KR101960947B1 - Support device - Google Patents

Support device Download PDF

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Publication number
KR101960947B1
KR101960947B1 KR1020177017817A KR20177017817A KR101960947B1 KR 101960947 B1 KR101960947 B1 KR 101960947B1 KR 1020177017817 A KR1020177017817 A KR 1020177017817A KR 20177017817 A KR20177017817 A KR 20177017817A KR 101960947 B1 KR101960947 B1 KR 101960947B1
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KR
South Korea
Prior art keywords
links
axis
link mechanism
arm
movable body
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KR1020177017817A
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Korean (ko)
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KR20170090461A (en
Inventor
시게노부 와다
Original Assignee
씨케이디 가부시키 가이샤
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Publication of KR20170090461A publication Critical patent/KR20170090461A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/0021—Stands, supports or guiding devices for positioning portable tools or for securing them to the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Abstract

When the angle between the links 23, 33, 43 of the adjacent link mechanism portions 20, 30, 40 is 90 degrees in the moving range of the movable body 11, The angle formed between the arms 22, 32 and 42 of the respective arms 20, 30 and 40 and the links 23, 33 and 43 is 90 degrees. Further, the Z-axis link mechanism section 40 has three links 43. Therefore, the external forces in the axial directions applied to the movable body 11 can be easily supported by the links 23, 33, 43 and the arms 22, 32, 42 of the respective axes. As compared with the case where there are two links 43 constituting the Z-axis link mechanism section 40 as in the prior art, for example, the three links 43 press the bit 11c to the object The stiffness for maintaining the pressing force is increased.

Description

SUPPORT DEVICE

The present invention relates to a supporting device for supporting a movable body.

The supporting device supports, for example, a movable body that holds a rotary tool (holding object) such as an electric screwdriver or an electric drill. As such a supporting device, there is, for example, one of Patent Document 1. The supporting device of Patent Document 1 has a first link mechanism portion capable of supporting the movable body in a direction (Z-axis direction) coinciding with the Z-axis in the moving range of the movable body, And a third link mechanism portion capable of supporting the movable body in the direction (Y-axis direction) coinciding with the Y-axis. Each of the first to third link mechanism portions includes one of the first to third servomotors that constitute the drive source and one of the first to third servo motors that extend parallel to each other so as to be able to coincide with the respective axes of the moving range of the movable body. Link. One end of each of the first to third links is pivotally connected to a corresponding one of the first to third servomotors, and the other end is pivotally connected to the movable member. Each of the two first to third links is configured such that the angle between the links of the adjacent link mechanism portions of the movable range of the movable body is 90 degrees.

When the first to third servomotors are driven respectively, the first to third links swing with respect to the first to third servomotors, and the first to third links rotate in the Z-axis direction, the Y-axis direction and Z Respectively. As a result, the movable body moves in the X-axis direction, the Y-axis direction, and the Z-axis direction while maintaining the posture in a horizontal state while the rotation about the Z-axis, the X- With this movement of the movable body, the rotary tool moves integrally with the movable body.

Japanese Unexamined Patent Publication No. 2012-240167

In the support device of Patent Document 1, a case is considered in which the rotary tool is held by the movable body in a state in which the axial direction of the output shaft of the rotary tool coincides with, for example, the Z-axis direction. The screwing or drilling using the rotary tool is performed while pressing the tip tool such as a bit or a drill attached to the output shaft of the rotary tool against the object of screwing or drilling in the Z axis direction. At this time, in the two first links, the rigidity for maintaining the pressing force for pressing the tip tool against the object (pressing object) is weak, and it is sometimes difficult to perform screw tightening or drilling using a rotary tool. Therefore, in this case, there is a desire to secure sufficiently the rigidity of the link in the Z-axis direction.

It is an object of the present invention to provide a supporting device capable of sufficiently securing the rigidity of a link in at least one of X-axis direction, Y-axis direction and Z-axis direction.

In order to achieve the above object, according to one aspect of the present invention, three link mechanism portions capable of supporting the movable body in each of the X-axis direction, the Y-axis direction and the Z- Wherein each link mechanism portion includes an arm connected to the driving portion, one end connected to the arm and the other end connected to the movable body, and the X axis and the Y axis And the Z-axis, and the support device is configured such that the angle formed by the links of the adjacent link mechanism portions in the moving range of the movable body is 90 degrees, When the angle formed by the links of the adjacent link mechanism portions in the moving range of the movable body is 90 degrees, the angle formed between the arm of the link mechanism portion and the link And the arm of the link mechanism portion in which the three or more links are provided is configured to be movable in the range of movement of the movable body, Maintaining the posture of the movable body at a constant state, and moving the three or more links while keeping them parallel to each other.

The link mechanism is rotatably connected to the drive shaft, and the link mechanism section includes a rotation shaft extending parallel to the drive shaft, and a linkage member connected to the rotation shaft and parallel to the axial direction of the rotation shaft. Wherein the link has a connecting portion capable of swinging with respect to the rotating shaft in one plane and the link is connected to the connecting portion and is capable of swinging with respect to the arm with the rotating shaft as a swing center, And is capable of swinging through the connecting portion.

The arm of the link mechanism portion provided with the three or more links includes a pair of oscillating portions pivotably connected to the drive shaft which is the drive portion, a pair of oscillating portions pivotably connected to the stationary shaft, , A pair of arm portions constituting a parallelogram link mechanism including integral connection portions, one side of the arm portion being composed of the driving shaft and the fixed shaft, and a side portion being formed by the connecting portion , And the three or more links are connected through the connection portion.

In the supporting device, the arm of the link mechanism portion provided with the three or more links has a protruding portion (extending portion) extending between the pair of arm portions, It is preferable that one of them is pivotably connected in two directions.

In the above-described supporting device, three links are provided in any one of the three link mechanism portions, and the connecting position of the three links with respect to the movable body is set so that the X- It is preferable that the respective connecting positions are located at positions constituting an isosceles triangle when viewed in any one of the Y axis and the Z axis.

In the above-described supporting device, it is preferable that a connecting position of the at least one of the two link mechanism portions different from the link mechanism portion provided with the three links with respect to the movable body is the X- It is preferable that the connection position is located inside the isosceles triangle when viewed from any one of the Y-axis and the Z-axis.

