CN107107288A - Supporting arrangement - Google Patents
Supporting arrangement Download PDFInfo
- Publication number
- CN107107288A CN107107288A CN201680004669.5A CN201680004669A CN107107288A CN 107107288 A CN107107288 A CN 107107288A CN 201680004669 A CN201680004669 A CN 201680004669A CN 107107288 A CN107107288 A CN 107107288A
- Authority
- CN
- China
- Prior art keywords
- bindiny mechanism
- connector
- axis
- movable body
- arm
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
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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
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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
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Machine Tool Units (AREA)
- Transmission Devices (AREA)
Abstract
The present invention provides a kind of supporting arrangement (10), the supporting arrangement (10) is configured to the angle that the connector (23,33,43) in portion of bindiny mechanism (20,30,40) adjacent among the moving range of movable body (11) formed when being 90 degree, and the angle that the arm (22,32,42) and connector (23,33,43) of each portion of bindiny mechanism (20,30,40) are formed is as 90 degree.Also, portion of Z axis bindiny mechanism (40) have 3 connectors (43).Thereby, each axial external force of movable body (11) is put on, is easily born by the connector (23,33,43) and arm (22,32,42) of each axle.And, it is such with such as prior art, constitute the connector (43) of Z axis bindiny mechanism portion (40) to compare for the situation of 2, by 3 connectors (43), the rigidity for the pushing force for maintaining to push drill bit (11c) towards object can be lifted.
Description
Technical field
The present invention is related in the supporting arrangement of supporting movable body.
Background technology
The movable body of supporting arrangement supporting throw (holding object) such as keeping electric screw driver or electric drill.As
This supporting arrangement, for example, have in patent document 1 and have been described.The supporting arrangement of patent document 1 has：1st portion of bindiny mechanism,
It supports movable body among the moving range of movable body on the direction (Z-direction) consistent with Z axis；2nd bindiny mechanism
Portion, it supports movable body on the direction (X-direction) consistent with X-axis；And the 3rd portion of bindiny mechanism, it is consistent with Y-axis
Movable body is supported on direction (Y direction).1st to the 3rd portion of bindiny mechanism each has：Constitute the 1st to the 3rd servo of driving source
1 in motor；And can as one man be extended parallel to each other with each axle among the moving range of movable body each 2 the 1st
1 into the 3rd connector.Wherein one end of 1st to the 3rd each connector can joltily be connected to the 1st to the 3rd servo motor
In corresponding wherein 1；The other end of each connector of 1st to the 3rd connector can joltily be connected to movable body.Each 2
The connector that 1st to the 3rd connector is configured to portion of bindiny mechanism adjacent among the moving range of movable body is formed each other
Angle can be 90 degree.
Also, when the 1st to the 3rd servo motor is each self-driven, with the 1st to the 3rd connector relative to the 1st to the 3rd servo horse
Up to the mode of shake, the 1st to the 3rd each comfortable X-direction of connector, Y direction and Z-direction movement.As a result, movable body
In respective limitation around Z axis, around X-axis and in the state of the rotation of Y-axis, while maintaining posture in the state of level
While being moved toward X-direction, Y direction and Z-direction.With the movement of the movable body, throw and movable body turn into
Integratedly move.
＜ prior art literatures ＞
＜ patent documents ＞
The ＞ Japanese Unexamined Patent Publication 2012-240167 publications of ＜ patent documents 1.
The content of the invention
＜ technical problems to be solved by the invention ＞
But, among the supporting arrangement of patent document 1, for example, consider in the axial direction of the output shaft of throw and Z axis
In the state of direction is consistent, the situation of throw is kept on movable body.The screw tightening or brill carried out using throw
Hole machined, by the front end tool of the drill bit (bit) being installed on the output shaft of throw or awl (drill) etc. while to wanting
The object for carrying out screw tightening or Drilling operation is pushed while carrying out in the Z-axis direction.Now, 2 the 1st connectors are being used
State under, it is possible to create following situations：Maintenance makes the pushing force that front end tool is pushed toward object (object of pushing)
Rigidity it is too weak, and be difficult with throw and carry out screw tightening or Drilling operation.Therefore, in that case, it would be desirable to
Enough substantially ensure that the rigidity of the connector of Z-direction.
It is an object of the invention to provide a kind of supporting arrangement, the supporting arrangement can substantially ensure that X-direction, Y-axis side
To and Z-direction among at least one direction connector rigidity.
Technical scheme ＞s of the ＜ to solve problem
In order to reach above-mentioned purpose, a mode of the invention provides a kind of supporting arrangement, and it has 3 bindiny mechanisms
Portion, 3 portions of bindiny mechanism correspond respectively to X-direction, Y direction and Z-direction among the moving range of movable body
In any one direction support the movable body respectively, each portion of bindiny mechanism has arm and connector, the arm is connected to drive
Dynamic portion, one end of the connector is connected to the arm and the other end is connected to the movable body, and the connector is described movable
Can as one man it extend with any one in the X-axis, the Y-axis and the Z axis among the moving range of body, the supporting
Device is configured to the angle that the connector in portion of bindiny mechanism adjacent among the moving range of the movable body is formed each other
Can be 90 degree, the angle that the connector in adjacent portion of bindiny mechanism is formed each other among the moving range of the movable body
When being 90 degree, the angle that the arm and the connector in each portion of bindiny mechanism are formed can be 90 degree, 3 connection machines
Any one in structure portion is provided with 3 with upper connector, the arm in the portion of bindiny mechanism provided with described 3 with upper connector, described
The posture of the movable body is maintained to certain state among the moving range of movable body, and makes described more than 3 to connect
Fitting is moved it in the state of maintenance is parallel to each other.
Among above-mentioned supporting arrangement, preferably, the arm can joltily be connected to the drive shaft as the drive division,
The portion of bindiny mechanism has：Rotary shaft, it is extended in parallel with the drive shaft；And connecting portion, it is connected to the rotation
Axle simultaneously can be in the axially in parallel plane with the rotary shaft relative to rotary shaft shake, and the connector is connected to
The connecting portion,
And can be shaken relative to the arm by shake center of the rotary shaft, the connector is in the plane via institute
Connecting portion is stated to shake relative to the rotary shaft.
Among above-mentioned supporting arrangement, preferably, the arm in the portion of bindiny mechanism provided with described 3 with upper connector has one
To arm, a pair of arms constitute parallelogram bindiny mechanism, and the parallelogram bindiny mechanism includes：A pair of shake portions,
It can be joltily connected in the drive shaft as the drive division；Another pair shake portion, it can joltily be connected to fixing axle
On；And the connecting portion of one, one side of the arm is made up of the drive shaft and the fixing axle, and the opposite side of the arm is by institute
Connecting portion composition is stated, and described 3 are connected with upper connector via the connecting portion.
Among above-mentioned supporting arrangement, preferably, the arm in the portion of bindiny mechanism provided with described 3 with upper connector, which has, to be prolonged
If portion, it extends between the pair of arm, on the leading section of the extended portion, can be joltily connected with two directions
Described 3 with 1 in upper connector.
