Abstract: A linear extension and retraction mechanism includes: a plurality of first pieces shaped like a plate and coupled bendably with one another by first hinge sections; and a plurality of second pieces C-shaped or hollow square-shaped in transverse section and coupled bendably with one another on a bottom surface side by second hinge sections. The first pieces and the second pieces are formed into a columnar body stiffened by being restrained from bending when the first pieces are joined to the second pieces on a front surface side opposite the bottom surface side, and the first pieces and the second pieces return to a bent state when separated from each other. Each of the first hinge sections is made up of a shaft, columnar in shape, and bearing sections for the shaft, the bearing sections being provided on front and rear ends of each of the first pieces. A flange 61, non-circular in shape, is provided at a rear end of the shaft.

Abstract: A linear extension and retraction mechanism includes: a plurality of first pieces coupled together bendably; a plurality of second pieces coupled together bendably; a plurality of rollers adapted to join together the first pieces and the second pieces, forming a columnar body, and support the columnar body movably back and forth; a drive gear adapted to move the first pieces and the second pieces back and forth; and a motor unit adapted to generate power for rotating the drive gear. On a surface on a side where each of the first pieces is joined to a corresponding one of the second pieces, the first piece includes a linear gear to be meshed with the drive gear as well as a protrusion installed by protruding toward the second piece side. At least one third piece is bendably connected to a rearmost one of the plurality of first pieces.

Abstract: An up/down section 4 of a robot arm mechanism includes: a pair of side frames disposed on a rotating section of a turning rotary joint; a cylindrical body supported in an axially rotatable manner by the side frames; a motor unit including a motor and a gearbox for rotationally driving the cylindrical body; connecting sections for connecting with an arm support body that movably supports an arm section; and a guide structure for guiding second pieces that were separated from first pieces into a columnar support section. The motor unit, connecting sections and guide structure are integrated with the cylindrical body. The motor unit is housed inside the cylindrical body, and an output shaft of the motor unit is connected to one of the side frames. The connecting sections are fixed to the outer circumferential surface of the cylindrical body. The guide structure is an annular body provided on the outer circumferential surface of the cylindrical body.

Abstract: Provided is a torsional rotational joint mechanism that realizes simplification of a structure, reduction in weight, and falling-off prevention. The torsional rotational joint mechanism that is mounted to a robot arm mechanism includes a fixed section in a cylindrical shape, a motor unit that is housed in the fixed section, and a rotating section that is fixed to an output shaft 65 of the motor unit. A flange section in an annular shape is jutted out on an outer circumferential surface of a tip of the fixed section to project outward, and one or two or more falling-off prevention sections are attached to a rear end surface of the rotating section in such a manner that the flange section on the fixed section is sandwiched between the one or two or more falling-off prevention sections and the rear end surface of the rotating section.

Abstract: A linear extension and retraction mechanism includes: a plurality of first pieces connected bendably with each other; a plurality of second pieces connected bendably with each other; and a plurality of rollers configured to cause the first pieces to join the second pieces so as to form an arm section in the form of a columnar body, and configured to support the arm section in a longitudinally movable manner. A drive gear is arranged behind the plurality of rollers, and the drive gear is configured to send out the first and second pieces forward from the plurality of rollers, and to pull back the first and second pieces to the plurality of rollers. The drive gear is engaged with linear gears on back surfaces of the plurality of first pieces. The drive gear is coupled to a motor unit by way of a power transmitting mechanism.

Abstract: A linear extension and retraction mechanism provided in a robot arm mechanism includes first and second pieces that are bendably connected, respectively. A sending-out mechanism includes a plurality of rollers that firmly sandwich the first and second pieces and support the first and second pieces movably to front and rear, and a drive gear that is meshed with a linear gear of the first pieces rearward of the rollers, and sends out the first pieces to the front and pulls back the first pieces to the rear. The sending-out mechanism is composed of separate bodies that are a roller unit including rollers, and a drive unit including the drive gear. The drive unit is fixed to a drum body of an up/down section. The roller unit is configured to be detachably attachable to the drive unit.

Abstract: In a robot arm mechanism, a column section is rotatably supported on a base, a rise/fall section is placed on the column section, an arm including expansion and contraction properties is supported by the rise/fall section to be capable of raising and lowering, and a wrist section to which an end effecter is fittable is mounted to a tip of the arm. In the rise/fall section, an intake port is provided in a front part and an exhaust port is provided in a rear part, separately, and in the wrist section, an intake port is provided at a side close to the end effecter, and an exhaust port is provided at a side far from the end effecter, separately.

