TWI628031B - Supporting device - Google Patents

Abstract

The present invention provides a supporting device (10) configured as a connecting member (23, 33) of adjacent connecting mechanism portions (20, 30, 40) among moving ranges of the movable body (11). When the angle formed by 43) is 90 degrees, the angle formed by the arms (22, 32, 42) of each of the connection mechanism portions (20, 30, 40) and the connectors (23, 33, 43) is 90 degrees. Further, the Z-axis connecting mechanism portion (40) has three connecting members (43). Thereby, the external force applied to each axial direction of the movable body (11) is easily received by the connectors (23, 33, 43) and the arms (22, 32, 42) of the respective shafts. Further, as compared with the case where the number of the connecting members (43) constituting the Z-axis connecting mechanism portion (40) is two in the prior art, the three connecting members (43) can be used to lift and hold the drill toward the object. (11c) The rigidity of the pushing force.

Description

Support device

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

The support device supports a movable body that holds a rotary tool (object to be held) such as an electric screwdriver or an electric drill. As such a supporting device, for example, those described in Patent Document 1 are mentioned. The support device of Patent Document 1 has a first connection mechanism portion that supports the movable body in a direction (Z-axis direction) that coincides with the Z-axis in the movement range of the movable body, and that is identical in the second connection mechanism portion. The movable body is supported in the X-axis direction (X-axis direction), and the third connection mechanism portion supports the movable body in a direction (Y-axis direction) that coincides with the Y-axis. Each of the first to third connection mechanism units includes one of the first to third servo motors constituting the drive source, and two of the first and third servo motors that are parallel to each other in the movement range of the movable body. 1 to 1 to 3rd connectors. One end of each of the first to third connecting members is slidably coupled to one of the first to third servo motors; the other end of each of the first to third connecting members is swingably connected For the movable body. Each of the two first to third connecting members is configured such that an angle formed by the connecting members of the adjacent connecting mechanism portions among the moving ranges of the movable body can be 90 degrees.

When the first to third servo motors are driven, the first to third connecting members are oscillated with respect to the first to third servo motors, and the first to third connecting members are respectively in the X-axis direction and the Y-axis direction. And move in the Z axis direction. As a result, the movable body moves in the X-axis direction, the Y-axis direction, and the Z-axis direction while maintaining the posture in a horizontal state while restricting the rotation around the Z axis, around the X axis, and around the Y axis. The rotary tool and the movable body move integrally together with the movement of the movable body.

<Prior Art Document> <Patent Document> [Patent Document 1] Japanese Laid-Open Patent Publication No. 2012-240167.

<Technical problems to be solved by the invention>

However, in the support device of Patent Document 1, for example, a state in which the rotary tool is held on the movable body in a state where the axial direction of the output shaft of the rotary tool coincides with the Z-axis direction is considered. A screw lock or drill machining using a rotary tool is a front end tool such as a bit or a drill mounted on the output shaft of the rotary tool for the object of the screw lock or the drill machine in the Z axis. Push in the direction to proceed. In this case, in a state in which the two first connectors are used, there is a case where the rigidity of the pressing force for pressing the tip tool toward the object (the object to be pressed) is too weak, and it is difficult to use. Screw lock or drill machining of the rotary tool. Therefore, in this case, it is desirable to sufficiently ensure the rigidity of the joint in the Z-axis direction.

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

<Technical solution to solve the problem>

In order to achieve the above object, an aspect of the present invention provides a support device having three connection mechanism portions corresponding to an X-axis direction, a Y-axis direction, and a Z in a moving range of a movable body. Each of the axial directions supports the movable body, and each of the connecting mechanism portions has an arm and a connecting member, and the arm is connected to the driving portion, wherein one end of the connecting member is connected to the arm and the other end is connected to the movable body. Further, the connector is extendable in conformity with any one of the X-axis, the Y-axis, and the Z-axis in a range of movement of the movable body, and the support device is configured to be in a range of movement of the movable body The angle formed by the connecting members of the adjacent connecting mechanism portions can be 90 degrees. When the angle between the connecting members of the adjacent connecting mechanism portions is 90 degrees in the moving range of the movable body, each connecting mechanism portion The angle formed by the arm and the connecting member can be 90 degrees, and three or more connectors are provided in any one of the three connection mechanism portions, and the three or more connectors are provided. Means connecting the arm portion of the member, in the movable range of the movable body posture of the movable body is maintained at a constant state, and so that the three or more connecting member to move while maintaining mutually parallel.

In the above support device, preferably, the arm is swingably coupled to a drive shaft as the drive unit, and the connection mechanism portion has a rotation shaft extending in parallel with the drive shaft, and a connection portion connected to The rotating shaft is slidable relative to the rotating shaft in a plane parallel to an axial direction of the rotating shaft, and the connecting member is coupled to the connecting portion and is swayable with respect to the arm with the rotating shaft as a rocking center. The member is rocked with respect to the aforementioned rotation axis via the aforementioned connecting portion in the aforementioned plane.

In the above support device, preferably, the arm of the connection mechanism portion provided with the three or more connectors has a pair of arm portions, and the pair of arm portions constitute a parallelogram connection mechanism, and the parallelogram connection mechanism includes: a rocking portion that is swingably coupled to a drive shaft as the drive portion; another pair of rocking portions that are rockably coupled to the fixed shaft; and an integral connecting portion, one side of the arm portion being The drive shaft and the fixed shaft are configured; the opposite side of the arm portion is configured by the connecting portion, and the arm portion is connected to the three or more connecting members via the connecting portion.

In the above supporting device, it is preferable that the arm of the connection mechanism portion provided with the three or more connectors has an extending portion that extends between the pair of arm portions and is at a front end portion of the extending portion In the above, one of the three or more connectors described above can be connected in a two-way direction.

In the above-described support device, it is preferable that one of the three connection mechanism portions is provided with three connectors, and the connection positions of the three connectors to the movable body can be aligned by the three connectors. When viewed in any of the X-axis, the Y-axis, and the Z-axis, each of the connection positions is located at a position constituting an isosceles triangle.

In the above-described supporting device, it is preferable that a connecting member of at least one of the two connecting mechanism portions of the connecting mechanism portion in which the three connecting members are provided is connected to the movable body. When the three connectors are viewed in any one of the X-axis, the Y-axis, and the Z-axis, the connection position is located inside the isosceles triangle.