Among above-mentioned supporting arrangement, preferably, any one in 3 portions of bindiny mechanism is provided with 3 connectors, institute
The link position that 3 connectors are connected to the movable body is stated, the X-axis unanimously, institute can be turned into 3 connectors
When stating any one direction viewing of Y-axis and the Z axis, each link position is located at the position for constituting isosceles triangle.
Among above-mentioned supporting arrangement, preferably, 2 companies different from the portion of bindiny mechanism provided with 3 connectors
The connector in the portion of at least one bindiny mechanism in connection mechanism portion is connected to the link position of the movable body, from described 3 connections
When part can turn into any one direction viewing of the X-axis unanimously, the Y-axis and the Z axis, the link position is located at
The inside of the isosceles triangle.
＜ invention effects ＞
In accordance with the invention it is possible to substantially ensure that the company at least one direction among X-direction, Y direction and Z-direction
The rigidity of fitting.
Brief description of the drawings
Fig. 1 is the overall stereogram for representing the supporting arrangement in embodiments of the present invention.
Fig. 2 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 3 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 4 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 5 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 6 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 7 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 8 is by the stereogram shown in the part expansion of supporting arrangement.
Fig. 9 (a) is the side view for schematically showing the state that supporting arrangement is watched from Y direction；Fig. 9 (b) is schematically
Show that each connector is connected to the schematic diagram of the link position of movable body.
Figure 10 is to schematically show schematic diagram of each connector relative to the link position of movable body.
Figure 11 (a) is the state for schematically showing the supporting arrangement that another embodiment of the invention is watched from Y direction
Side view；Figure 11 (b) is to schematically show schematic diagram of each connector relative to the link position of movable body.
Figure 12 is the side for the state for schematically showing the supporting arrangement that another embodiment of the invention is watched from Y direction
View.
Figure 13 (a) and Figure 13 (b) are to schematically show the supporting that another embodiment of the invention is watched from Y direction
The side view of the state of device.
Figure 14 (a) and Figure 14 (b) are to schematically show the supporting that another embodiment of the invention is watched from Y direction
The side view of the state of device.
Figure 15 (a) and Figure 15 (b) are to schematically show the supporting that another embodiment of the invention is watched from Y direction
The side view of the state of device.
Figure 16 (a) and Figure 16 (b) are to schematically show the supporting that another embodiment of the invention is watched from Y direction
The side view of the state of device.
Figure 17 is the overall stereogram for representing the supporting arrangement in another embodiment of the invention.
Embodiment
In following, will embody supporting movable body supporting arrangement an embodiment of the invention using Fig. 1 extremely
Figure 10 is illustrated.
As shown in figure 1, supporting arrangement 10 supports movable body 11.Movable body 11 is kept as throw (holding object)
Electric screw driver 11a.Supporting arrangement 10 has 3 portions of bindiny mechanism 20,30,40, and 3 portions of bindiny mechanism 20,30,40 are movable
Among the moving range of body 11, it can be propped up on any one direction for respectively correspond to X-direction, Y direction and Z-direction
Hold movable body 11.Also, supporting arrangement 10 surrounds Z using 3 portions of bindiny mechanism 20,30,40 in each limitation movable body 11
Axle, around X-axis and in the state of the rotation of Y-axis, maintain movable body 11 posture in certain state, and meanwhile
Movable body 11 is movably supported in set moving range.In addition, in following explanations, for convenience of description, will be in X-axis side
The portion of bindiny mechanism of supporting movable body 11 is referred to as " portion of X-axis bindiny mechanism 20 ", by supporting movable body 11 in Y direction upwards
Portion of bindiny mechanism be referred to as " portion of Y-axis bindiny mechanism 30 ", will in Z-direction support movable body 11 portion of bindiny mechanism be referred to as " Z axis
Portion of bindiny mechanism 40 ".
Supporting arrangement 10 possesses：The substantially base station framework 12 of corner frame-shaped, it extends along X/Y plane；Multiple upright portion
13, it is erected from base station framework 12 toward Z-direction；And the substantially framework 14 of corner box-like, it is supported by each upright portion 13.
The side 14a extended among framework 14 along XZ planes, drive shaft 21 is protruded along Y direction, and drive shaft 21 is as drive
The X-axis in the dynamic source drive division of servo motor (not shown).Drive shaft 21 is located at close to the corner of upright portion 13 in the 14a of side
Portion.Drive shaft 21 is rotated by the driving of X-axis servo motor, so that portion of X-axis bindiny mechanism 20 is shaken.
The side 14b extended among framework 14 along YZ planes, drive shaft 31 is protruded along X-direction, drive shaft 31
It is the drive division of Y-axis servo motor (the non-icon) as driving source.Drive shaft 31 is located at close to upright portion in the 14b of side
13 position.In addition, drive shaft 31 is in the Z-axis direction, configuration is in the drive shaft 21 than X-axis servo motor further from upright portion
On 13 position.Drive shaft 31 is rotated by the driving of Y-axis servo motor, so that portion of Y-axis bindiny mechanism 30 is shaken.
Furthermore, from the side 14a of framework 14, drive shaft 41 is protruded along Y direction, and drive shaft 41 is as driving source
The drive division of Z axis servo motor (non-icon).Drive shaft 41 is located at close to the edge of the opposite side of upright portion 13 in the 14a of side
Portion.Drive shaft 41 is rotated by the driving of Z axis servo motor, so that portion of Z axis bindiny mechanism 40 is shaken.
The drive shaft 21 of X-axis servo motor is arranged at the outermost end of the X-direction of supporting arrangement 10.Y-axis servo
The drive shaft 31 of motor is arranged at the outermost end of the Y direction of supporting arrangement 10.The drive shaft 41 of Z axis servo motor is set
In the outermost end of the Z-direction of supporting arrangement 10.Each drive shaft 21,31,41 is unified in a framework 14.Movable body 11
It is configured at and is respectively located axially at each drive shaft 21, the outermost end of 31,41 opposite sides in supporting arrangement 10.
Next, being illustrated for portion of X-axis bindiny mechanism 20.
As shown in Fig. 2 portion of X-axis bindiny mechanism 20 possesses：Arm 22, it is connected to drive shaft 21；2 connectors 23, wherein
One end is connected to arm 22 and the other end is connected to movable body 11, and can be unanimously to X among the moving range of movable body 11
Extend axle.Specifically, arm 22 is fixed on drive shaft 21, and with the rotation of drive shaft 21, with the central shaft of drive shaft 21
Line is that shake center and the one of drive shaft 21 are shaken.2 connectors 23 are equal length.Arm 22 is by shake portion 22a and a pair
Support 22b is constituted, and shake portion 22a linearly extends and can be with drive shaft 21 for shake center with wherein one end
The mode of shake is connected to drive shaft 21；A pair of support parts 22b from shake portion the 22a other end branch into two strands and toward mutually
The direction extension left.The through hole 22c of circular hole is formed with each support 22b end.Two support 22b through hole
22c each other in the Y-axis direction mutually to.
