WO2017221982A1 - Linear-motion expansion/contraction mechanism - Google Patents

Linear-motion expansion/contraction mechanism Download PDF

Info

Publication number
WO2017221982A1
WO2017221982A1 PCT/JP2017/022872 JP2017022872W WO2017221982A1 WO 2017221982 A1 WO2017221982 A1 WO 2017221982A1 JP 2017022872 W JP2017022872 W JP 2017022872W WO 2017221982 A1 WO2017221982 A1 WO 2017221982A1
Authority
WO
WIPO (PCT)
Prior art keywords
frames
frame
pieces
joined
bendable
Prior art date
Application number
PCT/JP2017/022872
Other languages
French (fr)
Japanese (ja)
Inventor
尹　祐根
大輔 神田
啓明 松田
Original Assignee
ライフロボティクス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ライフロボティクス株式会社 filed Critical ライフロボティクス株式会社
Publication of WO2017221982A1 publication Critical patent/WO2017221982A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16G—BELTS, CABLES, OR ROPES, PREDOMINANTLY USED FOR DRIVING PURPOSES; CHAINS; FITTINGS PREDOMINANTLY USED THEREFOR
    • F16G13/00—Chains
    • F16G13/18—Chains having special overall characteristics
    • F16G13/20—Chains having special overall characteristics stiff; Push-pull chains

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

The present invention realizes reduction in cost for an arm of a linear-motion expansion/contraction mechanism. This linear-motion expansion/contraction mechanism has: a plurality of first flat plate-shaped pieces (53) connected to each other so as to be bendable on the front and the rear end surfaces; and a plurality of second groove frame-shaped pieces (54) connected to each other so as to be bendable on the front and the rear surfaces at the bottoms thereof. The first and second pieces (53, 54) are linearly hardened when joined together, and the first and second pieces (53, 54) are restored to be bendable when separated from each other. The head of the first pieces (53) is coupled to the head of the second pieces (54) by means of a coupling piece (55). A feeding mechanism (25) supports the first and the second pieces (53, 54) so as to freely move back and forth, causes the first and the second pieces (53, 54) to join together when the first and second pieces (53, 54) move forward, and causes the first and second pieces (53, 54) to separate from each other when the first and second pieces (53, 54) move backward. At least either of the first and the second pieces (53, 54) has a recess (631, 641) on the surface of a side to be joined to the other.

