# US 2017/0282376 A1 · Robot arm mechanism > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2017/0282376 A1 - Document ID: US20170282376A1 - Status: Published application - Kind: A1 - Application number: 15/626,895 - Filed: 2017-06-19 - Published: 2017-10-05 - Earliest claimed: 2014-12-20 - Assignees: Life Robotics Inc. - Applicants: Life Robotics Inc. - Inventors: Woo-Keun YOON - Web page: https://patentgrep.com/patent/US20170282376A1 ## CPC - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - A61B 34/71: {Manipulators operated by drive cable mechanisms} - B25J 9/042: {comprising an articulated arm} - B25J 9/104: {with cables, chains or ribbons} - B25J 9/106: {with articulated links} - B25J 9/16: Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) - B25J 17/0283: {Three-dimensional joints} - B25J 18/02: extensible - B25J 18/025: {telescopic} - G05B 2219/39457: Tendon drive - G06F 15/00: Digital computers in general (details G06F1/00 – G06F13/00); Data processing equipment in general - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A rigidity of a robot arm mechanism including a linear extension and retraction joint is enhanced. In a robot arm mechanism including the linear extension and retraction joint, the linear extension and retraction joint includes an arm section and an ejection section, the arm section includes a first connection piece string including a plurality of first connection pieces and a second connection piece string including a plurality of second connection pieces, and the second connection piece string is joined to the first connection piece string to thereby constitute a columnar body having a certain rigidity. The ejection section includes lower rollers and upper rollers for joining the first and second connection piece strings and supporting the columnar body. The lower rollers and the upper rollers are disposed with the columnar body sandwiched between the lower rollers and the upper rollers. ## Claims ### Claim 1 A robot arm mechanism comprising a linear extension and retraction joint, wherein the linear extension and retraction joint includes an arm section, and an ejection section for supporting the arm section, the arm section includes a first connection piece string and a second connection piece string, the first connection piece string includes a plurality of first connection pieces each having a U-shaped cross section or a hollow square cross section, the second connection piece string includes a plurality of second connection pieces each having a substantially flat plate shape, and the second connection piece string is joined to the first connection piece string to thereby constitute a columnar body having a certain rigidity, and the ejection section includes first rollers and second rollers for joining the first and second connection piece strings and supporting the columnar body by joining of the first and second connection piece strings, and the first rollers and the second rollers are disposed with the columnar body sandwiched between the first rollers and the second rollers. ### Claim 2 (depends on 1) The robot arm mechanism according to claim 1, wherein the first rollers support the columnar body at a side of the first connection pieces, and the second rollers support the columnar body at a side of the second connection pieces. ### Claim 3 (depends on 1) The robot arm mechanism according to claim 1, wherein the first and second rollers are provided so that a preload is applied to between the first and second rollers, and the columnar body. ### Claim 4 (depends on 3) The robot arm mechanism according to claim 3, wherein a distance between the first rollers and the second rollers with respect to a thickness direction of the arm section is shorter than a thickness of the arm section. ### Claim 5 (depends on 2) The robot arm mechanism according to claim 2, wherein the second rollers are arranged so that a distance between axes of rotation has a length equal to or less than a length of the second connection piece. ### Claim 6 (depends on 2) The robot arm mechanism according to claim 2, wherein the second rollers are provided at same positions as positions of the first rollers, or rearward of the first roller, with respect to a center axis of the arm section. ### Claim 7 (depends on 5) The robot arm mechanism according to claim 5, wherein a same number of the first rollers as the second rollers are provided. ### Claim 8 (depends on 7) The robot arm mechanism according to claim 7, wherein the first rollers are disposed at same positions as the second rollers with respect to a center axis of the arm section. ### Claim 9 (depends on 5) The robot arm mechanism according to claim 5, wherein the first rollers are provided at different positions from positions of the second rollers with respect to a center axis of the arm section. ### Claim 10 (depends on 5) The robot arm mechanism according to claim 5, wherein a smaller number of the first rollers than the second rollers are provided. ### Claim 11 (depends on 1) The robot arm mechanism according to claim 1, wherein the ejection section includes third rollers and fourth rollers that are disposed with the columnar body sandwiched between the third rollers and the fourth rollers, and the third rollers are disposed at different positions from positions of the fourth rollers with respect to a width direction of the columnar body. ### Claim 12 (depends on 1) The robot arm mechanism according to claim 1, wherein the ejection section includes ball bearings disposed with the arm section sandwiched between the ball bearings to support the columnar body, and receiving grooves for receiving the ball bearings are formed on both side surfaces of the first connection piece.