Robotic Device

Abstract

The purpose of the present application is to provide a robot device with a direct-acting telescopic function, which can achieve structural simplification, lightweight and improved arm strength, thereby achieving miniaturization while ensuring a large range of motion for the arm to rotate up and down. The robot device (200) of this embodiment has a base (210), a support part (220) and a direct-acting telescopic mechanism (1) supported on the support part in a freely rotatable manner. The direct-acting telescopic mechanism has: a plurality of cylindrical bodies (21 to 24) composed of multiple stages; a block column (30) composed of a plurality of blocks (40) connected in a column, the frontmost block of the plurality of blocks being connected to the frontmost cylindrical body; and a storage part (10) arranged below the last cylindrical body and above the support part, storing the block column along an arc track.

Description

Technical Field

[0001] The present application relates to a robotic device. Background Art

[0002] As a direct-acting telescopic mechanism of a robot device, the following structure is known: an arm portion as a columnar body is formed by joining a first link row and a second link row, and the first link row and the second link row are longitudinally accommodated in a column portion as a column-shaped body that can be separated and bent, the first link row is composed of a plurality of first links (flat plates) connected in a manner that can be bent by a rotation axis, and similarly, the second link row is also composed of a plurality of second links (blocks) connected in a manner that can be bent (Patent Document 1).

[0003] This linear telescopic mechanism can extend the arm by increasing the number of first links and second links, and since the arm does not protrude rearward, it is very useful for use in a limited space.

[0004] However, in this structure, since two types of link rows are required, the structure becomes complicated and the weight increase is inevitable. In addition, since the strength of the arm depends on the connection strength of the link and the bonding strength between the two types of link rows, the improvement of the strength of the arm is limited.

[0005] Patent document 2 discloses a structure that realizes a linear telescopic mechanism by a group of moving members. This structure can achieve structural simplification and weight reduction by having a group of moving members. However, in a structure in which an arm is composed of a group of moving members and the moving members are connected to each other by a rotating shaft, improving the strength of the arm depends on the connection strength of the structure. Therefore, there is still a problem of improving the strength of the arm.

[0006] Furthermore, since the downward rotation of the movable member group is restricted, the movable member group needs to be stored above the arm. Therefore, when the direct-acting telescopic mechanism is applied to a robot device, the housing for ensuring the storage space also needs to be high, and the housing becomes a structure that protrudes significantly above the arm. Therefore, the overall height of the robot device increases, and it has to be larger. In addition, in the robot device, the up and down rotation of the arm is an indispensable function, but in this case, the housing needs to be rotated together with the arm, and a large housing may limit the range of motion of the up and down rotation of the arm. Moreover, the backlash between the drive gear for driving the movable member group and the rack of the movable member is inevitable, so there is also a problem of difficulty in ensuring high positioning accuracy.

[0007] Prior art literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent No. 5435679

[0010] Patent Document 2: Japanese Patent Application Publication No. 2015-213974 Summary of the invention

[0011] Problem that the invention aims to solve

[0012] In a robot device having a linear telescopic mechanism, it is desired to simplify the structure, reduce the weight, and improve the strength of the arm, thereby achieving miniaturization while ensuring a large range of vertical rotation of the arm.

[0013] Means used to solve problems

[0014] A robot device of one form disclosed in the present invention comprises: a base; a support part erected on the base, having a first rotation joint, the first rotation joint having a first rotation axis perpendicular to the base; and a direct-acting telescopic mechanism supported on the support part in a freely rotatable manner via a second rotation joint, the second rotation joint having a second rotation axis orthogonal to the first rotation axis. The direct-acting telescopic mechanism comprises: a plurality of direct-acting elements, which are composed of multiple stages; a block array, which is composed of a plurality of blocks connected in an array, the frontmost block of the plurality of blocks being connected to the frontmost direct-acting element of the plurality of direct-acting elements; and a storage part, which is arranged below the last direct-acting element and above the support part, and stores the block array along an arc track.

[0015] According to this aspect, in a robot device having a linear telescopic mechanism, it is possible to simplify the structure, reduce the weight, and improve the strength of the arm, and further achieve miniaturization while ensuring a wide range of vertical rotation of the arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a perspective view showing a robot device according to an embodiment from an oblique front.

[0017] Figure 2 It is shown from the rear Figure 1 A three-dimensional diagram of a robotic device.

[0018] Figure 3 The arm is shown in a state of being extended. Figure 1 A three-dimensional diagram of a robotic device.