Description

直動伸縮機構Linear motion expansion / contraction mechanism
　本発明の実施形態は直動伸縮機構に関する。 The embodiment of the present invention relates to a linear motion expansion / contraction mechanism.
　ロボットアーム機構は産業用ロボットなど様々な分野で用いられている。発明者らはロボットアーム機構に適用できる直動伸縮機構を開発した（特許文献１）。直動伸縮機構は、屈曲可能に蝶番構造で連結された平板形状を有する金属製の複数のコマ（第１コマ）と、屈曲可能に底板において軸受け構造で連結された溝枠形状を有する金属製の複数のコマ（第２コマ）とを有する。第１、第２コマは先端で結合されており、前方に送り出されるとき第１、第２コマは重ね合わされ、硬直状態が確保され、一定の剛性を有する柱状のアームに構成される。後方に引き戻されるとき第１、第２コマは分離され、それぞれ屈曲可能な状態に復帰し、支柱の内部に収納される。直動伸縮機構の多関節ロボットアーム機構への採用は肘関節部を不要とし、容易に特異点を解消することができるので非常に有益な構造である。 The robot arm mechanism is used in various fields such as industrial robots. The inventors have developed a linear motion extension mechanism applicable to a robot arm mechanism (Patent Document 1). The linear motion expansion / contraction mechanism is made of metal having a plurality of metal pieces (first pieces) having a flat plate shape connected by a hinge structure so as to be bent and a groove frame shape connected by a bearing structure on a bottom plate so as to be bent. And a plurality of frames (second frames). The first and second frames are joined at the tip, and when sent forward, the first and second frames are overlapped to ensure a rigid state, and are configured as columnar arms having a certain rigidity. When pulled back, the first and second frames are separated, return to a bendable state, and housed inside the column. The adoption of the linear motion expansion / contraction mechanism in the articulated robot arm mechanism is an extremely useful structure because it eliminates the need for an elbow joint and can easily eliminate singularities.
　アームの先端には、ハンド等のエンドエフェクタ（手先効果器）が装備される。手先の位置精度はアームの緩み、ガタツキを抑制することで向上する。アームの緩み、ガタツキを抑制するには、第１、第２コマの特に接合面に高い面精度を必要とし、高価な部品とならざるを得ない。またコマを連結する軸受けにはその構造上隙間は不可避であり、それに起因してアームの緩み、ガタツキを抑制するにも限界があった。 The end of the arm is equipped with an end effector (hand effector) such as a hand. The positional accuracy of the hand is improved by suppressing the looseness and backlash of the arm. In order to suppress the looseness and rattling of the arm, high surface accuracy is required especially on the joint surfaces of the first and second frames, and this must be an expensive part. In addition, a gap between the bearings connecting the frames is unavoidable due to the structure thereof, and there is a limit in suppressing the loosening and rattling of the arm.
特許第5435679号公報Japanese Patent No. 5435679
　目的は、直動伸縮機構のアームのコスト低減を実現することにある。 The purpose is to reduce the cost of the arm of the linear motion extension mechanism.
　本実施形態に係る直動伸縮機構は、互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、前記第１、第２コマの少なくとも一方は他方に接合する側の面に少なくとも一つの凹部を有する。 The linear motion expansion / contraction mechanism according to the present embodiment includes a plurality of flat plate-shaped first frames that are connected to bendable at the front and rear end surfaces, and a plurality of groove frame-shaped first frames that are connected to bendable at the front and rear end surfaces of the bottom portion. The two frames and the first and second frames are linearly stiffened when joined together, and the first and second frames return to the bent state when separated from each other, and the top of the plurality of first frames And a coupling portion that joins the tops of the plurality of second frames, and the first and second frames are supported so as to be movable forward and backward, and when the first and second frames move forward, the first, And a support mechanism for separating the first and second pieces when the first and second pieces move backward, and at least one of the first and second pieces is the other. At least one concave portion on the surface to be bonded to the surface.
図１は、第１実施形態に係る直動伸縮関節を装備するロボットアーム機構の外観を示している。FIG. 1 shows an appearance of a robot arm mechanism equipped with a linear motion expansion / contraction joint according to the first embodiment. 図２は、図１のロボットアーム機構の構成を図記号表現により示す図である。FIG. 2 is a diagram showing the configuration of the robot arm mechanism of FIG. 図３は、図１のロボットアーム機構の内部構造を示す側面図である。FIG. 3 is a side view showing the internal structure of the robot arm mechanism of FIG. 図４は、図１のロボットアーム機構の構成を図記号表現により示す図である。FIG. 4 is a diagram showing the configuration of the robot arm mechanism of FIG. 図５Ａは、図３の第１コマの側面図である。FIG. 5A is a side view of the first frame in FIG. 3. 図５Ｂは、図３の第１コマの下方斜視図である。FIG. 5B is a lower perspective view of the first frame in FIG. 3. 図５Ｃは、図３の第１コマの上方斜視図である。FIG. 5C is an upper perspective view of the first frame in FIG. 3. 図５Ｄは、図３の第１コマの断面図である。FIG. 5D is a cross-sectional view of the first frame in FIG. 3. 図６Ａは、図３の第２コマの側面図である。6A is a side view of the second frame in FIG. 図６Ｂは、図３の第２コマの後方斜視図である。FIG. 6B is a rear perspective view of the second frame in FIG. 3. 図６Ｃは、図３の第２コマの前方斜視図である。6C is a front perspective view of the second frame in FIG. 3. 図６Ｄは、図３の隣り合う第２コマの接触状態を示す側面図である。FIG. 6D is a side view illustrating a contact state between adjacent second frames in FIG. 3. 図７Ａは、図３のアーム部の側面図である。FIG. 7A is a side view of the arm portion of FIG. 図７Ｂは、図３のアーム部の他の構造を示す側面図である。7B is a side view showing another structure of the arm portion of FIG. 図７Ｃは、図３のアーム部のさらに他の構造を示す側面図である。FIG. 7C is a side view showing still another structure of the arm portion of FIG. 3. 図８Ａは、第２実施形態に係る直動伸縮機構のアーム部を構成する第１コマの側面図である。FIG. 8A is a side view of the first frame constituting the arm portion of the linear motion expansion / contraction mechanism according to the second embodiment. 図８Ｂは、図８Ａの第１コマの下方斜視図である。FIG. 8B is a lower perspective view of the first frame in FIG. 8A. 図８Ｃは、図８Ａの第１コマの上方斜視図である。FIG. 8C is an upper perspective view of the first frame in FIG. 8A. 図８Ｄは、図８Ａの第１コマの断面図である。FIG. 8D is a cross-sectional view of the first frame in FIG. 8A. 図９Ａは、第２実施形態に係る直動伸縮機構のアーム部を構成する第２コマの側面図である。FIG. 9A is a side view of the second frame constituting the arm portion of the linear motion expansion / contraction mechanism according to the second embodiment. 図９Ｂは、図９Ａの第２コマの下方斜視図である。FIG. 9B is a lower perspective view of the second frame in FIG. 9A. 図９Ｃは、図９Ａの第２コマの上方斜視図である。FIG. 9C is an upper perspective view of the second frame in FIG. 9A. 図９Ｄは、図９Ａの隣り合う第２コマの接触状態を示す側面図である。FIG. 9D is a side view showing a contact state of adjacent second frames in FIG. 9A. 図１０は、第２実施形態に係る直動伸縮機構を構成するアーム部の構造を示す側面図である。FIG. 10 is a side view showing the structure of the arm portion constituting the linear motion expansion / contraction mechanism according to the second embodiment. 図１１Ａは、図１０の第１コマの前端面の凹部を示す図である。FIG. 11A is a diagram illustrating a recess in the front end surface of the first frame in FIG. 10. 図１１Ｂは、図１０の第１コマの後端面の凸部を示す図である。FIG. 11B is a diagram illustrating a convex portion on the rear end surface of the first frame in FIG. 10. 図１１Ｃは、図１１Ａに示す凹部と図１１Ｂに示す凸部の接触状態を示す図である。FIG. 11C is a diagram illustrating a contact state between the concave portion illustrated in FIG. 11A and the convex portion illustrated in FIG. 11B. 図１２は、第２実施形態に係る直動伸縮機構を構成するアーム部の他の構造を示す側面図である。FIG. 12 is a side view showing another structure of the arm portion constituting the linear motion expansion / contraction mechanism according to the second embodiment. 図１３Ａは、第３実施形態に係る直動伸縮機構のアーム部を構成する第１コマの側面図である。FIG. 13A is a side view of the first frame constituting the arm portion of the linear motion expansion / contraction mechanism according to the third embodiment. 図１３Ｂは、図１３Ａの第１コマの下方斜視図である。FIG. 13B is a lower perspective view of the first frame in FIG. 13A. 図１３Ｃは、図１３Ａの第１コマの上方斜視図である。FIG. 13C is an upper perspective view of the first frame in FIG. 13A. 図１３Ｄは、図１３Ａの隣り合う第１コマの断面図である。FIG. 13D is a cross-sectional view of adjacent first frames in FIG. 13A. 図１４Ａは、第３実施形態に係る直動伸縮機構のアーム部を構成する第２コマの側面図である。FIG. 14A is a side view of the second frame constituting the arm portion of the linear motion extension / contraction mechanism according to the third embodiment. 図１４Ｂは、図１４Ａの第２コマの後方斜視図である。FIG. 14B is a rear perspective view of the second frame in FIG. 14A. 図１４Ｃは、図１４Ａの第２コマの前方斜視図である。FIG. 14C is a front perspective view of the second frame in FIG. 14A. 図１４Ｄは、図１４Ａの隣り合う第２コマの接触状態を示す側面図である。FIG. 14D is a side view showing a contact state between adjacent second frames in FIG. 14A. 図１５は、第３実施形態に係る直動伸縮機構を構成するアーム部の側面図である。FIG. 15 is a side view of the arm portion constituting the linear motion expansion / contraction mechanism according to the third embodiment. 図１６Ａは、第４実施形態に係る直動伸縮機構のアーム部を構成する第１コマの側面図である。FIG. 16A is a side view of the first frame constituting the arm portion of the linear motion expansion / contraction mechanism according to the fourth embodiment. 図１６Ｂは、図１６Ａの第１コマの下方斜視図である。FIG. 16B is a lower perspective view of the first frame in FIG. 16A. 図１６Ｃは、図１６Ａの第１コマの上方斜視図である。FIG. 16C is an upper perspective view of the first frame in FIG. 16A. 図１７Ａは、第４実施形態に係る直動伸縮機構のアーム部を構成する第２コマの側面図である。FIG. 17A is a side view of the second frame constituting the arm portion of the linear motion expansion / contraction mechanism according to the fourth embodiment. 図１７Ｂは、図１７Ａの第２コマの後方斜視図である。FIG. 17B is a rear perspective view of the second frame in FIG. 17A. 図１７Ｃは、図１７Ａの第２コマの前方斜視図である。FIG. 17C is a front perspective view of the second frame in FIG. 17A. 図１８は、第４実施形態に係る直動伸縮機構を構成するアーム部の側面図である。FIG. 18 is a side view of the arm portion constituting the linear motion expansion / contraction mechanism according to the fourth embodiment. 図１９は、第４実施形態に係る直動伸縮機構を構成するアーム部の他の構造を示す側面図である。FIG. 19 is a side view showing another structure of the arm portion constituting the linear motion expansion / contraction mechanism according to the fourth embodiment. 図２０Ａは、第４実施形態の変形例に係る直動伸縮機構のアーム部を構成する第１コマの側面図である。FIG. 20A is a side view of the first frame constituting the arm portion of the linear motion extension / contraction mechanism according to the modification of the fourth embodiment. 図２０Ｂは、図２０Ａの第１コマの下方斜視図である。20B is a lower perspective view of the first frame in FIG. 20A. 図２０Ｃは、図２０Ａの第１コマの上方斜視図である。FIG. 20C is an upper perspective view of the first frame in FIG. 20A.
　以下、図面を参照しながら第１、第２、第３、第４実施形態に係る直動伸縮機構を説明する。なお、各実施形態に係る直動伸縮機構は、単独の機構（関節）として使用することができる。以下の説明では、複数の関節部のうち一の関節部が各実施形態に係る直動伸縮機構で構成されたロボットアーム機構を例に説明する。ロボットアーム機構として、ここでは直動伸縮機構を備えた垂直多関節型のロボットアーム機構を説明するが、他のタイプのロボットアーム機構であってもよい。以下の説明において、略同一の機能及び構成を有する構成要素については、同一符号を付し、重複説明は必要な場合にのみ行う。 Hereinafter, the linear motion expansion / contraction mechanism according to the first, second, third, and fourth embodiments will be described with reference to the drawings. In addition, the linear motion expansion-contraction mechanism which concerns on each embodiment can be used as a single mechanism (joint). In the following description, a robot arm mechanism in which one joint portion among the plurality of joint portions is configured by the linear motion extension mechanism according to each embodiment will be described as an example. As the robot arm mechanism, a vertical articulated robot arm mechanism provided with a linear motion expansion / contraction mechanism will be described here, but other types of robot arm mechanisms may be used. In the following description, components having substantially the same function and configuration are denoted by the same reference numerals, and redundant description will be given only when necessary.
　（第１実施形態）　
　図１は第１実施形態に直動伸縮機構を装備するロボットアーム機構の外観を示している。図２は、図１のロボットアーム機構の側面図である。図３は、図１のロボットアーム機構の内部構造を示す側面図である。　
　ロボットアーム機構は、基台１、旋回部（支柱部）２、起伏部４、アーム部５及び手首部６を備える。旋回部２、起伏部４、アーム部５及び手首部６は、基台１から順番に配設される。複数の関節部Ｊ１，Ｊ２，Ｊ３，Ｊ４，Ｊ５，Ｊ６は基台１から順番に配設される。本実施形態に係る回転関節機構は、第４関節部Ｊ４で実現される。基台１には円筒体をなす旋回部２が典型的には鉛直に設置される。旋回部２は旋回用回転関節部としての第１関節部Ｊ１を収容する。第１関節部Ｊ１は回転軸ＲＡ１を有する。回転軸ＲＡ１は鉛直方向に平行である。旋回部２は下部フレーム２１と上部フレーム２２とを有する。下部フレーム２１の一端は第１関節部Ｊ１の固定部に接続される。下部フレーム２１の他端は基台１に接続される。下部フレーム２１は円筒形状のハウジング３１により覆われる。上部フレーム２２は第１関節部Ｊ１の回転部に接続され、回転軸ＲＡ１を中心に軸回転する。上部フレーム２２は円筒形状のハウジング３２により覆われる。第１関節部Ｊ１の回転に伴って下部フレーム２１に対して上部フレーム２２が回転し、それによりアーム部５は水平に旋回する。円筒体をなす旋回部２の内部中空には後述する直動伸縮機構としての第３関節部Ｊ３の第１、第２コマ列５１、５２が収納される。 (First embodiment)
FIG. 1 shows the appearance of a robot arm mechanism equipped with a linear motion extension mechanism in the first embodiment. FIG. 2 is a side view of the robot arm mechanism of FIG. FIG. 3 is a side view showing the internal structure of the robot arm mechanism of FIG.
The robot arm mechanism includes a base 1, a turning part (supporting part) 2, an undulating part 4, an arm part 5, and a wrist part 6. The swivel unit 2, the undulating unit 4, the arm unit 5, and the wrist unit 6 are arranged in order from the base 1. The plurality of joint portions J1, J2, J3, J4, J5, and J6 are arranged in order from the base 1. The rotary joint mechanism according to the present embodiment is realized by the fourth joint portion J4. The base 1 is typically provided with a swivel portion 2 that forms a cylindrical body vertically. The swivel unit 2 accommodates a first joint J1 as a swivel rotary joint. The first joint portion J1 has a rotation axis RA1. The rotation axis RA1 is parallel to the vertical direction. The swivel unit 2 has a lower frame 21 and an upper frame 22. One end of the lower frame 21 is connected to the fixed portion of the first joint portion J1. The other end of the lower frame 21 is connected to the base 1. The lower frame 21 is covered with a cylindrical housing 31. The upper frame 22 is connected to the rotating portion of the first joint portion J1, and rotates about the rotation axis RA1. The upper frame 22 is covered with a cylindrical housing 32. As the first joint portion J1 rotates, the upper frame 22 rotates with respect to the lower frame 21, whereby the arm portion 5 pivots horizontally. First and second frame rows 51 and 52 of a third joint portion J3 serving as a linear motion extending / contracting mechanism to be described later are housed in the hollow interior of the swivel portion 2 forming a cylindrical body.
　旋回部２の上部には起伏用回転関節部としての第２関節部Ｊ２を収容する起伏部４が載置される。第２関節部Ｊ２は回転関節である。第２関節部Ｊ２の回転軸ＲＡ２は回転軸ＲＡ１に垂直である。起伏部４は、第２関節部Ｊ２の固定部（支持部）としての一対のサイドフレーム２３を有する。一対のサイドフレーム２３は、上部フレーム２２に連結される。一対のサイドフレーム２３は、鞍形形状のカバー３３により覆われる。一対のサイドフレーム２３にモータハウジングを兼用する第２関節部Ｊ２の回転部としての円筒体２４が支持される。円筒体２４の周面には、送り出し機構２５が取り付けられる。送り出し機構２５は円筒形状のカバー３４により覆われる。鞍形カバー３３と円筒カバー３４との間の間隙は断面Ｕ字形状のＵ字蛇腹カバー１４により覆われる。Ｕ字蛇腹カバー１４は、第２関節部Ｊ２の起伏動に追従して伸縮する。 The undulating part 4 that houses the second joint part J2 as the undulating rotary joint part is placed on the upper part of the turning part 2. The second joint portion J2 is a rotary joint. The rotation axis RA2 of the second joint portion J2 is perpendicular to the rotation axis RA1. The undulating part 4 has a pair of side frames 23 as a fixing part (support part) of the second joint part J2. The pair of side frames 23 are connected to the upper frame 22. The pair of side frames 23 is covered with a bowl-shaped cover 33. The pair of side frames 23 supports a cylindrical body 24 as a rotating portion of the second joint portion J2 that also serves as a motor housing. A delivery mechanism 25 is attached to the peripheral surface of the cylindrical body 24. The delivery mechanism 25 is covered with a cylindrical cover 34. The gap between the bowl-shaped cover 33 and the cylindrical cover 34 is covered with a U-shaped bellows cover 14 having a U-shaped cross section. The U-shaped bellows cover 14 expands and contracts following the up-and-down movement of the second joint portion J2.
　送り出し機構２５は、ドライブギア５６、ガイドローラ５７及びローラユニット５８を保持する。円筒体２４の軸回転に伴って送り出し機構２５は回動し、送り出し機構２５に支持されたアーム部５が上下に起伏する。 The delivery mechanism 25 holds a drive gear 56, a guide roller 57, and a roller unit 58. As the cylindrical body 24 rotates, the delivery mechanism 25 rotates, and the arm portion 5 supported by the delivery mechanism 25 undulates up and down.
　第３関節部Ｊ３は直動伸縮機構により提供される。直動伸縮機構は発明者らが新規に開発した構造を備えており、可動範囲の観点でいわゆる従来の直動関節とは明確に区別される。第３関節部Ｊ３のアーム部５は屈曲自在であるが、中心軸（伸縮中心軸ＲＡ３）に沿ってアーム部５の根元の送り出し機構２５から前方に送り出されるときには屈曲が制限され、直線的剛性が確保される。アーム部５は後方に引き戻されるときには屈曲が回復される。アーム部５は第１コマ列５１と第２コマ列５２とを有する。第１コマ列５１は屈曲自在に連結された複数の第１コマ５３からなる。第１コマ５３は略平板形に構成される。第１コマ５３は端部箇所のヒンジ部で屈曲自在に連結される。第２コマ列５２は複数の第２コマ５４からなる。第２コマ５４は横断面コ字形の溝状体又はロ字形の筒状体に構成される。第２コマ５４は底板端部箇所のヒンジ部で屈曲自在に連結される。第２コマ列５２の屈曲は、第２コマ５４の側板の端面どうしが当接する位置で制限される。その位置では第２コマ列５２は直線的に配列する。第１コマ列５１の先頭の第１コマ５３と、第２コマ列５２の先頭の第２コマ５４とは結合コマ５５により接続される。例えば、結合コマ５５は第１コマ５３と第２コマ５４とを合成した形状を有している。 The third joint portion J3 is provided by a linear motion expansion / contraction mechanism. The linear motion expansion / contraction mechanism has a structure newly developed by the inventors, and is clearly distinguished from a so-called conventional linear motion joint in terms of a movable range. Although the arm portion 5 of the third joint portion J3 is freely bendable, the bending is restricted when the arm portion 5 is fed forward along the center axis (extension / retraction center axis RA3) from the base feed mechanism 25 of the arm portion 5, and linear rigidity is obtained. Is secured. When the arm part 5 is pulled back, the bending is recovered. The arm unit 5 includes a first frame row 51 and a second frame row 52. The first frame row 51 is composed of a plurality of first frames 53 that are connected to be freely bent. The first frame 53 is formed in a substantially flat plate shape. The first frame 53 is connected to be bent at a hinge portion at an end portion. The second frame row 52 includes a plurality of second frames 54. The second frame 54 is configured as a grooved body having a U-shaped cross section or a cylindrical body having a rectangular shape. The second frame 54 is connected to bendable at the hinge portion at the end of the bottom plate. The bending of the second frame row 52 is limited at a position where the end surfaces of the side plates of the second frame 54 come into contact with each other. At that position, the second frame row 52 is linearly arranged. The first first frame 53 of the first frame sequence 51 and the second second frame 54 of the second frame sequence 52 are connected by a combined frame 55. For example, the combined frame 55 has a shape obtained by combining the first frame 53 and the second frame 54.
　第１、第２コマ列５１，５２は送り出し機構２５のローラユニット５８を通過する際にローラ５９により互いに押圧されて接合する。接合により第１、第２コマ列５１，５２は直線的剛性を発揮し、柱状のアーム部５を構成する。ローラユニット５８の後方にはドライブギア５６がガイドローラ５７とともに配置される。ドライブギア５６は図示しないモータユニットに接続される。モータユニットは、ドライブギア５６を回転させるための動力を発生する。第１コマ５３の内側の面、つまり第２コマ５４と接合する側の面の幅中央には連結方向に沿ってリニアギアが形成されている。複数の第１コマ５３が直線状に整列されたときに隣合うリニアギアは直線状につながって、長いリニアギアを構成する。ドライブギア５６はガイドローラ５７に押圧された第１コマ５３のリニアギアに噛み合わされる。直線状につながったリニアギアはドライブギア５６とともにラックアンドピニオン機構を構成する。ドライブギア５６が順回転するとき第１、第２コマ列５１，５２はローラユニット５８から前方に送り出される。ドライブギア５６が逆回転するとき第１、第２コマ列５１，５２はローラユニット５８の後方に引き戻される。引き戻された第１、第２コマ列５１，５２はローラユニット５８とドライブギア５６との間で互いに分離される。分離された第１、第２コマ列５１，５２はそれぞれ屈曲可能な状態に復帰する。屈曲可能な状態に復帰した第１、第２コマ列５１，５２は、ともに同じ方向（内側）に屈曲し、旋回部２の内部に鉛直に収納される。このとき、第１コマ列５１は第２コマ列５２に略平行にほぼ揃った状態で収納される。 The first and second frame rows 51 and 52 are pressed and joined to each other by the roller 59 when passing through the roller unit 58 of the feed mechanism 25. By joining, the first and second frame rows 51 and 52 exhibit linear rigidity and constitute a columnar arm portion 5. A drive gear 56 is disposed behind the roller unit 58 together with the guide roller 57. The drive gear 56 is connected to a motor unit (not shown). The motor unit generates power for rotating the drive gear 56. A linear gear is formed along the connecting direction in the center of the inner surface of the first frame 53, that is, the width center of the surface joined to the second frame 54. When the plurality of first frames 53 are arranged in a straight line, adjacent linear gears are connected in a straight line to form a long linear gear. The drive gear 56 is meshed with the linear gear of the first frame 53 pressed by the guide roller 57. The linear gear connected in a straight line forms a rack and pinion mechanism together with the drive gear 56. When the drive gear 56 rotates forward, the first and second frame rows 51 and 52 are fed forward from the roller unit 58. When the drive gear 56 rotates in the reverse direction, the first and second frame rows 51 and 52 are pulled back to the rear of the roller unit 58. The pulled back first and second frame rows 51 and 52 are separated from each other between the roller unit 58 and the drive gear 56. The separated first and second frame rows 51 and 52 are returned to a bendable state. The first and second frame rows 51, 52 that have returned to the bendable state are both bent in the same direction (inner side) and stored vertically in the turning unit 2. At this time, the first frame row 51 is stored in a state of being substantially aligned with the second frame row 52 substantially in parallel.
　アーム部５の先端には手首部６が取り付けられる。手首部６は第４～第６関節部Ｊ４～Ｊ６を装備する。第４～第６関節部Ｊ４～Ｊ６はそれぞれ直交３軸の回転軸ＲＡ４～ＲＡ６を備える。第４関節部Ｊ４は伸縮中心軸ＲＡ３と略一致する第４回転軸ＲＡ４を中心とした回転関節であり、この第４関節部Ｊ４の回転によりエンドエフェクタは左右に揺動する。第５関節部Ｊ５は第４回転軸ＲＡ４に対して垂直に配置される第５回転軸ＲＡ５を中心とした回転関節であり、この第５関節部Ｊ５の回転によりエンドエフェクタは前後に傾動する。第６関節部Ｊ６は第４回転軸ＲＡ４と第５回転軸ＲＡ５とに対して垂直に配置される第６回転軸ＲＡ６を中心とした回転関節であり、この第６関節部Ｊ６の回転によりエンドエフェクタは軸回転する。 The wrist part 6 is attached to the tip of the arm part 5. The wrist 6 is equipped with fourth to sixth joints J4 to J6. The fourth to sixth joints J4 to J6 are each provided with three orthogonal rotation axes RA4 to RA6. The fourth joint portion J4 is a rotary joint centered on a fourth rotation axis RA4 substantially coincident with the expansion / contraction center axis RA3, and the end effector swings left and right by the rotation of the fourth joint portion J4. The fifth joint J5 is a rotary joint centered on a fifth rotation axis RA5 arranged perpendicular to the fourth rotation axis RA4, and the end effector tilts back and forth by the rotation of the fifth joint J5. The sixth joint portion J6 is a rotational joint centered on a sixth rotational axis RA6 that is disposed perpendicular to the fourth rotational axis RA4 and the fifth rotational axis RA5, and ends by the rotation of the sixth joint portion J6. The effector rotates about the axis.
