JP2002001688A - Compound movement device and carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To avoid enlargement of a device and to restrain shortening of longevity of the device in the case of causing slight slippage at the time of assembly on the composite moving device and the carrier device free to make a moving body work in the rotating direction and in the rectilinear direction. SOLUTION: A rod 5 is provided on an air cylinder 4 of the carrier device 1 free to rise and sink, and an intermediate shaft 7 is provided through a ball joint 6 on its head end. A hollow type spline shaft 12 is externally inserted in a circumference of the intermediate shaft 7, and the intermediate shaft 7 is fixed on the upper end side of the spline shaft 12 on its upper end part side. A spline nut 14 having a recessed part free to be engaged with a tooth is externally fitted in a circumference of the spline shaft 12, and a direct drive motor 16 is connected to the nut 14 through a connecting member 15. An arm 21 is installed on an upper end part of the spline shaft 12. It is possible to absorb stress in accordance with sagging of the intermediate shaft 7 even in the case when nonconformity of the axes with each other at the time of rectilinear motion by an assembly error, etc., is caused.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combined exercise device and a transport device.

[0002]

2. Description of the Related Art Conventionally, as a device for transferring a work, for example, a transfer device called a pick-and-place unit has been known. Such an apparatus is provided with an arm for mounting a work, or is provided with a table. The transfer device is configured such that an arm or the like can perform a combined movement to transfer the work from the first position to the second position. Generally, the arm and the like perform an operation for moving the work in the left-right direction (for example, a horizontal turning direction) and an operation for moving the work up and down.

[0003] Various techniques have been developed as mechanisms for enabling the above-described combined exercise. A typical example is a motor (for example, a direct drive motor:
One example is a combination of a DD motor) and a cylinder that performs a combined motion. In this technique, the arm or the like performs an operation in a turning direction by a rotation operation of a motor, and the arm or the like performs an operation in an ascending or descending direction by an operation of moving a cylinder.

The above technique will be described in more detail. For example, as shown in FIG.
And a bracket 103 below the base 102.
The support plate 104 is provided via the. An air cylinder 106 is fixed below the support plate 104. A rod 107 is provided in the air cylinder 106 so as to be able to protrude and retract, and a spline shaft 109 is provided at the tip of the air cylinder 106 via a rotation preventing mechanism 108 so as to be rotatable about its axis. That is, a pair of upper and lower flange portions 111 and 112 are provided below the spline shaft 109 at predetermined intervals. On the other hand, the rod 107
A U-shaped support arm 113 is provided at the end of the support arm 113. A pair of rollers 114 is rotatably supported inside a substantially end portion of the support arm 113. And
Both rollers 114 are in a state of being fitted between the pair of flanges 111 and 112. Therefore, when the spline shaft 109 rotates, the flange portions 111 and 112 also rotate with the rotation.
With regard to (1), only the roller 114 rotates about the shaft support, and the support arm 113 and the rod 107 do not rotate together.

A plurality of teeth are formed on an upper portion of the spline shaft 109 so as to protrude in an outer peripheral direction, and a spline nut having a plurality of recesses meshable with the teeth is formed around the spline shaft 109. 115 is externally fitted. Further, a direct drive motor (hereinafter simply referred to as a “DD motor”) 1 is attached to the spline nut 115 so as to surround the spline shaft 109.
16 are provided. An arm 117 is attached to the upper end of the spline shaft 109, and the arm 117
Is provided with a chuck 118 for gripping the work.

Therefore, when the DD motor 116 rotates,
The spline nut 115 rotates, and consequently the spline shaft 109 rotates (at this time, the rod 107 and the like do not rotate). The arm 117 rotates accordingly. On the other hand, when the air cylinder 106 is driven and the rod 107 projects, the detent mechanism 108
And the spline shaft 109 moves up (at this time, the DD motor 116 does not move up). Then, the arm 117 moves upward accordingly.

[0007]

However, in the transfer apparatus 101 as described in the above example, there is a problem that the entire apparatus becomes large because the rotation stopping mechanism 108 must be provided. Further, it is difficult to completely match the axis of the rod 107 with the axis of the spline shaft 109. Therefore, it is conceivable to provide a slight gap between the pair of flange portions 111 and 112 and the roller 114 in consideration of the inconsistency of the axes. There is a problem that the accuracy cannot be appropriately improved.