In addition, the rotary shaft 24 that portion of X-axis bindiny mechanism 20 has and drive shaft 21 is extended in parallel.Rotary shaft 24 is inserted through two
Support 22b through hole 22c, and by two support 22b rotatably supported at two edges.The both ends of rotary shaft 24, which turn into, to be had
A pair of planar portion 24a width across flats shape.In the both ends of rotary shaft 24, in a pair of planar portion, 24a is connected with tabular
Connecting portion 25, connecting portion 25 can shake in the axially in parallel plane (X/Y plane) with rotary shaft 24 relative to rotary shaft 24
It is dynamic.Wherein one end of wherein 1 connector 23 in 2 connectors 23, in the one of end for being connected to rotary shaft 24
2 connecting portions 25 clamping in the state of be connected to each connecting portion 25.In 2 connectors 23 remaining 1 connector 23 its
Middle one end, each connecting portion is connected to being connected in the state of the 2 of another end of rotary shaft 24 connecting portions 25 are clamped
25。
As shown in figure 3, portion of X-axis bindiny mechanism 20, with a pair of rotary shafts 26 that can be rotated to support on movable body 11.
Each rotary shaft 26 and drive shaft 21 are extended in parallel.The both ends of each rotary shaft 26 are the width across flats with a pair of planar portion 26a
Shape.Be connected to the connecting portion 27 of tabular on a pair of planar portion 26a of each rotary shaft 26, connecting portion 27 with rotary shaft
It can be shaken in 26 axially in parallel plane (X/Y plane) relative to rotary shaft 26.Wherein 1 connection in 2 connectors 23
The other end of part 23, in the state of the clamping of 2 connecting portions 27 of the wherein end of a side of a pair of rotary shafts 26 is connected to
It is connected to each connecting portion 27.The other end of remaining 1 connector 23 of 2 connectors 23, is being connected to a pair of rotary shafts
Each connecting portion 27 is connected in the state of 2 connecting portions 27 clamping of the end of 26 the opposing party.
Each connector 23 can be shaken relative to arm 22 with rotary shaft 24 for shake center, and can be in X/Y plane
Shaken relative to rotary shaft 24 via connecting portion 25.2 connectors 23, maintain state parallel to each other while moving.
Next, being illustrated for portion of Y-axis bindiny mechanism 30.
As shown in figure 4, portion of Y-axis bindiny mechanism 30 has：Arm 32, it is connected to drive shaft 31；1 connector 33, wherein
One end is connected to arm 32 and the other end is connected to movable body 11, and can be unanimously to Y-axis among the moving range of movable body 11
Ground extends.Specifically, arm 32 is fixed on drive shaft 31, and with the rotation of drive shaft 31, with the central axis of drive shaft 31
Shaken to shake center with the one of drive shaft 31.Arm 32 is made up of shake portion 32a and a pair of support parts 32b, shake portion 32a
Linearly extend and drive shaft 31 can be connected in the way of drive shaft 31 is the shake of shake center with wherein one end；This one
Two strands are branched off into support 32b from shake portion the 32a other end and is extended along Z-direction mutually.Each support 32b's
End is formed with the through hole 32c of circular hole.Two support 32b through hole 32c each other in the X-axis direction mutually it is relative to.
In addition, portion of Y-axis bindiny mechanism 30 has the rotary shaft 34 extended parallel to drive shaft 31.Rotary shaft 34 is inserted through
Two support 32b through hole 32c, rotatably supported at two edges is in two support 32b.The central portion of rotary shaft 34, which turns into, to be had
A pair of planar portion 34a width across flats shape.The connecting portion 35 of tabular, the company of the tabular are connected with a pair of planar portion 34a
Socket part 35 can shake in the axially in parallel plane (X/Y plane) with rotary shaft 34 relative to rotary shaft 34.1 connector
33 wherein one end, is connected to each connecting portion 35 in the state of being clamped by 2 connecting portions 35.
As shown in figure 3, portion of Y-axis bindiny mechanism 30 has the rotary shaft 36 for being rotatably supported in movable body 11.Rotary shaft
36 and drive shaft 31 extend parallel to.The central portion of rotary shaft 36 turns into the width across flats shape with a pair of planar portion 36a.
The connecting portion 37 of tabular is connected with a pair of planar portion 36a, the connecting portion 37 of the tabular is axially in parallel with rotary shaft 36
It can be shaken in plane (X/Y plane) relative to rotary shaft 36.The other end in connector 33, what is clamped by 2 connecting portions 37
Each connecting portion 37 is connected under state.Connector 33 can be that shake center is shaken relative to arm 32 with rotary shaft 34, and energy
It is enough to be shaken in X/Y plane via connecting portion 35 relative to rotary shaft 34.
Next, being illustrated for portion of Z axis bindiny mechanism 40.
As shown in Fig. 5, Fig. 6 and Fig. 7, portion of Z axis bindiny mechanism 40 has：Arm 42, it is connected to drive shaft 41；And 3
Individual connector 43, wherein one end are connected to arm 42 and the other end is connected to movable body 11, and movable body 11 moving range it
In extend with being unanimously to Z axis.3 connectors 43 are identical length.Arm 42 includes fixing axle 44 described later, links portion 45, one
To shake portion 47, rotary shaft 48, a pair of shake portions 49, rotary shaft 50 and connecting portion 51.
Fixing axle 44 is protruded from the side 14a of framework 14 along Y direction, and is extended parallel to drive shaft 41.It is fixed
Axle 44 is located at same straight line in the Z-axis direction with drive shaft 41 from side 14a extrusion position from side 14a extrusion position
On.Link portion 45 end of the projected direction of drive shaft 41 is connected with the end of the projected direction of fixing axle 44.Drive shaft
41 are rotatably supported in the portion of linking 45.Played a role so as to link portion 45 as the bearing of drive shaft 41.Portion 45 is linked to pass through
The side 14a of framework 14 is supported on by support 46.Also, due to connecting drive shaft 41 and fixing axle 44 via the portion that links 45
It is connected together, so drive shaft 41 and fixing axle 44 are improved in the rigidity on axial direction, and maintains state parallel to each other.
A pair of shake portions 47 linearly extend and wherein one end is connected to drive shaft 41.A pair of shake portions 47 are fixed on
Drive shaft 41, and be that shake center and drive shaft 41 turn into one using the central axis of drive shaft 41 with the rotation of drive shaft 41
Shake body.A pair of shake portions 47 are extended parallel to one another.The other end in each shake portion 47 is formed with through hole 47a.A pair
The through hole 47a in shake portion 47 each other in the Y-axis direction mutually it is relative to.In the Y-axis direction, in the portion that links 45 and a pair of shake portions
The sleeve 45a of cylindrical shape is provided between the shake portion 47 for linking the side of portion 45 among 47.Maintain to link by sleeve 45a
The state that portion 45 and shake portion 47 are separated.