　エンドエフェクタ（手先効果器）は、手首部６の第６関節部Ｊ６の回転部下部に設けられたアダプタ７に取り付けられる。エンドエフェクタはロボットが作業対象（ワーク）に直接働きかける機能を持つ部分であり、例えば把持部、真空吸着部、ナット締め具、溶接ガン、スプレーガンなどのタスクに応じて様々なツールが存在する。エンドエフェクタは、第１、第２、第３関節部Ｊ１，Ｊ２，Ｊ３により任意位置に移動され、第４、第５、第６関節部Ｊ４，Ｊ５，Ｊ６により任意姿勢に配置される。特に第３関節部Ｊ３のアーム部５の伸縮距離の長さは、基台１の近接位置から遠隔位置までの広範囲の対象にエンドエフェクタを到達させることを可能にする。第３関節部Ｊ３はそれを構成する直動伸縮機構により実現される直線的な伸縮動作とその伸縮距離の長さとが従前の直動関節と異なる特徴的な点である。 The end effector (hand effector) is attached to an adapter 7 provided at the lower part of the rotating part of the sixth joint part J6 of the wrist part 6. The end effector is a part having a function of directly acting on a work target (work) by the robot, and various tools such as a gripping part, a vacuum suction part, a nut fastener, a welding gun, and a spray gun exist. The end effector is moved to an arbitrary position by the first, second, and third joint portions J1, J2, and J3, and is disposed in an arbitrary posture by the fourth, fifth, and sixth joint portions J4, J5, and J6. In particular, the length of the expansion / contraction distance of the arm portion 5 of the third joint portion J3 enables the end effector to reach a wide range of objects from the proximity position of the base 1 to the remote position. The third joint portion J3 is a characteristic point that is different from the conventional linear motion joint in the linear expansion / contraction operation realized by the linear motion expansion / contraction mechanism constituting the third joint portion J3 and the length of the expansion / contraction distance.
　図４はロボットアーム機構の構成を図記号表現により示している。ロボットアーム機構において、根元３軸を構成する第１関節部Ｊ１と第２関節部Ｊ２と第３関節部Ｊ３とにより３つの位置自由度が実現される。また、手首３軸を構成する第４関節部Ｊ４と第５関節部Ｊ５と第６関節部Ｊ６とにより３つの姿勢自由度が実現される。図４に示すように、第１関節部Ｊ１の回転軸ＲＡ１は鉛直方向に設けられる。第２関節部Ｊ２の回転軸ＲＡ２は水平方向に設けられる。第２関節部Ｊ２は第１関節部Ｊ１に対して回転軸ＲＡ１と回転軸ＲＡ１に直交する軸との２方向に関してオフセットされる。第２関節部Ｊ２の回転軸ＲＡ２は、第１関節部Ｊ１の回転軸ＲＡ１には交差しない。第３関節部Ｊ３の移動軸ＲＡ３は回転軸ＲＡ２に対して垂直な向きに設けられる。第３関節部Ｊ２は第２関節部Ｊ２に対して回転軸ＲＡ１と回転軸ＲＡ１に直交する軸との２方向に関してオフセットされる。第３関節部Ｊ３の回転軸ＲＡ３は、第２関節部Ｊ２の回転軸ＲＡ２には交差しない。複数の関節部Ｊ１－Ｊ６の根元３軸のうちの一つの回転関節部を直動伸縮関節部Ｊ３に換装し、第１関節部Ｊ１に対して第２関節部Ｊ２を２方向にオフセットさせ、第２関節部Ｊ２に対して第３関節部Ｊ３を２方向にオフセットさせることにより、本実施形態に係るロボット装置のロボットアーム機構は、特異点姿勢を構造上解消している。 Fig. 4 shows the configuration of the robot arm mechanism in graphical symbols. In the robot arm mechanism, three position degrees of freedom are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 that form the three base axes. In addition, three posture degrees of freedom are realized by the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 constituting the wrist three axes. As shown in FIG. 4, the rotation axis RA1 of the first joint portion J1 is provided in the vertical direction. The rotation axis RA2 of the second joint portion J2 is provided in the horizontal direction. The second joint portion J2 is offset with respect to the first joint portion J1 with respect to the two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1. The rotation axis RA2 of the second joint portion J2 does not intersect the rotation axis RA1 of the first joint portion J1. The movement axis RA3 of the third joint portion J3 is provided in a direction perpendicular to the rotation axis RA2. The third joint portion J2 is offset with respect to the second joint portion J2 with respect to two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1. The rotation axis RA3 of the third joint portion J3 does not intersect the rotation axis RA2 of the second joint portion J2. One rotary joint part of the base three axes of the plurality of joint parts J1-J6 is replaced with a linear motion expansion / contraction joint part J3, and the second joint part J2 is offset in two directions with respect to the first joint part J1, By offsetting the third joint portion J3 in two directions with respect to the second joint portion J2, the robot arm mechanism of the robot apparatus according to the present embodiment eliminates the singularity posture structurally.
　図５Ａ、図５Ｂ、図５Ｃは、図３の第１コマ５３の構造を示す図である。第１コマ５３は全体として略平板体である。第１コマ５３は、平板矩形の本体部５３１に一対の支持ブロック５３２と軸受ブロック５３３とが一体成形されてなる。一対の支持ブロック５３２は、本体部５３１の前端両側に前方に突出して設けられる。軸受ブロック５３３は、本体部５３１の後端中央に後方に突出して設けられる。前端の一対の支持ブロック５３２には、第１コマ５３の幅方向と平行に一対の軸孔５３４が貫通されている。後端の軸受ブロック５３３にも、第１コマ５３の幅方向と平行に軸孔５３５が貫通されている。軸受ブロック５３３の内壁にはベアリングが装備されている。第１コマ５３の前端の一対の支持ブロック５３２の間に、他の第１コマ５３の後端の軸受ブロック５３３が嵌め込まれた状態で、一対の軸孔５３４と軸孔５３５とは連続的につながる。この連続的につながった貫通孔に図示しないシャフトが挿入され、前後の第１コマ５３は互いに回転自在に連結される。第１コマ５３の背面の幅中央には連結方向(長さ方向)と平行に前後に渡ってリニアギア５３９が設けられる。当該背面両側には四角錐台形状の一対の突起部（ピンホールブロック）５３６が垂直に突出される。一対のピンホールブロック５３６は第１コマ５３の前後方向（長さ方向）の中央付近の両側に位置する。ピンホールブロック５３６にはその前後方向に沿ってロックピンホール５３７が空けられている。 5A, 5B, and 5C are diagrams showing the structure of the first frame 53 in FIG. The first frame 53 is a substantially flat body as a whole. The first frame 53 is formed by integrally forming a pair of support blocks 532 and a bearing block 533 on a flat rectangular main body 531. The pair of support blocks 532 are provided to protrude forward on both sides of the front end of the main body portion 531. The bearing block 533 is provided to protrude rearward at the center of the rear end of the main body portion 531. A pair of shaft holes 534 are passed through the pair of support blocks 532 at the front end in parallel with the width direction of the first frame 53. A shaft hole 535 is also passed through the bearing block 533 at the rear end in parallel with the width direction of the first frame 53. A bearing is provided on the inner wall of the bearing block 533. The pair of shaft holes 534 and the shaft holes 535 are continuously formed in a state where the bearing block 533 at the rear end of the other first frame 53 is fitted between the pair of support blocks 532 at the front end of the first frame 53. Connected. A shaft (not shown) is inserted into the continuously connected through-holes, and the front and rear first frames 53 are connected to each other in a freely rotatable manner. A linear gear 539 is provided at the center of the width of the back surface of the first frame 53 across the front and rear in parallel with the connecting direction (length direction). A pair of quadrangular pyramid-shaped projections (pinhole blocks) 536 project vertically on both sides of the back surface. The pair of pinhole blocks 536 are located on both sides near the center of the first frame 53 in the front-rear direction (length direction). A lock pin hole 537 is formed in the pin hole block 536 along the front-rear direction.
　軸受ブロック５３３の後端上面には、後方に向かって突出する突出部が設けられる。この突出部を受ける階段形状の受け部が、本体部５３１の先端上面に設けられる。受け部は、本体部５３１の表面から窪んだ形状を有する。受け部の窪みの深さは、突出部の厚みに同一である。受け部に突出部が当接した状態で、隣接する第１コマ５３の表面は、コマ間の間隙が極小の単一の平坦面を構成する。前方の第１コマ５３の突出部に、後方の第１コマの受け部が当接することにより、前後の第１コマ５３が直線状に配列された状態からそれ以上外側（コマ表面側）へ屈曲することが制限される。 A protrusion that protrudes rearward is provided on the upper surface of the rear end of the bearing block 533. A step-shaped receiving portion for receiving the protruding portion is provided on the top surface of the tip of the main body portion 531. The receiving portion has a shape that is recessed from the surface of the main body portion 531. The depth of the recess of the receiving part is the same as the thickness of the protruding part. In a state where the protruding portion is in contact with the receiving portion, the surface of the adjacent first frame 53 constitutes a single flat surface with a minimum gap between the frames. The receiving portion of the rear first frame abuts the protruding portion of the front first frame 53, so that the front and rear first frames 53 are bent further outward (from the top surface side). To be restricted.
　図６Ａ、図６Ｂ、図６Ｃは、図３の第２コマ５４の構造を示す図である。第２コマ５４は全体として断面コ字形の溝状体又は断面ロ字形の筒状体である。ここでは、第２コマ５４は断面コ字形の溝状体とする。第２コマ５４は、底板５４１と、同サイズ、同形状の一対の側板５４０とからなる。底板５４１の前端両側に一対の支持ブロック５４２が突設される。底板５４１の後端中央に軸受ブロック５４３が突設される。前端の一対の支持ブロック５４２には、第２コマ５４の幅方向と平行に一対の軸孔５４４が貫通されている。後端の軸受ブロック５４３にも、第２コマ５４の幅方向と平行に軸孔５４５が貫通されている。軸受ブロック５４３の内壁には、ベアリングが装備されている。第２コマ５４の前端の一対の支持ブロック５４２の間に、他の第２コマ５４の後端の軸受ブロック５４３が嵌め込まれた状態で、一対の軸孔５４４と軸孔５４５とは連続的につながる。この連続的につながった貫通孔にシャフトが挿入され、前後の第２コマ５４は互いに回転自在に連結される。第２コマ５４の側板５４０それぞれの前端上部にはロックピンブロック５４６が内側に突設される。ロックピンブロック５４６は直方体をなし、その前方側面には、ロックピン５４７が設けられる。ロックピン５４７は円柱体をなし、連結方向と平行に前方に向かって突設される。第２コマ５４の側板５４０それぞれの後端上部にはチャックブロック５４８が内側に突設される。チャックブロック５４８は、四角錐台形状をなし、その傾斜面が後方に向く。第２コマ列５２において、前方の第２コマ５４のチャックブロック５４８は、後方の第２コマ５４のロックピンブロック５４６とともに、ピンホールブロック５３６を前後に受ける受け部を構成する。 6A, 6B, and 6C are diagrams showing the structure of the second frame 54 in FIG. The second frame 54 as a whole is a groove-shaped body having a U-shaped cross section or a cylindrical body having a square-shaped cross section. Here, the second frame 54 is a groove-shaped body having a U-shaped cross section. The second frame 54 includes a bottom plate 541 and a pair of side plates 540 having the same size and shape. A pair of support blocks 542 are provided on both sides of the front end of the bottom plate 541. A bearing block 543 projects from the center of the rear end of the bottom plate 541. A pair of shaft holes 544 are passed through the pair of support blocks 542 at the front end in parallel with the width direction of the second frame 54. A shaft hole 545 is also passed through the bearing block 543 at the rear end in parallel with the width direction of the second frame 54. A bearing is provided on the inner wall of the bearing block 543. The pair of shaft holes 544 and 545 are continuously formed in a state in which the bearing block 543 at the rear end of the other second piece 54 is fitted between the pair of support blocks 542 at the front end of the second piece 54. Connected. A shaft is inserted into the continuously connected through hole, and the front and rear second pieces 54 are rotatably connected to each other. A lock pin block 546 protrudes inward from the upper front end of each side plate 540 of the second frame 54. The lock pin block 546 has a rectangular parallelepiped shape, and a lock pin 547 is provided on the front side surface thereof. The lock pin 547 forms a cylindrical body and projects forward in parallel with the connecting direction. A chuck block 548 protrudes inwardly from the upper rear end of each side plate 540 of the second frame 54. The chuck block 548 has a quadrangular pyramid shape, and its inclined surface faces rearward. In the second frame row 52, the chuck block 548 of the front second frame 54 together with the lock pin block 546 of the rear second frame 54 constitutes a receiving portion that receives the pinhole block 536 in the front-rear direction.
　直動伸縮機構は、第１、第２コマ５３，５４の接合状態を堅持するためのロック機構を有する。ロック機構は、第２コマ５４のチャックブロック５４８及びロックピンブロック５４６と、第１コマ５３のピンホールブロック５３６とにより構成される。 The linear motion expansion / contraction mechanism has a lock mechanism for maintaining the joined state of the first and second frames 53 and 54. The locking mechanism includes a chuck block 548 and a lock pin block 546 of the second frame 54, and a pinhole block 536 of the first frame 53.
　アーム部５が伸長するとき、前後の第２コマ５４の受け部により第１コマ５３のピンホールブロック５３６が狭み込まれ、これにより第１、第２コマ５３，５４は接合される。第１、第２コマ５３，５４の接合状態は、第１コマ５３のピンホール５３７に第２コマ５４のロックピン５４７が挿入された状態で維持される。第２コマ５４のロックピン５４７は、第２コマ５４がローラユニット５８の最後尾のローラ５９を通過し、その前方の第２コマ５４に対して直線状に整列するとき、第１コマ５３のピンホール５３７に挿入される。第１コマ５３のピンホール５３７に第２コマ５４のロックピン５４７が挿入された状態は、前後の第２コマ５４が直線状に整列された状態、つまり、アーム部５の後端部分がローラユニット５８に堅持された状態で維持される。 When the arm portion 5 is extended, the pinhole block 536 of the first frame 53 is narrowed by the receiving portions of the front and rear second frames 54, whereby the first and second frames 53 and 54 are joined. The joined state of the first and second frames 53 and 54 is maintained in a state where the lock pin 547 of the second frame 54 is inserted into the pin hole 537 of the first frame 53. The lock pin 547 of the second frame 54 is arranged so that the second frame 54 passes through the last roller 59 of the roller unit 58 and is aligned linearly with the second frame 54 in front of the second frame 54. It is inserted into the pinhole 537. The state in which the lock pin 547 of the second frame 54 is inserted into the pin hole 537 of the first frame 53 is a state where the front and rear second frames 54 are linearly aligned, that is, the rear end portion of the arm portion 5 is a roller. It is maintained in a state of being firmly held by the unit 58.
　アーム部５が収縮するとき、ローラユニット５８の後方において、第２コマ５４は屈曲可能な状態に復帰し、重力により下方に引かれる。一方、第１コマ５３はドライブギア５６により水平姿勢を維持した状態で後方に引かれる。第２コマ５４が下方に引かれ、第１コマ５３が後方に引かれることで、第１コマ５３のピンホール５３７から第２コマ５４のロックピン５４７が抜け、前後の第２コマ５４の受け部は、第１コマ５３のピンホールブロック５３６を開放し、これにより第１、第２コマ５３，５４の接合状態が解除され、互いに屈曲可能に分離される。 When the arm portion 5 contracts, the second frame 54 returns to a bendable state behind the roller unit 58 and is pulled downward by gravity. On the other hand, the first frame 53 is pulled rearward by the drive gear 56 while maintaining the horizontal posture. When the second frame 54 is pulled downward and the first frame 53 is pulled rearward, the lock pin 547 of the second frame 54 is pulled out from the pin hole 537 of the first frame 53, and the second frame 54 is received by the front and rear. The part opens the pinhole block 536 of the first frame 53, whereby the joined state of the first and second frames 53 and 54 is released, and the first frame 53 and the second frame 53 are separated from each other so as to be bent.
　詳細は後述するが、第１コマ５３同士の接触面、第２コマ５４の接触面、及び第１、第２コマ５３，５４の接触面は、アーム部５の円滑で直線的な前後移動のために、高い寸法精度及び高い面精度（表面粗さ）での切削、研削、研磨等の機械加工を要求される。このような高精度の機械加工は、第１、第２コマ５３，５４の製造コストを増加させる。第１実施形態のコンセプトは、もちろん他の実施形態も同様であるが、第１コマ５３同士の接触面積と、第２コマ５４同士の接触面積と、第１コマ５３と第２コマ５４との接触面積を減少させて、高い面精度での機械加工範囲を減らすことにある。 Although details will be described later, the contact surface between the first frames 53, the contact surface of the second frame 54, and the contact surfaces of the first and second frames 53, 54 are smooth and linear back-and-forth movements of the arm portion 5. Therefore, machining such as cutting, grinding and polishing with high dimensional accuracy and high surface accuracy (surface roughness) is required. Such high-precision machining increases the manufacturing cost of the first and second frames 53 and 54. The concept of the first embodiment is, of course, the same as in the other embodiments, but the contact area between the first frames 53, the contact area between the second frames 54, the first frame 53, and the second frame 54 It is to reduce the contact area and reduce the machining range with high surface accuracy.
　本実施形態では、第１コマ５３同士の接する側の面、第２コマ５４の接する側の面、及び第１、第２コマ５３，５４の接する側の面に凹部を形成する。各コマの凹部は、他のコマの表面に接触しないので、凹部を形成する面積は高精度加工を要する面積を減少させる。このように接触面積を減少させることは、高い寸法精度及び高い面精度が要求される面積を減少するので、加工コスト及び歩留まりの低減を実現する。加工コスト及び歩留まりの低減は、第１、第２コマ５３，５４の製造コストを低下させる事ができる。以下具体的に説明する。 In this embodiment, the concave portions are formed on the surface on the side where the first frames 53 are in contact with each other, the surface on the side where the second frames 54 are in contact, and the surface on the side where the first and second frames 53 and 54 are in contact. Since the concave portion of each frame does not contact the surface of another frame, the area for forming the concave portion reduces the area that requires high-precision processing. Reducing the contact area in this manner reduces the area where high dimensional accuracy and high surface accuracy are required, thus realizing reduction in processing cost and yield. The reduction in the processing cost and the yield can reduce the manufacturing cost of the first and second frames 53 and 54. This will be specifically described below.
　第１実施形態に係る直動伸縮機構を構成する第１コマ５３各々は、隣接する第１コマ５３に接する側の面に少なくとも一つの凹部（窪み部）が形成されている。なお、凹部はその加工の容易さから線条に形成するものとして説明するが、勿論、円形等の閉鎖領域の部分的な窪みであってもよい。 Each of the first frames 53 constituting the linear motion expansion / contraction mechanism according to the first embodiment has at least one recess (dent) formed on the surface in contact with the adjacent first frame 53. In addition, although a recessed part is demonstrated as what is formed in a filament from the ease of the process, of course, the partial hollow of closed areas, such as circular, may be sufficient.
　第１コマ５３同士が互いに接する側の面として、第１コマ５３の軸受ブロック５３３の後端面が、それに後方に隣接する第１コマ５３の前端面に接する。この第１コマ５３の本体部５３１の前端面と軸受ブロック５３３の後端面とにそれぞれ凹部６３２、６３３が例えば切削加工により凹設される。 The rear end surface of the bearing block 533 of the first frame 53 is in contact with the front end surface of the first frame 53 adjacent to the rear as a surface on the side where the first frames 53 are in contact with each other. Concave portions 632 and 633 are respectively formed in the front end surface of the main body portion 531 of the first frame 53 and the rear end surface of the bearing block 533 by, for example, cutting.
　凹部６３２の形状としては、断面矩形、典型的には断面等脚台形状の溝状であり、第１コマ５３の幅方向（左右方向）と平行に、本体部５３１の全幅にわたって設けられる。凹部６３２は、本体部５３１の前端面の厚さ（高さ）中央に位置し、その深さは対象面に対して接触しない程度に浅く例えば１ｍｍ又はそれ未満でかまわない。凹部６３２の幅は例えば本体部５３１の前端面の厚みの１／５～４／５、好ましくは１／２である。一方、第１コマ５３の後端の凹部６３３は、深さ方向に狭い断面等脚台形状の溝であり、第１コマ５３の幅方向と平行に、軸受ブロック５３３の全幅にわたって設けられる。第１コマ５３が直線的に配列されたとき、後端の凹部６３３が、第１コマ５３の前端の凹部６３２に対して整合し対峙する位置及び寸法に設けられる。 The shape of the recess 632 is a groove having a rectangular cross section, typically an isosceles trapezoidal cross section, and is provided over the entire width of the main body 531 in parallel with the width direction (left-right direction) of the first frame 53. The concave portion 632 is located at the center of the thickness (height) of the front end surface of the main body portion 531, and the depth thereof is shallow enough not to contact the target surface, for example, 1 mm or less. The width of the recess 632 is, for example, 1/5 to 4/5, preferably 1/2 of the thickness of the front end surface of the main body 531. On the other hand, the recess 633 at the rear end of the first frame 53 is a groove having an isosceles trapezoidal shape that is narrow in the depth direction, and is provided across the entire width of the bearing block 533 in parallel with the width direction of the first frame 53. When the first frames 53 are linearly arranged, the concave portion 633 at the rear end is provided at a position and a size that align with and oppose the concave portion 632 at the front end of the first frame 53.
　これにより、図５Ｄに示すように、隣接する第１コマ５３が直線状に配列された状態で、本体部５３１の前端面のうち凹部６３２の範囲を除いた最外表面と、軸受ブロック５３３の後端面のうち凹部６３３の範囲を除いた最外表面とが互いに全域で接触する。表面同士が全域で接触することにより、第１コマ５３同士の強固な接合による応力の偏在を回避する事ができる。さらに第一義的には、第１コマ５３同士が接触する接触面積は、凹部６３２，６３３が設けられていない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１コマ５３の製造コストを低下させる事ができる。 As a result, as shown in FIG. 5D, with the adjacent first frames 53 arranged in a straight line, the outermost surface of the front end surface of the main body portion 531 excluding the range of the recess 632, and the bearing block 533 Of the rear end surface, the outermost surface excluding the range of the recess 633 contacts each other over the entire area. When the surfaces are in contact with each other over the entire area, it is possible to avoid uneven distribution of stress due to strong bonding between the first frames 53. More specifically, the contact area where the first frames 53 are in contact with each other is smaller than when the recesses 632 and 633 are not provided, and the area where high dimensional accuracy and high surface accuracy are required is reduced. be able to. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first frame 53 can be reduced.
　第１コマ５３と同様に、第２コマ５４各々も、隣接する第２コマ５４に接する側の面に少なくとも一つの凹部を有している。隣接する第２コマ５４に接する側の面は、一対の側板５４０の後端面と前端面とである。一対の側板５４０に前端面に複数の凹部６４２－１，６４２－２，６４２－３，６４２－４（以下、凹部６４２と総称する）が例えば切削加工により凹設され、一対の側板５４０の後端面に複数の凹部６４３－１，６４３－２，６４３－３，６４３－４（以下、凹部６４３と総称する）が例えば切削加工により凹設される。凹部６４２、６４３の形状としては、断面矩形、典型的には等脚台形状の窪みであり、第２コマ５４の幅方向（左右方向）と平行に、側板５４０の端面の全幅にわたって設けられる。凹部６４２，６４３の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部６４２，６４３の幅は例えば第２コマ５４の側板５４０の高さの１／５程度である。凹部６４２－１，６４２－２は、一方の側板５４０の前端面に、上下に離間して設けられる。凹部６４２－３，６４２－４は、他方の側板５４０の前端面に上下に離間して設けられる。凹部６４３－１，６４３－２、６４３－３，６４３－４は、第２コマ５４が直線的に配列されたとき、第２コマ５４の前端の凹部６４２－１，６４２－２、６４２－３，６４２－４に対してそれぞれ整合し対峙する位置及び寸法に設けられる。これにより、図６Ｄに示すように、隣接する第２コマ５４が直線状に配列された状態で、一対の側板５４０の前端面のうち凹部６４２の範囲を除いた最外表面と、一対の側板５４０の後端面のうち凹部６４３の範囲を除いた最外表面とが互いに全域で接触する。表面同士が全域で接触することにより、第２コマ５４同士の強固な接合による応力の偏在を回避する事ができる。さらに第一義的には、第２コマ５４同士が接触する接触面積は、凹部６４２，６４３が設けられていない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第２コマ５４の製造コストを低下させる事ができる。 Similarly to the first frame 53, each of the second frames 54 has at least one concave portion on the surface in contact with the adjacent second frame 54. The surfaces on the side in contact with the adjacent second top 54 are a rear end surface and a front end surface of the pair of side plates 540. A plurality of recesses 642-1, 642-2, 642-3, and 642-4 (hereinafter collectively referred to as recesses 642) are formed in the pair of side plates 540 at the front end surfaces by, for example, cutting, and the rear of the pair of side plates 540 is provided. A plurality of recesses 643-1, 643-2, 643-3, 643-4 (hereinafter collectively referred to as recesses 643) are provided in the end face by, for example, cutting. The shape of the recesses 642 and 643 is a recess having a rectangular cross section, typically an isosceles trapezoid, and is provided across the entire width of the end surface of the side plate 540 in parallel with the width direction (left-right direction) of the second frame 54. The depths of the recesses 642 and 643 are shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recesses 642 and 643 is, for example, about 1/5 of the height of the side plate 540 of the second frame 54. The recesses 642-1 and 642-2 are provided on the front end surface of one side plate 540 so as to be spaced apart from each other in the vertical direction. The recesses 642-3 and 642-4 are provided on the front end surface of the other side plate 540 so as to be spaced apart from each other in the vertical direction. The concave portions 643-1, 643-2, 643-3, and 643-4 are recessed portions 642-1, 642-2, and 642-3 at the front end of the second frame 54 when the second frames 54 are linearly arranged. , 642-4 are aligned and opposed to each other. As a result, as shown in FIG. 6D, the outermost surface excluding the range of the recess 642 in the front end surfaces of the pair of side plates 540 and the pair of side plates in a state where the adjacent second frames 54 are arranged in a straight line. Of the rear end surface of 540, the outermost surface excluding the range of the recess 643 contacts each other over the entire area. When the surfaces are in contact with each other over the entire area, it is possible to avoid uneven distribution of stress due to the strong joining of the second frames 54. More specifically, the contact area where the second frames 54 come into contact with each other is smaller than when the recesses 642 and 643 are not provided, and the area where high dimensional accuracy and high surface accuracy are required is reduced. be able to. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the second frame 54 can be reduced.