On the other hand, it is conceivable to use a ball joint in place of the above-described detent mechanism 108. Since the ball joint has a degree of freedom in the direction of rotation, it is possible to suppress the size of the apparatus as a whole by using this. However, when the axis of the spline shaft does not coincide with the axis of the cylinder, particularly when there is an angle mismatch (both axes are not on the same straight line and intersect), the ball joint absorbs this mismatch. Can not do. As a result, a lateral load is applied to the spline shaft and the cylinder (rod), and the life of each member, and eventually the entire device, may be shortened.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a composite exercise apparatus and a transport apparatus capable of operating a moving body in a rotating direction and a linear direction, thereby avoiding an increase in size of the apparatus. It is an object of the present invention to provide a composite exercise device and a transport device that can be manufactured and that can suppress the shortening of the life of the device when a slight shift occurs during assembly.

[0010]

Means for Solving the Problems and Effects of the Invention Each means suitable for solving the above-mentioned objects and the like will be described separately. In addition, a function and effect specific to the corresponding means will be added as necessary.

Means 1. A first driving unit that derives a rotational motion so as to cause the moving body to perform a rotational motion, and has a central axis serving as a space; a second driving unit that derives a linear motion; and the second driving unit A mechanism for causing the moving body to perform a linear motion based on the driving of the first member connected to the second driving means side, and a first member connected to the moving body side and located in the space portion. Two members, and
Provided to connect between the first member and the second member,
A linear motion mechanism comprising a third member for restricting the rotation of the moving body from being transmitted to the first member via the second member; and operating the moving body in the rotational direction and the linear direction. A compound exercise device capable of causing the second member to be constituted by a shaft, and the third member to be constituted by a ball joint, in a direction intersecting with the central axis based on bending of the shaft. A composite exercise device characterized in that it can absorb the stress of the subject.

According to the above-mentioned means 1, the rotary motion is derived by the first drive means whose central axis is a space, and the moving body performs the rotary motion based on the drive. Also, the second
A linear motion is derived by the driving means, and the moving body performs a linear motion by a linear motion mechanism based on the driving.
The first member of the linear motion mechanism performs a linear operation based on the driving of the second driving means, and the operation is transmitted to the second member located in the space through the third member, and thus the moving body is linearly moved. Do exercise. On the other hand, when the rotating motion is derived by the first driving means and the moving body performs the rotating motion, the transmission of the rotating motion to the first member via the second member is restricted by the third member. You. That is, the composite exercise device can move the moving body in the rotation direction and the linear direction. By the way, since the third member is constituted by a ball joint, the mechanism for restricting the rotation of the moving body from being transmitted to the first member via the second member does not become large. , The mechanism can be relatively compact. Further, the second member is constituted by a shaft, and the shaft can bend. Therefore, when the axis of the linear motion and the axis of the shaft body are not on the same straight line due to an error at the time of assembly or the like, particularly, even when an angular mismatch occurs, the center of the shaft is bent based on the bending of the shaft body. It can absorb stress in the direction crossing the axis. Therefore, the first
The problem such as damage due to concentration of strain stress on the driving means or the like can be suppressed.

Means 2. The linear motion mechanism may further include a fourth motion so that the moving body can surely perform a linear motion.
The compound exercise apparatus according to claim 1, further comprising a member.

According to the means (2), the moving body can surely perform the linear motion by the fourth member of the linear motion mechanism. Therefore, even if the shaft body is slightly bent,
A smooth linear motion can be expected without being affected by it.

Means 3. The fourth member is a hollow spline shaft meshed inside a spline nut having a predetermined length, which is supported so as not to be able to move linearly, and in a state where the shaft body is inserted through a hollow portion of the spline shaft, A combined exercise apparatus according to claim 2, wherein a predetermined portion of the shaft is fixed to the spline shaft.