Rotary shaft 48 and drive shaft 41 are extended in parallel, and are inserted through the through hole 47a in two shake portions 47, so that rotatably
Supported at two edges is in two shake portions 47.A pair of shake portions 49 linearly extend and can be with fixing axles 44 with wherein one end
Central axis is that the mode that shake center is shaken is connected to fixing axle 44.A pair of shake portions 49 are extended parallel to one another.It is each to shake
The other end in portion 49 is formed with through hole 49a.The through hole 49a in a pair of shake portions 49 each other in the Y-axis direction mutually it is relative to.Rotation
Rotating shaft 50 and drive shaft 41 (fixing axle 44) are extended parallel to, and are inserted through the through hole 49a in two shake portions 49, so that rotatable
Ground supported at two edges is in two shake portions 49.
Connecting portion 51 connects two rotary shafts 48,50 each other.Connecting portion 51 has：1st links portion 51a, and it is by two rotary shafts
48th, the position in 50 close to a wherein side in a pair of shake portions 47,49 is connected to each other；2nd links portion 51b, and it is by two rotary shafts
48th, the position in 50 close to the opposing party in a pair of shake portions 47,49 is connected to each other；And the 3rd link portion 51c, it is linked the 1st
Portion 51a and the 2nd links portion 51b connections.3rd links portion 51c extends between two rotary shafts 48,50 along Y direction.Connecting portion
51 watch in H types from X-direction.Two rotary shafts 48,50, which are rotatably supported in the 1st and link portion 51a and the 2nd, links portion 51b.
In the Y-axis direction, linked the 1st and link shaking for portion 51a sides positioned at the 1st among portion 51a and a pair of shake portions 47
Between dynamic portion 47 and the 2nd link among portion 51b and a pair of shake portions 47 be located at the 2nd link portion 51b sides shake portion 47 it
Between, it is respectively equipped with the sleeve 47b of cylindrical shape.Linked by sleeve 47b, the 1st between portion 51a and shake portion 47 and the 2nd company
The state of separation is maintained between pastern 51b and shake portion 47 respectively.
In the Y-axis direction, the 1st shake portion for linking portion 51a sides among portion 51a and a pair of shake portions 49 is linked the 1st
Between 49 and the 2nd links the 2nd linking between the shake portion 49 of portion 51b sides among portion 51b and a pair of shake portions 49, respectively
Provided with cylindric sleeve 49b.Linked by sleeve 49b, the 1st between portion 51a and shake portion 49 and the 2nd links portion 51b
Maintain the state of separation respectively between shake portion 49.
So that in the central axis of drive shaft 41 and the distance between the central axis of rotary shaft 48 and fixing axle 44
The distance between heart axis and central axis of rotary shaft 50 turn into consistent, and make two rotary shafts 48,50 central axis it
Between distance and the distance between central axis and the central axis of fixing axle 44 of drive shaft 41 turn into consistent mode, two
Rotary shaft 48,50, which links portion 51a and the 2nd by the 1st and links portion 51b, to link together.Further, since two rotary shafts 48,50
Link together, therefore can improve via linking the 1st of portion 51c interconnections by the 3rd and linking portion 51a and the 2nd and link portion 51b
The axial rigidity of two rotary shafts 48,50, and maintain state parallel to each other.
Drive shaft 41, fixing axle 44 and link portion 45 and be configured to rectangle from X-direction viewing, and this is rectangular
Deformation rigidity is improved.Two rotary shafts the 48,50, the 1st link portion 51a and the 2nd link portion 51b from X-direction viewing constitute it is rectangular
Shape, and the rectangular deformation rigidity raising.A pair of shake portions 47,49, link portion 45 and connecting portion 51 and seen from Y direction
See and be configured to parallelogram (rectangle).In addition, drive shaft 41, a pair of shake portions 47 and rotary shaft 48 are seen from Z-direction
Composition rectangle is seen, and the rectangular deformation rigidity is improved.In addition, fixing axle 44, a pair of shake portions 49 and rotary shaft
50 constitute rectangle from Z-direction viewing, and the rectangular deformation rigidity is improved.
Also, by a pair of shake portions 47,49, link portion 45, connecting portion 51, fixing axle 44, two rotary shafts 48,50 and constitute one
Can be joltily connected to by drive shaft 41 and parallelogram bindiny mechanism is constituted by arm 42A, a pair of arm 42A.Arm
42A, its one side is made up of drive shaft 41 and fixing axle 44, and its opposite side is made up of the connecting portion 51 of one；3 connectors 43
Linked together via connecting portion 51.Therefore, arm 42 has a pair of arm 42A.A pair of arm 42A are via each arm of composition
The connecting portion 51 of a 42A part and be integrally formed.
Connecting portion 51 has extended portion 52, and it extends between a pair of arm 42A.Extended portion 52 and the 3rd links portion 51c mono-
Body is set.Therefore, the connecting portion 51 comprising extended portion 52 is T-shaped from Y direction and Z-direction viewing.In extended portion 52
Leading section is provided with rotary shaft 53, and it extends along X-direction.Rotary shaft 53 is rotatably supported in extended portion 52.Rotary shaft 53
Leading section turn into a pair of planar portion 53a width across flats shape.In a pair of planar portion, 53a is connected with the connecting portion of tabular
54, it can shake in the axially in parallel plane (XZ planes) with rotary shaft 53 relative to rotary shaft 53.3 connectors 43
In 1 connector, i.e. 1Z shaft coupling pieces 43a wherein one end, be connected in the state of being clamped by 2 connecting portions 54 each
Connecting portion 54.
In addition, the both ends of rotary shaft 48 turn into the width across flats shape with a pair of planar portion 48a.In rotary shaft 48
In both ends, in a pair of planar portion, 48a is connected with the connecting portion 55 of tabular, and the connecting portion 55 of the tabular is in the axle with rotary shaft 48
It can be shaken in parallel plane (YZ planes) relative to rotary shaft 48.It is used as being left in 2 among 3 connectors 43
The 2Z shaft coupling pieces 43b of 1 connector 43 wherein one end, 2 in the one of end for being connected to rotary shaft 48
Connecting portion 55 is connected to each connecting portion 55 in the state of clamping.It is used as of remaining 1 connector 43 among 3 connectors 43
3Z shaft coupling pieces 43c wherein one end, the state clamped in 2 connecting portions 55 for being connected to another end of rotary shaft 48
Under be connected to each connecting portion 55.
As shown in figure 8, portion of Z axis bindiny mechanism 40 has rotary shaft 56, the rotary shaft 56 is rotatably supported in movable body
11, and it is oppositely disposed with rotary shaft 53 in the Z-axis direction.Two rotary shafts 53,56 are extended parallel to one another.The end of rotary shaft 56
For the width across flats shape with a pair of planar portion 56a.In a pair of planar portion, 56a is connected with the connecting portion 57 of tabular, the tabular
Connecting portion 57 can be shaken in axially in parallel plane (XZ planes) with rotary shaft 56 relative to rotary shaft 56.1Z axles
The connector 43a other end is connected to each connecting portion 57 to be held in the state of 2 connecting portions 57.