[0019] Figure 4 yes Figure 1 A three-dimensional diagram of the direct-acting telescopic mechanism during contraction.

[0020] Figure 5 yes Figure 1 A three-dimensional diagram of the linear telescopic mechanism during extension.

[0021] Figure 6 The block column is removed. Figure 1 A side view of the internal structure of the direct-acting telescopic mechanism during contraction.

[0022] Figure 7 It is shown Figure 6 A side view of the direct-acting telescopic mechanism with the housing and the arm separated.

[0023] Figure 8 It is shown Figure 1 A side view of the internal structure of the direct-acting telescopic mechanism during contraction.

[0024] Fig. 9 It is shown Figure 1 A side view of the internal structure of the linear telescopic mechanism when extended.

[0025] Fig.10 It is shown from the front. Figure 8 A stereogram of the block.

[0026] Fig.11 It is shown from the rear Figure 8 A stereogram of the block.

[0027] Fig.12 It is shown Figure 8 Side view of the block.

[0028] Fig.13 is a side view showing the block and a pair of guide rails disposed in the housing.

[0029] Fig.14 It is shown from the front. Fig.13 A stereogram of the last block in a column of blocks.

[0030] Fig.15 It is shown from the rear Fig.14 A stereogram of the last block.

[0031] Fig.16 It is shown Fig.13 Side view of the guide rail.

[0032] Fig.17 It is shown Fig.13 A three-dimensional view of the guide rail.

[0033] Fig.18 yes Fig.16 AA′ cross-sectional view.

[0034] Fig.19 The blocks are shown as well Fig.18 Cross-sectional view of the guide rail.

[0035] Fig. 20 It is shown Fig.15 A side view of a modified example of a guide rail.

[0036] Fig.21 The arm portion and the structure are shown in the extended state. Figure 4 A side view of a modified example of a block array of a linear telescopic mechanism.

[0037] Fig. 22 yes Fig.21 BB′ cross-sectional view.

[0038] Fig.23 It is a top view showing a linear telescopic mechanism in which the telescopic structure is replaced by a plurality of linear guide mechanisms connected in series.

[0039] Fig.24 It is shown Fig.23 A top view of the linear telescopic mechanism in an extended state. DETAILED DESCRIPTION

[0040] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0041] like Figure 1 , Figure 2 , Figure 3 As shown, in the robot device 200 of this embodiment, a support column 220 is vertically provided on a flat base 210. The support column 220 is divided into two parts, upper and lower, which are connected to each other in a freely rotatable manner via a first rotation joint J1 having a rotation axis (first rotation axis RA1) perpendicular to the base 210. At the upper part of the support column 220, the direct-acting telescopic mechanism 1 is supported so as to be freely rotatable up and down via a second rotation joint J2 having a rotation axis (second rotation axis RA2) orthogonal to the first rotation axis RA1.

[0042] The direct-acting telescopic mechanism 1 has a storage portion 10 and a telescopic arm portion 20. The storage portion 10 is pivotally supported by the rotation axis RA2 of the second rotation joint J2 in its housing 11. The rotation axis RA2 is supported by a side frame 230 fixed to the upper portion of the support column 220. The rear end of the arm portion 20 is fixed to the upper portion of the housing 11. A wrist portion 100 is equipped at the front end of the arm portion 20, and the wrist portion 100 has three rotation joints J4, J5, and J6 whose rotation axes are orthogonal to each other. The rotation joint J4 has a rotation axis RA4 orthogonal to the direct-acting axis RA3. The rotation joint J5 has a rotation axis RA5 perpendicular to the rotation axis RA4. The rotation joint J6 has a rotation axis RA6 perpendicular to the rotation axis RA4 and the rotation axis RA5. On the front end surface of the wrist portion 100, an adapter for mounting an end effector not shown in the figure, such as a gripper, is provided.

[0043] The arm 20 forms a third direct-acting joint J3, and the third direct-acting joint J3 has a direct-acting axis RA3 orthogonal to the second rotation axis RA2. Figure 3As shown, the arm 20 can be extended and retracted forward and backward along the linear axis RA3. The arm 20 is hollow inside, and a block row described later is inserted inside. The block row constitutes an actuator that drives the arm 20 to extend and retract.

[0044] like Figure 4 , Figure 5 As shown, the arm 20 is composed of a plurality of direct-acting elements arranged in multiple stages. Typically, the direct-acting element is a cylinder. The arm 20 is composed of a plurality of cylinders that form a telescopic structure (multi-stage nested structure), and here, it is composed of four cylinders 21, 22, 23, and 24. In addition, the cylinders 21, 22, 23, and 24 are typically cylindrical, but may also be in the shape of a polygonal cylinder.

