JP5889767B2 - Tool holding device - Google Patents

Description

  The present invention relates to a tool holding device that holds a tool.

  Conventionally, various types of tools include rotary power tools such as electric drivers and pneumatic drivers. In assembly work of various devices, they are usually hung near the work place or above the work space with a hoisting type wire. It is installed in a state and can be moved to a desired place by an operator when used.

  By the way, a tool holding device that holds such various tools is known. For example, as shown in Patent Document 1, a device that can be moved by an operator while holding a tool in a vertical direction is disclosed. Has been. In the auxiliary device for an electric tool shown in Patent Document 1, a horizontally projecting housing and a slide guide are attached to a vertical support column so as to be vertically movable and swivelable. A tool is held at the end of the slider in the vertical direction with respect to the slide guide.

JP 2011-200995 A

  However, in such a tool holding device, the slide guide that holds the power tool is mounted so as to be able to turn about an axis extending in the vertical direction. However, reaction force generated by the turning movement of the tool is applied to the slide guide. Since the position changes, for example, it is not easy for an operator to move a tool or perform an operation using a tool.

  The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to enable a tool to be moved by an operator and maintain the direction in which the tool is held along with the movement. An object of the present invention is to provide a tool holding device that can perform work efficiently using a tool.

In order to solve the above-mentioned problem, the invention according to claim 1 is a first link capable of supporting the holding body in a direction coinciding with the Z axis within a moving range of the holding body holding the tool. A mechanism part, a second link mechanism part capable of supporting the holding body in a direction coinciding with the X axis, a third link mechanism part capable of supporting the holding body in a direction coinciding with the Y axis, and each link mechanism And a support arm that supports the support member, a support arm on which the support member is fixed , each link mechanism unit is rotatably supported by the support member, and one end of the connection arm is rotated. And a link supported by the holding body so that the other end is rotatable and supported so as to be swingable, and the support member is fixed to the tip of the support column. Main body portion, and each link fixed to the main body portion. A support portion that supports each of the structural portions, and a tip end of the support column is located at a position surrounded by the support portions, and the support column is connected to a connection arm of the first link mechanism unit. An auxiliary mechanism for applying an auxiliary force for suppressing the downward movement of the holding body in the vertical direction, the holding body has an operation lever capable of manually operating the holding body, The rotation axis of the connection arm with respect to the support member, the rotation axis of the link with respect to the connection arm, and the rotation axis of the link with respect to the holding body are parallel, and the link of each link mechanism portion holds the link It extends so as to coincide with each axis within the range of movement of the body, and the holding body is supported by the first to third link mechanisms in a state in which the rotation around each axis is restricted, and further the holding Adjacent phosphorus in the body movement range Angle of the link mechanism portion is summarized in that configured to be taken 90 degrees.

The invention described in 請 Motomeko 2, in the tool holding device according to claim 1, wherein each of the link mechanisms consists of two links, the two links includes a gist that form a parallel To do.

The gist of the invention described in claim 3 is that, in the tool holding device according to claim 2 , both ends of the two links are connected to each other by a rotatable turning member.

  According to the present invention, a tool can be moved by an operator, the direction in which the tool is held can be maintained along with the movement, and the work can be efficiently performed using the tool.

The perspective view which shows the movable body support apparatus of embodiment. (A) And (b) is a schematic diagram which shows the movable body support apparatus of embodiment. The fragmentary sectional view which shows a link and a ball joint. The perspective view which shows the movable body support apparatus of embodiment. The perspective view which shows the movable body support apparatus of embodiment. The perspective view which shows the movable body support apparatus of embodiment. (A)-(e) is a schematic diagram which shows the movable body support apparatus of another example.

[First Embodiment]
1 to 4, an embodiment in which the present invention is embodied in a movable body support device in a machine tool will be described.

  As shown in FIG. 1, a support body 11 of a movable body support apparatus 10 as a tool holding apparatus in a machine tool is composed of a column 12 standing from a leg section 13 and a leg section 13. A support member 14 for supporting the three sets of link mechanism portions 20, 30, and 40 is fixed to the tip end 12 b of the support column 12. A support 12c for rotatably supporting one end 60a of a gas spring 60 as an auxiliary mechanism is fixed to the center of the support column 12 in the length direction.

