JP2019150909A - Expandable arm device - Google Patents

Abstract

To achieve excellent expandability and high rigidity of an expandable arm.SOLUTION: A robot 10 comprises an arm housing 30 and an expandable arm 60. The expandable arm 60 is supported by the arm housing 30. The expandable arm 60 comprises a plurality of expandable parts 1 arranged side by side in an arm expansion direction and connected to each other. Each of the expandable parts 1 comprises top plates 6a and 6b and first side plates 7a and 7b. The top plates 6a and 6b are configured to be foldable at a center part in the arm expansion direction. The first side plates 7a and 7b are configured to be foldable at the center part in the arm expansion direction. A direction of a hinge shaft in which the first side plates 7a and 7b are folded is different from a direction of a hinge shaft in which the top plates 6a and 6b are folded.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a telescopic arm device including a telescopic arm.

  Various configurations for extending and retracting an arm provided for a robot or the like to perform work have been proposed. Patent documents 1-5 disclose this kind of expansion-contraction structure.

  The deep excavator of Patent Document 1 is configured to include an extendable arm obtained by assembling a plurality of arms in a telescopic manner.

  The telescopic arm provided in the robot of Patent Document 2 is composed of a plurality of moving bodies that are interlocked with each other and advanced and retracted along the axial direction and stacked in a direction perpendicular to the axial direction.

  The robot arm of Patent Document 3 includes a support and an arm unit. The arm portion is mainly configured by a block body group that constitutes a linear motion telescopic joint and a drive mechanism that drives the linear motion telescopic joint. In the block body group, block bodies are arranged in series, and a part of the arrangement is rigidly connected in series by fixing the block bodies. Most of the rigid portions protrude in the uniaxial direction from the opening of the support toward the outside. The part which is not rigid is accommodated in the inside of a support body. The drive mechanism can fix another block body to a certain block body while arranging it in a uniaxial direction, and can extend the stiff block body group outward from the opening. Further, the drive mechanism can shorten the rigid section by returning the block body group extended to the outside to the inside of the support body and removing one block body from the block body group.

  Patent Document 4 discloses a horizontal articulated robot in which an arm moves in a horizontal direction. The arm of the horizontal articulated robot includes three arm portions that are connected to each other so as to be relatively rotatable.

  The conveyance device of Patent Document 5 mainly includes a drive source, a pair of drive arms, a pair of passive arms, an arc portion that connects the arms, and a tip arm.

Japanese Patent No. 2766809 JP 2011-235397 A Japanese Patent No. 5317362 Japanese Patent Laying-Open No. 2015-036186 Japanese Patent No. 3769802

  In the configurations as in Patent Documents 1 and 2, even when the telescopic arm is contracted to the limit, the length cannot be made shorter than the length of one arm or one moving body, and the expansion ratio is improved. It was difficult to make.

  In this regard, in the configuration of Patent Document 3, it is considered that the length of the arm portion protruding from the support can be made shorter than Patent Documents 1 and 2 when the robot arm is contracted. However, in the configuration of Patent Document 3, it is difficult to reduce the size of the robot because it is necessary to secure a large space inside the support for accommodating the block body that is not rigid.

  In Patent Documents 4 and 5, it is considered that the arm can be compactly contracted by rotating the member. However, in Patent Documents 4 and 5, since an arm is configured by overlapping and connecting short plate-like members, it is difficult to increase the rigidity of the arm in a state where the arm is extended to the limit, for example.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to simultaneously realize a good stretch ratio and high rigidity of the telescopic arm.

Means and effects for solving the problems

  The problems to be solved by the present invention are as described above. Next, means for solving the problems and the effects thereof will be described.

  According to the viewpoint of this invention, the expansion-contraction arm apparatus of the following structures is provided. That is, the telescopic arm device includes a base and a telescopic arm. The telescopic arm is supported by the base. The telescopic arm includes a plurality of telescopic portions arranged side by side in an arm telescopic direction, which is a direction in which the telescopic arm extends and contracts, and connected to each other. Each of the extendable parts includes a first panel part and a second panel part. The first panel portion is configured to be foldable at a central portion in the arm extension / contraction direction. The second panel portion is configured to be foldable at a central portion in the arm extension / contraction direction. The direction of the folding shaft where the second panel portion is folded is different from the direction of the folding shaft where the first panel portion is folded.

  As a result, a telescopic arm having excellent rigidity in the extended state can be realized by a panel structure composed of at least two surfaces. On the other hand, by folding the panel in units of stretchable parts, it can be significantly shortened in the arm stretchable direction, so a high stretch ratio can be realized.

  The telescopic arm device preferably has the following configuration. That is, each of the stretchable parts can be deformed between an expanded state and a folded state. In the unfolded state, the first panel portion and the second panel portion are unfolded. In the folded state, the first panel portion and the second panel portion are folded. The base is formed with an accommodation space capable of accommodating at least a part of the stretchable part in the folded state when at least a part of the plurality of the stretchable parts is in the folded state. The base is provided with a shape restricting portion that restricts the shape of the stretchable portion so that the stretchable portion is in the unfolded state. When the telescopic arm is extended, the telescopic part passes through the shape restricting part.

  Thereby, an expansion-contraction arm can be extended, transforming an expansion-contraction part to a deployment state reliably. Further, even when the telescopic arm is being extended, outside the base portion, the respective telescopic portions are in a deployed state, the thickness of the telescopic arm is constant, and the space through which the telescopic arm passes is reduced. For this reason, the interference with the object around the telescopic arm can be prevented.

  The telescopic arm device preferably has the following configuration. That is, a tension release portion is disposed on the base portion in the middle of a path through which the stretchable portion passes between the accommodation space and the shape restricting portion. The tension release portion releases the tension by pressing at least one of the first panel portion and the second panel portion that are stretched in the arm expansion / contraction direction in the deployed state. When the telescopic arm is contracted, the telescopic part passes through the tension release part.

  Thereby, in the state which extended the expansion-contraction arm, high rigidity can be implement | achieved with respect to the compressive force in an arm expansion-contraction direction by extending said 1st panel part and said 2nd panel part by each expansion-contraction part. . On the other hand, when contracting the telescopic arm, the telescopic part can be folded smoothly.

  The telescopic arm device preferably has the following configuration. That is, a protrusion is provided on at least one of the first panel portion and the second panel portion. The said tension release part presses the said 1st panel part or the said 2nd panel part by contacting the said protrusion of the said expansion-contraction part to pass.

  Thereby, the simple structure for folding an expansion-contraction part is realizable.

  The telescopic arm device preferably has the following configuration. That is, the tension release portion is disposed in the vicinity of a corner portion formed by the first panel portion and the second panel portion in the unfolded state. The protrusion is provided in a portion protruding in the width direction in the first panel portion or the second panel portion.

  Thereby, the arrangement | positioning cancellation | release part is arrange | positioned at the corner | angular part of an expansion-contraction part, and compact arrangement | positioning as a whole is realizable.

  The telescopic arm device preferably has the following configuration. That is, the stretchable part is hollow. The tension release portion contacts the protrusion from the inside of the stretchable portion.

  Thereby, a compact arrangement as a whole can be realized.

  The telescopic arm device preferably has the following configuration. That is, the base is provided with a deployment guide portion that deforms the stretchable portion so as to approach the deployed state by contacting the stretchable portion. When the telescopic arm is extended, the telescopic part passes through the shape restricting part after passing through the deployment guide part.