　さらに、第１実施形態では、第１、第２コマ５３，５４の少なくとも一方は、他方に接合する側の面に少なくとも一つの凹部を有する。好ましくは第１コマ５３はその当該面に複数の凹部を有し、同様に第２コマ５４もその当該面に複数の凹部を有する。 Furthermore, in the first embodiment, at least one of the first and second frames 53 and 54 has at least one concave portion on the surface to be joined to the other. Preferably, the first frame 53 has a plurality of recesses on the surface thereof, and the second frame 54 similarly has a plurality of recesses on the surface thereof.
　第１コマ５３の両側の縁部の幅は例えば側板５４０の板厚と略等価である。それにより第１コマ５３はその両側の縁部の下面全域において、第２コマ５４の側板の上面全域に対して接合する。第１コマ５３に対して第２コマ５４の接合する側の面は第２コマ５４の一対の側板５４０の上端面である。第１コマ５３の両側の縁部は、その幅方向に凹状に切削加工される。その切削加工により複数の凹部６３１－１，６３１－２，６３１－３，６３１－４（以下、凹部６３１と総称する）が第１コマ５３の両側の縁部に形成される。第２コマ５４の一対の側板５４０の上端面も同様に、その幅方向に凹状に切削加工される。その切削加工により複数の凹部６４１－１，６４１－２，６４１－３，６４１－４（以下、凹部６４１と総称する）が第２コマ５４の一対の側板５４０に形成される。 The width of the edges on both sides of the first frame 53 is substantially equivalent to the thickness of the side plate 540, for example. Thereby, the first frame 53 is joined to the entire upper surface of the side plate of the second frame 54 in the entire lower surface of the edge on both sides. The surface on the side where the second frame 54 is joined to the first frame 53 is the upper end surface of the pair of side plates 540 of the second frame 54. Edge portions on both sides of the first frame 53 are cut into a concave shape in the width direction. By the cutting process, a plurality of concave portions 631-1, 631-2, 631-3, 631-4 (hereinafter collectively referred to as concave portions 631) are formed at the edge portions on both sides of the first frame 53. Similarly, the upper end surfaces of the pair of side plates 540 of the second frame 54 are cut into a concave shape in the width direction. By the cutting process, a plurality of recesses 641-1, 641-2, 641-3, 641-4 (hereinafter collectively referred to as recesses 641) are formed on the pair of side plates 540 of the second frame 54.
　凹部６３１は、断面矩形、典型的には断面等脚台形状の窪みであり、第１コマ５３の幅方向と平行に、第１コマ５３の背面の両側の縁部の全幅にわたって設けられる。凹部６３１の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部６３１の幅（第１コマ５３の長さ方向に沿った長さ）は例えば第１コマ５３の長さの１／５程度である。凹部６３１－１、６３１－２は、第１コマ５３の背面の一方側に前後に離間して設けられる。凹部６３１－３，６３１－４は、第１コマ５３の背面の他方側に前後に離間して設けられる。例えば、凹部６３１－１、６３１－３は第１コマ５３の前後の中央よりも前方に位置する。凹部６３１－２、６３２－４は第１コマ５３の前後の中央よりも後方に位置する。 The recess 631 is a recess having a rectangular cross section, typically an isosceles trapezoidal cross section, and is provided in parallel with the width direction of the first frame 53 over the entire width of the edges on both sides of the back surface of the first frame 53. The depth of the recess 631 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 631 (the length along the length direction of the first frame 53) is, for example, about 1/5 of the length of the first frame 53. The recesses 631-1 and 631-2 are provided on one side of the back surface of the first frame 53 so as to be separated in the front-rear direction. The recesses 631-3 and 631-4 are provided on the other side of the back surface of the first frame 53 so as to be separated from each other in the front-rear direction. For example, the recesses 631-1 and 631-3 are positioned in front of the front and rear centers of the first frame 53. The recesses 631-2 and 632-4 are located behind the front and rear centers of the first frame 53.
　凹部６４１は、深さ方向に狭い断面等脚台形状の窪みであり、第２コマ５４の幅方向と平行に、側板５４０の上端面の全幅にわたって設けられる。凹部６４１の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部６４１の幅（第２コマ５４の長さ方向に沿った長さ）は凹部６３１の幅に同一である。凹部６４１－１、６４１－２は、一方の側板５４０の上端面に前後に離間して設けられる。凹部６４１－３，６４１－４は、他方の側板５４０の上端面に前後に離間して設けられる。第２コマ５４の凹部６４１－１、６４１－２、６４１－３，６４１－４は、第１、第２コマ５３，５４が接合した状態で、それぞれ第１コマ５３の凹部６３１－３、６３１－４、６３１－１、６３１－２に対峙する位置に設けられる。これにより、図７Ａに示すように、第１、第２コマ５３，５４が接合した状態で、第１コマ５３の背面の両側の縁部の表面のうち凹部６３１の範囲を除いた最外表面と、第２コマ５４の一対の側板５４０の上端面のうち凹部６４１の範囲を除いた最外表面とが互いに全域で接触する。最外表面同士が全域で接触することにより、第１、第２コマ５３，５４の強固な接合による応力の偏在を回避する事ができる。さらに第一義的には、第１、第２コマ５３，５４が接触する接触面積は、凹部６３１，６４１が設けられていない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１、第２コマ５３、５４の製造コストを低下させる事ができる。 The concave portion 641 is a recess having an isosceles trapezoidal shape that is narrow in the depth direction, and is provided across the entire width of the upper end surface of the side plate 540 in parallel with the width direction of the second frame 54. The depth of the recess 641 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 641 (the length along the length direction of the second frame 54) is the same as the width of the recess 631. The recesses 641-1 and 641-2 are provided on the upper end surface of one side plate 540 so as to be separated from each other in the front-rear direction. The recesses 641-3 and 641-4 are provided on the upper end surface of the other side plate 540 so as to be separated from each other in the front-rear direction. The recesses 641-1, 641-2, 641-3, 641-4 of the second frame 54 are in the state where the first and second frames 53, 54 are joined, respectively, and the recesses 631-3, 631 of the first frame 53, respectively. -4, 631-1, 631-2. As a result, as shown in FIG. 7A, the outermost surface excluding the range of the recess 631 in the surface of the edge on both sides of the back surface of the first frame 53 with the first and second frames 53 and 54 joined. And the outermost surface except the range of the recessed part 641 among the upper end surfaces of a pair of side plate 540 of the 2nd top 54 mutually contacts in the whole region. When the outermost surfaces are in contact with each other over the entire area, it is possible to avoid uneven distribution of stress due to the strong joining of the first and second frames 53 and 54. More specifically, the contact area where the first and second frames 53 and 54 are in contact with each other is smaller than when the recesses 631 and 641 are not provided, and high dimensional accuracy and high surface accuracy are required. The area can be reduced. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first and second frames 53 and 54 can be reduced.
　なお、本発明のコンセプトは、コマ同士の接触面積を減少させることにあるため、第１、第２コマ５３，５４に設ける凹部の形状、数は、第１実施形態に限定されない。例えば、図７Ｂに示すように、第１実施形態に比べて、第１、第２コマ５３，５４の接合する側の面に多くの凹部が凹設されていてもよい。また、図７Ｃに示すように、互いに接する側の２つの面のうち、一方の面に凹部を設けるのであれば、その凹部に対峙する位置に凹部を設けなくてもよい。 Since the concept of the present invention is to reduce the contact area between the frames, the shape and number of the concave portions provided in the first and second frames 53 and 54 are not limited to the first embodiment. For example, as shown in FIG. 7B, as compared with the first embodiment, a large number of recesses may be provided in the surface on the side where the first and second frames 53 and 54 are joined. In addition, as shown in FIG. 7C, if a concave portion is provided on one of the two surfaces that are in contact with each other, the concave portion may not be provided at a position facing the concave portion.
　（第２実施形態）　
　直伸縮機構では連結される多くの第１、第２コマ５３，５４を備え、これら第１コマ５３同士、第２コマ５４同士を連結するシャフトの軸受けには隙間が不可避であるため、当該隙間の影響がアーム部５の伸張に比例して累積的に増大する。そのためアーム部５には緩みが生じ、アーム部５の直線性及び剛性が低下する。第２実施形態は、この問題を第１コマ５３同士、第２コマ５４同士、及び第１、第２コマ５３、５４に嵌め合い構造を採用することにより軽減する。それとともに第１実施形態と同様に第１コマ５３同士、第２コマ５４同士、及び第１、第２コマ５３、５４の接触面積の低減させることによる第１、第２コマ５３、５４の製造コストの低下を達成するものである。 (Second Embodiment)
The direct expansion / contraction mechanism includes a large number of first and second pieces 53 and 54 that are connected to each other, and a gap is inevitable in the shaft bearing that connects the first pieces 53 and the second pieces 54. Is cumulatively increased in proportion to the extension of the arm portion 5. Therefore, the arm portion 5 is loosened, and the linearity and rigidity of the arm portion 5 are reduced. The second embodiment alleviates this problem by adopting a fitting structure between the first frames 53, the second frames 54, and the first and second frames 53 and 54. At the same time, as in the first embodiment, the first and second frames 53, 54 are manufactured by reducing the contact areas of the first frames 53, the second frames 54, and the first and second frames 53, 54. A reduction in cost is achieved.
　第２実施形態は、第１コマ５３同士、第２コマ５４同士、及び第１、第２コマ５３、５４が接合する側の表面の形状が第１実施形態のそれとは異なる。第２実施形態の第１、第２コマ５３，５４の基本構造は、第１実施形態と同一である。第１、第２コマ５３，５４が接合する側の面と第１コマ５３同士が接する側の面と第２コマ５４同士が接する側の面とに設けられる嵌め合い構造について説明する。図８Ａ、図８Ｂ、図８Ｃは、第２実施形態に係る直動伸縮機構を構成する第１コマ５３の構造を示す図である。図９Ａ、図９Ｂ、図９Ｃは、第２実施形態に係る直動伸縮機構を構成する第２コマ５４の構造を示す図である。図１０は、第２実施形態に係る直動伸縮機構を構成するアーム部５の構造を示す側面図である。図１１Ａ、図１１Ｂ、図１１Ｃは、第２実施形態に係る直動伸縮機構を構成するアーム部５の嵌め合い構造を示す図である。図１２は、第２実施形態に係る直動伸縮機構を構成するアーム部５の他の構造を示す側面図である。 The second embodiment is different from that of the first embodiment in the shape of the surfaces on the side where the first frames 53, the second frames 54, and the first and second frames 53, 54 are joined. The basic structure of the first and second frames 53 and 54 of the second embodiment is the same as that of the first embodiment. The fitting structure provided on the surface where the first and second frames 53 and 54 are joined, the surface where the first frames 53 are in contact with each other, and the surface where the second frames 54 are in contact with each other will be described. FIG. 8A, FIG. 8B, and FIG. 8C are diagrams showing the structure of the first frame 53 that constitutes the linear motion expansion / contraction mechanism according to the second embodiment. FIG. 9A, FIG. 9B, and FIG. 9C are diagrams showing the structure of the second frame 54 that constitutes the linear motion expansion / contraction mechanism according to the second embodiment. FIG. 10 is a side view showing the structure of the arm portion 5 constituting the linear motion expansion / contraction mechanism according to the second embodiment. FIG. 11A, FIG. 11B, and FIG. 11C are diagrams showing a fitting structure of the arm portion 5 that constitutes the linear motion expansion / contraction mechanism according to the second embodiment. FIG. 12 is a side view showing another structure of the arm portion 5 constituting the linear motion expansion / contraction mechanism according to the second embodiment.
　第２実施形態に係る直動伸縮機構を構成する第１コマ５３各々は、前方又は後方に隣接する第１コマ５３に接する側の面に少なくとも一つの凸部を有し、後方又は前方に隣接する第１コマ５３に接する側の面に凸部を受ける少なくとも一つの凹部を有する。好ましくは第１コマ５３の本体部５３１の前端面に凹部７３２が例えば切削加工により形成され、第１コマ５３の軸受ブロック５３３の後端面にも凸部７３３が例えば切削加工により形成される。 Each of the first frames 53 constituting the linear motion expansion / contraction mechanism according to the second embodiment has at least one convex portion on the surface in contact with the first frame 53 adjacent to the front or the rear, and is adjacent to the rear or the front. The surface on the side in contact with the first frame 53 has at least one concave portion that receives the convex portion. Preferably, a concave portion 732 is formed on the front end surface of the main body portion 531 of the first frame 53 by, for example, cutting, and a convex portion 733 is also formed on the rear end surface of the bearing block 533 of the first frame 53, for example, by cutting.
　凹部７３２は、断面矩形、典型的には断面等脚台形状の線条溝であり、第１コマ５３の幅方向（左右方向）と平行に、本体部５３１の前端面の全幅にわたって設けられる。凹部７３２の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部７３２の幅（第１コマ５３の厚み方向の長さ）は例えば本体部５３１の前端面の厚みの１／５～４／５、好ましくは１／２である。凸部７３３は、凹部７３２は嵌合する断面形状を備える線条体をなし、第１コマ５３の幅方向と平行に軸受ブロック５３３の全幅にわたって設けられる。凸部７３３は、隣接する第１コマ５３が直線的に配列されたとき、第１コマ５３の前端の凹部７３２に対して対峙する位置及び嵌合する寸法に設けられる。 The recess 732 is a linear groove having a rectangular cross section, typically an isosceles trapezoidal cross section, and is provided over the entire width of the front end surface of the main body 531 in parallel with the width direction (left-right direction) of the first frame 53. The depth of the recess 732 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 732 (the length of the first frame 53 in the thickness direction) is, for example, 1/5 to 4/5, preferably 1/2 of the thickness of the front end surface of the main body 531. The convex portion 733 forms a linear body having a cross-sectional shape into which the concave portion 732 is fitted, and is provided over the entire width of the bearing block 533 in parallel with the width direction of the first frame 53. The convex portion 733 is provided at a position facing the concave portion 732 at the front end of the first frame 53 and a size to be fitted when the adjacent first frames 53 are linearly arranged.
　図１１Ａ、図１１Ｂ、図１１Ｃに示すように、第１コマ５３同士の接する側の面に設けられる嵌め合い構造において、凸部７３３は、その表面全域で凹部７３２の表面全域に接するのではなく、少なくとも二箇所において凹部７３２に接触するように構成される。具体的には、凸部７３３は以下のように構成される。図１１Ａに示すように、凹部７３２は、断面等脚台形状の窪みであり、その深さをＬｈ２、下底（窪みの底側の幅）をＬｕ２、上底（窪みの開口の幅）をＬｌ２（＞Ｌｕ２）とする。図１１Ｂに示すように、凸部７３３は、断面等脚台形状の突起であり、その高さをＬｈ１、上底（突起の先端側の幅）をＬｕ１、下底（突起の根元側の幅）をＬｌ１（＞Ｌｕ１）とする。 As shown in FIGS. 11A, 11B, and 11C, in the fitting structure provided on the surface where the first frames 53 are in contact with each other, the convex portion 733 does not contact the entire surface of the concave portion 732 over the entire surface thereof. , And is configured to contact the recess 732 in at least two places. Specifically, the convex portion 733 is configured as follows. As shown in FIG. 11A, the recess 732 is a recess having an isosceles trapezoidal cross section, the depth of which is Lh2, the lower base (the width of the bottom of the recess) is Lu2, and the upper base (the width of the opening of the recess). Let Ll2 (> Lu2). As shown in FIG. 11B, the protrusion 733 is a protrusion having an isosceles trapezoidal cross section, the height is Lh1, the upper base (the width on the tip side of the protrusion) is Lu1, and the lower base (the width on the base side of the protrusion). ) Is assumed to be Ll1 (> Lu1).
　図１１Ｃに示すように、凸部７３３の高さＬｈ１は、凹部７３２の深さＬｈ２よりも低く（Ｌｈ１＜Ｌｈ２）、それにより凸部７３３の上面は凹部７３２の底面に接しない。また凸部７３３の下底Ｌｌ１は、凹部７３２の下底Ｌｌ２よりも短く（Ｌｌ１＜Ｌｌ２）、それにより凸部７３３の斜面は凹部７３２の斜面に接しない。 As shown in FIG. 11C, the height Lh1 of the convex portion 733 is lower than the depth Lh2 of the concave portion 732 (Lh1 <Lh2), whereby the upper surface of the convex portion 733 does not contact the bottom surface of the concave portion 732. Further, the lower base Ll1 of the convex part 733 is shorter than the lower base Ll2 of the concave part 732 (Ll1 <Ll2), whereby the slope of the convex part 733 does not contact the slope of the concave part 732.
　凸部７３３の上底Ｌｕ１は、凹部７３２の下底Ｌｌ２よりも短く（Ｌｕ１＜Ｌｌ２）、且つ凹部７３２の上底Ｌｕ２よりも長く（Ｌｕ１＞Ｌｕ２）、それにより凸部７３３の斜面は凹部７３２の斜面に接することなく、凸部７３３はその上底角部の二箇所において凹部７３２の斜面に当接する。 The upper base Lu1 of the convex part 733 is shorter than the lower base Ll2 of the concave part 732 (Lu1 <Ll2) and longer than the upper base Lu2 of the concave part 732 (Lu1> Lu2), whereby the slope of the convex part 733 is the concave part 732. The convex portion 733 comes into contact with the inclined surface of the concave portion 732 at two positions of the upper base corner portion thereof without contacting the inclined surface.
　換言すると、上記の条件の下、凸部７３３の高さＬｈ１，下底Ｌｌ１，上底Ｌｕ１は、凸部７３３の頂部側の角部が、凹部７３２の斜面に接するように調整される。図８Ｄに示すように、隣接する第１コマ５３が直線状に配列されたとき、第１コマ５３の後方の凸部７３３は他の第１コマ５３の前方の凹部７３２に嵌め合わされる。図１１Ｃに示すように、凸部７３３が凹部７３２に嵌め合わされた状態で、第１コマ５３の後端面の凸部７３３の範囲を除いた表面と、他の第１コマ５３の前端面のうち凹部７３２の範囲を除いた最外表面とが互いに全域で接触し、さらに凸部７３３の頂部側の上下の二つの角部が凹部７３２の斜面に接触する。したがって、第１コマ５３同士が接触する接触面積は、凹部７３２と凸部７３３とを設けていない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１コマ５３の製造コストを低下させる事ができる。そして凹部に対して凸部を少なくとも１箇所（１点）、好ましくは２箇所において接するよう構成することにより、凹部に対して凸部を面接触する場合に比べて、加工コスト及び歩留まりの低減が実現され得る。 In other words, under the above conditions, the height Lh1, the lower base L11, and the upper base Lu1 of the convex part 733 are adjusted so that the corners on the top side of the convex part 733 are in contact with the slope of the concave part 732. As shown in FIG. 8D, when the adjacent first frames 53 are arranged in a straight line, the convex portion 733 on the rear side of the first frame 53 is fitted into the concave portion 732 on the front side of the other first frame 53. As shown in FIG. 11C, in a state where the convex portion 733 is fitted in the concave portion 732, the surface excluding the range of the convex portion 733 on the rear end surface of the first frame 53 and the front end surface of the other first frame 53 The outermost surface excluding the range of the concave portion 732 is in contact with each other over the entire region, and the upper and lower corners on the top side of the convex portion 733 are in contact with the slope of the concave portion 732. Therefore, the contact area where the first frames 53 are in contact with each other is smaller than the case where the concave portion 732 and the convex portion 733 are not provided, and the area where high dimensional accuracy and high surface accuracy are required can be reduced. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first frame 53 can be reduced. Further, by forming the convex portion in contact with the concave portion at least at one place (one point), preferably two locations, the processing cost and the yield can be reduced as compared with the case where the convex portion is in surface contact with the concave portion. Can be realized.
　また、凸部７３３の頂部側の上下二つの角部が凹部７３２の斜辺に接触していることで、第１コマ５３同士の上下方向への動きが係止される。これによりアーム部５に発生する上下方向（第１コマ５３の厚み方向）の緩みが抑制され、アーム部５の直線性及び剛性の低下が抑制される。したがって、第１コマ５３同士の嵌め合い構造は、第１コマ５３の製造コストの低下とアーム部５の直線性及び剛性の低下の抑制とを同時に解決することができる。なお、ここで説明した第１コマ５３同士の接する側の面に設けられる嵌め合い構造は、後述の第２コマ５４同士の接する側の面に設けられる嵌め合い構造と第１、第２コマ５３，５４の接合する側の面に設けられる嵌め合い構造に対しても適用される。 Also, since the upper and lower two corners on the top side of the convex portion 733 are in contact with the oblique side of the concave portion 732, the movement of the first frames 53 in the vertical direction is locked. As a result, the slack in the vertical direction (thickness direction of the first frame 53) generated in the arm portion 5 is suppressed, and the decrease in linearity and rigidity of the arm portion 5 is suppressed. Therefore, the fitting structure between the first frames 53 can simultaneously solve the reduction in the manufacturing cost of the first frames 53 and the suppression of the linearity and rigidity of the arm portion 5. The fitting structure provided on the surface on the side where the first frames 53 are in contact with each other is the same as the fitting structure provided on the surface on the side where the second frames 54 described below are in contact with the first and second frames 53. , 54 is also applied to a fitting structure provided on the surface to be joined.
　第１コマ５３と同様に、第２コマ５４各々も、前方又は後方に隣接する第２コマ５４に接する側の面に少なくとも一つの凸部を有し、後方又は前方に隣接する第２コマ５４に接する側の面に凸部を受ける少なくとも一つの凹部を有する。ここでは、一対の側板５４０の前端面に複数の凹部７４２－１，７４２－２，７４２－３，７４２－４（以下、凹部７４２と総称する）が例えば切削加工により凹設され、一対の側板５４０の後端面に複数の凸部７４３－１，７４３－２、７４３－３，７４３－４（以下、凸部７４３と総称する）が例えば切削加工により凸設される。 Similar to the first frame 53, each of the second frames 54 has at least one convex portion on the surface in contact with the second frame 54 adjacent to the front or rear, and the second frame 54 adjacent to the rear or front. At least one concave portion for receiving the convex portion on the surface in contact with the surface. Here, a plurality of recesses 742-1, 742-2, 742-3, and 742-4 (hereinafter collectively referred to as recesses 742) are formed in the front end surfaces of the pair of side plates 540 by, for example, cutting, and the pair of side plates A plurality of convex portions 743-1, 743-2, 743-3, 743-4 (hereinafter collectively referred to as convex portions 743) are provided on the rear end surface of 540 by, for example, cutting.
　凹部７４２は、断面矩形、典型的には断面等脚台形状の窪みであり、第２コマ５４の幅方向（左右方向）と平行に、側板５４０の前端面の全幅にわたって設けられる。凹部７４２の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部７４２の幅は例えば第２コマ５４の側板５４０の高さの１／５程度である。凹部７４２－１，７４２－２は、一方の側板５４０の前端面に、上下に離間して設けられる。凹部７４２－３，７４２－４は、他方の側板５４０の前端面に、上下に離間して設けられる。凸部７４３は、凹部７４２に対して嵌合する断面形状を備える突起であり、第２コマ５４の幅方向と平行に、側板５４０の後端面の全幅にわたって設けられる。凸部７４３－１、７４３－２、７４３－３，７４３－４は、隣接する第２コマ５４が直線的に配列されたとき、第２コマ５４の前端の凹部７４２－１，７４２－２、７４２－３，７４２－４に対して対峙する位置及び嵌合する寸法に設けられる。 The recess 742 is a recess having a rectangular cross section, typically an isosceles trapezoidal cross section, and is provided across the entire width of the front end surface of the side plate 540 in parallel with the width direction (left-right direction) of the second frame 54. The depth of the recess 742 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 742 is about 1/5 of the height of the side plate 540 of the second frame 54, for example. The concave portions 742-1 and 742-2 are provided on the front end surface of one side plate 540 so as to be spaced apart from each other in the vertical direction. The recesses 742-3 and 742-4 are provided on the front end surface of the other side plate 540 so as to be spaced apart from each other in the vertical direction. The convex portion 743 is a projection having a cross-sectional shape that fits into the concave portion 742, and is provided across the entire width of the rear end surface of the side plate 540 in parallel with the width direction of the second piece 54. The convex portions 743-1, 743-2, 743-3, and 743-4 have concave portions 742-1, 742-2 at the front end of the second frame 54 when the adjacent second frames 54 are linearly arranged. It is provided at a position facing 742-3 and 742-4 and a fitting size.
　図９Ｄに示すように、隣接する第２コマ５４が直線状に配列されたとき、第２コマ５４の後方の凸部７４３は他の第２コマ５４の前方の凹部７４２に嵌め合わされる。凸部７４３が凹部７４２に嵌め合わされた状態で、第２コマ５４の後端面の凸部７４３の範囲を除いた表面と、他の第２コマ５４の前端面のうち凹部７４２の範囲を除いた最外表面とが互いに全域で接触し、さらに凸部７４３の先端側の上下の二つの角部が凹部７４２の斜面に接触する。したがって、第２コマ５４同士が接触する接触面積は、凹部７４２と凸部７４３とが設けられていない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第２コマ５４の製造コストを低下させる事ができる。そして凹部に対して凸部を２箇所において接するよう構成することにより、凹部に対して凸部を面接触する場合に比べて、加工コスト及び歩留まりの低減が実現され得る。 As shown in FIG. 9D, when the adjacent second frames 54 are arranged in a straight line, the convex portion 743 behind the second frame 54 is fitted into the concave portion 742 in front of the other second frame 54. With the convex portion 743 fitted in the concave portion 742, the surface excluding the range of the convex portion 743 on the rear end surface of the second frame 54 and the range of the concave portion 742 of the front end surface of the other second frame 54 are excluded. The outermost surfaces are in contact with each other over the entire area, and two upper and lower corners on the tip side of the convex portion 743 are in contact with the slope of the concave portion 742. Therefore, the contact area where the second frames 54 come into contact with each other is smaller than the case where the concave portion 742 and the convex portion 743 are not provided, and the area where high dimensional accuracy and high surface accuracy are required can be reduced. . Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the second frame 54 can be reduced. By configuring the convex portion to contact the concave portion at two locations, the processing cost and the yield can be reduced as compared with the case where the convex portion is in surface contact with the concave portion.
