JP2001344021A - Moving device and operating device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve convenience in a moving device capable of moving traveling objects to two orthogonal directions. SOLUTION: This device main body 10 is provided with two driving motors 12 and 14, driving wheels 16 and 18, and driven wheels 20 and 22, and a first traveling body 30 is provided with driven wheels 34-37, and a flat belt 40 is wound around them. The first traveling object 30 is arranged so as to be relatively movable to a Y axial direction against the device main body 10, and a second traveling object 32 connected to the flat belt 40 is arranged so as to be relatively movable to an X axial direction against the first traveling body 30. The driving force of the driving motors 12 and 14 is transmitted through the wheels and the flat belt 40 to the first traveling object 30 and the second traveling object 32, and the second traveling object 32 is moved to the X and Y axial directions. The driving motor is not arranged at the first traveling object so that any cable or the like can be prevented from being dragged, and that convenience can be improved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving device for moving a moving body in two directions orthogonal to each other,
The present invention relates to an exercise apparatus for performing an exercise including the above-described exercise elements.

[0002]

2. Description of the Related Art As one type of this type of moving apparatus, (1) the apparatus main body, (2) two driving sources, and (3) the driving forces of the two driving sources are relative to the apparatus main body. (4) a driving force transmitting device for transmitting to two movable bodies movably provided;
2. Description of the Related Art A moving device including a moving control device that controls the movement of two moving objects by controlling one driving source has been conventionally known. In this moving device, one of the two moving bodies is a first moving body provided so as to be relatively movable in a first direction with respect to the apparatus main body, and the other is in a second direction with respect to the first moving body. , One of the two driving sources is provided in the apparatus main body to move the first moving body in the first direction, and the other is the first driving source. The second driving source is provided on the moving body and moves the second moving body in the second direction. Further, the driving force transmission device often includes a ball screw device, and is provided corresponding to each of the first driving source and the second driving source. The movement of the first moving body in the first direction is controlled by controlling the first driving source of the movement control device, and the movement of the second moving body in the second direction is controlled by controlling the second driving source. The two moving bodies are relatively movable with respect to the apparatus main body in the first direction, the second direction, or a direction inclined with respect to the two directions.

In this moving device, since the second driving source is provided on the first moving body, energy is supplied to the second driving source in the form of electric current or pressure fluid as the first moving body moves. Cables and hoses are dragged, resulting in poor usability and durability. Further, since the ball screw device is expensive, there is a problem that the moving device is expensive.

[0004]