According to the means 3, the hollow spline shaft is meshed with the inside of the spline nut which is supported so as not to move linearly and has a predetermined length, and the shaft body is inserted through the hollow portion of the spline shaft. , A predetermined portion of the shaft body is fixed to the spline shaft. Therefore, it is possible to further suppress an increase in the size of the device due to the provision of the fourth member.

Means 4. The combined exercise apparatus according to claim 3, wherein the predetermined portion is an end of the shaft body on the side of the exercise body or in the vicinity thereof.

According to the means (4), since the shaft is fixed to the hollow spline shaft at or near the moving body side end, it is easy to secure the length of the flexible portion of the shaft. The deflection of the shaft body can be easily ensured.

Means 5 The combined exercise apparatus according to claim 3 or 4, wherein the predetermined portion is adjustable in a longitudinal direction of the shaft body.

According to the means 5, the fixed portion of the shaft to the spline shaft can be adjusted in the longitudinal direction of the shaft. Therefore, the starting position or the terminal position or the stroke amount in the linear motion of the moving body can be easily adjusted according to the demand at that time.

Means 6 The fourth member is supported so as not to move linearly and has a predetermined length, and a linear bush;
The composite exercise device according to claim 2, wherein the linear exercise device is a linear guide that is slidably inserted into the linear bush in the direction of the linear motion and that includes a shaft member fixed to the moving body.

According to the means (6), the linear bush, which is supported so as not to be capable of linear movement and has a predetermined length, is slidably inserted in the linear movement direction and is fixed to the moving body by the shaft member. The fourth member is configured by the configured linear guide. Therefore, since the spline shaft is not provided around the shaft body, it is possible to set the bending allowance of the shaft body to be relatively large.

Means 7 7. The combined exercise apparatus according to claim 6, wherein the shaft body is fixed to the moving body at or near an end.

According to the means 7, since the shaft is fixed to the moving body at or near the end, it is easy to secure the length of the flexible portion of the shaft, and as a result, the deflection of the shaft is secured. Can be made easier.

Means 8 Means 6 or 7 wherein the fixed portion of the shaft is adjustable in the longitudinal direction.
A composite exercise device according to claim 1.

According to the means 8, the fixed portion of the shaft body can be adjusted in the longitudinal direction. Therefore, the starting position or the terminal position or the stroke amount in the linear motion of the moving body can be easily adjusted according to the demand at that time.

Means 9 A compound exercise device capable of operating a moving body in a rotating direction and a linear direction, wherein the first moving means derives a rotating movement to cause the moving body to perform a rotating movement, and has a center axis as a space. And a second driving means for deriving a linear motion, and a shaft body having one end connected to the second driving means via a ball joint and the other end connected to the moving body. And a linear motion mechanism having a guide member so that the moving body can surely perform a linear motion, and can absorb a stress in a direction intersecting the central axis based on the bending of the shaft body. A composite exercise device characterized by the above.

According to the means 9, the rotary motion is derived by the first drive means whose central axis is a space, and the moving body performs the rotary motion based on the drive. Further, a linear motion is derived by the second driving means, and the moving body performs linear motion by the linear motion mechanism based on the driving. One end of the shaft of the linear motion mechanism is connected to the second driving means via a ball joint, and the other end is connected to the moving body. Therefore, based on the driving of the second driving means, the shaft body performs a linear motion via the ball joint, and thus the moving body performs a linear motion. At this time, the moving body can reliably perform the linear motion by the guide member. On the other hand, when the rotating motion is derived by the first driving means and the moving body performs the rotating motion, the rotation is transmitted to the second driving means side through the shaft body by the ball joint. Is done. That is, the composite exercise device can move the moving body in the rotation direction and the linear direction. Now, since the ball joint is used as a mechanism for restricting the rotation of the moving body from being transmitted to the first member via the shaft, the mechanism does not become large and is relatively compact. It can be. Further, since the shaft body can bend, the axis of the linear motion and the axis of the shaft body are not on the same straight line due to an error at the time of assembly or the like, particularly, even when an angular mismatch occurs,
The stress in the direction intersecting with the central axis can be absorbed based on the bending of the shaft. For this reason, it is possible to suppress problems such as damage due to concentration of strain stress on the first driving means and the like.

