Joint frame

Abstract

To provide a joint frame which can be made a compact optimum shape with a high degree of freedom in arrangement of a work part to a work-piece without requiring a design corresponding to the work-piece, processing of many components and piping work, can be made to be light in weight and slim without exposing piping to the outside and can be used to various work-pieces for general purpose.SOLUTION: A joint frame 1 according to the present invention is a joint frame 1 configured by linking a plurality of frame parts 2 to include a work part 3 to a work-piece at a tip, the frame parts 2 are respectively provided with a fluid flow part 4 inside, joint parts 5 are respectively provided at end parts of the linked frame parts 2, the joint parts 5 are configured to be able to fixed to desired angles by fixing members 6, and the fluid flow parts 4 of the linked frame parts 2 are communicated.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a joint frame suitable for connection to, for example, the tip of a robot arm. [Background technology]

[0002] Conventionally, structures equipped with piping for circulating fluids to a working section provided at the tip have been widely used for processing or transporting workpieces, etc. One such structure is a frame structure 80 shown in Figure 20.

[0003] This frame structure 80 has a first frame 81 and a second frame 82 arranged parallel to the tip 101 of the robot arm 100, a third frame 83 and a fourth frame 84 arranged parallel to the first frame 81 and the second frame 82 in a direction perpendicular to the first frame 81 and the second frame 82, six working units (suction pads) 85 spaced apart from each other on the third frame 83 and the fourth frame 84, and air tube piping 86 for connecting to a vacuum source (not shown) for suction by the working units (suction pads) 85, and is used when suctioning and transporting a workpiece (not shown) with the working units (suction pads) 85.

[0004] However, the above-mentioned frame structure 80 requires a design suited to the workpiece, the processing of numerous component parts, and piping work using the air tube piping 86. In addition, there is little flexibility in the placement of the working part (suction pad) 85, which tends to be placed linearly, making it difficult to create an optimal shape suited to the workpiece. Furthermore, it is often heavy, making it difficult to reduce its weight, and the exposed air tube piping 86 makes it difficult to slim it down. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2018-161722 Summary of the Invention [Problem to be solved by the invention]

[0006] Therefore, the object of the present invention is to provide a joint frame that can be designed to suit the workpiece, does not require processing of a large number of component parts, and can be made compact and optimally shaped with a high degree of freedom in the placement of the working part relative to the workpiece, can be made lightweight and slim without exposing the piping to the outside, and can be used universally for a variety of workpieces. [Means for solving the problem]

[0007] The solution to the above problem is a joint frame made up of multiple frame sections connected together and equipped with a working section for the workpiece at the tip, wherein each of the frame sections has a fluid circulation section inside, and each of the connected frame sections has a joint section at the end, and the joint sections are configured to be fixable at a desired angle with a fixing member, and the fluid circulation sections of the connected frame sections are connected to each other (Claim 1).

[0008] It is preferable that the joint portion has a communication recess on a side facing the joint portion of the frame portion it connects to, and that the communication recess defines a communication chamber between the communication recess of the joint portion of the frame portion it connects to (Claim 2).It is preferable that the joint portion has a rotation-preventing locking portion on a side facing the joint portion of the frame portion it connects to, and that the rotation-preventing locking portion is configured to engage with the rotation-preventing locking portion of the joint portion of the frame portion it connects to, thereby preventing the joint portions of the frame portions it connects to from rotating relative to each other (Claim 3).It is preferable that the rotation-preventing locking portion is arranged radially around the fixing member and is configured as repeated grooves or protrusions in the circumferential direction, and that the rotation-preventing locking portions of the joint portions of the frame portions it connects to mesh with each other (Claim 4). The joint portion preferably has a cylindrical fitting portion provided around the fixing member on a side facing the joint portion of the connecting frame portion, and the cylindrical fitting portion is configured to be able to fit into a fitting recess provided in the joint portion of the connecting frame portion and around the fixing member (Claim 5). The joint frame is preferably formed of a resin material (Claim 6). The frame portion provided at the tip of the joint frame preferably has the working portion (Claim 7). The working portion may have a suction pad (Claim 8). The frame portion provided at the base end of the joint frame preferably has an attachment portion (Claim 9). The frame portion provided at the base end of the joint frame has the attachment portion and the joint portion separated, and the joint portion may be configured to be rotatable relative to the attachment portion and to be fixable at a rotational position of a desired angle by a fixing member (Claim 10). The joint frame may have a work drive portion for driving the working portion (Claim 11). [Effects of the Invention]