Problem to be solved by the invention, problem solving means and effect
As a result, the present invention is inexpensive and easy to use in the background described above.
The challenge was to obtain good moving and exercise equipment.
It was done. In order to solve this problem, the mobile device is configured as follows.
It is solved by using a moving device or an exercise device.
Each aspect is, like the claims, divided into sections, and each section is numbered.
And, if necessary, in the form of quoting the numbers of other sections
I do. This is the technical feature described in this specification only.
And their combinations to facilitate understanding.
The technical features described in this specification and their combinations
Should not be construed as being limited to the following sections:
No. If multiple items are described in one section,
If so, they must always be adopted together
Not necessarily, but it is also possible to adopt only some items
Noh. (1) The device body, two or more drive sources, and two or more drive sources
The driving force of the upper drive source is moved relative to the main unit.
Driving force transmission to two or more movable bodies provided as possible
Control device and the two or more drive sources.
A movement control device for controlling movement of the two or more moving bodies.
A moving device, comprising:
One of them is moved relative to the apparatus body in the first direction.
The first movable body movably provided, and the other one is
Relative to the first moving body in a second direction orthogonal to the first direction.
A second movable body movably provided, wherein the two or more
Are provided in the apparatus body, and
A driving force transmitting device, (i) at least the device main body;
It is provided at a position separated in the second direction, and is
Driven by the two drive sources
(Ii) in a state corresponding to each of the two driving vehicles
A main body-side driven vehicle provided in the apparatus main body;
At least one moving body side driven vehicle provided on the moving body
And (iv) the driving vehicle, the driven vehicle on the main body side and the driven vehicle on the moving body side.
In the vehicle, the portions extending in the first direction are parallel to each other
At the first shift with the driving rotation of the driving vehicle.
A wrapping body for moving the moving body in the first direction, and (v) the wrapping body
Is linked to the second mobile object, and the second mobile object is
And a coordination device for moving in the direction.
Moving device (claim 1). In the mobile device described in this section
, Two driving sources are provided in the apparatus main body. On the device body
Is also driven to rotate by each of the two driving sources.
Two driving vehicles and two main body side slaves corresponding to each driving vehicle.
A moving vehicle is provided. Two drive vehicles have less equipment
Both are provided at positions separated in the second direction. Two drives
Even if the cars are located at the same position in the first direction,
May be provided at a distance from each other, but with respect to the second direction.
The second movement if they are not
Can the body be moved in both the first and second directions?
It is. At least one moving body side is provided for the first moving body.
A driven vehicle is provided. The driven vehicle on the moving body side is
And one for each driven vehicle on the main body side, for a total of four
Although it is desirable to provide it,
Can be two or one as explained
It is. These driving vehicle, main body driven vehicle and moving body side
A winding body is wound around the driven vehicle. The first mobile
The driving force of the power source is transmitted through these multiple vehicles and
Is reached and moved in the first direction. The second mobile is linked
It is linked to the winding body by the device and
Is moved in the second direction. The second mobile is
A drive provided on the first moving body, as in a moving device
It is not moved by the driving force of the source
You. As described above, in the mobile device described in this section,
Even if a driving source is not provided for one mobile, the second mobile
The moving body can be relatively moved in the second direction.
Therefore, as the first mobile unit moves,
A table for supplying energy to the
The hose can be prevented from being dragged. Ma
Also, when using moving equipment, cables and hoses
It is easy to use because it does not occur. further,
A driving force transmission device that transmits the driving force of the driving source
And a wound body, so that a ball screw device is included.
It can be manufactured at a lower cost than a driving force transmission device.
Wear. The winding body has portions extending in the first direction parallel to each other.
Because it is wound in the state, the first direction of the first moving body
Wrapping body is loosened or stretched with the movement of
Is avoided. For example, a driving car and a driven car
Is provided at a distance in the first direction of the device body
Is the portion of the winding body between the driving wheel and the driven
Part), the part between the driving vehicle and the driven vehicle
Part), the part between the main unit side driven vehicle and the mobile unit side driven vehicle
(Third part) is parallel to the first direction. Of the first mobile
With the movement in the first direction, the length of the second part of the
While the third part is shorter but the second part is longer
And the amount of shortening of the third part is the same. for that reason,
Wound body loosened as first moving body moved in first direction
It is not stretched. First transfer
Similarly, when the second part is shortened with the movement of the moving body,
The amount of shortening of the second part is the same as the amount of lengthening of the third part
, So that the wound body is loosened or stretched
Never. In addition, as a winding body, a flat belt, a V bell
Belts, such as toothed belts (timing belts),
Wires, chains, etc. can be used.
The driven vehicle, the driven vehicle on the main body side, the driven vehicle on the moving body side are flat pulleys, V
Pulleys such as pulleys and timing pulleys, sprockets, etc.
It is said. The driven vehicle is driven to rotate by the drive source.
However, it is driven directly by the drive source.
Or indirectly driven by rotation
No. As an example of direct rotation drive, the drive vehicle
Fixed to the output shaft of the electric motor as a power source so that it cannot rotate relatively
May be done. Driving vehicles depend on the rotational speed of the electric motor.
Rotated at the same speed. Indirectly driven rotation
As an example, the output shaft of the electric motor is
May be connected via a speed controller. Speed of driving car
The degree must be different from the rotation speed of the electric motor.
Can be. (2) The movable body side driven vehicle is attached to the first movable body
At least two units that are separated in two directions
The moving device according to item (1), characterized in that: An example
For example, if the first mobile is long in the second direction,
Two mobile-side driven vehicles are provided separated by a second direction.
For example, one set of each of the driving vehicle and the main body-side driven vehicle is separated in the second direction.
First movement that can be provided
The body can be driven near both longitudinal ends. No.
The first moving body, which is long in two directions, has a gap near both ends in the longitudinal direction.
Guides are often guided by the
It can be driven, and the first mobile
And the frictional resistance of the guide increases (slip
Avoids not only in the case of friction but also in the case of rolling friction)
be able to. Also, below the first moving body that is long in the second direction
Work is performed by the work tool attached to the second mobile unit.
The work to be performed and its supporting devices are arranged
In many cases, these work objects and supporting devices
Can be easily avoided. Two mobile servants
The vehicles move in the second direction at the same position in the first direction.
It is desirable, but not essential, to provide
No. (3) The cooperative device is provided between the two mobile-side driven vehicles.
The moving device according to item (2) provided (claim 3). second
Two mobile-side driven vehicles provided in a state separated in the direction
If a coordination device is provided between
It becomes easy to move. (4) the cooperation device is configured to move the two moving bodies of the winding body;
The portion between the side driven vehicles is directly engaged with the second moving body.
The moving device according to the above mode (3), which is an engaging device to be engaged. Winding body
The portion between the two mobile side driven vehicles is directly connected to the second mobile body.
The second moving device with the movement of the winding body
Can be moved. The engagement device is, for example, a second transfer.
The same speed type that moves the moving body at the same speed as the moving speed of the winding body
Use an engaging device or at a speed different from the moving speed of the
Or a variable speed engagement device that can be moved.
The same-speed type engagement device, for example, moves the winding body relative to the second moving body.
It can be a connecting device that is immovably connected, and it is a variable speed type
The engagement device, for example, reduces the moving speed of the winding body or
It is possible to use a transmission that increases the speed and transmits it to the second moving body.
Wear. (5) The second moving body is the moving body of the first moving body.
The first direction from the portion where the side driven vehicle is provided and
It is provided in a portion separated in a third direction perpendicular to the second direction,
The cooperation device is configured to control the second moving body side driven vehicle from the two moving body side driven vehicles.
It is installed at three positions separated from each other,
Two second moving bodies that are rotated as each car rotates
Between the two driven vehicles and the second driven vehicle
The hung body for the second moving body and the winding for the second moving body
And an engaging device for engaging the second moving body with the hanging body.
The mobile device according to item (3), which is an indirect linking device. First move
The body has a thickness in a third direction perpendicular to the first and second directions.
And a second moving body is provided.
Part in the third direction and the part around which the
If it is, move the winding body directly to the second moving body.
Is difficult to communicate In contrast, this section
According to the indirect linking device described in the above, the winding body is wound around the second moving body.
Movement can be transmitted well. For indirectly linked devices
In this case, the second driven body driven vehicle
Anything that can be rotated along with it, driven by the moving body
Even if it can be rotated at the same peripheral speed as the car,
It may be rotated at a certain speed. Engagement device
For the same speed type engagement as in the above (4).
The device may be a speed change type engagement device. (6) The two or more drive sources are two electric motors.
The two driving wheels are of the same size,
The two driving sources are substantially mutually connected to the corresponding driving vehicles.
Connected by the same connecting device, and
The control device (a) sets the two electric motors to the same
By rotating at the same speed in the direction, the first movement
The second moving body is moved to the first moving body while the body is kept stationary.
A second direction movement state for moving in the second direction with respect to
And (b) connecting the two electric motors in different directions from each other.
The first moving of the second moving body by rotating at one speed
The first mobile unit is kept relatively stationary with respect to the body
Moved in the first direction with respect to the device main body, the second
The first one that moves the moving body in the first direction with respect to the device body
And (c) the rotational speeds of the two electric motors.
By making them different from each other, the first mobile unit
And move the second moving body to the first direction.
Move the mobile unit in the second direction to mount the second mobile unit.
The component in the first direction and the component in the second direction
It can be operated in the tilt direction moving state to move in the tilt direction
Any of paragraphs (1) to (5), including
A mobile device according to any one of the preceding claims. Above "substantially the same connection equipment
The setting means a connection device that transmits the rotation as it is,
Kinematically the same as a transmission with the same ratio
The connection device only needs to be the same, up to the shape and dimensions
There is no. Two electric motors have the same speed
If the vehicle is rotated in the same direction at
All vehicles of the driven vehicle are rotated in the same direction.
You. The distance between the driven vehicle and the driven vehicle
The distance between the moving vehicle and the driven vehicle is invariable,
The moving body is not moved in the first direction,
The second mobile unit moves with respect to the first mobile unit
Are moved relative to each other. The second mobile unit is
To be relatively moved in the second direction. Two electric
If the motors are rotated at the same speed but in different directions,
The distance between the driven vehicle and the driven vehicle changes, and vice versa.
The distance between the driven vehicle on the moving object side and the driven vehicle on the
The distance changes, and the first moving body moves in the first direction
Relative movement. The second mobile is relative to the first mobile
The second mobile unit does not move
It will be moved in the first direction. Two electric motors
If the motors are rotated at different speeds from each other,
Movement occurs at the same time, and the first mobile unit and the second mobile unit move together.
Be moved. The second mobile unit is moved first with respect to the main unit.
While being moved in the first direction with the moving object, the first moving object
Is moved in the second direction.
The moving body moves in the first direction component and the second direction
Is moved in the inclination direction including the component (1).
The moving direction of the second moving body is the rotating direction of the two electric motors.
And by controlling the rotation speed in various ways,
Can be changed. One of the two electric motors
Stopping is also one of the operation modes. This section
In the moving device described in the above, each driving vehicle has the same diameter as each other
And at the same speed as the rotation speed of the electric motor.
Speed that is rotated or shifted (similarly) at the same rate
Can be rotated in degrees.
And the control of the electric motor becomes simple.
There are advantages. However, this is inconvenient for practicing the present invention.
Not indispensable. If the diameter and rotation angular speed of the driving car are different from each other
The electric motor can be controlled as described in the next section.
For example, the same movements as the movement device described in this section can be performed for the first and second movement
It can be a moving device. (7) The two driving sources are electric motors, respectively.
The movement control device includes: (a) the two electric motors
The rotation direction and the peripheral speed of the two driving wheels are the same.
By rotating the first moving body in a state where
With the stationary state, the second moving body is moved relative to the first moving body.
Moving in the second direction to move in the second direction, (b)
The two electric motors are respectively connected to the two driving vehicles.
Rotate in the condition that the rotation direction is reversed and the peripheral speed is the same.
With this, the second moving body is relatively static with respect to the first moving body.
Hold the first mobile unit against the main unit while
By moving in the first direction, the second moving body is
Moving in the first direction to move in the first direction, and (c) before
The two electric motors are respectively connected to the periphery of the two driving vehicles.
Rotating with different speeds
Moves the first moving body in the first direction with respect to the device main body.
And move the second mobile unit to the first mobile unit in the second direction.
To move the second mobile unit to the
Moving in the tilt direction including the direction component and the second direction component.
Electric motor control means for controlling the state of movement in the inclined direction.
The mobile equipment described in any one of paragraphs (1) to (5)
(Claim 4). In the mobile device described in this section, 2
It is also possible to use the same size
It is not necessary to make the transmission ratio of the
Not indispensable. (8) The movement control device is the device of the second moving body.
Determine the position in the first and second directions with respect to the main body.
Including the position acquisition device to obtain,
Based on the acquired position of the second moving body, the two
(1)
The moving device according to any one of the above items (7). Position acquisition device
Is, for example, the actual
Includes a position detection device that detects the position or drives
A drive source operating state detector that detects the operating state of the power source is included.
The position of the second mobile unit based on the operating state of the drive source.
Can be estimated. Position detection device
The position of the second mobile unit is detected optically, electrically, and magnetically.
It can be a linear scale or the like. Drive source
The motion state detection device is used when the drive source is an electric motor.
Is an encoder or the like that detects the rotational position of the electric motor.
Can be In addition, the position acquisition device is
If included, the winding body shall be a wire, flat belt, etc.
Can be The actual position of the second moving object can be detected
If there is, the wrapping body does not slip between the driving car
You don't have to. Position acquisition device operates as drive source
If it includes a state detection device, the winding body should be a toothed base.
It is desirable to use a belt, chain, etc. Wrapping body and drive
If there is a slip with the car, adjust the position of the second
This is because it cannot be estimated. (9) An electric component holder, an imaging device, and an
And at least one of the adhesive dispensers are attached
The mobile equipment described in any one of paragraphs (1) to (8)
Place. Electrical component holders are used to mount electrical components
For the purpose of holding, for example, the electric part by negative pressure
A suction tool that sucks and holds the product is preferable. Electrical parts
If the holder is attached to the second moving body, the first direction and the second
Move to any position in the direction
Can be mounted on a substrate supported by a substrate support device.
it can. The imaging device is, for example, a positioning device provided on a substrate.
Mark or screen (or screen holder)
This is an apparatus for imaging a positioning mark or the like provided.
Set the imaging device on a substrate or screen
To the specified position and image the positioning mark.
Because Predetermined with the actual position of the positioning mark
The position of the substrate or screen according to the deviation from the
Adjust or adjust the electrical component holder or the adhesive
The position of the spencer can be adjusted. Adhesive material
A penser is a device that applies an adhesive to a substrate. On board
Is moved to a predetermined position, and the adhesive is applied.
You. Electrical component holder, imaging device, adhesive dispenser, etc.
If two or more are attached to the second moving member, they correspond to each
Eliminates the need for mobile devices
Down can be planned. In addition, electric parts holder,
The imaging device, adhesive dispenser, etc.
The first and second moving members
Third movement mounted movably in the third direction perpendicular to the direction
Relative movement via member or other moving member
It may be attached to Noh. (10) an apparatus body, a first drive source and a second drive source,
The output members of the first and second drive sources, the first and second
The movement of the output member can be moved relative to the device body
And a rotatable support relative to the mobile
A motion transmitting device for transmitting to the held rotating body;
By controlling the first and second drive sources,
A motion control device for controlling movement and rotation of the rotating body;
An exercise device comprising: wherein the first and second drive sources are
Fixedly provided on the device body, and
Delivery device, (a) at least the moving body of the device body
It is provided at a position separated in a direction orthogonal to the direction of movement of
Rotated by the first and second drive sources, respectively
The two driving vehicles and (b) the driving vehicle
A main body side driven vehicle provided in the main body, and (c) the moving body
At least one moving body side driven vehicle provided in the
(D) Drive vehicle, driven vehicle on the main body side, and driven vehicle on the moving body side
A portion of the vehicle that extends in a direction parallel to a moving direction of the moving body;
Are wound in parallel with each other to drive the driving vehicle.
(E) a winding body for moving the moving body with rotation;
The rotating body is linked to the rotating body, and the rotating body is moved to the moving body.
Exercise device including a cooperative device that rotates relative to the
Claim 5). In the exercise device described in this section, item (2)
The features described in paragraph (9) can be applied. example
If the features described in paragraph (7) are applied,
Is that each of the two driving sources is an electric motor, and (a) 2
Each of the two electric motors
By rotating at the same peripheral speed,
Keep the moving body stationary and move the rotating body to the moving body.
(B) two electric motors
In each case, the two drive wheels rotate in opposite directions and have the same peripheral speed
The moving body is rotated by rotating
In the first direction with respect to the main body.
(C) two electric motors
The two motors have different peripheral speeds from each other.
By moving the moving body in a
Move the rotating body with the main body in the first direction.
Rotate the rotating body with respect to the
Move / rotate state to move and rotate in one direction
And the electric motor control means operable.
In addition, even if the rotating body is the final moving member,
May be supported. For example,
When the rotating head is attached to the rotating body,
It may be rotated directly by rolling,
The motion is converted by a motion converter into a linear motion (eg, vertical
Motion in a direction perpendicular to the first direction)
A moving object other than the moving object
The mounting head, etc. held by the moving object may be moved.
No. (11) a first member and a fixed member provided on the first member.
The first and second drive sources and the first and second drive sources.
The movement of the output member of the power source can be moved relative to the first member.
The second member supported by the and the second member can move relative to it
The third member supported by the second member and the third member
Mechanical motion transmission device that transmits mechanically while allowing paired motion
And by controlling the first and second drive sources,
Relative movement of the second and third members with respect to the first member.
An exercise device including a motion control device for controlling (claim 6).
The first member is desirably provided in a stationary state.
But, for example, even if it moves slowly in the horizontal direction
Good. Specifically, a stationary member provided with the first member stationary
It is supported by a member so as to be relatively movable, and a driving source is
Are provided, and energy is supplied to these drive sources.
Signal transmission means for transmitting signals from the
It may be provided on the stop member. Even in that case, the first member
The movement pulls the cable connected to the first member, etc.
If it is a movement that does not hinder the movement, there is no problem.
It is. In the exercise equipment described in this section, two or more
The second and third members may be controlled together by the above drive source.
At least one member is controlled by one drive source
And the other member is controlled by two or more drive sources
Is also good. (12) The first member (514) and the first member (514)
A second member (506) supported so as to be able to move, and a second part thereof
A third member (508; 62) movably supported by the material (506).
0) and a first member fixedly provided on the first member (514).
A drive source (510) and a first output member of the first drive source (510)
(518) is mechanically transmitted to the second member (506).
Fixed to the first motion transmission device (528) and the first member (514)
A second drive source (512), and a second drive source (5
12) of the second output member (532) and the first output member (518)
The third member (508; 620) mechanically transmits the movement of the third member (508; 620).
Two motion transmission device (552) and the third member (508; 620),
The same movement as the second member (506) and the movement of the second member (506)
I will do an exercise equivalent to the sum of an exercise different from exercise
Thus, the second drive source (512) is referred to as the first drive source (510).
Exercise device (500) including related control device (70) for related control
(Claim 7). For example, the second member is
Moveable with respect to the third member relative to the second member
If possible, the third member can be moved in two directions with respect to the first member.
It is possible to perform movement combining motions, and the second member and the
One of the three members can be moved and the other can be rotated
If so, the third member is moved with respect to the first member.
It is possible to perform a movement in combination with rotation. Further
The second member is relatively rotatable with respect to the first member;
If the third member can be rotated relative to the second member,
The third member revolves with respect to the first member while rotating, for example.
It is possible to do. In the exercise device described in this section
The movement of the second member is controlled by the first drive source, and the third
The movement of the member is controlled by the first drive source and the second drive source
You. The first motion transmission device and the second motion transmission device are independent of each other.
Are provided upright, each having a second member and a third member.
The movement of the output member of each drive source is transmitted to either
Each of the two motion transmission devices
Member on the side that is not the transmitting member (referred to as non-compliant member)
Movement can be allowed. Paraphrase
Non-compliant in cooperation with at least one of the two driving sources
To be able to absorb the effects of the movement of the members.
It is. The related control device is composed of one control device.
Each part of the control device separates the first drive source and the second drive source
It is desirable to control each, but the first and second
A control device is provided for each of the two drive sources.
Control devices control the first and second drive sources in relation to each other.
You may be made to. (13) The first member and the first member are supported to be relatively movable.
And a second member supported by the second member so that the second member can move relative to the second member.
A third member held, and fixedly provided to the first member.
Motion of the first drive source and the first output member of the first drive source
Motion transmission device for mechanically transmitting pressure to the second member
And a second drive source fixedly provided on the first member,
Movement of the second output member of the second drive source to the third member
A second motion transmission device for mechanically transmitting, and the third member
The same movement as the second member and the movement of the second member
So as to perform an exercise equivalent to the sum of different exercises
Related control for controlling the second drive source in relation to the first drive source
Exercise device including the device. In the exercise device described in this section
Is a first drive source in which the second member and the third member are independent of each other.
And a second drive source respectively. Relation
The control device controls the first drive source and the second drive source respectively
It is desirable to detect the movement of the second member, for example.
And a second drive based on the detection result.
The source may be relatedly controlled. (14) relative to the first member (514) and the first member (514);
A second member (506) movably supported, and the second member
(506) a third member (508; 620) supported for relative movement
And a first drive source (5) fixedly provided on the first member (514).
10) and the second drive source (512) and the first drive source (510).
The first driving wheel (518) that is rotationally driven and the first member (51)
4) Wrap around the first driven wheel (524) fixedly mounted on
The second member as the first drive wheel (518) rotates.
(506) to move the first winding body (502) and the second drive
A second drive vehicle (532), which is rotationally driven by a source (512);
Provided on the second member (506) so as to be relatively immovable and relatively rotatable
Second driven rotor (534,536,538,540; 602,604,606,6
08,610,612,614,616) and the third member (508; 620).
Third driven rotating body provided immovably and relatively rotatable
(546,548; 622,624) and the second drive train (53
2) The third member (508; 620) is moved with the rotation of 2).
A second wound body (504) and the first member (514).
Restraining the second winding body (504) under certain conditions.
The member (518) and the third member (508; 620) have the second part
The movement of the material (506) is different from the movement of its second member (506).
The exercise corresponding to the sum of the exercise
The second drive source (512) is controlled in association with the first drive source (510).
Exercise device, including an associated control device (70). The luck described in this section
In the driving device, the first driving vehicle, the first driven vehicle, and the first
The body cooperates with each other to form the aforementioned “first motion transmission device”.
And the second driving wheel, the second winding body, and the restraining member are mutually shared.
Similarly, a "second motion transmission device" is configured. Restraint member
Is, for example, a first drive that is rotationally driven by a first drive source.
It may be a car or a fixed body that keeps the wound body immovable
It may be a member, with the second drive vehicle sandwiching the third member
Extends the second winding on the opposite side parallel to the first
And the second drive vehicle.
Prevents the second winding body from moving freely due to the rotation of
Anything can be used. (15) The second member is opposed to the first member in a first direction.
A movable body movably provided, wherein the first output unit
Material as the first driving wheel and the second output member
A second driving vehicle separated from the first driving vehicle in the first direction;
The first motion transmission device is provided on one member, and the first motion transmission device is the first motion transmission device.
A driving vehicle, and a first driving member corresponding to the driving vehicle.
The driven first member side driven vehicle, the first driven vehicle and
A first winding body wound around the first member side driven wheel.
Only, the second motion transmission device, the first drive vehicle, the
A second drive vehicle, and a plurality of immovable members provided on the second member.
And the third member is immovably mounted on the third member.
At least one third member driven vehicle, and
And the second winding body wound around the
Motion device. In the exercise device described in this section, two drives
The sources are spaced apart in the first direction and the two
The part that is wound around the driving car and extends in the first direction is shaped
And the second member-side driven vehicle and the third member-side driven
A portion extending in the second direction is formed by the vehicle. (16)
The exercise devices described in the paragraphs and (17) are examples of each. this child
With this, the second wrapper moves the third member in the first direction.
Allow and transmit the driving force of the first and second drive sources
Accordingly, the movement of the third member can be controlled. (16) The third member is directly connected to the second member in the first direction.
Movably provided in a second direction intersecting the at least
One third member side driven wheel is separated from the third member in the second direction.
Provided only in two portions, and the second winding body is
Both the part extending in one direction and the part extending in the second direction
The exercise device according to (15), comprising: Exercise equipment described in this section
The second member side driven wheel and the third member side driven wheel
Are cooperating with each other to extend the portion of the second winding body in the second direction.
And the driven vehicles are moved relative to each other.
Accordingly, the third member is moved with respect to the second member. second
The portions where the winding body extends in the first direction and the second direction respectively
Allow the third member to move in the first direction.
Can be. (17) The plurality of driven members on the second member side are an even number of driven vehicles.
Wherein the second wound body extends in a first direction and a second direction.
At least two sets of driven vehicles to be controlled
A second winding body provided at two portions of the material separated in the second direction
Defines the length of the part extending parallel to the second direction
And at least one third vehicle
A member-side driven vehicle is separated into two portions in the second direction of the third member.
The exercise device according to item (15), which is provided for each of the minutes.
In the exercise device described in the preceding paragraph, the movement range of the third member
Is the distance between the two third member-side driven wheels provided on the third member
Required for the installation of exercise equipment.
The third member at least in the second direction.
Approximately twice the distance between the side driven vehicles. In contrast, this section
In the exercise device described above, the movable range of the third member
Is the smallest member of the second member driven vehicle that is most separated in the second direction.
At least because of the distance between two sets of driven vehicles,
Although the size of the two members in the second direction increases,
The area required for operation of the device is greater than that of the exercise device
Small enough. Furthermore, it is possible to reduce the size of the third member.
It will be easier. (18) The first wound body and the second wound body are the first wound body.
Provided in a third direction orthogonal to the first direction and the second direction
Exercise equipment according to any of (14) to (17)
Place. In the exercise device described in this section, the two winding bodies are
Since it is provided separated in the third direction, the second member and
The winding body is moved by the movement of the third member in the first and second directions.
Interference with each other can be easily avoided. (19) A fourth member movably supported by the third member.
Member, and a third drive source fixedly provided on the first member
And movement of the third output member of the third drive source in the fourth part.
A third motion transmitting device for mechanically transmitting the material, and the fourth part
In the material, the same movement as the third member and the movement of the third member
Is to perform an exercise equivalent to the sum of different exercises,
A first function for controlling the third drive source in relation to the second drive source;
A second related device separate from the related control device as a linked control device
The exercise device according to (12), including a control device. The third member is
Multiple objects that can move in one direction but cross each other
It can be movable in the direction or it can be rotated
No. The features described in this section apply to the exercise equipment described in (1) and (10).
Can also be applied. In such a case, the items (1) and (10)
The “device main body” in the above becomes the “first member” in the paragraph (12).
Corresponding, the first moving body or moving body corresponds to the "second member"
And the second moving body or the rotating body corresponds to the "third member",
If the movement control device or motion control device
”. The same applies to paragraphs (14) and (15).
is there. The first related control device and the second related control device are one
The control device may be composed of different parts,
It may be a control device. In the embodiment described in this section,
Three driving sources are provided independently of the other driving sources, and the fourth member is
Moved by the third drive source, the fourth member
For example, the second drive source and the third drive source cooperate with each other
The exercise may be controlled. In that case, the first drive
The motion source independently moves the second member. (20) A stationary member in which the first member is immovably provided.
Wherein the second member is aligned with the stationary member.
An X-axis movable body movable in a parallel X-axis direction,
The three members are orthogonal to the X-axis direction with respect to the X-axis moving body.
A Y-axis movable body movable in the Y-axis direction,
The material is perpendicular to the X and Y axes with respect to the Y axis moving body.
Item (19) that is a Z-axis direction movable body that can move in the Z-axis direction
An exercise device according to claim 1. The Z-axis direction moving body is, for example, a third part.
The rotating body that is rotated relative to the material, and the rotating body
A conversion mechanism for converting the rotary motion into the Z-axis direction movement.
It can be moved axially. (21) A stationary member in which the first member is immovably provided.
Wherein the second member is aligned with the stationary member.
An X-axis movable body movable in a parallel X-axis direction,
The three members are orthogonal to the X-axis direction with respect to the X-axis moving body.
A Y-axis movable body movable in the Y-axis direction,
The material is a rotating body that can rotate relative to the Y-axis moving body.
The exercise device according to item (19). (22) The stationary member and the stationary member are supported to be relatively movable.
Between the moving body and the stationary member
A moving body for moving the moving body relative to the stationary member.
Moving device and the moving body, relative rotation with respect to the moving body
A rotator supported so as to be movable and relatively immovable;
The drive source provided on the member and the operation of the output member of the drive source
Movement to the rotating body, relative to the stationary member of the moving body
A motion transmitting device for transmitting while allowing relative movement;
Relative motion of the moving body with respect to the stationary member
And the relative rotation of the rotating body with respect to the moving body
The drive source is associated with the moving device so as to perform a movement.
Exercise device including a related control device for continuous control (claim
8). The moving body can move in one direction with respect to the stationary member.
It can be moved in multiple directions crossing each other
Is also good. In the latter case, move the moving object in one direction.
The moving device to be moved shall be the moving device according to the present invention.
Is preferred but not essential and can operate independently of each other
It is possible to include multiple mobile devices
You. Also in this section, the rotating body is the final moving member.
Or by changing the motion of the rotating body,
A moving member for movement may be provided. The luck described in this section
According to the moving device, it is possible to control both movement and rotation.
it can. (23) A stationary member and a support for the relative movement of the stationary member.
Supported by the moving object and the moving object
Moving body, and a first fixedly provided to the stationary member.
Relative to the driving rotator and the second driving rotator,
A plurality of moving bodies that are immovable and relatively rotatable
A driven rotating body, and at least one provided on the moving body
And the first and second driving rotators,
The plurality of movable body-side driven rotating bodies and the at least one
The two rotating bodies on the moving body side without looseness and
Movement of a moving body with respect to the stationary member and movement of the moving body
1 wrapped in a state that allows movement with respect to the moving body
Peripheral winding body, the first drive rotating body and the second drive rotation
A first drive source and a second drive source that rotate the body independently
Drive source and the first drive source and the second drive source
Control of the moving body with respect to the stationary member.
Arbitrary movement and movement of the moving body with respect to the moving body
And a control device which can be controlled.
Of the configuration described in this section,
The sign is the second winding body in the exercise device described in paragraph (15).
Can also be applied. Specifically, for example,
The winding body is a first or second drive as a first or second drive rotating body.
The vehicle and the second member side as a plurality of moving body side driven rotating bodies
A driven vehicle and at least one moving body side driven vehicle
The three-member driven vehicle does not loosen, and the moving member second member
Movement of the first member and movement of the third member relative to the second member
And the relevant control device
By controlling the first and second drive sources,
The movement with respect to the second member can be arbitrarily controlled.
You can do it. When the second winding body is separated in the first direction
Around the first and second driving vehicles
Has a portion that extends parallel to the first direction
Therefore, the first member of the second member can be
Can be allowed to move in the first direction. luck
The moving body moves in a direction different from the moving direction of the moving body.
It may be a moving body, a rotating body that rotates relative to the moving body
Is also good. Despite the movement or movement of moving or moving objects,
To prevent the winding body from loosening, for example,
The two rotating bodies wound around one another
(1) When the winding body is approaching or
Has a portion that extends parallel to the
When the direction of approach and separation is 2 or more,
(2) moving of the winding body
The part extending from the body in parallel to the moving direction of the moving body
Is even, and both sides of the moving object
You just need to make them the same. (24) The first member is a device body that does not move,
The second member moves relative to the apparatus body in a first direction.
A first movable body provided so that the third member is
Relative to one moving body in a second direction orthogonal to the first direction
A second movable body provided so as to be capable of being connected to the first drive source.
The second drive source is provided in the apparatus main body, and
The mechanical motion transmitting device may include (a) at least the device main body.
Is also provided at a position separated in the second direction,
Rotated by each of the two drive sources provided on the body
Two driven vehicles to be driven and (b) corresponding to each driven vehicle
A main body-side driven vehicle provided in the apparatus main body in a state,
At least one moving body side driven provided on the first moving body
A vehicle, and (d) the driving vehicle, the driven vehicle,
In the driven vehicle, the portions extending in the first direction are parallel to each other.
And the first with the driving rotation of the driving wheel
A winding body for moving the moving body in the first direction, and (e) the winding body
The second mobile object in association with the second mobile object,
The operation described in (11) including a coordination device that moves in two directions.
Motion device. (25) The mechanical motion transmission device is provided with the first drive source (5
10) The first driving wheel (518) rotated by
First follower immovably and rotatably mounted on material (514)
It is wound around the car (524) and rotates the first drive car (518).
To move the second member (506).
2) and a second driving source (512) that is rotationally driven.
The two-wheel drive vehicle (532) and the second member
A plurality of second driven wheels (534,536,53
8,540; 602,604,606,608,610,612,614,616)
A complex provided on three members so as to be relatively immovable and relatively rotatable
Wrapped around a number of third driven vehicles (546,548; 622,624),
As the second driving wheel (532) rotates, the third member (508; 62)
0), and the first member (51)
4) The second winding body (504) is provided under a certain condition.
And a restraint member (518) restrained by the movement control.
The control device attaches the second member (5) to the third member (508; 620).
06) is different from the movement of its second member (506)
In order to perform an exercise corresponding to the sum of the exercise and the
A function for controlling the drive source (512) in relation to the first drive source (510).
The exercise device according to the mode (11), including the continuous control unit (70). (26) The first member is a stationary member, and the second member is
Is a moving body supported movably relative to the stationary member.
Whether the third member is rotatable relative to the moving body.
A rotating body supported so as to be relatively immovable,
A motion transmitting device, (a) between the stationary member and the moving body;
A movement of the output member of the first drive source
To move the moving body relative to the stationary member
(B) operating the output member of the second drive source;
Movement to the rotating body, relative to the stationary member of the moving body
A second motion transmission device that transmits while permitting relative movement.
Only, the motion control device may
Relative movement with respect to the stationary member and rotation with respect to the moving body
In order to perform a motion equivalent to the sum of the relative rotation of the body,
A related control for controlling the second drive source in relation to the first drive source;
The exercise apparatus according to item (11), including the control unit.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a moving device according to an embodiment of the present invention will be described in detail with reference to the drawings. In FIG. 1, reference numeral 10 denotes an apparatus main body;
Is a drive motor as a drive source provided in. The upper surface of the apparatus main body 10 is an X-Y plane, and in the present embodiment, the first direction is the Y-axis direction, and the second direction is the X-axis direction.
Axial direction. The drive motors 12 and 14 are rotatable in both forward and reverse directions, and are provided apart from each other in the X-axis direction of the apparatus main body 10. Drive motors 12, 14
Drive wheels 16 and 18 are attached to the output shaft of the motor so that they cannot rotate relative to each other, and are rotated with the drive rotation of the drive motors 12 and 14. A drive vehicle 16,
Driven vehicles 20, 22 are provided in a state corresponding to 18, respectively. The drive vehicle 16 and the driven vehicle 20 face each other, and the drive vehicle 18 and the driven vehicle 22 face each other. These driving vehicles 16 and 18 and driven vehicles 20 and
22 is a Z orthogonal to the X-axis direction and the Y-axis direction, respectively.
It is provided so as to be rotatable about an axis, and in the present embodiment, the respective diameters are the same. In addition, the driven vehicles 20 and 22 provided in the apparatus main body 10 are referred to as a main body driven vehicle.