Means 10. The compound exercise device according to any one of means 1 to 9, wherein the shaft body has a flexible portion that is more easily bent than other parts.

According to the means 10, when the angular mismatch as described above occurs, the shaft body easily bends at the flexible portion thereof, and the above-described operation and effect can be reliably achieved.

Means 11 The compound exercise device according to claim 10, wherein the flexible portion is configured by a constricted portion having a smaller cross-sectional area than other portions.

According to the means 11, since the constricted portion having a smaller cross-sectional area than other portions is easily bent, the flexible portion can be provided easily and reliably. In particular, the constricted portion may be formed in a curved shape to reduce the concentration of stress. According to this configuration, the constricted portion is formed in a curved shape,
The concentration of stress when flexing is reduced, and it is easy to prevent a problem that the shaft body is broken.

Means 12. The combined exercise apparatus according to claim 11, wherein the constricted portion is partially provided in a circumferential direction and provided at different portions in a longitudinal direction.

Here, since the cross-sectional area of the constricted portion is set to be smaller than that of other portions, it is a matter of concern whether or not the strength surface of the shaft body is secured.
According to 2, the constriction is partial in the circumferential direction,
In addition, since they are provided at different portions in the longitudinal direction, the degree of reduction in cross-sectional area can be suppressed. As a result, it is possible to secure the flexibility while securing the strength of the shaft body.

Means 13 13. The composite exercise apparatus according to claim 1, wherein the first driving means is a direct drive motor.

According to the means 13, the moving body is operated in the rotation direction by the direct drive motor. Here, the direct drive motor has low rotation and high torque characteristics, and due to this characteristic, the rotor of the direct drive motor can be connected without using a reduction gear, which saves space, reduces the number of parts, and reduces the number of assembly steps. Excellent in terms of reduction. Further, when a reduction gear is required, lubricating oil is required even if a motor is used, which is not preferable in terms of environmental problems. However, it is excellent in that such a problem does not occur. Furthermore, there is no backlash, and the reproducibility of the position is excellent.

Means 14. A transport device comprising the composite exercise device according to any one of means 1 to 13, and the moving body includes a mechanism for transporting a work.

According to the means 14, the workpiece can be transported from a predetermined position to another position by the composite exercise device and the mechanism for transporting the workpiece provided in the moving body. At the time of such conveyance, the above-described functions and effects are exerted.

Means 15. In any one of the means 1 to 14, the moving body is a table.

Means 16. In any one of the means 1 to 15, the moving body is an arm.

Means 17. In any one of the means 1 to 16, the moving body is one in which an arm is mounted on a table.

Means 18. In any one of the means 1 to 17, the moving body includes a chuck device for gripping a work.

[0043]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment will be described below with reference to the drawings.

FIG. 1 is a cross-sectional view showing the entire transfer apparatus 1 including the composite exercise apparatus. As shown in FIG.
Is provided with a base 3 having a through hole 2 in the center.
An air cylinder 4 constituting a second driving means is fixed to a lower portion of the cylinder.

In the air cylinder 4, a rod 5 constituting a first member is provided so as to be able to protrude and retract with the rod 5 being inserted through the through hole 2. At the tip of the rod 5, a second member and an iron center shaft 7 constituting a shaft body are provided rotatably about its axis via a ball joint 6 as a third member. As shown in FIGS. 2A and 2B, the ball joint 6 includes a shank portion 8 and a holder portion 9. A male screw is formed at the lower end side of the shank portion 8, and a female screw portion at the tip of the rod 5 is screwed and fixed thereto. Further, the upper end of the shank portion 8 is substantially spherical, and this portion is housed in the housing recess at the lower end of the holder portion 9. Further, a female screw is formed on the upper end side of the holder portion 9, and a male screw portion at the lower end of the central shaft 7 is screwed and fixed thereto. Grease for lubrication is interposed at the boundary between the shank portion 8 and the holder portion 9.
A cover 11 is provided so as to cover the portion.

Accordingly, even if the center shaft 7 rotates about the axis, the ball joint 6 is configured such that only the holder 9 and the like rotate, and the shank 8 and the rod 5 do not rotate together. .