[0009] According to the joint frame described in claim 1, there is no need for design to suit the workpiece, processing of numerous component parts, or piping work, and there is a high degree of freedom in the placement of the working part relative to the workpiece, allowing for a compact, optimal shape, and it can be made lightweight and slim without the piping being exposed to the outside, and can be used universally for a variety of workpieces. According to the joint frame of claim 2, the fluid flow passage portions of the connected frame portions can be more reliably communicated with each other via the communication chamber. According to the joint frame of claim 3, the fixed state of the joint portions of the frame portions fixed at a desired angle by the fixing member can be more reliably maintained by the engagement of the rotation-preventing locking portions. According to the joint frame of claim 4, the anti-rotation locking portion can be configured with a simple structure that provides a more reliable locking effect. According to the joint frame of claim 5, by fitting the cylindrical fitting portion into the fitting recess, airtightness or liquid tightness between the joint portions can be maintained. According to the joint frame described in claim 6, by being formed from a resin material, the cylindrical insertion portion and the insertion recess can be made into a tighter fitting structure, which can better maintain the airtightness or liquid tightness between the joint portions and make the frame lighter. According to the joint frame recited in claim 7, the working unit can be fixed at a desired angle. According to the joint frame recited in claim 8, the suction pad can be fixed at a desired angle. According to the joint frame recited in claim 9, the mounting portion can be fixed at a desired angle, making mounting easier. According to the joint frame recited in claim 10, the frame portion having the attachment portion is rotatable, thereby further improving the degree of freedom in arranging the working portion. According to the joint frame recited in claim 11, the convenience is further improved by having a work driving section for driving the working section. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a perspective view of an embodiment of a joint frame of the present invention. FIG. [Figure 2] FIG. 2 is a perspective view for explaining the internal structure of the joint frame shown in FIG. [Figure 3] FIG. 2 is a right side view of the joint frame shown in FIG. [Figure 4] FIG. 4 is a cross-sectional view taken along line AA. [Figure 5] FIG. 5 is a cross-sectional view taken along line BB. [Figure 6] FIG. 6 is a cross-sectional view taken along line CC. [Figure 7] FIG. 7 is a cross-sectional view taken along line DD. [Figure 8] FIG. 2 is a right side view showing the joint frame shown in FIG. 1 in an exploded state. [Figure 9] FIG. 9 is a cross-sectional view taken along line EE. [Figure 10] FIG. 10 is a cross-sectional view taken along line FF. [Figure 11] FIG. 11 is a cross-sectional view taken along line GG. [Figure 12] FIG. 12 is an enlarged cross-sectional view taken along line HH. [Figure 13] 2 is an explanatory view for explaining a state in which joint portions are fitted together in the joint frame shown in FIG. 1. FIG. [Figure 14] FIG. 2 is an exploded perspective view of the joint frame shown in FIG. 1. [Figure 15] 2 is a perspective view for explaining the internal structure of the joint frame shown in FIG. 1 in an exploded state. FIG. [Figure 16] FIG. 10 is a perspective view of another embodiment of the joint frame of the present invention. [Figure 17] FIG. 17 is a plan view of FIG. 16. [Figure 18] FIG. 18 is a front view of FIG. 17. [Figure 19] FIG. 18 is a right side view of FIG. 17. [Figure 20] FIG. 1 is a perspective view of a conventional frame structure. DETAILED DESCRIPTION OF THE INVENTION