[0045] The arm 20 is supported by the end surface of the housing 11 of the storage portion 10 for storing the block array 30. Typically, the housing 11 is a substantially short cylindrical shape, with a substantially 1 / 4 circle range of the upper portion cut off. Figure 6 , Figure 7 As shown, the cutout at the top of the housing 11 is blocked by a cover plate 19. The rear end of the arm 20, i.e., the last cylindrical body 24, is vertically fixed to the terminal flange of the cover plate 19. The cover plate 19 to which the last cylindrical body 24 is fixed is provided with an opening 191. Through the opening 191, the interior of the housing 11 is connected to the hollow interior of the cylindrical bodies 21, 22, 23, and 24. The block array 30 described later passes through the opening 191.

[0046] like Figure 8 , Fig. 9 As shown, a block row 30 is stored in the internal space of the shell 11. The shell 11 constitutes the storage section 10 together with the guide rails described later. The block row 30 is composed of a plurality of blocks 40 connected in a row. The block row 30 is inserted into the interior of the cylinders 21, 22, 23, 24. The frontmost block 40 of the block row 30 is connected to the frontmost cylinder 21 among the plurality of cylinders 21, 22, 23, 24 via a connecting piece 31. The connection position is positioned in such a manner that the block row 30 sent out from the interior of the shell 11 can be linearly moved along a linear track CL2 (moving axis CL2) parallel to the center line CL1 of the cylinder. In addition, the above-mentioned opening 191 is also positioned in such a manner that the moving axis CL2 intersects with the opening surface of the opening 191.

[0047] The storage section 10 of the storage block array 30 is arranged above the support column 220. Furthermore, the storage section 10 is arranged downward from the rear end of the arm 20, more specifically, from the rear end of the last cylindrical body 24. The housing 11 of the storage section 10 does not protrude greatly upward at the rear end of the last cylindrical body 24, so that the overall height of the robot device can be suppressed, miniaturization can be achieved, and the robot device can be installed in a small space, and restrictions on rotational motion can be reduced.

[0048] The cylindrical center line Rc of the housing 11 coincides with the rotation axis RA2 of the second rotation joint J2, and the housing 11 is supported by the second rotation joint J2 so that the center of the arc track of the block array 30 is located on the rotation axis RA2. The housing 11 can be rotated lightly along with the delivery and retraction of the block array 30.

[0049] The block array 30 is stored inside the housing 11 of the storage portion 10 along an arc-shaped track centered on the center line Rc of the housing 11 of the short cylindrical body. When the arm 20 is contracted to the maximum extent, most of the block array 30 is stored inside the housing 11. In addition, although not shown, a driving mechanism for sending out and pulling back the block array 30 is provided inside the housing 11. Typically, the driving mechanism is a rack and pinion mechanism, but any other mechanism such as a ball screw mechanism may also be used.

[0050] The basic telescopic operation of the linear telescopic mechanism 1 is as follows.

[0051] The block array 30 stored in the housing 11 is sent out to the inside of the arm 20 through the opening 191 by the driving mechanism, and the front block 40 moves forward along the moving axis CL2. Since the front block 40 is connected to the front cylindrical body 21, as the front block 40 moves forward, the other cylindrical bodies 21, 22, and 23 are pulled out one by one from the last cylindrical body 24 fixed to the housing 11, and as a result, the arm 20 extends forward along the cylindrical center line CL1.

[0052] The block array 30 sent out to the inside of the arm 20 is pulled back into the housing 11 through the opening 191 by the driving mechanism, and the front block 40 moves backward along the moving axis CL2. As the front block 40 moves backward, the front cylindrical body 21 is sequentially accommodated in the rear cylindrical body, and as a result, the arm 20 is retracted backward along the cylindrical center line CL1.

[0053] Thus, the block array 30 constitutes a part of the actuator that drives the extension and retraction of the arm portion 20. The arm portion 20 is composed of a plurality of cylinders 21, 22, 23, 24 forming a multi-stage nested structure, and its extension and retraction actuator is composed of a block array 30 of a single structure, so that the structure is simplified and lightweight, and the strength of the arm portion 20 is improved by the multi-stage nested structure and the block array complementing each other.