[0006] In the apparatus main body 10, a first moving body 30 is provided.
The first moving body 3 is provided so as to be relatively movable in the axial direction.
At 0, a second moving body 32 is attached so as to be relatively movable in the X-axis direction. Four driven wheels 34, 35, 36, and 37 are provided on the first moving body 30 so as to be relatively rotatable around the Z axis. Driven vehicle 34 provided on first moving body 30
To 37 are hereinafter referred to as a moving body side driven vehicle. The second moving body 32 is provided with a mounting portion for mounting an electric component holder (not shown), and the present moving device can be used as an electric component holder moving device. In the present embodiment, as shown in FIG. 1, the driving wheels 16 and 18, the main body-side driven vehicles 20 and 22, and the moving body-side driven vehicles 34 to 37 include
A flat belt 40 as a winding body is wound. The driving wheels 16, 18 and the main body driven wheels 20, 22 are wound around the moving body side driven wheels 34 to 37, respectively. There is no possibility that the two driving wheels 16 and 18 are wound adjacent to each other or that the two main body driven wheels 20 and 22 are wound adjacent to each other. The portions of the flat belt 40 extending in the Y-axis direction are parallel to each other. That is, the flat belt 40
A portion 42 between the driving wheel 16 and the main body side driven vehicle 20;
A portion 44 between the drive vehicle 16 and the mobile-side driven vehicle 34;
Portion 4 between main body side driven vehicle 20 and moving body side driven vehicle 36
6 are parallel to the Y-axis direction. Similarly, on the driving vehicle 18 side, a portion 52 between the driving vehicle 18 and the main body side driven vehicle 22, a portion 54 between the driving vehicle 18 and the moving body side driven vehicle 35, and The portion 56 between the vehicle and the body-side driven vehicle 37 is parallel to the Y-axis direction. In the present embodiment, the driving wheels 16, 18,
Main-body-side driven vehicles 20 and 22, mobile-body-side driven vehicles 34 to 37
Are flat pulleys corresponding to the flat belt 40.

