CN107107288B - Supporting arrangement - Google Patents
Supporting arrangement Download PDFInfo
- Publication number
- CN107107288B CN107107288B CN201680004669.5A CN201680004669A CN107107288B CN 107107288 B CN107107288 B CN 107107288B CN 201680004669 A CN201680004669 A CN 201680004669A CN 107107288 B CN107107288 B CN 107107288B
- Authority
- CN
- China
- Prior art keywords
- axis
- bindiny mechanism
- connector
- arm
- movable body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of supporting arrangement (10), the connector (23,33,43) that the supporting arrangement (10) is configured to adjacent portion, bindiny mechanism among the moving range of movable body (11) (20,30,40) be formed by angle be 90 degree when, the arm (22,32,42) and connector (23,33,43) of each portion, bindiny mechanism (20,30,40) be formed by angle become 90 degree.Also, portion, Z axis bindiny mechanism (40) have 3 connectors (43).Whereby, it is applied to each axial external force of movable body (11), is easy to be born by the connector (23,33,43) and arm (22,32,42) of each axis.And, it is such with such as prior art, the situation that the connector (43) for constituting portion, Z axis bindiny mechanism (40) is 2 is compared, and by 3 connectors (43), can promote the rigidity for maintaining to push the pushing force of drill bit (11c) towards object.
Description
Technical field
The present invention is related in the supporting arrangement of bearing movable body.
Background technique
Supporting arrangement bearing rotates the movable body of tool (holding object) such as keeping electric screw driver or electric drill.As
This supporting arrangement, such as have in patent document 1 and have been described.The supporting arrangement of patent document 1 includes the 1st portion, bindiny mechanism,
Its among the moving range of movable body, with support movable body on the consistent direction of Z axis (Z-direction)；2nd bindiny mechanism
Portion, with support movable body on the consistent direction of X-axis (X-direction)；And the 3rd portion, bindiny mechanism, consistent with Y-axis
Movable body is supported on direction (Y direction).1st to the 3rd portion, bindiny mechanism respectively includes the 1st to the 3rd servo for constituting driving source
1 in motor；And each 2 the 1st for capable of consistently being extended parallel to each other among the moving range of movable body with each axis
1 into the 3rd connector.Wherein one end of 1st to the 3rd each connector can joltily be connected to the 1st to the 3rd servo motor
In corresponding wherein 1；The other end of each connector of 1st to the 3rd connector can joltily be connected to movable body.Each 2
The connector that 1st to the 3rd connector is configured to portion, bindiny mechanism adjacent among the moving range of movable body is formed each other
Angle can be 90 degree.
Also, when the 1st to the 3rd servo motor respectively drives, with the 1st to the 3rd connector relative to the 1st to the 3rd servo horse
Up to the mode of shake, each comfortable X-direction of the 1st to the 3rd connector, Y direction and Z-direction are mobile.As a result, movable body
Respective limitation around Z axis, around X-axis and around the rotation of Y-axis in the state of, maintain posture in the state of level on one side
It is mobile toward X-direction, Y direction and Z-direction on one side.With the movement of the movable body, rotation tool and movable body become
Integrally move.
< existing technical literature >
< patent document >
1 > Japanese Unexamined Patent Publication 2012-240167 bulletin of < patent document.
Summary of the invention
< technical problems to be solved by the invention >
But among the supporting arrangement of patent document 1, such as consider the axial direction and Z axis in the output shaft of rotation tool
In the state that direction is consistent, the case where keeping rotation tool on movable body.The screw tightening or brill carried out using rotation tool
Hole machined, by the front end tool of drill bit (bit) or awl (drill) etc. on the output shaft for being installed on rotation tool on one side to wanting
Progress screw tightening or the object of drilling processing push carry out on one side in the Z-axis direction.At this point, using 2 the 1st connectors
State under, it is possible to create following situations: maintain push front end tool toward object (object of pushing) pushing force
Rigidity it is too weak, and be difficult with rotation tool and carry out screw tightening or drilling processing.Therefore, in that case, it would be desirable to
Enough substantially ensure the rigidity of the connector of Z-direction.
The purpose of the present invention is to provide a kind of supporting arrangement, which can substantially ensure X-direction, Y-axis side
To and Z-direction among at least one direction connector rigidity.
< is to the technical solution > that solves the problems, such as
In order to achieve the above objectives, one embodiment of the present invention provides a kind of supporting arrangement, has 3 bindiny mechanisms
Portion, 3 portions, bindiny mechanism correspond respectively to X-direction, Y direction and Z-direction among the moving range of movable body
In any one direction support the movable body respectively, each portion, bindiny mechanism has arm and connector, which is connected to drive
Dynamic portion, one end of the connector is connected to the arm and the other end is connected to the movable body, and the connector is described movable
Can consistently it extend with any of the X-axis, the Y-axis and the Z axis among the moving range of body, the bearing
The connector that device is configured to portion, bindiny mechanism adjacent among the moving range of the movable body is formed by angle each other
It can be 90 degree, the connector in adjacent portion, bindiny mechanism is formed by angle each other among the moving range of the movable body
When being 90 degree, it can be 90 degree that the arm and the connector in each portion, bindiny mechanism, which are formed by angle, 3 connection machines
Any of structure portion is equipped with 3 with upper connector, the arm in the portion, bindiny mechanism equipped with described 3 with upper connector, described
The posture of the movable body is maintained to certain state among the moving range of movable body, and makes described 3 or more to connect
Fitting moves it in the state of remaining parallel to each other.
Among above-mentioned supporting arrangement, preferably, the arm can joltily be connected to the drive shaft as the driving portion,
The portion, bindiny mechanism includes rotary shaft, extends in parallel with the drive shaft；And interconnecting piece, it is connected to the rotation
Axis can simultaneously shake in the plane parallel with the axial direction of the rotary shaft relative to the rotary shaft, and the connector is connected to
The interconnecting piece,
And can be shaken relative to the arm by shake center of the rotary shaft, the connector passes through in the plane
It is shaken by the interconnecting piece relative to the rotary shaft.
Among above-mentioned supporting arrangement, preferably, the arm in the portion, bindiny mechanism equipped with described 3 with upper connector has one
To arm, which constitutes parallelogram bindiny mechanism, which includes: a pair of of shake portion,
It can joltily be connected in the drive shaft as the driving portion；Another pair shake portion, can joltily be connected to fixing axle
On；And the interconnecting piece of one, one side of the arm are made of the drive shaft and the fixing axle, the opposite side of the arm is by institute
Interconnecting piece composition is stated, and described 3 are connected with upper connector via the interconnecting piece.
Among above-mentioned supporting arrangement, preferably, the arm in the portion, bindiny mechanism equipped with described 3 with upper connector, which has, to be prolonged
If portion, extend between the pair of arm, on the front end of the extended portion, can be joltily connected in two directions
Described 3 with 1 in upper connector.
Among above-mentioned supporting arrangement, preferably, any of described 3 portions, bindiny mechanism are equipped with 3 connectors, institute
The link position that 3 connectors are connected to the movable body is stated, the consistent X-axis, institute can be become with 3 connectors
When stating any one direction viewing of Y-axis and the Z axis, each link position is located at the position for constituting isosceles triangle.
Among above-mentioned supporting arrangement, preferably, 2 companies different from the portion, bindiny mechanism of 3 connectors is equipped with
The connector in the portion, at least one bindiny mechanism in connection mechanism portion is connected to the link position of the movable body, connects from described 3
When part can become any one direction viewing of the consistent X-axis, the Y-axis and the Z axis, the link position is located at
The inside of the isosceles triangle.