[0011] In the present invention, a joint frame 1 is provided which is made up of a plurality of frame sections 2 connected together and which has a working section 3 for the workpiece at its tip, and each frame section 2 has a fluid circulation section 4 inside it, and each of the connected frame sections 2 has a joint section 5 at its end, and the joint sections 5 are configured to be able to be fixed at a desired angle with fixing members 6, and the fluid circulation sections 4 of the connected frame sections 2 are connected to each other, so that design to suit the workpiece, machining of numerous component parts, and piping work are not required, and there is a high degree of freedom in the arrangement of the working section for the workpiece, and it can be made compact and optimally shaped, and it can be made lighter and slimmer without the piping being exposed to the outside, and a joint frame 1 which can be used universally for a variety of workpieces has been realized. [Example]

[0012] The joint frame of the present invention will be described with reference to an embodiment shown in FIGS. The joint frame 1 of this embodiment is configured by connecting a plurality of frame sections 2 and is provided with a working section 3 for a workpiece at its tip, with each frame section 2 having a fluid circulation section 4 therein, and each of the connected frame sections 2 has a joint section 5 at its end, with the joint sections 5 being configured to be fixable at a desired angle with fixing members 6, and the fluid circulation sections 4 of the connected frame sections 2 communicating with each other. Each component will be described in detail below.

[0013] As shown in Figure 20, the joint frame 1 of the present invention can be attached to the tip 101 of a robot arm 100 in a robot system, for example, or can be used as an end effector, but is not limited to these and can be widely used when placing a working part that requires a fluid circulation part for a workpiece.

[0014] 1 to 3, the joint frame 1 is configured by connecting a plurality of frame portions 2, and in this embodiment, as shown in Figures 1 to 3, it has a first frame portion 2a equipped with a working portion 3 for a workpiece at its tip, a second frame portion 2b connected to the first frame portion 2a, a third frame portion 2c connected to the second frame portion 2b, and a fourth frame portion 2d connected to the first frame portion 2a and equipped with an attachment portion 7 at its base end. Note that the number of connected frame portions in the joint frame of the present invention is not limited to four, and any number of multiple frame portions is within the scope of the present invention.

[0015] The working unit 3 in the first frame part 2a, which has the working unit 3 at its tip, is a part that performs various operations on the workpiece. As shown in FIG. 1, the working unit 3 in this embodiment has a suction pad 8, which adsorbs the workpiece and performs the transport operation.

[0016] However, the working unit in the joint frame of the present invention is not limited to one having suction pads 8, but widely includes various types of working units depending on the work to be performed using fluid, such as an outlet for air or water, a workpiece pressing unit or workpiece clamping unit driven by a hydraulic or pneumatic driving device, etc. Note that the term "fluid" in the present invention broadly includes fluids required for the work of the working unit, such as air, oil, water, paint, etc.

[0017] The first frame portion 2a provided at the tip of the joint frame 1 has a working portion 3, which allows the working portion 3 to be fixed at a desired angle relative to the extension direction of the second frame portion 2b, and in this embodiment has an adsorption pad 8, which is configured to be able to be fixed at a desired angle relative to the extension direction of the second frame portion 2b.

[0018] On the other hand, the fourth frame section 2d provided at the base end of the joint frame 1 has an attachment section 7 for fixing to an attachment target section (for example, the tip of a robot arm). This allows the attachment section 7 to be fixed to the attachment target section, and a joint frame is configured that allows for a high degree of freedom in arranging the working section 3 relative to the workpiece, allows for a compact and optimal shape, and is easier to attach to the attachment target section.

[0019] The mounting portion 7 has fluid flow ports 7a, 7b (either one is selectively used, and the other is plugged) which serve as the inlet or outlet for the fluid, and mounting member insertion holes 7c, 7d for inserting mounting members (e.g., bolts, nuts, etc.) when mounting to the mounting portion.

[0020] The joint frame of the present invention may also have a work drive unit for driving the working unit, such as a pump, hydraulic drive, pneumatic drive, etc. Providing a work drive unit for driving such a working unit further improves convenience.