  The support member 14 includes a main body 15 that is fixed to the distal end 12b of the column 12, and support sections 16 to 18 that are fixed to the main body 15 and support each of the three sets of link mechanism sections 20, 30, and 40. Consists of As shown in FIG. 2A, the support unit 16 is positioned diagonally (arrow A) on the horizontal plane S1 with respect to the reference position BP in the horizontal plane S1 including the X axis and the Y axis in the three-dimensional space forming the cube. It is arranged along. Further, the support portion 17 is disposed along the diagonally downward (arrow B) with respect to the reference position BP on the vertical plane S2 including the X axis and the Z axis in the three-dimensional space. Further, the support portion 18 is disposed along the diagonally downward (arrow C) with respect to the reference position BP on the vertical plane S3 including the Y axis and the Z axis in the three-dimensional space. As shown in FIG. 1, the support portions 16 to 18 have bearing holes 16 a and 17 a for rotatably supporting the link mechanism portions 20, 30 and 40 (bearing holes in the link mechanism portion 40 are not shown). ) Is formed. These bearing holes 16a to 18a are formed in a direction orthogonal to the direction in which the support portions 16 to 18 extend.

  Each link mechanism 20, 30, 40 can move the movable body 50 in the X-axis direction, the Y-axis direction, and the Z-axis direction with the bottom surface 51d of the movable body 50 having a substantially triangular pyramid shape maintained horizontally. To support. That is, each link mechanism part 20, 30, 40 supports the movable body 50 in a state where the rotation about each axis of XYZ is restricted.

  In this embodiment, when the movable body 50 is disposed at a specific position, the link mechanism sections 20, 30, and 40 support the movable body 50 in a direction that coincides with the orthogonal axis, and at other positions. When the movable body 50 is disposed, the angles of the link mechanism portions 20, 30, and 40 change. For this reason, the movable body 50 is supported in a direction substantially orthogonal to the orthogonal axis. As described above, the “direction matching each axis” in the claims may support the movable body 50 in a direction that completely coincides with the orthogonal axis depending on the arrangement of the movable body 50, and is orthogonal. It is a concept that may not be completely coincident with the axis but may be in a substantially coincident direction.

  Since each link mechanism part 20,30,40 is the same structure, the description about the link mechanism part 30,40 is abbreviate | omitted and it demonstrates below by making the link mechanism part 20 into a representative. In the present embodiment, the link mechanism unit 20 functions as a first link mechanism unit, the link mechanism unit 30 functions as a second link mechanism unit, and the link mechanism unit 40 functions as a third link mechanism unit.

  The link mechanism unit 20 includes a connection arm 21 supported by the support unit 16, and two links 22 that are supported by the connection arm 21 and support a movable body 50 as a holding body that holds an electric driver. It is comprised so that it may contain.

  A rotation shaft 21b that passes through the bearing hole 16a of the support portion 16 is fixed to one end 21a of the connection arm 21 so that the connection arm 21 can rotate with respect to the support portion 16 about the rotation shaft 21b. It is supported. The rotating shaft 21b is perpendicular to the extending direction in which the support portion 16 and the connecting arm 21 extend, and extends in the horizontal direction.

  A rotating shaft 21d is fixed to the other end 21c of the connecting arm 21, and two links 22 are supported so as to be rotatable about the rotating shaft 21d. The rotating shaft 21d is parallel to the rotating shaft 21b, and is perpendicular to the extending direction in which the support portion 16 and the connecting arm 21 extend, and extends in the horizontal direction, like the rotating shaft 21b. Further, the connecting arm 21 has a truss structure, and the weight of the connecting arm 21 is reduced while increasing the rigidity of the connecting arm 21. Further, the connecting arm 21 is formed longer than the support portion 16 and the link 22.

  A cradle 19 for rotatably supporting the other end 60 b of the gas spring 60 is fixed to the center of the back surface side of the connecting arm 21. The gas spring 60 supports the connecting arm 21 and applies an auxiliary force upward to suppress the downward movement of the movable body 50 in the vertical direction. In the present embodiment, the link mechanism unit 20 is also supported by the gas spring 60 in order to support the movable body 50 from the vertical direction, and the other link mechanism units 30 and 40 are provided with gas springs and the like. Not.