< invention effect >
In accordance with the invention it is possible to substantially ensure X-direction, among Y direction and Z-direction at least one direction company
The rigidity of fitting.
Detailed description of the invention
Fig. 1 is the whole perspective view for indicating the supporting arrangement in embodiments of the present invention.
Fig. 2 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 3 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 4 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 5 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 6 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 7 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 8 is the perspective view shown in by a part expansion of supporting arrangement.
Fig. 9 (a) is the side view for schematically showing the state from Y direction viewing supporting arrangement；Fig. 9 (b) is signal
The schematic diagram that each connector is connected to the link position of movable body is shown to property.
Figure 10 is the schematic diagram for schematically showing each connector relative to the link position of movable body.
Figure 11 (a) is the supporting arrangement schematically shown from Y direction viewing another embodiment of the invention
The side view of state；Figure 11 (b) is the schematic diagram for schematically showing each connector relative to the link position of movable body.
Figure 12 is the state for schematically showing the supporting arrangement from Y direction viewing another embodiment of the invention
Side view.
Figure 13 (a) and Figure 13 (b) schematically shows from Y direction and watches another embodiment of the invention
The side view of the state of supporting arrangement.
Figure 14 (a) and Figure 14 (b) schematically shows from Y direction and watches another embodiment of the invention
The side view of the state of supporting arrangement.
Figure 15 (a) and Figure 15 (b) schematically shows from Y direction and watches another embodiment of the invention
The side view of the state of supporting arrangement.
Figure 16 (a) and Figure 16 (b) schematically shows from Y direction and watches another embodiment of the invention
The side view of the state of supporting arrangement.
Figure 17 is the whole perspective view for indicating the supporting arrangement in another embodiment of the invention.
Specific embodiment
In following, an embodiment of the invention of the supporting arrangement of bearing movable body will be embodied using Fig. 1 extremely
Figure 10 is illustrated.
As shown in Figure 1, supporting arrangement 10 supports movable body 11.Movable body 11 keeps being used as rotation tool (holding object)
Electric screw driver 11a.Supporting arrangement 10 has 3 portions, bindiny mechanism 20,30,40, and 3 portions, bindiny mechanism 20,30,40 are movable
Among the moving range of body 11, it can be propped up on any one direction for respectively correspond toing X-direction, Y direction and Z-direction
Hold movable body 11.Also, supporting arrangement 10 utilizes 3 portions, bindiny mechanism 20,30,40, surrounds Z in respectively limitation movable body 11
Axis, around X-axis and in the state of the rotation of Y-axis, on one side maintain movable body 11 posture in certain state, exist on one side
Movable body 11 is movably supported in set moving range.In addition, in following explanations, it for ease of description, will be in X-axis side
The portion, bindiny mechanism of bearing movable body 11 is known as " portion, X-axis bindiny mechanism 20 " upwards, will be in bearing movable body 11 in Y direction
Portion, bindiny mechanism is known as " portion, Y-axis bindiny mechanism 30 ", will be known as " Z axis in the portion, bindiny mechanism for supporting movable body 11 in Z-direction
Portion, bindiny mechanism 40 ".
Supporting arrangement 10 has: the substantially base station frame 12 of quadrangle frame-shaped extends along X/Y plane；Multiple upright portion
13, it is erected from base station frame 12 toward Z-direction；And the framework 14 of substantially quadrangle box-like, it is supported by each upright portion 13.
The side 14a extended among framework 14 along XZ plane, drive shaft 21 is prominent along Y direction, and drive shaft 21 is as drive
The X-axis in the dynamic source driving portion of servo motor (not shown).Drive shaft 21 is located in the 14a of side close to the corner of upright portion 13
Portion.Drive shaft 21 is rotated by the driving of X-axis servo motor, so that portion, ShiXZhou bindiny mechanism 20 is shaken.
The side 14b extended among framework 14 along YZ plane, drive shaft 31 is prominent along X-direction, drive shaft 31
It is the driving portion of Y-axis servo motor (the non-icon) as driving source.Drive shaft 31 is located in the 14b of side close to upright portion
13 position.In addition, drive shaft 31 is in the Z-axis direction, configuration is in the drive shaft 21 than X-axis servo motor further from upright portion
On 13 position.Drive shaft 31 is rotated by the driving of Y-axis servo motor, so that portion, ShiYZhou bindiny mechanism 30 is shaken.
Furthermore from the side 14a of framework 14, drive shaft 41 is prominent along Y direction, and drive shaft 41 is as driving source
The driving portion of Z axis servo motor (non-icon).Drive shaft 41 is located in the 14a of side close to the edge of 13 opposite side of upright portion
Portion.Drive shaft 41 is rotated by the driving of Z axis servo motor, so that portion, ShiZZhou bindiny mechanism 40 is shaken.
The drive shaft 21 of X-axis servo motor is set to the outermost end of the X-direction of supporting arrangement 10.Y-axis servo
The drive shaft 31 of motor is set to the outermost end of the Y direction of supporting arrangement 10.The drive shaft 41 of Z axis servo motor is arranged
In the outermost end of the Z-direction of supporting arrangement 10.Each drive shaft 21,31,41 is unified to be set in a framework 14.Movable body 11
It is configured at the outermost end for being respectively located axially at each 21,31,41 opposite side of drive shaft in supporting arrangement 10.
Next, being illustrated for portion, X-axis bindiny mechanism 20.
As shown in Fig. 2, portion, X-axis bindiny mechanism 20 has: arm 22 is connected to drive shaft 21；2 connectors 23, wherein
One end is connected to arm 22 and the other end is connected to movable body 11, and can be unanimously to X among the moving range of movable body 11
Extend to axis.Specifically, arm 22 is fixed on drive shaft 21, and with the rotation of drive shaft 21, with the central axis of drive shaft 21
Line is that shake center and 21 one of drive shaft are shaken.2 connectors 23 are equal length.Arm 22 is by shake portion 22a and a pair
Supporting part 22b is constituted, and shake portion 22a linearly extends and can be with drive shaft 21 for shake center with wherein one end
The mode of shake is connected to drive shaft 21；A pair of support parts 22b branches into two strands simultaneously toward mutually from the other end of shake portion 22a
The direction left extends.The through hole 22c of circular hole is formed in the end of each supporting part 22b.The through hole of two supporting part 22b
22c is mutually opposite in the Y-axis direction each other.
In addition, the rotary shaft 24 that portion, X-axis bindiny mechanism 20 has and drive shaft 21 extends in parallel.Rotary shaft 24 is inserted through two
The through hole 22c of supporting part 22b, and by two supporting part 22b rotatably supported at two edges.The both ends of rotary shaft 24, which become, to be had
The width across flats shape of a pair of of planar portions 24a.In the both ends of rotary shaft 24, plate is connected in a pair of of planar portions 24a
Interconnecting piece 25, interconnecting piece 25 can shake in the plane (X/Y plane) parallel with the axial direction of rotary shaft 24 relative to rotary shaft 24
It is dynamic.Wherein one end of wherein 1 connector 23 in 2 connectors 23, in the one of end for being connected to rotary shaft 24
2 interconnecting pieces 25 clamping in the state of be connected to each interconnecting piece 25.In 2 connectors 23 remaining 1 connector 23 its
Middle one end is connected to each interconnecting piece in the state of being connected to the 2 of another end of rotary shaft 24 interconnecting pieces 25 and clamping
25。
As shown in figure 3, portion, X-axis bindiny mechanism 20, has a pair of rotary shafts 26 that can be rotated to support on movable body 11.