  Thereby, when extending an expansion-contraction arm, an expansion-contraction part will be in a deployment | deployment state or a state close | similar to it, before passing a shape control part. Accordingly, the stretchable part can smoothly pass through the shape restricting part.

  The telescopic arm device preferably has the following configuration. That is, each of the extendable parts includes a third panel part configured to be foldable at a central part in the arm extendable direction. The direction of the folding shaft where the third panel portion is folded is different from the direction of the folding shaft where the first panel portion is folded. Each of the expansion and contraction portions has a hollow rectangular tube shape with one surface opened when extended to the limit. The internal space of the expansion / contraction part is connected to the internal space of the expansion / contraction part adjacent to the expansion / contraction part in the arm expansion / contraction direction.

  Thereby, the rigidity in the state which extended the expansion-contraction arm can be further improved with a 3 panel | panel structure. Moreover, long objects, such as a cable, can be easily accommodated in an expansion-contraction part.

1 is a perspective view showing an overall configuration of a robot according to an embodiment of the present invention. The perspective view which shows a mode that the expansion-contraction arm extended to the limit. The perspective view which shows the expansion | deployment state of the expansion-contraction part which is a component of an expansion-contraction arm. The perspective view which shows a mode that an expansion-contraction part is in the intermediate | middle state of a deployment state and a folding state. The perspective view which shows the folding state of an expansion-contraction part. The perspective view which shows an arm housing and the structure of a periphery in detail. The cross-sectional perspective view which shows a mode just before the expansion | deployment state of an expansion-contraction part is cancelled | released compulsorily in the process of the operation | movement which retracts and retracts an expansion-contraction arm. The perspective view which shows the state which the expansion-contraction part contacted the expansion | deployment guide roller in the process of the operation | movement which extends and extends | stretches an expansion-contraction arm. The cross-sectional perspective view explaining the robot of a modification.

  Next, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an overall configuration of a robot (extensible arm device) 10 according to an embodiment of the present invention.

  The robot 10 shown in FIG. 1 includes a base portion 20, an arm housing (base portion) 30, and an extendable arm 60. Although not shown, an end effector (for example, a gripper) is attached to the tip of the telescopic arm 60 protruding from the arm housing 30. The robot 10 can be used for various purposes. For example, the robot 10 can be used for harvesting crops in a field.

  The base portion 20 includes a flat plate-like first base member 21 and a substantially U-shaped second base member 22.

  The first base member 21 is formed in a plate shape and is installed in a farm field or the like. The second base member 22 is disposed on the first base member 21 and is configured to be rotatable with respect to the first base member 21 about the vertical axis.

  The second base member 22 includes a bottom plate 23 and a pair of support arms 24. The bottom plate 23 is supported by the first base member 21. Each support arm 24 is provided so as to extend upward from the end of the bottom plate 23. An arm housing 30 is supported on the support arm 24 so as to be rotatable about a horizontal axis.

  Although not shown, the base unit 20 includes a first rotation drive mechanism and a second rotation drive mechanism. The first rotation drive mechanism can rotate the second base member 22 with respect to the first base member 21 around the vertical axis. The second rotation drive mechanism can rotate the arm housing 30 with respect to the second base member 22 about the horizontal axis. Each rotary drive mechanism can have a known configuration including, for example, an electric motor. Thereby, the azimuth | direction and elevation angle of the arm housing 30 supported by the base part 20 can be changed.

  The arm housing 30 supports the telescopic arm 60. The arm housing 30 is formed in a hollow shape. The arm housing 30 is formed with an opening 30a through which the telescopic arm 60 can enter and exit. In addition, in the arm housing 30, an accommodation space that can accommodate at least a part of the folded portion of the telescopic arm 60 is formed as will be described later.

  The arm housing 30 includes a drive mechanism 35. By operating the drive mechanism 35, the telescopic arm 60 can be extended and extended linearly from the open portion 30a, or retracted and retracted from the open portion 30a. The detailed configuration of the drive mechanism 35 will be described later.

  In the following description, the direction in which the extendable arm 60 is expanded and contracted may be referred to as an arm extendable direction. The direction in which the extendable arm 60 is extended or retracted from the open portion 30a of the arm housing 30 coincides with the arm extendable direction.

  The end effector is attached to the end of the telescopic arm 60 on one side in the longitudinal direction (specifically, the side protruding from the arm housing 30). The end of the telescopic arm 60 opposite to the end effector is fixed to the arm housing 30.

  Since the arm housing 30 is supported by the base portion 20 as described above, both the azimuth and the elevation angle can be changed. By changing the azimuth and elevation angle of the arm housing 30, the direction of the telescopic arm 60 or the arm telescopic direction can be changed in both the azimuth direction and the elevation direction.

  Next, the detailed structure of the expansion / contraction part 1 which comprises the expansion-contraction arm 60 is demonstrated. FIG. 2 is a perspective view showing a state where the telescopic arm 60 is extended to the limit. FIG. 3 is a perspective view showing a developed state of the telescopic part 1 that is a component of the telescopic arm 60. FIG. 4 is a perspective view showing a state in which the stretchable part 1 is in an intermediate state between the expanded state and the folded state. FIG. 5 is a perspective view showing a folded state of the stretchable part 1.

  As shown in FIG. 2 and the like, the extendable arm 60 has a configuration in which a plurality of extendable portions 1 as repeating elements having substantially the same configuration are arranged side by side in the arm extendable direction. Each expansion / contraction part 1 is comprised so that expansion-contraction is possible independently. The expansion / contraction of the expansion / contraction arm 60 is realized by expansion / contraction of each expansion / contraction part 1.

  In FIG. 2, the base portion 20, the arm housing 30, and the telescopic arm 60 are perspectively drawn with a chain line for easy understanding of the inside of the arm housing 30. In other drawings, the arm housing 30 and the like may be indicated by a chain line for the same reason.

  The expansion / contraction part 1 corresponds to a structure in which one repeating unit is taken out in a bellows structure in which mountain folding and valley folding are alternately repeated. Each expansion / contraction part 1 is arrange | positioned between the node members 5 arrange | positioned linearly so that the expansion-contraction arm 60 may be divided | segmented into plurality in the arm expansion-contraction direction.

  The plurality of node members 5 have the same configuration. Each node member 5 is disposed at a portion connecting adjacent stretchable portions 1 and stretchable portions 1. When viewed in the arm expansion / contraction direction, the node member 5 has a hollow shape in which one lower side is removed from the four sides of the horizontally long rectangle, as indicated by a chain line in FIG.

  3 to 5 are diagrams showing a part corresponding to one stretchable part 1 alone. 3 to 5, in order to show the internal configuration of the telescopic portion 1 in an easy-to-understand manner, the node member 5 located on the side close to the end effector (in other words, the front side in the drawing), a top plate to be described later 6b, the first side plate 7b, the second side plate 8b, and the like are perspectively shown by chain lines.

  In the node member 5, a plurality of hinge shafts 2 included in the telescopic part 1 are attached at positions corresponding to the remaining three sides from which one side is removed as described above. A total of six hinge shafts 2 are arranged, two for each side. However, in FIG. 3 to FIG. 5, the hinge shaft 2 related to the adjacent expansion / contraction part 1 not shown in each node member 5 is omitted.