In addition, portion of Z axis bindiny mechanism 40 has a pair of rotary shafts 58, a pair of rotary shafts 58 is rotatably supported in movably
Body 11, and the both ends in the Z-axis direction respectively with rotary shaft 48 are oppositely disposed.Each rotary shaft 58 is parallel with drive shaft 41 to prolong
Stretch.The end of each rotary shaft 58 turns into the width across flats shape with a pair of planar portion 58a.In a pair of planar of each rotary shaft 58
Portion 58a, is connected to the connecting portion 59 of tabular, and the connecting portion 59 of the tabular can be axially in parallel flat with rotary shaft 58
Shaken in face (YZ planes) relative to rotary shaft 58.The 2Z shaft coupling pieces 43b other end, is being connected to a pair of rotary shafts 58
The wherein end of a side 2 connecting portions 59 clamping in the state of be connected to each connecting portion 59.3Z shaft coupling pieces 43c's is another
One end, each company is connected in the state of 2 connecting portions 59 for being connected to the end of the opposing party of a pair of rotary shafts 58 are clamped
Socket part 59.
3 connectors 43 (1Z shaft coupling pieces 43a, 2Z shaft coupling pieces 43b and 3Z shaft coupling piece 43c) it
In, when 2Z shaft coupling piece 43b and 3Z shaft coupling pieces 43c is that shake center is shaken relative to arm 42 with rotary shaft 48, the
1Z shaft coupling pieces 43a can shake in XZ planes via connecting portion 54 relative to rotary shaft 53.In addition, 2Z shaft coupling pieces
43b and 3Z shaft coupling piece 43c, when being shaken in YZ planes via connecting portion 55 relative to rotary shaft 48,1Z axles connect
Fitting 43a can be rotated by rotary shaft 53 and be shaken with rotary shaft 53 for shake center.Therefore, 1Z shaft coupling pieces 43a is passed through
The leading section of extended portion 52 can be joltily connected in two directions by rotary shaft 53.Arm 42 is maintaining 3 connectors 43 mutually equal
Move 3 connectors 43 under capable state.3 connectors 43 due to being connected to connecting portion 51 via rotary shaft 50,53,
Connecting portion 51 maintains to act under posture, so 3 connectors 43 are maintaining each connector 43 relative to the link position of arm 42
Relative position relation under move.
As shown in Fig. 9 (a) and Fig. 9 (b), in the Z-axis direction, connection positions of the 1Z shaft coupling pieces 43a relative to arm 42
Put, the link position than 2Z shaft coupling piece 43b and 3Z shaft coupling pieces 43c relative to arm 42 is closer to movable body 11.And
And, because 3 connectors 43 are equal length, in the Z-axis direction, connections of the 1Z shaft coupling pieces 43a relative to movable body 11
Link position of the position than 2Z shaft coupling piece 43b and 3Z shaft coupling pieces 43c relative to movable body 11 is further from arm 42.
In addition, each link position of 2 connectors 23 relative to movable body 11 in portion of X-axis bindiny mechanism 20, with 2Z
Shaft coupling piece 43b and 3Z shaft coupling pieces 43c each link position, are located along the same line in Z-direction.X-axis is connected
Each link position of 2 connectors 23 of mechanism part 20 is relative to 2Z shaft coupling pieces 43b's and 3Z shaft coupling pieces 43c
Each link position, in the Z-axis direction positioned at the opposite side of framework 14.
As shown in Figure 10,3 connectors 43 in portion of Z axis bindiny mechanism 40 are connected to each link position of movable body 11,
When being watched from Z-direction, isosceles triangle T1 position is being constituted.In addition, the connector 33 in portion of Y-axis bindiny mechanism 30 is connected
In the link position of movable body 11, when being watched from Z-direction, positioned at isosceles triangle T1 inside.Electric screw driver 11a is in electricity
Movable body 11 is held in the state of dynamic bottle opener 11a output shaft 11b axial direction is consistent with Z-direction.Output shaft 11b is from Z
During direction of principal axis viewing on isosceles triangle T1 side, in present embodiment, it is connected to positioned at by 2Z shaft coupling pieces 43b
The link position and 3Z shaft coupling pieces 43c of movable body 11 are connected on the straight line of the link position of movable body 11 connection.
Supporting arrangement 10 is configured to the company in portion of bindiny mechanism 20,30,40 adjacent among the moving range of movable body 11
The angle that fitting 23,33,43 is formed can be 90 degree.Also, for example shown in Fig. 1, can movable body 11 moving range
Among the angle that is formed of connector 23,33,43 in adjacent portion of bindiny mechanism 20,30,40 when being 90 degree, each portion of bindiny mechanism
20th, the angle that 30,40 arm 22,32,42 (shake portion 22a, 32a, 47) and connector 23,33,43 are formed turns into 90 degree.
In supporting arrangement 10, after the positional information that movable body 11 to be made to not shown computer input is moved, with
The corresponding command signal of the information can be output in X-axis with servo motor, Y-axis with servo motor and Z axis servo from controller
Motor.Consequently, it is possible to which each drive shaft 21,31,41 can be based on command signal rotation, the arm in portion of Shi Ge bindiny mechanisms 20,30,40
22nd, 32,42 it is respectively relative to the shake of drive shaft 21,31,41.Also, each connector 23,33,43 respectively with arm 22,32,42
Shake and linkedly moved in X-direction, Y direction and Z-direction.As a result, movable body 11 around X-axis, around Y-axis with
And distinguish around the rotation of Z axis under confined state, maintain the posture of movable body 11 in certain state while going X-axis
Direction, Y direction and Z-direction movement.With the movement of the movable body 11, electric screw driver 11a and the one of movable body 11 are moved
It is dynamic.In present embodiment, the axial direction for maintaining electric screw driver 11a output shaft 11b is the state for being unanimously to Z-direction, set
Moving range movement movable body 11.In present embodiment, the arm 42 in portion of Z axis bindiny mechanism 40 is formed in the shifting of movable body 11
Among dynamic scope, the posture of movable body 11 is maintained in the state of certain, and is maintaining 3 connectors 43 state parallel to each other
Under the travel mechanism that moves it.
Next, the effect for present embodiment is illustrated.
But, using electric screw driver 11a screw tightening operation, it will be installed on electric screw driver 11a output shaft 11b
Drill bit 11c (front end tool) while push while carrying out in the Z-axis direction to the object of screw tightening.Now, with such as
Prior art like that, constitutes the connector 43 in portion of Z axis bindiny mechanism 40 and compared for the situation of 2, by maintaining drive shaft 41
3 connectors 43 of the mutual posture of the connecting portion of side, can improve maintain toward object push drill bit 11c pushing force it is firm
Property.Specifically, due to by 3 connectors 43, by movable body 11 with 3 points of progress surface bearings, the supporting of bearing plane can be improved
Rigidity.From Z-direction viewing, 3 connectors turn into triangle relative to the link position of movable body 11, and parallel by 3
Connector 43 constitute triangular prism (3 quadrangles), only just can be to rotating on X-axis, the power of Y-axis by 3 connectors 43 of Z axis
Keep higher rigidity.