　また、凸部７４３が凹部７４２に上下の少なくとも二箇所で接触していることで、第２コマ５４同士の上下方向への動きが係止される。これによりアーム部５に発生する上下方向（第２コマ５４の厚み方向）の緩みが抑制され、アーム部５の直線性及び剛性の低下が抑制される。したがって、第２コマ５４同士の嵌め合い構造は、第２コマ５４の製造コストの低下とアーム部５の直線性及び剛性の低下の抑制とを同時に解決することができる。 Also, since the convex portion 743 is in contact with the concave portion 742 at at least two locations, the vertical movement between the second frames 54 is locked. As a result, loosening in the vertical direction (thickness direction of the second frame 54) generated in the arm portion 5 is suppressed, and a decrease in linearity and rigidity of the arm portion 5 is suppressed. Therefore, the fitting structure between the second frames 54 can simultaneously solve the reduction in the manufacturing cost of the second frame 54 and the suppression of the linearity and rigidity of the arm portion 5.
　さらに、第２実施形態では、第１、第２コマ５３，５４の一方は他方に接合する側の面に少なくとも一つの凸部を有し、記第１、第２コマ５３，５４の他方は一方に接合する側の面に凸部を受ける少なくとも一つの凹部を有する。ここでは、第１コマ５３の第２コマ５４に接合する側の面に、複数の凸部７３１－１，７３１－２（以下、まとめて凸部７３１と略す）が例えば切削加工により凸設され、第２コマ５４の第１コマ５３に接合する側の面に、複数の凹部７４１－１，７４１－２（以下、まとめて凹部７４１と略す）が例えば切削加工により凹設される。 Further, in the second embodiment, one of the first and second frames 53 and 54 has at least one convex portion on the surface to be joined to the other, and the other of the first and second frames 53 and 54 is At least one concave portion for receiving the convex portion is provided on the surface to be joined to one side. Here, a plurality of convex portions 731-1 and 731-2 (hereinafter collectively referred to as convex portions 731) are provided on the surface of the first frame 53 on the side to be joined to the second frame 54 by, for example, cutting. A plurality of concave portions 741-1 and 741-2 (hereinafter collectively referred to as concave portions 741) are formed in the surface of the second piece 54 on the side to be joined to the first piece 53 by, for example, cutting.
　凹部７４１は、断面矩形、典型的には断面等脚台形状の窪みであり、第２コマ５４の幅方向と平行に、側板５４０の上端面の全幅にわたって設けられる。凹部７４１の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部７４１の幅は例えば第２コマ５４の長さの１／５程度である。凹部７４１－１は、一方の側板５４０の上端面の前後の中央よりも後方に設けられる。凹部７４１－２は、他方の側板５４０の上端面の前後の中央よりも後方に設けられる。凸部７３１は、凹部７４１に対して嵌合する断面形状を備える突起であり、第１コマ５３の幅方向と平行に、第１コマ５３の背面の両側の縁部の全幅にわたって設けられる。凸部７３１－１、７３１－２は、第１、第２コマ５３，５４が接合した状態で、それぞれ凹部７４１－１，７４１－２に対して対峙する位置及び嵌合する寸法に設けられる。 The recess 741 is a recess having a rectangular cross section, typically an isosceles trapezoidal cross section, and is provided over the entire width of the upper end surface of the side plate 540 in parallel with the width direction of the second frame 54. The depth of the recess 741 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 741 is about 1/5 of the length of the second frame 54, for example. The recess 741-1 is provided behind the center in the front and back of the upper end surface of one side plate 540. The recess 741-2 is provided behind the center in the front and rear of the upper end surface of the other side plate 540. The convex portion 731 is a protrusion having a cross-sectional shape that fits into the concave portion 741, and is provided across the entire width of the edge portions on both sides of the back surface of the first frame 53 in parallel with the width direction of the first frame 53. The convex portions 731-1 and 731-2 are provided at positions facing and opposed to the concave portions 741-1 and 741-2, respectively, in a state where the first and second frames 53 and 54 are joined.
　図１０に示すように、第１、第２コマ５３，５４が接合した状態で、第１コマ５３の背面（アーム部５の内側）の前方の凸部７３１が第２コマ５４の側板５４０の上端面後方の凹部７４１に嵌め合わされる。凸部７３１が凹部７４１に嵌め合わされた状態で、一対の側板５４０の上端面の凹部７４１の範囲を除いた表面と、第１コマ５３の背面両側縁部のうち凸部７３１の範囲を除いた最外表面とが互いに全域で接触し、さらに凸部７３１の先端側の前後二つの角部が凹部７４１の前後の斜面に接触する。したがって、第１、第２コマ５３，５４が接触する接触面積は、凹部７４１と凸部７３１とが設けられていない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１、第２コマ５３、５４の製造コストを低下させる事ができる。そして凹部に対して凸部を２箇所において接するよう構成することにより、凹部に対して凸部を面接触する場合に比べて、加工コスト及び歩留まりの低減が実現され得る。 As shown in FIG. 10, in the state where the first and second frames 53 and 54 are joined, the front convex portion 731 on the back surface (the inside of the arm portion 5) of the first frame 53 is formed on the side plate 540 of the second frame 54. It fits into the recess 741 at the rear of the upper end surface. With the convex portion 731 fitted in the concave portion 741, the surface excluding the range of the concave portion 741 on the upper end surface of the pair of side plates 540 and the range of the convex portion 731 out of both side edges of the back surface of the first frame 53 are excluded. The outermost surfaces are in contact with each other over the entire area, and the two front and rear corners of the convex portion 731 are in contact with the front and rear inclined surfaces of the concave portion 741. Therefore, the contact area where the first and second frames 53 and 54 come into contact is smaller than when the concave portion 741 and the convex portion 731 are not provided, and the area where high dimensional accuracy and high surface accuracy are required is reduced. can do. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first and second frames 53 and 54 can be reduced. By configuring the convex portion to contact the concave portion at two locations, the processing cost and the yield can be reduced as compared with the case where the convex portion is in surface contact with the concave portion.
　また、凸部７３１が凹部７４１に前後の少なくとも二箇所で接触していることで、第１、第２コマ５３，５４の前後方向（連結方向）への動きが係止される。これによりアーム部５に発生する前後方向（連結方向）の緩みが抑制され、アーム部５の直線性及び剛性の低下が抑制される。したがって、第１、第２コマ５３，５４の嵌め合い構造は、第１、第２コマ５３、５４の製造コストの低下とアーム部５の直線性及び剛性の低下の抑制とを同時に解決することができる。 Further, since the convex portion 731 is in contact with the concave portion 741 at at least two positions, the movement of the first and second frames 53 and 54 in the front-rear direction (connection direction) is locked. As a result, loosening in the front-rear direction (connection direction) that occurs in the arm portion 5 is suppressed, and a decrease in linearity and rigidity of the arm portion 5 is suppressed. Therefore, the fitting structure of the first and second frames 53 and 54 solves simultaneously the reduction of the manufacturing cost of the first and second frames 53 and 54 and the suppression of the linearity and rigidity of the arm portion 5. Can do.
　そして第１、第２コマ５３，５４の嵌め合い構造では前後（アーム部５の移動軸ＲＡ３に平行な方向）に離間する二箇所で接して当該方向のアーム部５の緩みを抑制でき、第１コマ５３同士の嵌め合い構造及び第２コマ５４同士の嵌め合い構造では上下（アーム部５の移動軸ＲＡ３に直交する方向）に離間する二箇所で接して当該方向のアーム部５の緩みを抑制でき、つまり直交する２方向でアーム部５の緩みを抑制でき、アーム部５の直線性及び剛性の低下を効果的に抑制することができる。 In the fitting structure of the first and second frames 53, 54, the looseness of the arm portion 5 in this direction can be suppressed by contacting at two places separated in the front-rear direction (the direction parallel to the movement axis RA3 of the arm portion 5). In the fitting structure between the first frames 53 and the fitting structure between the second frames 54, the arm portion 5 is loosened by contacting at two places separated vertically (in the direction perpendicular to the movement axis RA3 of the arm portion 5). In other words, the looseness of the arm portion 5 can be suppressed in two orthogonal directions, and the linearity and rigidity of the arm portion 5 can be effectively suppressed.
　ここでは、凹部に対して凸部の頂部側の２つの角部が接触する嵌め合い構造を説明したが、嵌め合い構造はこれに限定されない。第１コマ５３同士の接する側の面に設けられる嵌め合い構造、第２コマ５４同士の接する側の面に設けられる嵌め合い構造、及び第１、第２コマ５３，５４の接合する側の面に設けられる嵌め合い構造は以下のように構成されてもよい。例えば、図１１Ａ、図１１Ｂ、図１１Ｃに示した第１コマ５３同士の接する側の面に設けられる嵌め合い構造において、凸部７３３が、その頂部側の上下２箇所の角部を含む先端面が凹部７３２の底面に接触するように構成される。具体的には、凸部７３３は、その高さＬｈ１が凹部７３２の深さＬｈ２と等価であり（Ｌｈ１＝Ｌｈ２）、その下底Ｌｌ１が凹部７３２の下底Ｌｌ２よりも短く（Ｌｌ１＜Ｌｌ２）、その上底Ｌｕ１が凹部７３２の下底Ｌｌ２と等価（Ｌｕ１＝Ｌｌ２）になるように構成される。それにより、凸部７３３の斜面は凹部７３２の斜面に接することなく、凸部７３３の先端面の全域が凹部７３２の底面の全域に接触する。 Here, although the fitting structure in which the two corners on the top side of the convex portion are in contact with the concave portion has been described, the fitting structure is not limited to this. The fitting structure provided on the surface on the side where the first frames 53 are in contact, the fitting structure provided on the surface on the side where the second frames 54 are in contact, and the surface on the side where the first and second frames 53 and 54 are joined The fitting structure provided in may be configured as follows. For example, in the fitting structure provided on the surface on the side where the first frames 53 are in contact with each other as shown in FIGS. 11A, 11B, and 11C, the front end surface includes the convex portion 733 including two upper and lower corners on the top side. Is configured to contact the bottom surface of the recess 732. Specifically, the height Lh1 of the convex portion 733 is equivalent to the depth Lh2 of the concave portion 732 (Lh1 = Lh2), and the lower base Ll1 is shorter than the lower base Ll2 of the concave portion 732 (Ll1 <Ll2). The upper base Lu1 is configured to be equivalent to the lower base L12 of the recess 732 (Lu1 = L12). As a result, the entire slope of the projection 733 does not contact the slope of the recess 732, and the entire tip surface of the projection 733 contacts the entire bottom surface of the recess 732.
　また、図１２に示すように、隣接する第２コマ５４は凹凸部７６２，７６３以外の面では接触せず、第２コマ５４の凸部７６３の頂部と他の第２コマ５４の凹部７６２の底部とだけで接触するように凸部７６３の高さが凹部７６２の深さよりも高くなるように構成される。このような構造を採用することで、第２コマ５４同士の接触部分を第２コマ５４の前後端の凹凸部分だけにすることができる。これにより高い寸法精度及び高い面精度が要求される面積を縮小することができ、第２コマ５４の加工コスト及び歩留まりの低減を実現できる。なお、ここで説明した第２コマ５４同士の接する側の面に設けられる嵌め合い構造は、第１コマ５３同士の接する側の面に設けられる嵌め合い構造と第１、第２コマ５３，５４の接合する側の面に設けられる嵌め合い構造に対しても適用することができ、これにより第１、第２コマ５３，５４の加工コスト及び歩留まりの低減を実現できる。 As shown in FIG. 12, the adjacent second frames 54 do not come into contact with surfaces other than the concave and convex portions 762 and 763, and the tops of the convex portions 763 of the second frames 54 and the concave portions 762 of the other second frames 54. The height of the convex portion 763 is configured to be higher than the depth of the concave portion 762 so as to contact only with the bottom portion. By adopting such a structure, the contact portion between the second frames 54 can be made only the uneven portions at the front and rear ends of the second frame 54. As a result, the area where high dimensional accuracy and high surface accuracy are required can be reduced, and the processing cost and yield of the second frame 54 can be reduced. The fitting structure provided on the surface on the side where the second frames 54 are in contact with each other is the same as the fitting structure provided on the surface on the side where the first frames 53 are in contact with the first and second frames 53 and 54. This can also be applied to a fitting structure provided on the surface on the side to be joined, whereby the processing cost and the yield of the first and second frames 53 and 54 can be reduced.
　（第３実施形態）　
　第３実施形態に係る直動伸縮機構を構成する第１、第２コマ５３，５４は、第１実施形態のコマ同士の接する側の面に窪みをつける構造と第２実施形態のコマ同士の嵌め合い構造との二つの構造を備える。第３実施形態は、この二つの構造で第１コマ５３同士、第２コマ５４同士、及び第１、第２コマ５３、５４の接触面積の低減させることによる第１、第２コマ５３、５４の製造コストの低下を達成するものである。第３実施形態の第１、第２コマ５３，５４の基本構造は、第１実施形態と同一である。第１、第２コマ５３，５４が接合する側の面と第１コマ５３同士が接する側の面と第２コマ５４同士が接する側の面とに設けられる嵌め合い構造について説明する。図１３Ａ、図１３Ｂ、図１３Ｃは、第３実施形態に係る直動伸縮機構を構成する第１コマ５３の構造を示す図である。図１４Ａ、図１４Ｂ、図１４Ｃは、第３実施形態に係る直動伸縮機構を構成する第２コマ５４の構造を示す図である。図１５は、第３実施形態に係る直動伸縮機構を構成するアーム部５の構造を示す側面図である。 (Third embodiment)
The first and second frames 53 and 54 constituting the linear motion expansion / contraction mechanism according to the third embodiment have a structure in which the surface of the first embodiment in contact with each other is formed with a recess and the frames of the second embodiment. It has two structures with a fitting structure. In the third embodiment, the first and second frames 53 and 54 are obtained by reducing the contact areas of the first frames 53, the second frames 54, and the first and second frames 53 and 54 with these two structures. The reduction of the manufacturing cost is achieved. The basic structure of the first and second frames 53 and 54 of the third embodiment is the same as that of the first embodiment. The fitting structure provided on the surface where the first and second frames 53 and 54 are joined, the surface where the first frames 53 are in contact with each other, and the surface where the second frames 54 are in contact with each other will be described. FIG. 13A, FIG. 13B, and FIG. 13C are views showing the structure of the first frame 53 that constitutes the linear motion expansion / contraction mechanism according to the third embodiment. FIG. 14A, FIG. 14B, and FIG. 14C are views showing the structure of the second frame 54 that constitutes the linear motion expansion / contraction mechanism according to the third embodiment. FIG. 15 is a side view showing the structure of the arm portion 5 constituting the linear motion expansion / contraction mechanism according to the third embodiment.
　第３実施形態に係る直動伸縮機構を構成する第１コマ５３各々は、隣接する第１コマ５３に接する側の面に少なくとも一つの凹部を有し、前方又は後方に隣接する第１コマ５３に接する側の面に少なくとも一つの凸部を有し、後方又は前方に隣接する第１コマ５３に接する側の面に凸部を受ける少なくとも一つの他の凹部を有する。ここでは、第１コマ５３の本体部５３１の前端面に凹部８３２－１、８３２－２（以下、凹部８３３と総称する）が例えば切削加工により凹設され、第１コマ５３の軸受ブロック５３３の後端面に凸部８３３－１と凹部８３３－２とが例えば切削加工により設けられる。 Each of the first frames 53 constituting the linear motion expansion / contraction mechanism according to the third embodiment has at least one concave portion on the surface in contact with the adjacent first frame 53, and the first frame 53 adjacent to the front or rear. At least one convex portion is provided on the surface in contact with the first frame 53 and at least one other concave portion for receiving the convex portion is provided on the surface in contact with the first frame 53 adjacent to the rear or front side. Here, recesses 832-1 and 832-2 (hereinafter collectively referred to as recesses 833) are formed in the front end surface of the main body portion 531 of the first frame 53 by, for example, cutting, and the bearing block 533 of the first frame 53 is formed. A convex portion 833-1 and a concave portion 833-2 are provided on the rear end surface by, for example, cutting.
　凹部８３２は、断面矩形、典型的には等脚台形状の溝であり、第１コマ５３の幅方向（左右方向）と平行に、本体部５３１の前端面の全幅にわたって設けられる。凹部８３３の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部８３３の幅は例えば本体部５３１の前端面の厚みの１／５～４／５、好ましくは１／４である。凹部８３２－１，８３２－２は、本体部５３１の前端面の上下に離間して設けられる。凸部８３３－１は、凹部８３２－１に対して嵌合する断面形状を備える線状突起であり、第１コマ５３の幅方向と平行に、軸受ブロック５３３の後端面の全幅にわたって設けられる。凹部８３２－２は、断面矩形、典型的には等脚台形状の溝であり、第１コマ５３の幅方向（左右方向）と平行に、軸受ブロック５３３の後端面の全幅にわたって設けられる。凸部８３３－１は、隣接する第１コマ５３が直線的に配列されたとき、第１コマ５３の前端の凹部８３２－１に対して対峙する位置及び嵌合する寸法に設けられる。凹部８３３－２とは、隣接する第１コマ５３が直線的に配列されたとき、第１コマ５３の前端の凹部８３２－２に対して対峙する位置及び整合する寸法に設けられる。 The recess 832 is a groove having a rectangular cross section, typically an isosceles trapezoid, and is provided across the entire width of the front end surface of the main body 531 in parallel with the width direction (left-right direction) of the first frame 53. The depth of the recess 833 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 833 is, for example, 1/5 to 4/5, preferably 1/4 of the thickness of the front end surface of the main body 531. The recesses 832-1 and 832-2 are provided on the front end surface of the main body portion 531 so as to be spaced apart from each other. The convex portion 833-1 is a linear protrusion having a cross-sectional shape that fits into the concave portion 832-1 and is provided over the entire width of the rear end surface of the bearing block 533 in parallel with the width direction of the first frame 53. The recess 832-2 is a groove having a rectangular cross section, typically an isosceles trapezoid, and is provided across the entire width of the rear end surface of the bearing block 533 in parallel with the width direction (left-right direction) of the first frame 53. The convex portion 833-1 is provided at a position facing the concave portion 832-1 at the front end of the first frame 53 and a size to be fitted when the adjacent first frames 53 are linearly arranged. The concave portion 833-2 is provided at a position facing and aligned with the concave portion 832-2 at the front end of the first frame 53 when the adjacent first frames 53 are linearly arranged.
　これにより、図１３Ｄに示すように、隣接する第１コマ５３が直線状に配列された状態で、第１コマ５３の後方の凸部８３３－１が他の第１コマ５３の前方の凹部８３２－１に嵌め合わされ、第１コマ５３の後方の凹部８３３－２が他の第１コマ５３の前方の凹部８３２－２に対峙する。本体部５３１の前端面のうち凹部８３２の範囲を除いた最外表面と、軸受ブロック５３３の後端面のうち凸部８３３－１と凹部８３３－２との範囲を除いた最外表面とが互いに全域で接触し、凸部８３３－１の先端側の上下二つの角部と凹部８３２－１の上下の斜面とが二箇所で接触する。したがって、第１コマ５３同士が接触する接触面積は、第１コマ５３同士が接する側の面に上記の嵌め合い構造を設けない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１コマ５３の製造コストを低下させる事ができる。また、凸部８３３－１の上下の少なくとも二箇所が凹部７３２－１の上下の斜面に接触していることで、第１コマ５３の上下方向への動きが係止される。これによりアーム部５に発生する上下方向（アーム部５の厚み方向）の緩みが抑制され、アーム部５の直線性及び剛性の低下が抑制される。したがって、第１コマ５３同士の嵌め合い構造は、第１コマ５３の製造コストの低下とアーム部５の直線性及び剛性の低下の抑制とを同時に解決することができる。 As a result, as shown in FIG. 13D, with the adjacent first frames 53 arranged in a straight line, the convex portion 833-1 behind the first frame 53 becomes the concave portion 832 ahead of the other first frame 53. -1 and the recessed portion 833-2 on the rear side of the first frame 53 faces the recessed portion 832-2 on the front side of the other first frame 53. The outermost surface of the front end surface of the main body portion 531 excluding the range of the concave portion 832 and the outermost surface of the rear end surface of the bearing block 533 excluding the ranges of the convex portion 833-1 and the concave portion 833-2 are mutually connected. The contact is made in the entire region, and the upper and lower corners on the tip side of the convex portion 833-1 and the upper and lower slopes of the concave portion 832-1 are in contact at two locations. Therefore, the contact area where the first frames 53 are in contact with each other is smaller than the case where the fitting structure is not provided on the surface on the side where the first frames 53 are in contact with each other, and high dimensional accuracy and high surface accuracy are required. The area can be reduced. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first frame 53 can be reduced. In addition, the vertical movement of the first frame 53 is locked because at least two portions above and below the convex portion 833-1 are in contact with the upper and lower inclined surfaces of the concave portion 732-1. Thereby, the slack of the up-down direction (the thickness direction of the arm part 5) which generate | occur | produces in the arm part 5 is suppressed, and the linearity and rigidity reduction of the arm part 5 are suppressed. Therefore, the fitting structure between the first frames 53 can simultaneously solve the reduction in the manufacturing cost of the first frames 53 and the suppression of the linearity and rigidity of the arm portion 5.
　第１コマ５３と同様に、第２コマ５４各々も、隣接する第２コマ５４に接する側の面に少なくとも一つの凹部を有し、前方又は後方に隣接する第２コマ５４に接する側の面に少なくとも一つの凸部を有し、後方又は前方に隣接する第２コマ５４に接する側の面に凸部を受ける少なくとも一つの他の凹部を有する。ここでは、一対の側板５４０の前端面に複数の凹部８４２－１，８４２－２，８４２－３，８４２－４（以下、凹部８４２と総称する）が例えば切削加工により凹設され、後端面に凸部８４３－１，８４３－３と凹部８４３－２、８４３－４が例えば切削加工により設けられる。 Similarly to the first frame 53, each of the second frames 54 has at least one concave portion on the surface in contact with the adjacent second frame 54, and the surface on the side in contact with the second frame 54 adjacent to the front or rear. And at least one other concave portion that receives the convex portion on the surface in contact with the second frame 54 adjacent to the rear or front. Here, a plurality of recesses 842-1, 842-2, 842-3, and 842-4 (hereinafter collectively referred to as recesses 842) are provided in the front end surfaces of the pair of side plates 540, for example, by cutting, and are formed on the rear end surfaces. The convex portions 843-1 and 843-3 and the concave portions 843-2 and 843-4 are provided by cutting, for example.
　凹部８４２は、断面矩形、典型的には等脚台形状の窪みであり、第２コマ５４の幅方向（左右方向）と平行に、一対の側板５４０の前端面の全幅にわたって設けられる。凹部８４２の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部８４２の幅は例えば第２コマ５４の側板５４０の高さの１／５程度である。凹部８４２－１，８４２－２は、一方の側板５４０の前端面に上下に離間して設けられる。凹部８４２－３，８４２－４は、他方の側板５４０の前端面に上下に離間して設けられる。 The recess 842 is a recess having a rectangular cross section, typically an isosceles trapezoid, and is provided across the entire width of the front end surfaces of the pair of side plates 540 in parallel with the width direction (left-right direction) of the second frame 54. The depth of the recess 842 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 842 is, for example, about 1/5 of the height of the side plate 540 of the second frame 54. The recesses 842-1 and 842-2 are provided on the front end surface of one side plate 540 so as to be spaced apart from each other in the vertical direction. The recesses 842-3 and 842-4 are provided on the front end surface of the other side plate 540 so as to be separated from each other in the vertical direction.
　凸部８４３－１，８４３－３は、それぞれ凹部８４２－１，８４２－３に対して嵌合する断面形状を備える突起であり、第２コマ５４の幅方向と平行に、一対の側板５４０の後端面の全幅にわたって設けられる。凹部８４３－２，８４３－４は、断面矩形、典型的には等脚台形状の窪みであり、第２コマ５４の幅方向と平行に、一対の側板５４０の後端面の全幅にわたって設けられる。凸部８４３－１，８４３－３は、隣接する第２コマ５４が直線的に配列されたとき、第２コマ５４の前端の凹部８４２－１，８４２－３に対してそれぞれ対峙する位置及び嵌合する寸法に設けられる。凹部８４３－２，８４３－４は、隣接する第２コマ５４が直線的に配列されたとき、第２コマ５４の前端の凹部８４２－２，８４２－４に対してそれぞれ対峙する位置及び整合する寸法に設けられる。 The convex portions 843-1 and 843-3 are projections having cross-sectional shapes that fit into the concave portions 842-1 and 842-3, respectively, and are parallel to the width direction of the second frame 54 and are formed on the pair of side plates 540. It is provided over the entire width of the rear end face. The recesses 843-2 and 843-4 are depressions having a rectangular cross section, typically an isosceles trapezoidal shape, and are provided across the entire width of the rear end surfaces of the pair of side plates 540 in parallel with the width direction of the second frame 54. The protrusions 843-1 and 843-3 are positioned and fitted to face the recesses 842-1 and 842-3 at the front end of the second frame 54 when the adjacent second frames 54 are linearly arranged. It is provided in the size to match. The recesses 843-2 and 843-4 are respectively positioned and aligned with the recesses 842-2 and 842-4 at the front end of the second frame 54 when the adjacent second frames 54 are linearly arranged. Dimension is provided.
