Connecting rod structure

Abstract

A connecting rod structure (1) comprises: a first connecting rod (2); a member to be moved (housing) (3), which is arranged inside the first connecting rod (2) and can move inside the first connecting rod (2); a moving mechanism (4), which is fixed to the first connecting rod (2) and can move the member to be moved (3) in a moving direction along the first connecting rod (2) according to the power of a power unit; and an acting part (6), which is arranged in the member to be moved (3) and acts on the movement of a second connecting rod (8) installed on the first connecting rod (2).

Description

Technical Field

[0001] The present disclosure relates to a connecting rod structure. Background Art

[0002] Link structures are used for joints such as knees and elbows of robots. Patent Document 1 discloses a medical support arm device including an arm composed of a plurality of links.

[0003] Reference List

[0004] Patent Literature

[0005] Patent Document 1: JP 2018-75121A Summary of the Invention

[0006] Technical issues

[0007] However, in the conventional technology described above, when the links of the rotary joints of the knees and elbows of the robot are driven by the linear motion mechanism, the links are placed under load. Therefore, it is desirable to reduce the load caused by driving the links.

[0008] Therefore, the present disclosure proposes a connecting rod structure capable of reducing a load caused in response to driving of the connecting rod.

[0009] Solution to the problem

[0010] In order to solve the above problems, a connecting rod structure includes: a first connecting rod; a target component to be moved, which is arranged inside the first connecting rod and can move inside the first connecting rod; a moving mechanism, which is fixed to the first connecting rod, and the moving mechanism is configured to move the target component to be moved in a moving direction along the first connecting rod in response to the power of the power part; and an acting part, which is provided to the target component to be moved, and the acting part is configured to act on the movement of a second connecting rod mounted on the first connecting rod.

[0011] Advantageous Effects of the Invention

[0012] According to the present disclosure, it is possible to provide a link structure capable of reducing a load caused in response to driving of the link.The effects described herein are not necessarily limitative, and may be any one of the effects described in the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 : are views illustrating an example of a robot to which the technology according to the present disclosure is applied.

[0014] Figure 2 : is a view showing a configuration example of the link structure according to the first embodiment.

[0015] Figure 3is a schematic cross-sectional view of a link structure according to the first embodiment.

[0016] Figure 4 : is a schematic diagram showing an example of a fixing structure of the link structure according to the first embodiment.

[0017] Figure 5 : is a view showing a configuration example of a link structure according to a first modification example of the first embodiment.

[0018] Figure 6 : is a view showing a configuration example of a link structure according to a second modification of the first embodiment.

[0019] Figure 7 : is a view showing a configuration example of a link structure according to a third modification example of the first embodiment.

[0020] Figure 8 2 is a diagram showing a configuration example of a link structure according to a second embodiment.

[0021] Figure 9 : is a view showing a configuration example of a link structure according to a third embodiment.

[0022] Figure 10 : is a schematic diagram showing an example of a fixing structure of a link structure according to a third embodiment.

[0023] Figure 11 : is a view showing a configuration example of a link structure according to a fourth embodiment. DETAILED DESCRIPTION

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the following embodiments, the same reference numerals are given to the same parts, and repeated description is omitted.

[0025] (First embodiment)

[0026] [Application Examples of the Connecting Rod Structure According to the Present Disclosure]

[0027] Figure 1 : are views illustrating an example of a robot to which the technology according to the present disclosure is applied. Figure 1 The robot 100 shown has a link structure 1 and a main body 200 to which the link structure 1 is provided. Figure 1In the illustrated example, the robot 100 has two link structures 1 attached to a main body 200. The link structures 1 serve as, for example, rotary joints of the robot 100. The link structures 1 are examples of linear motion actuators for driving the rotary joints of the robot 100. Rotary joints include, for example, joints such as the knees and elbows of the robot 100. The main body 200 includes a control device for controlling the driving of the link structures 1.

[0028] [Configuration Example of Link Structure According to First Embodiment]

[0029] Figure 2 2 is a diagram showing a configuration example of the link structure 1 according to the first embodiment. Figure 3 is a schematic cross-sectional view of the link structure 1 according to the first embodiment. Figure 4 2 is a schematic diagram showing an example of a fixing structure of the link structure 1 according to the first embodiment.

[0030] like Figure 2 and Figure 3 As shown, the link structure 1 includes a first link 2, a housing 3, a moving mechanism 4, a rotating portion 5, an acting portion 6, a power portion 7, and a second link 8. For example, the link structure 1 has a structure in which the second link 8, which is rotatably connected to the first link 2, is driven to rotate by driving the acting portion 6 to move linearly.

[0031] The first link 2 is fixed to the main body 200 of the robot 100. The first link 2 is, for example, a rod-shaped hollow frame. The first link 2 can be formed of, for example, a synthetic resin or metal member. In this embodiment, the first link 2 is a fixed link fixed to the main body 200, but is not limited thereto.

[0032] The housing 3 is disposed inside the first connecting rod 2. The housing 3 can be formed of a member such as a synthetic resin or metal. The housing 3 is formed to have a size and shape that can move inside the first connecting rod 2. The housing 3 is an example of a target member to be moved. The housing 3 is moved in moving directions M1 and M2 along the longitudinal direction of the first connecting rod 2. The moving direction M1 is, for example, a direction in which the housing 3 is moved to bend the second connecting rod 8 relative to the first connecting rod 2. The moving direction M2 is, for example, a direction in which the housing 3 is moved to straighten the second connecting rod 8 relative to the first connecting rod 2.

[0033] The moving mechanism 4 is fixed to the first link 2. In response to the power of the power unit 7, the moving mechanism 4 moves the housing 3 within the first link 2 in the movement direction M1 and the movement direction M2 along the first link 2. The moving mechanism 4 moves the housing 3 to rotate the second link 8 coupled to the first link 2. In this embodiment, the moving mechanism 4 is described as a mechanism for linear motion drive.

[0034] exist Figure 2 and Figure 3 In the example shown, the moving mechanism 4 has a screw shaft 41, a nut 42, and a guide portion 43. The screw shaft 41 is provided inside the housing 3 and extends along the moving direction M1 and the moving direction M2. Figure 3 As shown, the screw shaft 41 is rotatably supported at both ends by the housing 3. The screw shaft 41 is coupled to the output shaft of the power unit 7. While supported by the housing 3, the screw shaft 41 is rotated by the power of the power unit 7. The screw shaft 41 has a helical thread groove formed on its surface. In this embodiment, the moving mechanism 4 is described with respect to a case where the screw shaft 41 is supported at both ends, but the present invention is not limited to this. For example, the moving mechanism 4 may be a mechanism having a cantilevered screw shaft 41.

[0035] Screw shaft 41 is inserted into nut 42. Nut 42 has a thread groove formed on its inner circumference that meshes with the thread groove of screw shaft 41. Nut 42 is fixed to first connecting rod 2 and prevents nut 42 from moving in the longitudinal direction of first connecting rod 2 in movement directions M1, M2. Nut 42 serves as the starting point of connecting rod structure 1.