  The two links 22 are configured as a link pair having the same length and parallel to each other. Further, the length of the link 22 in the axial direction is longer than the support portion 16 and shorter than the length of the connecting arm 21 in the longitudinal direction. These links 22 are supported via ball joints 23 on both ends of the rotating shaft 21d of the connecting arm 21, respectively. Each link 22 supports the movable body 50 via the ball joint 24 at the end of the connecting shaft 52 a of the movable body 50.

  As shown in FIG. 3, the ball joint 23 as a rotating member includes a ball 23a on both ends of the rotating shaft 21d and a spherical bearing 23b surrounding the ball 23a. In the present embodiment, the ball 23a is fixed to the rotating shaft 21d, and one end 22a of the link 22 is connected to the spherical bearing 23b. Further, the ball joint 24 as a rotating member includes a ball 24a fixed to both ends of the connecting shaft 52a in the connecting portion 52 of the movable body 50, and a spherical bearing 24b surrounding the ball 24a. In the present embodiment, the ball 24a is fixed to one end of the connecting shaft 52a, and the other end 22b of the link 22 is connected to the spherical bearing 24b. For this reason, the link 22 is supported by the ball joints 23 and 24 so as to be rotatable about the rotating shaft 21d and the connecting shaft 52a and swingable in the left-right direction. In this way, the two links 22 form a link pair that is parallel to each other, and the link shafts 21d and the connecting shaft 52a are connected by the link mechanisms 20, 30, and 40 interlocking with each other. , Parallel to each other. That is, the rotating shafts 21b and 21d and the connecting shaft 52a are kept horizontal.

  As shown in FIG. 1, the movable body 50 is operated by a movable body base member 51, connection portions 52 to 54 supported by the link mechanism portions 20, 30 and 40, an electric driver 55 as a tool, and an operator. And a possible operation lever 56.

  The upper surface 51a, the side surface 51b, and the rear surface 51c of the movable body base member 51 are formed so as to form 90 degrees, and the connection portions 52 to 54 to which the connecting shafts 52a to 54a are fixed are the respective surfaces 51a to 51c. It is arranged.

  In particular, on the upper surface 51a of the movable body base member 51, the connecting portion 52 is disposed along the vertical direction at an angle at which the connecting shaft 52a is parallel to the rotating shaft 21d. Further, on the side surface 51b and the rear surface 51c of the movable body base member 51, connecting portions 53 and 54 are disposed along the horizontal direction at an angle at which the connecting shafts 53a and 54a are parallel to the rotation shafts 31d and 41d. Yes.

  When the movable body base member 51 is assumed to be a square box according to FIG. 2B, the movable body 50 in a state where the movable body support device 10 is not driven and no external force is applied to the movable body 50. explain. In this case, on the upper surface 51a of the movable body base member 51, one of the two corners perpendicular to the arrow A in FIG. 2A among the two corners at the position where the X-axis direction and the Y-axis direction intersect each other. When the link 22 is connected to the movable body 50, the movable body 50 is supported in the Z-axis direction. Further, on the side surface 51b of the movable body base member 51, one of the two corners perpendicular to the arrow B in FIG. 2A among the two corners at the position where the Y-axis direction and the Z-axis direction intersect each other. By connecting the link 32, the movable body 50 is supported in the X-axis direction. Furthermore, on the rear surface 51c of the movable body base member 51, one of the two corners perpendicular to the arrow C in FIG. 2A among the two corners at the position where the X-axis direction and the Z-axis direction intersect each other. By connecting the link 42 to the movable body 50, the movable body 50 is supported in the Y-axis direction. For this reason, the upper surface 51a of the movable body base member 51 is parallel to the horizontal plane S1 shown in FIG. 2A, and the side surface 51b of the movable body base member 51 is parallel to the vertical plane S2 shown in FIG. The rear surface 51c of the movable body base member 51 is parallel to the vertical surface S3 shown in FIG.

  Further, as shown in FIG. 2B, in the state where the movable body support device 10 is disposed at a specific position, the angle formed by the link 22 of the link mechanism unit 20 and the link 32 of the link mechanism unit 30 is 90. It is a degree. Further, the angle formed by the link 22 of the link mechanism unit 20 and the link 42 of the link mechanism unit 40 and the angle formed by the link 32 of the link mechanism unit 30 and the link 42 of the link mechanism unit 40 are 90 degrees. In other words, the movable body 50 is supported by the link mechanism portions 20, 30, 40 in a state where the rotation about each axis is restricted, and the link mechanism portions 20, 30 adjacent to each other within the moving range of the movable body 50. , 40 links 22, 32, 42 are configured to be 90 degrees.