　これにより、図１４Ｄに示すように、隣接する第２コマ５４が直線状に配列された状態で、第２コマ５４の後方の凸部８４３－１が他の第２コマ５４の前方の凹部８４２－１に嵌め合わされ、第２コマ５４の後方の凹部８４３－２が他の第２コマ５４の前方の凹部８４２－２に対峙する。一対の側板５４０の前端面のうち凹部８４２の範囲を除いた最外表面と、一対の側板５４０の後端面のうち凸部８４３－１と凹部８４３－２との範囲を除いた最外表面とが互いに全域で接触し、凸部８４３－１の先端側の上下二つの角部と凹部８４２－１の上下の斜面とが二箇所で接触する。したがって、第２コマ５４同士が接触する接触面積は、第２コマ５４同士が接する側の面に上記の嵌め合い構造を設けない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第２コマ５４の製造コストを低下させる事ができる。また、凸部８４３－１の上下の角部が凹部８３２－１の上下の斜面に接触していることで、第２コマ５４の上下方向への動きが係止される。これによりアーム部５に発生する上下方向（アーム部５の厚み方向）の緩みが抑制され、アーム部５の直線性及び剛性の低下が抑制される。したがって、第２コマ５４同士の嵌め合い構造は、第２コマ５４の製造コストの低下とアーム部５の直線性及び剛性の低下の抑制とを同時に解決することができる。 As a result, as shown in FIG. 14D, in the state where the adjacent second frames 54 are linearly arranged, the convex portion 843-1 behind the second frame 54 becomes the concave portion 842 ahead of the other second frame 54. -1 and the recess 843-2 on the rear side of the second frame 54 is opposed to the recess 842-2 on the front side of the other second frame 54. An outermost surface of the front end surfaces of the pair of side plates 540 excluding the range of the recesses 842, and an outermost surface of the rear end surfaces of the pair of side plates 540 excluding the ranges of the projections 843-1 and the recesses 843-2. Are in contact with each other over the entire region, and the upper and lower corners on the tip side of the convex portion 843-1 and the upper and lower inclined surfaces of the concave portion 842-1 are in contact with each other at two locations. Therefore, the contact area where the second frames 54 contact each other is smaller than the case where the fitting structure is not provided on the surface on the side where the second frames 54 are in contact with each other, and high dimensional accuracy and high surface accuracy are required. The area can be reduced. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the second frame 54 can be reduced. Further, since the upper and lower corners of the convex portion 843-1 are in contact with the upper and lower inclined surfaces of the concave portion 832-1, the movement of the second frame 54 in the vertical direction is locked. Thereby, the slack of the up-down direction (the thickness direction of the arm part 5) which generate | occur | produces in the arm part 5 is suppressed, and the linearity and rigidity reduction of the arm part 5 are suppressed. Therefore, the fitting structure between the second frames 54 can simultaneously solve the reduction in the manufacturing cost of the second frame 54 and the suppression of the linearity and rigidity of the arm portion 5.
　さらに、第３実施形態では、第１、第２コマ５３，５４の一方は、他方に接合する側の面に少なくとも一つの凹部を有し、第１、第２コマ５３，５４の一方は、他方に接合する側の面に少なくとも一つの凸部を有し、記第１、第２コマ５３，５４の他方は一方に接合する側の面に凸部を受ける少なくとも一つの他の凹部を有する。ここでは、第１コマ５３の第２コマ５４に接合する側の面に、複数の凸部８３１－１，８３１－３と複数の凹部８３１－２，８３１－４が例えば切削加工により設けられ、第２コマ５４の第１コマ５３に接合する側の面に、複数の凹部８４１－１，８４１－２，８４１－３，８４１－４（以下、凹部８４１と総称する）が例えば切削加工により凹設される。 Further, in the third embodiment, one of the first and second pieces 53 and 54 has at least one concave portion on the surface to be joined to the other, and one of the first and second pieces 53 and 54 has At least one convex portion is provided on the surface to be joined to the other, and the other of the first and second pieces 53 and 54 has at least one other concave portion for receiving the convex portion on the surface to be joined to one side. . Here, a plurality of convex portions 831-1 and 831-3 and a plurality of concave portions 831-2 and 831-4 are provided on the surface of the first frame 53 on the side to be joined to the second frame 54, for example, by cutting, A plurality of recesses 841-1, 841-2, 841-3, 841-4 (hereinafter collectively referred to as recesses 841) are formed on the surface of the second frame 54 on the side to be joined to the first frame 53 by, for example, cutting. Established.
　凹部８４１は、断面矩形、典型的には等脚台形状の窪みであり、第２コマ５４の幅方向と平行に、第２コマ５４の一対の側板５４０の上端面の全幅にわたって設けられる。凹部８４１の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部８４１の幅は例えば第２コマ５４の長さの１／５程度である。凹部８４１－１，８４１－３は、一対の側板５４０の上端面の前後の中央よりも前方に設けられる。凹部８４１－２，８４１－４は、一対の側板５４０の上端面の前後の中央よりも後方に設けられる。 The recess 841 is a recess having a rectangular cross section, typically an isosceles trapezoid, and is provided across the entire width of the upper end surfaces of the pair of side plates 540 of the second frame 54 in parallel with the width direction of the second frame 54. The depth of the recess 841 is shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The width of the recess 841 is, for example, about 1/5 of the length of the second frame 54. The recesses 841-1 and 841-3 are provided in front of the front and rear centers of the upper end surfaces of the pair of side plates 540. The recesses 841-2 and 841-4 are provided behind the front and rear centers of the upper end surfaces of the pair of side plates 540.
　凸部８３１－１，８３１－３は、それぞれ凹部８４１－２，８４１－３に対して嵌合する断面形状を備える突起であり、第１コマ５３の幅方向と平行に、第１コマ５３の背面の両側の縁部の全幅にわたって設けられる。凸部８３１－１、８３１－３は、第１、第２コマ５３，５４が接合した状態で、第２コマ５４の凹部８４１－２，８４１－４に対して対峙する位置及び嵌合する寸法に設けられる。 The protrusions 831-1 and 831-3 are protrusions having cross-sectional shapes that fit into the recesses 841-2 and 841-3, respectively, and are parallel to the width direction of the first frame 53. It is provided over the entire width of the edge on both sides of the back surface. The convex portions 831-1 and 831-3 are opposed to and fitted to the concave portions 841-2 and 841-4 of the second frame 54 in a state where the first and second frames 53 and 54 are joined. Is provided.
　凹部８３１－２，８３１－４は、断面矩形、典型的には等脚台形状の窪みであり、第１コマ５３の幅方向（左右方向）と平行に、第１コマ５３の背面の両側の縁部の全幅にわたって設けられる。凹部８３１－２，８３１－４の深さは対象面に対して接触しない程度に浅く、例えば１ｍｍ又はそれ未満で構わない。凹部８３１－２，８３１－４は、第１、第２コマ５３，５４が接合したとき、第２コマ５４の凹部８４１－２、８４１－４に対して整合し対峙する位置及び寸法に設けられる。 The recesses 831-2 and 831-4 are depressions having a rectangular cross section, typically an isosceles trapezoidal shape, parallel to the width direction (left-right direction) of the first frame 53 and on both sides of the back surface of the first frame 53. It is provided over the entire width of the edge. The depths of the recesses 831-2 and 831-4 are shallow enough not to contact the target surface, and may be, for example, 1 mm or less. The recesses 831-2 and 831-4 are provided at positions and dimensions that align with and face the recesses 841-2 and 841-4 of the second frame 54 when the first and second frames 53 and 54 are joined. .
　これにより、図１５に示すように、第１、第２コマ５３，５４が接合した状態で、第１コマ５３の凸部８３１－１、８３１－３が第２コマ５４の凹部８４１－２，８４１－４にそれぞれ嵌め合わされ、第１コマ５３の凹部８３１－２，８３１－４が第２コマ５４の凹部８４１－１、８４１－３にそれぞれ対峙する。第２コマ５４の一対の側板５４０の上端面のうち凹部８４１の範囲を除いた最外表面と、第１コマ５３の背面両側の縁部のうち凸部８３１－１、８３１－３と凹部８３１－２、８３１－４との範囲を除いた最外表面とが互いに全域で接触し、凸部８３１－１、８３１－３の先端側の前後二つの角部と凹部８４１－２，８４１－４の前後の斜面とがそれぞれ二箇所で接触する。したがって、第１、第２コマ５３，５４が接触する接触面積は、第１、第２コマ５３，５４の接する側の面に上記の嵌め合い構造を設けない場合に比べて小さく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１、第２コマ５３、５４の製造コストを低下させる事ができる。また、凸部８３１－１，８３１－３の前後の角部が凹部８４１－２，８４１－４の前後の斜面に接触していることで、第１、第２コマ５３，５４の互いの前後方向への動きが係止される。これによりアーム部５に発生する前後方向（アーム部５の長さ方向）の緩みが抑制され、アーム部５の直線性及び剛性の低下が抑制される。したがって、第１、第２コマ５３，５４の嵌め合い構造は、第１、第２コマ５３，５４の製造コストの低下とアーム部５の直線性及び剛性の低下の抑制とを同時に解決することができる。 As a result, as shown in FIG. 15, in the state where the first and second frames 53 and 54 are joined, the convex portions 831-1 and 831-3 of the first frame 53 become the concave portions 841-2 and 841-2 of the second frame 54. 841-4 are respectively fitted, and the recesses 831-2 and 831-4 of the first frame 53 face the recesses 841-1 and 841-3 of the second frame 54, respectively. Of the upper end surfaces of the pair of side plates 540 of the second frame 54, the outermost surface excluding the range of the recess 841 and the protrusions 831-1 and 831-3 and the recess 831 among the edges on both sides of the back surface of the first frame 53. -2, 831-4, and the outermost surface except for the range, are in contact with each other over the entire area, and the front and rear corners of the convex portions 831-1 and 831-3 and the concave portions 841-2 and 841-4. The front and back slopes are in contact at two locations. Therefore, the contact area where the first and second frames 53 and 54 come into contact with each other is smaller than that in the case where the fitting structure is not provided on the surface on the side where the first and second frames 53 and 54 are in contact, and the dimensional accuracy is high. In addition, the area where high surface accuracy is required can be reduced. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first and second frames 53 and 54 can be reduced. Further, since the front and rear corners of the convex portions 831-1 and 831-3 are in contact with the front and rear inclined surfaces of the concave portions 841-2 and 841-4, the first and second frames 53 and 54 are mutually front and rear. Directional movement is locked. As a result, the looseness in the front-rear direction (the length direction of the arm portion 5) generated in the arm portion 5 is suppressed, and the linearity and rigidity of the arm portion 5 are suppressed from being lowered. Therefore, the fitting structure of the first and second frames 53 and 54 simultaneously solves the reduction in manufacturing cost of the first and second frames 53 and 54 and the suppression of the linearity and rigidity of the arm portion 5. Can do.
　（第４実施形態）　
第１、第２コマ５３，５４の製造コストの観点からは、第１コマ５３同士の接合箇所、第２コマ５４同士の接合箇所、さらに第１、第２コマ５３，５４の互いの接合箇所は少ないほど好ましい。その上でこれらの接合状態を安定させる必要がある。第１、第２コマ５３，５４の間は少なくとも三点で接合させ、第１コマ５３同士は少なくとも一点で接合させ、第２コマ５４同士も少なくとも一点で接合させる。ここでは第１、第２コマ５３，５４の間の少なくとも三点による接合構造を説明するが、第１コマ５３同士、第２コマ５４同士の少なくとも一点での接合構造も同等であるので説明を省略する。 (Fourth embodiment)
From the viewpoint of the manufacturing cost of the first and second frames 53, 54, the joint location between the first frames 53, the joint location between the second frames 54, and the joint location between the first and second frames 53, 54 are also shown. Is less preferable. In addition, it is necessary to stabilize these joining states. The first and second frames 53 and 54 are joined at at least three points, the first frames 53 are joined at at least one point, and the second frames 54 are also joined at at least one point. Here, the joining structure by at least three points between the first and second frames 53 and 54 will be described, but the joining structure at at least one point between the first frames 53 and the second frames 54 is also equivalent. Omitted.
　第４実施形態に係る直動伸縮機構は、第１、第２コマ５３，５４の接合状態を安定させた上で、第１、第２コマ５３，５４の製造コストを低減させる。具体的には、第１、第２コマ５３，５４の一方には他方に接合する側の面に少なくとも三つの凸部が分散配置される。これら少なくとも三つの凸部は、第１、第２コマ５３，５４の他方の接合面（平面）に当接することにより第１、第２コマ５３，５４が接合する。ここでは、第１コマ５３の第２コマ５４に接合する側の面に３つの凸部が設けられる。 The linear motion expansion / contraction mechanism according to the fourth embodiment reduces the manufacturing cost of the first and second frames 53 and 54 while stabilizing the joining state of the first and second frames 53 and 54. Specifically, at least three convex portions are dispersedly arranged on one side of the first and second pieces 53 and 54 on the side to be joined to the other. The at least three protrusions are brought into contact with the other joining surfaces (planes) of the first and second pieces 53 and 54 so that the first and second pieces 53 and 54 are joined. Here, three convex portions are provided on the surface of the first frame 53 on the side to be joined to the second frame 54.
　第４実施形態では、第１コマ５３の第２コマ５４に接合する側の面に、複数、ここでは３つの凸部９３１－１、９３１－２、９３１－３（以下、凸部９３１と総称する）が例えば切削加工により凸設される。図１６Ａ、図１６Ｂ、図１６Ｃは、第４実施形態に係る直動伸縮機構を構成する第１コマ５３の構造を示す図である。図１７Ａ、図１７Ｂ、図１７Ｃは、第４実施形態に係る直動伸縮機構を構成する第２コマ５４の構造を示す図である。図１８は、第４実施形態に係る直動伸縮機構を構成するアーム部５の構造を示す側面図である。 In the fourth embodiment, a plurality of, here, three convex portions 931-1, 931-2, 931-3 (hereinafter collectively referred to as convex portions 931) are formed on the surface of the first frame 53 on the side to be joined to the second frame 54. For example, by a cutting process. FIG. 16A, FIG. 16B, and FIG. 16C are diagrams showing the structure of the first frame 53 that constitutes the linear motion expansion / contraction mechanism according to the fourth embodiment. FIG. 17A, FIG. 17B, and FIG. 17C are views showing the structure of the second frame 54 that constitutes the linear motion expansion / contraction mechanism according to the fourth embodiment. FIG. 18 is a side view showing the structure of the arm portion 5 constituting the linear motion expansion / contraction mechanism according to the fourth embodiment.
　第４実施形態は第１、第２コマ５３、５４が接合する側の表面の形状が第１実施形態のそれとは異なる。第４実施形態の第１、第２コマ５３，５４の基本構造は、第１実施形態の第１コマ５３の背面のリニアギア５３９が、第２コマ５４の一対の側板５４０の表面（アーム部５の左側面と右側面）に装備されている点を除き、第１実施形態と同一である。このとき、第２コマ５４のリニアギア９４９に噛み合わされるドライブギア（図示しない）は、第２コマ５４の移動経路、典型的にはローラユニット５８の左側面と右側面とに設けられる。 In the fourth embodiment, the shape of the surface on the side where the first and second frames 53 and 54 are joined is different from that of the first embodiment. The basic structure of the first and second pieces 53 and 54 of the fourth embodiment is that the linear gear 539 on the back surface of the first piece 53 of the first embodiment is the surface of the pair of side plates 540 of the second piece 54 (the arm portion 5). The left side surface and the right side surface) are the same as those in the first embodiment except that they are equipped. At this time, a drive gear (not shown) meshed with the linear gear 949 of the second frame 54 is provided on the moving path of the second frame 54, typically on the left side surface and the right side surface of the roller unit 58.
　図１６Ａ、図６Ｂ、図１６Ｃに示すように、少なくとも３つの凸部９３１は、第１コマ５３が第２コマ５４に対して接合する側の面に分散配置される。凸部９３１は、断面矩形、典型的には断面が等脚台形状の突起である。凸部９３１－１は、第１コマ５３の前後の中央よりも前方であって、第１コマ５３の背面の幅中央に設けられる。凸部９３１－２，９３１－３は、第１コマ５３の前後の中央よりも後方であって、第１コマ５３の幅方向と平行に、第１コマ５３の背面の両側の縁部の全幅にわたって設けられる。図１７Ａ、図１７Ｂ、図１７Ｃに示すように、第２コマ５４の一対の側板５４０の間に、凸部９３１－１を受ける柱状の梁部９４１が架設される。 16A, FIG. 6B, and FIG. 16C, at least three convex portions 931 are distributed and arranged on the surface on the side where the first frame 53 is joined to the second frame 54. The protrusion 931 is a protrusion having a rectangular cross section, typically an isosceles trapezoidal cross section. The convex portion 931-1 is provided in front of the front and rear centers of the first frame 53 and at the center of the width of the back surface of the first frame 53. The convex portions 931-2 and 931-3 are rearward of the front and rear centers of the first frame 53, and are parallel to the width direction of the first frame 53, and have full widths at both edges on the back surface of the first frame 53. Provided. As shown in FIGS. 17A, 17B, and 17C, a columnar beam portion 941 that receives the convex portion 931-1 is installed between the pair of side plates 540 of the second frame 54.
　図１８に示すように、第１、第２コマ５３，５４が接合した状態で、第１コマ５３の背面（アーム部５の内側）の前方の凸部９３１－１が第２コマ５４の梁部９４１の側面に当接し、第１コマ５３の背面の後方の凸部９３１－２，９３１－３が、第２コマ５４の側板５４０の上面にそれぞれ当接する。したがって、第１、第２コマ５３，５４が接触する接触面積は、凸部９３１の頂部とそれを受ける面部分に限定させる事ができ、その部分だけに高精度加工を施せばよく、高い寸法精度及び高い面精度が要求される面積を減少することができる。それにより加工コスト及び歩留まりの低減が実現され、第１、第２コマ５３、５４の製造コストを低下させる事ができる。また、第１、第２コマ５３，５４の接合箇所を３点確保することで、第１、第２コマ５３，５４の接合状態を安定させることができる。 As shown in FIG. 18, in the state where the first and second frames 53 and 54 are joined, the front convex portion 931-1 on the back surface of the first frame 53 (inside the arm portion 5) is the beam of the second frame 54. The protrusions 931-2 and 931-3 on the rear surface of the first frame 53 are in contact with the upper surface of the side plate 540 of the second frame 54. Therefore, the contact area where the first and second frames 53 and 54 come into contact can be limited to the top of the convex portion 931 and the surface portion that receives the convex portion 931. The area where high accuracy and high surface accuracy are required can be reduced. Thereby, the processing cost and the yield can be reduced, and the manufacturing cost of the first and second frames 53 and 54 can be reduced. In addition, by securing three joint portions of the first and second frames 53 and 54, the joint state of the first and second frames 53 and 54 can be stabilized.
　図１９に示すように、第１コマ５３の背面の凸部９３１を第２コマ５４の梁部９４１と側板５４０それぞれの面で受けていたが、第１コマ５３の背面の３つの凸部９３１－１，９３１－２，９３１－３を受ける受け部として、第２コマ５４の第１コマ５３に接合する側の面に３つの凸部９４２－１，９４２－２，９４２－３（以下、凸部９４２と総称する）が設けられてもよい。凸部９４２－１は、第２コマ５４の梁部９４１の前後の中央、つまり第２コマ５４の幅中央に設けられる。凸部９４２－２，９４２－３は、側板５４０の上端面の前方に設けられる。第２コマ５４の凸部９４２－１，９４２－２，９４２－３は、第１、第２コマ５３，５４が接合した状態で、それぞれ第１コマ５３の凸部９３１－１，９３１－２，９３１－３に対峙する位置に設けられる。これにより、図１９に示すように、第１、第２コマ５３，５４が接合した状態で、第１コマ５３の下面（背面）の凸部９３１の先端面と、第２コマ５４の上面の凸部９４２とが互いに接触する。第１、第２コマ５３，５４が接触する接触面積は、第１コマ５３の背面の３つの凸部９３１－１，９３１－２，９３１－３の頂部と、第２コマ５４の３つの凸部９４２－１，９４２－２，９４２－３の頂部とに限定する事ができ、その部分だけに高精度加工を施せばよく、加工コスト及び歩留まりの低減を実現し、第１、第２コマ５３、５４の製造コストを低下させる事ができる。 As shown in FIG. 19, the convex portion 931 on the back surface of the first frame 53 is received by the surfaces of the beam portion 941 and the side plate 540 of the second frame 54, but the three convex portions 931 on the back surface of the first frame 53. -1, 931-2, 931-3 as receiving portions, three convex portions 942-1, 942-2, 942-3 (hereinafter, referred to as “surfaces”) are provided on the surface of the second frame 54 that is joined to the first frame 53. (Collectively referred to as a convex portion 942) may be provided. The convex portion 942-1 is provided at the center of the second frame 54 before and after the beam portion 941, that is, at the width center of the second frame 54. The convex portions 942-2 and 942-3 are provided in front of the upper end surface of the side plate 540. The convex portions 942-1, 942-2, and 942-3 of the second frame 54 are the convex portions 931-1 and 931-2 of the first frame 53, respectively, in a state where the first and second frames 53 and 54 are joined. , 931-3. As a result, as shown in FIG. 19, with the first and second frames 53 and 54 joined, the tip surface of the convex portion 931 on the lower surface (back surface) of the first frame 53 and the upper surface of the second frame 54. The convex portions 942 are in contact with each other. The contact area where the first and second frames 53 and 54 contact each other is such that the tops of the three protrusions 931-1, 931-2 and 931-3 on the back surface of the first frame 53 and the three protrusions of the second frame 54 Can be limited to the tops of the portions 942-1, 942-2, and 942-3, and it is only necessary to perform high-precision machining only on those portions, realizing reduction in machining cost and yield, and the first and second frames. The manufacturing cost of 53 and 54 can be reduced.
　なお、第４実施形態では、第１コマ５３の第２コマ５４に接合する側の面に３つの凸部９３１－１、９３１－２、９３１－３を設けて、第２コマ５４の梁部９４１の側面上部中央の平面部分、第２コマ５４の一対の側板５４０の上面にそれぞれ当接するものであった。しかし第１、第２コマ５３、５４はそれぞれヒンジ部で屈曲自在に連結されており、直交２軸の動きは制限され、その回転軸を中心とした屈曲方向の動きのみ許可されており、従って屈曲方向の動きのみを係止すればよく、したがって３つの凸部９３１－１、９３１－２、９３１－３のいずれか一つにより一箇所（一点）のみで第２コマ５４と接触すれば、第１、第２コマ５３、５４の間の安定した接合状態を確保可能である。好ましくは図２０Ａ、図２０Ｂ、図２０Ｃに示すように第１コマ５３はその前方であって幅方向中央に配置されている凸部９３１－１のみ備え、後方の両側の２つの凸部９３１－２、９３１－３を備えない。凸部９３１－１は第２コマ５４の後方の梁部９４１の略中央の平面部分に当接する。 In the fourth embodiment, three convex portions 931-1, 931-2, 931-3 are provided on the surface of the first frame 53 on the side to be joined to the second frame 54, and the beam portion of the second frame 54 is provided. 941 and the upper surface of the pair of side plates 540 of the second frame 54, respectively. However, the first and second frames 53 and 54 are connected to each other by a hinge part so as to be bent, and the movement of the two orthogonal axes is restricted, and only the movement in the bending direction around the rotation axis is permitted. It is only necessary to lock the movement in the bending direction. Therefore, if the second frame 54 is brought into contact with only one point (one point) by any one of the three convex portions 931-1, 931-2, 931-3, A stable joint state between the first and second frames 53 and 54 can be ensured. Preferably, as shown in FIGS. 20A, 20B, and 20C, the first frame 53 includes only a convex portion 931-1 that is disposed in front and in the center in the width direction, and has two convex portions 931 on both sides on the rear side. 2, 931-3 is not provided. The convex portion 931-1 abuts on a substantially central plane portion of the beam portion 941 behind the second frame 54.
　伸張時には直線的に配列された第１コマ５３に、その下方から第２コマ５４が前方のヒンジ部の回動を伴って接近し、最終的にその前方のヒンジ部から遠い当該第２コマ５４の後方の梁部９４１の略中央の平面部分が、第１コマ５３の前方の凸部９３１－１に当接する。前方のヒンジ部を中心とした回転が、それから遠い後方の梁部９４１の略中央の平面部分が第１コマ５３の前方の凸部９３１－１に当接することで係止されるので、第１コマ５３に対して第２コマ５４を安定状態で接合させることができる。 At the time of extension, the second frame 54 approaches the first frame 53 arranged linearly from the lower side with the rotation of the front hinge part from the lower side, and finally the second frame 54 far from the front hinge part. The plane portion at the substantially center of the rear beam portion 941 abuts on the convex portion 931-1 in front of the first frame 53. The rotation around the front hinge portion is locked by the substantially central plane portion of the rear beam portion 941 far from it coming into contact with the front convex portion 931-1 of the first frame 53. The second frame 54 can be joined to the frame 53 in a stable state.
　本発明のいくつかの実施形態を説明したが、これらの実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。これら実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれると同様に、特許請求の範囲に記載された発明とその均等の範囲に含まれるものである。 Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.
　５…アーム部、５３…第１コマ、５４…第２コマ、５５…結合コマ、５３１…本体部、５３２…支持ブロック、５３３…軸受ブロック、５３４、５３５…軸孔、５３６…ピンホールブロック、５３７…ピンホール、５３９…リニアギア、６３１－１，６３１－２、６３１－３，６３１－４、６３２，６３３…凹部。 5 ... arm portion, 53 ... first frame, 54 ... second frame, 55 ... coupling piece, 531 ... main body, 532 ... support block, 533 ... bearing block, 534, 535 ... shaft hole, 536 ... pinhole block, 537: Pinhole, 539: Linear gear, 631-1, 631-2, 631-3, 631-4, 632, 633 ... Recess.

