The robot arm which has direct dynamic expansion and contraction arm mechanism and particular direct dynamic expansion and contraction arm mechanism

摘要

The robot arm (50) of this invention the arm which is formed by with the structure above upper deck body group (20) and the substructure body group (21) has (2) as the direct dynamic expansion and contraction joint (J3). The structure above upper deck body group (20) and the substructure body group (21) each one is connected to series, removing the pressure welding of union structure of the structure above upper deck body - substructure body which forms the union structure of the structure above upper deck body - substructure body which stiffens in rectilinear condition due to the fact that the structure above upper deck body group (20) and the substructure body group (21) occlude partly, stiffens in rectilinear condition, by the fact that it cancels particular stiffness unrestrictedly variable arm length it is possible to be able to point. Furthermore, completely to designate the surface where the especially finger and the possibility the rubbish penetrating are high as the plane surface which does not have the opening it is possible the arm (2). Furthermore, the structure above upper deck body (22) and the substructure body (23) are separated, can be crooked by the axis of rotation (30 and 31), when receiving the robot arm backing (1) inside it can house in the compact. Because of this, be able to prevent the insertion and the penetration of the rubbish, at the same time, it is possible to offer compact direct dynamic expansion and contraction arm mechanism.