Further, the flat belt 40 is wound around the two movable body driven wheels 34 and 35 and the movable body driven wheels 36 and 37 which are adjacent to each other at a distance in the X-axis direction. And has a portion extending to the end. Further, the first moving body 30 includes the moving body-side driven vehicle 3
Since the first moving body 30 is long in the second direction because the first moving body 30 is long in the second direction, the first moving body 30 is located near both ends in the longitudinal direction. It can be driven and can be accurately moved along the first direction. A connecting device 62 as a cooperating device that engages the second moving body 32 so as to be relatively immovable is provided on a portion 60 of the flat belt 40 extending in the X-axis direction. When the second moving body 32 is fixed to the flat belt 40 by the connecting device 62, the second moving body 32 is moved in the second direction as the flat belt 40 moves. Also,
The moving speed of the second moving body 32 is the same as the moving speed of the flat belt 40. The coupling device 62 is an example of the same speed type engagement device.

The drive motors 12 and 14 are connected to a control device 70 via drive circuits 72 and 74, respectively.
The input unit of the control device 70 includes a position detection device 7 that detects the position of the second moving body 32 in the X-axis direction and the Y-axis direction, respectively.
6 and 78 are connected, and the drive motors 12 and 14 are controlled based on the position of the second moving body 32 detected by the position detection devices 76 and 78. The position detecting device 76 is a linear scale such as a magnescale for detecting a relative position of the first moving body 30 with respect to the stationary member 10, and the position detecting device 78 is a similar linear scale and the second moving relative to the first moving member 30. It detects the relative position of the member 32. From the detection results of the position detection devices 76 and 78, the positions of the second moving body 32 in the X-axis direction and the Y-axis direction can be known. Hereinafter, control of the drive motors 12 and 14 will be described. As described above, the driving wheels 16 and 18 have the same diameter, and are attached to the output shafts of the driving motors 12 and 14 so that they cannot rotate relative to each other. Therefore, the driving vehicle 1
6 and 18 are rotated in the same direction at the same speed as the rotation speeds of the drive motors 12 and 14. By controlling the rotation speed of the drive motors 12, 14, the drive wheels 16, 1 are controlled.
8 is controlled.

As shown in FIG. 1, drive motors 12, 14
Are rotated in the same direction at the same speed, the driving wheels 16 and 18, the main body driven wheels 20 and 22, and the moving body driven wheels 34 to 37 are all rotated in the same direction. The distance between the moving body-side driven wheels 34, 35 and the driving wheels 16, 18, and the moving body-side driven wheels 36, 37 and the main body-side driven vehicle 2
The distances to the first mobile unit 30 and the first mobile unit 30 are constant.
Is not moved in the Y-axis direction, and the second moving body 32 is moved by the first moving body 3 with the movement of the winding body 40 in the X-axis direction.
It is moved relative to 0 in the X-axis direction. The second moving body 32 is moved relative to the apparatus main body 10 in the X-axis direction. If the two drive motors 12, 14 are driven in the left direction L at the same speed, the drive wheels 16, 18 are both driven to rotate in the left direction L at the same speed. The flat belt 40 is moved in the direction of arrow P, and the second moving body 3 is accordingly moved.
2 is moved in the P direction. Conversely, drive motor 1
When both 2 and 14 are rotated clockwise R, the second moving body 32 is also moved in the Q direction.

