20, 30, and 40 in the moving range of the movable body 11 is 90 degrees, the support device 10 is configured so that each link mechanism unit 20, The angles formed by the arms 22, 32, 42 of the 30 and 40 and the links 23, 33, 43 can be 90 degrees. Further, the Z-axis link mechanism 40 has three links 43. The arm 42 moves within the moving range of the movable body 11 while maintaining the posture of the movable body 11 in a constant state and maintaining the three links 43 in a parallel state. According to this, it becomes easy to receive the external force of each axial direction applied to the movable body 11 by the links 23, 33, 43 and the arms 22, 32, 42 of each axis. Then, for example, as compared with the case where there are two links 43 constituting the Z-axis link mechanism 40 as in the prior art, the bit 11c is supported by the three links 43 on the surface. The rigidity which maintains the pressing force which presses against can be improved. In addition, the connection part on the drive shaft 41 side of the three links 43 is a mechanism that moves while maintaining the positional relationship and the posture. Therefore, the rigidity of the link 43 in the Z-axis direction can be sufficiently ensured.

  (2) The links 23 and 33 can swing with respect to the arms 22 and 32 about the rotation shafts 24 and 34 as the center of rotation, and the rotation shafts in a plane parallel to the axial direction of the rotation shafts 24 and 34. It can be swung with respect to 24 and 34 via connecting portions 25 and 35. According to this, the movable body 11 can be accurately moved. Of the three links 43, the second Z-axis link 43 b and the third Z-axis link 43 c can swing with respect to the arm 42 around the rotation shaft 48 and the rotation shaft. The rotary shaft 48 can be swung via a connecting portion 55 within a plane parallel to the axial direction of the 48. According to this, since the driving force from the drive shaft 41 directly acts on the second Z-axis link 43b and the third Z-axis link 43c via the arm 42, a force that causes disturbance such as a rotational moment does not occur. , The holding rigidity can be increased. This makes it possible to move with high accuracy and handle a large load.

  (3) The arm 42 of the Z-axis link mechanism portion 40 has a pair of arm portions 42 </ b> A constituting a parallelogram link mechanism connected to the drive shaft 41. The pair of arm portions 42 </ b> A are integrated with each other via the connecting portion 51. According to this, the pair of arm portions 42A can be integrally formed in a three-dimensional manner, and further, a strong rectangular structure can be formed when viewed from any of the X-axis direction, the Y-axis direction, and the Z-axis direction. Therefore, high holding rigidity can be realized and the accuracy of movement of the link 43 in the Z-axis direction can be improved. Therefore, the rigidity against torsion at the connection portion between the arm 42 and the link 43, particularly the rigidity against torsion in a plane perpendicular to the Z-axis direction is increased. For this reason, the heavy electric driver 11a can be moved, or high movement accuracy can be realized.

  (4) The arm 42 of the Z-axis link mechanism 40 has an extending portion 52 that extends between the pair of arm portions 42A. A first Z-axis link 43 a that is one of three links that are swingably connected via a rotating shaft 53 is provided at the tip of the extending portion 52 in two directions via the rotating shaft 53. Are pivotably connected to each other. According to this, the arm portion 42A constituting the parallelogram link mechanism moves the connecting portion 51 while maintaining a constant posture, and the extending portion 52 integrated by the third connecting portion 51c also maintains the same posture. Move while standing. The connecting portions on the drive shaft 41 side of the three links 43 can move while maintaining the triangular positional relationship.

  (5) The connection positions of the three links 43 of the Z-axis link mechanism section 40 with respect to the movable body 11 and the arm 42 are positions where the respective connection positions form an isosceles triangle T1 when viewed from the Z-axis direction. According to this, the support device 10 can be made compact, and it becomes easy to sufficiently secure the rigidity of the link 43 in the Z-axis direction.