[0054] like Fig.10 , Fig.11As shown, the block 40 has a block body 41. The block body 41 has, for example, a rectangular parallelepiped shape. At the lower portion of the front end of the block body 41, two bearings 42 and 43 protruding forward are separately provided in the width direction. At the lower portion of the rear end of the block body 41, bearings 44 and 45 formed integrally with the block body 41 are separately provided in the width direction. The bearings 42 and 43 at the front end of one of the two adjacent blocks 40 are embedded between the bearings 44 and 45 at the rear end of the other block 40, and a rotating shaft not shown is inserted into the continuous hole. As a result, the blocks 40 are connected in a row in a rotatable manner. In addition, the blocks 40 are connected in a row along a direction (connection direction) orthogonal to the rotating shaft. As shown Fig.12 As shown, bearings 42, 43, 44, and 45 are arranged on the bottom side of the block body 41, and the block body 41 has a rectangular shape. Therefore, when arranged in a straight line, the end faces of two adjacent blocks 40 abut against each other, thereby limiting further upward rotation but allowing downward rotation.

[0055] A pair of protrusions 46 and 47 protruding to the side are respectively provided on the two side surfaces of the block body 41. The pair of protrusions 46 and 47 are respectively engaged with a pair of arc-shaped guide rails 13 and 14 described later. Typically, a cam follower rolling on a pair of arc-shaped guide rails 13 and 14 can be used as the protrusions 46 and 47. The outer wheel rotation axis of each cam follower is parallel to the rotation axis of the block 40, and the cam followers are respectively coaxially mounted on the block body 41. In addition, it is undeniable that the protrusions 46 and 47 can be simple cylindrical or other shaped protrusions. Here, the case where the protrusions 46 and 47 are cam followers is explained.

[0056] like Fig.13 As shown, in order to enable the block array 30 to move smoothly along the circular arc track, the position of the cam followers 46 and 47 relative to the block body 41 is determined in the following manner, that is, when viewed from the side, the outer ring rotation axis of the cam followers 46 (47) is arranged together with the rotation axis of the connecting block 40 on a circle CO1 that is concentric with the circular arc track (circular arc guide rails 13 and 14 described later) centered on the center line Rc. As a result, the block array 30 is restricted by the circular arc guide rails 13 and 14 and is accommodated in the housing 11 along the circular arc track.

[0057] The cam followers 46 and 47 of the block 40 are restricted by the guide rails 13 and 14. The cam followers 46 and 47 are installed one each on both sides of the block body 41, and the cam followers 46 and 47 are coaxial, so the block 40 can slightly rotate around the cam followers 46 and 47. Therefore, the block array 30 may be bent in the storage portion, thereby preventing smooth movement.

[0058] In order to suppress this situation, in this embodiment, if Fig.14 , Fig.15 As shown, in the block body 41 of the last block 40 of the block row 30, two cam followers 46 and 48 are mounted on one side of the block body 41, and two cam followers 47 and 49 are mounted on the other side of the block body 41. The two cam followers mounted on the two side surfaces of the block body 41 are positioned so as to be arranged on a circle CO1 relative to the block body 41. Since the two cam followers are mounted on the two side surfaces of the block body 41, respectively, the orientation of the last block 40 is fixed in a posture along the guide rails 13 and 14. As for the blocks 40 adjacent to the last block 40, since the cam followers 46 and 47 of the blocks 40 and the rotation shaft connected to the last block 40 are restricted at two locations, the orientations of the blocks 40 are fixed in a posture along the guide rails 13 and 14, similarly to the last block 40. Furthermore, since the other blocks 40 in the front are restricted at two places, namely, their own cam followers 46 and 47 and the rotation axis connected to the adjacent block 40 in the rear, their orientation is also fixed in a posture along the guide rails 13 and 14. In this way, the postures of all the blocks 40 are linked and unified to be the same as the posture of the last block 40. Therefore, the block row 30 will not bend in the storage section, and can move smoothly along the arc track while maintaining a specified posture.

[0059] In addition, the protrusions that engage with the guide rails 13 and 14 are not limited to cam followers, as long as the block 40 can be moved along the guide rails 13 and 14. As the protrusions, rolling bodies that roll on the surface of the guide rails or sliding bodies that slide on the surface of the guide rails can also be appropriately used. As rolling bodies, various bearings in cylindrical, needle-shaped, rod-shaped, conical, spherical and other shapes can be listed. As sliding bodies, cylindrical bodies, rod-shaped bodies, etc. can be listed, and at least the surface of the cylindrical body, rod-shaped body, etc. that contacts the guide rails 13 and 14 is made of self-lubricating resin.