[0036] The guide portion 43 is a guide member arranged along the screw shaft 41. The guide portion 43 is parallel to the screw shaft 41 and moves the housing 3 along the longitudinal direction of the first connecting rod 2. For the guide portion 43, a linear guide can be used, for example. The guide portion 43 has a guide rail 43a and a block 43b. The guide rail 43a is, for example, a linear guide. The guide rail 43a is provided to the housing 3 so as to be parallel to the screw shaft 41. The block 43b is fixed to the nut 42. The block 43b is assembled to the guide rail 43a and is configured to be slidable along the guide rail 43a. In the present embodiment, the connecting rod structure 1 has a guide portion 43 provided in the moving mechanism 4, which improves the rigidity of the moving mechanism 4 that moves the housing 3. In the present embodiment, the guide portion 43 is described with respect to the case where the guide portion 43 has a single guide rail 43a, but the guide portion 43 may have a plurality of guide rails, for example.

[0037] like Figure 4 As shown, the moving mechanism 4 has a coupling plate 44 fixed to the nut 42. The coupling plate 44 is a coupling member that couples the nut 42 to the first link 2. The coupling plate 44 has a bearing 44a for supporting the rotating portion 5 protruding from the first link 2. Figure 4 In the illustrated example, bearings 44a are formed at the upper and lower ends in the vertical direction of the coupling plate 44. In the moving mechanism 4, the bearings 44a support the rotating portion 5 protruding from the first link 2, thereby preventing the nut 42 from moving in the longitudinal direction of the first link 2 in the moving directions M1, M2.

[0038] The rotating portion 5 is fixed to the first link 2 and protrudes toward the moving mechanism 4. The rotating portion 5 is, for example, a rotating shaft formed in a cylindrical shape. The rotating portion 5 is supported by the bearing 44a of the coupling plate 44 of the moving mechanism 4 so as to serve as the rotation center of the housing 3 and the moving mechanism 4. That is, the housing 3 and the moving mechanism 4 are configured so that when the second link 8 is rotated as shown in FIG. Figure 2 When rotating as shown, the rotating portion 5 can be rotated as the center of rotation.

[0039] like Figure 2 and Figure 3 As shown, the acting portion 6 is provided to the housing 3, and acts on the movement of the second link 8 mounted on the first link 2. The acting portion 6 is a component for supporting the second link 8 in a rotatable manner. The acting portion 6 includes, for example, a spherical bearing and a spherical sliding bearing. The acting portion 6 is provided to the first end portion 3a of the housing 3 in the longitudinal direction of the first link 2 through the attachment portion 61. The movement of the housing 3 causes the acting portion 6 to move together with the housing 3 inside the first link 2. In the present embodiment, the acting portion 6 is described with respect to the case where the acting portion 6 is provided to the housing 3 through the attachment portion 61, but is not limited thereto. For example, the acting portion 6 can be directly fixed to the first end portion 3a of the housing 3.

[0040] The power unit 7 outputs power for rotating the screw shaft 41 of the moving mechanism 4. The power unit 7 includes, for example, a motor. The power unit 7 is provided at the second end 3b of the housing 3 in the longitudinal direction of the first connecting rod 2. The output shaft of the power unit 7 is coupled to the screw shaft 41. The power unit 7 is powered by a power source (not shown) and is driven under the control of the control device of the main body 200 or the like.

[0041] The second link 8 is mounted on the first link 2 in a rotatable (movable) manner. The second link 8 is, for example, a rod-shaped hollow frame. The second link 8 can be formed of, for example, a synthetic resin or metal. In the present embodiment, the second link 8 is a movable link that is moved by the first link 2. The second link 8 is coupled to the action portion 6 provided to the housing 3 in a rotatable manner. That is, the second link 8 is a link that is moved by the action of the action portion 6. The second link 8 is coupled to the rotary joint 81 provided to the first link 2 in a rotatable manner. The second link 8 is rotated with the rotary joint 81 as the center of rotation by the movement of the action portion 6 provided to the housing 3 of the first link 2. That is, the rotary joint 81 serves as the action point for rotating the second link 8.

[0042] In this embodiment, the link structure 1 is described with respect to the case where the link structure 1 has the second link 8 , but the present invention is not limited thereto. For example, the second link 8 may be a component of the robot 100 rather than a component of the link structure 1 .

[0043] [Operation of Link Structure According to First Embodiment]

[0044] Next, an exemplary operation of the link structure 1 according to the first embodiment will be described. Figure 2 In the illustrated state S1, in the link structure 1, when the power unit 7 generates power for movement in the movement direction M1, the screw shaft 41 of the moving mechanism 4 rotates in the first direction. In the link structure 1, since the nut 42 of the moving mechanism 4 is fixed to the first link 2, the rotation of the screw shaft 41 does not move the nut 42. However, in response to the rotation of the screw shaft 41, the housing 3 supporting the screw shaft 41 moves in the movement direction M1. In the link structure 1, the movement of the housing 3 in the movement direction M1 also causes the action portion 6 to move in the movement direction M1, thereby moving the end portion 8a of the second link 8. In the link structure 1, in response to the movement of the action portion 6 of the first link 2, the second link 8 then rotates about the rotation joint 81 as the center of rotation. In the link structure 1, when the housing 3 moves in the movement direction M1 by driving the power unit 7, the nut 42 rotates around the rotating portion 5 within the first link 2 as it approaches the power unit 7. As a result, in the link structure 1, the housing 3 rotates together with the nut 42, so that the first end 3a of the housing 3 comes closer to the inner surface of the first link 2. As a result, the link structure 1 enters a state in which the second link 8 is bent relative to the first link 2, as shown in FIG. Figure 2 As shown in state S2.

[0045] exist Figure 2 In the state S2 shown, in the link structure 1, when the power portion 7 generates power for moving in the moving direction M2, the screw shaft 41 of the moving mechanism 4 rotates in a second direction opposite to the first direction. In the link structure 1, since the nut 42 of the moving mechanism 4 is fixed to the first link 2, the rotation of the screw shaft 41 does not move the nut 42, but in response to the rotation of the screw shaft 41, the housing 3 supporting the screw shaft 41 moves toward the moving direction M2. In the link structure 1, the housing 3 moving toward the moving direction M2 also moves the action portion 6 toward the moving direction M2, thereby moving the end 8a of the second link 8. In the link structure 1, in response to the movement of the action portion 6 of the first link 2, the second link 8 then rotates with the rotary joint 81 as the center of rotation. As a result, the link structure 1 enters a state in which the second link 8 is straightened relative to the first link 2, as shown in FIG. Figure 2 The state S1 is shown.