Claims (14)

  1. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１、第２コマの少なくとも一方は他方に接合する側の面に少なくとも一つの凹部を有することを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    A linear motion expansion / contraction mechanism, wherein at least one of the first and second frames has at least one concave portion on a surface joined to the other.
  2. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１コマ各々は互いに接する側の面に少なくとも一つの凹部を有することを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    Each of the first frames has at least one concave portion on a surface in contact with each other.
  3. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第２コマ各々は互いに接する側の面に少なくとも一つの凹部を有することを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    Each of the second frames has at least one concave portion on a surface in contact with each other.
  4. 　前記凹部は台形形状を有することを特徴とする請求項１乃至３のいずれか一項記載の直動伸縮機構。 The linear motion expansion / contraction mechanism according to any one of claims 1 to 3, wherein the concave portion has a trapezoidal shape.
  5. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１、第２コマの一方は他方に接合する側の面に少なくとも一つの凸部を有し、
    　前記第１、第２コマの他方は一方に接合する側の面に前記凸部を受ける少なくとも一つの凹部を有することを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    One of the first and second frames has at least one convex portion on the surface to be joined to the other,
    A linear motion expansion / contraction mechanism, wherein the other of the first and second frames has at least one concave portion for receiving the convex portion on a surface joined to one side.
  6. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１コマ各々は互いに接する側の面に少なくとも一つの凸部と前記凸部を受ける少なくとも一つの凹部を有することを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    Each of the first frames has at least one convex portion and at least one concave portion for receiving the convex portion on the surfaces in contact with each other.
  7. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第２コマ各々は互いに接する側の面に少なくとも一つの凸部と前記凸部を受ける少なくとも一つの凹部を有することを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    Each of the second frames has at least one convex portion and at least one concave portion for receiving the convex portion on a surface in contact with each other.
  8. 　前記凸部は前記凹部に対して少なくとも一点において接することを特徴とする請求項５乃至７のいずれか一項記載の直動伸縮機構。 The linear motion expansion / contraction mechanism according to any one of claims 5 to 7, wherein the convex portion is in contact with the concave portion at at least one point.
  9. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１コマの前記第２コマに接合する側の面には少なくとも一つの第1凸部が配置され、
    　前記第２コマの前記第１コマに接合する側の面には前記第1凸部に当接する少なくとも一つの第２凸部が配置されることを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    At least one first convex portion is disposed on a surface of the first frame that is joined to the second frame,
    The linear motion expansion / contraction mechanism, wherein at least one second convex portion that abuts on the first convex portion is disposed on a surface of the second top that is to be joined to the first top.
  10. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１コマは凸部どうしの当接により屈曲を係止されることを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    The linear motion expansion / contraction mechanism, wherein the first frame is bent by abutment between convex portions.
  11. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第２コマは凸部どうしの当接により屈曲を係止されることを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    The linear motion expansion / contraction mechanism, wherein the second frame is bent by abutment between convex portions.
  12. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１、第２コマの一方の他方に接合する側の面には、前記第１、第２コマの他方の接合面に当接する少なくとも一つの凸部が配置されることを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    At least one convex portion that contacts the other joint surface of the first and second frames is disposed on the surface that is joined to the other one of the first and second frames. Dynamic expansion and contraction mechanism.
  13. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第１コマは凸部と面との当接により屈曲を係止されることを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    The linear motion expansion / contraction mechanism, wherein the first frame is bent by abutment between a convex portion and a surface.
  14. 　互いに前後端面において屈曲可能に連結される平板形状の複数の第１コマと、
    　互いに底部の前後端面において屈曲可能に連結される溝枠形状の複数の第２コマと、前記第１、第２コマは互いに接合されたとき直線状に硬直し、前記第１、第２コマは互いに分離されたとき屈曲状態に復帰し、
    　前記複数の第１コマの先頭と前記複数の第２コマの先頭とを結合する結合部と、
    　前記第１、第２コマを前後移動自在に支持するとともに、前記第１、第２コマが前方に移動するとき前記第１、第２コマを接合させ、前記第１、第２コマが後方に移動するとき前記第１、第２コマを分離させる支持機構部とを具備し、
    　前記第２コマは凸部と面との当接により屈曲を係止されることを特徴とする直動伸縮機構。     A plurality of plate-shaped first pieces that are connected to bendable at the front and rear end surfaces;
    A plurality of groove-frame-shaped second pieces that are connected to bendable at the front and rear end surfaces of the bottom part, and the first and second pieces are straightened when joined together, and the first and second pieces are Returns to the bent state when separated from each other,
    A coupling unit coupling the tops of the plurality of first frames and the tops of the plurality of second frames;
    The first and second frames are supported so as to be movable back and forth, and when the first and second frames move forward, the first and second frames are joined, and the first and second frames are moved backward. A support mechanism for separating the first and second frames when moving,
    A linear motion expansion / contraction mechanism, wherein the second frame is bent by abutment between a convex portion and a surface.
PCT/JP2017/022872 2016-06-23 2017-06-21 Linear-motion expansion/contraction mechanism WO2017221982A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016124904A JP2019143641A (en) 2016-06-23 2016-06-23 Linear-moving expansion mechanism
JP2016-124904 2016-06-23