In addition, 3 connectors 43 are positioned by constituting the arm 42A of arm 42 connecting portion 51, posture is maintained, so
It is maintained high rigidity.More specifically, 2 connectors 43b, 43c are born by a pair of shake portions 47.1 connector 43a makees
Extended portion 52 for connecting portion 51.The difference of power between each connector 43a, 43b, 43c, although as to connecting portion 51
Torque and act on, but can be transformed into the drawing in arm 42A shake portion 47 and the compression in shake portion 49, it is flat due to power
Weigh and disappear.3 mutual position relationships of connector 43 remain unchanged like this.Therefore, the connection of Z-direction can be substantially ensured that
The rigidity of part 43.
The external force of the X-direction of movable body 11 is applied to, 2 connectors 23 and arm 22 by portion of X-axis bindiny mechanism 20
Directly bear.The angle that arm 22 and connector 23 are formed, connection machine that can be adjacent among the moving range of movable body 11
Turn into 90 degree when the angle that the connector 23,33,43 in structure portion 20,30,40 is formed is 90 degree.Therefore, movable body 11 is put on
X-direction external force, easily born by 2 connectors 23 and arm 22 in portion of X-axis bindiny mechanism 20.
The external force of the Y direction of movable body 11 is put on, 1 connector 33 and arm 32 by portion of Y-axis bindiny mechanism 30
Directly bear.The angle that arm 32 and connector 33 are formed, connection machine that can be adjacent among the moving range of movable body 11
Turn into 90 degree when the angle that the connector 23,33,43 in structure portion 20,30,40 is formed is 90 degree.Therefore, movable body 11 is put on
Y direction external force, easily born by 1 connector 33 and arm 32 in portion of Y-axis bindiny mechanism 30.
The external force of the Z-direction of movable body 11 is put on, 3 connectors 43 and arm 42 by portion of Z axis bindiny mechanism 40
Directly bear.The angle that arm 42 and connector 43 are formed, connection machine that can be adjacent among the moving range of movable body 11
Turn into 90 degree when the angle that the connector 23,33,43 in structure portion 20,30,40 is formed is 90 degree.Therefore, movable body 11 is put on
Z-direction external force, easily born by 3 connectors 43 and arm 42 in portion of Z axis bindiny mechanism 40.
Above-mentioned embodiment can obtain following effects.
(1) supporting arrangement 10 be configured to adjacent portion of bindiny mechanism 20 among the moving range of movable body 11,30,
When the angle that 40 connector 23,33,43 is formed is 90 degree, the arm 22,32,42 in each portion of bindiny mechanism 20,30,40 and connection
The angle that part 23,33,43 is formed turns into 90 degree.Also, portion of Z axis bindiny mechanism 40 has 3 connectors 43.Arm 42 is movable
Among the moving range of body 11, the posture of movable body 11 is maintained in certain state, and maintain 3 connectors 43 parallel to each other
Moved it under state.Thereby, put on each axial external force of movable body 11, easily by the connector 23,33,43 of each axle with
And arm 22,32,42 is born.Also, it is 2 with such as prior art like that, to constitute the connector 43 in portion of Z axis bindiny mechanism 40
Situation compare, by 3 connectors 43, supported with face, the pushing for maintaining that drill bit 11c is pushed towards object can be lifted
The rigidity of power.In addition, the connecting portion of the side of drive shaft 41 of 3 connectors 43 is to maintain to move under position relationship and posture
Mechanism.Therefore, it is possible to the rigidity for the connector 43 for fully ensuring Z-direction.
(2) connector 23,33 can with rotary shaft 24,34 be shake center relative to arm 22,32 shake, and with rotation
Shaken in the axially in parallel plane of axle 24,34 via connecting portion 25,35 relative to rotary shaft 24,34.Thereby, can precision goodly
Carry out the movement of movable body 11.In addition, among 3 connectors 43,2Z shaft coupling piece 43b and 3Z shaft coupling piece 43c,
It can be shaken relative to arm 42 with rotary shaft 48 for shake center, and via even in the axially in parallel plane with rotary shaft 48
Socket part 55 is shaken relative to rotary shaft 48.Thereby, because the driving force from drive shaft 41 via arm 42 directly acts on 2Z
Shaft coupling piece 43b and 3Z shaft coupling piece 43c, therefore the unnecessary power of turning moment etc. will not be produced, and guarantor can be improved
Hold rigidity.Thereby, high-precision movement or big load can be corresponded to.
(3) arm 42 in portion of Z axis bindiny mechanism 40 has a pair of arm 42A for constituting parallelogram bindiny mechanism, and it connects
It is connected to drive shaft 41.A pair of arm 42A are integrally formed via connecting portion 51.Thereby, can be by a pair of arm 42A three-dimensionally one
Body is constituted, and it is all firm quadrangle further to constitute for the either direction of X-direction, Y direction and Z-direction
Construction, is not only able to realize high holding rigidity, can also lift the mobile accuracy of the connector 43 of Z-direction.Therefore, it can improve
In the rigidity for torsion of the connecting portion of arm 42 and connector 43, face especially vertical with Z-direction for reverse
Rigidity.There is the electric screw driver 11a of suitable weight therefore, it is possible to movement, can also realize high mobile accuracy.
(4) arm 42 in portion of Z axis bindiny mechanism 40 has the extended portion 52 extended between a pair of arm 42A.In extended portion
1 connector, the i.e. 1Z axles that 52 leading section can joltily be connected via rotary shaft 53 on two directions in 3 connectors connect
Fitting 43a.Thereby, by constituting the arm 42A of parallelogram bindiny mechanism, connecting portion 51 is keeping moving down for certain posture
It is dynamic；Also moved by the 3rd extended portion 52 for linking portion 51c and being integrally formed under the posture maintained like.3 connectors 43
The side of drive shaft 41 connecting portion can keep triangle position relationship under move.
(5) 3 connectors 43 in portion of Z axis bindiny mechanism 40 are connected to the link position of movable body 11 and arm 42, from Z
When direction of principal axis is watched, each link position is located at the position for constituting isosceles triangle T1.Thereby, supporting arrangement 10 can be made more
Compact (compact), and the rigidity of the connector 43 of Z-direction can be substantially ensured that.
(6) connector 33 in portion of Y-axis bindiny mechanism 30 is connected to the link position of movable body 11, is watched from Z-direction
When, link position is located at isosceles triangle T1 inside.Thereby, the connector 33 compared to portion of Y-axis bindiny mechanism 30 is connected
In the link position of movable body 11, when being watched from Z-direction, the situation positioned at isosceles triangle T1 outside can make
Supporting arrangement 10 is more compact.In addition, also it is easy to ensure that the rigidity of the connector 43 of Z-direction.