[0060] Furthermore, the block 40 having two cam followers mounted on both sides is not limited to the last block 40, but may be any block 40 that is present in the housing 11 (in the guide rails 13, 14) when the arm 20 is in the maximum extension state. In addition, two cam followers may be mounted on both sides of all blocks 40, or two cam followers may be mounted on both sides of each of a plurality of discrete blocks 40. In addition, instead of mounting two cam followers on both sides of the last block 40, mounting one cam follower 46, 47 on both sides of the block 40, and mounting the cam followers by staggering the rotation axes of the cam followers in the front and back direction, the orientation of the block 40 can be fixed in a posture along the guide rails 13, 14.

[0061] like Fig.16 , Fig.17 As shown, in order to smoothly store the block array 30 along the circular arc track, the storage portion has a pair of circular arc guide rails 13 and 14 that guide the cam followers 46 and 47 mounted on the block 40. The circular arc guide rails 13 and 14 guide the cam followers 46 and 47 from the inside and outside thereof, respectively. The radii of the circular arc guide rails 13 and 14 are different from each other. The circular arc guide rails 13 and 14 form concentric circles, and the centers thereof are located on the center line Rc of the housing 11. The block array 30 moves along the circular arc guide rails 13 and 14, and the center line Rc of the housing 11 coincides with the second rotation axis RA2 of the second rotation joint J2, so that the block array 30 moves along the circular arc track centered on the second rotation axis RA2 of the second rotation joint J2 and is stored.

[0062] In order to prevent the cam followers 46 and 47 from reversing relative to the moving direction of the block 40 and hindering the movement of the block 40, the arc-shaped guide rails 13 and 14 are arranged in a manner that is spaced apart along the center line of the housing 11 at a distance wider than the width of the block 40, and are arranged on both sides of the block column 30. This will be described in detail below. Fig.17 131 and 141 respectively denote guide surfaces of a pair of arc-shaped guide rails 13 and 14 on which the outer wheels of the cam followers 46 and 47 roll. The radius of each of the pair of arc-shaped guide rails 13 and 14 is set so that the guide surfaces 131 and 141 are spaced apart by a diameter R1 (see FIG. 1 ) larger than the diameter R1 of the cam followers 46 and 47 when viewed from the side over the entire area thereof. Fig.12 ) is a gap that is wider than the radius of the guide surfaces 131 and 141 of the cam followers 46 and 47. That is, the distance between the radii of the guide surfaces 131 and 141 of the cam followers 46 and 47 is longer than the diameter R1 of the cam followers 46 and 47. The diameter of the arc-shaped guide rail 13 on one side is shorter than the diameter of the arc-shaped guide rail on the other side, and the cam follower 46 is guided from the inside of the cam follower 46 on one side of the block 40, thereby constituting the inner guide rail 13 that limits the track of the block column 30 from the inside. The diameter of the arc-shaped guide rail 14 on the other side is longer than the diameter of the inner guide rail 13, and the cam follower 47 is guided from the outside of the cam follower 47 on the opposite side of the block 40, thereby constituting the outer guide rail 14 that limits the track of the block column 30 from the outside.

[0063] In addition, as described later, the side surfaces of the block 40 are restricted by the guide rails 13 and 14, and the block array 30 is grouped and accommodated in the arc track. Therefore, the rotation of the block array 30 around its axis is restricted, so that the block array 30 will not detach from the pair of arc-shaped guide rails 13 and 14.

[0064] The outer wheel of the cam follower 46 on one side of the block 40 rolls only on the guide surface 131 on the outer side of the inner guide rail 13, and the outer wheel of the cam follower 47 on the opposite side of the block 40 rolls only on the guide surface 141 on the inner side of the outer guide rail 14. That is, when viewed from the direction of the guide surfaces 131, 141, the outer wheels of the cam followers 46, 47 on both sides rotate in opposite directions to each other, but both roll in the positive direction relative to the direction of movement of the block column 30. Assuming that the block column 30 is moved in a state where the cam follower on one side of the block 40 is sandwiched between the inner guide rail and the outer guide rail, the outer wheel of the cam follower rotates positively relative to one guide rail, and the outer wheel of the cam follower rotates reversely relative to the other guide rail in a manner that hinders the movement of the block column, so that the block column 30 cannot move smoothly. As in the present embodiment, the inner rail 13 and the outer rail 14 are provided on both sides of the block array 30, and the outer wheels of the cam followers 46 and 47 on both sides roll only on one of the inner rail 13 and the outer rail 14, so that the cam followers 46 and 47 will not reverse and hinder the movement of the block array 30. Thus, the block array 30 can be smoothly sent out and pulled back along the circular arc track, and the arm 20 can also be smoothly extended and shortened.