According to the present invention, the rigidity of the link in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction can be sufficiently secured.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a perspective view showing the whole of a supporting apparatus according to an embodiment of the present invention. Fig.
2 is a partially enlarged perspective view of the supporting device;
3 is a partially enlarged perspective view of the supporting device;
4 is a partially enlarged perspective view of the supporting device;
5 is a partially enlarged perspective view of the supporting device;
6 is a partially enlarged perspective view of the supporting device;
7 is a partially enlarged perspective view of the supporting device;
8 is a partially enlarged perspective view of the supporting device;
Fig. 9 is a schematic side view schematically showing a state in which the support device is viewed from the Y-axis direction, and Fig. 9 (b) is a schematic diagram schematically showing connection positions of the links with respect to the movable body.
10 is a schematic diagram schematically showing connection positions of respective links with respect to a movable body.
Fig. 11 is a side view schematically showing a state in which the supporting device according to another embodiment of the present invention is viewed in the Y-axis direction, Fig. 11 (b) schematically showing a connection position of each link with respect to the movable body Also shown is a schematic diagram.
12 is a side view schematically showing a state in which the supporting device in another embodiment of the present invention is viewed from the Y-axis direction.
Fig. 13 is a side view schematically showing a state in which (a) and (b) are viewed from the Y-axis direction in the supporting device according to another embodiment of the present invention. Fig.
Fig. 14 is a side view schematically showing a state in which (a) and (b) are viewed from the Y-axis direction in the supporting device according to another embodiment of the present invention. Fig.
Fig. 15 is a side view schematically showing a state in which (a) and (b) are viewed from the Y-axis direction in the supporting device according to another embodiment of the present invention. Fig.
Fig. 16 is a side view schematically showing a state (a) and (b) of the supporting device according to another embodiment of the present invention, viewed from the Y-axis direction. Fig.
17 is a perspective view showing the entire supporting device in another embodiment of the present invention.

Hereinafter, an embodiment of the present invention in which a supporting device for supporting a movable body is described will be described with reference to Figs. 1 to 10. Fig.

As shown in Fig. 1, the supporting device 10 supports the movable body 11. As shown in Fig. The movable element 11 holds the electric screwdriver 11a which is a rotary tool (holding object). The supporting device 10 is provided with three link mechanism portions 20 capable of supporting the movable body 11 respectively corresponding to the X axis direction, the Y axis direction and the Z axis direction in the moving range of the movable body 11 , 30, and 40, respectively. Then, the support device 10 uses the three link mechanism portions 20, 30, and 40 to rotate the movable body 11 around the Z axis, around the X axis, and around the Y axis, The movable body 11 is movably supported within a predetermined moving range while the attitude of the movable body 11 is maintained in a constant state. In the following description, for convenience of explanation, the link mechanism portion capable of supporting the movable body 11 in the X-axis direction is referred to as "X-axis link mechanism portion 20", and the movable body 11 can be supported in the Y- The link mechanism portion may be referred to as a "Y-axis link mechanism portion 30" and the link mechanism portion capable of supporting the movable body 11 in the Z-axis direction may be referred to as "Z-axis link mechanism portion 40".

The supporting apparatus 10 includes a base frame 12 having a substantially rectangular frame shape extending along the XY plane, a plurality of bore portions 13 provided in the Z axis direction from the base frame 12, And a substantially rectangular box-shaped housing 14 supported by the mouth portions 13. From the side surface 14a extending along the XZ plane of the housing 14, a driving shaft 21, which is a driving unit of a servomotor (not shown) for driving X axis, protrudes along the Y axis direction. The drive shaft 21 is located at the corner portion on the mouthpiece portion 13 side on the side surface 14a. The drive shaft 21 is rotated by the drive of the X-axis servomotor to oscillate the X-axis link mechanism portion 20. [

From the side surface 14b extending along the YZ plane of the housing 14, a driving shaft 31, which is a driving unit of a Y-axis servomotor (not shown) for driving, protrudes along the X-axis direction. The drive shaft 31 is located on the side of the mouth portion 13 on the side surface 14b. In addition, the drive shaft 31 is disposed at a position away from the mouth tongue portion 13 with respect to the drive shaft 21 of the X-axis servo motor in the Z-axis direction. The drive shaft 31 rotates by driving the Y-axis servomotor to oscillate the Y-axis link mechanism portion 30. [

A driving shaft 41, which is a driving unit of a servomotor (not shown) for driving the Z axis, protrudes from the side surface 14a of the housing 14 along the Y axis direction. The drive shaft 41 is located on the side of the side opposite to the mouth portion 13 on the side surface 14a. The drive shaft 41 rotates by driving the servomotor for the Z-axis, and oscillates the Z-axis link mechanism section 40.

The drive shaft 21 of the servo motor for the X axis is provided at the end of the support device 10 in the X-axis direction. The drive shaft 31 of the Y-axis servomotor is provided at the end of the support device 10 in the Y-axis direction. The drive shaft 41 of the servomotor for the Z axis is provided at the end of the support device 10 in the Z-axis direction. The drive shafts 21, 31, and 41 are installed in one housing 14 at a time. The movable element 11 is disposed at the end of the supporting device 10 on the opposite side to the driving shafts 21, 31 and 41 in the respective axial directions.

Next, the X-axis link mechanism unit 20 will be described.

2, the X-axis link mechanism unit 20 includes an arm 22 connected to the drive shaft 21, one end connected to the arm 22 and the other end connected to the movable member 11, And two links 23 extending so as to be coincident with the X axis in the moving range of the movable body 11. [ Concretely, the arm 22 is fixed to the drive shaft 21. As the drive shaft 21 rotates, the arm 22 oscillates integrally with the drive shaft 21 with the central axis of the drive shaft 21 as the center of swing motion do. The two links 23 are of the same length. The arm 22 has an oscillating portion 22a that extends in a straight line and has one end connected to the drive shaft 21 so as to swing around the drive shaft 21 as a swinging center and an oscillating portion 22b that is bifurcated from the other end of the oscillating portion 22a And a pair of supporting portions 22b that are separated from each other and extend in directions away from each other. A round hole-shaped through hole 22c is formed at the end of each support portion 22b. The through holes 22c of the support portions 22b face each other in the Y-axis direction.

