Robot arm mechanism and linear extension and retraction mechanism

A robot arm mechanism comprising a revolute joint and a linear extension and retraction joint, wherein:

• the linear extension and retraction joint includes
• a plurality of connection pieces coupled bendably and provided with a hollow square cross section, the connection pieces being adapted to form a columnar body when constrained from bending, and
• an ejection section adapted to form the connection pieces into the columnar body and support the columnar body;
• wherein the connection pieces are coupled at an upper part and a lower part of each piece to be folded in a zigzag pattern and stored in a base with top faces of adjacent connection pieces folded on top of each other and bottom faces of adjacent connection pieces folded on top of each other alternately.

A robot arm mechanism comprising a plurality of joints, wherein:

• the plurality of joints include a first revolute joint having a first axis of rotation, a second revolute joint having a second axis of rotation and a linear extension and retraction joint having the third axis of linear movement;
• the linear extension and retraction joint includes a plurality of first connection pieces coupled bendably and provided with a hollow square cross section,
• a plurality of second connection pieces coupled bendably and each shaped like a flat plate, a foremost one of the second connection pieces being connected with a foremost one of the first connection pieces, the second connection pieces being overlapped on the first connection pieces, thereby a columnar body constrained bending being formed, the columnar body being released when the first connection pieces and the second connection pieces are separated from each other;
• an ejection section adapted to form the columnar body by joining the second connection pieces on the first connection pieces and support the columnar body;
• and
• a winding section adapted to wind up the plurality of first connection pieces around a shaft orthogonal to the second axis and the third axis.

A robot arm mechanism comprising a plurality of joints, wherein:

• the plurality of joints include a first revolute joint having a first axis of rotation, a second revolute joint having a second axis of rotation and a linear extension and retraction joint having the third axis of linear movement;
• the linear extension and retraction joint includes
• a plurality of first connection pieces coupled bendably and provided with a hollow square cross section,
• a plurality of second connection pieces coupled bendably and each shaped like a flat plate, a foremost one of the second connection pieces being connected with a foremost one of the first connection pieces, the second connection pieces being overlapped on the first connection pieces, thereby a columnar body constrained bending being formed, the columnar body being released when the first connection pieces and the second connection pieces are separated from each other;
• an ejection section adapted to form the columnar body by joining the second connection pieces on the first connection pieces and support the columnar body;
• and
• a winding section adapted to wind up the plurality of first connection pieces around the second axis.

A robot arm mechanism comprising a revolute joint and a linear extension and retraction joint, wherein

• the linear extension and retraction joint includes
• a plurality of connection pieces coupled bendably and provided with a hollow square cross section, the plurality of connection pieces being adapted to form a columnar body when constrained from bending,
• an ejection section adapted to form the connection pieces into the columnar body and support the columnar body, and
• a winding section adapted to wind up the plurality of connection pieces around a shaft orthogonal to a center axis of the columnar body.

A linear extension and retraction mechanism comprising:

• a plurality of first connection pieces coupled bendably and provided with a hollow square cross section;
• and
• a plurality of second connection pieces coupled bendably and each shaped like a flat plate, a foremost one of the second connection pieces being connected with a foremost one of the first connection pieces, the second connection pieces being overlapped on the first connection pieces in upper part of the first connection pieces, thereby a columnar body being formed, the columnar body being released when the first connection pieces and the second connection pieces are separated from each other;
• and
• an ejection section adapted to form the columnar body by joining the first connection pieces to the second connection pieces and support the columnar body,
• wherein the first connection pieces are coupled at an upper part and a lower part of each piece to be folded in a zigzag pattern and stored in a base with top faces of adjacent first connection pieces folded on top of each other and bottom faces of adjacent first connection pieces folded on top of each other alternately.

A linear extension and retraction mechanism comprising:

• a plurality of connection pieces coupled bendably and provided with a hollow square cross section, the connection pieces being adapted to form a columnar body when constrained from bending;
• and
• an ejection section adapted to form the connection pieces into the columnar body and support the columnar body,
• wherein the connection pieces are coupled at an upper part and a lower part of each piece to be folded in a zigzag pattern and stored in a base with top faces of adjacent connection pieces folded on top of each other and bottom faces of adjacent connection pieces folded on top of each other alternately.

A linear extension and retraction mechanism comprising:

• a plurality of first connection pieces coupled bendably and provided with a U-shaped cross section;
• a plurality of second connection pieces coupled bendably and each shaped like a flat plate, a foremost one of the plurality of second connection pieces being connected with a foremost one of the plurality of first connection pieces, the second connection pieces being overlapped on the first connection pieces in upper part of the first connection pieces, thereby a columnar body being formed, the columnar body being released when the first connection pieces and the second connection pieces are separated from each other;
• an ejection section adapted to form the columnar body by joining the first connection pieces to the second connection pieces and support the columnar body;
• and
• a winding section adapted to wind up the plurality of first connection pieces around a shaft orthogonal to a center axis of the columnar body.

A linear extension and retraction mechanism comprising:

• a plurality of connection pieces coupled bendably and provided with a hollow square cross section, the connection pieces being adapted to form a columnar body when constrained from bending;
• an ejection section adapted to form the connection pieces into the columnar body and support the columnar body;
• and
• a winding section adapted to wind up the plurality of connection pieces around a shaft orthogonal to a center axis of the columnar body.