(7) 2 connectors 23 in portion of X-axis bindiny mechanism 20 are connected to each link position of movable body 11, with 2Z axles
Connector 43b and 3Z shaft coupling pieces 43c each link position, are located along the same line in Z-direction, and relative to
2Z shaft coupling pieces 43b and 3Z shaft coupling pieces 43c each link position, in the Z-axis direction positioned at the opposite side of framework 14.By
This, not only can make supporting arrangement 10 more compact, also easily substantially ensure that the rigidity of the connector 43 of Z-direction.
(8) electric screw driver 11a output shaft 11b, when being watched from Z-direction, positioned at by the 43b connections of 2Z shaft coupling pieces
It is connected in the link position and 3Z shaft coupling pieces 43c of movable body 11 on the straight line of the link position of movable body 11 connection.
Thereby, it can readily be ensured that the rigidity maintained towards needed for object pushing drill bit 11c pushing force.Especially since towards object
The reaction force of drill bit 11c pushing force is pushed, is directly passed on via 2Z shaft coupling pieces 43b and 3Z shaft coupling pieces 43c
To arm 42, and 1Z shaft coupling pieces 43a plays a part of holding posture, therefore can realize high rigidity.
(9) because by 3 connectors 43, by movable body 11 with 3 points of progress surface bearings, therefore the supporting rigidity of bearing plane is carried
It is high.From Z-direction viewing, the link position that 3 connectors are connected to movable body 11 is triangle, and is constituted parallel by 3
The triangular prism (3 quadrangles) that connector 43 is formed, to rotating on X-axis, the power of Y-axis only by 3 connectors 43 of Z axis just
High rigidity can be kept.
(10) 3 connectors 43, are positioned by the connecting portion 51 for the arm 42A for constituting arm 42.Thereby, 3 companies are maintained
The posture of fitting 43, keeps in the way of as high rigidity.More specifically, 2 connectors 43b, 43c are by a pair of shake portions 47
Bear.1 connector 43a acts on the extended portion 52 of connecting portion 51.The difference of power between each connector 43a, 43b, 43c,
Although acted on as the torque to connecting portion 51, drawing and the shake portion 49 in arm 42A shake portion 47 are transformed into
Compression, is disappeared by the balance of power.The mutual position relationship of 3 connectors 43 remains motionless like this.
Also may be used in addition, above-mentioned embodiment is changed as following.
As shown in Figure 11 (a) and (b), the position relationship vice versa of drive shaft 41 and fixing axle 44.Also, comprising
The connecting portion 51 of extended portion 52, also may be used from Y direction viewing for L-type.In the Z-axis direction, 1Z shaft coupling pieces 43a is for arm 42
Link position, positioned at link position identical positions of the 2Z shaft coupling piece 43b and 3Z shaft coupling pieces 43c for arm 42
Put.Because 3 connectors 43 are equal length, so in the Z-axis direction, companies of the 1Z shaft coupling pieces 43a for movable body 11
Connect position, positioned at link position identical positions of the 2Z shaft coupling piece 43b and 3Z shaft coupling pieces 43c for movable body 11
Put.
As shown in figure 12, extended portion 52 toward between a pair of arm 42A opposite side (outside of supporting arrangement 10) extend
Also may be used.In addition, in the embodiment shown in Figure 12, the connecting portion 51 comprising extended portion 52, although be enumerated as from Y direction
Watch the composition for L-type one, but connecting portion 51 is that T-shaped composition also may be used from Y direction viewing.
As shown in Figure 13 (a) and (b), portion of Z axis bindiny mechanism 40, with also may be used as the pallet 60 of drive division.Frame
Platform 60 is moved along a straight line in the Z-axis direction by the driving force from driving source.Portion of Z axis bindiny mechanism 40, which has, is connected to pallet 60
Arm 42.3 connectors 43 are moved along a straight line by pallet 60, and can be in the state of maintenance is parallel to each other toward Z axis side
To movement.
As shown in Figure 14 (a) and (b), rotary shaft 44A is set instead of fixing axle 44, and by drive shaft 41 and rotated
Axle 44A, is connected such as with the connection member 61 time limit belt or chain, make drive shaft 41 and rotary shaft 44A rotation via
Connection member 61 is mechanically synchronous, and shakes each shake portion 47,49 and also may be used.
As shown in Figure 15 (a) and (b), each shake portion 47,49 is linked together by linking connector 62, and makes
The shake in each shake portion 47,49, synchronously also may be used via connector 62 is linked.
As shown in Figure 16 (a) and (b), shake portion 49 is connected to the drive shaft 63 of servo motor, by so that each
The mode of the rotation synchronization of drive shaft 41,63, the servo motor of each drive shaft 41,63 of Electric control, so that each shake portion 47,
49 shakes also may be used.
As shown in figure 17,2 supporting arrangements 10 are set, and so that 2 supporting arrangements 10 can be made close to respective movable
Body 11 simultaneously assembles the mode for being configured at 1 place, is arranged to face relative to YZ planes and symmetrically also may be used.Thereby, it can be concentrated at 1
Progress is held in the operation that the throw of each movable body 11 is carried out.As a result, the rotation of two identical types can be kept
Instrument and raising efficiency；Or keep different types of throw or handle sturcture and carry out complicated operation.
In embodiments, electric screw driver 11a, for example electric screw driver 11a output shaft 11b axial direction and X-axis side
Also may be used to movable body 11 is held in the state of consistent.In this case, portion of X-axis bindiny mechanism 20, it is necessary to have 3 connectors
23.That is, the connector 23,33,43 of any one in 3 portions of bindiny mechanism 20,30,40 is provided with more than 3.Thereby,
Just the firm of the connector 23,33,43 at least one direction among X-direction, Y direction and Z-direction can be substantially ensured that
Property.
In embodiments, the connector 23 in portion of X-axis bindiny mechanism 20 can be 1 or more than 3 and also may be used.Also
That is, the connector 23 in portion of X-axis bindiny mechanism 20, as long as provided with more than 1.
In embodiments, the connector 33 in portion of Y-axis bindiny mechanism 30, also may be used provided with more than 2.That is, Y-axis connection
The connector 33 of mechanism part 30, provided with more than 1.
In embodiments, the connector 43 in portion of Z axis bindiny mechanism 40, also may be used provided with more than 4.That is, Z axis connection
The connector 43 of mechanism part 40, provided with more than 3.
In embodiments, the connector 23 in such as portion of X-axis bindiny mechanism 20 is 1, the company in portion of Y-axis bindiny mechanism 30
Fitting 33 is 1, and the connector 43 in portion of Z axis bindiny mechanism 40 also may be used for the composition of 3.In this situation, X-axis bindiny mechanism
The connector 23 in portion 20 is for the link position of movable body 11 and the connector 33 in portion of Y-axis bindiny mechanism 30 for movable body 11
Link position, inside when being watched from Z-direction positioned at isosceles triangle T1 is preferable.Thereby, easily make to put on movably
Each axial external force of body 11, is born by the connector 23,33,43 of each axle.