Each rotary shaft 26 and drive shaft 21 extend in parallel.The both ends of each rotary shaft 26 are the width across flats with a pair of of planar portions 26a
Shape.Be connected separately with the interconnecting piece 27 of plate on a pair of of planar portions 26a of each rotary shaft 26, interconnecting piece 27 with rotary shaft
It can be shaken relative to rotary shaft 26 in the parallel plane of 26 axial direction (X/Y plane).Wherein 1 connection in 2 connectors 23
The other end of part 23, in the state of being connected to the clamping of 2 interconnecting pieces 27 of the wherein end of a side of a pair of rotary shafts 26
It is connected to each interconnecting piece 27.The other end of remaining 1 connector 23 of 2 connectors 23, is being connected to a pair of rotary shafts
Each interconnecting piece 27 is connected in the state of 2 interconnecting pieces 27 clamping of the end of 26 another party.
Each connector 23 can be the shake of shake center with rotary shaft 24 relative to arm 22, and can be in X/Y plane
It is shaken relative to rotary shaft 24 via interconnecting piece 25.2 connectors 23 move while maintaining state parallel to each other.
Next, being illustrated for portion, Y-axis bindiny mechanism 30.
As shown in figure 4, portion, Y-axis bindiny mechanism 30 includes arm 32, it is connected to drive shaft 31；1 connector 33, wherein
One end is connected to arm 32 and the other end is connected to movable body 11, and can be unanimously to Y-axis among the moving range of movable body 11
Ground extends.Specifically, arm 32 is fixed on drive shaft 31, and with the rotation of drive shaft 31, with the central axis of drive shaft 31
It is shaken to shake center and 31 one of drive shaft.Arm 32 is made of shake portion 32a and a pair of support parts 32b, shake portion 32a
Linearly extend and drive shaft 31 can be connected in such a way that drive shaft 31 is the shake of shake center by wherein one end；This one
Two strands are branched off into from the other end of shake portion 32a to supporting part 32b and is extended along Z-direction mutually.Each supporting part 32b's
End is formed with the through hole 32c of circular hole.The through hole 32c of two supporting part 32b is opposite mutually in the X-axis direction each other.
In addition, portion, Y-axis bindiny mechanism 30 has the rotary shaft 34 extended parallel to drive shaft 31.Rotary shaft 34 is inserted through
The through hole 32c of two supporting part 32b, rotatably supported at two edges is in two supporting part 32b.The central portion of rotary shaft 34, which becomes, to be had
The width across flats shape of a pair of of planar portions 34a.The interconnecting piece 35 of plate, the company of the plate are connected on a pair of of planar portions 34a
Socket part 35 can shake in the plane (X/Y plane) parallel with the axial direction of rotary shaft 34 relative to rotary shaft 34.1 connector
33 wherein one end is connected to each interconnecting piece 35 in the state of being clamped by 2 interconnecting pieces 35.
As shown in figure 3, portion, Y-axis bindiny mechanism 30 has the rotary shaft 36 for being rotatably supported in movable body 11.Rotary shaft
36 and drive shaft 31 extend parallel to.The central portion of rotary shaft 36 becomes the width across flats shape with a pair of of planar portions 36a.?
The interconnecting piece 37 of plate is connected on a pair of of planar portions 36a, the interconnecting piece 37 of the plate is parallel with the axial direction of rotary shaft 36
It can be shaken relative to rotary shaft 36 in plane (X/Y plane).The other end in connector 33, what is clamped by 2 interconnecting pieces 37
Each interconnecting piece 37 is connected under state.Connector 33 can be shaken for shake center relative to arm 32 with rotary shaft 34, and energy
It is enough to be shaken via interconnecting piece 35 relative to rotary shaft 34 in X/Y plane.
Next, being illustrated for portion, Z axis bindiny mechanism 40.
As shown in Fig. 5, Fig. 6 and Fig. 7, portion, Z axis bindiny mechanism 40 includes arm 42, is connected to drive shaft 41；And 3
A connector 43, wherein one end is connected to arm 42 and the other end is connected to movable body 11, and the moving range of movable body 11 it
In extend with being unanimously to Z axis.3 connectors 43 are identical length.Arm 42 includes aftermentioned fixing axle 44, links portion 45, one
To shake portion 47, rotary shaft 48, a pair of of shake portion 49, rotary shaft 50 and interconnecting piece 51.
The side 14a of fixing axle 44 from framework 14 is prominent along Y direction, and extends parallel to drive shaft 41.It is fixed
Axis 44 is located at same straight line from the prominent position of side 14a and drive shaft 41 from the prominent position of side 14a in the Z-axis direction
On.It links portion 45 and the end of the projected direction of drive shaft 41 is connected with the end of the projected direction of fixing axle 44.Drive shaft
41 are rotatably supported in the portion of linking 45.It plays a role to link portion 45 as the bearing of drive shaft 41.Link the warp of portion 45
The side 14a of framework 14 is supported on by supporting part 46.Also, due to connecting drive shaft 41 and fixing axle 44 via the portion that links 45
It is connected together, so drive shaft 41 and fixing axle 44 are improved in the rigidity in axial direction, and maintains state parallel to each other.
A pair of of shake portion 47 linearly extends and wherein one end is connected to drive shaft 41.A pair of of shake portion 47 is fixed on
Drive shaft 41, and with the rotation of drive shaft 41, become one by shake center and drive shaft 41 of the central axis of drive shaft 41
Shake to body.A pair of of shake portion 47 extends parallel to one another.The other end in each shake portion 47 is formed with through hole 47a.It is a pair of
The through hole 47a in shake portion 47 is opposite mutually in the Y-axis direction each other.In the Y-axis direction, in the portion that links 45 and a pair of of shake portion
Cylindric sleeve 45a is provided between the shake portion 47 for linking 45 side of portion among 47.It maintains to link by sleeve 45a
The isolated state in portion 45 and shake portion 47.
Rotary shaft 48 and drive shaft 41 extend in parallel, and are inserted through the through hole 47a in two shake portions 47, thus rotatably
Supported at two edges is in two shake portions 47.A pair of of shake portion 49 linearly extends and can be with fixing axle 44 with wherein one end
Central axis is that the mode that shake center is shaken is connected to fixing axle 44.A pair of of shake portion 49 extends parallel to one another.It is each to shake
The other end in portion 49 is formed with through hole 49a.The through hole 49a in a pair of of shake portion 49 is opposite mutually in the Y-axis direction each other.Rotation
Shaft 50 and drive shaft 41 (fixing axle 44) extend parallel to, and are inserted through the through hole 49a in two shake portions 49, thus rotatable
Ground supported at two edges is in two shake portions 49.
Interconnecting piece 51 connects two rotary shafts 48,50 each other.Interconnecting piece 51 includes the 1st and links portion 51a, by two rotary shafts
48, the position in 50 close to a wherein side in a pair of of shake portion 47,49 is connected to each other；2nd links portion 51b, by two rotary shafts
48, the position in 50 close to the another party in a pair of of shake portion 47,49 is connected to each other；And the 3rd link portion 51c, and the 1st is linked
Portion 51a and the 2nd links portion 51b connection.3rd, which links portion 51c, extends between two rotary shafts 48,50 along Y direction.Interconnecting piece
51 watch from X-direction in H-type.Two rotary shafts 48,50, which are rotatably supported in the 1st and link portion 51a and the 2nd, links portion 51b.