<Effects of invention>

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

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

As shown in FIG. 1, the support device 10 supports the movable body 11. The movable body 11 holds the electric driver 11a as a rotating tool (holding object). The support device 10 has three connection mechanism portions 20, 30, and 40, and can support movable in any one of the X-axis direction, the Y-axis direction, and the Z-axis direction in the movement range of the movable body 11. Body 11. Further, the support device 10 maintains the posture of the movable body 11 while restraining the rotation of the movable body 11 around the Z axis, around the X axis, and around the Y axis by the three connection mechanism portions 20, 30, and 40. In the state, the movable body 11 is movably supported while being within a predetermined moving range. In the following description, for convenience of explanation, the connection mechanism portion that supports the movable body 11 in the X-axis direction is referred to as "X-axis connection mechanism portion 20", and the connection mechanism for supporting the movable body 11 in the Y-axis direction is described. The portion referred to as the "Y-axis connecting mechanism portion 30" and the connecting mechanism portion that supports the movable body 11 in the Z-axis direction are referred to as "Z-axis connecting mechanism portion 40".

The support device 10 includes a substantially quadrangular frame-shaped abutment frame 12 that extends along the XY plane, a plurality of erected portions 13 that are erected from the base frame 12 in the Z-axis direction, and a substantially four-corner box-shaped frame. 14. It is supported by each of the standing parts 13. The side surface 14a extending along the XZ plane in the casing 14 protrudes in the Y-axis direction as the drive shaft 21 of the drive unit of the X-axis servo motor (not shown) serving as the drive source. The drive shaft 21 is located at a corner portion close to the upright portion 13 in the side surface 14a. The drive shaft 21 is rotated by the drive of the servo motor by the X-axis, and the X-axis connection mechanism unit 20 is rocked.

The side surface 14b extending along the YZ plane in the casing 14 protrudes in the X-axis direction as a drive shaft 31 of a drive unit of a Y-axis servo motor (not shown) serving as a drive source. The drive shaft 31 is located in a portion close to the upright portion 13 in the side surface 14b. Further, the drive shaft 31 is disposed at a position farther from the standing portion 13 than the drive shaft 21 of the X-axis servo motor in the Z-axis direction. The drive shaft 31 is rotated by the drive of the servo motor by the Y-axis, and the Y-axis connection mechanism unit 30 is rocked.

Further, the drive shaft 41 of the drive unit of the Z-axis servo motor (not shown) serving as the drive source protrudes in the Y-axis direction from the side surface 14a of the casing 14. The drive shaft 41 is located at an edge portion on the side opposite to the upright portion 13 in the side surface 14a. The drive shaft 41 is rotated by the drive of the servo motor by the Z-axis, and the Z-axis connection mechanism portion 40 is swung.

The drive shaft 21 of the X-axis servo motor is provided at the outermost end portion of the support device 10 in the X-axis direction. The drive shaft 31 of the servo motor for the Y-axis is provided at the outermost end portion of the support device 10 in the Y-axis direction. The drive shaft 41 of the Z-axis servo motor is provided at the outermost end portion of the support device 10 in the Z-axis direction. Each of the drive shafts 21, 31, 41 is integrally provided in one of the housings 14. The movable body 11 is disposed at the outermost end portion on the opposite side of each of the drive shafts 21, 31, 41 in each axial direction of the support device 10.

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

As shown in FIG. 2, the X-axis connecting mechanism portion 20 is provided with an arm 22 connected to the drive shaft 21, and two connecting members 23, one end of which is connected to the arm 22 and the other end of which is connected to the movable body 11, and is capable of being movable. Among the moving ranges of 11, the X-axis extends uniformly. Specifically, the arm 22 is fixed to the drive shaft 21, and as the drive shaft 21 rotates, the drive shaft 21 is integrally rocked with the center axis of the drive shaft 21 as the swing center. The two connectors 23 are the same length. The arm 22 is composed of a rocking portion 22a and a pair of supporting portions 22b. The rocking portion 22a extends linearly and is coupled to the driving shaft 21 in such a manner that one end thereof can be rocked with the driving shaft 21 as a rocking center; the pair of supporting portions 22b is divided into two parts from the other end of the rocking portion 22a and extends in a direction away from each other. A through hole 22c having a circular hole shape is formed at an end portion of each of the support portions 22b. The through holes 22c of the two support portions 22b face each other in the Y-axis direction.

Further, the X-axis connecting mechanism portion 20 has a rotating shaft 24 that extends in parallel with the drive shaft 21. The rotating shaft 24 is inserted through the through holes 22c of the two supporting portions 22b, and is rotatably supported by the two supporting portions 22b. Both end portions of the rotating shaft 24 have a width opposite to each other having a pair of flat portions 24a. In the both end portions of the rotating shaft 24, a plate-shaped connecting portion 25 is connected to the pair of flat portions 24a, and is rotatable with respect to the rotating shaft 24 in a plane (XY plane) parallel to the axial direction of the rotating shaft 24. One of the two connecting members 23 is connected to each of the connecting portions 25 in a state of being sandwiched by two connecting portions 25 connected to one end portion of the rotating shaft 24. Two connecting members One end of the remaining one of the connecting members 23 is connected to each of the connecting portions 25 in a state of being sandwiched by the two connecting portions 25 connected to the other end portion of the rotating shaft 24.

As shown in FIG. 3, the X-axis connecting mechanism portion 20 has a pair of rotating shafts 26 rotatably supported by the movable body 11. Each of the rotating shafts 26 and the drive shaft 21 extend in parallel. Both end portions of each of the rotating shafts 26 have a pair of flat shapes of the pair of flat portions 26a. A plate-shaped connecting portion 27 that can swing with respect to the rotating shaft 26 in a plane (XY plane) parallel to the axial direction of the rotating shaft 26 is connected to the pair of flat portions 26a of the respective rotating shafts 26. Two connecting members The other end of one of the connecting members 23 is connected to each of the connecting portions 27 in a state of being sandwiched by two connecting portions 27 connected to one of the ends of the pair of rotating shafts 26. Two connecting members The other end of the remaining one of the connecting members 23 of 23 is connected to each of the connecting portions 27 in a state of being sandwiched by two connecting portions 27 connected to the other end of the pair of rotating shafts 26.

Each of the connecting members 23 is rotatable with respect to the arm 22 with the rotating shaft 24 as a rocking center, and can be swung with respect to the rotating shaft 24 via the connecting portion 25 in the XY plane. The two connectors 23 move while maintaining parallel states.

Next, the Y-axis connection mechanism unit 30 will be described.