[0065] like Fig.16 As shown, typically, the arc-shaped guide rails 13 and 14 are formed to have a circumference of 3 / 4 of a circle, but it is preferred to shorten the circumference slightly. In conjunction with the shortened arc-shaped guide rails 13 and 14, the cover plate 19 of the housing 11 also retreats a tangent distance B0 while maintaining a state parallel to the radius, in other words, while maintaining a state perpendicular to the cylinder center line CL1. The tangent distance B0 is the tangent distance corresponding to shortening the arc-shaped guide rails 13 and 14 by 8 degrees. Since the rear end of the arm 20 is fixed to the cover plate 19, the range of motion of the front end of the hand can be slightly closer to the housing 11, thereby improving the accessibility to the hand corresponding to the amount of approach.

[0066] In addition, the arm 20 is vertically mounted on the cover plate 19 which is parallel to the radius, and the circumference of the arc-shaped guide rails 13 and 14 is slightly shortened. Therefore, the tangents at the front end of the arc-shaped guide rails 13 and 14 will not be parallel to the cylinder center line CL1, but will be somewhat crossed. Therefore, when the block column 30 moves from the arc track to the straight track, a slightly steep angle change will occur. When the block column 30 is pulled back to the storage portion, the block column 30 will also undergo a steep angle change. It is undeniable that this steep angle change will cause the block column 30 to shake or bend gently in the up and down directions. In order to suppress the shaking or bending of these block columns 30 as much as possible, straight guide rails 15 and 16 are supplemented at the front ends of the arc-shaped guide rails 13 and 14. As shown Fig.16 , Fig.17As shown, the linear guide 15 extends from the front end of the arc-shaped guide 13 in a direction parallel to the cylinder center line CL1. Similarly, the linear guide 16 also extends from the front end of the arc-shaped guide 14 in a direction parallel to the cylinder center line CL1. With respect to the spacing between the pair of linear guides 15 and 16 in the up-down, left-right directions, in order to maintain the spacing near the front ends of the pair of arc-shaped guides 13 and 14, when viewed from the side, the guide surfaces 151 and 161 of the pair of linear guides 15 and 16 are spaced apart by a spacing D1 that is substantially equal to the diameter R1 of the cam followers 46 and 47 over the entire area.

[0067] like Fig.16 As shown, the linear guides 15 and 16 have a length L equal to the rotation axis spacing D of the cam followers 46 and 47 of the two adjacent blocks 40. When the block array 30 is sent out from the arc-shaped guide rails 13 and 14 or pulled back to the arc-shaped guide rails 13 and 14, the cam follower 46 and 47 of one block 40 is always restricted by the linear guide rails 15 and 16. In other words, when the cam follower 46 and 47 of a block 40 is separated from the linear guide rails 15 and 16, the cam follower 46 and 47 of the adjacent block 40 is newly introduced into the linear guide rails 15 and 16. There is always a cam follower 46 and 47 of one block 40 that is restricted by the linear guide rails 15 and 16, so that when the block 40 and the adjacent block 40 pass between the arc-shaped guide rails 13 and 14 and the linear guide rails 15 and 16, although the relative positions of these blocks will change, the change will always go through the same process. In other words, the block array 30 always passes through the same track between the arc-shaped guide rails 13 and 14 and the linear guide rails 15 and 16. Therefore, the position accuracy can be guaranteed. In addition, the length of the linear guide rails 15 and 16 only needs to be greater than the rotation axis distance D of the cam followers 46 and 47. However, from the perspective of light weight and lightness of vertical rotation, it is preferred that the length of the linear guide rails 15 and 16 is equal to the rotation axis distance D.

[0068] The arc-shaped guide rails 13 and 14 are formed as a part of a torus. However, from the viewpoint of manufacturing efficiency, it is preferable to form the arc-shaped guide rails 13 and 14 by forming the grooves 111 and 121 in an arc shape on the disc-shaped guide rail plates 101 and 102 having a predetermined thickness. Fig.18 As shown, the disc-shaped guide plates 101, 102 are arranged in parallel with a gap therebetween so that the distance between the bottoms of the pair of grooves 111, 121 is slightly longer than the total width of the pair of cam followers 46, 47. The depth of the pair of grooves 111, 121 is consistent with the total length (height) of the outer wheels of the cam followers 46, 47. The width of the pair of grooves 111, 121 is much wider than the diameter of the outer wheels of the cam followers 46, 47.

