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1. (WO2017150315) DIRECT-ACTING EXTENSION/RETRACTION MECHANISM, AND ROBOT ARM MECHANISM PROVIDED WITH SAME

Pub. No.:    WO/2017/150315    International Application No.:    PCT/JP2017/006718
Publication Date: Sat Sep 09 01:59:59 CEST 2017 International Filing Date: Fri Feb 24 00:59:59 CET 2017
IPC: B25J 18/02
F16G 13/20
Applicants: LIFE ROBOTICS INC.
ライフロボティクス株式会社
Inventors: YOON Woo-Keun
尹 祐根
MATSUDA Hiroaki
松田 啓明
Title: DIRECT-ACTING EXTENSION/RETRACTION MECHANISM, AND ROBOT ARM MECHANISM PROVIDED WITH SAME
Abstract:
The purposes of the present invention are: to reduce interference in extension/retraction operations of a direct-acting extension/retraction mechanism, said interference being caused by electric cables in the direct-acting extension/retraction mechanism which are for supplying power and control signals to a joint part provided to a wrist part; and to inhibit damage to the electric cables. This direct-acting extension/retraction mechanism is provided with: a plurality of coupled flat-plate-shaped first segments 53; and a plurality of coupled second segments 54 having a groove shape with a U-shaped cross section. The leading first segment among the plurality of first segments is coupled to the leading second segment among the plurality of second segments by a coupling part 55. The first segments stiffen into a straight line when joined to the upper parts of the second segments. The first and second segments are returned to a bent state when separated from each other. The bottom plate 541 of each of the second segments has, provided thereto, protrusions 546, 550 which protrude inwards, and extend in the width direction. The corners at edges 548, 549 of the protrusions are chamfered.