[0046] As described above, in the connecting rod structure 1 according to the first embodiment, a ball screw serves as the moving mechanism 4 that transmits the linear motion driving force, and the nut 42 is fixed to the first connecting rod 2. In the connecting rod structure 1, the rotating portion 5, which serves as the starting point of the connecting rod structure 1, and the nut 42 are close to each other and integrated. In the connecting rod structure 1, the action portion 6 is located at the first end 3a of the housing 3, and the power portion 7 is located at the second end 3b on the other side of the housing 3. In the connecting rod structure 1, the rotation of the screw shaft 41 of the moving mechanism 4 causes the housing 3 to move in the movement directions M1 and M2, thereby driving the second connecting rod 8 to rotate. That is, in the connecting rod structure 1, the moving mechanism 4 is fixed to the first connecting rod 2 and serves as the starting point of the connecting rod structure 1, enabling the housing 3 to which the action portion 6 is located to move. Therefore, the stress applied to the action portion 6 by the second connecting rod 8 is transmitted to the housing 3, allowing the connecting rod structure 1 to reduce the load on the moving mechanism 4 fixed to the first connecting rod 2. As a result, because the link structure 1 can reduce the load on the moving mechanism 4 for linear motion driving, the moving mechanism 4 can be downsized and simplified.

[0047] In the link structure 1 according to this embodiment, the rotating portion 5 is fixed to the first link 2, and the housing 3 and the moving mechanism 4 can rotate inside the first link 2 with the rotating portion 5 as the center of rotation. Therefore, the rotating portion 5 causes the housing 3 and the moving mechanism 4 to rotate inside the first link 2, so that the link structure 1 can expand the range of motion of the acting portion 6. As a result, the link structure 1 can reduce the load on the moving mechanism 4 and also expand the range of motion of the second link 8 relative to the first link 2.

[0048] In the connecting rod structure 1 according to the present embodiment, the moving mechanism 4 has a screw shaft 41 held by the housing 3, and the nut 42 can be fixed to the first connecting rod 2. Therefore, the connecting rod structure 1 can reduce the buckling moment load on the nut 42, so that the guide portion 43 can be made smaller and lighter to improve the rigidity. As a result, the connecting rod structure 1 can be made smaller and lighter. In addition, the rotating portion 5 and the nut 42 of the moving mechanism 4 as the starting point are close to each other as a whole, which enables the connecting rod structure 1 to further reduce the buckling moment load on the nut 42. In addition, since the connecting rod structure 1 reduces the load on the nut 42, the connecting rod structure 1 can reduce the backlash between the screw shaft 41 and the nut 42.

[0049] In the connecting rod structure 1 according to this embodiment, the moving mechanism 4 can cause the screw shaft 41 to be supported at both ends by the housing 3. Therefore, the connecting rod structure 1 enables the housing 3 to move inside the first connecting rod 2 together with the screw shaft 41. As a result, even if the screw shaft 41 supported by the housing 3 is made longer, the connecting rod structure 1 can ensure the durability of the screw shaft 41, thereby expanding the range of movement of the housing 3.

[0050] In the link structure 1 according to this embodiment, the moving mechanism 4 can be provided with a guide portion 43 parallel to the screw shaft 41. Therefore, the link structure 1 enables the screw shaft 41 and the guide portion 43 to move the housing 3. As a result, the link structure 1 can improve the rigidity of the moving mechanism that moves the housing 3.

[0051] In the link structure 1 according to the present embodiment, the power unit 7 can be provided to the housing 3 inside the first link 2. Therefore, by providing the power unit 7 to the housing 3 inside the first link 2, the link structure 1 does not need to provide the power unit 7 to the outside, for example, to the main body 200. As a result, the link structure 1 can be applied to more objects and the convenience can be improved.

[0052] The link structure 1 according to the first embodiment has been described with respect to a case where the link structure 1 includes a first link 2, a housing 3, a moving mechanism 4, a rotating portion 5, an action portion 6, a power portion 7, and a second link 8, but is not limited thereto. For example, the link structure 1 may include the first link 2, the housing 3, the moving mechanism 4, the rotating portion 5, the action portion 6, and the power portion 7, and the second link 8 may be omitted from the component parts. For example, the second link 8 may be a component part of the robot 100. Furthermore, if the link structure 1 linearly moves the housing 3 within the first link 2 without rotating the housing 3 and the moving mechanism 4, the rotating portion 5 may be omitted from the component parts.

[0053] The above-described first embodiment has been described by way of example, but various changes and applications are possible.

[0054] [First Modification of First Embodiment]

[0055] For example, in the link structure 1 according to the first embodiment, the position of the power portion 7 may be changed. Figure 5 1 is a diagram showing a configuration example of a link structure 1 according to a first modification of the first embodiment.

[0056] like Figure 5As shown, the connecting rod structure 1 according to the first modified example includes a first connecting rod 2, a housing 3, a moving mechanism 4, a rotating portion 5, an acting portion 6, and a power portion 7. The connecting rod structure 1 includes the power portion 7 located between the housing 3 and the acting portion 6. That is, the power portion 7 is provided inside the first connecting rod 2 and at the first end portion 3a of the housing 3 on the side of the moving direction M1. The acting portion 6 is provided on the power portion 7 fixed to the housing 3, so that the acting portion 6 is provided on the housing 3 through the power portion 7. In the first modified example, the power portion 7 is located between the nut 42 of the moving mechanism 4 and the acting portion 6.

[0057] In the connecting rod structure 1 according to the first modified example of the first embodiment, when the power unit 7 generates power for movement in the movement direction M1, the screw shaft 41 of the moving mechanism 4 rotates in the first direction. In the connecting rod structure 1, since the nut 42 of the moving mechanism 4 is fixed to the first link 2, the rotation of the screw shaft 41 does not move the nut 42. However, in response to the rotation of the screw shaft 41, the housing 3 supporting the screw shaft 41 moves in the movement direction M1. In the connecting rod structure 1, the movement of the housing 3 in the movement direction M1 also causes the acting portion 6 to move in the movement direction M1, thereby affecting the movement of the second link 8. As in the first embodiment, in the connecting rod structure 1, the movement of the housing 3 causes the second link 8 to rotate.

[0058] In the connecting rod structure 1 according to the first modified example, the power unit 7 can be located between the nut 42 of the moving mechanism 4 and the action unit 6. Therefore, by arranging the power unit 7 at the first end 3a of the housing 3, the connecting rod structure 1 can reduce the amount of swing of the housing 3 caused by the weight of the power unit 7, compared to the case where the power unit 7 is arranged at the second end 3b of the housing 3. As a result, because the connecting rod structure 1 can reduce the load on the moving mechanism 4 for linear motion drive, the size of the moving mechanism 4 can be reduced and the moving mechanism 4 can be simplified. In addition, compared to the case where the power unit 7 is arranged at the second end 3b of the housing 3, the connecting rod structure 1 according to the first modified example can reduce the footprint of the housing 3, so that the housing 3 can also be applied to a small first connecting rod 2.