  (6) The connection position of the link 33 of the Y-axis link mechanism 30 to the movable body 11 is located inside the isosceles triangle T1 when viewed from the Z-axis direction. According to this, compared with the case where the connection position with respect to the movable body 11 in the link 33 of the Y-axis link mechanism part 30 is located outside the isosceles triangle T1 when seen from the Z-axis direction. 10 can be made compact. Moreover, it becomes easy to ensure the rigidity of the link 43 in the Z-axis direction.

  (7) The connection positions of the two links 23 of the X-axis link mechanism unit 20 with respect to the movable body 11 are the same as the connection positions of the second Z-axis link 43b and the third Z-axis link 43c in the Z-axis direction. It is located on the same straight line and is located on the opposite side of the housing 14 in the Z-axis direction with respect to the connection positions of the second Z-axis link 43b and the third Z-axis link 43c. According to this, the support device 10 can be made compact, and it becomes easy to sufficiently secure the rigidity of the link 43 in the Z-axis direction.

  (8) When viewed from the Z-axis direction, the output shaft 11b of the electric driver 11a has a connection position with respect to the movable body 11 in the second Z-axis link 43b and a connection position with respect to the movable body 11 in the third Z-axis link 43c. It is located on a straight line connecting According to this, it is possible to easily ensure the rigidity for maintaining the pressing force for pressing the bit 11c against the object. In particular, the reaction force of the pressing force that presses the bit 11c against the object is directly transmitted to the arm 42 via the second Z-axis link 43b and the third Z-axis link 43c, and the first Z-axis link 43a takes a posture. Since it plays a role of maintaining, high rigidity can be realized.

  (9) Since the movable body 11 is surface-supported at three points by the three links 43, the support rigidity of the receiving surface is increased. When viewed from the Z-axis direction, the connection position of the three links to the movable body 11 is a triangle, and a triangular prism (three quadrangles) is formed by the three parallel links 43. Only the three Z-axis links 43 can be held with high rigidity.

  (10) The three links 43 are positioned by the connecting portion 51 that constitutes the arm portion 42 </ b> A of the arm 42. According to this, since the three links 43 are maintained in posture, they are held with high rigidity. More specifically, the two links 43 b and 43 c are received by the pair of swing parts 47. One link 43 a acts on the extending portion 52 of the connecting portion 51. The difference in force between the links 43a, 43b, and 43c acts as a moment to the connecting portion 51, but is converted into tension of the swinging portion 47 of the arm portion 42A and compression of the swinging portion 49. Canceled by equilibrium. Thus, the mutual positional relationship of the three links 43 is maintained without fluctuation.

In addition, you may change the said embodiment as follows.
-As shown to Fig.11 (a) and (b), the positional relationship of the drive shaft 41 and the fixed shaft 44 may be reverse. And the connection part 51 containing the extension part 52 may be L type, seeing from the Y-axis direction. In the Z-axis direction, the connection position with respect to the arm 42 in the first Z-axis link 43a is the same position as the connection position with respect to the arm 42 in the second Z-axis link 43b and the third Z-axis link 43c. Since the three links 43 have the same length, the connection position of the first Z-axis link 43a to the movable body 11 in the Z-axis direction is the second Z-axis link 43b and the third Z-axis link 43c. It is at the same position as the connection position to the movable body 11.

  -As shown in FIG. 12, the extension part 52 may extend on the opposite side (outside of the support apparatus 10) between the pair of arm parts 42A. In the embodiment shown in FIG. 12, the connecting portion 51 including the extending portion 52 is L-shaped when viewed from the Y-axis direction, but the connecting portion 51 is viewed from the Y-axis direction. And a T-type configuration.

  -As shown to Fig.13 (a) and (b), the Z-axis link mechanism part 40 may have the stage 60 which is a drive part. The stage 60 moves linearly in the Z-axis direction by the driving force from the driving source. The Z-axis link mechanism 40 has an arm 42 that is connected to the stage 60. The three links 43 are movable in the Z-axis direction while the stages 60 are linearly moved and maintained in a parallel state.