The X-axis link mechanism portion 20 also has a rotation axis 24 extending parallel to the drive shaft 21. The rotating shaft 24 is inserted into the through hole 22c of the both supporting portions 22b and supported and held rotatably on the both supporting portions 22b. Both end portions of the rotating shaft 24 are formed into a two-sided width shape having a pair of flat surface portions 24a. The pair of planar portions 24a are provided at both ends of the rotary shaft 24 with a plate shape capable of oscillating with respect to the rotary shaft 24 in a plane (XY plane) parallel to the axial direction of the rotary shaft 24, And the connection portion 25 of the connection portion 25 is connected. One end of one of the two links 23 is connected to each connecting portion 25 in a state of being inserted into two connecting portions 25 connected to one end of the rotating shaft 24. One end of the other one of the two links 23 is connected to each connecting portion 25 in a state of being inserted into two connecting portions 25 connected to the other end of the rotating shaft 24.

3, the X-axis link mechanism portion 20 has a pair of rotary shafts 26 rotatably supported on the movable body 11. As shown in Fig. Each of the rotary shafts 26 extends parallel to the drive shaft 21. Both end portions of the respective rotary shafts 26 have a two-sided width shape having a pair of flat surfaces 26a. Plate-shaped connecting portions 27 capable of swinging with respect to the rotating shaft 26 in a plane (XY plane) parallel to the axial direction of the rotating shaft 26 are connected to the pair of the plane portions 26a of the respective rotating shafts 26, . The other end of one of the two links 23 is connected to each connecting portion 27 in a state of being fitted in two connecting portions 27 connected to one end of the pair of rotating shafts 26. The other one of the two links 23 is connected to each connecting portion 27 in a state of being fitted in two connecting portions 27 connected to the other end of the pair of rotating shafts 26 .

Each link 23 is capable of swinging about the arm 22 with the rotation axis 24 as a swing center and swinging with respect to the rotation axis 24 via the connection section 25 in the XY plane. The two links 23 move while maintaining a state parallel to each other.

Next, the Y-axis link mechanism portion 30 will be described.

4, the Y-axis link mechanism portion 30 includes an arm 32 connected to the drive shaft 31, one end connected to the arm 32 and the other end connected to the movable body 11, And one link 33 extending so as to be coincident with the Y-axis in the moving range of the movable body 11. [ Concretely, the arm 32 is fixed to the drive shaft 31. With the rotation of the drive shaft 31, the arm 32 swings integrally with the drive shaft 31 with the central axis of the drive shaft 31 as the center of swing do. The arm 32 includes a swinging portion 32a that extends linearly and has one end connected to the drive shaft 31 so as to swing around the drive shaft 31 as a swinging center, And a pair of supporting portions 32b which are separated from each other and extend along the Z-axis direction. At the end of each support portion 32b, a through-hole 32c in the form of a round hole is formed. And the through holes 32c of the both support portions 32b face each other in the X axis direction.

The Y-axis link mechanism portion 30 also has a rotation shaft 34 extending in parallel with the drive shaft 31. The Y- The rotary shaft 34 is inserted into the through hole 32c of both the support portions 32b and supported and held rotatably on the both support portions 32b. The central portion of the rotary shaft 34 has a two-sided width shape having a pair of flat surfaces 34a. A plate-like connecting portion 35 capable of swinging with respect to the rotating shaft 34 is connected to the pair of flat surface portions 34a in a plane (XY plane) parallel to the axial direction of the rotating shaft 34. [ One end of one link 33 is connected to each connecting portion 35 in a state of being fitted in two connecting portions 35. [

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

Next, the Z-axis link mechanism section 40 will be described.

5, 6, and 7, the Z-axis link mechanism unit 40 includes an arm 42 connected to the drive shaft 41, one end connected to the arm 42, And three links 43 extending in a moving range of the movable body 11 so as to be coincident with the Z axis. The three links 43 are of the same length. The arm 42 includes a fixed shaft 44, a coupling portion 45, a pair of oscillating portions 47, a rotary shaft 48, a pair of oscillating portions 49, a rotary shaft 50, 51).

The fixed shaft 44 protrudes along the Y axis direction from the side surface 14a of the housing 14 and extends parallel to the drive shaft 41. [ The projecting position of the fixed shaft 44 from the side surface 14a is located on the same straight line in the Z axis direction from the projecting position from the side surface 14a of the drive shaft 41. [ The coupling portion 45 connects the end of the driving shaft 41 in the protruding direction and the end of the fixing shaft 44 in the protruding direction. The drive shaft (41) is rotatably supported with respect to the coupling portion (45). Therefore, the coupling portion 45 functions as a bearing of the drive shaft 41. [ The coupling portion 45 is supported on the side surface 14a of the housing 14 through the support portion 46. [ Since the drive shaft 41 and the fixed shaft 44 are connected through the coupling portion 45 supported on the side surface 14a of the housing 14 through the support portion 46, The stiffness in the axial direction in the first embodiment 44 is increased, and the parallel state is maintained.

The pair of swinging parts (47) extend in a linear shape and have one end connected to the drive shaft (41). The pair of swinging parts 47 are fixed to the drive shaft 41 and swing integrally with the drive shaft 41 with the central axis of the drive shaft 41 as the center of swinging with the rotation of the drive shaft 41 do. The pair of swinging parts 47 extend parallel to each other. At the other end of each swinging part 47, a through hole 47a is formed. The through holes 47a of the pair of swinging parts 47 face each other in the Y-axis direction. A cylindrical sleeve 45a is provided between the coupling portion 45 and the pair of oscillating portions 47 and the oscillating portion 47 on the coupling portion 45 side in the Y axis direction. The coupling portion 45 and the swinging portion 47 are kept separated from each other by the sleeve 45a.