  In each of the three sides of the node member 5, the hinge shaft 2 is disposed so as to be parallel to the side. Further, all the hinge shafts 2 are oriented perpendicular to the arm expansion / contraction direction. The top plates 6a and 6b, the first side plates 7a and 7b, and the second side plates 8a and 8b, which will be described later, are rotatably supported by the node member 5 through the respective hinge shafts 2.

  The elastic part 1 includes three pairs (six sheets) of plate-like members arranged between the node member 5 and the adjacent node member 5. The three pairs of plate-like members mean a pair of top plates 6a and 6b, a pair of first side plates 7a and 7b, and a pair of second side plates 8a and 8b. Each pair of plate-like members is arranged side by side in the arm extension / contraction direction, and is coupled to each other by an intermediate hinge shaft 3 described later included in the extension / contraction part 1.

  The six plate-like members are formed of a material (for example, metal) that does not easily deform. The thicknesses of the six plate members are substantially the same.

  One top plate 6a of the top plates 6a and 6b arranged in a pair is connected to a node member 5 positioned at one end of the telescopic portion 1 via a hinge structure composed of a hinge shaft 2 oriented horizontally. And supported so as to be relatively rotatable. The other top plate 6b is supported so as to be relatively rotatable with respect to the node member 5 positioned at the other end of the extendable portion 1 via a hinge structure composed of a hinge shaft 2 oriented horizontally. Further, the top plates 6a, 6b arranged in a pair are connected to each other through a hinge structure including an intermediate hinge shaft (folding shaft) 3 oriented horizontally. The two hinge shafts 2 and the one intermediate hinge shaft 3 are arranged in parallel to each other. The distance from the hinge shaft 2 on one side to the intermediate hinge shaft 3 is substantially equal to the distance from the hinge shaft 2 on the other side to the intermediate hinge shaft 3. Thereby, the top plates 6a and 6b can be folded with the intermediate hinge shaft 3 oriented horizontally as a boundary.

  The pair of first side plates 7a and 7b and the pair of second side plates 8a and 8b are also substantially the same as the pair of top plates 6a and 6b. Three hinge structures comprising the shaft 3 are provided. Accordingly, the first side plates 7a and 7b and the second side plates 8a and 8b can also be folded with the intermediate hinge shaft (folding shaft) 3 oriented vertically as a boundary.

  It can be said that the pair of plate-like members arranged in pairs is a panel portion that can be deformed so as to be folded in half at the portion of the intermediate hinge shaft 3. In the present embodiment, a pair of top plates 6a and 6b corresponds to a first panel portion, and a pair of first side plates 7a and 7b corresponds to a second panel portion, and a pair of second side plates. A set of 8a and 8b corresponds to the third panel portion.

  The stretchable part 1 can be deformed between the unfolded state and the folded state as the plate-like member rotates. As shown in FIG. 3, the unfolded state is a state where the top plates 6a and 6b, the first side plates 7a and 7b, and the second side plates 8a and 8b are all connected straight. As shown in FIG. 5, the folded state is a state in which the top plates 6a and 6b, the first side plates 7a and 7b, and the second side plates 8a and 8b are all connected in a mountain fold shape. FIG. 4 shows an intermediate state that changes between the unfolded state and the folded state.

  In the unfolded state, as shown in FIG. 3, the top plates 6a and 6b, the first side plates 7a and 7b, and the second side plates 8a and 8b are all parallel to the arm expansion / contraction direction. In the folded state, as shown in FIG. 5, the top plates 6a and 6b, the first side plates 7a and 7b, and the second side plates 8a and 8b are all substantially perpendicular to the arm expansion / contraction direction.

  The direction of the intermediate hinge shaft 3 of the first side plates 7a and 7b is different from the direction of the intermediate hinge shaft 3 of the top plates 6a and 6b. Similarly, the direction of the intermediate hinge shaft 3 of the second side plates 8a and 8b is different from the direction of the intermediate hinge shaft 3 of the top plates 6a and 6b. In the unfolded state, the top plates 6a and 6b are in contact with the first side plates 7a and 7b and the second side plates 8a and 8b, respectively. Thereby, when the expansion / contraction part 1 is set in the unfolded state, a three-sided panel structure that forms an angle with each other is formed as shown in FIG. 3, so that the rigidity of the expansion / contraction part 1 can be effectively increased. Intrusion of foreign matter such as dust can be suppressed.

  Further, the direction of the intermediate hinge shaft 3 that couples the pair of first side plates 7a and 7b and the direction of the intermediate hinge shaft 3 that couples the pair of top plates 6a and 6b are substantially perpendicular to each other. The direction of the intermediate hinge shaft 3 that couples the pair of second side plates 8a and 8b and the direction of the intermediate hinge shaft 3 that couples the pair of top plates 6a and 6b are substantially perpendicular to each other. The hinge structure of the top plates 6a and 6b is constrained so that the members do not move relative to each other in a direction parallel to the hinge shaft 2 or the intermediate hinge shaft 3 (specifically, in the left-right direction in FIG. 4). Further, the hinge structures of the first side plates 7a and 7b and the second side plates 8a and 8b are arranged in a direction parallel to the hinge shaft 2 or the intermediate hinge shaft 3 (specifically, in the vertical direction in FIG. 4). It is constrained to prevent relative movement.

  As a result, as the stretchable portion 1 is deformed between the expanded state and the folded state, the node member 5 is linear with respect to the adjacent node member 5 as shown in FIGS. Draw a trajectory and move relative. Thereby, the expansion / contraction of the telescopic arm 60 can be realized. Moreover, the rigidity with respect to the external force of a bending direction is securable by the combination of the restrictions by a hinge structure in mutually different directions.

  The unfolded state shown in FIG. 3 corresponds to a state in which the stretchable part 1 is almost extended to the limit. In this unfolded state, the first side plates 7a and 7b and the second side plates 8a and 8b are in contact with the top plates 6a and 6b at a right angle. As a result, one stretchable part 1 as a whole has a hollow quadrangular cylindrical shape with one surface open.

  The node member 5 is formed in an inverted U shape, and the internal spaces of the stretchable parts 1 adjacent to each other are connected through the inside thereof. Accordingly, since the telescopic arm 60 is hollow throughout the longitudinal direction, a long member such as a cable connected to the end effector at the tip can be accommodated therein. Further, the node member 5 is attached to the stretchable part 1 in the same direction so that the open side thereof coincides with the open side of the stretchable part 1. Therefore, since the internal space is opened over the entire length of the extendable arm 60, the operation of taking the long member into and out of the extendable arm 60 is easy.

  In the unfolded state of the telescopic part 1, the outer surfaces of the paired top plates 6a and 6b are arranged so as to form a common plane. The same applies to the first side plates 7a and 7b and the second side plates 8a and 8b. Thereby, since a level | step difference etc. do not arise in the outer surface of the expansion-contraction part 1, the expansion-contraction part 1 can be smoothly guided by the below-mentioned drive roller 37, the guide roller 41, etc.

  In the unfolded state shown in FIG. 3, the intermediate hinge shaft 3 of the top plates 6a and 6b is in the same plane as the inner surfaces of the top plates 6a and 6b connected in a straight line, or the telescopic portion 1 is more than the inner surface. Located inside. Similarly, the inner hinge shaft 3 of the first side plates 7a, 7b (the intermediate hinge shaft 3 of the second side plates 8a, 8b) is also the inner surface of the first side plates 7a, 7b (second side plates 8a, 8b) connected linearly. In the same plane or located inside the stretchable part 1 with respect to the inner surface.