Abstract: In a robot arm mechanism, a column equipped with a turning joint is supported on a base stand, a rise/fall section equipped with a rise/fall joint is placed on the column, a linear extension and retraction mechanism equipped with a linearly extendible and retractable arm is provided on the rise/fall section, and the arm is equipped at a tip with a wrist section fittable with an end effector. The wrist section is made up of a combination of a roll joint used to swing the end effector, a pitch joint used to tilt the end effector back and forth, and a yaw joint used to axially rotate the end effector. At least two of the joints are each equipped with a mechanical stopper mechanism adapted to limit motion to within a mechanical operating range and with a safety stopper mechanism adapted to limit motion to within a safe range of movement narrower than the mechanical operating range.

Abstract: A linear extension and retraction mechanism includes a plurality of flat-plate shaped first pieces that are connected to each other, and a plurality of second pieces having a cross-sectional U-shaped groove frame shape that are connected to each other. A leading first piece of the plurality of first pieces and a leading second piece of the plurality of second pieces are joined by a head section. The first and second pieces become linearly rigid when the first pieces are joined to an upper part of the second pieces, and the first and second pieces return to a bent state when separated from each other. Protrusion sections that protrude inward are extended in the width direction in a bottom plate of each second piece. Corners of edge parts of the protrusion sections are chamfered.

Abstract: A purpose is to prevent a first connection piece string from colliding against a second connection piece string in a robot arm mechanism including a linear extension and retraction joint.

Abstract: A robot arm mechanism includes first and second parallel link mechanisms connected in cascade. A first drive motor used to drive the first parallel link mechanism is installed in an upper part of a column. A second drive motor used to drive the second parallel link mechanism is also installed in the upper part of the column. Rotation of the second drive motor is transmitted to the second parallel link mechanism via a transmission mechanism. The transmission mechanism includes a first pulley pivotally supported coaxially with a pivot shaft at a rear end of a first link, a second pulley pivotally supported coaxially with a pivot shaft at a front end of the first link, and a transmission belt looped over the first and second pulleys.

Abstract: A linear extension and retraction mechanism has a plurality of flat-plate shaped first connection pieces and a plurality of grooved-frame shaped second connection pieces. Each of the first connection pieces is bendably connected at front and rear end surfaces to adjacent first connection pieces. Each of the second connection pieces is bendably connected at bottom front and rear end surfaces to adjacent second connection pieces. The first and second connection pieces become linearly rigid when overlapped together, and the first and second connection pieces return to a bent state when separated from each other. A cushion member is mounted on the front end surface of each first connection piece to cushion a shock of a collision between end surfaces of the first connection pieces. A slot section for fitting the cushion member is provided in the front end surface of each first connection piece.

Abstract: A linear extension and retraction mechanism has a plurality of first connection pieces connected bendably and a plurality of second connection pieces connected bendably. The first and second connection pieces become linearly rigid when joined together and return to a bent state when separated. The first connection piece has a main body part. A pair of bearing sections is provided on front both sides of the main body part, and a single bearing section is provided on a rear center of the main body part. In order to limit bending of the connected first connection pieces to a front surface side from a linearly aligned posture, a projection section protruding to the rear is provided on the bearing section on the rear of the main body part, and a receiving section adapted to receive the projection section is provided between the pair of bearing sections on the front of the main body part.

Abstract: A robot system includes a robot arm mechanism equipped with an end effector; an operating device for operating a movement and a posture change of the end effector; and a control section for controlling the robot arm mechanism according to the input operation carried out via the operating device, in which the operating device equips a first operating button set and a second operating button set, the first operating button set is adapted for operating translational movement in which the end effector moves in positive and negative directions along each of three orthogonal axes of the robot coordinate system with a posture of the end effector on a robot coordinate system fixed, and the second operating button set is adapted for operating posture change motion in which the end effector rotates in positive and negative directions around each of three orthogonal axes of the hand coordinate system with an origin position of a hand coordinate system of the end effector on the robot coordinate system fixed.

Abstract: An extendable and retractable arm mechanism includes a first structure group formed by coupling a plurality of first structures and a second structure group formed by coupling a plurality of second structures. Each of the first structures includes lock part for fixing the second structures. When the first structure group and the second structure group extend, the lock part fixes the second structures to the first structures.

Abstract: An object of the present invention is to prevent unnecessary driving stop of a stepping motor. A robot arm section includes a robot arm, a stepping motor 31a, a motor driver 31b, an encoder 31c and a step-out detection section 31e. The robot arm has a joint J1. The stepping motor generates power for operating the joint. The motor driver drives the stepping motor according to a target angle. The encoder outputs an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle. The step-out detection section detects a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse. When the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at the time point at which the grace time elapses.