The rotating shaft 48 extends in parallel with the drive shaft 41 and is inserted into the through hole 47a of the both swinging parts 47 and supported and held rotatably by the both swinging parts 47. [ The pair of swinging parts 49 extend linearly and have one end connected to the stationary shaft 44 so as to swing about the center axis of the stationary shaft 44 as a swing center. The pair of swinging parts 49 extend parallel to each other. A through hole 49a is formed at the other end of each swinging part 49. The through holes 49a of the pair of swinging parts 49 face each other in the Y-axis direction. The rotary shaft 50 extends parallel to the drive shaft 41 (fixed shaft 44) and is inserted into the through hole 49a of the both rotary parts 49 and is rotatably supported by the both rotary parts 49 Both sides are held and supported.

The connecting portion 51 connects the both rotary shafts 48 and 50 to each other. The connecting portion 51 has a first connecting portion 51a for connecting the parts on one side of the pair of swinging parts 47 and 49 of the both rotating shafts 48 and 50 and a second connecting part 51b for connecting the two rotating shafts 48 and 50 A second connecting portion 51b connecting parts on the other side of the pair of swinging parts 47 and 49 in the first connecting part 51a and connecting the first connecting part 51a and the second connecting part 51b And a third linking unit 51c. The third linking portion 51c extends along the Y axis direction between the two rotary shafts 48, The connecting portion 51 has an H-shape in the X-axis direction. The both rotation shafts 48 and 50 are rotatably supported by the first coupling portion 51a and the second coupling portion 51b.

The first coupling portion 51a and the oscillating portion 47 of the pair of oscillating portions 47 on the first coupling portion 51a side and the oscillating portion 47 between the second coupling portion 51b and the second coupling portion 51b, A cylindrical sleeve 47b is provided between the pair of oscillating portions 47 and the oscillating portion 47 on the side of the second linking portion 51b. The sleeve 47b holds the first coupling portion 51a and the oscillating portion 47 and the second coupling portion 51b and the oscillating portion 47 apart from each other.

The first coupling portion 51a and the oscillating portion 49 of the pair of oscillating portions 49 on the side of the first coupling portion 51a and the oscillating portion 49 of the pair of oscillating portions 49 in the Y- A cylindrical sleeve 49b is provided between the pair of oscillating portions 49 and the oscillating portion 49 on the side of the second linking portion 51b. The sleeve 49b holds the first coupling portion 51a and the oscillating portion 49 and the second coupling portion 51b and the oscillating portion 49 separated from each other.

The distance between the center axis of the drive shaft 41 and the center axis of the rotary shaft 48 is equal to the distance between the center axis of the fixed shaft 44 and the center axis of the rotary shaft 50, 50 are arranged such that the distance between the center axes of the drive shaft 41 and the fixed shaft 44 is equal to the distance between the center axes of the drive shaft 41 and the fixed shaft 44, And is connected by a linking unit 51b. Since the two rotary shafts 48 and 50 are connected through the first coupling portion 51a and the second coupling portion 51b connected to each other by the third coupling portion 51c, ) In the axial direction is increased, and the parallel state is maintained.

The drive shaft 41, the fixed shaft 44, and the coupling portion 45 constitute a rectangular shape when viewed in the X-axis direction, and the deformed rigidity of the rectangular shape is enhanced. The both rotating shafts 48 and 50, the first linking part 51a and the second linking part 51b form a rectangular shape when viewed in the X-axis direction, and the deformed rigidity of the rectangular shape is enhanced. The pair of swinging parts 47 and 49, the connecting part 45 and the connecting part 51 constitute a parallelogram (rectangular) when viewed in the Y-axis direction. The driving shaft 41, the pair of swinging parts 47, and the rotating shaft 48 constitute a rectangular shape when viewed in the Z-axis direction, and the deformed stiffness of the rectangular shape is enhanced. The fixed shaft 44, the pair of swinging parts 49, and the rotating shaft 50 constitute a rectangular shape when viewed in the Z-axis direction, and the deformed rigidity of the rectangular shape is enhanced.

The driving shaft 41 is swingably connected to the driving shaft 41 by a pair of swinging parts 47 and 49, a connecting part 45, a connecting part 51, a fixed shaft 44, and both rotating shafts 48 and 50 A pair of arm portions 42A constituting a parallelogram link mechanism are formed. The arm portion 42A has one side of the drive shaft 41 and the fixed shaft 44 and the opposite side of the arm portion 42A is formed by a connection portion 51. The three links 43 are connected through a connection portion 51 . Therefore, the arm 42 has a pair of arm portions 42A. The pair of arm portions 42A are integrated through a connecting portion 51 constituting a part of each arm portion 42A.

The connecting portion 51 has a protruding portion 52 extending between the pair of arm portions 42A. The speech portion 52 is integrally provided in the third linking portion 51c. Therefore, the connection portion 51 including the speech portion 52 is T-shaped in the Y-axis direction and the Z-axis direction. A rotation shaft 53 extending along the X-axis direction is provided at the distal end of the speech portion 52. The rotary shaft 53 is rotatably supported with respect to the concave portion 52. The distal end portion of the rotating shaft 53 has a two-sided width shape having a pair of flat surface portions 53a. A plate-like connecting portion 54 capable of swinging with respect to the rotating shaft 53 is connected to the pair of flat surface portions 53a within a plane (XZ plane) parallel to the axial direction of the rotating shaft 53. [ One end of the first Z-axis link 43a, which is one of the three links 43, is connected to each connecting portion 54 in a state sandwiched between the two connecting portions 54. [

Both ends of the rotating shaft 48 are formed into a two-sided width shape having a pair of flat surfaces 48a. Like connecting portions 55 (swingable with respect to the rotational shaft 48) in planes (YZ planes) parallel to the axial direction of the rotating shaft 48 are provided on the pair of the plane portions 48a at both ends of the rotating shaft 48 Are connected. One end of the second Z-axis link 43b, which is one of the remaining two of the three links 43, is inserted into two connection portions 55 connected to one end of the rotation shaft 48, (Not shown). One end of the third Z-axis link 43c having the other one of the three links 43 is connected to each of the connecting portions 55 in a state of being fitted in the two connecting portions 55 connected to the other end of the rotating shaft 48, Respectively.

