Linear motion mechanism
Provided is a linear motion mechanism having a further enhanced strength of a structure. The linear motion mechanism including an intermediate link including a conversion mechanism that converts a rotational force from a motor into a driving force in a linear direction, the intermediate link extending in the linear direction, a first link that linearly moves toward a first side in the linear direction from an end of the intermediate link on the first side on the basis of the driving force in the linear direction, and a second link that linearly moves toward a second side opposite to the first side from an end of the intermediate link on the second side on the basis of the driving force in the linear direction, in which the first link and the second link linearly move symmetrically in the linear direction in conjunction with each other.
1 . A linear motion mechanism comprising:
an intermediate link including a conversion mechanism that converts a rotational force from a motor into a driving force in a linear direction, the intermediate link extending in the linear direction;
a first link that linearly moves toward a first side in the linear direction from an end of the intermediate link on the first side on a basis of the driving force in the linear direction; and
a second link that linearly moves toward a second side opposite to the first side from an end of the intermediate link on the second side on a basis of the driving force in the linear direction,
wherein the first link and the second link linearly move symmetrically in the linear direction in conjunction with each other,
the conversion mechanism includes a pair of sprockets disposed in the linear direction and a chain bridged between the pair of sprockets, and
the first link and the second link linearly move symmetrically to each other in the linear direction by a driving force from the chain.
2 . The linear motion mechanism according to claim 1 , wherein the first link and the second link linearly move along respective linear guides included in the intermediate link.
3 . The linear motion mechanism according to claim 1 ,
wherein the first link and the intermediate link are coupled on a first face, and
the second link and the intermediate link are coupled on a second face parallel to the first face with the intermediate link interposed therebetween.
4 . The linear motion mechanism according to claim 1 ,
wherein the intermediate link internally includes the conversion mechanism, and
an inside of the intermediate link is sealed by a seal unit.
5 . The linear motion mechanism according to claim 1 , wherein the linear motion mechanism is included in at least one or more legs of a mobile object.
6 . The linear motion mechanism according to claim 5 ,
wherein the second link includes a joint connected to a main body of the mobile object, and
the joint is configured to rotate the second link with a rotation shaft orthogonal to the linear direction.
7 . The linear motion mechanism according to claim 6 , further comprising a lock mechanism that fixes a rotation angle between the main body and the second link.
8 . The linear motion mechanism according to claim 5 , wherein a ground contact portion including a wheel is provided at an end of the first link on the first side.
9 . The linear motion mechanism according to claim 5 , wherein the leg extends and contracts by linear motion of the first link and the second link.
10 . The linear motion mechanism according to claim 9 ,
wherein the first link has a housing in which a partial face is opened, and
the intermediate link is housed inside the housing of the first link when the leg contracts.
11 . The linear motion mechanism according to claim 10 , wherein the first link has the housing in which at least one face in a retreating direction opposite to an advancing direction of the mobile object is opened.
12 . The linear motion mechanism according to claim 9 , wherein the intermediate link and the first link are housed inside the second link when the leg contracts.
13 . The linear motion mechanism according to claim 12 , further comprising an elastic unit that is elastically deformed between the intermediate link and the second link when the leg contracts.
14 . The linear motion mechanism according to claim 5 , further comprising a cable carrier that supports wiring that electrically connects the intermediate link and the first link or the second link.