In the Y-axis direction, it is linked the 1st and links shaking for the portion side 51a positioned at the 1st among portion 51a and a pair of of shake portion 47
Between dynamic portion 47 and the 2nd link among portion 51b and a pair of of shake portion 47 be located at the 2nd link the portion side 51b shake portion 47 it
Between, it is respectively equipped with cylindric sleeve 47b.It is linked between portion 51a and shake portion 47 and the 2nd connects by sleeve 47b, the 1st
Isolated state is maintained between pastern 51b and shake portion 47 respectively.
In the Y-axis direction, the 1st shake portion for linking the portion side 51a among portion 51a and a pair of of shake portion 49 is linked the 1st
Between 49 and the 2nd links the 2nd linking between the shake portion 49 of the portion side 51b among portion 51b and a pair of of shake portion 49, respectively
Equipped with cylindric sleeve 49b.It is linked between portion 51a and shake portion 49 and the 2nd links portion 51b by sleeve 49b, the 1st
Maintain isolated state respectively between shake portion 49.
So that in the central axis of drive shaft 41 and the distance between the central axis of rotary shaft 48 and fixing axle 44
The distance between mandrel line and central axis of rotary shaft 50 become consistent, and make two rotary shafts 48,50 central axis it
Between distance and the central axis of drive shaft 41 and the distance between the central axis of fixing axle 44 become consistent mode, two
Rotary shaft 48,50 links portion 51a and the 2nd and links portion 51b and links together by the 1st.Further, since two rotary shafts 48,50
It links together, therefore can be improved via linking portion 51c the interconnected 1st by the 3rd and linking portion 51a and the 2nd and link portion 51b
The axial rigidity of two rotary shafts 48,50, and maintain state parallel to each other.
It drive shaft 41, fixing axle 44 and links portion 45 and is configured to rectangle from X-direction viewing, and this is rectangular
Deformation rigidity improves.Two rotary shafts the 48,50, the 1st link portion 51a and the 2nd link portion 51b from X-direction viewing constitute it is rectangular
Shape, and the rectangular deformation rigidly improves.A pair of of shake portion 47,49, link portion 45 and interconnecting piece 51 and seen from Y direction
It sees and is configured to parallelogram (rectangle).In addition, drive shaft 41, a pair of of shake portion 47 and rotary shaft 48 are seen from Z-direction
See composition rectangle, and the rectangular deformation rigidly improves.In addition, fixing axle 44, a pair of of shake portion 49 and rotary shaft
50 watch composition rectangle from Z-direction, and the rectangular deformation rigidly improves.
Also, by a pair of of shake portion 47,49, link portion 45, interconnecting piece 51, fixing axle 44, two rotary shafts 48,50 constitute one
To arm 42A, a pair of arm 42A can joltily be connected to drive shaft 41 and constitute parallelogram bindiny mechanism.Arm
42A, one side are made of drive shaft 41 and fixing axle 44, and opposite side is made of the interconnecting piece 51 of one；3 connectors 43
It links together via interconnecting piece 51.Therefore, arm 42 has a pair of of arm 42A.A pair of of arm 42A is via each arm of composition
The interconnecting piece 51 of a part of 42A and be integrally formed.
Interconnecting piece 51 has extended portion 52, extends between a pair of of arm 42A.Extended portion 52 and the 3rd links portion 51c mono-
Body setting.Therefore, the interconnecting piece 51 comprising extended portion 52 is T-shaped from Y direction and Z-direction viewing.In extended portion 52
Front end is equipped with rotary shaft 53, extends along X-direction.Rotary shaft 53 is rotatably supported in extended portion 52.Rotary shaft 53
Front end become the width across flats shape with a pair of of planar portions 53a.The interconnecting piece of plate is connected in a pair of of planar portions 53a
54, it can be shaken in the plane (XZ plane) parallel with the axial direction of rotary shaft 53 relative to rotary shaft 53.3 connectors 43
In 1 connector, i.e. 1Z shaft coupling piece 43a wherein one end, be connected in the state of being clamped by 2 interconnecting pieces 54 each
Interconnecting piece 54.
In addition, the both ends of rotary shaft 48 become the width across flats shape with a pair of of planar portions 48a.In rotary shaft 48
In both ends, it is connected with the interconnecting piece 55 of plate in a pair of of planar portions 48a, the interconnecting piece 55 of the plate is in the axis with rotary shaft 48
It can be shaken into parallel plane (YZ plane) relative to rotary shaft 48.As being left in 2 among 3 connectors 43
Wherein one end of the 2Z shaft coupling piece 43b of 1 connector 43, at 2 of the one of end for being connected to rotary shaft 48
Interconnecting piece 55 is connected to each interconnecting piece 55 in the state of clamping.As 1 connector 43 remaining among 3 connectors 43
Wherein one end of 3Z shaft coupling piece 43c, in the state for 2 interconnecting pieces 55 clamping for being connected to another end of rotary shaft 48
Under be connected to each interconnecting piece 55.
As shown in figure 8, portion, Z axis bindiny mechanism 40 has rotary shaft 56, which is rotatably supported in movable body
11, and it is oppositely disposed with rotary shaft 53 in the Z-axis direction.Two rotary shafts 53,56 extend parallel to one another.The end of rotary shaft 56
For the width across flats shape with a pair of of planar portions 56a.The interconnecting piece 57 of plate, the plate are connected in a pair of of planar portions 56a
Interconnecting piece 57 can be shaken relative to rotary shaft 56 in the plane (XZ plane) parallel with the axial direction of rotary shaft 56.1Z axis
The other end of connector 43a is connected to each interconnecting piece 57 to be held in the state of 2 interconnecting pieces 57.
In addition, portion, Z axis bindiny mechanism 40 has a pair of rotary shafts 58, which is rotatably supported in movably
Body 11, and it is oppositely disposed with the both ends of rotary shaft 48 respectively in the Z-axis direction.Each rotary shaft 58 is parallel with drive shaft 41 to prolong
It stretches.The end of each rotary shaft 58 becomes the width across flats shape with a pair of of planar portions 58a.In a pair of of plane of each rotary shaft 58
Portion 58a, is connected separately with the interconnecting piece 59 of plate, and the interconnecting piece 59 of the plate can be put down in parallel with the axial direction of rotary shaft 58
It is shaken in face (YZ plane) relative to rotary shaft 58.The other end of 2Z shaft coupling piece 43b is being connected to a pair of rotary shafts 58
The wherein end of a side 2 interconnecting pieces 59 clamping in the state of be connected to each interconnecting piece 59.3Z shaft coupling piece 43c's is another
One end is connected to each company in the state that 2 interconnecting pieces 59 for being connected to the end of another party of a pair of rotary shafts 58 clamp
Socket part 59.