  Further, the top plate 6a, 6b is provided with a restricting portion 9 for preventing the top plate 6a, 6b from rotating inwardly from the state shown in FIG. It is provided in the vicinity of the shaft 3. The first side plates 7a and 7b and the second side plates 8a and 8b are also provided with restriction portions 9 for the same purpose.

  Thereby, even if the force which compresses in the arm expansion-contraction direction is added with respect to the expansion-contraction part 1 of an unfolded state, the top plate 6a, 6b, the 1st side plate 7a, 7b, and the 2nd side plate 8a, 8b are in the stretched state, but a control part The deformation is regulated by 9 and the unfolded state can be maintained. In addition, the unfolded state shown in FIG. 3 is a state in which the expansion / contraction part 1 is almost extended to the limit, so that the force to be deformed when a pulling force is applied in the arm expansion / contraction direction does not exceed the attracting force of the magnet described later, There is no deformation. In this way, it is possible to ensure rigidity against external force in the expansion / contraction direction.

  In the folded state shown in FIG. 5, the length of the expansion / contraction part 1 is significantly shorter than the unfolded state of FIG. In particular, the top plates 6a, 6b, the first side plates 7a, 7b, and the second side plates 8a, 8b are all formed in a plate shape, and in this embodiment, in the process of deforming from the expanded state to the folded state, The plate member is rotated by approximately 90 °. Thereby, the length of the expansion-contraction part 1 can be shrunk | reduced theoretically to the short of about 2 sheets of the thickness of a plate-shaped member. Thus, since each expansion-contraction part 1 can be shrunk compactly, the big expansion / contraction ratio can be implement | achieved about the expansion-contraction arm 60. FIG.

  With reference to FIG. 4 etc., the control part 9 of the top plates 6a and 6b is demonstrated. The restricting portion 9 includes a convex portion 9a formed on the top plate 6a on one side and a concave portion 9b formed on the top plate 6b on the other side. The convex portion 9a protrudes in a rectangular shape along the outer surface of the top plate 6a in a direction away from the node member 5 on which the top plate 6a is supported. The convex portion 9a has a thickness smaller than the thickness of the top plate 6a, and can be, for example, half the thickness of the top plate 6a. The concave portion 9b is formed on the outer surface of the top plate 6b with a depth equal to the thickness of the convex portion 9a. The shape of the concave portion 9b substantially corresponds to the shape of the convex portion 9a, and the convex portion 9a can be accommodated in the concave portion 9b.

  With this configuration, when the telescopic portion 1 is in the unfolded state, the convex portion 9a of the top plate 6a shown in FIG. 3 contacts the inner wall of the concave portion 9b of the top plate 6b. Thereby, it can prevent that the two top plates 6a and 6b rotate inside the expansion-contraction part 1. FIG. Moreover, in the unfolded state, the entire convex portion 9a enters the concave portion 9b, and since the thickness of the convex portion 9a and the depth of the concave portion 9b are equal, the outer surfaces of the top plates 6a and 6b can be flattened. .

  As shown in FIGS. 4 and 5, a magnet (deployment holding member) 15 is provided in each of the convex portion 9a and the concave portion 9b. The two magnets 15 are disposed on the surfaces where the convex portions 9a and the concave portions 9b face each other in the deployed state, and are arranged in such a direction as to generate a magnetic force in a direction in which they are attracted to each other when the developed state is reached. Thereby, the expansion | deployment state of the top plates 6a and 6b can be maintained reliably. In other words, it is possible to prevent the expansion / contraction part 1 from being contracted due to vibrations or the like in the expanded state of the expansion / contraction part 1 due to vibration or the like. One of the two magnets 15 may be changed to a member made of a ferromagnetic material (for example, iron).

  Similarly to the top plates 6a and 6b, the first side plates 7a and 7b and the second side plates 8a and 8b are also provided with a restricting portion 9 including a convex portion 9a and a concave portion 9b. Since the restricting portions 9 of the first side plates 7a and 7b and the second side plates 8a and 8b have substantially the same configuration as that of the top plates 6a and 6b, description thereof will be omitted. Accordingly, the outer surfaces of the first side plates 7a and 7b and the second side plates 8a and 8b can be flattened as shown in FIG. 3 in the unfolded state. And can be friction driven.

  In the present embodiment, magnets are not attached to the restriction portions 9 of the first side plates 7a and 7b and the second side plates 8a and 8b, but magnets may be attached similarly to the top plates 6a and 6b.

  As shown in FIG. 3 and the like, a contact projection 16 is formed on one top plate 6a in the vicinity of the intermediate hinge shaft 3 that connects the top plates 6a and 6b. The contact protrusions 16 are arranged in pairs on both sides of the top plate 6a in the width direction. In the portion where the contact protrusion 16 is formed, the top plate 6a slightly protrudes on both sides in the width direction.

  Each contact protrusion 16 protrudes in a direction (specifically, downward) opposite to the direction in which the intermediate hinge shaft 3 of the top plates 6a and 6b moves in the process in which the extendable portion 1 is deformed from the expanded state to the folded state. It is formed as follows. The contact protrusion 16 is configured to be able to contact a later-described pressing plate 46 for forcibly releasing the expanded state of the extendable portion 1.

  In the vicinity of the intermediate hinge shaft 3 that connects the first side plates 7a and 7b, a contact protrusion 17 is formed on one of the first side plates 7a. The contact protrusion 17 is disposed below the first side plate 7a. The contact protrusion 17 protrudes in a direction (specifically, inward in the width direction) opposite to the direction in which the intermediate hinge shaft 3 of the first side plates 7a and 7b moves in the process in which the expandable portion 1 is deformed from the expanded state to the folded state. It is formed to do. The contact protrusion 17 is configured to be able to contact a later-described pressing roller 47 for forcibly releasing the expanded state of the extendable portion 1.

  Similar to the first side plates 7a and 7b, in the vicinity of the intermediate hinge shaft 3 that connects the second side plates 8a and 8b, one second side plate 8a has a contact protrusion that can contact a pressing roller 48 described later. 18 is formed. Since the contact protrusion 18 of the second side plate 8a has substantially the same configuration as the contact protrusion 17 of the first side plate 7a, description thereof is omitted.

  Next, the arm housing 30 that supports the telescopic arm 60 will be described in detail with reference to FIGS. FIG. 6 is a perspective view showing in detail the configuration of the arm housing 30 and its surroundings.

  As shown in FIGS. 1 and 6, the arm housing 30 includes a first plate 31, a second plate 32, and a connecting member 33.

  The first plate 31 and the second plate 32 are arranged in parallel at an appropriate interval. The second plate 32 is disposed above the first plate 31. The first plate 31 and the second plate 32 are connected to each other by a connecting member 33.

  In the gap between the first plate 31 and the second plate 32 (in other words, the internal space of the arm housing 30), a path through which the stretchable part 1 constituting the stretchable arm 60 can pass is formed. This path is connected to the outside through the opening 30a. The connecting member 33 is disposed at an end portion on the opposite side of the opening portion 30a in the arm expansion / contraction direction. An end of the telescopic arm 60 opposite to the end effector is fixed to the connecting member 33.