As shown in FIG. 2, two drive motors 1
If the motors 2 and 14 are rotated in the different directions at the same speed, the distance between the mobile-side driven wheels 34 and 35 and the drive wheels 16 and 18 changes, and the distance between the mobile-side driven wheels 34 and 35 and the mobile-side driven wheels in the opposite direction by the same amount. The distance between the wheels 36 and 37 and the driven wheels 20 and 22 changes, and the first moving body 30 moves in the Y-axis direction.
Is moved relative to. The second mobile unit 32 does not move with respect to the first mobile unit 30, and the second mobile unit 32
Is moved in the first direction with respect to the apparatus main body 10. In this case, since the portions 42, 44, 46, 52, 54, 56 of the flat belt 40 extending in the Y-axis direction are in parallel with each other, the movement of the first moving body 30 in the first direction is performed. Accordingly, the flat belt 40 is prevented from being loosened or stretched.

At the same speed, when the drive motor 12 is rotated clockwise R and the drive motor 14 is rotated counterclockwise L, the drive wheel 16 is driven to rotate rightward R and the drive wheel 18 is rotated.
Is driven to rotate leftward L, and the first moving body 30 is moved in the direction of arrow F. Conversely, when the drive motor 12 is rotated left L and the drive motor 14 is rotated right R, the first moving body 30 is moved in the direction of arrow B. When moved in the direction of arrow F, the portions 44 and 54 of the flat belt 40 are shortened, but the portions 46 and
56 becomes longer. Since the portion 44, 54 becomes shorter and the portion 46, 56 becomes longer, the flat belt 40 becomes loose with the movement of the first moving body 30 in the Y-axis direction. It is avoided that it is prolonged. The same applies to the case of moving in the direction of the arrow B, in which the portions 44 and 54 become longer and the portions 46 and 5 become longer.
6 is the same as the shortened part.

As shown in FIG. 3, two drive motors 1
If the two and 14 are rotated at different speeds, the two types of motions occur simultaneously, and the first moving body 30 and the second moving body 32 are moved together. The second moving body 32 is moved in the X-axis direction with respect to the first moving body 30 while being moved in the Y-axis direction together with the first moving body 30 with respect to the apparatus main body 10. The moving body 32 is moved relative to the apparatus main body 10 in a tilt direction including a component in the Y-axis direction and a component in the X-axis direction. Second mobile unit 3
The two movement directions can be variously changed by variously controlling the rotation direction and the rotation speed of the two electric motors. When the drive motor 12 is rotated clockwise R and the drive motor 14 is locked, the first moving body 30
Is moved in the direction of arrow F, and the second moving body 32 is moved in the direction of arrow Q with respect to the first moving body 30. As a result, the second moving body 32 is moved in the direction of the arrow M with respect to the apparatus main body 10. Drive motor 12
When the drive motor 14 is locked by being rotated leftward L, the first moving body 30 is moved in the direction of arrow B, and the second moving body 32 is moved with respect to the first moving body 30 by an arrow. P
Moved in the direction. As a result, the second moving body 32
It is moved in the direction of arrow N with respect to the apparatus main body 10. When moved in the directions of the arrows M and N, the ratio of the amount of movement in the Y-axis direction to the amount of movement in the X-axis direction is 2: 1.

As described above, in the present embodiment, the control of the two drive motors 12 and 14 allows the second movable body 32 to be controlled.
Can be moved to an arbitrary position in the X, Y plane with respect to the apparatus main body 10. The electric component holder and the like attached to the second movable body 32 can be moved to an arbitrary position in the X and Y planes. The second moving body 32 is movable in a moving area surrounded by a dashed line in the drawing. Further, since the drive motors 12 and 14 are provided in the apparatus main body 10 and are not provided in the moving body, the cables and the hoses (not shown) are moved along with the movement of the moving body as in the case of the conventional moving apparatus. A problem caused by dragging a cable or the like can be avoided. The cables and the like are prevented from disturbing the operator, and the usability is improved. Further, since there is no need to cover a cable or the like, the installation space can be reduced. Further, since the cables and the like do not break, the reliability and safety of the device can be improved, and the maintenance and inspection can be simplified.
Further, since the position detecting devices 76 and 78 are provided to detect the actual position of the second moving body 32, even if the winding body is the flat belt 40, the position of the second moving body 32 can be accurately determined. Can be well controlled.

In the above-described embodiment, the output shafts of the drive motors 12 and 14 are engaged with the main body wheels 16 and 18.
14, the drive motors 12, 14 are engaged with the main wheels 16 and 22, and the main wheels 18 and 2 are
Alternatively, the drive motors 12 and 14 can be engaged with zero. If the driving vehicle is provided in a state separated in the second direction,
They may be provided at diagonal positions. Further, it is not essential that the driving wheel is fixed to the output shafts of the driving motors 12 and 14 so as not to rotate relatively, and the driving wheel may be provided via a gear device or the like. In this case, the rotation speed of the drive motors 12 and 14 is changed and transmitted to the drive vehicle.

Further, in the above embodiment, the second movable body 32 is relatively movable in the X and Y planes. However, the apparatus main body 10 can be installed parallel to the X and Z planes, If it is installed parallel to the Z plane, the second moving body 32 is relatively moved in the X and Z planes,
It is possible to make a relative movement in the Z plane. Further, a timing belt, a chain, or the like may be used instead of the flat belt as the winding body, and the main body side vehicle and the moving body side driven vehicle are also shaped according to the shape of the winding body. With these timing belts and chains, the rotation of the drive motors 12 and 14 can be transmitted reliably. Therefore, instead of the linear scale, the drive motor 1
It is also possible to provide an encoder for detecting the rotation speeds of the second and the second moving bodies 32 based on the rotation speeds of the drive motors 12 and 14 detected by the encoders.

Further, the linking device is not limited to the connecting device 62, but may be of the type shown in FIG. The first moving body 100 has a thickness in a Z-axis direction orthogonal to the X-axis direction and the Y-axis direction, and the moving body-side driven wheels 34 to 3
In a case where the portion provided with 7 and the portion to which the second moving body 32 is attached are separated in the Z-axis direction, the second moving body 32 is connected to the second moving body 32 via the indirect linking device 104. The movement of the flat belt 40 is transmitted. The indirect coordination device 104 includes driven vehicles 106 and 108 for the second mobile object.
And transmission rods 110 and 11 for transmitting the rotation of the movable body side driven wheels 34 and 35 to the second movable body driven wheels 106 and 108.
2, a flat belt 114 as a looped body wound around second driven body driven wheels 106, 108, and flat belt 114
And a second engaging device (not shown) for engaging the second moving body 32. With the rotation of the movable body-side driven wheels 34, 35, the second movable body-side driven wheels 106, 108 are rotated, and accordingly, the flat belt 114 is moved, and the second movable body 32 is moved in the X-axis direction. . As described above, according to the indirect linking device 104, even when the second mobile unit 32 is provided at a portion separated from the mobile-side driven vehicles 34 and 35 in the Z-axis direction, the second mobile unit 32 can be connected to the X-axis. It can be moved axially.

In the above-described embodiment, the four movable body side driven wheels 34 to 37 are provided in the first movable body 30. However, it is not indispensable to provide four, and at least one provided. Examples are shown in FIGS. In the moving device shown in FIG. 5, one moving body-side driven vehicle 234 is provided on the first moving body 230, and the driving bodies 16, 18, the main body-side driven wheels 20 and 22, and the moving body-side driven wheel 234 are wound around the moving body 240. Is wrapped around. In addition, the mobile follower 2
34, an indirect linking device (not shown) is provided.
The movement of 40 is transmitted to the second moving body. Drive motor 1
If the second and the second are driven in the same direction and at the same speed, the mobile-side driven vehicle 234 is rotated, and the second mobile is moved in the X-axis direction via the indirect linking device. If the drive motors 12 and 14 are driven in the opposite direction at the same speed, the portion between the drive wheels 16 and 18 of the winding body 240 and the movable body side driven vehicle 234, the main body side driven wheels 20 and 22 and the movable body side driven wheel Since the length of one of the portion and the portion between the wheel 234 and the other becomes short, the first moving body 230 is moved in the Y-axis direction. When the drive motors 12 and 14 are driven at different speeds, the second moving body is moved in the tilt direction.

In the moving apparatus shown in FIG. 6, two moving body-side driven vehicles 3 separated in the X-axis direction are provided on a first moving body 330.
34 and 335 are provided, and a wrapping body 340 is wound around the movable body-side driven wheels 334 and 335 and the driving wheels 16 and 18 and the main body-side driven wheels 20 and 22 provided on the apparatus main body 10. A second moving body 332 is provided between the two moving body driven wheels 334 and 335 of the winding body 340.
Are engaged by the engagement device 362, and the first moving body 33
0 is attached so as to be relatively movable in the X-axis direction. As in the case of the above embodiment, the second moving body 332 is controlled by the two drive motors 12 and 14.
In the X-axis direction, the Y-axis direction, and the tilt direction, respectively.
It is moved relative to 0.

In the embodiment shown in FIG. 5 or FIG. 6, a second moving body that operates in a direction other than the second direction by the indirect linking device may be provided. For example, it may move in the Z direction orthogonal to the X direction and the Y direction by rotation transmitted by the indirect linking device, rotate around a vertical axis, or both. May be operated in the direction of. By additionally providing a drive source and an independent winding body, it is possible to create a moving device that operates not only in two directional components but also in three or more directional components.

The moving device of the present embodiment is not limited to the moving device for moving the electric component holder, but may be a moving device for moving an image pickup device, an adhesive dispenser, and the like. Furthermore, a guide device that guides the movement of the first moving body in the Y-axis direction can be provided in the apparatus main body 10 in parallel with the Y-axis direction. When the first moving body is long in the X-axis direction, it is effective to provide a guide device.

FIGS. 7 to 9 conceptually show an exercise apparatus 400 according to another embodiment of the present invention. This exercise device 40
0 is common to the previous embodiment in that the first moving body 30 is provided so as to be relatively movable in the apparatus main body 10 and the second moving body 32 is provided so as to be relatively movable in the first moving body 30. However, as shown in FIG.
A rotating body 402 as a third moving body so as to be rotatable around a rotation axis parallel to the Z axis orthogonal to the X axis direction and the Y axis direction.
Is different from the previous embodiment in that the Specifically, a third drive motor 404 is provided separately from the two drive motors 12 and 14 described above, and the drive of the third drive motor 404 is transmitted to the rotating body 402 and
Is rotated about an axis of rotation parallel to the Z axis. Hereinafter, the rotating body 402 and the third driving force transmission device 4 that transmits the driving force of the third drive motor 404 to the rotating body 402
06 will be described in detail.