3 connectors 43 (1Z shaft coupling piece 43a, 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c) it
In, when 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c is shaken for shake center relative to arm 42 with rotary shaft 48, the
1Z shaft coupling piece 43a can shake via interconnecting piece 54 relative to rotary shaft 53 in XZ plane.In addition, 2Z shaft coupling piece
43b and 3Z shaft coupling piece 43c, in YZ plane via interconnecting piece 55 and when shaking relative to rotary shaft 48,1Z axis connects
Fitting 43a can be rotated by rotary shaft 53 and be shaken with rotary shaft 53 for shake center.Therefore, 1Z shaft coupling piece 43a is passed through
The front end of extended portion 52 can be joltily connected in two directions by rotary shaft 53.Arm 42 is maintaining 3 connectors 43 mutually equal
Make 3 connectors 43 mobile under capable state.3 connectors 43 due to being connected to interconnecting piece 51 via rotary shaft 50,53,
Interconnecting piece 51 maintains to act under posture, so 3 connectors 43 are maintaining link position of each connector 43 relative to arm 42
Relative positional relationship under move.
As shown in Fig. 9 (a) and Fig. 9 (b), in the Z-axis direction, connection position of the 1Z shaft coupling piece 43a relative to arm 42
Set, than 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c relative to arm 42 link position closer to movable body 11.And
And since 3 connectors 43 are equal length, in the Z-axis direction, connection of the 1Z shaft coupling piece 43a relative to movable body 11
Position than 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c relative to movable body 11 link position further from arm 42.
In addition, each link position of 2 connectors 23 in portion, X-axis bindiny mechanism 20 relative to movable body 11, with 2Z
Each link position of shaft coupling piece 43b and 3Z shaft coupling piece 43c are located along the same line in Z-direction.X-axis connection
Each link position of 2 connectors 23 of mechanism part 20 is relative to 2Z shaft coupling piece 43b's and 3Z shaft coupling piece 43c
Each link position is located at 14 opposite side of framework in the Z-axis direction.
As shown in Figure 10,3 connectors 43 in portion, Z axis bindiny mechanism 40 are connected to each link position of movable body 11,
When being watched from Z-direction, in the position for constituting isosceles triangle T1.In addition, the connector 33 in portion, Y-axis bindiny mechanism 30 connects
In the link position of movable body 11, when being watched from Z-direction, positioned at the inside of isosceles triangle T1.Electric screw driver 11a is in electricity
Movable body 11 is held in the state that the axial direction of the output shaft 11b of dynamic bottle opener 11a is consistent with Z-direction.Output shaft 11b is from Z
When axis direction is watched on the side of isosceles triangle T1, in present embodiment, it is connected to positioned at by 2Z shaft coupling piece 43b
The link position and 3Z shaft coupling piece 43c of movable body 11 are connected on the straight line of link position connection of movable body 11.
Supporting arrangement 10 is configured to the company in portion, bindiny mechanism 20,30,40 adjacent among the moving range of movable body 11
It can be 90 degree that fitting 23,33,43, which is formed by angle,.It, can be in the moving range of movable body 11 also, such as shown in Fig. 1
Among the connector 23,33,43 in adjacent portion, bindiny mechanism 20,30,40 when to be formed by angle be 90 degree, each portion, bindiny mechanism
20,30,40 arm 22,32,42 (shake portion 22a, 32a, 47) and connector 23,33,43 are formed by angle as 90 degree.
In supporting arrangement 10, after inputting the mobile location information of movable body 11 to be made to not shown computer, with
The corresponding command signal of the information can be output in X-axis servo motor, Y-axis servo motor and Z axis servo from controller
Motor.In this way, which each drive shaft 21,31,41 understands signal rotation based on instruction, the arm in portion, Shi Ge bindiny mechanism 20,30,40
22,32,42 it is respectively relative to the shake of drive shaft 21,31,41.Also, each connector 23,33,43 respectively with arm 22,32,42
It shakes linkedly mobile in X-direction, Y direction and Z-direction.As a result, movable body 11 around X-axis, around Y-axis with
And distinguish under confined state around the rotation of Z axis, go X-axis while maintaining the posture of movable body 11 in certain state
Direction, Y direction and Z-direction are mobile.With the movement of the movable body 11, electric screw driver 11a and 11 one of movable body are moved
It is dynamic.In present embodiment, maintaining the axial direction of the output shaft 11b of electric screw driver 11a is to be unanimously to the state of Z-direction, set
The mobile movable body 11 of moving range.In present embodiment, the arm 42 in portion, Z axis bindiny mechanism 40 is formed in the shifting of movable body 11
Among dynamic range, maintain the posture of movable body 11 in the state of certain, and in the state for maintaining 3 connectors 43 parallel to each other
Under the mobile mechanism that moves it.
Next, the effect for present embodiment is illustrated.
But it using the screw tightening operation of electric screw driver 11a, will be installed on the output shaft 11b of electric screw driver 11a
Drill bit 11c (front end tool) is carried out while the object to screw tightening pushes in the Z-axis direction.At this point, with such as
The prior art is such, and the situation that the connector 43 for constituting portion, Z axis bindiny mechanism 40 is 2 is compared, by maintaining drive shaft 41
The rigid of the pushing force for maintaining that drill bit 11c is pushed toward object can be improved in 3 connectors 43 of the mutual posture of the connecting portion of side
Property.Specifically, since the bearing of bearing plane can be improved by movable body 11 with 3 points of progress surface bearings by 3 connectors 43
Rigidity.It is watched from Z-direction, 3 connectors become triangle relative to the link position of movable body 11, and parallel by 3
Connector 43 constitute triangular prism (3 quadrangles), only can be to the power for rotating on X-axis, Y-axis by 3 connectors 43 of Z axis
Keep higher rigidity.
In addition, 3 connectors 43 are positioned by constituting the interconnecting piece 51 of the arm 42A of arm 42, posture is maintained, so
It is maintained high rigidity.More specifically, 2 connectors 43b, 43c are born by a pair of of shake portion 47.1 connector 43a makees
Extended portion 52 for interconnecting piece 51.The difference of power between each connector 43a, 43b, 43c, although as to interconnecting piece 51
Torque and act on, but the drawing in the shake portion 47 of arm 42A and the compression in shake portion 49 can be transformed into, it is flat due to power
It weighs and disappears.3 mutual positional relationships of connector 43 remain unchanged like this.Therefore, it can be sufficiently ensured the connection of Z-direction
The rigidity of part 43.
It is applied to the external force of the X-direction of movable body 11, by 2 connectors 23 and arm 22 in portion, X-axis bindiny mechanism 20
Directly bear.Arm 22 and connector 23 are formed by angle, connection machine that can be adjacent among the moving range of movable body 11
The connector 23,33,43 in structure portion 20,30,40, which is formed by when angle is 90 degree, becomes 90 degree.Therefore, it is applied to movable body 11
X-direction external force, be easy born by 2 connectors 23 and arm 22 in portion, X-axis bindiny mechanism 20.
It is applied to the external force of the Y direction of movable body 11, by 1 connector 33 and arm 32 in portion, Y-axis bindiny mechanism 30
Directly bear.Arm 32 and connector 33 are formed by angle, connection machine that can be adjacent among the moving range of movable body 11
The connector 23,33,43 in structure portion 20,30,40, which is formed by when angle is 90 degree, becomes 90 degree.Therefore, it is applied to movable body 11
Y direction external force, be easy born by 1 connector 33 and arm 32 in portion, Y-axis bindiny mechanism 30.
It is applied to the external force of the Z-direction of movable body 11, by 3 connectors 43 and arm 42 in portion, Z axis bindiny mechanism 40
Directly bear.Arm 42 and connector 43 are formed by angle, connection machine that can be adjacent among the moving range of movable body 11
The connector 23,33,43 in structure portion 20,30,40, which is formed by when angle is 90 degree, becomes 90 degree.Therefore, it is applied to movable body 11
Z-direction external force, be easy born by 3 connectors 43 and arm 42 in portion, Z axis bindiny mechanism 40.