[0059] [Second Modification of First Embodiment]

[0060] For example, in the link structure 1 according to the first embodiment, the position of the power portion 7 may also be changed. Figure 6 : is a view showing a configuration example of a link structure 1 according to a second modification of the first embodiment.

[0061] like Figure 6As shown, the link structure 1 according to the second modified example has a first link 2, a housing 3, a moving mechanism 4, a rotating portion 5, an acting portion 6, and a power portion 7. The link structure 1 has the power portion 7 provided to the outer surface 3c of the housing 3. The outer surface 3c of the housing 3 is a side surface of the housing 3 that couples the first end portion 3a and the second end portion 3b. Figure 6 In the example shown, the power unit 7 is positioned longitudinally parallel to the screw shaft 41 of the moving mechanism 4 and the inner surface of the first connecting rod 2. The power unit 7 includes an output shaft 71 and a transmission unit 72. The output shaft 71 outputs power for rotating the screw shaft 41 of the moving mechanism 4. The transmission unit 72 is coupled to the output shaft 71 and transmits the power of the output shaft 71 to the screw shaft 41 of the moving mechanism 4.

[0062] A belt mechanism can be used for the transmission portion 72. For example, a first gear provided to the output shaft 71 and a second gear provided to the screw shaft 41 are coupled via a belt, and the transmission portion 72 causes the screw shaft 41 of the moving mechanism 4 to rotate in response to the rotation of the output shaft 71. Furthermore, the first end portion 3a of the housing 3 has a protrusion 3d that rotatably supports the screw shaft 41. The transmission portion 72 is inserted into the protrusion 3d and coupled to the screw shaft 41.

[0063] In the connecting rod structure 1 according to the second modified example of the first embodiment, when the power unit 7 generates power for movement in the movement direction M1, the screw shaft 41 of the moving mechanism 4 rotates in the first direction via the transmission unit 72. In the connecting rod structure 1, since the nut 42 of the moving mechanism 4 is fixed to the first link 2, the rotation of the screw shaft 41 does not move the nut 42. However, in response to the rotation of the screw shaft 41, the housing 3 supporting the screw shaft 41 moves in the movement direction M1. In the connecting rod structure 1, the movement of the housing 3 in the movement direction M1 also causes the acting portion 6 to move in the movement direction M1, thereby acting on the movement of the second link 8. As in the first embodiment, in the connecting rod structure 1, the movement of the housing 3 causes the second link 8 to rotate.

[0064] In the connecting rod structure 1 according to the second modified example, the power unit 7 can be provided on the outer surface 3c of the housing 3. Therefore, by providing the power unit 7 on the outer surface 3c of the housing 3, the connecting rod structure 1 can reduce the amount of swinging of the housing 3 caused by the weight of the power unit 7, compared to the case where the power unit 7 is provided on the second end 3b of the housing 3. As a result, because the connecting rod structure 1 can reduce the load on the moving mechanism 4 for linear motion drive, the size of the moving mechanism 4 can be reduced and the moving mechanism 4 can be simplified. In addition, the connecting rod structure 1 can reduce the footprint of the housing 3, so that the housing 3 can also be applied to a small first connecting rod 2.

[0065] [Third Modification of First Embodiment]

[0066] For example, in the link structure 1 according to the first embodiment, the configuration of the moving mechanism 4 may also be changed. Figure 7 3 is a diagram showing a configuration example of a link structure 1 according to a third modification of the first embodiment.

[0067] like Figure 7 As shown, the connecting rod structure 1 according to the third modified example has a first connecting rod 2, a housing 3, a moving mechanism 4, a rotating portion 5, an acting portion 6 and a power portion 7. The moving mechanism 4 has a screw shaft 41, a nut 42, a guide portion 43 and a detecting portion 45. The detecting portion 45 is provided to the nut 42, and detects the force acting on the nut 42. The detecting portion 45 is provided, for example, to both ends of the nut 42 on the moving direction M1 side and the moving direction M2 side. For the detecting portion 45, for example, a coil spring or a distance sensor for detecting strain can be used. The detecting portion 45 is mounted to both sides of the nut 42 in the longitudinal direction of the housing 3 through a mounting member 46. The detecting portion 45 detects the force acting on the nut 42, and outputs the detection result to the control device of the main body 200, etc. In Figure 7 In the illustrated example, the link structure 1 has been described with respect to the case where the detection portion 45 is used on both sides of the nut 42 , but the link structure 1 may have the detection portion 45 provided to either side.

[0068] In the link structure 1 according to the third modified example of the first embodiment, when the power unit 7 generates power for movement in the movement direction M1, the screw shaft 41 of the moving mechanism 4 rotates in the first direction via the transmission unit 72. In the link structure 1, since the nut 42 of the moving mechanism 4 is fixed to the first link 2, the rotation of the screw shaft 41 does not move the nut 42. However, in response to the rotation of the screw shaft 41, the housing 3 supporting the screw shaft 41 moves in the movement direction M1. In the link structure 1, the movement of the housing 3 in the movement direction M1 also causes the acting portion 6 to move in the movement direction M1, thereby acting on the movement of the second link 8. As in the first embodiment, in the link structure 1, the movement of the housing 3 causes the second link 8 to rotate. Furthermore, once the detection unit 45 detects the force acting on the housing 3, the link structure 1 outputs the detection result to the control device, etc., of the main body 200. Therefore, the control device, etc. of the main body 200 can control the power unit 7 based on the result detected by the detection unit 45 of the moving mechanism 4.

[0069] In the link structure 1 according to the third modification, the detection portion 45 can detect the force acting on the nut 42 of the moving mechanism 4. Therefore, in the link structure 1, the detection portion 45 can detect that the nut 42 of the moving mechanism 4 is in contact with the housing 3. This enables movement control based on the positional relationship between the housing 3 and the nut 42, and the link structure 1 can avoid an increase in the footprint of the housing 3 due to the housing 3 and the nut 42 being in contact with each other.

[0070] (Second embodiment)

[0071] [Configuration Example of Link Structure According to Second Embodiment]

[0072] Figure 8 1A is a diagram showing a configuration example of a link structure 1A according to a second embodiment. Figure 8 As shown, the link structure 1A includes a first link 2, a housing 3, a moving mechanism 4A, a rotating portion 5, an acting portion 6, and a power portion 7A. For example, by driving the acting portion 6 to move linearly, the link structure 1A can drive the second link 8 coupled to the first link 2 to rotate.

[0073] The moving mechanism 4A is fixed to the first link 2. In response to the power of the power unit 7A, the moving mechanism 4A moves the housing 3 within the first link 2 in the movement direction M1 and the movement direction M2 along the first link 2. The moving mechanism 4A moves the housing 3 to rotate the second link 8 coupled to the first link 2. In this embodiment, the moving mechanism 4A is a mechanism for linear motion drive.