In embodiments, electric screw driver 11a output shaft 11b, when being watched from Z-direction, not in general
2Z shaft coupling pieces 43b for movable body 11 link position and 3Z shaft coupling pieces 43c for movable body 11 link position
Also may be used on the straight line of connection.For example, electric screw driver 11a output shaft 11b, is located at isosceles triangle when being watched from Z-direction
Also may be used T1 inside.
In embodiments, each connection position of 2 connectors 23 in portion of X-axis bindiny mechanism 20 for movable body 11
Put；And 2Z shaft coupling piece 43b and 3Z shaft coupling pieces 43c is for each link position of movable body 11, in the Z-axis direction
It is not located along the same line and also may be used.
In embodiments, the connector 33 in portion of Y-axis bindiny mechanism 30 is to the link position of movable body 11, from Z axis side
To during viewing, the outside positioned at isosceles triangle T1 also may be used.
In embodiments, 3 connectors 43 in portion of Z axis bindiny mechanism 40 are to the link position of movable body 11, from Z axis
When direction is watched, also may be used not at the position for constituting isosceles triangle T1.
In embodiments, for example it is set as the structure for connecting arm 22,32,42 and connector 23,33,43 with spherical joint
Cheng Yike.In the composition (more than 3 of the connector number of embodiment；More than 2；More than 1) among, by arm 22,32,42
The composition connected with connector 23,33,43, is not limited especially.
In embodiments, the holding object of movable body 11 or other throws such as electric drill,
Or the non-rotary tools such as the heating tool such as scolding tin.That is, the holding object of movable body 11 is not limited especially.
The present invention is not limited to above illustration person.For example, the feature of illustration should not be construed as to the present invention as must
Must, even, subject of the present invention, be present in the feature less than whole features of particular implementation disclosed above it
In.The present invention is represented with right, it is intended that include the whole change in the scope equivalent with right.
【Symbol description】
10 ... supporting arrangements；11 ... movable bodys；20th, 30,40 ... portion of bindiny mechanism；21st, 31,41 ... as drive division drive
Moving axis；22nd, 32,42 ... arm；23rd, 33,43 ... connector；24th, 26,34,36,48,50,58 ... rotary shaft；25、27、35、
37th, 55,59 ... connecting portion；A pair of arms of 42A ...；44 ... fixing axles；47th, 49 ... shake portions；51 ... connecting portions；52 ... is extended
Portion；60 ... as drive division pallet.
Claims (6)
1. a kind of supporting arrangement, it has 3 portions of bindiny mechanism, and 3 portions of bindiny mechanism are among the moving range of movable body
Any one direction for corresponding respectively in X-direction, Y direction and Z-direction supports the movable body respectively,
Each portion of bindiny mechanism has arm and connector, and the arm is connected to drive division, and one end of the connector is connected to the arm
And the other end is connected to the movable body, the connector can be with the X-axis, institute among the moving range of the movable body
Any one stated in Y-axis and the Z axis as one man extends,
The supporting arrangement is configured to the connector in portion of bindiny mechanism adjacent among the moving range of the movable body each other
The angle formed can be 90 degree,
The angle that the connector in adjacent portion of bindiny mechanism is formed each other among the moving range of the movable body is 90 degree
When, the angle that the arm and the connector in each portion of bindiny mechanism are formed can be 90 degree,
Any one in 3 portions of bindiny mechanism is provided with 3 with upper connector, provided with 3 connections with upper connector
The arm of mechanism part, maintains the posture of the movable body among the moving range of the movable body certain state, and
Make described 3 with upper connector maintain it is parallel to each other in the state of move movable body.
2. supporting arrangement according to claim 1, wherein,
The arm can joltily be connected to the drive shaft as the drive division,
The portion of bindiny mechanism has：Rotary shaft, it is extended in parallel with the drive shaft；And connecting portion, it is connected to described
Rotary shaft and can in the axially in parallel plane with the rotary shaft relative to the rotary shaft shake,
The connector is connected to the connecting portion, and can be shaken relative to the arm by shake center of the rotary shaft,
The connector shakes in the plane via the connecting portion relative to the rotary shaft.
3. supporting arrangement according to claim 1 or 2, wherein,
The arm in the portion of bindiny mechanism provided with described 3 with upper connector has a pair of arms, and a pair of arms constitute parallel four side
Shape bindiny mechanism, the parallelogram bindiny mechanism includes：A pair of shake portions, it can be joltily connected to as the drive division
Drive shaft on；Another pair shake portion, it joltily can be connected in fixing axle；And the connecting portion of one, the one of the arm
While being made up of the drive shaft and the fixing axle, the opposite side of the arm is made up of the connecting portion, and described 3 with upper connector
Connected via the connecting portion.
4. supporting arrangement according to claim 3, wherein,
The arm in the portion of bindiny mechanism provided with described 3 with upper connector has extended portion, and it extends between the pair of arm,
On the leading section of the extended portion, described 3 can be joltily connected with two directions with 1 in upper connector.
5. the supporting arrangement according to any one of claim 1 to claim 4, wherein,
Any one in 3 portions of bindiny mechanism is provided with 3 connectors,
3 connectors are connected to the link position of the movable body, with 3 connectors can turn into it is consistent described in
During any one direction viewing of X-axis, the Y-axis and the Z axis, each link position is located at the position for constituting isosceles triangle
Put.
6. supporting arrangement according to claim 5, wherein,
Portion of at least one bindiny mechanism in 2 portions of bindiny mechanism different from the portion of bindiny mechanism provided with 3 connectors
Connector is connected to the link position of the movable body, and the X-axis unanimously, the Y-axis can be turned into from 3 connectors
And the Z axis any one direction viewing when, the link position be located at the isosceles triangle inside.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-233011 | 2015-11-30 | ||
| JP2015233011A JP6310901B2 (en) | 2015-11-30 | 2015-11-30 | Support device |
| PCT/JP2016/084688 WO2017094571A1 (en) | 2015-11-30 | 2016-11-23 | Support device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107107288A true CN107107288A (en) | 2017-08-29 |
| CN107107288B CN107107288B (en) | 2019-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004669.5A Active CN107107288B (en) | 2015-11-30 | 2016-11-23 | Supporting arrangement |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP6310901B2 (en) |
| KR (1) | KR101960947B1 (en) |
| CN (1) | CN107107288B (en) |
| TW (1) | TWI628031B (en) |
| WO (1) | WO2017094571A1 (en) |
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| CN203210372U (en) * | 2013-04-23 | 2013-09-25 | 广州中国科学院先进技术研究所 | Parallel robot |
| CN105058382A (en) * | 2015-08-04 | 2015-11-18 | 汕头大学 | Novel series-parallel five-axis-linkage intelligent welding platform |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI628031B (en) | 2018-07-01 |
| WO2017094571A1 (en) | 2017-06-08 |
| JP6310901B2 (en) | 2018-04-11 |
| KR20170090461A (en) | 2017-08-07 |
| TW201722612A (en) | 2017-07-01 |
| JP2017100199A (en) | 2017-06-08 |
| CN107107288B (en) | 2019-05-03 |
| KR101960947B1 (en) | 2019-03-20 |
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