As shown in FIG. 1, a hollow spline shaft 12 constituting a fourth member is externally inserted around the center shaft 7 with a slight gap. A female screw is formed at the upper end of the spline shaft 12, and a male screw formed at the upper end of the central shaft 7 is screwed into the female screw. further,
A hexagon nut 13 is screwed on the upper side of the spline shaft 12, whereby the center shaft 7 is fixed to the upper end side of the spline shaft 12 at the upper end side. A plurality of teeth are formed on the spline shaft 12 so as to protrude in the outer peripheral direction. Also, around the spline shaft 12,
A spline nut 14 having a plurality of recesses that can mesh with the teeth is externally fitted.

Further, the spline nut 14 has
A direct drive motor (hereinafter, simply referred to as “DD motor”) 16 constituting the first drive unit is connected via a connecting member 15. The central axis of the DD motor 16 is a space, and the center shaft 7 is disposed there. As is well known, the DD motor 16 includes a stator 17 and a rotor 18, and the stator 1 in a fixed state is provided.
A coil 19 is provided on the 7 side. The coil 19 is controlled based on a control signal from a control device (not shown).
, The rotation (rotation) of the rotor 18 is controlled in the circumferential direction (turning direction).
The DD motor 16 has low rotation and high torque characteristics. Due to these characteristics, the rotor 18 can be driven without a reduction gear.
This is excellent in terms of saving space, reducing the number of parts, and reducing the number of assembly steps. Further, when a reduction gear is required, lubricating oil is required even if a motor is used, which is not preferable in terms of environmental problems. However, it is excellent in that such a problem does not occur. Furthermore, there is no backlash, and the position reproducibility is excellent.

At the upper end of the spline shaft 12, an arm 21 constituting a moving body is mounted. Further, a chuck device (not shown) as described in the above-mentioned conventional technology is provided at the tip of the arm 21, and a workpiece (not shown) can be gripped by the chuck device.

Therefore, when the DD motor 16 rotates, the spline nut 14 rotates through the connecting member 15 and, consequently, the spline shaft 12 and the center shaft 7 rotate (at this time, the rod 5 is rotated by the existence of the ball joint 6 described above).
Etc. do not rotate). The arm 21 rotates accordingly. On the other hand, as shown in FIG.
The air cylinder 4 is driven and the rod 5 is
, The ball joint 6, the center shaft 7, and the spline shaft 12 move upward (at this time, the DD motor 16 does not move upward). The arm 21 moves upward accordingly. In the present embodiment, (1) the air cylinder 4 is held in a state where the work is held by the chuck device.
Is driven to cause the rod 5 to project and the arm 21 to move upward. (2) In this upward movement state, the DD motor 16 operates to rotate the spline shaft 12 and rotate the arm 21;
(3) In the state where the rotation is stopped, the rod 5 enters and the arm 21 moves down, and the gripping of the work is released, and (4) the arm 21 moves up again. (5) The arm 21 rotates in the reverse direction from that state, and (6) returns to the original state by the downward movement of the arm 21 again, whereby the work is moved to the first position. From the first position to the second position.

Next, the transport device 1 configured as described above
The operation and effect of will be described.

In this embodiment, the ball joint 6 serves as a mechanism for restricting the rotation of the arm 21 from being transmitted to the rod 5 via the spline shaft 12 and the center shaft 7.
Is used, the mechanism does not become large and the mechanism can be made relatively compact. Therefore, as compared with the case where the rotation preventing mechanism 108 as described in the related art is used, the overall size of the transport device 1 can be reduced, and a situation in which the transport device 1 becomes large can be avoided. .

Conventionally, when a predetermined gap is provided in consideration of the misalignment of the axes, there is a problem that rattling occurs when moving up and down. However, in this embodiment,
Since the ball joint 6 is employed, the above-mentioned rattling does not occur. Therefore, it is possible to improve the operation accuracy when performing the up-down operation (linear operation).