[0074] exist Figure 8 In the illustrated example, the moving mechanism 4A includes a rack 47, a pinion 48, and a guide portion 43. The rack 47 is a member formed by adding teeth to a flat bar. The rack 47 is arranged inside the housing 3, extending from the first end 3a to the second end 3b of the housing 3. The rack 47 extends along the moving directions M1 and M2. The pinion 48 is a circular gear. It is coupled to the output shaft 71 of the power unit 7A. The pinion 48 meshes with the rack 47.

[0075] The guide portion 43 is a guide member provided along the rack 47. The guide portion 43 is parallel to the rack 47 and moves the housing 3 in the movement direction M1 and the movement direction M2 along the first link 2. For example, a linear guide can be used for the guide portion 43. The guide portion 43 moves the rack 47 and the housing 3 in the movement directions M1 and M2. When the pinion 48 rotates in response to the drive of the power unit 7A, the moving mechanism 4A moves the rack 47 and the housing 3 in the movement directions M1 and M2 in response to this rotation.

[0076] The power unit 7A outputs power for rotating the pinion 48 of the moving mechanism 4. The power unit 7A includes, for example, a motor. The power unit 7A is fixed to the first connecting rod 2, for example, and is not configured to move inside the first connecting rod 2. The output shaft 71 of the power unit 7A is coupled to the pinion 48 of the moving mechanism 4. The power unit 7A is integral with the above-mentioned rotating part 5, and the power unit 7A is provided to the first connecting rod 2 as a drive unit 70. The power unit 7A is powered by a power source not shown and is driven under the control of the control device of the main body 200.

[0077] In the link structure 1A, the above-mentioned second link 8 is rotatably mounted on the first link 2. The link structure 1A is configured so that the second link 8 is rotated by movement of the acting portion 6 of the housing 3 provided to the first link 2.

[0078] [Operation of Link Structure According to Second Embodiment]

[0079] Next, an exemplary operation of the link structure 1A according to the second embodiment will be described. In the link structure 1A, when the power unit 7A generates power for movement in the movement direction M1, the rack 47 moves in the movement direction M1 in response to the rotation of the pinion 48 of the movement mechanism 4A. In the link structure 1A, the housing 3 also moves in the movement direction M1 in response to the movement of the rack 47. In the link structure 1, the movement of the housing 3 in the movement direction M1 also causes the action unit 6 to move in the movement direction M1, thereby moving the second link 8 described above.

[0080] In the link structure 1A, when the power unit 7A generates power for movement in the movement direction M2, the rack 47 moves in the movement direction M2 in response to the rotation of the pinion 48 of the moving mechanism 4A. In the link structure 1A, the housing 3 also moves in the movement direction M2 in response to the movement of the rack 47. In the link structure 1, the movement of the housing 3 in the movement direction M2 also causes the action unit 6 to move in the movement direction M2, thereby moving the second link 8 described above.

[0081] As described above, in the link structure 1A according to this embodiment, the moving mechanism 4A and the power unit 7A are fixed to the first link 2, and the moving mechanism 4A and the power unit 7A serve as the starting point of the link structure 1A, enabling the housing 3, to which the action unit 6 is provided, to move. In other words, in the link structure 1A, the power unit 7A and the rotating unit 5 are fixed to the first link 2 as the starting point, and the moving mechanism 4A can move the housing 3. Therefore, the stress from the action unit 6 is transmitted to the housing 3, allowing the link structure 1A to reduce the load on the moving mechanism 4A fixed to the first link 2. As a result, because the link structure 1A can reduce the load on the moving mechanism 4A used for linear motion drive, the size of the moving mechanism 4A can be reduced and the moving mechanism 4A can be simplified.

[0082] While the link structure 1A according to the second embodiment has been described with respect to a case where the link structure 1A includes the first link 2, the housing 3, the moving mechanism 4A, the rotating portion 5, the acting portion 6, and the power unit 7A, the present invention is not limited thereto. For example, the link structure 1A may include the aforementioned second link 8 as a component. Furthermore, if the link structure 1A linearly moves the housing 3 within the first link 2 without rotating the housing 3, the moving mechanism 4A, and the power unit 7A, the rotating portion 5 may be omitted from the component parts.

[0083] (Third embodiment)

[0084] [Configuration Example of Link Structure According to Third Embodiment]

[0085] Figure 9 1B is a diagram showing a configuration example of a link structure 1B according to a third embodiment. Figure 10 1B is a schematic diagram illustrating an example of a fixing structure of a link structure 1B according to the third embodiment.

[0086] like Figure 9 and Figure 10 As shown, the link structure 1B includes a first link 2, two moving objects 31 and 32, a moving mechanism 4B, a rotating portion 5, an acting portion 6, and a power portion 7B. For example, by driving the acting portion 6 to move linearly, the link structure 1B can drive the second link 8 coupled to the first link 2 to rotate.

[0087] Two moving objects 31 and 32 are arranged inside the first link 2 so as to sandwich the moving mechanism 4B therebetween. The two moving objects 31 and 32 are moved in moving directions M1 and M2 along the longitudinal direction of the first link 2. The two moving objects 31 and 32 are examples of target components to be moved. In this embodiment, the moving object 31 is arranged on the moving direction M1 side in the longitudinal direction of the first link 2. The moving object 32 is arranged on the moving direction M2 side in the longitudinal direction of the first link 2. The two moving objects 31 and 32 are moved in the moving directions M1 and M2 by the moving mechanism 4B.

[0088] In this embodiment, the link structure 1B is described with respect to a case where two moving objects 31 and 32 are disposed within the first link 2. However, the present invention is not limited thereto. For example, in the link structure 1B, only one of the two moving objects 31 and 32 may be disposed, or the moving objects 31 and 32 may be replaced with the rectangular housing 3 described above.

[0089] Moving mechanism 4B is fixed to first link 2. Responding to power from power unit 7B, moving mechanism 4B causes two moving objects 31 and 32 to move within first link 2 in moving directions M1 and M2 along first link 2. Moving mechanism 4B moves two moving objects 31 and 32 to rotate second link 8 coupled to first link 2. In this embodiment, moving mechanism 4B is a mechanism for linear motion drive.

[0090] exist Figure 9 and Figure 10 In the example shown, the moving mechanism 4B has a wire 49a, a winding portion 49b, and a guide portion 43. The wire 49a is arranged along the moving directions M1 and M2, and one end is fixed to the moving object 31, while the other end is fixed to the moving object 32. The wire 49a is a member for moving the moving objects 31 and 32 in the moving directions M1 and M2 inside the first connecting rod 2. The winding portion 49b is fixed to the first connecting rod 2 and between the moving objects 31 and 32. The winding portion 49b is coupled to the output shaft 71 of the power unit 7B. The winding portion 49b winds the wire 49a in a direction according to the drive of the power unit 7B, and positions the moving objects 31 and 32 closer or at a certain distance, thereby moving the moving objects 31 and 32 in the moving directions M1 and M2.