In the horizontal direction, it coincides with either the drive wheels 16, 18 or the main body driven wheels 20, 22, and is defined as a third direction orthogonal to the Y-axis direction as the first direction and the X-axis direction as the second direction. A third drive wheel 408 connected to the third drive motor 404 is provided at a position separated in the Z-axis direction. As shown in FIG. 7, the third drive motor 404 is connected to the control device 70 via a drive circuit 405, and the direction and amount of rotation for rotating the third drive wheel 408 are controlled. The apparatus main body 10 is provided with three main body driven wheels 409 to 411 coaxially with the driving wheels 16 and 18 or the main body driven wheels 20 and 22 and capable of relative rotation. Further, the first movable body 32 is provided with a movable body-side driven vehicle 34.
Mobile-side driven vehicle 41 coaxially with and rotatable relative to 37
2 to 415 are provided. Third driving wheel 408, three main body side driven wheels 409 to 411, and moving body side driven wheel 412
A flat belt 416, which is a different winding body from the flat belt 40 as the first winding body, is wound around the first to fourth winding members 415 to 415. The flat belt 416 is disposed at a position separated in the Z-axis direction from the flat belt 40 transmitting the driving force to the first and second moving bodies 30 and 32 as shown in FIG. Extending to the shape. That is, of the flat belt 416,
A portion between the third driving wheel 408 and the main body-side driven vehicle 410, a portion between the main body-side driven vehicle 410 and the moving body-side driven vehicle 413, a moving body-side driven vehicle 412, and a main body-side driven vehicle 409;
, A portion between the main body side driven wheels 409 and 411, a main body side driven wheel 411, a moving body side driven wheel 414,
A portion between the moving body-side driven vehicle 415 and the third driving wheel 408 extends in parallel with the X-axis direction, and the moving body-side driven vehicle 41
2 and 413, and the movable body side driven vehicles 414 and 4
15 extends in parallel with the Y-axis direction.

The flat belt 416 is driven by a movable body side driven vehicle 412.
Is wound around a flat pulley 418 provided on the second movable body 32 at a portion between the second movable body 32 and the rotating body 402. To rotate.

As shown in FIG. 9, a rotating shaft 420 extending vertically downward from the flat pulley 418 is
, And a rotating body 402 is fixed to its rotating shaft 420 so as to be relatively non-rotatable. Second mobile unit 3
2, a housing 424
Is attached, and the rotating shaft 420 is
6, 428 via the housing 424. The rotating shaft 420 has a protruding end 430 protruding from the housing 424 on the side opposite to the flat pulley 418, and the rotating body 402 is coaxially mounted on the protruding end 430. The electric component holder may be directly attached to the rotating shaft 420, and the electric component holder may constitute the rotating body 402, or the electric component holder may be attached to the rotating body 402. In the second moving body 32,
Further, as shown in FIG. 8, guide pulleys 432 and 434 having a smaller diameter than flat pulley 418
Are provided rotatably about a vertical axis on both sides of the flat belt 416.

The first moving body 30 with respect to the apparatus main body 10
And the relative position of the second moving body 32 with respect to the first moving body 30 are detected by the position detecting devices 76 and 78, respectively, as in the above-described embodiment, whereby the X of the second moving member 32 is , Y-axis directions are detected. Also, the rotation shaft 420 with respect to the housing 424
Relative rotation position is a rotation position detection device 43 such as an encoder.
6, and the detection result is supplied to the control device 70. The control device 70 controls the first to third drive motors 12, 14, and 404 via the drive circuits 72, 74, and 405 based on the detection results of the position detection devices 76, 78 and the rotational position detection device 436. Thereby, the position of the second movable body 32 and the rotational position of the rotating body 402 are controlled to the target position and the target rotational position, respectively.

The operation of the exercise apparatus 400 configured as described above will be described. The flat belt 416 has a Y-axis direction and X
Since it extends in the axial direction, the rotating body 402 is allowed to move with the movement of the second moving body 32 in the Y-axis direction and the X-axis direction. However, since the movement is transmitted to the flat pulley 418 via the flat belt 416, the rotating body 40 can be rotated without rotating the third drive motor 404 in that case.
2 is rotated. Therefore, the third drive motor 404
Therefore, in order to control the rotation of the rotating body 402, it is necessary to add and control the amount of movement of the second moving body 32.
Therefore, the third drive motor 404 is (a) the second moving body 3
The third driving wheel 408 is rotationally driven to move the flat belt 416 by an amount corresponding to the movement of
And (b) when the second moving body 32 is stationary, the third driving wheel 408 is rotated to rotate the rotating body 402. (C) the second moving body 32 is allowed to move, and the third driving wheel 408 is driven to rotate to rotate the rotating body 402. ing. In the movement / rotation realization state, when the driving amount required to rotate the rotating body 402 corresponds to the movement of the second moving body 32, the movement in the horizontal direction is performed without rotating the third driving wheel 408. Both rotational movement can be realized.

The (a) control of the simple movement realization state will be described more specifically. If the second movable body 32 is moved in at least one of the Y-axis direction and the X-axis direction while the third driving wheel 408 is locked, the portion of the flat belt 416 that contacts the flat pulley 418 is flat. Pulley 41
8, the rotating body 402 is rotated in accordance with the relative movement. On the other hand, in order to prevent the rotation of the rotating body 402 and achieve the horizontal movement state, the flat belt 41 is moved in accordance with the movement of the second moving body 32.
It is necessary to rotate the third drive wheel 408 so that the portion of the sixth pulley 418 that contacts the flat pulley 418 does not move relative to the flat pulley 418. The relative movement distance of the portion of the flat belt 416 that contacts the flat pulley 418 in the locked state of the third drive wheel 408 with respect to the flat pulley 418 corresponds to the horizontal movement distance and the movement direction of the second moving body 32. Similarly, in the case of controlling to the (b) simple rotation realization state and (c) the movement / rotation realization state, the flat belt 416 is similarly controlled.
Of the flat pulley 4 that is currently in contact with the flat pulley 418
The amount of rotation and the direction of rotation of the rotating body 402 can be controlled by the amount of relative movement with respect to 18.

In the exercise apparatus 400 of the present embodiment, it is also possible to provide a third moving body 450 that can relatively move in the Z-axis direction on the second moving body 32 as the third moving body. In that case, as shown in FIG. 10, a support member 454 is fixedly provided on the side surface 422 of the second moving body 32, and the rotating shaft 452 extending from the flat pulley 418 is provided via two bearings 456 and 458. It is in a state of being supported so as to be rotatable and relatively immovable in the axial direction. Second mobile unit 3
The third moving body 45 is provided below the support member 452 on the second side surface 422.
0 is disposed so as to be relatively movable and non-rotatable, a nut 459 is fixed to the third moving body 450, and the rotating shaft 4
The two flat pulleys 418 are screwed together via a plurality of balls 462 with ball screws 460 extending from the opposite side. The third moving body 450 is fitted to a pair of guide rails 464 extending vertically to the side surface 422 of the second moving body 32 and guided to move in the Z-axis direction.

In the exercise apparatus of this embodiment, similarly to the exercise apparatus 400 of the above-described embodiment, the flat belt 416 allows the movement of the second moving body 32 in the Y-axis and X-axis directions. Since the flat pulley 418 is rotated, it is necessary to control the Z-axis movement of the third moving body 450 by adding the horizontal movement of the second moving body 32.

A mobile device 50 according to another embodiment of the present invention.
0 is shown in FIGS. Mobile device 5 of the present embodiment
In 00, two flat belts 502 and 504 as two winding bodies are arranged in a Z-axis direction (third direction) orthogonal to the Y-axis direction (first direction) and the X-axis direction (second direction). One of the two flat belts 502, 504, which is arranged at a distance, is linked with the first moving body 506 to move the first moving body 506 in the Y-axis direction. A certain flat belt 504 is caused to cooperate with the second moving body 508 to move the second moving body 508 in the X-axis direction. The details will be described below.

The X and Y coordinate planes are set parallel to the upper surface of the apparatus main body 514, and two drive motors 510 and 512 as drive sources are provided on the apparatus main body 514 so as to be separated in the Y-axis direction. The output shaft 516 of the first drive motor 510, which is one of the two drive motors 510, 512
In addition, a first drive wheel 518 is connected (in the illustrated example, fixed so as not to rotate relatively). The first drive wheel 518 extends in the Z-axis direction, and two flat belts 502 and 504 are respectively wound around two portions of the first drive wheel 518 separated in the Z-axis direction. Those two flat belts 50
2, 504 are moved at the same peripheral speed in the same direction by the rotation of the first drive wheel 518. The first and second drive motors 510, 512 are connected to the control device 70 via drive circuits 72, 74.

A first belt 502, one of the two flat belts 502, 504, is linked to a first moving body 506 provided on the apparatus main body 514 so as to be movable in the Y-axis direction. Both ends of the first belt 502 are connected to the first moving body 506 by connecting devices (not shown). A guide rail 522 extending in the Y-axis direction is provided on the main body 514 of the apparatus.
2, a slide provided on a surface of the first moving body 506 opposed to the apparatus main body is fitted via a ball, and the guide rail 522 and the slide cooperate with each other.
Is guided in the Y-axis direction. The first belt 502 is wound around a first driven wheel 524 provided on the apparatus main body 514 at a position separated from the first driving wheel 518 in the Y-axis direction, and extends in parallel with the Y-axis direction. First moving body 506
An avoidance groove 526 is formed in a portion corresponding to a portion of the first belt 502 extending in the Y-axis direction.
Are movable in the avoidance groove 526. The first driving wheel 518, the first driven wheel 524, and the first belt 502 cooperate with each other to form a first driving force transmission device 528. The first belt is formed in an annular shape, and a part of the first belt is connected to a first moving body 50 via a connecting device (not shown).
6 may be connected.

A second belt 504, which is the other of the two flat belts 502 and 504 and is provided at a position farther from the apparatus main body 514, is linked to the second moving body 508. The second belt 504 is formed in a ring shape, has a portion extending in the Y-axis direction and a portion extending in the X-axis direction, and allows the second moving body 508 to move in the Y-axis direction,
The driving force of both the first driving motor 510 and the second driving motor 512 is transmitted to the second moving body 508 to
8 is controlled in the X-axis direction.