As shown in Fig. 8, the Z-axis link mechanism portion 40 has a rotary shaft 56 rotatably supported on the movable member 11 and disposed opposite to the rotary shaft 53 in the Z-axis direction. The both rotating shafts 53, 56 extend parallel to each other. The end portion of the rotary shaft 56 has a two-sided width shape having a pair of flat surface portions 56a. A plate-like connecting portion 57 capable of swinging with respect to the rotating shaft 56 is connected to the pair of flat surface portions 56a in a plane (XZ plane) parallel to the axial direction of the rotating shaft 56. [ The other end of the first Z-axis link 43a is connected to each connecting portion 57 in a state of being fitted in the two connecting portions 57. [

The Z-axis link mechanism portion 40 has a pair of rotation shafts 58 rotatably supported on the movable body 11 and disposed opposite to both ends of the rotation shaft 48 in the Z-axis direction have. Each of the rotary shafts 58 extends in parallel with the drive shaft 41. The ends of the respective rotary shafts 58 have a two-sided width shape having a pair of flat surfaces 58a. Plate-shaped connecting portions 59 capable of swinging with respect to the rotating shaft 58 in a plane (YZ plane) parallel to the axial direction of the rotating shaft 58 are connected to the pair of plane portions 58a of the respective rotating shafts 58, . The other end of the second Z-axis link 43b is connected to each of the connecting portions 59 in a state of being fitted in the two connecting portions 59 connected to one end of the pair of rotating shafts 58. The other end of the third Z axis link 43c is connected to each of the connecting portions 59 in a state of being fitted in two connecting portions 59 connected to the other end of the pair of rotating shafts 58.

The three links 43 (the first Z-axis link 43a, the second Z-axis link 43b and the third Z-axis link 43c) The first Z-axis link 43a swings in the XZ plane through the connecting portion 54 with respect to the rotating shaft 53 when the second Z-axis link 43b and the third Z-axis link 43c swing Do. When the second Z-axis link 43b and the third Z-axis link 43c swing through the connecting portion 55 with respect to the rotary shaft 48 in the YZ plane, the first Z-axis link 43a, As the rotary shaft 53 rotates, it can swing with the rotary shaft 53 as a swing center. Therefore, the first Z-axis link 43a, which is one of the three links swingably connected via the rotation shaft 53, is swingably coupled in the two directions via the rotation shaft 53, . The arm 42 moves the three links 43 while keeping them parallel to each other. Since the three links 43 are connected to the connecting portion 51 via the rotating shafts 50 and 53 and the connecting portion 51 moves in a posture, the arms 43 ) While maintaining the relative positional relationship of the connection positions.

The connecting position of the first Z-axis link 43a with respect to the arm 42 is the same as the connecting position of the second Z-axis link 43b in the Z-axis direction, as shown in Figs. 9A and 9B, And the connecting position with respect to the arm 42 in the third Z-axis link 43c. Since the three links 43 have the same length, the connection position of the first Z-axis link 43a with respect to the movable body 11 in the Z-axis direction is the same as that of the second Z-axis link 43b, And the connecting position of the third Z-axis link 43c with respect to the movable body 11 is apart from the arm 42. [

The connection positions of the two links 23 of the X-axis link mechanism section 20 to the movable body 11 are connected to the second Z-axis link 43b and the third Z-axis link 43c Axis and the connecting position of the second Z-axis link 43b and the third Z-axis link 43c, respectively, with respect to the housing 14 in the Z-axis direction It is located on the opposite side.

10, when the connecting positions of the three links 43 of the Z-axis link mechanism section 40 to the movable body 11 are viewed in the Z-axis direction, the respective connecting positions are the isosceles triangle T1 As shown in Fig. The connecting position of the link 33 of the Y-axis link mechanism unit 30 with respect to the movable body 11 is located inside the isosceles triangle T1 when viewed from the Z-axis direction. The electric driver 11a is held by the movable element 11 in a state in which the axial direction of the output shaft 11b of the electric screwdriver 11a coincides with the Z axis direction. The output shaft 11b is located on the side of the isosceles triangle T1 when viewed in the Z axis direction. In the present embodiment, the output shaft 11b is connected to the movable member 11 in the second Z axis link 43b Axis link 43c and the connecting position of the third Z-axis link 43c with respect to the movable member 11. The position of the third Z-

The support device 10 is configured such that the angle formed by the links 23, 33, 43 of the adjacent link mechanism portions 20, 30, 40 in the moving range of the movable body 11 can take 90 degrees. 1, the angle formed by the links 23, 33, and 43 of the adjacent link mechanism portions 20, 30, and 40 in the moving range of the movable body 11 becomes 90 degrees, for example, The angles formed by the arms 22, 32 and 42 (the oscillating portions 22a and 32a and 47) and the links 23, 33 and 43 of the link mechanism portions 20, 30 and 40 can take 90 degrees .

When position information for moving the movable body 11 is input to a computer (not shown) in the support apparatus 10, a command signal in accordance with the information is transmitted from the controller to the X-axis servo motor, the Y- And outputted to the servo motor. The drive shafts 21, 31 and 41 are rotated based on the command signal and the arms 22, 32 and 42 of the link mechanism units 20, 30 and 40 are driven by the drive shafts 21, 31 and 41, / RTI > The links 23, 33, and 43 move in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively, in conjunction with the swinging motion of the arms 22, As a result, the movable body 11 is movable in the X-axis direction and the Y-axis direction while maintaining the attitude of the movable body 11 in a constant state in the state in which the rotation about the X-axis, the Y- And the Z-axis direction. As the movable body 11 moves, the electric screwdriver 11a moves integrally with the movable body 11. In the present embodiment, the movable body 11 is movable in a predetermined moving range while maintaining the state in which the axial direction of the output shaft 11b of the electric screwdriver 11a coincides with the Z-axis direction. The arm 42 of the Z-axis link mechanism section 40 maintains the posture of the movable element 11 in a constant state in the range of movement of the movable element 11 and the three links 43 ) While maintaining a state parallel to each other.

Next, the operation of the present embodiment will be described.