[0091] The guide portion 43 is a guide member arranged along the longitudinal direction of the first connecting rod 2. The guide portion 43 has movable objects 31 and 32 fixed to its two ends. The guide portion 43 is parallel to the first connecting rod 2 and moves the movable objects 31 and 32. For example, a linear guide can be used for the guide portion 43. The guide portion 43 moves the movable objects 31 and 32 in the moving directions M1 and M2. When the wire 49a fixed to the movable object 31 is wound, the guide portion 43 moves the movable object 32 in the moving direction M2 by conveying the wire 49a fixed to the movable object 32. When the wire 49a fixed to the movable object 32 is wound, the guide portion 43 moves the movable object 31 in the moving direction M1 by conveying the wire 49a fixed to the movable object 31. That is, when the winding portion 49b rotates in response to the drive of the power unit 7B, the moving mechanism 4B moves the movable objects 31 and 32 in the moving directions M1 and M2 in response to this rotation.

[0092] The power unit 7B outputs power for rotating the winding portion 49b of the moving mechanism 4B. The power unit 7B includes, for example, a motor. The power unit 7B is, for example, fixed to the first connecting rod 2 and is not configured to move inside the first connecting rod 2. The output shaft 71 of the power unit 7B is coupled to the winding portion 49b of the moving mechanism 4B. The power unit 7B is integral with the above-mentioned rotating portion 5, and the power unit 7B is provided to the first connecting rod 2 as a drive unit 70. The power unit 7B is powered by a power supply not shown and is driven under the control of the control device of the main body 200.

[0093] In the link structure 1B, the above-mentioned second link 8 is rotatably mounted on the first link 2. The link structure 1B is configured so that the second link 8 is rotated by the movement of the acting portion 6 provided to the moving object 31 of the first link 2.

[0094] [Operation of Link Structure According to Third Embodiment]

[0095] Next, an exemplary operation of the link structure 1B according to the third embodiment will be described. In link structure 1B, when power unit 7B generates power for movement in movement direction M1, wire 49a is wound in response to the rotation of winding portion 49b of moving mechanism 4B to bring moving object 32 closer. As a result, in link structure 1B, moving object 32 and guide portion 43 move in movement direction M1, causing moving object 31 to also move in movement direction M1. In link structure 1A, the movement of housing 3 in movement direction M1 also causes action portion 6 to move in movement direction M1, thereby moving the aforementioned second link 8.

[0096] In the link structure 1B, when the power unit 7B generates power for movement in the movement direction M2, the wire 49a is wound in response to the rotation of the winding portion 49b of the moving mechanism 4B, thereby bringing the moving object 31 closer. As a result, in the link structure 1B, the moving object 31 and the guide portion 43 move in the movement direction M2, causing the moving object 32 to also move in the movement direction M2. In the link structure 1B, the movement of the housing 3 in the movement direction M2 also causes the action portion 6 to move in the movement direction M1, thereby moving the second link 8 described above.

[0097] As described above, in the link structure 1B according to this embodiment, the moving mechanism 4B is fixed to the first link 2, and the moving mechanism 4B serves as the starting point of the link structure 1B, so that the moving object 31 to which the action portion 6 is provided can be moved. In other words, in the link structure 1B, the power portion 7B and the rotating portion 5 are fixed to the first link 2 as the starting point, and the moving mechanism 4B can move the moving objects 31 and 32. Therefore, the stress from the action portion 6 is transmitted to the moving objects 31 and 32, so that the link structure 1B can reduce the load on the moving mechanism 4B fixed to the first link 2. As a result, because the link structure 1B can reduce the load on the moving mechanism 4B used for linear motion drive, the size of the moving mechanism 4B can be reduced and the moving mechanism 4B can be simplified.

[0098] (Fourth embodiment)

[0099] [Configuration Example of Link Structure According to Fourth Embodiment]

[0100] Figure 11 1C is a diagram showing a configuration example of a link structure 1C according to a fourth embodiment.

[0101] like Figure 11 As shown, the link structure 1C includes a first link 2, a moving object 33, a moving mechanism 4C, a rotating portion 5, an acting portion 6, and a power portion 7C. For example, by driving the acting portion 6 to move linearly, the link structure 1C can drive the second link 8 coupled to the first link 2 to rotate.

[0102] The movable object 33 includes a base 33a and end portions 33b and 33c, and is integrally formed. The movable object 33 is moved in moving directions M1 and M2 along the longitudinal direction of the first connecting rod 2. The movable object 33 is an example of a target member to be moved. The base 33a is formed into a rod shape along the longitudinal direction of the first connecting rod 2. The end portion 33b is arranged at the end of the base 33a on the side of the moving direction M1, along a direction intersecting with the base 33a. The action portion 6 is provided on the end portion 33b. The end portion 33c is arranged at the end of the base 33a on the side of the moving direction M2, along a direction intersecting with the base 33a.

[0103] In the present embodiment, the link structure 1C is described with respect to the case where both end portions 33b, 33c are provided to the base portion 33a, but the present invention is not limited thereto. For example, the link structure 1C may have only the end portion 33b to which the action portion 6 is provided.

[0104] The moving mechanism 4C is disposed within the first link 2. In response to power from a power unit 7C, the moving mechanism 4C causes the moving object 33 to move within the first link 2 in both the moving directions M1 and M2. The power unit 7C, for example, has a structure for supplying and discharging fluid to and from the moving mechanism 4C. The moving mechanism 4C causes the moving object 33 to move, thereby rotating the second link 8 coupled to the first link 2.

[0105] The moving mechanism 4C has a fixed portion 40a, a telescopic portion 40b, and a guide portion 40c. The fixed portion 40a is fixed to the first link 2. The fixed portion 40a is fixed to the first link 2 and prevents the fixed portion 40a from moving in the moving directions M1, M2 along the longitudinal direction of the first link 2. The fixed portion 40a serves as the starting point of the link structure 1C. The fixed portion 40a has a bearing 40d for supporting the rotating portion 5 protruding from the first link 2. In the moving mechanism 4C, the bearing 40d supports the rotating portion 5 protruding from the first link 2, thereby preventing the fixed portion 40a from moving in the moving directions M1, M2 along the longitudinal direction of the first link 2.

[0106] The telescopic portion 40b is configured to extend from the moving object 33 to the fixed portion 40a. The telescopic portion 40b serves as, for example, an artificial muscle that is expanded and contracted by air pressure. The telescopic portion 40b is formed, for example, of rubber or carbon fiber. The telescopic portion 40b can be implemented, for example, as an antagonistic pneumatic actuator having an expandable cavitation in the inner layer and a contractible cavitation on the outer layer. As a result of the injection of a fluid such as air, the telescopic portion 40b expands in a direction intersecting with the longitudinal direction of the first link 2, thereby moving the moving object 33 in the moving direction M1. As a result of the discharge of the fluid in the expanded state, the telescopic portion 40b contracts, thereby moving the moving object 33 in the moving direction M2.