  At least a part of the telescopic arm 60 is disposed in the internal space of the arm housing 30. The arm housing 30 is provided with a drive mechanism 35, and the drive mechanism 35 can extend the retractable portion 1 from the internal space or pull it into the internal space.

  The internal space can accommodate the first side plates 7a and 7b and the second side plates 8a and 8b of the stretchable part 1 when the stretchable part 1 drawn into the arm housing 30 is folded. That is, a part of the internal space of the arm housing 30 functions as an accommodation space that can accommodate a part of the expanded and contracted portion 1 in the folded state.

  The second plate 32 is formed with an elongated through groove 32a. The groove 32 a faces a path through which the stretchable part 1 can pass inside the arm housing 30. The longitudinal direction of the groove 32a is oriented along the arm expansion / contraction direction.

  The width of the groove 32 a is slightly larger than the width of the top plates 6 a and 6 b of the extendable part 1. When the expansion / contraction part 1 drawn into the arm housing 30 is in a folded state, the top plates 6a, 6b of the expansion / contraction part 1 pass through the groove 32a and protrude outward (upward) of the arm housing 30.

  Next, the drive mechanism 35 disposed in the arm housing 30 will be described. In addition, since the drive mechanism 35 is symmetrically arranged in a pair on both sides of the path through which the extendable portion 1 of the extendable arm 60 passes, only the drive mechanism 35 on one side will be described below.

  As shown in FIGS. 2 and 6, the drive mechanism 35 includes an electric motor 36 and two drive rollers 37.

  The electric motor 36 is configured as a motor that can be driven forward and backward, and functions as a drive source of the drive roller 37. The motor housing of the electric motor 36 is disposed between the first plate 31 and the second plate 32 and is fixed to the arm housing 30. The output shaft of the electric motor 36 is directed in the vertical direction, and the tip of the electric motor 36 penetrates the second plate 32 and protrudes upward.

  The two drive rollers 37 are configured as rubber rollers, for example. Each drive roller 37 is fixed to a roller shaft rotatably supported by the arm housing 30.

  The two drive rollers 37 are arranged side by side in the arm expansion / contraction direction with an appropriate interval. Each drive roller 37 is disposed between the first plate 31 and the second plate 32, and is provided on one side of the telescopic arm 60 (in other words, the first side plates 7a and 7b or the second side plate of the telescopic unit 1). 8a, 8b) can be contacted.

  Each of the drive rollers 37 is arranged so that its axis is in the vertical direction. The direction of the axis of the drive roller 37 is a direction parallel to the first side plates 7a and 7b (or the second side plates 8a and 8b) in the unfolded state of the telescopic portion 1, and more specifically, the first side plates 7a and 7b (or This is a direction parallel to the hinge shaft 2 and the intermediate hinge shaft 3 arranged on the second side plates 8a, 8b). In the drive roller 37 on the side close to the electric motor 36 of the two, the end of the roller shaft protrudes upward through the second plate 32, and this protruding portion is connected to the output shaft of the electric motor 36 and the belt transmission. They are connected via a mechanism 38. Further, the end portions of the roller shafts of the two driving rollers 37 project downward through the first plate 31, and the two roller shafts are connected to each other via a belt transmission mechanism 39.

  With the above configuration, when the electric motor 36 is driven, the driving force is transmitted to the two driving rollers 37, and the driving roller 37 rotates. The drive mechanism 35 having such a configuration is arranged symmetrically with respect to the passage path of the telescopic arm 60. Accordingly, by synchronously driving the two electric motors 36 in a forward and reverse direction, the two pairs of drive rollers 37 frictionally drive the telescopic arm 60 with the middle part in the longitudinal direction of the telescopic arm 60 sandwiched in the width direction, thereby The telescopic arm 60 can be extended or retracted along the longitudinal direction (in other words, the arm telescopic direction).

  The drive rollers 37 are arranged in pairs inside the arm housing 30 so as to sandwich a path through which the extendable part 1 constituting the extendable arm 60 can pass. The width of the gap between the drive rollers 37 facing each other across the path is the width of the expandable portion 1 in the expanded state (in other words, the outer surface of the first side plates 7a and 7b and the outer surface of the second side plates 8a and 8b). And the distance between them are almost equal. Thus, since the passage width of the expansion / contraction part 1 is limited by the drive rollers 37 on both sides, the expansion / contraction part 1 that passes through the drive roller 37 is always in an unfolded state. Therefore, it can be said that the drive roller 37 is a shape restricting portion that restricts the shape of the stretchable portion 1 so that the stretchable portion 1 is in the unfolded state.

  The material and pressing force of the driving roller 37 and the telescopic arm 60 are set so that the maximum frictional force transmitted from the driving roller 37 to the telescopic arm 60 is smaller than the translational force due to the maximum torque that causes the electric motor 36 to rotate the driving roller 37. Has been. Thereby, it is possible to prevent the force transmitted from the drive roller 37 to the outside via the telescopic arm 60 from exceeding the maximum frictional force. Therefore, for example, even when the extendable arm 60 collides with the external environment with a strong momentum, an excessive load on the electric motor 36 and the like is prevented by causing a slip between the drive roller 37 and the extendable arm 60. can do.

  Next, the structure of the roller etc. which are arrange | positioned in the arm housing 30 in order to guide the expansion-contraction arm 60 is demonstrated with reference to FIG.6, FIG.7 and FIG.8 etc. FIG. FIG. 7 is a cross-sectional perspective view showing a state immediately before the expansion state of the extendable portion 1 is forcibly released in the process of retracting the extendable arm 60. FIG. 8 is a perspective view showing a state in which the extendable part 1 is in contact with the unfolding guide roller 49 in the process of extending and extending the extendable arm 60.

  As shown in FIG. 6 and the like, a guide roller 41 is rotatably supported on the second plate 32 of the arm housing 30 via a bracket 42. The guide roller 41 can contact the upper surface of the telescopic arm 60 (in other words, the top plates 6a and 6b of the telescopic unit 1) just outside the opening 30a. The axis of the guide roller 41 is arranged in the horizontal direction. The direction of the axis of the guide roller 41 is a direction parallel to the top plates 6a and 6b in the unfolded state of the telescopic portion 1, and more specifically, the hinge shaft 2 or the intermediate hinge shaft 3 of the hinge structure of the top plates 6a and 6b. Parallel direction. Thereby, the telescopic arm 60 extended or drawn through the opening part 30a can be guided in the vicinity of the opening part 30a.

  In the arm housing 30, a pair of pressing plates 46, two pairs of pressing rollers 47 and 48, and a pair of unfolding guide rollers (developing guiding portions) are disposed on the opposite side of the opening portion 30 a with the driving roller 37 interposed therebetween. 49) is attached. The pressing plate 46, the pressing rollers 47 and 48, and the deployment guide roller 49 are disposed so as to be symmetric with respect to the center of the path through which the extendable portion 1 passes in the internal space of the arm housing 30.

  As shown in FIG. 7, the pressing plate 46 is fixed to the surface of the second plate 32 that faces the first plate 31. As shown in FIG. 2, the pressing plates 46 are disposed in pairs at both ends in the width direction of the grooves 32 a formed in the second plate 32. Each pressing plate 46 is disposed so as to slightly protrude in the direction of narrowing the width of the groove 32a, and the protruding portion can contact the contact protrusion 16 described above.