The screw fastening operation using the electric screwdriver 11a is performed while pressing the bit 11c (tip tool) attached to the output shaft 11b of the electric screwdriver 11a in the Z axis direction with respect to the object to be screw tightened All. At this time, as compared with the case where two links 43 constituting the Z-axis link mechanism section 40 are provided, as in the related art, for example, The link 43 has an increased rigidity to hold the pressing force for pressing the bit 11c against the object. Concretely, since the three links 43 support the movable member 11 at three points, the supporting rigidity of the supporting surface is increased. In the Z-axis direction, the connecting positions of the three links with respect to the movable member 11 are triangular, triangular pillars (three quadrangles) are formed by three parallel links 43, It is possible to maintain the rigidity at a high level by only the three links 43 of the Z-axis, which rotate in the Y-axis.

The three links 43 are positioned by the connecting portion 51 constituting the arm portion 42A of the arm 42 and are maintained in a posture so that the rigidity is maintained high. More specifically, the two links 43b and 43c are supported by the pair of swinging parts 47. [ One link 43a acts on the concave portion 52 of the connecting portion 51. [ The difference in force between the links 43a, 43b and 43c acts as a moment to the connecting portion 51. The tension of the oscillating portion 47 of the arm portion 42A and the compression of the oscillating portion 49 And is canceled by the equilibrium of force. In this manner, the positional relationship among the three links 43 is maintained unchanged. Therefore, the rigidity of the link 43 in the Z-axis direction is sufficiently secured.

The external force in the X-axis direction applied to the movable body 11 is directly supported by the two links 23 and the arm 22 of the X-axis link mechanism unit 20. [ The angle formed by the arm 22 and the link 23 is set such that the angle formed by the links 23, 33 and 43 of the adjacent link mechanism portions 20, 30 and 40 in the moving range of the movable body 11 is 90 degrees When doing this, you can take 90 degrees. Therefore, the external force in the X-axis direction applied to the movable body 11 is easily supported by the two links 23 and the arm 22 of the X-axis link mechanism unit 20. [

The external force in the Y-axis direction applied to the movable body 11 is directly supported by one link 33 and the arm 32 of the Y-axis link mechanism unit 30. [ The angle formed by the arm 32 and the link 33 is set so that the angle formed by the links 23, 33 and 43 of the adjacent link mechanism portions 20, 30 and 40 in the moving range of the movable body 11 is 90 degrees When doing this, you can take 90 degrees. Therefore, the external force in the Y-axis direction applied to the movable element 11 is easily supported by the single link 33 and the arm 32 of the Y-axis link mechanism portion 30. [

The external force in the Z axis direction applied to the movable body 11 is directly supported by the three links 43 and the arm 42 of the Z axis link mechanism unit 40. [ The angle formed by the arm 42 and the link 43 is set so that the angle formed by the links 23, 33, 43 of the adjacent link mechanism portions 20, 30, 40 in the moving range of the movable body 11 is 90 degrees When doing this, you can take 90 degrees. Therefore, the external force in the Z-axis direction applied to the movable element 11 is easily supported by the three links 43 and the arm 42 of the Z-axis link mechanism portion 40. [

In the above-described embodiment, the following effects can be obtained.

(1) When the angle formed by the links (23, 33, 43) of the adjacent link mechanism portions (20, 30, 40) in the moving range of the movable body (11) The angle formed by the arms 22, 32 and 42 of the link mechanism portions 20, 30 and 40 and the links 23, 33 and 43 is 90 degrees. Further, the Z-axis link mechanism section 40 has three links 43. The arm 42 keeps the posture of the movable element 11 constant in the moving range of the movable element 11 and moves the three links 43 while keeping them in parallel with each other. This makes it easier to support the external forces in the axial directions applied to the movable body 11 by the links 23, 33, 43 and the arms 22, 32, 42 of the respective axes. As compared with the case where two links 43 constituting the Z-axis link mechanism section 40 are provided, for example, as in the related art, by supporting three links 43 on the surface, the bits 11c ) To the object can be increased. The connection portions of the three links 43 on the drive shaft 41 side are mechanisms in which the positional relationship and posture are maintained and moved. Therefore, the rigidity of the link 43 in the Z-axis direction can be sufficiently secured.

(2) The links 23 and 33 are capable of swinging about the arms 22 and 32 with the rotation shafts 24 and 34 as pivotal centers, and the planes parallel to the axial direction of the rotation shafts 24 and 34 (25, 35) with respect to the rotary shafts (24, 34). According to this, the movable member 11 can be moved accurately. Of the three links 43, the second Z-axis link 43b and the third Z-axis link 43c can swing with respect to the arm 42 with the rotary shaft 48 as a swing center, And can swing with respect to the rotating shaft 48 through the connecting portion 55 in a plane parallel to the axial direction of the rotating shaft 48. [ Since the driving force from the driving shaft 41 directly acts on the second Z-axis link 43b and the third Z-axis link 43c via the arm 42, a force acting as a disturbance such as a rotation moment is generated And the holding rigidity can be increased. As a result, high-precision movement and a large load can be coped with.

(3) The arm 42 of the Z-axis link mechanism section 40 has a pair of arm portions 42A constituting a parallelogram link mechanism connected to the drive shaft 41. [ The pair of arm portions 42A are integrally formed through the connecting portion 51. According to this structure, the pair of arm portions 42A can be integrally formed as a single body, and furthermore, the rectangular structure is formed in a rigid structure in either the X axis direction, the Y axis direction, or the Z axis direction. The holding rigidity can be realized and the accuracy of the movement of the link 43 in the Z-axis direction can be improved. Therefore, the rigidity against torsion at the connecting portion between the arm 42 and the link 43, particularly, the rigidity against torsion in the plane perpendicular to the Z-axis direction, is enhanced. Therefore, it is possible to move the heavy electric screwdriver 11a or achieve high moving accuracy.

(4) The arm 42 of the Z-axis link mechanism section 40 has the extending section 52 extending between the pair of arm sections 42A. A first Z-axis link 43a, which is one of three links swingably connected via a rotation shaft 53, is connected to the distal end portion of the speech portion 52 so as to be swingable in two directions via a rotation shaft 53 . According to this, the connecting portion 51 is moved while maintaining the predetermined posture by the arm portion 42A constituting the parallelogram link mechanism, and the concave portion 52 integrally formed by the third connecting portion 51c Move while maintaining the same posture. The connecting portions of the three links 43 on the drive shaft 41 side can be moved while maintaining the positional relationship of the triangle.