The second belt 504 is connected to the first driving wheel 5 described above.
18 and an output shaft 530 that is rotated by the second drive motor 512 (fixed so as not to rotate relative to the example shown).
Around the second drive wheel 532. The first drive wheel 518 and the second drive wheel 532 are disposed apart from each other in the Y-axis direction, and the second belt 504 is stretched in parallel in the Y-axis direction. The second belt 504 further includes
First and second driving wheels 518,5 on the first moving body 506
32, four driven wheels 534, 536, 538, which are rotatably provided around the vertical axis at a height position corresponding to 32.
It is wound around 540. Those four driven wheels 53
4 to 540 are provided at positions that come into contact with the portion of the second belt 504 parallel to the Y-axis direction from the outside, and the second belt 50
4 is wound around and extends parallel to the Y-axis direction and X
And a portion extending in parallel with the axial direction. Between the four driven wheels 534 to 540 and the second belt 5
A second moving body 508, which is supported by the first moving body 506 so as to be relatively movable in the X-axis direction, is provided on the inner side of the first moving body 04 so as to extend in the X-axis direction. FIG. 12 shows that the first mobile unit 506 has an X
A guide groove 542 extending in the axial direction is formed.
Although the slide portion 544 formed integrally with the second moving body 508 is described as being guided at 42, this is a conceptual diagram, and is actually provided fixedly to the second moving body 508. The guide rail and the slide fixed to the first moving body 506 are engaged via a plurality of balls. As shown in FIG. 11, second driven wheels 546 and 548 are provided at both ends in the X-axis direction of the second moving body 508 so as to be rotatable around a vertical axis, respectively. The second belt 504 is also wound. At the center of the second moving body 508, a holding member 55 for holding the electric component holder upward.
0 is fixed.

In this embodiment, the second belt 504
And the second driven wheels 546 and 548 and the four driven wheels 534 to
540, the first drive wheel 518, and the second drive wheel 532 constitute the second drive power transmission device 552.

Next, the moving device 5 configured as described above
00 will be described. In the present embodiment, the flat belts 502 and 504 in which the movements of the first moving body 506 and the second moving body 508 in the Y-axis direction and the X-axis direction are independent from each other.
The movements do not interfere with each other.

The first moving body 506 is moved by the first belt 502 being moved by the rotation of the first drive wheel 518. On the other hand, the second moving body 508
Is linked to the second belt 504 wound around the first drive wheel 518 and the second drive wheel 532, and is moved based on the rotation of both drive wheels 502 and 504. The first drive motor 510 and the second drive motor 512 cooperate to control the movement of the second moving body 506. Hereinafter, the driving state of the first drive motor 510 and the second drive motor 512
The second moving body 508 is divided into each combination with the driving state of
Movement will be described.

First, the case where the first driving wheel 518 is fixed and the first moving body 506 cannot be moved will be described. In this case, if the second drive wheel 508 is rotated by the second drive motor 512, one of the second belts 504 located on both sides of the second drive wheel 508 is pulled in, and the length is shortened. , It is sent to the other side by its retracted length, and the other side becomes longer. Since the length to which the second belt 504 is pulled in and the length to be sent out are equal, the second belt 504 does not become loose. As a result, the second driven vehicle (546 or 548) on the retracted side, that is, the side where the length of the belt is reduced, is moved in a direction approaching the first driven vehicle (538, 540 or 534, 536). The second driven vehicle (548 or 546) on the opposite side is the first driven vehicle (534, 536 or 53).
8,540) is moved by the same amount in the direction away from it. This time, assuming that the second driving wheel 532 is rotated clockwise in the drawing, the second driven wheel 546 is moved in a direction approaching the first driven wheels 538 and 540 according to the rotation amount thereof, and The second driven vehicle 548 is the first driven vehicle 53
It is moved away from 4,536.

Next, when the first driving wheel 518 is rotated to fix the second driving wheel 532, the first moving body 5
With the movement of 06, the second moving body 508 is also moved in the Y-axis direction. Further, even when only the first driving wheel 518 is rotated, the length of the second belt 504 on both sides of the first driving wheel 518 is changed in the same manner as described above. Thus, the second moving body 508 is moved in the X-axis direction.

The case where the first driving wheel 518 and the second driving wheel 532 are rotated together is the same as the case where the rotation directions and the rotation amounts of the first and second driving wheels 518 and 532 are the same. And a case where at least one of the direction and the rotation amount is different. first,
If the second driving wheels 518 and 532 are rotated by the same amount of rotation in the same direction, the first moving body 506 will move to the first driving wheel 51
8, the second moving body 508 is moved in the Y-axis direction because the lengths of both sides of the second belt 504 defined by the first and second driving wheels 518 and 532 do not change. The second moving body is moved only in the Y-axis direction without moving with respect to the first moving body 506. However, when at least one of the rotation direction and the rotation amount of the first driving wheel 518 and the second driving wheel 532 is different, the first moving body 506
Is moved in the Y-axis direction according to the rotation of the first driving wheel 518, and the second moving body 508 is moved in the Y-axis direction together with the first moving body 506 while the first and second driving wheels 5
The first moving body 506 corresponding to the difference between the rotation amounts of 18, 532
The upper part is relatively moved in the X-axis direction. First drive vehicle 518
Is rotated, and when at least one of the rotation direction and the rotation amount is different from that of the second drive wheel 532, the second moving body 508 is moved in both the Y-axis direction and the X-axis direction. In order to control the movement of the second moving body 508 in the X-axis direction, it is necessary to control the second drive motor 512 by adding the direction and amount of rotation of the first drive motor 510.

In the present embodiment, the second moving body 508
Is supported from below by the first moving body 506, the holding member 550 is provided above the second moving body 508, and the first moving body 506 and the holding member 550 are prevented from interfering with each other. The holding member 550 is provided at the center of the second moving body 508 in the X-axis direction,
It may be provided at a position near one end. For example, the holding member 550 is provided at one end of the second moving body 508, and the second moving body 508 is located at a position close to the end opposite to the end to which the holding member 550 is fixed. If the holding member 550 is always supported by the first moving body 50
6 in the X-axis direction, and the space below the holding member 550 can be used. In that case, it is also possible to provide the holding member 550 below the second moving body 508 and attach the electric component holder or the like downward. Even if the first moving body 506 and the second moving body 508 are interchanged in the Z-axis direction, an electric component holder or the like can be attached to the second moving body 508 downward. In the present embodiment, the number of the holding members 550 is one, but the plurality of holding members are
8 may be provided, or when one holding member is provided, the position where the holding member is fixed may be changeable.

According to the moving device of the present embodiment, as described above, the first moving body supports the second moving body,
Since it is only necessary to have a portion that supports two moving body-side driven vehicles, it is easy to reduce the size of the first moving body as compared with the previous embodiment.

In the moving apparatus of this embodiment, similarly to the previous embodiment, a third moving body is provided so as to be able to move relative to the second moving body, and is independent of the first and second drive motors 510 and 512. Providing another driving source and a transmission device for transmitting the driving force of the driving source to the third moving body, and allowing the movement of the third moving body while allowing the movement of the third moving body in the Y-axis direction and the X-axis direction. An exercise device to control can be obtained. For example, the transmission device may include a winding body and a driven vehicle, and the third moving body may move in the Z-axis direction or rotate around the θ-axis.

A moving device 60 according to another embodiment of the present invention.
0 is shown in FIG. The mobile device 50 according to the above-described embodiment.
0 indicates that the second moving body 508 extends long in the X-axis direction,
As compared with the movable range of the electric component holder and the like attached to the second moving body 508, a wider space is required to ensure that the second moving body 508 moves. Specifically, while the movable range of the electric component holder is substantially equal to the length of the second moving body 508 in the X-axis direction, the second moving body 508 is moved in the second direction in order to guarantee the movement. Body 50
Space of twice the length of 8 is required. Based on this knowledge, the mobile device 600 of FIG. 14 was devised.

The moving device 600 of the present embodiment includes a device main body 514, a first moving body 506, and a first driving force transmitting device 528.
Since the configuration is substantially the same as that of the mobile device 500, the common components are denoted by the same reference numerals, and description thereof will be omitted, and different components will be described in detail.

In this embodiment, the first mobile unit 506 is used.
The eight first driven wheels 602 to 616 become relatively immovable,
And it is provided so as to be relatively rotatable around a vertical axis. 4 of the eight first driven wheels 602 to 616
The first driven vehicles 602 to 608
Similarly to the first driven wheels 534 to 540 at 00, the second driven wheels 518 and 532 are disposed at positions substantially opposed to the first and second driven wheels 518 and 532. (Hereinafter, these first driven vehicles 602 to 6
08 is referred to as a first central driven vehicle. However, the first central driven wheels 602 to 608 are arranged at a distance of three times the diameter of the first driven wheels in the Y-axis direction. The first central driven wheels 602 to 608 abut on the outside thereof an annular second belt 618 wound around the first and second driving wheels 518 and 532, from which the second belt 618 moves in the Y-axis direction and the X-axis direction. It extends in the axial direction. Furthermore, the first driven vehicles 610 to 616, which are the other four driven vehicles among the eight driven vehicles 602 to 616,
The second belt 61 is positioned at a position 06 in the X-axis direction.
8, the first central follower 60
In cooperation with 2-608, the second belt 618 is supported so as to extend in parallel with the X-axis direction. Hereinafter, the first driven wheels 610 to 616 are referred to as first end driven wheels. The first end driven wheels 610 to 616 are arranged in the Y-axis direction so as to be separated by the diameter of the first driven wheel. First
Central driven wheels 602 to 608 and a first end driven wheel 610
The second belt 618 is wound around each of the belt members 616 in the Y-axis direction to form a portion extending in parallel with the X-axis direction.

Similar to the moving device 500, a guide shown as a guide groove 542 is provided on the first moving body 506, and the second moving body 620 is supported so as to be relatively movable in the X-axis direction. A second driven vehicle 6 rotatable about a vertical axis at both ends of the second moving body 620 in the X-axis direction.
22, 624 are provided, and the second driven wheels 622, 6
The second belt 618 is wrapped around 24. Specifically, although not shown, a pair of support arms extending horizontally and vertically separated from each other is provided at each of both end portions of the second movable body 620, and the pair of support arms Are rotatably supported via bearings. A supporting arm and a second moving body 620 between the pair of supporting arms;
Second driven wheels 622 and 624 are provided so as not to interfere with the second driven wheels 622 and 624.
18 is wound so as to touch on the outer surface thereof. The second driven wheels 622 and 624 are the first driven wheels 60
2 to 616, the second belt 618 is wound around the second driven wheel 622 or 624 adjacent to the first end driven wheels 610 to 616 in the Y-axis direction, and is parallel to the X-axis direction. Is formed. The moving device 50
The second moving body 620 has a shorter length in the X-axis direction than the second moving body 508 at 0 extends in the X-axis direction. In the present embodiment, the second moving body 6
Since the movable range of the second movable body 620 in the X-axis direction can be increased irrespective of the length of the second movable body 620 in the X-axis direction, the second movable body 620 can be reduced.

The operation of the moving device 600 constructed as described above is substantially the same as that of the moving device 500, and the movement of the first moving body 506 is particularly the same. The second belt 618 drives the first drive motor 510 and the second drive motor 512 to drive the first drive wheel 51.
8 and the length of both sides of the second drive wheel 532 are changed, whereby the second moving body 620 is moved. Now, assuming that the second belt 618 on the upper side of the drawing is retracted so as to have a shorter length, in that case, the second driven wheel 622 is moved in a direction approaching the first end driven wheels 614 and 616. Then, the second driven wheel 624 is moved in a direction away from the first end driven wheels 610 and 612. In the moving device 600 of the present embodiment, the movement limit of the second moving body 620 is limited to the first end driven wheels 610, 612.
614 and 616 in the X-axis direction.