  As shown in FIG. 3 etc., the contact protrusion 16 is arrange | positioned in the part which made the both ends of the width direction protrude a little outside in the top plate 6a. Thereby, even when the pressing plate 46 is disposed in the vicinity of the corner of the expansion / contraction part 1, the pressing plate 46 contacts the contact protrusion 16 without interfering with the first side plate 7a, 7b or the second side plate 8a, 8b. Can be made.

  The pair of pressing plates 46 come into contact with the pair of contact protrusions 16 included in the top plate 6a of the extendable portion 1 in the process in which the extendable arm 60 is pulled in the direction of the white arrow in FIG. Then, the contact protrusion 16 is pushed outward (upward). Thereby, the top plates 6a and 6b of the expansion / contraction part 1 in the unfolded state can be slightly bent outwards against the above-described attracting force of the magnet 15. As a result, the intermediate hinge shaft 3 that connects the top plates 6a and 6b moves to the outside of the hinge shafts 2 at both ends, and a so-called fulcrum is exceeded.

  Note that an inclined guide surface is formed on the pressing plate 46 and the contact protrusion 16 as shown in FIG. 6 so that the contact protrusion 16 can be smoothly pushed.

  As shown in FIG. 7, each of the pressing rollers 47 and 48 is rotatably supported by a roller shaft that protrudes from the first plate 31 toward the second plate 32. When the expansion / contraction part 1 passes through the place where the pressing rollers 47 and 48 are installed, the pressing rollers 47 and 48 are in a state of being inside the expansion / contraction part 1.

  The two pressing rollers 47 come into contact with the contact protrusions 17 included in the first side plate 7a of the expansion / contraction part 1 in the process in which the expansion / contraction arm 60 is pulled in the direction of the white arrow in FIG. Is pushed outward in the width direction (however, the contact protrusion 17 is not shown in FIG. 7). Similarly, the two pressing rollers 48 come into contact with the contact protrusions 18 included in the second side plates 8a and 8b and press the contact protrusions 18 outward in the width direction. Thereby, the 1st side plates 7a and 7b and the 2nd side plates 8a and 8b of the expansion-contraction part 1 which are the expansion | deployment state can be bent a little outside. As a result, the intermediate hinge shaft 3 that connects the first side plates 7a and 7b moves to the outside of the hinge shafts 2 at both ends, and the fulcrum is exceeded. The same applies to the intermediate hinge shaft 3 of the second side plates 8a and 8b.

  The pressing plate 46 and the pressing rollers 47 and 48 are arranged in the middle of a path through which the expansion / contraction part 1 passes between the storage space in which the expansion / contraction part 1 folded in the arm housing 30 is accommodated and the drive roller 37. . The timing when the contact protrusion 16 is pressed by the pressing plate 46 and the timing when the contact protrusions 17 and 18 are pressed by the pressing rollers 47 and 48 are almost the same. After the unfolded state of the telescopic portion 1 is forcibly released and the fulcrum is exceeded, the tension by the plate-like member disappears. Therefore, it can be said that both the pressing plate 46 and the pressing rollers 47 and 48 are tension release portions. By applying a compressive force to the expansion / contraction part 1 along the arm expansion / contraction direction in a state where the tension is lost, the expansion / contraction part 1 can be easily deformed into a folded state.

  The expansion / contraction part 1 is folded by being pushed by the subsequent expansion / contraction part 1 drawn by the friction drive of the driving roller 37 after the fulcrum is exceeded. The expansion / contraction part 1 that is subsequently drawn also passes through the driving roller 37 and then passes through the pressing plate 46 and the pressing roller 47, so that the unfolded state is forcibly released, and the fulcrum is similarly exceeded. By repeating the above, it is possible to deform the plurality of stretchable parts 1 arranged side by side into a folded state one after another.

  In the state of FIG. 1 or FIG. 6 in which the extendable arm 60 is retracted to the limit, a large number of extendable portions 1 are held by the arm housing 30 in a folded state that is compact in the arm extendable direction. However, the expansion / contraction part 1 located at the most distal end side is maintained in the unfolded state, and the two pairs of driving rollers 37 are in contact with the side surfaces of the expansion / contraction part 1.

  As shown in FIGS. 6 and 7, each deployment guide roller 49 is disposed so as to protrude from the second plate 32 in a direction approaching the first plate 31. The unfolding guide roller 49 is supported by the second plate 32 so as to be rotatable, and its axis is parallel to the drive roller 37.

  The pair of deployment guide rollers 49 are arranged with an appropriate gap in the width direction of the telescopic arm 60. The distance between the unfolding guide rollers 49 is larger than the width of the stretchable portion 1 in the unfolded state, but smaller than the width of the stretchable portion 1 in the folded state.

  By the way, as described above, a plurality of stretchable portions 1 arranged side by side stretch and contract independently of each other. Accordingly, in order to extend the telescopic arm 60, for example, when the driving roller 37 gives a force to pull the elastic arm 1 toward the open portion 30a with respect to a portion where a plurality of folded telescopic portions 1 are arranged as shown in FIG. Only the expansion / contraction part 1 closest to the drive roller 37 is not necessarily deformed so as to approach the unfolded state. For example, as shown in FIG. 7, it is also conceivable that the plurality of stretchable parts 1 are slightly deformed from the folded state. If the expansion / contraction part 1 is sent to the drive roller 37 in a shape close to the folded state, the expansion / contraction part 1 cannot smoothly pass through the drive roller 37, causing noise and vibration.

  In this regard, the unfolding guide roller 49 restricts the width through which the stretchable part 1 immediately before reaching the drive roller 37 passes when the drive mechanism 35 is driven in the direction in which the extendable arm 60 is extended. Thereby, even when the expansion / contraction part 1 immediately before reaching the drive roller 37 is close to the folded state, and the first side plates 7a, 7b and the second side plates 8a, 8b are greatly bent, the expansion / contraction part 1 is expanded by the deployment guide roller. As shown in FIG. 8, the first side plate 7 b and the second side plate 8 b come into contact with the deployment guide roller 49 and are pushed inward in the width direction by the deployment guide roller 49. As a result, since the expansion / contraction part 1 can be deformed to a deployed state or a state close thereto, the expansion / contraction part 1 can be smoothly fed into the drive roller 37 having a shape regulating function.

  Unlike the other telescopic parts 1, the telescopic part 1 arranged on the side farthest from the end effector mounting side in the telescopic arm 60 (in other words, the side farthest from the open part 30a in the arm housing 30), In the vicinity of the connecting portion of the pair of top plates 6a and 6b, a regulation projection 55 is provided that projects outward in the width direction of the top plates 6a and 6b. In the present embodiment, the restricting projection 55 is formed by extending the intermediate hinge shaft 3 that joins the top plates 6a and 6b to both sides in the longitudinal direction. The restricting projection 55 is disposed at a portion where the top plates 6a and 6b protrude outward from the groove 32a, and extends further outward than both ends of the groove 32a in the width direction.

  Consider a case in which a tensile force is applied to the stretchable part 1 along the arm stretchable direction in this configuration. The telescopic part 1 tries to deform from the folded state to the unfolded state, but the restricting projection 55 cannot pass through the groove 32a and enter the arm housing 30. Therefore, the said expansion-contraction part 1 can deform | transform only to the state of FIG. 2 a little closer to a folding state than a deployment state.