(5) The connecting positions of the three links 43 of the Z-axis link mechanism section 40 to the movable body 11 and the arm 42 are such that when viewed in the Z-axis direction, T1. As a result, the support device 10 can be made compact, and the rigidity of the link 43 in the Z-axis direction can be sufficiently secured.

(6) The connecting position of the link 33 of the Y-axis link mechanism unit 30 with respect to the movable body 11 is located inside the isosceles triangle T1 when viewed in the Z-axis direction. As compared with the case where the connecting position of the link 33 of the Y-axis link mechanism unit 30 to the movable body 11 is located outside the isosceles triangle T1 in the Z-axis direction, The support device 10 can be made compact. Further, it is easy to secure the rigidity of the link 43 in the Z-axis direction.

(7) Each of the connection positions of the two links 23 of the X-axis link mechanism section 20 to the movable body 11 is the same as the connection positions of the second Z-axis link 43b and the third Z- Axis direction and the connecting position of the second Z-axis link 43b and the third Z-axis link 43c, which are located on the same straight line in the Z- Is located on the opposite side. As a result, the support device 10 can be made compact, and the rigidity of the link 43 in the Z-axis direction can be sufficiently secured.

(8) The output shaft 11b of the electric screwdriver 11a is connected to the connecting position of the second Z-axis link 43b to the movable body 11 and the connecting position of the third Z-axis link 43b 43c on the movable member 11, as shown in Fig. According to this, it is possible to easily secure the rigidity for holding the pressing force by pressing the bit 11c against the object. Specifically, the reaction force of the pressing force for pressing the bit 11c against the object is transmitted directly to the arm 42 via the second Z-axis link 43b and the third Z-axis link 43c, and the first Z-axis link 43a ) Can play the role of maintaining the posture, so that high rigidity can be realized.

(9) Because three links 43 support the movable member 11 at three points, the supporting rigidity of the supporting surface is increased. In the Z-axis direction, the connecting positions of the three links with respect to the movable member 11 are triangular, triangular pillars (three quadrangles) are formed by three parallel links 43, It is possible to maintain the rigidity at a high level by only the three links 43 of the Z-axis, which rotate in the Y-axis.

(10) The three links 43 are positioned by the connecting portion 51 constituting the arm portion 42A of the arm 42. [ According to this, since the three links 43 are held in a posture, rigidity is maintained high. More specifically, the two links 43b and 43c are supported by the pair of swinging parts 47. [ One link 43a acts on the concave portion 52 of the connecting portion 51. [ The difference in force between the links 43a, 43b and 43c acts as a moment to the connecting portion 51. The tension of the oscillating portion 47 of the arm portion 42A and the compression of the oscillating portion 49 And is canceled by the equilibrium of force. In this manner, the positional relationship among the three links 43 is maintained unchanged.

The above embodiment may be modified as follows.

The positional relationship between the drive shaft 41 and the fixed shaft 44 may be reversed as shown in Figs. 11 (a) and 11 (b). The connection portion 51 including the speech portion 52 may be of the L-shape in the Y-axis direction. The connecting position of the first Z-axis link 43a with respect to the arm 42 in the Z-axis direction is the same as the connecting position of the arm 42 in the second Z-axis link 43b and the third Z- In the same manner as in the first embodiment. Since the three links 43 have the same length, the connection position of the first Z-axis link 43a to the movable body 11 in the Z-axis direction is the same as that of the second Z- 3 Z-axis link 43c with respect to the movable body 11. The position of the Z-

As shown in Fig. 12, the extending portions 52 may extend to the side opposite to the space between the pair of arm portions 42A (the outside of the supporting device 10). In the embodiment shown in Fig. 12, the connecting portion 51 including the concave portion 52 has an L-shape as an example in the Y-axis direction, but the connecting portion 51 has a T Or the like.

As shown in Figs. 13A and 13B, the Z-axis link mechanism section 40 may have a stage 60 as a drive section. The stage 60 linearly moves in the Z-axis direction by the driving force from the driving source. The Z-axis link mechanism section 40 has an arm 42 connected to the stage 60. The three links 43 are movable in the Z-axis direction while the stage 60 is in a parallel state by the linear movement of the stage 60. [

As shown in Figs. 14A and 14B, a rotary shaft 44A is provided in place of the fixed shaft 44, and the drive shaft 41 and the rotary shaft 44A are connected to a timing belt The rotation of the drive shaft 41 and the rotation shaft 44A is mechanically synchronized through the connecting member 61 so that the respective swinging parts 47 and 49 It may be oscillated.

As shown in Figs. 15A and 15B, each of the swinging parts 47 and 49 is connected by a connecting link 62 so that the swinging of each swinging part 47, 62).

As shown in Figs. 16A and 16B, the oscillating portion 49 is connected to the drive shaft 63 of the servo motor, and the drive shafts 41, The oscillating portions 47 and 49 may be oscillated by electrically controlling the servomotors of the servomotors 41 and 63, respectively.

As shown in Fig. 17, two supporting devices 10 are provided, and two supporting devices 10 are arranged on the YZ plane so that the movable devices 11 can be arranged in close proximity to each other. But may be provided in a plane symmetry. According to this, it is possible to concentrate the work by the rotary tool held in each moving body 11 at one place. As a result, it is possible to maintain the same kind of rotary tools on both sides to increase the efficiency, or to maintain different kinds of rotary tools and gripping mechanisms to enable complicated work.

In the embodiment, the electric driver 11a is held by the movable element 11 in a state where the axial direction of the output shaft 11b of the electric screwdriver 11a coincides with, for example, the X axis direction . In this case, the X-axis link mechanism unit 20 needs to have three links 23. It is sufficient if three or more links 23, 33, 43 of the three link mechanism portions 20, 30, 40 are provided. According to this, the rigidity of the link (23, 33, 43) in at least one of the X axis direction, the Y axis direction and the Z axis direction can be sufficiently secured.

In the embodiment, the number of the links 23 of the X-axis link mechanism unit 20 may be one, or three or more. Needless to say, at least one link 23 of the X-axis link mechanism unit 20 may be provided.