As shown in FIG. 4, the Y-axis connecting mechanism portion 30 has an arm 32 connected to the driving shaft 31, and a connecting member 33, one end of which is connected to the arm 32 and the other end of which is connected to the movable body 11, and is capable of being movable. Among the moving ranges of 11, the Y-axis extends uniformly. Specifically, the arm 32 is fixed to the drive shaft 31, and as the drive shaft 31 rotates, the drive shaft 31 is integrally rocked with the center axis of the drive shaft 31 as a rocking center. The arm 32 is configured by a rocking portion 32a and a pair of supporting portions 32b. The rocking portion 32a extends linearly and is coupled to the driving shaft 31 such that one end thereof can be rocked with the driving shaft 31 as a rocking center; the pair of supporting portions 32b is divided into two portions from the other end of the rocking portion 32a and extends in the Z-axis direction with each other. A through hole 32c having a circular hole shape is formed at an end of each of the support portions 32b. The through holes 32c of the two support portions 32b face each other in the X-axis direction.

Further, the Y-axis connecting mechanism portion 30 has a rotating shaft 34 that extends in parallel with the drive shaft 31. The rotating shaft 34 is inserted into the through holes 32c of the two supporting portions 32b, and is rotatably supported on both supporting portions 32b. The central portion of the rotating shaft 34 has a width opposite to that of the pair of flat portions 34a. A plate-shaped connecting portion 35 is connected to the pair of flat portions 34a, and the plate-shaped connecting portion 35 can be swung relative to the rotating shaft 34 in a plane (XY plane) parallel to the axial direction of the rotating shaft 34. One end of one of the connecting members 33 is connected to each of the connecting portions 35 in a state of being sandwiched between the two connecting portions 35.

As shown in FIG. 3, the Y-axis connecting mechanism portion 30 has a rotating shaft 36 rotatably supported by the movable body 11. The rotating shaft 36 and the drive shaft 31 extend in parallel. The central portion of the rotating shaft 36 has a width opposite to that of the pair of flat portions 36a. A plate-shaped connecting portion 37 is connected to the pair of flat portions 36a, and the plate-shaped connecting portion 37 is swingable with respect to the rotating shaft 36 in a plane (XY plane) parallel to the axial direction of the rotating shaft 36. The other end of the connector 33 is connected to each of the connecting portions 37 in a state of being sandwiched by the two connecting portions 37. The connecting member 33 can be rocked with respect to the arm 32 with the rotating shaft 34 as a rocking center, and can be rocked with respect to the rotating shaft 34 via the connecting portion 35 in the XY plane.

Next, the Z-axis connection mechanism unit 40 will be described.

As shown in FIGS. 5, 6, and 7, the Z-axis connecting mechanism portion 40 has an arm 42 coupled to the drive shaft 41, and three connecting members 43, one end of which is coupled to the arm 42 and the other end of which is coupled to the movable body. 11. It extends in the Z-axis in accordance with the movement range of the movable body 11. The three connectors 43 are of the same length. The arm 42 includes a fixed shaft 44, a connecting portion 45, a pair of rocking portions 47, a rotating shaft 48, a pair of rocking portions 49, a rotating shaft 50, and a connecting portion 51, which will be described later.

The fixed shaft 44 protrudes from the side surface 14a of the frame body 14 in the Y-axis direction and extends in parallel with the drive shaft 41. The protruding position of the fixed shaft 44 from the side surface 14a and the protruding position of the drive shaft 41 from the side surface 14a are on the same straight line in the Z-axis direction. The connecting portion 45 connects the end portion of the drive shaft 41 in the protruding direction with the end portion of the fixed shaft 44 in the protruding direction. The drive shaft 41 is rotatably supported by the connecting portion 45. Therefore, the connecting portion 45 functions as a bearing of the drive shaft 41. The connecting portion 45 is supported by the side surface 14a of the casing 14 via the support portion 46. Further, since the drive shaft 41 and the fixed shaft 44 are coupled together via the connecting portion 45, the rigidity of the drive shaft 41 and the fixed shaft 44 in the axial direction is improved, and the states in which they are parallel to each other are maintained.

A pair of rocking portions 47 extend linearly and one end thereof is coupled to the drive shaft 41. The pair of rocking portions 47 are fixed to the drive shaft 41, and as the drive shaft 41 rotates, the center axis of the drive shaft 41 is a rocking center and the drive shaft 41 is integrally rocked. The pair of rocking portions 47 extend parallel to each other. A through hole 47a is formed at the other end of each of the rocking portions 47. The through holes 47a of the pair of rocking portions 47 oppose each other in the Y-axis direction. In the Y-axis direction, a cylindrical sleeve 45a is provided between the connecting portion 45 and the pair of rocking portions 47 between the rocking portions 47 on the side of the connecting portion 45. The state in which the connecting portion 45 and the rocking portion 47 are separated is maintained by the sleeve 45a.

The rotating shaft 48 and the driving shaft 41 extend in parallel and are inserted into the through holes 47a of the two rocking portions 47 so as to be rotatably supported on the two rocking portions 47 on both sides. The pair of rocking portions 49 extend linearly and are coupled to the fixed shaft 44 such that one end thereof can be rocked with the central axis of the fixed shaft 44 as a rocking center. A pair of rocking portions 49 extend parallel to each other. The other end of each of the rocking portions 49 is formed with a through hole 49a. The through holes 49a of the pair of rocking portions 49 face each other in the Y-axis direction. The rotating shaft 50 and the driving shaft 41 (fixed shaft 44) extend in parallel and are inserted into the through holes 49a of the two rocking portions 49 so as to be rotatably supported on the two rocking portions 49 on both sides.

The connecting portion 51 connects the two rotating shafts 48, 50 to each other. The connecting portion 51 has a first connecting portion 51a that connects one of the two rotating shafts 48 and 50 close to one of the pair of rocking portions 47 and 49, and a second connecting portion 51b that connects the two rotating shafts 48 and 50. The other portions of the pair of rocking portions 47 and 49 are adjacent to each other; and the third connecting portion 51c is connected to the first connecting portion 51a and the second connecting portion 51b. The third connecting portion 51c extends in the Y-axis direction between the two rotating shafts 48, 50. The connecting portion 51 is H-shaped when viewed from the X-axis direction. The two rotating shafts 48 and 50 are rotatably supported by the first connecting portion 51a and the second connecting portion 51b.

In the Y-axis direction, the first connecting portion 51a and the pair of rocking portions 47 are located between the rocking portions 47 on the first connecting portion 51a side; and the second connecting portion 51b and the pair of rocking portions 47 are located in the first A cylindrical sleeve 47b is provided between the rocking portions 47 on the side of the connecting portion 51b. By the sleeve 47b, the first connecting portion 51a and the rocking portion 47 and the second connecting portion 51b and the rocking portion 47 are maintained in a separated state.

In the Y-axis direction, between the first connecting portion 51a and the pair of rocking portions 49, between the rocking portions 49 on the first connecting portion 51a side; and the second connecting portion between the second connecting portion 51b and the pair of rocking portions 49 A cylindrical sleeve 49b is provided between the rocking portions 49 on the side of the portion 51b. The sleeve 49b maintains a state of separation between the first connecting portion 51a and the rocking portion 49 and between the second connecting portion 51b and the rocking portion 49.

The two rotating shafts 48, 50 are such that the distance between the central axis of the drive shaft 41 and the central axis of the rotary shaft 48 and the distance between the central axis of the fixed shaft 44 and the central axis of the rotary shaft 50 are made uniform, and The distance between the central axes of the two rotating shafts 48, 50 and the distance between the central axis of the drive shaft 41 and the central axis of the fixed shaft 44 are aligned, and the first connecting portion 51a and the second connecting portion 51b are connected to each other. together. Further, since the two rotating shafts 48 and 50 are connected to each other via the first connecting portion 51a and the second connecting portion 51b which are connected to each other by the third connecting portion 51c, the axial rigidity of the two rotating shafts 48 and 50 can be improved. While maintaining a state of parallel to each other.

The drive shaft 41, the fixed shaft 44, and the connecting portion 45 are formed in a rectangular shape when viewed from the X-axis direction, and the deformation rigidity of the rectangular shape is improved. The two rotating shafts 48 and 50, the first connecting portion 51a, and the second connecting portion 51b form a rectangular shape when viewed from the X-axis direction, and the deformation rigidity of the rectangular shape is improved. The pair of rocking portions 47 and 49, the connecting portion 45, and the connecting portion 51 are configured as a parallelogram (rectangular) when viewed in the Y-axis direction. Further, the drive shaft 41, the pair of rocking portions 47, and the rotary shaft 48 form a rectangular shape when viewed from the Z-axis direction, and the deformation rigidity of the rectangular shape is improved. Further, the fixed shaft 44, the pair of rocking portions 49, and the rotating shaft 50 form a rectangular shape when viewed from the Z-axis direction, and the deformation rigidity of the rectangular shape is improved.

Further, the pair of rocking portions 47, 49; the connecting portion 45; the connecting portion 51; the fixed shaft 44; the two rotating shafts 48, 50 constitute a pair of arm portions 42A, which are rockably coupled to the driving shaft 41 and constitute a parallelogram connection mechanism. The arm portion 42A is constituted by a drive shaft 41 and a fixed shaft 44, and its opposite side is constituted by an integral connecting portion 51; the three connecting members 43 are connected via the connecting portion 51. Therefore, the arm 42 has a pair of arm portions 42A. The pair of arm portions 42A are integrated via a connecting portion 51 that constitutes a part of each arm portion 42A.

The connecting portion 51 has an extended portion 52 that extends between the pair of arm portions 42A. The extension unit 52 and the third connection unit 51c are integrally provided. Therefore, the connecting portion 51 including the extended portion 52 is T-shaped when viewed in the Y-axis direction and the Z-axis direction. A rotating shaft 53 is provided at a front end portion of the extended portion 52 and extends in the X-axis direction. The rotating shaft 53 is rotatably supported by the extending portion 52. The front end portion of the rotating shaft 53 has a width opposite to that of the pair of flat portions 53a. A plate-shaped connecting portion 54 is connected to the pair of flat portions 53a, and is swingable with respect to the rotating shaft 53 in a plane (XZ plane) parallel to the axial direction of the rotating shaft 53. One end of the first Z-axis connector 43a, which is one of the three connectors 43, is connected to each of the connecting portions 54 while being sandwiched by the two connecting portions 54.

Further, both end portions of the rotating shaft 48 have a width opposite to each other having a pair of flat portions 48a. In the both end portions of the rotating shaft 48, a plate-shaped connecting portion 55 is connected to the pair of flat portions 48a, and the plate-shaped connecting portion 55 can be in a plane (YZ plane) parallel to the axial direction of the rotating shaft 48. The rotating shaft 48 is rocked. One end of the second Z-axis connecting member 43b, which is one of the remaining two of the three connecting members 43, is a two-piece connecting portion 55 that is connected to one end portion of the rotating shaft 48. The connection portion 55 is connected to the state of the clip. One end of the third Z-axis connector 43c, which is the remaining one of the three connectors 43, is connected to each other in a state of being sandwiched by two connecting portions 55 connected to the other end of the rotating shaft 48. Connection portion 55.

As shown in FIG. 8, the Z-axis connecting mechanism portion 40 has a rotating shaft 56 that is rotatably supported by the movable body 11 and that is disposed opposite to the rotating shaft 53 in the Z-axis direction. The two rotating shafts 53, 56 extend parallel to each other. The end of the rotating shaft 56 has a shape of the opposite width of the pair of flat portions 56a. A plate-shaped connecting portion 57 is connected to the pair of flat portions 56a, and the plate-shaped connecting portion 57 can be swung relative to the rotating shaft 56 in a plane (XZ plane) parallel to the axial direction of the rotating shaft 56. The other end of the first Z-axis connector 43a is connected to each of the connecting portions 57 in a state of being sandwiched between the two connecting portions 57.

Further, the Z-axis connecting mechanism portion 40 has a pair of rotating shafts 58 rotatably supported by the movable body 11 and disposed opposite to both end portions of the rotating shaft 48 in the Z-axis direction. Each of the rotating shafts 58 and the drive shaft 41 extend in parallel. The end of each of the rotating shafts 58 has a width opposite to that of the pair of flat portions 58a. A plate-shaped connecting portion 59 is connected to each of the pair of flat portions 58a of the respective rotating shafts 58. The plate-shaped connecting portion 59 can be opposed to the rotating shaft in a plane (YZ plane) parallel to the axial direction of the rotating shaft 58. 58 shaking. The other end of the second Z-axis connector 43b is connected to each of the connecting portions 59 in a state of being sandwiched by two connecting portions 59 connected to one end of the pair of rotating shafts 58. The other end of the third Z-axis connector 43c is connected to each of the connecting portions 59 in a state of being sandwiched by two connecting portions 59 connected to the other end of the pair of rotating shafts 58.

Among the three connecting members 43 (the first Z-axis connecting member 43a, the second Z-axis connecting member 43b, and the third Z-axis connecting member 43c), the second Z-axis connecting member 43b and the third Z-axis connecting member 43c are rocked by the rotating shaft 48. When the center is swung with respect to the arm 42, the first Z-axis link 43a can be swung relative to the rotating shaft 53 via the connecting portion 54 in the XZ plane. Further, when the second Z-axis connector 43b and the third Z-axis connector 43c are swung relative to the rotation shaft 48 via the connection portion 55 in the YZ plane, the first Z-axis connector 43a can be rotated by the rotation shaft 53 to be the rotation axis. 53 is shaking the center of the shake. Therefore, the first Z-axis link 43a is connected to the front end portion of the extended portion 52 by the rotation shaft 53 so as to be rockable in both directions. The arm 42 moves the three connecting members 43 while maintaining the three connecting members 43 in parallel with each other. Since the three connecting members 43 are connected to the connecting portion 51 via the rotating shafts 50 and 53, and the connecting portion 51 is maintained in a posture, the three connecting members 43 are maintained at the relative positions of the connecting positions of the respective connecting members 43 to the arms 42. Move under the relationship.

As shown in Fig. 9 (a) and Fig. 9 (b), in the Z-axis direction, the connection position of the first Z-axis connector 43a to the arm 42 is compared with the second Z-axis connector 43b and the third Z-axis connector 43c. The connection position of the arm 42 is closer to the movable body 11. Further, since the three connecting members 43 have the same length, the connection position of the first Z-axis connecting member 43a to the movable body 11 in the Z-axis direction is larger than that of the second Z-axis connecting member 43b and the third Z-axis connecting member 43c with respect to the movable body 11. The connection position is further away from the arm 42.

Further, the respective connecting positions of the two connecting members 23 of the X-axis connecting mechanism portion 20 to the movable body 11 and the respective connecting positions of the second Z-axis connecting member 43b and the third Z-axis connecting member 43c are in the same straight line in the Z-axis direction. . The respective connection positions of the two connectors 23 of the X-axis link mechanism portion 20 are located on the opposite side of the frame body 14 in the Z-axis direction with respect to the respective connection positions of the second Z-axis link 43b and the third Z-axis link 43c.

As shown in FIG. 10, the three connecting members 43 of the Z-axis connecting mechanism portion 40 constitute a position of the isosceles triangle T1 when viewed from the Z-axis direction with respect to each of the connecting positions of the movable body 11. Further, the connection position of the connecting member 33 of the Y-axis connecting mechanism portion 30 to the movable body 11 is located inside the isosceles triangle T1 when viewed from the Z-axis direction. The electric screwdriver 11a is held by the movable body 11 in a state where 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 from the Z-axis direction. In the present embodiment, the connection position of the second Z-axis connecting member 43b with respect to the movable body 11 and the third Z-axis connecting member 43c are for the movable body. The connection position of 11 is connected on a straight line.

The supporting device 10 is configured such that the angle formed by the connecting members 23, 33, and 43 of the adjacent connecting mechanism portions 20, 30, 40 among the moving ranges of the movable body 11 can be 90 degrees. Further, for example, as shown in FIG. 1, each of the connecting mechanism portions can be formed when the angle formed by the connecting members 23, 33, and 43 of the adjacent connecting mechanism portions 20, 30, and 40 among the moving ranges of the movable body 11 is 90 degrees. The angle formed by the arms 22, 32, 42 (shake portions 22a, 32a, 47) of the 20, 30, 40 and the connectors 23, 33, 43 is 90 degrees.

In the support device 10, after the position information on which the movable body 11 is to be moved is input to the computer (not shown), the command signal for the information is output from the controller to the X-axis servo motor, the Y-axis servo motor, and the Z. A servo motor for the shaft. As a result, each of the drive shafts 21, 31, 41 rotates based on the command signal, and the arms 22, 32, 42 of the respective link mechanism portions 20, 30, 40 are each rocked with respect to the drive shafts 21, 31, 41. Further, each of the connectors 23, 33, and 43 moves in the X-axis direction, the Y-axis direction, and the Z-axis direction in conjunction with the shaking of the arms 22, 32, and 42. As a result, the movable body 11 maintains the posture of the movable body 11 in the X-axis direction, the Y-axis direction, and the Z-axis direction while maintaining the posture around the X-axis, the Y-axis, and the Z-axis. mobile. The electric driver 11a and the movable body 11 move integrally together with the movement of the movable body 11. In the present embodiment, the axial direction of the output shaft 11b of the electric screwdriver 11a is maintained in the Z-axis direction, and the movable body 11 is moved within a predetermined movement range. In the present embodiment, the arm 42 of the Z-axis connecting mechanism portion 40 is configured to maintain the posture of the movable body 11 in a fixed state in the moving range of the movable body 11, and maintain the three connecting members 43 parallel to each other. The state of the mobile mechanism that makes it move.

Next, the action of this embodiment will be described.

However, the screw lock operation using the electric screwdriver 11a is performed while the drill 11c (tip tool) attached to the output shaft 11b of the electric screwdriver 11a is pressed against the object of the screw lock in the Z-axis direction. In this case, as compared with the case where the number of the connecting members 43 constituting the Z-axis connecting mechanism portion 40 is two in the prior art, the three connecting members 43 that maintain the postures of the connecting portions on the side of the drive shaft 41 can be used. The rigidity for maintaining the pressing force of the target 11c against the drill 11c is increased. Specifically, since the movable body 11 is surface-supported at three points by the three connecting members 43, the support rigidity of the receiving surface can be improved. Viewed from the Z-axis direction, the connecting positions of the three connecting members to the movable body 11 are triangular, and three parallel connecting members 43 form a triangular prism (three quadrangles), and only three connecting members 43 by the Z-axis are formed. It can maintain high rigidity to the force rotating on the X-axis and Y-axis.

Further, the three connectors 43 are positioned by the connecting portion 51 of the arm portion 42A constituting the arm 42, and are held at a high rigidity in order to maintain the posture. More specifically, the two connectors 43b and 43c are received by the pair of rocking portions 47. One connector 43a acts on the extended portion 52 of the connecting portion 51. The difference in the force between the respective connecting members 43a, 43b, and 43c acts as a moment for the connecting portion 51, but is converted into the pulling of the rocking portion 47 of the arm portion 42A and the compression of the rocking portion 49 due to the balance of the force. And disappeared. The positional relationship of the three connecting members 43 is thus maintained unchanged. Therefore, the rigidity of the connecting member 43 in the Z-axis direction can be sufficiently ensured.

The external force applied to the X-axis direction of the movable body 11 is directly received by the two connecting members 23 and the arms 22 of the X-axis connecting mechanism portion 20. The angle formed by the arm 22 and the connecting member 23 can be 90 when the angle formed by the connecting members 23, 33, 43 of the adjacent connecting mechanism portions 20, 30, 40 among the moving ranges of the movable body 11 is 90 degrees. degree. Therefore, the external force applied to the movable body 11 in the X-axis direction is easily received by the two connectors 23 and the arms 22 of the X-axis connecting mechanism portion 20.

The external force applied to the movable body 11 in the Y-axis direction is directly received by one of the connecting members 33 and the arm 32 of the Y-axis connecting mechanism portion 30. The angle formed by the arm 32 and the connecting member 33 can be 90 when the angle formed by the connecting members 23, 33, 43 of the adjacent connecting mechanism portions 20, 30, 40 among the moving ranges of the movable body 11 is 90 degrees. degree. Therefore, the external force applied to the movable body 11 in the Y-axis direction is easily received by the one connector 33 and the arm 32 of the Y-axis connecting mechanism portion 30.

The external force applied to the Z-axis direction of the movable body 11 is directly received by the three connecting members 43 and the arms 42 of the Z-axis connecting mechanism portion 40. The angle formed by the arm 42 and the connecting member 43 can be 90 when the angle formed by the connecting members 23, 33, 43 of the adjacent connecting mechanism portions 20, 30, 40 among the moving ranges of the movable body 11 is 90 degrees. degree. Therefore, the external force applied to the movable body 11 in the Z-axis direction is easily received by the three connecting members 43 and the arms 42 of the Z-axis connecting mechanism portion 40.

The above embodiment can obtain the following effects.

(1) The support device 10 is configured such that each of the connection mechanisms can be formed when the angle formed by the connectors 23, 33, and 43 of the connection mechanism portions 20, 30, and 40 adjacent to the movement range of the movable body 11 is 90 degrees. The angle formed by the arms 22, 32, 42 of the 20, 30, 40 and the connectors 23, 33, 43 is 90 degrees. Further, the Z-axis connecting mechanism portion 40 has three connecting members 43. The arm 42 maintains the posture of the movable body 11 in a constant state in the moving range of the movable body 11, and moves the three connecting members 43 in parallel with each other. Thereby, the external force applied to each axial direction of the movable body 11 is easily received by the connectors 23, 33, and 43 of the respective shafts and the arms 22, 32, and 42. Further, as in the case of the prior art, when the number of the connecting members 43 constituting the Z-axis connecting mechanism portion 40 is two, the three connecting members 43 are supported by the surface, thereby improving the maintenance of the drill toward the object. The rigidity of the pushing force of 11c. Further, the connection portion of the three connecting members 43 on the side of the drive shaft 41 is a mechanism that moves under the positional relationship and posture. Therefore, the rigidity of the connecting member 43 in the Z-axis direction can be sufficiently ensured.

(2) The connecting members 23, 33 can be swung with respect to the arms 22, 32 with the rotating shafts 24, 34 as the rocking center, and are rotated relative to each other via the connecting portions 25, 35 in a plane parallel to the axial directions of the rotating shafts 24, 34. The shafts 24, 34 are rocking. Thereby, the movement of the movable body 11 can be performed with high precision. Further, among the three connecting members 43, the second Z-axis connecting member 43b and the third Z-axis connecting member 43c are swingable with respect to the arm 42 with the rotating shaft 48 as a rocking center, and are parallel to the axial direction of the rotating shaft 48. The ground portion is rocked with respect to the rotating shaft 48 via the connecting portion 55. As a result, since the driving force from the drive shaft 41 directly acts on the second Z-axis link 43b and the third Z-axis link 43c via the arm 42, the unnecessary force such as the rotational moment is not generated, and the holding rigidity can be improved. Thereby, it is possible to respond to high-precision movement or a large load.

(3) The arm 42 of the Z-axis connecting mechanism portion 40 has a pair of arm portions 42A that constitute a parallelogram connecting mechanism that is coupled to the drive shaft 41. The pair of arm portions 42A are integrated via the connecting portion 51. With this configuration, the pair of arm portions 42A can be integrally formed in a three-dimensional manner, and further configured to have a solid quadrangular structure in any of the X-axis direction, the Y-axis direction, and the Z-axis direction, and high rigidity can be achieved. It is also possible to improve the movement accuracy of the connecting member 43 in the Z-axis direction. Therefore, the rigidity against the torsion of the joint portion of the arm 42 and the connecting member 43 can be increased, in particular, the torsion rigidity in the plane perpendicular to the Z-axis direction. Therefore, it is possible to move the electric screwdriver 11a having a considerable weight, and it is also possible to achieve high movement accuracy.

(4) The arm 42 of the Z-axis connecting mechanism portion 40 has an extended portion 52 that extends between the pair of arm portions 42A. The first Z-axis connector 43a of one of the three connectors is connected to the distal end portion of the extending portion 52 via the rotating shaft 53 so as to be swingable in both directions. Thereby, the connecting portion 51 moves under a certain posture by the arm portion 42A constituting the parallelogram connecting mechanism, and the extended portion 52 that is integrated by the third connecting portion 51c moves under the same posture. . The connection portion of the three connecting members 43 on the side of the drive shaft 41 can be moved under a positional relationship maintaining a triangle.

(5) The connection position of the three connectors 43 of the Z-axis connection mechanism portion 40 with respect to the movable body 11 and the arm 42 is located at a position constituting the isosceles triangle T1 when viewed from the Z-axis direction. Thereby, the support device 10 can be made compact, and the rigidity of the connector 43 in the Z-axis direction can be sufficiently ensured.

(6) When the connection position of the connector 33 of the Y-axis connection mechanism portion 30 with respect to the movable body 11 is viewed from the Z-axis direction, the connection position is located inside the isosceles triangle T1. Thereby, the support device 10 can be made more compact than when the connection position of the connector 33 of the Y-axis connection mechanism portion 30 with respect to the movable body 11 is located outside the isosceles triangle T1 when viewed from the Z-axis direction. . Further, it is also easy to ensure the rigidity of the connecting member 43 in the Z-axis direction.

(7) The respective connecting positions of the two connecting members 23 of the X-axis connecting mechanism portion 20 to the movable body 11 are located in the same Z-axis direction as the respective connecting positions of the second Z-axis connecting member 43b and the third Z-axis connecting member 43c. Each of the connection positions of the second Z-axis connector 43b and the third Z-axis connector 43c is located on the opposite side of the frame 14 in the Z-axis direction. Thereby, not only the support device 10 can be made more compact, but also the rigidity of the connector 43 in the Z-axis direction can be sufficiently ensured.

(8) The output shaft 11b of the electric screwdriver 11a is connected to the connection position of the second Z-axis link 43b to the movable body 11 and the connection position of the third Z-axis link 43c to the movable body 11 when viewed from the Z-axis direction. On the line. Thereby, it is easy to ensure the rigidity required to press the pressing force of the drill 11c toward the object. In particular, the reaction force against the pressing force of the drill 11c toward the object is directly transmitted to the arm 42 via the second Z-axis connector 43b and the third Z-axis connector 43c, and the first Z-axis connector 43a maintains the posture. The function is high rigidity.

(9) Since the movable body 11 is surface-supported at three points by the three connecting members 43, the support rigidity of the receiving surface is improved. Viewed from the Z-axis direction, the three connecting members are triangular in connection with the movable body 11, and constitute a triangular prism (three quadrangles) formed by three parallel connecting members 43, and the force rotating on the X-axis and the Y-axis High rigidity can be maintained only by the three connecting members 43 of the Z-axis.

(10) The three connectors 43 are positioned by the connecting portion 51 of the arm portion 42A constituting the arm 42. Thereby, the posture of the three connectors 43 is maintained, and the posture is maintained in a high rigidity. More specifically, the two connectors 43b and 43c are received by the pair of rocking portions 47. One connector 43a acts on the extended portion 52 of the connecting portion 51. The difference in force between the respective connecting members 43a, 43b, and 43c acts as a moment on the connecting portion 51, but is converted into the pulling of the rocking portion 47 of the arm portion 42A and the compression of the rocking portion 49 by force. Balance and disappear. The mutual positional relationship of the three connecting members 43 is thus maintained.

Further, the above embodiment may be modified as described below.

・As shown in FIGS. 11(a) and 11(b), the positional relationship between the drive shaft 41 and the fixed shaft 44 may be reversed. Further, the connection portion 51 including the extended portion 52 may be viewed from the Y-axis direction. In the Z-axis direction, the connection position of the first Z-axis connector 43a to the arm 42 is at the same position as the connection position of the second Z-axis connector 43b and the third Z-axis connector 43c with respect to the arm 42. Since the three connecting members 43 have the same length, in the Z-axis direction, the connection position of the first Z-axis connecting member 43a with respect to the movable body 11 is located in the movable body with the second Z-axis connecting member 43b and the third Z-axis connecting member 43c. 11 is connected to the same location.

As shown in FIG. 12, the extending portion 52 may extend to the opposite side (the outer side of the support device 10) from the pair of arm portions 42A. In addition, in the embodiment shown in FIG. 12, the connection portion 51 including the extended portion 52 is exemplified as a configuration that is L-shaped when viewed from the Y-axis direction, but the connection portion 51 is viewed from the Y-axis direction. The configuration of the T type is also possible.

As shown in FIGS. 13(a) and 13(b), the Z-axis connecting mechanism portion 40 may have a gantry 60 as a driving portion. The gantry 60 linearly moves in the Z-axis direction by the driving force from the driving source. The Z-axis connecting mechanism portion 40 has an arm 42 connected to the gantry 60. The three connecting members 43 are linearly moved by the gantry 60, and are movable in the Z-axis direction while maintaining parallel to each other.

As shown in FIGS. 14(a) and 14(b), a rotary shaft 44A is provided instead of the fixed shaft 44, and the drive shaft 41 and the rotary shaft 44A are connected to a connecting member 61 such as a time-limited belt or a chain, for example, to drive the shaft. The rotation of the 41 and the rotating shaft 44A is mechanically synchronized via the connecting member 61, and the respective rocking portions 47, 49 may be shaken.

・As shown in FIGS. 15(a) and 15(b), the respective rocking portions 47 and 49 are connected by the connecting connector 62, and the shaking of the rocking portions 47 and 49 is synchronized by the connecting connector 62. can.

As shown in FIGS. 16(a) and 16(b), the rocking portion 49 is connected to the drive shaft 63 of the servo motor, and each of the drive shafts 41 is electrically controlled so as to synchronize the rotation of the drive shafts 41 and 63. The servo motor of 63 may be used to swing the respective rocking portions 47 and 49.

As shown in FIG. 17 , two support devices 10 are provided, and the two support devices 10 can be placed in a single position so as to be close to the respective movable bodies 11 , and may be provided in plane symmetry with respect to the YZ plane. Thereby, the work performed by the rotary tool held by each movable body 11 can be concentrated in one place. As a result, it is possible to increase the efficiency by holding two rotating tools of the same kind, or to perform complicated work by holding different types of rotating tools or holding mechanisms.

In the embodiment, the electric screwdriver 11a may be held by the movable body 11 in a state where the axial direction of the output shaft 11b of the electric screwdriver 11a coincides with the X-axis direction. In this case, the X-axis connection mechanism unit 20 must have three connectors 23 . In other words, three or more of the three connection mechanism units 20, 30, and 40 may be provided in three or more. Thereby, the rigidity of the connectors 23, 33, and 43 in at least one of the X-axis direction, the Y-axis direction, and the Z-axis direction can be sufficiently ensured.

In the embodiment, the number of the connecting members 23 of the X-axis connecting mechanism unit 20 may be one or three or more. In other words, the connector 23 of the X-axis connection mechanism unit 20 may be provided with one or more.

In the embodiment, two or more connectors 33 of the Y-axis connection mechanism unit 30 may be provided. In other words, one or more of the connectors 33 of the Y-axis connecting mechanism portion 30 may be provided.

In the embodiment, four or more connectors 43 of the Z-axis connecting mechanism portion 40 may be provided. In other words, the connector 43 of the Z-axis connecting mechanism portion 40 may be provided in three or more.

In the embodiment, for example, the number of the connecting members 23 of the X-axis connecting mechanism portion 20 is one, the connecting member 33 of the Y-axis connecting mechanism portion 30 is one, and the connecting member 43 of the Z-axis connecting mechanism portion 40 is three. The composition of one can also be. In this case, the connection position of the connecting member 23 of the X-axis connecting mechanism portion 20 to the movable body 11 and the connecting position of the connecting member 33 of the Y-axis connecting mechanism portion 30 to the movable body 11 are located in the isosceles triangle when viewed from the Z-axis direction. The interior of T1 is preferred. Thereby, it is easy to receive the external force applied to each axial direction of the movable body 11 by the connectors 23, 33, and 43 of the respective shafts.

In the embodiment, the output shaft 11b of the electric screwdriver 11a is not located at the connection position of the second Z-axis connector 43b with respect to the movable body 11 and the third Z-axis connector 43c with respect to the movable body when viewed from the Z-axis direction. The connection position of 11 can also be connected on a straight line. For example, the output shaft 11b of the electric screwdriver 11a may be located inside the isosceles triangle T1 when viewed in the Z-axis direction.