[0069] A circular arc-shaped groove with a long diameter (outer groove 111) is formed on one disc-shaped guide plate 101, and a circular arc-shaped groove with a short diameter (inner groove 121) is formed on the other disc-shaped guide plate 102. When viewed from the side, the groove width of the outer groove 111 and the groove width of the inner groove 121 are slightly wider than the diameter R1 of the cam followers 46 and 47, and the portion of the wider distance is covered.

[0070] like Fig.19 As shown, the inner wall surface (guide surface) 131 of the groove 111 of the guide plate 101 with a longer radius functions as a guide surface 131 for the outer wheel of the cam follower 46 on one side of the block 40 to roll. The outer wall surface (guide surface) 141 of the groove 121 of the guide plate 102 with a shorter radius functions as a guide surface 141 for the outer wheel of the cam follower 47 on the opposite side of the block 40 to roll. That is, the inner groove side surface of the outer groove 111 guides the cam follower 46 on one side of the block 40 from the inner side, which is equivalent to the guide surface 131 of the inner guide rail 13 that limits the track of the block array 30 from the inside, and the portion including the inner groove side surface of the outer groove 111 functions as the inner guide rail 13 mentioned above. Similarly, the outer groove side surface of the inner groove 121 guides the cam follower 47 from the outer side of the cam follower 47 on the opposite side of the block 40, which is equivalent to the guide surface 141 of the outer guide rail 14 that limits the track of the block row 30 from the outside, and the portion of the outer groove side surface including the inner groove 121 functions as the above-mentioned outer guide rail 14.

[0071] In addition, if Fig. 20 As shown, in order to guide the block array 30 relative to the linear guides 15 and 16, a pair of auxiliary guides 17 and 18 can be connected to the front ends of the linear guides 15 and 16, respectively, and the pair of auxiliary guides 17 and 18 expand forward in an inverted tapered shape.

[0072] In addition, if Fig.21 As shown, the total length of the block array 30 is preferably such that when the block array 30 is sent out at the longest distance in order to extend the arm 20 to the longest length, at least half of the block array 30 still remains in the storage section. Therefore, even if an external force, i.e., a torsional external force, is applied to the arm 20 around the cylinder center line CL1, the external force is transmitted to the entire block array 30 in a chain-like manner from the front block 40 connected to the arm 20. In order to reduce the torsional error of the arm 20, it is necessary to improve the rigidity of the arm 20, the rigidity of the linear telescopic mechanism 1, and the supporting rigidity thereof, etc. However, in this embodiment, in order to effectively suppress the torsional error, as described above, the block array 30 has a total length required to allow at least half of the block array 30 to remain in the storage section.

[0073] The following is a detailed description. Fig. 22As shown, when an external force F0 is applied to the arm 20 in a clockwise direction on the paper with the cylinder center line CL1 as the center, for example, the external forces F1 and F2 are also applied to the block array 30. On the block 40 close to the opening 191, the external force F1 acts in a direction to make the cam followers 46 and 47 leave the guide surfaces 131 and 141 of the arc-shaped guide rails 13 and 14. However, on the block 40 remaining on the lower side opposite to the upper block 40, the external force F2 acts in a direction to press the cam followers 46 and 47 against the guide surfaces 131 and 141 of the arc-shaped guide rails 13 and 14. Therefore, this is true when the length of the arm 20 is shorter than the longest state. Even when the arm 20 is stretched to the longest, the block array 30 can effectively assist in suppressing the torsion of the arm 20 together with the guide rails 13 and 14. On the other hand, when an external force F0 is applied to the arm portion 20 in the counterclockwise direction on the paper, the external force F2 acts on the lower block 40 in a direction to separate the cam followers 46 and 47 from the guide surfaces 131 and 141 of the arc-shaped guide rails 13 and 14, while the external force F1 acts on the upper block 40 on the opposite side in a direction to press the cam followers 46 and 47 against the guide surfaces 131 and 141 of the arc-shaped guide rails 13 and 14. Similarly, the block array 30 can assist in suppressing the torsion of the arm portion 20.