[0107] The guide portion 40c is a guide member provided along the longitudinal direction of the first link 2. The guide portion 40c is parallel to the first link 2 and moves the movable object 33. A linear guide, for example, can be used for the guide portion 40c. The guide portion 40c moves the movable object 33 in the moving directions M1 and M2. When the telescopic portion 40b expands or contracts in response to the power from the power unit 7C, the moving mechanism 4C moves the movable object 33 in the moving directions M1 and M2 in response to this expansion or contraction.

[0108] The connecting rod structure 1C is operated by the output from the power unit 7C connected to the moving mechanism 4C. The power unit 7C controls the moving mechanism 4C to inject fluid into the telescopic part 40b and discharge fluid from the telescopic part 40b. The power unit 7C has tubes 73 and 74 connected to the telescopic part 40b. The tube 73 is a flow channel through which the fluid to be injected into the telescopic part 40b flows. The tube 74 is a flow channel through which the fluid to be discharged from the telescopic part 40b flows. The power unit 7C controls the opening and closing of valves and the like set to the tubes 73 and 74, thereby expanding or contracting the telescopic part 40b. In the present embodiment, the connecting rod structure 1C is described with respect to the case where the power unit 7C is set outside the first connecting rod 2, but the power unit 7C can also be set inside the first connecting rod 2.

[0109] In the link structure 1C, the above-mentioned second link 8 is rotatably mounted on the first link 2. The link structure 1C is configured so that the second link 8 is rotated by movement of the acting portion 6 of the housing 3 provided to the first link 2.

[0110] [Operation of Link Structure According to Fourth Embodiment]

[0111] Next, an exemplary operation of the link structure 1C according to the fourth embodiment will be described. In state S11, in the link structure 1C, fluid is injected into the telescopic portion 40b of the moving mechanism 4C via the tube 73 by the power unit 7C, causing the telescopic portion 40b to expand in the short-side direction of the first link 2 in the link structure 1C. As a result, a contraction force is generated in the link structure 1C that causes the telescopic portion 40b to contract in the longitudinal direction of the first link 2. This contraction force serves as the driving force for moving the moving object 33. Specifically, in the link structure 1C, the contraction of the telescopic portion 40b causes the moving object 33 to move in the moving direction M1.

[0112] In state S12, in the link structure 1C, under the control of the power unit 7C, fluid is discharged from the expanded telescopic portion 40b through the tube 74. As a result, in the link structure 1C, the telescopic portion 40b contracts in the short-side direction of the first link 2, and an expansion force is generated in the telescopic portion 40b in the longitudinal direction of the first link 2. In other words, in the link structure 1C, the expansion force causes the already contracted telescopic portion 40b to expand in the movement direction M2, thereby moving the moving object 33 in the movement direction M2. In the link structure 1C, as shown in state S13, once the telescopic portion 40b returns to the state before expansion, the moving object 33 completes its movement.

[0113] As described above, in the link structure 1C according to this embodiment, the moving mechanism 4C is fixed to the first link 2, and the fixed portion 40a of the moving mechanism 4C serves as the starting point of the link structure 1C, enabling the movement of the moving object 33 to which the action portion 6 is provided. In other words, in the link structure 1C, the fixed portion 40a and the rotating portion 5 are fixed to the first link 2 as the starting point, and the moving mechanism 4C can move the moving object 33. Therefore, the stress from the action portion 6 is transmitted to the moving object 33 and the telescopic portion 40b, allowing the link structure 1C to reduce the load on the fixed portion 40a of the moving mechanism 4C fixed to the first link 2. As a result, because the link structure 1C can reduce the load on the moving mechanism 4C used for linear motion drive, the size of the moving mechanism 4C can be reduced and the moving mechanism 4C can be simplified.

[0114] In the above embodiment, the link structures 1, 1A, 1B, 1C have been described assuming that the first link 2 is fixed, but the present invention is not limited thereto. For example, the link structures 1, 1A, 1B, 1C may be provided to the robot 100 in a movable manner.

[0115] In the above embodiment, the link structures 1, 1A, 1B, and 1C have been described with respect to the case where the second link 8 rotates relative to the first link 2, but are not limited thereto. For example, the link structures 1, 1A, 1B, and 1C may be configured so that the second link 8 expands or contracts relative to the first link 2.

[0116] Although the embodiments of the present disclosure have been described above, the embodiments are not intended to limit the technical scope of the present disclosure, and various changes can be made without departing from the spirit of the present disclosure. Components of different embodiments and modifications can also be appropriately combined.

[0117] The effects of the embodiments described herein are presented by way of example only, and other effects are possible.

[0118] The present technology may also have the following configurations. (1)

[0120] A connecting rod structure, comprising:

[0121] First connecting rod;

[0122] a target member to be moved, disposed inside the first connecting rod, and capable of moving inside the first connecting rod;

[0123] a moving mechanism fixed to the first link, the moving mechanism being configured to move the target member to be moved in a moving direction along the first link in response to power of a power portion; and

[0124] An acting portion is provided to the target member to be moved, the acting portion being configured to act on the movement of the second link mounted on the first link. (2)

[0126] The link structure according to (1), further including a rotating portion fixed to the first link, the rotating portion serving as a rotation center of the target member to be moved and the moving mechanism. (3)

[0128] The connecting rod structure according to (1) or (2), wherein:

[0129] The target member to be moved is a housing, and

[0130] The moving mechanism comprises:

[0131] a screw shaft supported by the housing, the screw shaft extending along the moving direction; and

[0132] A nut into which the screw shaft is inserted, the nut being fixed to the first connecting rod. (4)

[0134] The connecting rod structure according to (3), wherein the housing supports both ends of the screw shaft. (5)

[0136] The link structure according to (3) or (4), wherein the moving mechanism further includes a guide portion provided along the screw shaft, and the guide portion moves the housing. (6)

[0138] The link structure according to any one of (3) to (5), further comprising the power portion provided to the housing inside the first link, the power portion providing the power for moving the housing. (7)

[0140] The connecting rod structure according to (6), wherein the power portion is located between the housing and the action portion. (8)

[0142] The connecting rod structure according to (6), wherein

[0143] The power part is provided to the outer surface of the housing along the screw shaft, and

[0144] The moving mechanism includes a transmission mechanism configured to transmit the power of the power unit to the screw shaft. (9)

[0146] The link structure according to any one of (3) to (8), wherein the moving mechanism further includes a detection portion provided to the nut, the detection portion being configured to detect a force acting on the nut. (10)

[0148] The connecting rod structure according to (1) or (2), wherein:

[0149] The moving mechanism comprises:

[0150] a rack provided to the target member to be moved, the rack being movable along the moving direction together with the target member to be moved; and

[0151] A pinion gear is fixed to the first connecting rod, and is configured to transmit the power of the power unit to the rack. (11)