Further, there may be a situation where the axis (linear axis of the spline shaft 12) and the axis of the center shaft 7 are not on the same straight line due to an assembling error or the like, in particular, an angular mismatch. However, even in such a case, the center shaft 7 can be bent as shown in FIG. Therefore, even in the case where the angular mismatch occurs, it is possible to absorb the stress in the direction intersecting the axis (center axis) during the linear motion based on the bending of the center shaft 7. Therefore, the spline shaft 12
In addition, problems such as damage due to concentration of strain stress on the rod 5 (and, consequently, the air cylinder 4) can be suppressed. As a result, it is possible to suppress the shortening of the life of each member, and eventually, of the transport device 1.

In particular, since the center shaft 7 is fixed to the spline shaft 12 at the upper end on the arm 21 side, the center shaft 7
It is easy to secure the length of the flexible portion, and as a result, it is easy to derive the effect that the central shaft 7 bends. Therefore, it is possible to more easily achieve the above-described effects.

In this embodiment, by loosening the hexagon nut 13 and rotating the spline shaft 12 and the center shaft 7 relatively, the relative height between the spline shaft 12 and the center shaft 7 can be made different. That is, the starting position or the end position or the stroke amount in the linear motion of the arm 21 is
It can be easily adjusted according to the occasional request.

(Second Embodiment) Next, a second embodiment will be described with reference to FIG. However, the same parts as those in the first embodiment described above are denoted by the same member names and the same reference numerals, and the description thereof is omitted. The description will be focused on.

The present embodiment is characterized in that a linear guide 31 constituting a fourth member is used instead of the spline shaft 12 in the first embodiment. That is, a center shaft 7 is rotatably provided about the axis of the rod 5 provided at the tip end of the rod 5 which is provided in the air cylinder 4 via a ball joint 6 as in the first embodiment. .

Unlike the first embodiment, the center shaft 7
The DD motor 16 (details of the stator, rotor, and the like are omitted in the drawing; the same is applied to FIG. 4 and FIGS. 6 to 8 described later) at a predetermined interval without providing a spline shaft. It is arranged. A table 32 as a moving body is fixed to the upper end of the center shaft 7. More specifically, a screw hole 33 is formed in the center of the table 32, and a male screw portion formed on the upper end side of the center shaft 7 is screwed into the screw hole 33. Further, a hexagonal nut 34 is screwed directly below the table 32, whereby the center shaft 7 is fixed to the table 32 at the upper end side. On both sides of the table 32, a pair of shaft members 35 are provided in a hanging state.
5 is fixed by a set screw 36 screwed from the side. It is desirable that two shaft members 35 are provided at least at diagonal positions. Of course, three or more may be provided.

A linear holder 37 having a through hole is fixed to the upper outer periphery of the DD motor 16, and a linear bush 38 is fixed in the through hole. The linear bush 38 has a through hole 39, and has a ball bearing mechanism on an inner peripheral surface thereof. The shaft member 35 is movably inserted through the ball bearing mechanism. In the present embodiment, the linear guide 31 is constituted by the linear bush 38, the shaft member 35, and the like.

Therefore, when the DD motor 16 rotates, the rotation is transmitted to the shaft member 35 via the linear holder 37 and the linear bush 38, and the table 32 and the center shaft 7 rotate (at this time, the ball joint 6 described above). The rod 5 does not rotate due to the presence).

On the other hand, when the air cylinder 4 is driven and the rod 5 projects from the air cylinder 4, the ball joint 6 and the center shaft 7 move upward (at this time, the DD motor 16,
The linear holder 37 and the linear bush 38 do not move up). The table 32 and the shaft member 3
5 moves up.

Therefore, in this embodiment, basically, the same operation and effect as those of the first embodiment can be obtained. That is, it is possible to avoid a situation in which the entire apparatus becomes large. Also, the axis (vertical movement trajectory of the rod 5) at the time of linear movement due to an assembly error, etc.
Even in a situation where the axis of the central shaft 7 is not on the same straight line, particularly when an angular mismatch occurs, the stress in the direction intersecting the axis during the linear motion can be absorbed based on the bending of the central shaft 7. . For this reason, it is possible to suppress problems such as damage due to concentration of strain stress on the rod 5 (and, consequently, the air cylinder 4), and as a result, it is possible to suppress the shortening of the life of each member, and thus the transfer device. Can be.