Publications (1)

Publication Number Publication Date
WO2017221982A1 true WO2017221982A1 (en) 2017-12-28

Family

ID=60783271

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/022872 WO2017221982A1 (en) 2016-06-23 2017-06-21 Linear-motion expansion/contraction mechanism

Country Status (3)

Country Link
JP (1) JP2019143641A (en)
TW (1) TW201801874A (en)
WO (1) WO2017221982A1 (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62113315A (en) * 1985-11-12 1987-05-25 財団法人鉄道総合技術研究所 Circuit breaker cubicle
JPH0620238A (en) * 1992-06-30 1994-01-28 Canon Inc Rotary drum supporting base
JPH07305727A (en) * 1994-05-10 1995-11-21 Ngk Spark Plug Co Ltd Ceramic solid roller and manufacture thereof
JP2005326002A (en) * 2004-04-02 2005-11-24 Fag Kugelfischer Ag Ceramic rolling element for rolling bearing
WO2011152265A1 (en) * 2010-05-31 2011-12-08 独立行政法人産業技術総合研究所 Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism
JP2013113982A (en) * 2011-11-28 2013-06-10 Kyocera Document Solutions Inc Polygon motor unit, and optical scanner and image forming apparatus including the same
WO2015137171A1 (en) * 2014-03-14 2015-09-17 ライフロボティクス株式会社 Extensible arm mechanism and robot arm

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS62113315A (en) * 1985-11-12 1987-05-25 財団法人鉄道総合技術研究所 Circuit breaker cubicle
JPH0620238A (en) * 1992-06-30 1994-01-28 Canon Inc Rotary drum supporting base
JPH07305727A (en) * 1994-05-10 1995-11-21 Ngk Spark Plug Co Ltd Ceramic solid roller and manufacture thereof
JP2005326002A (en) * 2004-04-02 2005-11-24 Fag Kugelfischer Ag Ceramic rolling element for rolling bearing
WO2011152265A1 (en) * 2010-05-31 2011-12-08 独立行政法人産業技術総合研究所 Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism
JP2013113982A (en) * 2011-11-28 2013-06-10 Kyocera Document Solutions Inc Polygon motor unit, and optical scanner and image forming apparatus including the same
WO2015137171A1 (en) * 2014-03-14 2015-09-17 ライフロボティクス株式会社 Extensible arm mechanism and robot arm

Also Published As

Publication number Publication date
TW201801874A (en) 2018-01-16
JP2019143641A (en) 2019-08-29

Similar Documents

Publication Publication Date Title
WO2017208872A1 (en) Linear expansion/contraction mechanism
WO2017170306A1 (en) Linear extension/retraction mechanism and robot arm mechanism
WO2016084943A1 (en) Robot arm mechanism
US20110064554A1 (en) Robot manipulator and robot system
US10800046B2 (en) Linear extension and retraction mechanism, and robot arm mechanism equipped with same
US20180207812A1 (en) Linear extension-retraction mechanism
JP6443875B2 (en) Robot arm mechanism
US10800047B2 (en) Robot arm mechanism and rotary joint apparatus
KR20170086535A (en) Robot arm mechanism
WO2017170301A1 (en) Linear extension/retraction mechanism and robot arm mechanism
WO2017150319A1 (en) Direct-acting extension/retraction mechanism, and robot arm mechanism
WO2017221982A1 (en) Linear-motion expansion/contraction mechanism
WO2017208870A1 (en) Linear expansion/contraction mechanism
US10150217B2 (en) Tool adapter for robot wrist and robot with tool adapter attached thereto
JPWO2017170304A1 (en) Torsional rotation joint mechanism, robot arm mechanism and cantilever rotation mechanism
WO2018052143A1 (en) Linear extension/retraction mechanism and robot arm mechanism
WO2017188406A1 (en) Rotary joint mechanism
WO2017150316A1 (en) Robot arm mechanism, and direct-acting extension/retraction mechanism
US20180372194A1 (en) Robot arm mechanism and linear extension and retraction mechanism
JP6573417B2 (en) Linear motion expansion / contraction mechanism
US20230331156A1 (en) Actuator, rear view device and vehicle
JP2018071704A (en) Linear motion expansion and contraction mechanism, and robot arm mechanism with the same
JP2017132026A (en) Robot arm mechanism
JP6765251B2 (en) Industrial robot
WO2018025726A1 (en) Robot arm mechanism

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17815450

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17815450

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP