WO2017094571A1 - 支持装置 - Google Patents

支持装置 Download PDF

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Publication number
WO2017094571A1
WO2017094571A1 PCT/JP2016/084688 JP2016084688W WO2017094571A1 WO 2017094571 A1 WO2017094571 A1 WO 2017094571A1 JP 2016084688 W JP2016084688 W JP 2016084688W WO 2017094571 A1 WO2017094571 A1 WO 2017094571A1
Authority
WO
WIPO (PCT)
Prior art keywords
axis
links
link mechanism
movable body
link
Prior art date
Application number
PCT/JP2016/084688
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
重伸 和田
Original Assignee
Ｃｋｄ 株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ｃｋｄ 株式会社 filed Critical Ｃｋｄ 株式会社
Priority to CN201680004669.5A priority Critical patent/CN107107288B/zh
Priority to KR1020177017817A priority patent/KR101960947B1/ko
Publication of WO2017094571A1 publication Critical patent/WO2017094571A1/ja

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • 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
    • 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

Definitions

  • Each of the first to third link mechanism sections extends in parallel with one of the first to third servo motors constituting the drive source so as to coincide with each axis within the moving range of the movable body.
  • One end of each of the first to third links is swingably connected to a corresponding one of the first to third servomotors, and the other end is swingably connected to the movable body. Yes.
  • Each of the two first to third links is configured such that the angle formed by the links of the adjacent link mechanism portions within the moving range of the movable body can be 90 degrees.
  • the arm of the link mechanism portion provided with the three or more links can swing on a fixed shaft and a pair of swinging portions that are swingably connected to the driving shaft that is the driving portion.
  • (A) And (b) is a side view which shows typically the state which looked at the support apparatus in another embodiment of this invention from the Y-axis direction.
  • (A) And (b) is a side view which shows typically the state which looked at the support apparatus in another embodiment of this invention from the Y-axis direction.
  • the link mechanism that can support the movable body 11 in the X-axis direction is referred to as “X-axis link mechanism 20”, and the link mechanism that can support the movable body 11 in the Y-axis direction. May be referred to as “Y-axis link mechanism 30”, and a link mechanism that can support the movable body 11 in the Z-axis direction may be referred to as “Z-axis link mechanism 40”.
  • the X-axis link mechanism 20 has a pair of rotating shafts 26 that are rotatably supported by the movable body 11. Each rotary shaft 26 extends in parallel with the drive shaft 21. Both end portions of each rotating shaft 26 have a two-sided width shape having a pair of flat surface portions 26a. A pair of planar portions 26 a of each rotating shaft 26 is connected to a plate-like 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. Yes. The other end of one of the two links 23 is connected to each connection portion 27 while being sandwiched between two connection portions 27 connected to one end portion of the pair of rotating shafts 26. . The other end of the remaining one of the two links 23 is connected to each connection portion 27 while being sandwiched between two connection portions 27 connected to the other ends of the pair of rotating shafts 26. .
  • a plate-like connecting portion 54 Connected to the pair of flat portions 53a is a plate-like connecting portion 54 that can swing with respect to the rotary shaft 53 in a plane parallel to the axial direction of the rotary shaft 53 (XZ plane).
  • One end of the first Z-axis link 43 a which is one of the three links 43, is connected to each connection portion 54 while being sandwiched between the two connection portions 54.
  • the Z-axis link mechanism 40 is rotatably supported by the movable body 11 and has a rotating shaft 56 that is disposed to face the rotating shaft 53 in the Z-axis direction. Both rotary shafts 53 and 56 extend in parallel to each other.
  • the end of the rotating shaft 56 has a two-plane width shape having a pair of flat portions 56a.
  • a plate-like connecting portion 57 that can swing with respect to the rotation shaft 56 in a plane (XZ plane) parallel to the axial direction of the rotation shaft 56 is connected to the pair of plane portions 56a.
  • the other end of the first Z-axis link 43 a is connected to each connection portion 57 while being sandwiched between the two connection portions 57.
  • the first Z-axis link 43 a which is one of the three links that are swingably connected to the distal end portion of the extending portion 52 via the rotation shaft 53, is connected via the rotation shaft 53. It is connected to be swingable in two directions.
  • the arm 42 moves the three links 43 while maintaining a state parallel to each other. Since the three links 43 are connected to the connecting portion 51 via the rotary shafts 50 and 53, the connecting portion 51 moves while maintaining its posture. Move while maintaining the positional relationship.
  • the external force in the Y-axis direction applied to the movable body 11 is directly received by one link 33 and arm 32 of the Y-axis link mechanism 30.
  • the angle formed by the arm 32 and the link 33 is 90 degrees when the angle formed by the links 23, 33, and 43 of the adjacent link mechanisms 20, 30, and 40 in the moving range of the movable body 11 forms 90 degrees. I can take it. For this reason, the external force in the Y-axis direction applied to the movable body 11 is easily received by the one link 33 and the arm 32 of the Y-axis link mechanism 30.
  • the external force in the Z-axis direction applied to the movable body 11 is directly received by the three links 43 and the arm 42 of the Z-axis link mechanism 40.
  • the angle formed by the arm 42 and the link 43 is 90 degrees when the angle formed by the links 23, 33, and 43 of the adjacent link mechanisms 20, 30, and 40 in the moving range of the movable body 11 forms 90 degrees. I can take it. For this reason, the external force in the Z-axis direction applied to the movable body 11 is easily received by the three links 43 and the arms 42 of the Z-axis link mechanism 40.
  • the arm 42 of the Z-axis link mechanism 40 has an extending portion 52 extending between the pair of arm portions 42A.
  • a first Z-axis link 43 a which is one of three links that are swingably connected via a rotating shaft 53, is connected to the distal end portion of the extending portion 52 via the rotating shaft 53. It is connected so that it can swing in the direction.
  • the arm portion 42A constituting the parallelogram link mechanism moves the connecting portion 51 while maintaining a constant posture, and the extending portion 52 integrated by the third connecting portion 51c also maintains the same posture. Move while standing.
  • the connecting portions on the drive shaft 41 side of the three links 43 can move while maintaining the triangular positional relationship.
  • 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 maintained in posture, they are held with high rigidity. More specifically, the two links 43 b and 43 c are received by the pair of swing parts 47. One link 43 a acts on the extending 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, but is converted into tension of the swinging portion 47 of the arm portion 42A and compression of the swinging portion 49. Canceled by equilibrium. Thus, the mutual positional relationship of the three links 43 is maintained without fluctuation.
  • a rotation shaft 44A is provided instead of the fixed shaft 44, and the drive shaft 41 and the rotation shaft 44A are connected by a connecting member 61 such as a timing belt or a chain, for example.
  • the swinging portions 47 and 49 may be swung by being connected and mechanically synchronizing the rotation of the drive shaft 41 and the rotating shaft 44A via the connecting member 61.
  • the connection position of the second Z-axis link 43b to the movable body 11 and the connection of the third Z-axis link 43c to the movable body 11 It does not have to be located on a straight line connecting the positions.
  • the output shaft 11b of the electric driver 11a may be located inside the isosceles triangle T1 when viewed from the Z-axis direction.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Machine Tool Units (AREA)
  • Transmission Devices (AREA)
PCT/JP2016/084688 2015-11-30 2016-11-23 支持装置 WO2017094571A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201680004669.5A CN107107288B (zh) 2015-11-30 2016-11-23 支承装置
KR1020177017817A KR101960947B1 (ko) 2015-11-30 2016-11-23 지지 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2015233011A JP6310901B2 (ja) 2015-11-30 2015-11-30 支持装置
JP2015-233011 2015-11-30

Publications (1)

Publication Number Publication Date
WO2017094571A1 true WO2017094571A1 (ja) 2017-06-08

Family

ID=58797325

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2016/084688 WO2017094571A1 (ja) 2015-11-30 2016-11-23 支持装置

Country Status (5)

Country Link
JP (1) JP6310901B2 (zh)
KR (1) KR101960947B1 (zh)
CN (1) CN107107288B (zh)
TW (1) TWI628031B (zh)
WO (1) WO2017094571A1 (zh)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004508950A (ja) * 2000-09-11 2004-03-25 エービービー　エービー 空間で物体を動かすための３本以上のアームを伴うマニピュレータ
WO2005009693A1 (en) * 2003-07-15 2005-02-03 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
JP2012240167A (ja) * 2011-05-20 2012-12-10 Ckd Corp 可動体支持装置
JP2014065123A (ja) * 2012-09-26 2014-04-17 Canon Electronics Inc パラレルリンクロボット

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3211688C2 (de) * 1982-03-30 1986-10-09 Binder, Karl-Franz, 8077 Reichertshofen Industrie-Roboter für Fertigungs- und/oder Montagezwecke
SE511804C2 (sv) * 1996-03-14 1999-11-29 Abb Ab Anordning för relativ förflyttning av två element
TWM451225U (zh) * 2012-10-02 2013-04-21 Xiao-Wei Lan 工具機機械臂的萬向接頭裝置
CN103264386B (zh) * 2013-04-19 2015-09-30 南京理工大学 三自由度高速平移运动并联机构
CN203210372U (zh) * 2013-04-23 2013-09-25 广州中国科学院先进技术研究所 一种并联机器人
CN203818136U (zh) * 2014-04-29 2014-09-10 浙江理工大学 一种三自由度高速并联机器人
CN105058382A (zh) * 2015-08-04 2015-11-18 汕头大学 一种新型混联五轴联动智能焊接平台

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004508950A (ja) * 2000-09-11 2004-03-25 エービービー　エービー 空間で物体を動かすための３本以上のアームを伴うマニピュレータ
WO2005009693A1 (en) * 2003-07-15 2005-02-03 Shambhu Nath Roy Parallel kinematics mechanism with a concentric spherical joint
JP2012240167A (ja) * 2011-05-20 2012-12-10 Ckd Corp 可動体支持装置
JP2014065123A (ja) * 2012-09-26 2014-04-17 Canon Electronics Inc パラレルリンクロボット

Also Published As

Publication number Publication date
KR20170090461A (ko) 2017-08-07
JP6310901B2 (ja) 2018-04-11
TW201722612A (zh) 2017-07-01
JP2017100199A (ja) 2017-06-08
TWI628031B (zh) 2018-07-01
CN107107288A (zh) 2017-08-29
KR101960947B1 (ko) 2019-03-20
CN107107288B (zh) 2019-05-03

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