  As shown in FIG. 1, the electric driver 55 is disposed in the vertical direction from the bottom surface 51 d of the movable body base member 51, and rotates about a shaft extending in the vertical direction as a rotation center. The operation lever 56 is also disposed on the bottom surface 51 d of the movable body base member 51. Since the bottom surface 51d of the movable body base member 51 is a surface parallel to the upper surface 51a of the movable body base member 51, the electric driver 55 is maintained in the vertical direction. In this embodiment, the movable body 50 is moved by the operation of the operator such as the operation lever 56 without providing a drive source such as a motor.

As described above, the movable body 50 is supported by the link mechanism sections 20, 30, and 40 including the ball joints 23, 24, 33, 34, 43, and 44 so as to be movable while maintaining a horizontal state within a predetermined movement range. Is done. Accordingly, the electric driver 55 disposed on the bottom surface 51d of the movable body base member 51 in the vertical direction can move within a predetermined movement range while maintaining a horizontal state.
[Action]
Next, the operation of the movable body support device 10 will be described.

  As shown in FIG. 1, in the movable body support device 10, the connecting arms 21, 31, 41 are rotatably supported with respect to the support 11 about the rotation shafts 21 b, 31 b, 41 b as axes. The links 22, 32, 42 are rotatable with respect to the connecting arms 21, 31, 41 about the rotation shafts 21d, 31d, 41d via the ball joints 23, 33, 43. Furthermore, it is supported so as to be swingable in the left-right direction.

  Each of the connecting portions 52 to 54 is rotatable with respect to each of the links 22, 32, 42 via the ball joints 24, 34, 44 about the connecting shafts 52 a to 54 a, and further in the left-right direction. The movable body 50 is supported so as to be swingable.

  Then, as shown in FIG. 4, when the operator performs a pressing operation on the movable body 50 in the left direction, the connecting arms 21, 31, 41 and the links 22, 32, 42 rotate, and the movable body is rotated. 50 moves to the left while keeping the level. On the other hand, as shown in FIG. 5, when the operator performs a pressing operation on the movable body 50 in the right direction, the connecting arms 21, 31, 41 and the links 22, 32, 42 rotate in the same manner. The movable body 50 moves to the right while keeping the level. In this way, the rotation shafts 21b and 21d and the connection shaft 52a are kept parallel, the rotation shafts 31b and 31d and the connection shaft 53a are kept parallel, and the rotation shafts 41b and 41d and the connection shaft 54a are parallel. By maintaining, the upper surface 51a and the bottom surface 51d of the movable body base member 51 can be maintained in a horizontal state, and the movable body 50 can be moved so as not to twist with respect to the horizontal plane.

According to the above embodiment, the following effects can be obtained.
(1) The link mechanism unit 20 can support the movable body 50 in the movement range in a direction that coincides with the Z axis, and the link mechanism unit 30 allows the movable body 50 to be supported within the movement range in the X axis. Further, the movable mechanism 50 can be supported by the link mechanism unit 40 in a direction that coincides with the Y axis within the movement range. In addition, the movable body support device 10 is configured such that the two links 22 and the two links 32 can take 90 degrees within the moving range of the movable body 50 and the two links 22 and 2. The book link 42 is configured to take 90 degrees. For this reason, compared with the case where it rotates around a single direction, when the movable body 50 is moved, a shift | offset | difference does not arise easily and it can maintain a horizontal state. Therefore, the electric driver 55 can move within a predetermined movement range, and the direction in which the electric driver is held can be maintained in the vertical direction along with the movement, and work can be efficiently performed using the electric driver 55. Can do. Further, even when the movable body 50 is small in weight and the movable body support device 10 receives a reaction force caused by the rotation of the rotary tool, the work burden and fatigue of the operator can be reduced. Further, the electric driver 55 can be moved along a free movement route.

  (2) The external force applied to the links 22, 32, and 42 is divided into the respective link pairs, so that the external force is hardly amplified and the link 22, 32, 42 can withstand the external force, It is possible to reduce the work load and fatigue of the worker according to the reaction force when the electric driver 55 is driven.