  14A and 14B, a rotation shaft 44A is provided instead of the fixed shaft 44, and the drive shaft 41 and the rotation shaft 44A are connected to each other by a connecting member 61 such as a timing belt or a chain. The swinging portions 47 and 49 may be swung by being connected and mechanically synchronizing the rotation of the drive shaft 41 and the rotating shaft 44A via the connecting member 61.

  As shown in FIGS. 15A and 15B, the swinging portions 47 and 49 are connected by the connecting link 62, and the swinging of the swinging portions 47 and 49 is synchronized via the connecting link 62. You may do it.

  As shown in FIGS. 16A and 16B, the swinging portion 49 is connected to the drive shaft 63 of the servo motor, and each drive shaft 41 is synchronized with the rotation of each drive shaft 41, 63. , 63 may be controlled so as to oscillate each of the oscillating portions 47, 49.

  As shown in FIG. 17, two support devices 10 are provided, and the two support devices 10 can be arranged with respect to the YZ plane so that the movable bodies 11 can be arranged close together in one place. You may make it install in plane symmetry. According to this, it becomes possible to perform the work by the rotary tool held by each movable body 11 in one place. As a result, the same type of rotary tool can be held on both sides to increase efficiency, or different types of rotary tools and gripping mechanisms can be held to enable complex work.

  -In embodiment, the electric driver 11a may be hold | maintained at the movable body 11 in the state in which the axial direction of the output shaft 11b of the electric driver 11a corresponded to the X-axis direction, for example. In this case, the X-axis link mechanism 20 needs to have three links 23. In short, it is only necessary that three or more of the links 23, 33, 43 of the three link mechanism portions 20, 30, 40 are provided. According to this, it is possible to sufficiently ensure the rigidity of the links 23, 33, 43 in at least one direction among the X-axis direction, the Y-axis direction, and the Z-axis direction.

  -In embodiment, the link 23 of the X-axis link mechanism part 20 may be one, and three or more may be provided. In short, it is sufficient that at least one link 23 of the X-axis link mechanism 20 is provided.

  In the embodiment, two or more links 33 of the Y-axis link mechanism unit 30 may be provided. In short, it is sufficient that at least one link 33 of the Y-axis link mechanism 30 is provided.

  In the embodiment, four or more links 43 of the Z-axis link mechanism unit 40 may be provided. In short, it is sufficient that three or more links 43 of the Z-axis link mechanism 40 are provided.

  In the embodiment, for example, the link 23 of the X-axis link mechanism unit 20 is one, the link 33 of the Y-axis link mechanism unit 30 is one, and the link 43 of the Z-axis link mechanism unit 40 is three. A certain configuration may be used. In this case, when the connection position of the link 23 of the X-axis link mechanism unit 20 to the movable body 11 and the connection position of the link 33 of the Y-axis link mechanism unit 30 to the movable body 11 are viewed from the Z-axis direction, isosceles sides. It is preferably located inside the triangle T1. According to this, it becomes easy to receive the external force of each axial direction applied to the movable body 11 by the links 23, 33, 43 of each axis.

  In the embodiment, when the output shaft 11b of the electric driver 11a is viewed from the Z-axis direction, the connection position to the movable body 11 in the second Z-axis link 43b and the connection to the movable body 11 in the third Z-axis link 43c It does not have to be located on a straight line connecting the positions. For example, the output shaft 11b of the electric driver 11a may be located inside the isosceles triangle T1 when viewed from the Z-axis direction.

  In the embodiment, the connection positions of the two links 23 of the X-axis link mechanism unit 20 with respect to the movable body 11 are the connection positions of the second Z-axis link 43b and the third Z-axis link 43c, respectively, and the Z-axis It does not have to be on the same straight line in the direction.

  -In embodiment, when the connection position with respect to the movable body 11 in the link 33 of the Y-axis link mechanism part 30 is seen from a Z-axis direction, you may be located outside the isosceles triangle T1.