[0021] 2 and 5 to 7, the frame portions 2 (first frame portion 2a, second frame portion 2b, third frame portion 2c, fourth frame portion 2d) are each provided with a fluid circulation portion 4 (first fluid circulation portion 4a, second fluid circulation portion 4b, third fluid circulation portion 4c, fourth fluid circulation portion 4d) inside. This prevents the piping from being exposed to the outside, making it possible to reduce the weight and slimness of the join frame 1 and eliminating the need for piping work.

[0022] 8 to 15, joint portions 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) are provided at the ends of the connected frame portions 2 (first frame portion 2a, second frame portion 2b, third frame portion 2c, fourth frame portion 2d). These joint portions 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) are configured to be fixable at a desired angle in relation to the other joint portions (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f). This allows the joined frame 1 a high degree of freedom in the arrangement of the working unit 3 relative to the workpiece, and allows for a compact, optimal shape.

[0023] Specifically, the frame portion 2 (first frame portion 2a, second frame portion 2b, third frame portion 2c, fourth frame portion 2d) is connected (coupled) to the first frame portion 2a and the second frame portion 2b by fixing the first joint portion 5a of the first frame portion 2a and the second joint portion 5b of the second frame portion 2b at a desired angle, the second frame portion 2b and the third frame portion 2c are connected (coupled) to the third frame portion 2b and the fourth joint portion 5d of the third frame portion 2c at a desired angle, and the third frame portion 2c and the fourth frame portion 2d are connected (coupled) to the fifth joint portion 5e of the third frame portion 2c and the sixth joint portion 5f of the fourth frame portion 2d at a desired angle.

[0024] As shown in FIG. 2 , the joint portions 5 (first joint portion 5a and second joint portion 5b, third joint portion 5c and fourth joint portion 5d, fifth joint portion 5e and sixth joint portion 5f) are configured to be fixed at a desired angle in the j, k, or m directions using fixing members 6 (bolts 6a and nuts 6b). This eliminates the need for designing the joint frame 1 to accommodate a workpiece or machining numerous components. It allows for a high degree of freedom in arranging the working unit 3 relative to the workpiece, allowing for a compact, optimal shape, and is therefore versatile enough for use with a variety of workpieces. Note that while the fixing members 6 in this embodiment are composed of bolts 6a and nuts 6b, they are not limited to bolts 6a and nuts 6b. Any fixing members can be used as long as they can fix or release the joint portions 5 to change the desired angle between the joint portions 5 (first joint portion 5a and second joint portion 5b, third joint portion 5c and fourth joint portion 5d, fifth joint portion 5e and sixth joint portion 5f).

[0025] As shown in Figures 10 to 13, each of the joint parts 5 (first joint part 5a, second joint part 5b, third joint part 5c, fourth joint part 5d, fifth joint part 5e, sixth joint part 5f) has a communication recess 9 on the side facing the joint part 5 of the adjacent frame part 2, and as shown in Figures 5 to 7, the communication recess 9 forms a communication chamber 10 between itself and the communication recess 9 of the joint part 5 of the adjacent frame part 2. These communication recesses 9 are configured to more reliably communicate the fluid circulation parts 4 of the adjacent frame parts 2 via the communication chamber 10.

[0026] The fluid circulation sections 4 (first fluid circulation section 4a, second fluid circulation section 4b, third fluid circulation section 4c, fourth fluid circulation section 4d) of all of the connected frame sections 2 (first frame section 2a, second frame section 2b, third frame section 2c, fourth frame section 2d) are continuously connected via the communication chamber 10. This provides a joint frame 1 that can be made lighter and slimmer without requiring piping work or exposing piping to the outside.

[0027] 14 or 15, each of the joint portions 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) has an anti-rotation locking portion 11 on the side facing the joint portion 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) of the adjacent frame portion 2, and this anti-rotation locking portion 11 is configured to engage with the anti-rotation locking portion 11 of the joint portion 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) of the adjacent frame portion 2, thereby preventing the joint portions 5 of the adjacent frame portions 2 from rotating relative to each other. This allows the joint sections 5 (first joint section 5a, second joint section 5b, third joint section 5c, fourth joint section 5d, fifth joint section 5e, sixth joint section 5f) of the frame section 2, which are fixed at the desired angle by the fixing members (bolts 6a, nuts 6b), to be more reliably maintained in a fixed state by the engagement of the anti-rotation locking section 11.