  (3) Each of the link mechanisms 20, 30, and 40 has the same configuration in the Z-axis direction, the X-axis direction, and the Y-axis direction, respectively along the Z-axis direction, the X-axis direction, and the Y-axis direction. The movable body 50 is moved by displacing the two links 22, 32, 42. For this reason, the operability of the electric driver 55 can be improved by realizing the same operability in all directions in the Z-axis direction, the X-axis direction, and the Y-axis direction.

  (4) In the movable body support device 10, the movable body 50 is supported by the two links 22, 32, and 42, respectively, and the rotation of the movable body 50 is restricted. For this reason, when the electric driver 55 is supported by the movable body 50, even if a reaction force acts on the movable body 50, the turning force can be received by the two links 22, 32, 42. The stability of the movable body support device 10 can be improved.

  (5) In the Z-axis direction, the link 22 receives an external force, and the link mechanism 20 is supported by the gas spring 60. For this reason, in order to suppress the downward movement of the movable body 50 in the vertical direction, an auxiliary force is applied upward to increase the rigidity in the Z-axis direction, and even in a situation away from the operator's hand. The movable body 50 can be easily stopped in the vertical direction against the gravity, and the operability of the electric driver 55 can be improved. In particular, in the link mechanism unit 20 that supports the movable body 50 in the vertical direction, the rigidity can be further increased by disposing the gas spring 60 on the highly rigid connecting arm 21.

  (6) Even if the electric driver 55 is configured to rotate about the axis extending in the vertical direction, even if a reaction force acts on the movable body 50, the X-axis direction and the Y-axis direction Can receive the reaction force by the links 32 and 42, and can improve the stability of the movable body support apparatus 10.

  (7) Two links 22, 32, and 42 are parallel to each other. For this reason, the external force acting on the links 22, 32, 42 can be received evenly distributed by the two links. For this reason, when the electric driver 55 is supported by the movable body 50, even if a reaction force acts on the movable body 50, the turning force can be received by the two links 22, 32, 42. The stability of the movable body support device 10 can be improved.

  (8) One end of each of the links 22, 32, and 42 is supported by the ball joints 23, 33, and 43 so as to be swingable with respect to the rotation shafts 21d, 31d, and 41d. On the other hand, the other end is supported by ball joints 24, 34 and 44 so as to be swingable with respect to the connecting shafts 52a to 54a. Therefore, the movement of the links 22, 32, 42 with respect to the connecting arms 21, 31, 41 and the movement of the movable body 50 with respect to the links 22, 32, 42 can be performed smoothly.

  (9) The support portions 16 to 18 in the support member 14 are formed to be shorter than the connection arms 21, 31, 41 and the links 22, 32, 42, so that the weight of each link mechanism portion 20, 30, 40 can be reduced. Therefore, it is possible to easily support the movable body support device 10 and to improve the stability of the movable body support device 10.

  (10) On the other hand, the connecting arms 21, 31, 41 are formed with a truss structure. For this reason, the weight of the movable body support device 10 can be reduced, the rigidity thereof can be increased, and the stability of the movable body support device 10 can be improved.

  (11) Since the connecting arms 21, 31, 41 and the links 22, 32, 42 are formed longer than the support portions 16 to 18, the movement range of the electric driver 55 can be expanded. The operability can be improved. Further, since the connecting arms 21, 31, 41 are formed longer than the links 22, 32, 42, the movement range of the electric driver 55 with respect to the device dimensions can be expanded, and the operability of the electric driver 55 is improved. Can be made.

  (12) By supporting each link mechanism part 20, 30, 40 and the movable body 50 by the support column 12 and the leg part 13, it is possible to save the space for placing the movable body support device 10.

  (13) Since a drive source such as a motor for moving the movable body 50 is not used, the movable body support device 10 can be reduced in weight and space. Furthermore, the electric driver 55 can be moved within a predetermined movement range by an operator without controlling the driving source with high accuracy, and the direction in which the electric driver is held is maintained in the vertical direction along with the movement. Therefore, the electric driver 55 can be used for efficient work.

In addition, you may change the said embodiment as follows.
In the above embodiment, for example, as shown in FIG. 6, in the movable body support device 100, the electric driver 55 includes the movable body 150 (movable body base member 151) arranged in the horizontal direction, and is in a parallel state. It is good also as movable while maintaining. Of course, the electric driver 55 may be arranged in a predetermined direction without moving in the vertical direction or the horizontal direction, and may be movable while maintaining a parallel state.