  -In embodiment, when the connection position with respect to the movable body 11 in the three links 43 of the Z-axis link mechanism part 40 is seen from a Z-axis direction, even if each connection position does not exist in the position which comprises the isosceles triangle T1. Good.

  In the embodiment, for example, the arms 22, 32, 42 and the links 23, 33, 43 may be connected by a ball joint. In the configuration of the number of links in the embodiment (3 or more, 2 or more, 1 or more), the configuration for connecting the arms 22, 32, 42 and the links 23, 33, 43 is not particularly limited. .

  In the embodiment, the object to be held by the movable body 11 may be a non-rotating tool such as another rotating tool such as an electric drill or a heating tool such as a solder iron. In short, the object to be held by the movable body 11 is not particularly limited.

  DESCRIPTION OF SYMBOLS 10 ... Support apparatus, 11 ... Movable body, 20, 30, 40 ... Link mechanism part, 21, 31, 41 ... Drive shaft which is a drive part, 22, 32, 42 ... Arm, 23, 33, 43 ... Link, 24 , 26, 34, 36, 48, 50, 58 ... rotating shaft, 25, 27, 35, 37, 55, 59 ... connecting portion, 42A ... a pair of arm portions, 44 ... fixed shaft, 47, 49 ... swinging portion. , 51 ... connecting part, 52 ... extending part, 60 ... stage which is a driving part.

Claims (6)

Within the range of movement of the movable body, it has three link mechanism portions that can support the movable body respectively corresponding to any of the X-axis direction, the Y-axis direction, and the Z-axis direction,
Each link mechanism unit has an arm coupled to the drive unit, one end coupled to the arm and the other end coupled to the movable body, and the X axis and the Y axis within the movable range of the movable body. And a link extending so as to be coincident with any of the Z-axis,
A support device configured such that an angle formed by links of adjacent link mechanism portions within a movable range of the movable body can take 90 degrees,
When the angle formed by the links of the adjacent link mechanism units in the moving range of the movable body makes 90 degrees, the angle formed by the arm of each link mechanism section and the link can take 90 degrees. And
Three or more links of any of the three link mechanism portions are provided, and the arm of the link mechanism portion provided with the three or more links is within the moving range of the movable body. A support device characterized in that a posture of a movable body is maintained in a constant state and the three or more links are moved while being maintained in a parallel state. The arm is swingably connected to a drive shaft that is the drive unit,
The link mechanism includes a rotation shaft extending in parallel with the drive shaft, and a connection portion connected to the rotation shaft and swingable with respect to the rotation shaft in a plane parallel to the axial direction of the rotation shaft. Have
The link is connected to the connection portion, and is swingable with respect to the arm about the rotation shaft as a swing center, and via the connection portion with respect to the rotation shaft in the plane. The support device according to claim 1, wherein the support device is swingable.   The arms of the link mechanism portion provided with the three or more links are a pair of swinging portions that are swingably connected to a drive shaft that is the drive portion, and a pair that is swingably connected to a fixed shaft. And a pair of arm portions constituting a parallelogram link mechanism including an integral connecting portion, one side of which is composed of the drive shaft and the fixed shaft, and the opposite side is composed of the connecting portion. The support device according to claim 1, wherein the three or more links are connected via the connecting portion. The arm of the link mechanism portion provided with the three or more links has an extending portion extending between the pair of arm portions,
The support device according to claim 3, wherein one of the three or more links is connected to a distal end portion of the extending portion so as to be swingable in two directions. Three links of any of the three link mechanisms are provided,
When the connection positions of the three links to the movable body are viewed from any of the X axis, the Y axis, and the Z axis where the three links can match, each connection position is isosceles. It is in the position which comprises a triangle, The support apparatus as described in any one of Claims 1-4 characterized by the above-mentioned.   The connection position with respect to the movable body in at least one link of two link mechanisms having a link different from the three links, the X axis, the Y axis, and the The support device according to claim 5, wherein the connection position is located inside the isosceles triangle when viewed from any direction of the Z-axis.

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