Further, in the present embodiment, since the spline shaft is not provided around the center shaft 7, the bending allowance of the center shaft 7 can be set relatively large.

It should be noted that the present invention is not limited to the contents described in the above embodiment, and may be implemented as follows, for example. Of course, other application examples and modifications not illustrated below are naturally possible.

(A) As shown in FIG. 6, the central shaft 7 may be provided with a constricted part 41 as a flexible part which is more easily bent than other parts. In the example shown in the figure, the flexible portion is formed by a constricted portion 41 whose cross-sectional area is smaller than other portions (the constricted portion 41 can be easily formed by cutting or the like). A configuration (for example, using a material that is more flexible than other portions only in the flexible portion) may be employed. With such a configuration, the center shaft 7 is more easily bent at the constricted portion 41, and the above-described operation and effect can be more reliably achieved.

(B) As shown in FIG. 7, the central shaft 7 is provided with a constricted portion 42 as a flexible portion.
2. In particular, the boundary portion between the constricted portion 42 and the other portion may be formed in a curved shape. According to such a configuration, concentration of stress when the central shaft 7 is bent is reduced, and it is easy to prevent a problem that the central shaft 7 is broken.

(C) Further, as shown in FIG. 8, the first constricted portion 43 and the second constricted portion 44 that are partially circumferentially different from each other in the longitudinal direction are not used as the constricted portions. It may be provided at a site. In the example shown in FIG.
The constricted portion 43 is formed by cutting the left and right side portions of the center shaft 7 on the paper surface, and the second constricted portion 44 above it is formed.
Are formed by cutting the front and rear portions of the center shaft 7 on the paper surface. Here, since the cross-sectional areas of the constricted portions 43 and 44 are set smaller than those of the other portions,
It is a matter of concern whether or not the strength surface is sufficiently secured. However, according to the above example, the constricted portions 43 and 44 are partial in the circumferential direction and different in the longitudinal direction. , The degree of reduction in the cross-sectional area can be suppressed. As a result, the flexibility of the center shaft 7 can be ensured while the strength of the center shaft 7 is sufficiently ensured.

(D) In the above-described first embodiment, a table may be used instead of the arm 21, and in the second embodiment, an arm may be used instead of the table 32. The chuck device may be provided or may be omitted. In addition, a moving body may be configured by combining a table and an arm.

(E) As a second driving means for vertically moving the arm 21 and the table 32, other driving means comprising a cam mechanism, a combination of a motor and a ball screw, etc., instead of the air cylinder 4 described above. May be adopted. In the case of the latter combination, the ball screw rotates with the operation of the motor, whereby the ball nut screwed into the ball screw moves up and down. This up-and-down movement may be transmitted to the arm 21 and the like. Further, a hydraulic cylinder may be used.

(F) In each of the above embodiments, the DD motor 16 is employed as the first driving means. However, if the center axis is a space, another motor or the like is used. Is also good. Further, the shaft body and the moving body may be rotated using a known cam mechanism (for example, a roller gear cam for turning).

(G) In each of the above embodiments, although not particularly mentioned, a weight may be attached to the outer periphery of the upper portion of the DD motor 16. By adopting such a configuration, DD
It is possible to eliminate a reduction in the resonance point due to the torsion of the center shaft 7 and the elastic deformation due to the fact that the arm 16 and the table 32 are not directly attached to the motor 16.

[Brief description of the drawings]

FIG. 1 is a partially cutaway side view of a transport device according to a first embodiment.

2A is a side view of a ball joint, and FIG. 2B is a cross-sectional view of the ball joint.

FIG. 3 is a partially cutaway side view showing an operation state of the transfer device.

FIG. 4 is a partially cutaway side view of the transfer device for explaining the operation and effect of the embodiment.

FIG. 5 is a partially cutaway side view of a transfer device according to a second embodiment.

FIG. 6 is a partially cutaway side view of a transfer device according to another embodiment.

FIG. 7 is a partially cutaway side view of a transfer device according to another embodiment.

