Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism
A robot arm ( 50 ) of the present invention includes, as a direct acting extensible/retractable joint (J 3 ), an arm section ( 2 ) constituted by an upper structure group ( 20 ) and a lower structure group ( 21 ). Groups ( 20 ) and ( 21 ), having an arrangement in which structures are connected in series, partially engage so as to form a direct rigid combined structure, and are separated so as to release the rigid structure. An arm length can be adjusted arbitrarily. Section ( 2 ) can have a plane surface having no gap to prevent entry of a finger/dust. Separation of Groups ( 20 ) and ( 21 ) allows an upper structure ( 22 ) and a lower structure ( 23 ) to rotate around their rotational axes, to realize compact storage inside a robot arm supporting member ( 1 ). It is thus possible to prevent significantly entry of a finger/dust, and provide a compact direct acting extensible and retractable arm mechanism.
1. A direct acting extensible and retractable arm mechanism comprising:
a robot arm supporting member; and
an arm section being extensible and retractable directly from one of ends of the robot arm supporting member, the arm section being such that a hand section is attachable to one of ends of the arm section,
the arm section being constituted by (i) a first structure group in which a plurality of first structures are coupled with each other in series in such a manner that adjacent ones of the plurality of first structures are coupled with each other via a corresponding one of a plurality of first coupling axes in a direction which is orthogonal to a direction of the corresponding one of the plurality of first coupling axes and (ii) a second structure group in which a plurality of second structures are coupled with each other in series in such a manner that adjacent ones of the plurality of second structures are coupled with each other via a corresponding one of a plurality of second coupling axes in a direction which is orthogonal to a direction of the corresponding one of the plurality of second coupling axes,
the plurality of first structures being identical with each other in width in a direction parallel to the plurality of first coupling axes,
the plurality of second structures being identical with each other in width in a direction parallel to the plurality of second coupling axes,
the first structure group and the second structure group being coupled with each other in such a manner that one of two end first structures of the plurality of first structures, on a side of the hand section, and one of two end second structures of the plurality of second structures, on the hand section side, are coupled with each other,
the robot arm supporting member including drive means for (i) pressing the first structure group and the second structure group so that the first structure group and the second structure group become closer to each other and become in contact with each other, (ii) causing the first structure group and the second structure group to overlap each other so that a surface of the first structure group and a surface of the second structure group, which surfaces are in contact with each other, do not slip with respect to each other, and (iii) driving the first structure group and the second structure group in a direction in which the arm section is extensible,
in a case where the drive means causes the first structure group and the second structure group to overlap each other, the first structure group and the second structure group forming such a rigid arm section that rotation of each of the plurality of first structures via the corresponding one of the plurality of first coupling axes and rotation of each of the plurality of second structures via the corresponding one of the plurality of second coupling axes are prevented,
at least one of the first structure group and the second structure group is such that adjacent ones of structures engage with each other via their side surfaces, and form a flat surface having no gap, which flat surface faces and is in contact with a surface of the other one of the first structure group and the second structure group,
the robot arm supporting member including separation means in the robot arm supporting member,
in a case where the drive means carries out reverse driving, the separation means causes the first structure group and the second structure group to be separated from each other so that (i) each of the plurality of first structures is rotatable around the corresponding one of the plurality of first coupling axes and (ii) each of the plurality of second structures is rotatable around the corresponding one of the plurality of second coupling axes, and
in a case where (i) the drive means causes the first structure group and the second structure group to overlap each other and therefore (ii) the arm section becomes rigid in such a manner that the rotation of each of the plurality of first structures via the corresponding one of the plurality of first coupling axes and the rotation of each of the plurality of second structures via the corresponding one of the plurality of second coupling axes are prevented, one of the first structure group and the second structure group is provided above the other one of the first structure group and the second structure group; and
the one of the first structure group and the second structure group is such that adjacent ones of structures engage with each other via their side surfaces and forms a flat surface having no gap, which flat surface is opposite to a surface that is in contact with a surface of the other one of the first structure group and the second structure group.
2. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
the first structure group is such that adjacent ones of the plurality of first structures engage with each other via their side surfaces and form a flat surface having no gap, which flat surface is opposite to a surface that is in contact with a surface of the second structure group; and
the second structure group is such that adjacent ones of the plurality of second structures engage with each other via their side surfaces and form a flat surface having no gap, which flat surface is opposite to the surface that is in contact with the surface of the first structure group.
3. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
the one of two end first structures of the plurality of first structures and the one of two end second structures of the plurality of second structures are physically attached to each other or physically welded with respect to each other.
4. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
the one of two end first structures of the plurality of first structures and the one of two end second structures of the plurality of second structures are combined with a common block.
5. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , further comprising:
a pressing member for supporting said pressing of the first structure group and the second structure group,
the pressing member pressing at least one of the first structure group and the second structure group.
6. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
the drive means is such that (i) the drive means includes a drive mechanism constituted by a gear(s) and an actuator for rotating the gear(s), and the gear(s) is in contact with one of the first structure group and the second structure group so as to drive both the first structure group and the second structure group, or (ii) the drive means includes two drive mechanisms each being constituted by a gear(s) and an actuator for rotating the gear(s), and the gear(s) of one of the two drive mechanisms is in contact with one of the first structure group and the second structure group and the gear(s) of the other one of the two drive mechanisms is in contact with the other one of the first structure group and the second structure group, so as to drive both the first structure group and the second structure group.
7. The direct acting extensible and retractable arm mechanism as set forth in claim 6 , wherein:
the gear is provided between the first structure group and the second structure group.
8. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
a length from a surface of each of the plurality of first structures constituting the first structure group, which surface is in contact with the second structure group, to an opposite surface of each of the plurality of first structure, and a length from a surface of each of the plurality of second structures constituting the second structure group, which surface is in contact with the first structure group, to an opposite surface of each of the plurality of second structures, are identical with each other or different from each other.
9. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
in a case where (i) the drive means causes the first structure group and the second structure group to overlap each other and therefore (ii) the arm section becomes rigid in such a manner that the rotation of each of the plurality of first structures via the corresponding one of the plurality of first coupling axes and the rotation of each of the plurality of second structures via the corresponding one of the plurality of second coupling axes are prevented, one of the first structure group and the second structure group is provided above the other one of the first structure group and the second structure group; and
a plurality of coupling axes of the other one of the first structure group and the second structure group are located below a plurality of coupling axes of the one of the first structure group and the second structure group in a direction of gravitational force.
10. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
in a case where (i) the drive means causes the first structure group and the second structure group to overlap each other and therefore (ii) the arm section becomes rigid in such a manner that the rotation of each of the plurality of first structures via the corresponding one of the plurality of first coupling axes and the rotation of each of the plurality of second structures via the corresponding one of the plurality of second coupling axes are prevented, one of the first structure group and the second structure group is provided above the other one of the first structure group and the second structure group; and
each of a plurality of coupling axes of the other one of the first structure group and the second structure group is located below a region between adjacent ones of a plurality of coupling axes of the one of the first structure group and the second structure group in a direction of gravitational force.
11. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
a surface of the first structure group and a surface of the second structure group, which surfaces are in contact with each other, have, respectively, engaging section which engage with each other.
12. The direct acting extensible and retractable arm mechanism as set forth in claim 11 , wherein:
each of a plurality of structures constituting one of the first structure group and the second structure group has a plurality of engaging section on its surface which is in contact with a surface of the other one of the first structure group and the second structure group; and
the plurality of engaging section engage with both gear sections of adjacent ones of a plurality of structures of the other one of the first structure group and the second structure group.
13. The direct acting extensible and retractable arm mechanism as set forth in claim 1 , wherein:
the robot arm supporting member is capable of storing, inside the robot arm supporting member, the first structure group and the second structure group which have been separated from each other by the separation means; and
the first structure group and the second structure group, separated from each other by the separation means, are stored along an inner shape of the robot arm supporting member by (i) the rotation of each of the plurality of first structures via the corresponding one of the plurality of first coupling axes and (ii) the rotation of each of the plurality of second structures via the corresponding one of the plurality of second coupling axes.
14. A robot arm comprising:
a direct acting extensible and retractable arm mechanism recited in claim 1 .
15. The robot arm as set forth in claim 14 , wherein:
one of ends of the arm section of the direct acting extensible and retractable arm mechanism is provided with an end effector.