[0074] In addition, the arm 20 of this embodiment is not limited to a telescopic structure. Fig.23 , Fig.24 As shown, the arm 60 may also be composed of a plurality of direct-acting guide mechanisms 61, 62, 63 connected in series. The direct-acting guide mechanisms 61, 62, 63 are respectively composed of a sliding guide rail (direct-acting element) and a sliding member. The sliding guide rail of the last direct-acting guide mechanism 63 among the plurality of direct-acting guide mechanisms 61, 62, 63 is horizontally fixed on the cover plate 19, and the sliding member of the front direct-acting guide mechanism 61 is connected to the front block 40 of the block column 30 via, for example, an L-shaped connecting member 64. The arm 60 is extended and retracted as the block column 30 moves forward and backward along the moving axis CL2. Only the structure of the arm is different, and even if a direct-acting telescopic mechanism of the arm 60 composed of a plurality of direct-acting guide mechanisms 61, 62, 63 is adopted, the same effect as the direct-acting telescopic mechanism 1 when the arm 20 adopts a telescopic structure can be produced.

[0075] Although some embodiments have been described, these embodiments are presented only by way of example and are not intended to limit the scope of the invention. In fact, the novel methods and systems described herein may be embodied in various other forms; in addition, various omissions, substitutions, and changes may be made to the embodiments of the methods and systems described herein without departing from the spirit of the invention. The attached claims and their equivalents are intended to cover forms or modifications that fall within the scope and spirit of the invention.

Claims

1. A robot device, characterized in that: have: abutment, A support column is erected on the base and has a first rotation joint, wherein the first rotation joint has a first rotation axis perpendicular to the base, and a direct-acting telescopic mechanism supported on the support portion in a freely rotatable manner via a second rotation joint, wherein the second rotation joint has a second rotation axis orthogonal to the first rotation axis; The direct-acting telescopic mechanism comprises: Multiple direct-acting elements, composed of multiple stages, a block array, comprising a plurality of blocks connected in an array, wherein a frontmost block among the plurality of blocks is connected to a frontmost direct-acting element among the plurality of direct-acting elements, and The storage section is arranged below the last direct motion element among the plurality of direct motion elements and above the support section, and stores the block array along an arc track. The storage portion has a pair of arc guide rails disposed on both sides of the block row for moving the block row along the arc track. A pair of protrusions engaging with the pair of circular arc guide rails are provided on both sides of each block. The pair of circular arc guide rails include an inner guide rail that limits the track of the protruding body from the inside of the storage portion and an outer guide rail that limits the track of the protruding body from the outside of the storage portion. The inner rail is disposed on one side of the block row, and the outer rail is disposed on the other side of the block row.

2. The robot device according to claim 1, characterized in that: The center of the circular arc track is located on the second rotation axis.

3. The robot device according to claim 1, characterized in that: The protrusion is located on the block so that, when viewed from the side, the center line of the protrusion and the rotation axis connecting the block are arranged on a circle concentric with the arc guide rail in the housing portion.

4. The robot device according to any one of claims 1 to 3, characterized in that: The plurality of direct-acting elements are composed of a plurality of cylinders in a multi-level nested structure. The block is connected via a rotation axis along a connection direction orthogonal to the rotation axis in a manner that upward rotation is restricted but downward rotation is allowed, and is inserted into the interior of the cylinder, and the frontmost block among the plurality of blocks is connected to the frontmost cylinder among the plurality of cylinders.

5. The robot device according to any one of claims 1 to 3, characterized in that: The block row has a length such that, when the block row is sent out from the storage section at the longest distance, at least half of the circle of the circular track remains in the storage section.

6. The robot device according to claim 4, characterized in that: The block row has a length such that, when the block row is sent out from the storage section at the longest distance, at least half of the circle of the circular track remains in the storage section.

7. A robot device, characterized in that: have: The pillars, and A direct-acting telescopic mechanism is arranged on the support column; The direct-acting telescopic mechanism comprises: The arm is retractable. A block array is composed of a plurality of blocks connected to each other in a row so as to be freely rotatable, wherein the frontmost block of the plurality of blocks is connected to the front end of the arm, and The storage portion is located below the rear end of the arm portion and above the support portion, and stores the block array along an arc track. The storage portion has a pair of arc guide rails disposed on both sides of the block row for moving the block row along the arc track. A pair of protrusions engaging with the pair of circular arc guide rails are provided on both sides of each block. The pair of circular arc guide rails include an inner guide rail that limits the track of the protruding body from the inside of the storage portion and an outer guide rail that limits the track of the protruding body from the outside of the storage portion. The inner rail is disposed on one side of the block row, and the outer rail is disposed on the other side of the block row.

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