Above embodiment can obtain following effects.
(1) supporting arrangement 10 be configured among the moving range of movable body 11 adjacent portion, bindiny mechanism 20,30,
40 connector 23,33,43 is formed by angle when being 90 degree, the arm 22,32,42 in each portion, bindiny mechanism 20,30,40 and connection
Part 23,33,43 is formed by angle as 90 degree.Also, portion, Z axis bindiny mechanism 40 has 3 connectors 43.Arm 42 is movable
It among the moving range of body 11, maintains the posture of movable body 11 in certain state, and maintains 3 connectors 43 parallel to each other
It is moved it under state.Whereby, be applied to each axial external force of movable body 11, be easy by each axis connector 23,33,43 with
And arm 22,32,42 is born.Also, such with such as prior art, the connector 43 for constituting portion, Z axis bindiny mechanism 40 is 2
The case where compare, by 3 connectors 43, supported with face, can promote the pushing for maintaining to push drill bit 11c towards object
The rigidity of power.In addition, the connecting portion of 41 side of drive shaft of 3 connectors 43 is to maintain to move under positional relationship and posture
Mechanism.Therefore, the rigidity of the connector 43 of Z-direction can be fully ensured.
(2) connector 23,33 can with rotary shaft 24,34 be shake center relative to arm 22,32 shake, and with rotation
It is shaken via interconnecting piece 25,35 relative to rotary shaft 24,34 in the parallel plane of the axial direction of axis 24,34.Whereby, can precision goodly
Carry out the movement of movable body 11.In addition, among 3 connectors 43,2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c,
It can be the shake of shake center with rotary shaft 48 relative to arm 42, and via even in the plane parallel with the axial direction of rotary shaft 48
Socket part 55 is shaken relative to rotary shaft 48.Whereby, 2Z is directly acted on via arm 42 due to the driving force from drive shaft 41
Shaft coupling piece 43b and 3Z shaft coupling piece 43c, therefore the unnecessary power that turning moment will not be generated etc., and can be improved guarantor
Hold rigidity.Whereby, high-precision movement or big load can be corresponded to.
(3) arm 42 in portion, Z axis bindiny mechanism 40 has a pair of of the arm 42A for constituting parallelogram bindiny mechanism, connects
It is connected to drive shaft 41.A pair of of arm 42A is integrally formed via interconnecting piece 51.It whereby, can be by a pair of of arm 42A three-dimensionally one
Body is constituted, and further constituting from either X-direction, Y direction and Z-direction is all firm quadrangle for
Construction is not only able to realize high holding rigidity, is also able to ascend the mobile accuracy of the connector 43 of Z-direction.Therefore, it can be improved
In the rigidity for torsion of the connecting portion of arm 42 and connector 43, the especially face vertical with Z-direction for torsion
Rigidity.Therefore, the electric screw driver 11a that can move suitable weight, also can be realized high mobile accuracy.
(4) arm 42 in portion, Z axis bindiny mechanism 40 has the extended portion 52 extended between a pair of of arm 42A.In extended portion
52 front end can joltily connect 1 connector, the i.e. 1Z axis in 3 connectors on two directions via rotary shaft 53 and connect
Fitting 43a.Whereby, by constituting the arm 42A of parallelogram bindiny mechanism, interconnecting piece 51 is keeping moving down for certain posture
It is dynamic；The extended portion 52 that portion 51c is integrally formed is linked by the 3rd also to move under the posture maintained like.3 connectors 43
41 side of drive shaft connecting portion can keep triangle positional relationship under move.
(5) 3 connectors 43 in portion, Z axis bindiny mechanism 40 are connected to the link position of movable body 11 and arm 42, from Z
When axis direction is watched, each link position is located at the position for constituting isosceles triangle T1.Whereby, supporting arrangement 10 can be made more
Compact (compact), and can substantially ensure the rigidity of the connector 43 of Z-direction.
(6) connector 33 in portion, Y-axis bindiny mechanism 30 is connected to the link position of movable body 11, watches from Z-direction
When, link position is located at the inside of isosceles triangle T1.Whereby, the connector 33 compared to portion, Y-axis bindiny mechanism 30 connects
In the link position of movable body 11, when watching from Z-direction, situation positioned at the outside of isosceles triangle T1 can make
Supporting arrangement 10 is more compact.In addition, also it is easy to ensure that the rigidity of the connector 43 of Z-direction.
(7) 2 connectors 23 in portion, X-axis bindiny mechanism 20 are connected to each link position of movable body 11, with 2Z axis
Each link position of connector 43b and 3Z shaft coupling piece 43c are located along the same line in Z-direction, and relative to
Each link position of 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c are located at 14 opposite side of framework in the Z-axis direction.By
This, not only can make supporting arrangement 10 more compact, also be easy to substantially ensure the rigidity of the connector 43 of Z-direction.
(8) the output shaft 11b of electric screw driver 11a is located at when watching from Z-direction by the 43b connection of 2Z shaft coupling piece
In on the straight line of link position connection that the link position and 3Z shaft coupling piece 43c of movable body 11 are connected to movable body 11.
Whereby, it can readily be ensured that rigidity needed for maintaining to push the pushing force of drill bit 11c towards object.Especially since towards object
The reaction force for pushing the pushing force of drill bit 11c, is directly conveyed via 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c
To arm 42, and 1Z shaft coupling piece 43a plays the role of keeping posture, therefore can be realized high rigidity.
(9) because by movable body 11 with 3 points of progress surface bearings, therefore the supporting rigidity of bearing plane mentions by 3 connectors 43
It is high.It is watched from Z-direction, the link position that 3 connectors are connected to movable body 11 is triangle, and is constituted parallel by 3
Connector 43 is formed by triangular prism (3 quadrangles), only passes through 3 connectors 43 of Z axis just to the power for rotating on X-axis, Y-axis
It can keep high rigidity.
(10) 3 connectors 43 are positioned by constituting the interconnecting piece 51 of arm 42A of arm 42.Whereby, 3 companies are maintained
The posture of fitting 43 is kept in a manner of becoming high rigidity.More specifically, 2 connectors 43b, 43c are by a pair of of shake portion 47
It bears.1 connector 43a acts on the extended portion 52 of interconnecting piece 51.The difference of power between each connector 43a, 43b, 43c,
Although act on as the torque to interconnecting piece 51, it is transformed into drawing and the shake portion 49 in the shake portion 47 of arm 42A
Compression, is disappeared by the balance of power.The mutual positional relationship of 3 connectors 43 remains motionless like this.
Also may be used in addition, above embodiment changes as following.
Shown in such as Figure 11 (a) and (b), the positional relationship vice versa of drive shaft 41 and fixing axle 44.Also, include
The interconnecting piece 51 of extended portion 52 is that L-type also may be used from Y direction viewing.In the Z-axis direction, 1Z shaft coupling piece 43a is for arm 42
Link position, positioned at position identical for the link position of arm 42 with 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c
It sets.Since 3 connectors 43 are equal length, so in the Z-axis direction, company of the 1Z shaft coupling piece 43a for movable body 11
Position is connect, positioned at position identical for the link position of movable body 11 with 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c
It sets.