  The telescopic part 1 farthest from the end effector mounting side is disposed at a position where the unfolded state cannot be forcibly released by the pressing plate 46 and the pressing rollers 47 and 48. However, since the expansion and contraction portion 1 is prevented from being expanded, the restricting projection 55 prevents the expansion and contraction portion 1 from being always expanded and contracted.

  Thus, in the robot 10 of this embodiment, the expansion / contraction operation | movement of the expansion-contraction part 1 is performed by the arm housing 30 side. In other words, in the portion where the extendable arm 60 protrudes outside from the open portion 30a of the arm housing 30, the extendable portion 1 always maintains the unfolded state and does not perform the extendable operation. Accordingly, a configuration that is compact and hardly interferes with surrounding objects can be realized particularly in the portion where the extendable arm 60 protrudes from the arm housing 30. In addition, the telescopic portion 1 that is performing the telescopic operation can be mechanically easily protected by the arm housing 30.

  As described above, the robot 10 according to this embodiment includes the arm housing 30 and the extendable arm 60. The telescopic arm 60 is supported by the arm housing 30. The telescopic arm 60 includes a plurality of telescopic portions 1 arranged side by side in the arm telescopic direction and connected to each other. Each of the telescopic parts 1 includes top plates 6a and 6b and first side plates 7a and 7b. The 1st panel part which consists of the top plates 6a and 6b is comprised so that folding is possible in the center part of an arm expansion-contraction direction. The 2nd panel part which consists of 1st side plate 7a, 7b is comprised so that folding is possible in the center part of an arm expansion-contraction direction. The direction of the intermediate hinge shaft 3 in which the first side plates 7a, 7b are folded is different from the direction of the intermediate hinge shaft 3 in which the top plates 6a, 6b are folded.

  Thereby, the telescopic arm 60 having good rigidity in the extended state can be realized by the panel structure including at least two surfaces. On the other hand, since the top plates 6a and 6b and the first side plates 7a and 7b can be folded in the unit of expansion and contraction, it can be significantly shortened in the arm expansion and contraction direction, so that a high expansion ratio can be realized.

  Further, in the robot 10 of the present embodiment, each of the telescopic parts 1 can be deformed between the expanded state of FIG. 3 and the folded state of FIG. In the unfolded state, the top plates 6a and 6b and the first side plates 7a and 7b are unfolded. In the folded state, the top plates 6a and 6b and the first side plates 7a and 7b are folded. The arm housing 30 is formed with an accommodation space capable of accommodating at least a part of the expanded / contracted part 1 in a folded state when at least a part of the plurality of the expanded / contracted parts 1 is in a folded state. The arm housing 30 is provided with a drive roller 37 that regulates the shape of the extendable portion 1 so that the extendable portion 1 is in the unfolded state. When the telescopic arm 60 is extended, the telescopic unit 1 passes through the drive roller 37.

  Thereby, the expansion-contraction arm 60 can be extended, transforming the expansion-contraction part 1 to a deployment state reliably. Even when the telescopic arm 60 is being extended, outside the arm housing 30, each telescopic portion 1 is in a deployed state, the thickness of the telescopic arm 60 is constant, and the space through which the telescopic arm 60 passes is reduced. . For this reason, the interference with the object around the telescopic arm 60 can be prevented.

  Further, in the robot 10 of the present embodiment, the pressing plate 46 and the pressing roller 47 are arranged on the arm housing 30 in the middle of the path through which the extendable portion 1 passes between the housing space of the arm housing 30 and the driving roller 37. Is done. The pressing plate 46 releases the tension by pressing the first panel portion composed of the top plates 6a and 6b that are stretched in the arm expansion / contraction direction in the deployed state of the expansion / contraction section 1. The pressing roller 47 releases the tension by pressing the second panel portion including the first side plates 7a and 7b that are stretched in the arm expansion / contraction direction when the expansion / contraction section 1 is deployed. When the telescopic arm 60 is contracted, the telescopic unit 1 passes through the pressing plate 46 and the pressing roller 47.

  Thereby, in the state which extended the expansion-contraction arm 60, high rigidity is implement | achieved with respect to the compression force in an arm expansion-contraction direction by the top plates 6a and 6b and the 1st side plates 7a and 7b stretching in each expansion-contraction part 1. be able to. On the other hand, when the telescopic arm 60 is contracted, the telescopic part 1 can be folded smoothly.

  Moreover, in the robot 10 of this embodiment, the contact protrusion 16 is provided in the top plate 6a, and the contact protrusion 17 is provided in the 1st side plate 7a. The pressing plate 46 is in contact with the contact protrusion 16, thereby pressing the first panel portion including the top plates 6 a and 6 b. The pressing roller 47 presses the second panel portion including the first side plates 7 a and 7 b by contacting the contact protrusion 17.

  Thereby, the simple structure for folding the expansion-contraction part 1 is realizable.

  Further, in the robot 10 of the present embodiment, the pressing plate 46 is disposed in the vicinity of the corner formed by the top plates 6a and 6b and the first side plates 7a and 7b when the telescopic portion 1 is deployed. The contact protrusion 16 is provided in the part protruded in the width direction in the top plate 6a.

  Thereby, the arrangement | positioning compact can be implement | achieved as a whole by arrange | positioning the press board 46 in the corner | angular part of the expansion-contraction part 1. FIG.

  Moreover, in the robot 10 of this embodiment, the expansion-contraction part 1 is hollow. The pressing roller 47 contacts the contact protrusion 17 from the inside of the expansion / contraction part 1.

  Thereby, a compact arrangement as a whole can be realized.

  Further, in the robot 10 of the present embodiment, the arm housing 30 is provided with a deployment guide roller 49 that deforms the expandable portion 1 so as to approach the expanded state by contacting the expandable portion 1. When the telescopic arm 60 is extended, the telescopic unit 1 passes through the deployment guide roller 49 and then passes through the driving roller 37.

  Thus, when the telescopic arm 60 is extended, the telescopic unit 1 is in a deployed state or a state close thereto before passing through the drive roller 37. Therefore, the stretchable part 1 can pass through the drive roller 37 smoothly.

  Further, in the robot 10 of the present embodiment, each of the extendable parts 1 includes a third panel including second side plates 8a and 8b configured to be foldable at the central part in the arm extendable direction. The direction of the intermediate hinge shaft 3 in which the second side plates 8a and 8b are folded is different from the direction of the intermediate hinge shaft 3 in which the top plates 6a and 6b are folded. Each of the expansion / contraction portions 1 has a hollow rectangular tube shape with one surface opened when extended to the limit. The internal space of the expansion / contraction part 1 is connected to the internal space of the expansion / contraction part 1 adjacent to the expansion / contraction part 1 in the arm expansion / contraction direction.

  Thereby, the rigidity in the state which extended the expansion-contraction arm 60 can be further improved with a 3 panel | panel structure. Further, a long object such as a cable can be easily accommodated inside the stretchable part 1.

  Next, a modification of the above embodiment will be described. FIG. 9 is a cross-sectional perspective view illustrating a modified robot 10x. In the description of this modification, the same or similar members as those in the above-described embodiment may be denoted by the same reference numerals in the drawings, and description thereof may be omitted.