[0153] The connecting rod structure according to (1) or (2), wherein:

[0154] The moving mechanism comprises:

[0155] a wire provided to extend from one end portion to the other end portion of the target member to be moved along the moving direction, the wire being configured to move the target member to be moved; and

[0156] A winding portion is fixed to the first link between the one end portion and the other end portion of the target member to be moved, the winding portion being configured to wind the wire to move the target member to be moved in the moving direction. (12)

[0158] The connecting rod structure according to (1) or (2), wherein:

[0159] The moving mechanism comprises:

[0160] a fixing portion fixed to the first connecting rod; and

[0161] a telescopic portion, arranged to extend from the target member to be moved to the fixed portion, the telescopic portion being configured to expand and contract by air pressure, and

[0162] The target member to be moved is moved in the moving direction by the extension and contraction of the telescopic portion. (13)

[0164] The link structure according to any one of (1) to (12), further comprising the second link mounted on the first link, the second link being configured to move by the action of the acting portion. (14)

[0166] A robot comprising:

[0167] connecting rod structure; and

[0168] a second link, configured to move through the link structure,

[0169] The connecting rod structure comprises:

[0170] First connecting rod;

[0171] a target member to be moved, which is disposed inside the first connecting rod and is capable of moving inside the first connecting rod;

[0172] a moving mechanism fixed to the first link, the moving mechanism being configured to move the target member to be moved in a moving direction along the first link in response to power of a power portion; and

[0173] An acting portion is provided to the target member to be moved, the acting portion being configured to act on the movement of the second link mounted on the first link.

[0174] Reference Signs List

[0175] 1. 1A, 1B, 1C connecting rod structure

[0176] 2 First connecting rod

[0177] 3 Shell

[0178] 3a First end

[0179] 3b Second end

[0180] 3a External surface

[0181] 4, 4A, 4B, 4C moving mechanism

[0182] 5 Rotating part

[0183] 6. Action part

[0184] 7, 7A, 7B, 7C Power Department

[0185] 8 Second connecting rod

[0186] 31, 32, 33 Moving Objects

[0187] 40a fixed portion

[0188] 40b telescopic part

[0189] 40c guide

[0190] 41 screw shaft

[0191] 42 Nut

[0192] 43 Guidance Department

[0193] 43a rail

[0194] 43b block

[0195] 44 Coupling plate

[0196] 45 Testing Department

[0197] 47 rack

[0198] 48 small gear

[0199] Line 49a

[0200] 49b winding part

[0201] 71 Output shaft

[0202] 72 Transmission Department

[0203] 100 robots

[0204] 200 main body

[0205] M1, M2 moving direction

Claims

1. A connecting rod structure, comprising: First connecting rod; A target member to be moved is disposed inside the first connecting rod, and the target member to be moved is capable of moving inside the first connecting rod; a moving mechanism fixed to the first link, the moving mechanism being configured to move the target member to be moved in a moving direction along the first link in response to power of a power unit; an acting portion provided to the target member to be moved, the acting portion being configured to act on movement of a second link mounted to the first link; as well as a rotating portion fixed to the first link, the rotating portion serving as a rotation center of the target member to be moved and the moving mechanism; in, The target member to be moved is a housing, and The moving mechanism comprises: a screw shaft supported by the housing, the screw shaft extending along the moving direction; and A nut into which the screw shaft is inserted, the nut being fixed to the first connecting rod.

2. The connecting rod structure according to claim 1, wherein: The housing supports both ends of the screw shaft.

3. The connecting rod structure according to claim 1, wherein: The moving mechanism further includes a guide portion provided along the screw shaft, and the guide portion moves the housing. 4 . The link structure according to claim 1 , further comprising the power portion provided to the housing inside the first link, the power portion providing the power for moving the housing.

5. The connecting rod structure according to claim 4, wherein: The power part is located between the housing and the action part.

6. The connecting rod structure according to claim 4, wherein: The power part is provided to the outer surface of the housing along the screw shaft, and The moving mechanism has a transmission mechanism configured to transmit the power of the power unit to the screw shaft.

7. The connecting rod structure according to claim 1, wherein: The moving mechanism further includes a detection portion provided to the nut, the detection portion being configured to detect a force acting on the nut.

8. A connecting rod structure, comprising: First connecting rod; A target member to be moved is disposed inside the first connecting rod, and the target member to be moved is capable of moving inside the first connecting rod; a moving mechanism fixed to the first link, the moving mechanism being configured to move the target member to be moved in a moving direction along the first link in response to power of a power unit; an acting portion provided to the target member to be moved, the acting portion being configured to act on the movement of the second link mounted to the first link, in, The moving mechanism comprises: a rack provided to the target member to be moved, the rack being movable along the moving direction together with the target member to be moved; and A pinion gear is fixed to the first connecting rod, and the pinion gear is configured to transmit the power of the power unit to the rack.

9. A connecting rod structure, comprising: First connecting rod; A target member to be moved is disposed inside the first connecting rod, and the target member to be moved is capable of moving inside the first connecting rod; a moving mechanism fixed to the first link, the moving mechanism being configured to move the target member to be moved in a moving direction along the first link in response to power of a power unit; as well as an acting portion provided to the target member to be moved, the acting portion being configured to act on the movement of the second link mounted to the first link, in, The moving mechanism comprises: a wire disposed to extend from one end portion to the other end portion of the target member to be moved along the moving direction, the wire being configured to move the target member to be moved; and A winding portion is fixed to the first link between the one end portion and the other end portion of the target member to be moved, the winding portion being configured to wind the wire to move the target member to be moved in the moving direction.

10. A connecting rod structure, comprising: First connecting rod; a target member to be moved, which is arranged inside the first link, and the target member to be moved is movable inside the first link, wherein the target member to be moved has a base, a first end and a second end opposite to the first end, the base is rod-shaped along the longitudinal direction of the first link, the first end is arranged at an end of the base on the first moving direction side along a direction intersecting with the base, and the second end is arranged at an end of the base on the second moving direction side along a direction intersecting with the base, the first moving direction is a direction in which the target member to be moved is moved so that a second link mounted on the first link is bent relative to the first link, and the second moving direction is a direction in which the target member to be moved is moved so that the second link is straightened relative to the first link; a moving mechanism fixed to the first link, the moving mechanism being configured to move the target member to be moved in a moving direction along the first link in response to power of a power unit; an acting portion provided to the second end portion of the target member to be moved, the acting portion being configured to act on movement of the second link mounted to the first link, and in, The moving mechanism comprises: a fixing portion fixed to the first link to prevent movement of the fixing portion in a moving direction along a longitudinal direction of the first link, wherein the fixing portion serves as a starting point of the link structure; and a telescopic portion, arranged to extend from the target member to be moved to the fixed portion, the telescopic portion being configured to expand and contract by air pressure, and The target member to be moved is moved in the moving direction of the first link by the extension and contraction of the telescopic portion.

Images