  In the above embodiment, the gas spring 60 is disposed with respect to the link mechanism unit 20 that supports the movable body 50 in the vertical direction. However, the present invention is not limited thereto, and for example, a link mechanism that supports the movable body 50 in the horizontal direction. A balancer or the like may be disposed on the column 12 side with respect to the portions 30 and 40. Thereby, it is possible to easily stop the movable body 50 in the vertical direction against the gravity even in a situation away from the operator's hand, and the operability of the electric driver 55 can be improved. Further, the auxiliary force by the gas spring 60 may not be strictly in the vertical direction as long as the movement of the movable body 50 in the vertical direction can be suppressed, and may be applied upward so as to include the component in the vertical direction. Further, for example, in a configuration in which a balancer or the like is disposed on the column 12 side with respect to the link mechanism units 30 and 40, an auxiliary force is applied downward in the vertical direction. That is, it is only necessary to apply an auxiliary force in a direction that suppresses the downward movement of the movable body 50 in the vertical direction.

  ○ As shown in FIG. 7A, when the movable body base member 51 is assumed to be a square box shape, two sets of the upper surface 51a of the movable body base member 51 are at positions where the X axis direction and the Y axis direction intersect. Of these corners, the link 22 is connected to each of the corners to support the movable body base member 51 in the Z-axis direction. The movable body base member 51 is supported in the X-axis direction by connecting the links 32 to one of the two corners located on the diagonal line of the side surface 51b of the movable body base member 51. Further, the link 42 is connected to one of the two corners located on the diagonal line of the rear surface 51c of the movable body base member 51 to support the movable body base member 51 in the Y-axis direction. Good.

As shown in FIG. 7 (b), in contrast to the embodiment shown in FIG. 7 (a), the corner connecting the links 22, 32, 42 may be changed to the other corner.
○ As shown in FIG. 7C, when the movable body base member 51 is assumed to be a square box shape, the upper surface 51 a of the movable body base member 51 has the movable body base member 51 out of two sides extending in the X-axis direction. The links 22 are connected to both ends of the side on the rear surface 51c side to support the movable body base member 51 in the Z-axis direction. Further, on the upper surface 51a of the movable body base member 51, the link 32 is connected to both ends of the side on the side surface 51b side of the movable body base member 51 out of the two sides extending in the Y-axis direction so that the movable body base member 51 is placed in the X axis. Support in the direction. Further, on the rear surface 51c of the movable body base member 51, links 42 are connected to both ends of the side on the side surface 51b side of the movable body base member 51 out of the two sides extending in the Z-axis direction so that the movable body base member 51 is connected to the Y axis. It may be supported in the direction.

As shown in FIG. 7D, in the embodiment shown in FIG. 7C, the side connecting the links 22, 32, 42 may be changed to the other side.
As shown in FIG. 7 (e), when the movable body base member 51 is assumed to be a square box shape, on the upper surface 51a of the movable body base member 51, the links 22 are respectively connected to the centers of two opposing sides extending in the Y-axis direction. Are connected to support the movable body base member 51 in the Z-axis direction. Further, on the side surface 51b of the movable body base member 51, the link 32 is connected to each of two opposing sides extending in the Z-axis direction to support the movable body base member 51 in the X-axis direction. Further, on the rear surface 51c of the movable body base member 51, the link 42 may be connected to each of two opposing sides extending in the X axis direction to support the movable body base member 51 in the Y axis direction.

  In the above embodiment, both ends of the links 22, 32, and 42 are supported by the ball joints 23, 24, 33, 34, 43, and 44. However, the ball joint is connected to the link mechanism having two degrees of angular freedom, for example, It may be changed to a universal joint or a bifurcated universal joint.

  In the above embodiment, the link pair in which the two links 22, 32, and 42 are paired is adopted. However, the present invention is not limited to this, and for example, a link mechanism having two degrees of angular freedom is provided. For example, a link pair in which one link is a pair may be adopted.

  In the above embodiment, the connecting arms 21, 31, 41 are formed longer than the links 22, 32, 42. However, the present invention is not limited to this, and for example, the connecting arms 21, 31, 41 are more than the links 22, 32, 42. May be formed short and may have the same length.