FIG. 8 is a partially cutaway side view of a transfer device according to another embodiment.

FIG. 9 is a partially cutaway side view of a transfer device according to the related art.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Conveying apparatus, 4 ... Air cylinder which comprises a 2nd drive means, 5 ... Rod which comprises a 1st member, 6 ... Ball joint which comprises a 3rd member, 7 ... 2nd member, comprises a shaft Middle shaft, 12 ... spline shaft constituting the fourth member, 1
4 spline nut, 16 direct drive (DD) motor constituting first driving means, 21 arm forming a moving body, 31 linear guide constituting a fourth member, 32 table constituting a moving body , 35 ... shaft member,
38 Linear bush.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3C030 DA24 DA32 DA37 3F060 AA01 CA21 DA09 DA10 EB03 EB07 EC03 EC12 GA05 GA13 GA16 HA02 HA03 HA15 HA23

Claims (14)

[Claims] 1. A first driving means for deriving a rotational motion so as to cause a moving body to perform a rotary motion, and having a center portion as a space portion; a second driving means for deriving a linear motion; A mechanism for causing the moving body to perform a linear motion based on driving of a second driving means, wherein the first member is connected to the second driving means side; the first member is connected to the moving body side; A second member located in the portion, and the first member
A linear motion mechanism that is provided to connect the member and the second member, and that includes a third member for restricting rotation of the moving body from being transmitted to the first member via the second member. A combined exercise device capable of operating the moving body in a rotational direction and a linear direction, wherein the second member is constituted by a shaft, and
A composite exercise device comprising a member constituted by a ball joint and capable of absorbing a stress in a direction intersecting with the central axis based on a deflection of the shaft body. 2. The composite exercise apparatus according to claim 1, wherein the linear motion mechanism further includes a fourth member so that the moving body can surely perform a linear motion. 3. The fourth member is a hollow spline shaft which is supported so as not to move linearly and is meshed with a spline nut having a predetermined length. The shaft member is mounted on a hollow portion of the spline shaft. The combined exercise apparatus according to claim 2, wherein a predetermined portion of the shaft body is fixed to the spline shaft in a state where the shaft body is inserted. 4. The compound exercise apparatus according to claim 3, wherein the predetermined portion is an end of the shaft body on the moving body side or in the vicinity thereof. 5. The apparatus according to claim 3, wherein the predetermined portion is adjustable in a longitudinal direction of the shaft.
A composite exercise device according to claim 1. 6. The fourth member is supported so as not to move linearly and has a predetermined length, and is inserted through the linear bush so as to be slidable in the direction of linear movement and fixed to the moving body. The combined exercise device according to claim 2, wherein the combined exercise device is a linear guide constituted by a shaft member provided. 7. The moving body according to claim 6, wherein the shaft body is fixed to the moving body at or near an end.
A composite exercise device according to claim 1. 8. The combined exercise apparatus according to claim 6, wherein the fixed portion of the shaft body is adjustable in a longitudinal direction. 9. A composite exercise device capable of operating a moving body in a rotating direction and a linear direction, wherein the moving body is configured to derive a rotating movement so as to perform the rotating movement, and the central axis is defined by a space part. A first driving means, a second driving means for deriving a linear motion, and one end connected to the second driving means via a ball joint, and the other end connected to the moving body side. A linear motion mechanism having a guide member so that the moving body can surely perform a linear motion, in a direction intersecting the center axis based on the bending of the shaft body. A composite exercise device characterized in that it can absorb the stress of the subject. 10. The composite exercise apparatus according to claim 1, wherein the shaft body has a flexible portion that is more flexible than other parts. 11. The compound exercise apparatus according to claim 10, wherein the flexible portion is formed by a constricted portion having a smaller sectional area than other portions. 12. The compound exercise device according to claim 11, wherein the constricted portion is partially provided in a circumferential direction and provided at different portions in a longitudinal direction. 13. The composite exercise apparatus according to claim 1, wherein said first driving means is a direct drive motor. 14. A transport device comprising the composite exercise device according to claim 1, wherein said moving body includes a mechanism for transporting a work.