[0028] These anti-rotation locking portions 11 are arranged radially around the fixing member 6 (bolts 6a, nuts 6b) and are configured by alternating groove portions (valley portions) 11a or protruding portions (mountain portions) 11b in the circumferential direction, and are configured so that the anti-rotation locking portions 11 of the joint portions 5 of the connected frame portions 2 mesh with each other. This allows the anti-rotation locking portions 11 to be configured with a simple structure that provides a more reliable locking effect.

[0029] Furthermore, as shown in FIG. 12 or 13, each joint portion 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) has a tubular fitting portion (annular fitting portion) 12 provided around the fixing member (bolt 6a, nut 6b) on the side facing the joint portion 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) of the adjacent frame portion 2, and the tubular fitting portion 12 is provided in the joint portion 5 (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) of the adjacent frame portion 2, and is configured to be able to fit into fitting recess 13 provided around the fixing member (bolt 6a, nut 6b). More specifically, as shown in the speech bubble in Figure 13, the tubular insertion portion 12 is inserted into the insertion recess 13 in a bulging state due to the flexibility of the resin material, so that the airtightness or liquid-tightness between the joint portions 5 is more reliably maintained.

[0030] As described above, a resin material is preferable as the material for forming the joint frame 1, and forming the joint frame 1 from a resin material allows for a tighter fitting structure between the cylindrical fitting portion 12 and the fitting recess 13, as described above, and allows for better maintenance of airtightness or liquid tightness between the joint portions 5 and weight reduction. However, the material for forming the joint frame is not limited to a resin material, and it may be made of a metal material or the like.

[0031] Next, a joint frame 40 according to another embodiment of the present invention shown in FIGS. 16 to 19 will be described. In this embodiment, four joint frames 40 are attached to an attachment portion 70 in order to suck and transport a curved plate-like body 60 . The differences between the joint frame 40 of this embodiment and the joint frame 1 described above are that the joint frame 1 is composed of four frame portions 2 (first frame portion 2a, second frame portion 2b, third frame portion 2c, fourth frame portion 2d) connected together, whereas the joint frame 40 is composed of three frame portions 41 (first frame portion 41a, second frame portion 41b, third frame portion 41c) connected together, and that the mounting portion 42 and joint portion 43 of the third frame portion 41c (the third frame portion 41c provided at the base end of the joint frame 40) are separate, and the joint portion 43 is configured to be rotatable relative to the mounting portion 42 and to be fixable.

[0032] Specifically, as shown in Figure 16 or 17, the joint frame 40 is composed of a first frame portion 41a (same shape as the first frame portion 2a of the joint frame 1) having a working portion 3 (suction pad 8) at its tip, a second frame portion 41b (same shape as the second frame portion 2b of the joint frame 1), and a third frame portion 41c (approximately the same shape as the fourth frame portion 2d of the joint frame 1) having an attachment portion 42, which are connected together.

[0033] Furthermore, the attachment portion 42 and joint portion 43 of the third frame portion 41c provided at the base end of the joint frame 40 are separate and not integral like the fourth frame portion 2d of the joint frame 1, and the joint portion 43 is configured to be rotatable relative to the attachment portion 42. Therefore, the joint portion 43 of the third frame portion 41c of each of the four joint frames 40, the second frame portion 41b connected to the joint portion 43, and the first frame portion 41a connected to the second frame portion 41b are each configured to be rotatable as shown in FIG. 17. Furthermore, the attachment portion 42 and the joint portion 43 are configured to be fixable at a rotational position of a desired angle by a fixing member 6 disposed from the attachment portion 42 toward the joint portion 43. In this way, the joint portion 43 of the frame portion (third frame portion 41c) having the attachment portion 42 is configured to be rotatable relative to the attachment portion 42 and fixable at a rotational position of a desired angle, thereby further improving the degree of freedom in positioning the working unit 3 of the first frame portion 41a.