In the above embodiment, the connecting arms 21, 31, 41 are supported by the support member 14 so as to be rotatable. However, the present invention is not limited to this, and may be moved linearly, for example.
In the above embodiment, the connecting arms 21, 31, 41 have a truss structure. Of course, it may be a thin plate shape or a shape similar to the link 22. Moreover, you may be comprised so that the movable body support apparatus 10 may not be provided with a connection arm.

  In the above embodiment, the support body 11 is configured so that the movable body support device 10 can be placed on the floor, a desk, or the like. However, the present invention is not limited to this, and for example, the support body 10 is supported so as to be suspended from the ceiling or the like. A body may be comprised and it may be comprised so that arrangement | positioning in a horizontal direction like a side wall etc. is possible.

In the above embodiment, the movable body support device 10 does not include a drive source such as a motor, but may include a drive source.
In the above embodiment, the movable body support device 10 is applied to a machine tool provided with the electric screwdriver 55. However, the movable body support device can be used for other rotary tools such as drilling with a drill and thread cutting with a tapping tool. A heating tool such as a soldering iron, an observation tool such as a microscope, and a non-rotating tool such as a measurement tool may be mounted. That is, the movable body support device can be applied to a device that supports the movable body so as to be movable in the X-axis direction, the Y-axis direction, and the Z-axis direction as long as various tools are mounted.

Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.
(A) The tool holding device according to claim 3, wherein both ends of the two links are respectively connected by a universal joint.

  (B) The tool holding device according to claim 4, wherein the rotating member includes a ball at both ends of the two links, and a spherical bearing supported so as to be slidable with respect to the ball.

  DESCRIPTION OF SYMBOLS 10,100 ... Movable body support apparatus, 11 ... Support body, 12a, 21a, 22a, 60a ... One end, 12b, 21c, 22b, 60b ... Other end, 14 ... Support member, 16-18 ... Support part, 20, 30 , 40 ... Link mechanism part, 21, 31, 41 ... Connecting arm, 21a, 22a, 60a ... One end, 21b, 21d, 31b, 31d, 41b, 41d ... Rotating shaft, 21c, 22b, 60b ... Other end, 22 , 32, 42 ... link, 23, 24, 33, 34, 43, 44 ... ball joint, 50, 150 ... movable body, 51, 151 ... movable body base member, 51a ... upper surface, 51b ... side surface, 51c ... rear surface, 51d ... Bottom, 52-54 ... Connection, 52a-54a ... Connecting shaft, 55 ... Electric screwdriver, 60 ... Gas spring.

Claims (3)

A first link mechanism portion capable of supporting the holding body in a direction coinciding with the Z axis within a movement range of the holding body for holding the tool;
A second link mechanism that can support the holding body in a direction that coincides with the X axis;
And a third link mechanism that can support the holding body in a direction that coincides with the Y-axis,
A support member for supporting each link mechanism ,
Having a support post to which the support member is fixed ;
Each of the link mechanisms is
A connecting arm rotatably supported by the support member, and one end of which can be rotated and supported by the connecting arm so as to be swingable, and the other end of the support body is rotatable and swingable. And a link that is supported by
The support member is composed of a main body portion fixed to the tip of the support column, and a support portion fixed to the main body portion and supporting each of the link mechanism portions,
The tip of the column is at a position surrounded by the support parts,
The support column has an auxiliary mechanism that applies an auxiliary force for suppressing the downward movement of the holding body in the vertical direction with respect to the connection arm of the first link mechanism unit,
The holding body has an operation lever capable of manually operating the holding body,
The rotation axis of the connection arm with respect to the support member, the rotation axis of the link with respect to the connection arm, and the rotation axis of the link with respect to the holding body are parallel.
The link of each link mechanism portion extends so as to coincide with each axis within the movement range of the holding body, and the rotation of the holding body around each axis is restricted by the first to third link mechanism portions. A tool holding device that is supported in a state and is configured such that an angle formed by links of adjacent link mechanism portions in the movement range of the holding body can take 90 degrees. Each link mechanism section is composed of two links,
The tool holding device according to claim 1, wherein the two links are parallel to each other. The tool holding device according to claim 2 , wherein both ends of the two links are connected to each other by a rotatable member that can rotate.