Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism
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United States of America Patent
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Dec 5, 2017
Grant Date -
Dec 3, 2015
app pub date -
Aug 11, 2015
filing date -
May 31, 2010
priority date (Note) -
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Abstract
A multi-joint arm mechanism includes an arm supporting member a first, second and third joints. The third joint has a linear extension and retraction axis. The third joint includes flat-shaped first structures bendably coupled to one another, second structures having a C-shaped section and bendably coupled to one another, a supporting member supporting the stiffened first and second structures, and a drive member sending and drawing the stiffened first and second structures. The first and the second structures are linearly stiffened by being in contact with each other and return to a bent state by being separated from each other. The second structures are bent toward the bottom parts and conveyed into the arm supporting member. The first structures are bent in a same direction as the second structures and conveyed into the arm supporting member. The first structures are stored in the arm supporting member along the second structures.
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