[0034] As shown in Figure 18, the underside of the mounting part 42 and the upper surface of the joint part 43 are each provided with the anti-rotation locking parts 11 described in the joint frame 1, and the anti-rotation locking parts 11 on both sides are configured to mesh together to more reliably maintain the fixed state of the mounting part 42 and the joint part 43 fixed at the desired angle by the fixing members 6 (e.g., bolts and nuts).

[0035] Furthermore, the mounting portion 42 is provided with a cylindrical fitting portion (not shown) described in the joint frame 1, and the joint portion 43 is provided with a fitting recess (not shown) described in the joint frame 1, and the fitting portions are configured to fit together to maintain airtightness or liquidtightness between the mounting portion 42 and the joint portion 43. The fluid (air in this embodiment) flowing from the fluid flow port 7a flows through the third fluid flow portion (not shown) in the third frame portion 41c, the second fluid flow portion (not shown) in the second frame portion 41b, and the first fluid flow portion (not shown) in the frame portion 41c, which are all connected together, and the plate-like body 70 is sucked by the suction pad 8. [Explanation of symbols]

[0036] 1 Joint frame 2 Frame portion (first frame portion 2a, second frame portion 2b, third frame portion 2c, fourth frame portion 2d) 3 Working section 4 Fluid circulation section (first fluid circulation section 4a, second fluid circulation section 4b, third fluid circulation section 4c, fourth fluid circulation section 4d) 5. Joint portion (first joint portion 5a, second joint portion 5b, third joint portion 5c, fourth joint portion 5d, fifth joint portion 5e, sixth joint portion 5f) 6 Fixing members (bolts 6a, nuts 6b) 7 Mounting part 8 suction pads 9 Connecting recess 10 Communication room 11 Anti-rotation locking part 12 Cylindrical insertion portion 13 Insertion recess 40 Joint Frame 41 Frame section 41a First frame part 41b Second frame part 41c Third frame section 42 Mounting part 43 Joint

Claims

1. A joint frame is configured by connecting a plurality of frame parts and has a working part for a workpiece at the tip, A joint frame characterized in that each of the frame sections has a fluid circulation section therein, and joint sections are provided at the ends of the connected frame sections, and the joint sections are configured to be able to be fixed at a desired angle with fixing members, and the fluid circulation sections of the connected frame sections are connected to each other.

2. The joint frame according to claim 1, wherein the joint portion has a communicating recess on the side facing the joint portion of the connecting frame portion, and a communicating chamber is formed between the communicating recess of the joint portion of the connecting frame portion.

3. 2. The joint frame of claim 1, wherein the joint portion has a rotation-preventing locking portion on the side opposite the joint portion of the connecting frame portion, and the rotation-preventing locking portion is configured to engage with the rotation-preventing locking portion of the joint portion of the connecting frame portion to prevent the joint portions of the connecting frame portions from rotating relative to each other.

4. The joint frame described in claim 3, wherein the anti-rotation locking portions are arranged radially around the fixed member and are configured as repeated concave or convex ridge portions in the circumferential direction, and the anti-rotation locking portions of the joint portions of the connecting frame portions are configured to mesh with each other.

5. The joint frame of claim 1, wherein the joint portion has a cylindrical insertion portion provided around the fixing member on the side opposite the joint portion of the connecting frame portion, and the cylindrical insertion portion is provided at the joint portion of the connecting frame portion and is configured to be able to insert into an insertion recess provided around the fixing member.

6. The joint frame according to claim 1 , wherein the joint frame is made of a resin material.

7. 2. The joint frame according to claim 1, wherein the frame portion provided at the tip of the joint frame has the working portion.

8. The joint frame according to claim 7, wherein the working portion has a suction pad.

9. The joint frame according to claim 1 , wherein the frame portion provided at the base end of the joint frame has an attachment portion.

10. The joint frame according to claim 9, wherein the frame portion provided at the base end of the joint frame is separated into the mounting portion and the joint portion, and the joint portion is rotatable relative to the mounting portion and can be fixed at a rotational position of a desired angle by a fixing member.

11. 2. The joint frame according to claim 1, wherein the joint frame has a working drive section for driving the working section.

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