In the embodiment, two or more links 33 of the Y-axis link mechanism unit 30 may be provided. Needless to say, at least one link 33 of the Y-axis link mechanism unit 30 may be provided.

In the embodiment, four or more links 43 of the Z-axis link mechanism unit 40 may be provided. Needless to say, three or more links 43 of the Z-axis link mechanism section 40 may be provided.

In the embodiment, for example, one link 23 of the X-axis link mechanism unit 20, one link 33 of the Y-axis link mechanism unit 30, and one link 33 of the Z- And the link 43 may have three configurations. In this case, the connection position of the link 23 of the X-axis link mechanism unit 20 to the movable body 11 and the connection position of the movable body 11 of the link 33 of the Y-axis link mechanism unit 30 Is preferably located inside the isosceles triangle (T1) when viewed in the Z-axis direction. This makes it easier to support the external forces in the axial directions applied to the movable element 11 by the links 23, 33, and 43 of the respective axes.

In the embodiment, the output shaft 11b of the electric screwdriver 11a has a connecting position of the second Z-axis link 43b with respect to the movable member 11 and a connecting position of the third Z It is not necessary to be positioned on a straight line connecting the connection position of the axial link 43c with respect to the movable member 11. [ For example, the output shaft 11b of the electric driver 11a may be located inside the isosceles triangle T1 when viewed in the Z-axis direction.

In the embodiment, the connection positions of the two links 23 of the X-axis link mechanism unit 20 with respect to the movable body 11 correspond to the second Z-axis link 43b and the third Z- 43c in the Z-axis direction.

In the embodiment, the connecting position of the link 33 of the Y-axis link mechanism portion 30 with respect to the movable body 11 may be located outside the isosceles triangle T1 when viewed in the Z-axis direction .

The connection positions of the three links 43 of the Z-axis link mechanism section 40 to the movable body 11 in the Z-axis linkage section 40 are set so that when the connection positions are the isosceles triangle T1, As shown in Fig.

In the embodiment, for example, the arms 22, 32, 42 and the links 23, 33, 43 may be connected by a ball joint. In the configuration of the number of links (three or more, two or more, one or more) of the embodiment, the configuration for connecting the arms 22, 32, 42 and the links 23, 33, 43 is particularly limited no.

In the embodiment, the holding object of the movable body 11 may be a non-rotating tool such as another rotating tool such as an electric drill or a heating tool such as a soldering iron. The object to be held on the movable element 11 is not particularly limited.

The present invention is not limited to the illustrated example. For example, it should be understood that the illustrated features are not to be construed as essential to the present invention, but rather the subject matter of the present invention may lie in less than all features of the specific embodiments disclosed. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

10 ... Support device, 11 ... Moving body, 20, 30, 40 ... Link mechanism section, 21, 31, 41 ... Drive shafts 22, 32, 42 ... Arm, 23, 33, 43 ... Link, 24, 26, 34, 36, 48, 50, 58 ... Rotation axis, 25, 27, 35, 37, 55, 59 ... Connection, 42A ... A pair of arms, 44 ... Fixed shaft, 47, 49 ... Ivory, 51 ... Connection, 52 ... Speech department, 60 ... The stage

Claims (6)

There is provided a supporting device having three link mechanism portions capable of respectively supporting the movable body in each of directions in the X axis direction, the Y axis direction and the Z axis direction within the moving range of the movable body,
Each of the link mechanisms includes an arm connected to the driving unit, one end connected to the arm and the other end connected to the movable body, and the X axis and the Y axis And a link extending so as to coincide with any one of the Z-axis,
The support device is configured such that the angle between the links of the adjacent link mechanism portions in the moving range of the movable body is 90 degrees,
When the angle between the links of the adjacent link mechanism portions in the moving range of the movable body is 90 degrees, the angle between the arm of the link mechanism portion and the link is 90 degrees,
Wherein three or more links are provided in any one of the three link mechanism portions and the arm of the link mechanism portion in which the three or more links are provided is configured to maintain the posture of the movable body in a constant state within a moving range of the movable body And the three or more links are moved while maintaining a state parallel to each other. The method according to claim 1,
Wherein the arm is pivotally connected to a drive shaft which is the drive unit,
The link mechanism portion has a rotation shaft extending parallel to the drive shaft and a connection portion connected to the rotation shaft and swingable about the rotation shaft in a plane parallel to the axial direction of the rotation shaft,
Wherein the link is connected to the connecting portion and is capable of swinging with respect to the arm with the rotation shaft as a center of swing and is swingable with respect to the rotation shaft via the connection portion in the plane. The method according to claim 1,
The arm of the link mechanism portion provided with the three or more links includes a pair of oscillating portions 47 that are pivotally connected to the drive shaft 41 as the drive portion and a pair of oscillating portions 47 that are pivotally connected to the stationary shaft 44 A pair of arm portions constituting a parallelogram link mechanism including an oscillating portion 49 and an integrally connecting portion 51, and one side of the arm portion when seen from the other direction is connected to the drive shaft 41 and the fixed shaft 44), and the opposite side comprises the connecting portion (51), and the three or more links are connected through the connecting portion (51). The method of claim 3,
The arm of the link mechanism portion provided with the three or more links has a protruding portion (extending portion) extending between the pair of arm portions,
And one of the three or more links is pivotally connected to the distal end portion of the concave portion in two directions. 5. The method according to any one of claims 1 to 4,
Three links are provided in any one of the three link mechanism portions,
Wherein the connection positions of the three links with respect to the movable body are at positions where the connection positions constitute an isosceles triangle when viewed in the Z axis direction in which the three links are arranged side by side. 6. The method of claim 5,
When viewed from the direction of the Z axis in which the three links are arranged side by side, the connecting position of the at least one of the two link mechanisms different from the link mechanism provided with the three links to the movable body, Is located inside the isosceles triangle.
KR1020177017817A 2015-11-30 2016-11-23 Support device KR101960947B1 (en)

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CN107107288B (en) 2019-05-03
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JP2017100199A (en) 2017-06-08
CN107107288A (en) 2017-08-29
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TW201722612A (en) 2017-07-01
KR20170090461A (en) 2017-08-07

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