  In the robot 10x of the modified example shown in FIG. 9, the pressing plate 46x is configured to be elongated in a straight line to the vicinity of the connecting member 33. The extended portion of the pressing plate 46x prevents the expansion / contraction part 1 located on the side farthest from the end effector mounting side from being completely unfolded by contacting the contact protrusion 16 described above. In this configuration, it is not necessary to provide the restriction projections 55 on the top plates 6a and 6b in the telescopic portion 1 farthest from the end effector mounting side.

  In the robot 10 x, the node member 5 that is farthest from the opening 30 a is fixed to the moving plate (moving member) 56, not the connecting member 33 of the arm housing 30. In this way, by configuring the end of the telescopic arm 60 farthest from the opening 30a so as to be movable in the arm telescopic direction, the telescopic arm 60 can be extended more greatly than in the above-described embodiment. .

  In the robot 10x according to the modified example, the moving plate 56 can simultaneously contact the pair of driving rollers 37 arranged with the path of the telescopic unit 1 interposed therebetween. The position where the moving plate 56 contacts the driving roller 37 is the limit of the moving stroke of the moving plate 56. Thereby, the expansion / contraction ratio of the expansion / contraction arm 60 can be improved satisfactorily while maintaining the shape regulating function of the expansion / contraction part 1 by the drive roller 37.

  In a modified example, a slide mechanism that guides the moving plate 56 relative to the arm housing 30 may be provided.

  The preferred embodiments and modifications of the present invention have been described above, but the above configuration can be modified as follows, for example.

  The boundary where the above-mentioned three panel parts are folded may be located in the vicinity of the panel part even if it is not a position to bisect the panel part in the arm expansion / contraction direction. In other words, the distance from the hinge shaft 2 on one side to the intermediate hinge shaft 3 may exactly match the distance from the hinge shaft 2 on the other side to the intermediate hinge shaft 3 or may be slightly different. good.

  Instead of the pressing plate 46, a pressing roller may be provided, and the contact protrusion 16 may be pressed by the pressing roller. Further, a plate-like member may be provided in place of the pressing roller 47, and the contact protrusion 17 may be pushed by the plate-like member.

  The pressing rollers 47 may be arranged not only in two pairs but also in many pairs side by side up to a position close to the connecting member 33.

  The contact protrusion 16 may be provided on the other top plate 6b instead of the top plate 6a, or may be provided on both the top plates 6a and 6b. In any case, it can be said that the contact protrusion 16 is provided on the panel portion (first panel portion) made of the top plates 6a and 6b. The same applies to the other contact protrusions 17 and 18.

  In the above embodiment, the drive roller 37 has a function of regulating the shape of the stretchable part 1 and a function of sending the stretchable part 1 along the arm stretchable direction. However, the regulation of the shape of the expansion / contraction part 1 and the driving of the expansion / contraction part 1 may be performed by different members. For example, it is conceivable to provide a regulating roller that is simply rotatably supported at the position of the driving roller 37, and to provide a driving roller that frictionally drives in contact with the top plates 6a and 6b.

  In the restriction part 9 of the top plates 6a and 6b, instead of the magnet 15, for example, a hook-and-loop fastener may be provided so that the expanded state of the extendable part 1 is maintained.

  The expansion / contraction part 1 may be formed in the shape of a square tube of three or five or more corners. Moreover, in the expansion-contraction part 1, the open part which open | releases one surface of a square tube does not need to be formed.

  The second side plates 8a and 8b may be omitted in each of the stretchable parts 1, and may be changed so as to have an L-shaped cross section that becomes a two-sided panel structure in the unfolded state.

  The mechanism for changing the orientation of the arm housing 30 may be configured to change only the azimuth direction of the arm housing 30 or only the elevation direction. Further, the mechanism for changing the direction may be omitted.

1 Telescopic part 3 Intermediate hinge shaft (folding shaft)
6a, 6b Pair of top plates (first panel part)
7a, 7b First side plate pair (second panel part)
8a, 8b Second side plate pair (third panel part)
10 Robot (Expandable arm device)
16 Contact protrusion 17, 18 Contact protrusion 30 Arm housing (base)
37 Drive roller (shape regulating part)
46 Pressure plate (tension release part)
47, 48 Pressure roller (tension release part)
49 Deployment guide roller (deployment guide)
60 telescopic arm

Claims (8)

The base,
A telescopic arm supported by the base;
With
The telescopic arm includes a plurality of telescopic portions arranged side by side in an arm telescopic direction, which is a direction in which the telescopic arm extends and contracts, and connected to each other.
Each of the stretchable parts
A first panel portion configured to be foldable at a central portion in the arm expansion and contraction direction;
A second panel portion configured to be foldable at a central portion in the arm expansion and contraction direction;
With
The telescopic arm device, wherein a direction of a folding shaft for folding the second panel portion is different from a direction of a folding shaft for folding the first panel portion. The telescopic arm device according to claim 1,
Each of the stretchable parts
An unfolded state in which the first panel portion and the second panel portion are unfolded;
A folded state in which the first panel part and the second panel part are folded;
Can be deformed between
The base is formed with an accommodation space capable of accommodating at least a part of the stretchable part in the folded state when at least a part of the plurality of stretchable parts is in the folded state.
The base is provided with a shape restricting portion that restricts the shape of the stretchable portion so that the stretchable portion is in the expanded state.
The telescopic arm device, wherein when the telescopic arm is extended, the telescopic part passes through the shape restricting part. The telescopic arm device according to claim 2,
In the middle of the path through which the stretchable part passes between the accommodating space and the shape restricting part, the base is provided with a tension release part,
The tension release portion releases the tension by pressing at least one of the first panel portion and the second panel portion that are stretched in the arm expansion / contraction direction in the deployed state,
The telescopic arm device, wherein when the telescopic arm is contracted, the telescopic part passes through the tension release part. The telescopic arm device according to claim 3,
A protrusion is provided on at least one of the first panel part and the second panel part,
The telescopic arm device is characterized in that the tension release unit pushes the first panel unit or the second panel unit by contacting the projection of the telescopic unit passing therethrough. The telescopic arm device according to claim 4,
The tension release part is disposed in the vicinity of a corner formed by the first panel part and the second panel part in the unfolded state,
The telescopic arm device is characterized in that the protrusion is provided on a portion of the first panel portion or the second panel portion that protrudes in the width direction. The telescopic arm device according to claim 4,
The stretchable part is hollow,
The extension arm device is characterized in that the tension release portion contacts the protrusion from the inside of the extension portion. The telescopic arm device according to any one of claims 2 to 6,
The base is provided with an unfolding guide portion that deforms the expandable portion so as to approach the unfolded state by contacting the expandable portion,
The telescopic arm device is characterized in that, when the telescopic arm is extended, the telescopic unit passes through the shape restricting unit after passing through the deployment guide unit. The telescopic arm device according to any one of claims 1 to 7,
Each of the extendable parts includes a third panel part configured to be foldable at a central part in the arm extendable direction,
The direction of the folding axis at which the third panel part is folded is different from the direction of the folding axis at which the first panel part is folded,
Each of the stretchable parts, when stretched to the limit, becomes a hollow rectangular tube with one side open,
The telescopic arm device is characterized in that the internal space of the telescopic portion is connected to the internal space of the telescopic portion adjacent to the telescopic portion in the arm telescopic direction.

Images