As is clear from the above description, according to the moving device 600 of the present embodiment, the second moving body 620
The space required for installing the moving device 600 is smaller than the size of the movable range. The present mobile device 60
0, the exercise apparatus 400 in the above-described embodiment.
Similarly to the above, a third moving body capable of relative movement can be provided on the second moving body 620.

FIG. 15 shows a mobile device 700 according to still another embodiment of the present invention. The mobile device 700 is similar to the mobile device of FIG. The rotating body 702 has a flat pulley 718 similarly to the embodiment of FIG.
And a flat belt 740 corresponding to the flat belt 40 is wound around the flat pulley 718.
The flat belt 740 has six portions 74 extending in the Y-axis direction.
2, 744, 746, 752, 754, 756, and two portions 760, 761 extending in the X-axis direction. The first moving body 30 includes two guide rollers 732 and
Reference numeral 734 is attached to the first movable body 30 so as to be immovable relative to the first moving body 30 and rotatable around a rotation axis extending in the Z-axis direction. . Drive motors 12, 14
Control, only the movement of the first moving body 30 and the rotating body 7
02, the movement of the first moving body 30 and the rotating body 70
Both of the two rotations can be selectively generated.

FIG. 16 shows a mobile device 800 according to still another embodiment of the present invention. The mobile device 800 is the same as that shown in FIG.
The second embodiment is similar to the second embodiment except that a first driving wheel 818 and a movement preventing member 820 are provided instead of the first driving wheel 518. Movement prevention member 820
Is fixedly provided on the apparatus main body 514, and prevents the corresponding portion of the second belt 504 (the portion wound around the movement preventing member) from moving when the second drive motor 512 operates. In the mobile device 800, the first mobile unit 50
6 is moved in the Y-axis direction by the first driving motor 510 via the first driving force transmitting device 828, and
08 is moved in the X-axis direction by the second drive motor 512 via the second drive force transmission device 852. The second mobile unit 508 is connected to the first mobile unit 506 on the slide unit 544.
When the first moving body 506 moves in the Y-axis direction, the second moving body 508 also moves in the Y-axis direction,
The second driving force transmission device 852 allows the movement of the second moving body 508. Then, when the second drive motor 512 is operated, the second drive power transmission device 852 is
08 is moved in the X-axis direction relative to the first moving body 506.

Note that the moving device and the exercise device of each of the above embodiments can be used in an upside down state or in a vertically upright state, and the holding member 550 is not limited to the electric component holder. Various objects can be held, and the moving device and the exercise device can be used for various purposes.

Although not specifically exemplified, the above-mentioned [Problems to be solved by the invention, means for solving the problems and effects]
The present invention can be carried out in other embodiments without being limited to the embodiments described in the column.

[Brief description of the drawings]

FIG. 1 is a plan view conceptually showing a moving device according to an embodiment of the present invention.

FIG. 2 is a plan view illustrating an operation state of the moving device.

FIG. 3 is a plan view illustrating another operation state of the moving device.

FIG. 4 is a side view showing a part of a moving device according to another embodiment of the present invention.

FIG. 5 is a plan view conceptually showing a moving device according to still another embodiment of the present invention.

FIG. 6 is a plan view conceptually showing a moving device according to still another embodiment of the present invention.

FIG. 7 is a plan view conceptually showing an exercise apparatus according to still another embodiment of the present invention.

FIG. 8 is a perspective view conceptually showing the exercise device.

FIG. 9 is an enlarged front sectional view conceptually showing a part of the exercise apparatus.

FIG. 10 is a front sectional view conceptually showing a part of a moving device according to still another embodiment of the present invention.

FIG. 11 is a plan view conceptually showing a moving device according to still another embodiment of the present invention.

FIG. 12 is a front view conceptually showing the moving device.

FIG. 13 is a plan view conceptually showing a part of the moving device.

FIG. 14 is a plan view conceptually showing a moving device according to still another embodiment of the present invention.

FIG. 15 is a front view conceptually showing a moving device according to still another embodiment of the present invention.

FIG. 16 is a front view conceptually showing a moving device according to still another embodiment of the present invention.

[Explanation of symbols]

10,514 Device body 12, 14, 404, 510, 512 Drive motor 16, 18, 408, 518, 532 Drive vehicle 20, 22, 409-411 Main body side driven vehicle 34-37, 234, 334, 335, 412- 415
Moving body-side driven vehicle 40, 416, 502, 504, 618 Flat belt 70 Control device 240, 340 Wound body 402, 702 Rotating body 534-540, 602-616 First driven vehicle 546, 548, 622, 624 Second driven car

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yasuo Muto 19, Chausuyama, Yamamachi, Chiryu-shi, Aichi Prefecture Inside Fuji Machinery Manufacturing Co., Ltd. (72) Inventor Kazuaki Mori 19, Chauyama, Yamamachi, Chiryu-shi, Aichi Prefecture Fuji Machine Manufacturing Co., Ltd.

Claims (9)

[Claims] An apparatus main body, two or more driving sources, and driving forces of the two or more driving sources are transmitted to two or more moving bodies provided so as to be relatively movable with respect to the apparatus main body. A driving force transmitting device that controls the two or more driving sources,
A movement control device for controlling movement of one or more moving bodies, wherein one of the two or more moving bodies is provided so as to be relatively movable in a first direction with respect to the apparatus main body. The first moving body, the other one is a second moving body provided in the first moving body so as to be relatively movable in a second direction orthogonal to the first direction, the two or more Two of the drive sources are provided in the device main body, and the driving force transmission device is provided at (i) at least a position of the device main body separated in the second direction, and the drive force transmitting device is provided in the device main body. (Ii) a main body-side driven vehicle provided in the apparatus main body in a state corresponding to each of the driving vehicles, and (iii) provided in the first moving body. (Iv) at least one driven body-side driven vehicle; And a moving body-side driven vehicle, the portions extending in the first direction are wound around in parallel with each other, and a winding body that moves the first moving body in the first direction with the driving rotation of the driving vehicle; v) a moving device, comprising: a linking device that moves the second moving body in the second direction by linking the wound body with the second moving body. 2. The moving device according to claim 1, wherein at least two of the movable body-side driven vehicles are provided on the first movable body in a state separated from each other in the second direction. 3. The moving device according to claim 2, wherein the coordinating device is provided between the two driven vehicles on the moving body side. 4. The two driving sources are electric motors, respectively, and the movement control device (a) controls the two electric motors to have the same rotational direction and peripheral speed of the two driving vehicles. By rotating in the state, a second direction moving state of moving the second moving body in the second direction with respect to the first moving body while maintaining the first moving body in a stationary state, (b) the By rotating the two electric motors in a state where the rotation directions of the two driving wheels are opposite and the peripheral speeds are the same, the second moving body is kept stationary relative to the first moving body. (C) moving the first moving body in the first direction with respect to the apparatus main body in the first direction while moving the second moving body in the first direction with respect to the apparatus main body; Peripheral speeds of the two driving wheels are different from each other. By rotating the first moving body in the first direction with respect to the apparatus main body, and by moving the second moving body in the second direction with respect to the first moving body, An electric motor control means for controlling a moving body to an inclined direction moving state in which the moving body is moved in an inclined direction including a first direction component and a second direction component with respect to the apparatus main body, is included. 3. The moving device according to any one of 3. 5. An apparatus main body, a first drive source and a second drive source, and movements of first and second output members as output members of the first and second drive sources, respectively. A movement transmitting device for transmitting a moving body provided so as to be relatively movable and a rotating body relatively rotatably supported by the moving body; and controlling the first and second driving sources to perform the movement. A motion control device for controlling movement of the body and rotation of the rotating body, wherein the first and second drive sources are fixedly provided in the device main body, and the motion transmission (A) two driving wheels provided at (a) the device main body at least at positions separated from each other in a direction perpendicular to the moving direction of the moving body, and each of which is driven to rotate by the first and second driving sources; B) Provided on the device body in a state corresponding to each drive vehicle (C) at least one of the movable bodies provided on the moving body;
And (d) the drive vehicle, the main body-side driven vehicle, and the movable body-side driven vehicle, the portions extending in a direction parallel to the moving direction of the moving body are wound around in parallel with each other. (E) a linking device that moves the moving body with the driving rotation of the vehicle, and (e) a linking device that links the winding body with the rotating body and relatively rotates the rotating body with respect to the moving body. Exercise equipment. 6. The first member, a first drive source and a second drive source fixedly provided on the first member, and the movement of output members of the first and second drive sources is controlled by the first member. The second member supported movably by the member, and the third member supported movably by the second member, mechanically while allowing the relative movement of the second member and the third member A motion device comprising: a mechanical motion transmission device for transmitting; and a motion control device for controlling relative motion of the second and third members with respect to the first member by controlling the first and second drive sources. 7. A first member, a second member movably supported by the first member, a third member movably supported by the second member, and fixed to the first member. A first drive source, a first motion transmission device for mechanically transmitting the motion of a first output member of the first drive source to the second member, and a first motion source fixedly provided to the first member. The second drive source, a second motion transmission device that mechanically transmits the motion of the second output member of the second drive source and the first output member to the third member, A related control device that controls the second drive source in relation to the first drive source so as to perform a motion corresponding to the sum of the same motion as the second member and a motion different from the motion of the second member. And an exercise device including: 8. A moving member provided between the moving member and the stationary member, the moving member being provided between the moving member and the stationary member, the moving member being provided between the moving member and the stationary member. An apparatus, a rotating body supported by the moving body so as to be relatively rotatable and relatively unmovable with respect to the moving body, a driving source provided on the stationary member, and a movement of an output member of the driving source. A motion transmitting device that transmits to the rotating body while allowing relative movement of the moving body with respect to the stationary member; a relative movement of the moving body with respect to the stationary member; and a relative rotation of the rotating body with respect to the rotating body. And a related control device for controlling the drive source in association with the moving device so as to perform a motion corresponding to the sum of 9. A stationary member, a moving member supported by the stationary member so as to be relatively movable, a moving member supported by the moving member so as to be relatively movable, and a stationary member provided on the stationary member. One driving rotator and a second driving rotator; a plurality of moving rotator-side driven rotators provided so as to be relatively non-movable and relatively rotatable with respect to the moving ele- ment; Body, the first and second driving rotators, the plurality of moving body-side driven rotators, and the at least one moving body-side driven rotator, without loosening, and moving the moving body with respect to the stationary member; A single winding body wound around a state in which the moving body is allowed to move with respect to the moving body, a first driving source that independently drives the first driving rotating body and the second driving rotating body, and With the second drive source A moving device including a control device capable of arbitrarily controlling the movement of the moving body with respect to the stationary member and the movement of the moving body with respect to the moving body by controlling the first driving source and the second driving source in relation to each other. .