In the embodiment, the respective connecting positions of the two connecting members 23 of the X-axis connecting mechanism portion 20 with respect to the movable body 11 and the respective connecting positions of the second Z-axis connecting member 43b and the third Z-axis connecting member 43c with respect to the movable body 11 It is also not in the same straight line in the Z-axis direction.

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

In the embodiment, the position at which the three connecting members 43 of the Z-axis connecting mechanism portion 40 are connected to the movable body 11 may not be located at the position forming the isosceles triangle T1 when viewed from the Z-axis direction.

In the embodiment, for example, the arms 22, 32, and 42 and the connectors 23, 33, and 43 may be connected by a spherical joint. Among the configurations (three or more; two or more; one or more) of the number of connectors of the embodiment, the configuration in which the arms 22, 32, 42 and the connectors 23, 33, and 43 are connected is not particularly limited. limited.

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

The present invention is not limited to the above examples. For example, the illustrated features are not to be construed as essential to the invention, and even the subject matter of the present invention resides in fewer features than all of the features of the specific embodiments disclosed above. The invention is expressed by the scope of the claims, and is intended to cover all modifications within the scope of the invention.

10‧‧‧Support device

11‧‧‧ movable body

20, 30, 40‧‧‧ Connection Department

21, 31, 41‧‧‧ as the drive shaft of the drive unit

22, 32, 42‧‧‧ Arms

23, 33, 43‧‧‧ connectors

24, 26, 34, 36, 48, 50, 58‧‧‧ rotating shaft

25, 27, 35, 37, 55, 59‧‧‧ Connections

42A‧‧‧A pair of arms

44‧‧‧Fixed shaft

47, 49‧‧‧ shaking parts

51‧‧‧Connecting Department

52‧‧‧Department

60‧‧‧As the platform of the drive department

Fig. 1 is a perspective view showing the entirety of a supporting device in an embodiment of the present invention. Fig. 2 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 3 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 4 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 5 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 6 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 7 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 8 is a perspective view showing an enlarged display of a part of the supporting device. Fig. 9(a) is a side view schematically showing a state in which the supporting device is viewed from the Y-axis direction, and Fig. 9(b) is a schematic view showing a connection position of each connecting member with respect to the movable body. Fig. 10 is a schematic view showing the connection position of each connector to the movable body. Fig. 11 (a) is a side view schematically showing a state in which the supporting device of another embodiment of the present invention is viewed from the Y-axis direction; and Fig. 11 (b) schematically shows the connection position of each connecting member with respect to the movable body. Pattern diagram. Fig. 12 is a side view schematically showing a state in which a supporting device of another embodiment of the present invention is viewed from the Y-axis direction. 13(a) and 13(b) are schematic side views showing a state in which a support device according to another embodiment of the present invention is viewed from the Y-axis direction. 14(a) and 14(b) are schematic side views showing a state in which a support device according to another embodiment of the present invention is viewed from the Y-axis direction. 15(a) and 15(b) are schematic side views showing a state in which the supporting device of another embodiment of the present invention is viewed from the Y-axis direction. 16(a) and 16(b) are schematic side views showing a state in which the support device of another embodiment of the present invention is viewed from the Y-axis direction. Fig. 17 is a perspective view showing the entirety of a supporting device in another embodiment of the present invention.

Claims (6)

A support device having three connection mechanism portions that respectively support one of the X-axis direction, the Y-axis direction, and the Z-axis direction in the movement range of the movable body a movable body, each connecting mechanism portion having an arm connected to the driving portion, wherein the one end is connected to the driven side of the arm and the other end is connected to the movable body, and the connecting member is in the movable body The movement range can be extended in conformity with any one of the X-axis, the Y-axis, and the Z-axis, and the support device is configured as a connection member of the connection mechanism portion adjacent to the movement range of the movable body. The angle formed by each other may be 90 degrees. When the angle between the connecting members of the adjacent connecting mechanism portions is 90 degrees between the moving ranges of the movable body, the arm and the connecting member of each of the connecting mechanism portions The formed angle can be 90 degrees, and any one of the three connection mechanism portions is provided with three or more of the connectors, the connectors are parallel to each other, and at least three of the connectors do not exist. In the same plane, in the configuration of the arm in the connection mechanism portion in which the three or more connectors are provided, the connection of the arm to the connector is made in the movement range of the movable body. The posture of the portion is maintained at a constant state, the posture of the movable body is maintained at a constant state, and the movable body is moved while maintaining the three or more connectors in parallel with each other. The support device according to claim 1, wherein the arm is swingably coupled to a drive shaft as the drive unit, the connection mechanism portion having a rotation shaft extending in parallel with the drive shaft, and a connection portion connecting The rotating shaft is swayable relative to the rotating shaft in a plane parallel to the axial direction of the rotating shaft, The connecting member is connected to the connecting portion, and is swingable with respect to the arm with the rotating shaft as a rocking center, and the connecting member is rocked with respect to the rotating shaft via the connecting portion in the plane. The support device according to claim 1, wherein the arm of the connection mechanism portion provided with the three or more connectors has a pair of arm portions, and the pair of arm portions constitute a pair of parallelogram connection mechanisms, and the parallelogram connection mechanism The utility model comprises: a pair of rocking portions which are rockably connected to a driving shaft as the driving portion; another pair of rocking portions which are rockably coupled to the fixed shaft; and an integral connecting portion, each of the arm portions One side is constituted by the same drive shaft and the same fixed shaft; the opposite side of the arm portion is constituted by the connecting portion, and the arm portion is connected to the three or more connecting members via the connecting portion. The support device according to claim 3, wherein the arm of the connection mechanism portion provided with the three or more connectors has an extension portion extending between the pair of arm portions and extending at a front end of the extension portion In the upper portion, one of the three or more connectors described above can be connected in a two-way direction. The support device according to any one of claims 1 to 4, wherein any one of the three connection mechanism portions is provided with three of the connectors, and the three connectors are connected to the arms. When the connection position of the portion and the connection position of the movable body are viewed in any one of the X-axis, the Y-axis, and the Z-axis in which the three connectors are aligned, each connection position is located in an isosceles triangle. s position. a support device as recited in claim 5, wherein Different from the connection position of at least one of the two connection mechanism portions of the connection mechanism portion in which the three connection members are provided, the connection position of the movable body can be matched by the three connectors. When the shaft, the Y-axis, and the Z-axis are viewed in any one direction, the connection position is located inside the isosceles triangle.