As shown in figure 12, extended portion 52 extends toward opposite side (outside of supporting arrangement 10) between a pair of of arm 42A
Also may be used.In addition, the embodiment shown in Figure 12, the interconnecting piece 51 comprising extended portion 52, although being enumerated as from Y direction
Viewing is an example of the composition of L-type, but interconnecting piece 51 also may be used from the composition that Y direction viewing is T-type.
Shown in such as Figure 13 (a) and (b), there is the pallet 60 as driving portion also may be used in portion, Z axis bindiny mechanism 40.Frame
Platform 60 is moved along a straight line in the Z-axis direction by the driving force from driving source.Portion, Z axis bindiny mechanism 40, which has, is connected to pallet 60
Arm 42.3 connectors 43 are moved along a straight line by pallet 60, and can be in the state of remaining parallel to each other toward Z axis side
To movement.
Shown in such as Figure 14 (a) and (b), rotary shaft 44A is set instead of fixing axle 44, and by drive shaft 41 and rotation
Axis 44A, such as connected with the connecting component 61 of time limit belt or chain etc., make the rotation of drive shaft 41 and rotary shaft 44A via
Connecting component 61 mechanically synchronizes, and shakes each shake portion 47,49 and also may be used.
Shown in such as Figure 15 (a) and (b), each shake portion 47,49 is linked together by linking connector 62, and makes
The shake in each shake portion 47,49, via connection connector 62, synchronization also may be used.
Shown in such as Figure 16 (a) and (b), shake portion 49 is connected to the drive shaft 63 of servo motor, by so that each
The synchronous mode of the rotation of drive shaft 41,63, the servo motor of each drive shaft 41,63 of Electric control, thus make each shake portion 47,
49 shakes also may be used.
As shown in figure 17,2 supporting arrangements 10 are set, and 2 supporting arrangements 10 can be made close to respective movable
Body 11 simultaneously assembles the mode for being configured at 1 place, is arranged to face relative to YZ plane and symmetrically also may be used.Whereby, it can be concentrated at 1
It carries out being held in the operation that the rotation tool of each movable body 11 is carried out.As a result, it is possible to keep the rotation of two identical types
Tool and raising efficiency；Or it keeps different types of rotation tool or handle sturcture and carries out complicated operation.
In embodiments, electric screw driver 11a, for example, electric screw driver 11a output shaft 11b axial direction and X-axis side
Also may be used to movable body 11 is held in the state of consistent.In this case, portion, X-axis bindiny mechanism 20, it is necessary to have 3 connectors
23.Also that is, the connector 23,33,43 in any of 3 portions, bindiny mechanism 20,30,40 is equipped with 3 or more.Whereby,
Just X-direction can be substantially ensured, the connector 23,33,43 at least one direction is rigid among Y direction and Z-direction
Property.
In embodiments, the connector 23 in portion, X-axis bindiny mechanism 20 can be 1 or 3 or more and also may be used.Also
That is, the connector 23 in portion, X-axis bindiny mechanism 20, as long as being equipped with 1 or more.
In embodiments, the connector 33 in portion, Y-axis bindiny mechanism 30 is equipped with 2 or more and also may be used.Also that is, Y-axis connects
The connector 33 of mechanism part 30 is equipped with 1 or more.
In embodiments, the connector 43 in portion, Z axis bindiny mechanism 40 is equipped with 4 or more and also may be used.Also that is, Z axis connects
The connector 43 of mechanism part 40 is equipped with 3 or more.
In embodiments, such as the connector 23 in portion, X-axis bindiny mechanism 20 is 1, the company in portion, Y-axis bindiny mechanism 30
Fitting 33 is 1, and the composition that the connector 43 in portion, Z axis bindiny mechanism 40 is 3 also may be used.In this situation, X-axis bindiny mechanism
The connector 23 in portion 20 is for the link position of movable body 11 and the connector 33 in portion, Y-axis bindiny mechanism 30 for movable body 11
Link position, from Z-direction watch when it is preferable positioned at the inside of isosceles triangle T1.Whereby, it is easy to make to be applied to movable
Each axial external force of body 11 is born by the connector 23,33,43 of each axis.
In embodiments, the output shaft 11b of electric screw driver 11a, when being watched from Z-direction, not in general
2Z shaft coupling piece 43b for movable body 11 link position and 3Z shaft coupling piece 43c for movable body 11 link position
Also may be used on the straight line of connection.For example, the output shaft 11b of electric screw driver 11a, is located at isosceles triangle when watching from Z-direction
Also may be used the inside of T1.
In embodiments, each connection position of 2 connectors 23 in portion, X-axis bindiny mechanism 20 for movable body 11
It sets；And 2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c be for each link position of movable body 11, in the Z-axis direction
It is not located along the same line and also may be used.
In embodiments, the connector 33 in portion, Y-axis bindiny mechanism 30 is to the link position of movable body 11, from Z axis side
To when viewing, the outside positioned at isosceles triangle T1 also may be used.
In embodiments, 3 connectors 43 in portion, Z axis bindiny mechanism 40 are to the link position of movable body 11, from Z axis
When direction is watched, also may be used not at the position for constituting isosceles triangle T1.
In embodiments, such as it is set as the structure for connecting arm 22,32,42 with spherical joint with connector 23,33,43
Cheng Yike.At composition (3 or more of the connector number of embodiment；2 or more；1 or more) among, by arm 22,32,42
The composition connected with connector 23,33,43, is not limited especially.
In embodiments, the holding object of movable body 11, be also possible to the others rotation tool such as electric drill,
Or the non-rotary tools such as heating tools such as scolding tin.Also that is, the holding object of movable body 11 is not limited especially.
The present invention is not limited to the above illustration person.For example, the feature of illustration should not be construed as to the present invention as must
Must, even, subject of the present invention, be present in feature more less than whole features of particular implementation disclosed above it
In.The present invention is indicated with scope of the claims, it is intended that includes whole changes in the range equivalent with scope of the claims.
[symbol description]
10 ... supporting arrangements；11 ... movable bodys；20,30,40 ... portion, bindiny mechanism；21,31,41 ... the drive as driving portion
Moving axis；22,32,42 ... arm；23,33,43 ... connector；24,26,34,36,48,50,58 ... rotary shaft；25,27,35,
37,55,59 ... interconnecting piece；A pair of of arm of 42A ...；44 ... fixing axles；47,49 ... shake portions；51 ... interconnecting pieces；52 ... is extended
Portion；60 ... the pallet as driving portion.
Claims (5)
1. a kind of supporting arrangement has 3 portions, bindiny mechanism, 3 portions, bindiny mechanism are among the moving range of movable body
Any one direction for corresponding respectively in X-direction, Y direction and Z-direction supports the movable body respectively,
Each portion, bindiny mechanism has arm and connector, which is connected to driving portion, and one end of the connector is connected to the arm
And the other end is connected to the movable body, which can be with the X-axis, institute among the moving range of the movable body
Any of Y-axis and the Z axis is stated consistently to extend,
It is 90 degree that the connector in adjacent portion, bindiny mechanism is formed by angle each other among the moving range of the movable body
When, it is 90 degree that the arm and the connector in each portion, bindiny mechanism, which are formed by angle,
Any of described 3 portions, bindiny mechanism are equipped with 3 with upper connector, equipped with 3 connections with upper connector
The posture of the movable body is maintained certain state by the arm of mechanism part among the moving range of the movable body, and
Make movable body mobile in the state of making described 3 to remain parallel to each other with upper connector,
The arm in the portion, bindiny mechanism equipped with described 3 with upper connector has a pair of of arm, which constitutes parallel four side
Shape bindiny mechanism, which includes: a pair of of shake portion can be joltily connected to as the driving portion
Drive shaft on；Another pair shake portion, can joltily be connected in fixing axle；And the interconnecting piece of one, the one of the arm
While being made of the drive shaft and the fixing axle, the opposite side of the arm is made of the interconnecting piece, and described 3 with upper connector
It is connected via the interconnecting piece.
2. supporting arrangement according to claim 1, wherein
The arm can joltily be connected to the drive shaft as the driving portion,
The portion, bindiny mechanism includes rotary shaft, extends in parallel with the drive shaft；And interconnecting piece, it is connected to described
Rotary shaft can simultaneously shake in the plane parallel with the axial direction of the rotary shaft relative to the rotary shaft,
The connector is connected to the interconnecting piece, and can shake relative to the arm by shake center of the rotary shaft,
The connector shakes via the interconnecting piece relative to the rotary shaft in the plane.
3. supporting arrangement according to claim 1, wherein
The arm in the portion, bindiny mechanism equipped with described 3 with upper connector has extended portion, extends between the pair of arm,
On the front end of the extended portion, described 3 can be joltily connected with 1 in upper connector in two directions.
4. according to claim 1 to the supporting arrangement described in any one of claim 3, wherein
Any of described 3 portions, bindiny mechanism are equipped with 3 connectors,
3 connectors are connected to the link position of the movable body, can become consistent described with 3 connectors
When any one direction viewing of X-axis, the Y-axis and the Z axis, each link position is located at the position for constituting isosceles triangle
It sets.
5. supporting arrangement according to claim 4, wherein
From the portion, at least one bindiny mechanism that is equipped in different 2 portions, bindiny mechanism, the portion, bindiny mechanism of 3 connectors
Connector is connected to the link position of the movable body, can become the consistent X-axis, the Y-axis from 3 connectors
And the Z axis any one direction viewing when, the link position is located at the inside of the isosceles triangle.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-233011 | 2015-11-30 | ||
| JP2015233011A JP6310901B2 (en) | 2015-11-30 | 2015-11-30 | Support device |
| PCT/JP2016/084688 WO2017094571A1 (en) | 2015-11-30 | 2016-11-23 | Support device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107107288A CN107107288A (en) | 2017-08-29 |
| CN107107288B true CN107107288B (en) | 2019-05-03 |
Family
ID=58797325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004669.5A Active CN107107288B (en) | 2015-11-30 | 2016-11-23 | Supporting arrangement |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6310901B2 (en) |
| KR (1) | KR101960947B1 (en) |
| CN (1) | CN107107288B (en) |
| TW (1) | TWI628031B (en) |
| WO (1) | WO2017094571A1 (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
| CN105058382A (en) * | 2015-08-04 | 2015-11-18 | 汕头大学 | Novel series-parallel five-axis-linkage intelligent welding platform |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3211688C2 (en) * | 1982-03-30 | 1986-10-09 | Binder, Karl-Franz, 8077 Reichertshofen | Industrial robots for manufacturing and / or assembly purposes |
| SE511804C2 (en) * | 1996-03-14 | 1999-11-29 | Abb Ab | Apparatus for relative movement of two elements |
| US7337691B2 (en) * | 1999-08-05 | 2008-03-04 | Shambhu Nath Roy | Parallel kinematics mechanism with a concentric spherical joint |
| SE517356C2 (en) * | 2000-09-11 | 2002-05-28 | Abb Ab | Manipulator comprising at least three arms for moving a body in space |
| JP5602676B2 (en) * | 2011-05-20 | 2014-10-08 | Ｃｋｄ株式会社 | Movable body support device |
| JP6043561B2 (en) * | 2012-09-26 | 2016-12-14 | キヤノン電子株式会社 | Parallel link robot |
| TWM451225U (en) * | 2012-10-02 | 2013-04-21 | Xiao-Wei Lan | Universal joint device of tool machine robot arm |
| CN203818136U (en) * | 2014-04-29 | 2014-09-10 | 浙江理工大学 | Three-degree-of-freedom high-speed parallel-connection robot |
-
2015
- 2015-11-30 JP JP2015233011A patent/JP6310901B2/en active Active
-
2016
- 2016-11-23 WO PCT/JP2016/084688 patent/WO2017094571A1/en active Application Filing
- 2016-11-23 CN CN201680004669.5A patent/CN107107288B/en active Active
- 2016-11-23 KR KR1020177017817A patent/KR101960947B1/en active IP Right Grant
- 2016-11-25 TW TW105138754A patent/TWI628031B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103264386A (en) * | 2013-04-19 | 2013-08-28 | 南京理工大学 | High-speed translational movement parallel mechanism with three degrees of freedom |
| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
| CN105058382A (en) * | 2015-08-04 | 2015-11-18 | 汕头大学 | Novel series-parallel five-axis-linkage intelligent welding platform |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017094571A1 (en) | 2017-06-08 |
| JP6310901B2 (en) | 2018-04-11 |
| JP2017100199A (en) | 2017-06-08 |
| TWI628031B (en) | 2018-07-01 |
| CN107107288A (en) | 2017-08-29 |
| KR20170090461A (en) | 2017-08-07 |
| KR101960947B1 (en) | 2019-03-20 |
| TW201722612A (en) | 2017-07-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111267076B (en) | High-rigidity redundant drive parallel mechanism | |
| CN105729450B (en) | Four-freedom parallel mechanism | |
| CN101513736B (en) | Nonsingularity space five- freedom-degree parallel robot | |
| CN101844350A (en) | Three degree of freedom parallel robot mechanism | |
| US20160003291A1 (en) | Two-Dimensional Movement Closed-Link Structure | |
| CN103235464B (en) | Built-in high flux and large diameter laser frequency conversion device | |
| JP2010247280A (en) | Universal robot device | |
| CN106002956A (en) | Over-constrained self-balancing three-degree-of-freedom parallel-connection platform | |
| CN110238821A (en) | A kind of full symmetric parallel institution of driving of highly redundant containing closed-loop element | |
| CN102366896A (en) | Three-freedom-degree parallel mechanism with two vertical interleaved rotating shafts | |
| CN102626919A (en) | Symmetrical two-rotation one-moving parallel connection mechanism without concurrent axes | |
| CN103302661B (en) | Fully-decoupled one-movement two-rotation and three-degree-of-freedom parallel mechanism | |
| CN110524517A (en) | A kind of non-co-planar two turn of one shift redundancy driven Parallel Kinematic Manipulator of big corner | |
| CN103302510B (en) | Can be floated containing two the parallel institution of staggered rotating shaft | |
| CN107107288B (en) | Supporting arrangement | |
| CN101476874B (en) | Bionic binocular stereovision apparatus | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN113370189A (en) | High-rigidity three-translation redundant driving parallel mechanism | |
| CN102225545B (en) | Two-dimensional rotation parallel mechanism having virtual motion center | |
| CN103559916A (en) | Three-freedom-degree jogging corner platform capable of conducting manual alignment | |
| CN104626098B (en) | It is combined with the Cartesian robot of 3DOF wrist part structure | |
| CN103231371B (en) | Parallel robot and parallelogram levers group thereof | |
| CN109227519A (en) | A kind of fixed mobile arc-shaped guide rail parallel institution of two rotation one of driving | |
| CN205520668U (en) | A quartering swallow shape five -axis machining equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |