US Pat. No. 9,833,911

DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM, AND ROBOT ARM PROVIDED WITH DIRECT ACTING EXTENSIBLE AND RETRACTABLE ARM MECHANISM

National Institute of Adv...

1. A multi-joint arm mechanism, comprising:
an arm supporting member;
a first joint having a first rotational axis parallel to a center axis of the arm supporting member;
a second joint having a second rotational axis perpendicular to the center axis of the arm supporting member; and
a third joint having a linear extension and retraction axis perpendicular to the second rotational axis,
the third joint comprising:
a plurality of flat-shaped first structures bendably coupled to one another, the plurality of flat-shaped first structures
forming a first string of the first structures;

a plurality of second structures having a C-shaped section and bendably coupled to one another at bottom parts of the second
structures, the plurality of second structures forming a second string of the second structures, wherein the first string
and the second string are linearly stiffened by being in contact with each other and return to a bent state by being separated
from each other;

a supporting member which supports the stiffened first and second structures in such a manner that the first and second structures
are movable forward and backward; and

a drive member which sends the stiffened first and second structures forward from the supporting member and draws the stiffened
first and second structures back,

wherein:
the second string is configured to be bent toward the bottom parts and conveyed into the arm supporting member from the supporting
member;

the first string is configured to be bent in a same direction as the second string, and conveyed into the arm supporting member
from the supporting member;

the second structures are stored in the arm supporting member;
the first structures are stored in the arm supporting member along the second structures; and
the plurality of flat-shaped first structures are coupled to one another without interposition of any of the second structures,
and the plurality of second structures are coupled to one another without interposition of any of the first structures.

US Pat. No. 9,999,972

ROBOT ARM MECHANISM AND STEPPING MOTOR CONTROL DEVICE

Life Robotics Inc., Toky...

1. A robot arm section, comprising:a robot arm including a joint;
a stepping motor configured to generate power to operate the joint;
a motor driver configured to drive the stepping motor according to a target angle;
an encoder configured to output an encoder pulse every time a drive shaft of the stepping motor rotates by a predetermined angle; and
a step-out detection unit configured to detect a step-out of the stepping motor based on the target angle and a current angle of the stepping motor that is identified based on the encoder pulse, wherein
when the stepping motor does not recover from the step-out before a predetermined grace time elapses from a time at which the step-out is detected, the motor driver stops driving the stepping motor at a time point at which the grace time elapses.

US Pat. No. 10,005,189

EXTENSIBLE AND RETRACTABLE ARM MECHANISM, AND ROBOT ARM

Life Robotics Inc., Toky...

1. An extensible and retractable arm mechanism, comprising:an arm and a hand connected to an end of the arm; and
an arm support that supports the arm so as to be extensible and retractable,
wherein the arm comprises:
a plurality of first structures bendably coupled in a direction perpendicular to an extending direction of the arm; and
a plurality of second structures bendably coupled in a same direction as the first structures bendably coupled,
wherein the first structures and the second structures are restricted from being bent and form a linear body having a predetermined rigidity in a linear state when being arranged linearly and placed one upon another, and
the first structures and the second structures become bendable in a bendable state when separating from one another;
wherein, in the arm support, the first structures are the second structures are bendably arranged along one another;
wherein:
each of the first structures comprises a projection projecting toward the second structures;
each of the second structures comprises first and second engaging parts configured to be engaged with the projection of each of the first structures;
the projection is engaged with the first engaging part of one of the second structures, and engaged with the second engaging part of another one of the second structures, the one and the another one of the second structures being coupled directly to one another; and
wherein:
when the first and second structures shifts from the bendable state to the linear state, one of the second structures rotates to come into contact with another one of the second structures, such that the projection of one of the first structure comes into contact with the first engaging part of the one of the second structures and the second engaging part of the another one of the second structures, and thereby the projection becomes sandwiched between the first engaging part of the one of the second structures and the second engaging part of the another one of the second structures; and
a front surface of the projection facing a moving direction and a rear surface of the second engaging part contacted with the front surface of the projection are both inclined relative to a longitudinal direction of the linear form of the first structures and the second structures.

US Pat. No. 10,131,058

ROBOT ARM MECHANISM

Life Robotics Inc., Toky...

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, and the second connection piece string includes a plurality of second connection pieces, the second connection piece string is sent out forward from the ejection section together with the first connection piece string in a state where the second connection piece string is joined to the first connection piece string and constitutes a columnar body with the first connection piece string, and the robot arm mechanism further comprises a guide rail interposed between the first connection piece string and the second connection piece string, wherein the guide rail comprises a plurality of rail pieces connected in a series, and wherein the guide rail is connected to a rear portion of the ejection section.

US Pat. No. 10,335,943

ROBOT ARM MECHANISM

Life Robotics Inc., Toky...

1. A robot arm mechanism including a plurality of joints, whereinthe plurality of joints include a first joint, a second joint, a third joint, a fourth joint, a fifth joint and a sixth joint,
the first joint is a rotational joint that rotates on a first axis,
the second joint is a rotational joint that rotates on a second axis,
the third joint is a linear motion joint that moves along a third axis,
the second axis is perpendicular to the first axis and is a first distance away from the first axis, and
the third axis is perpendicular to the second axis and is a second distance away from the second axis,
the fourth joint is a rotational joint that rotates on a fourth axis that substantially matches the third axis,
the fifth joint is a rotational joint that rotates on a fifth axis perpendicular to the fourth axis,
the sixth joint is a rotational joint that rotates on a sixth axis perpendicular to the fourth axis and the fifth axis, and
the first to sixth joints are arranged in order from the base,
wherein the first distance is different from the second distance,
wherein a distance between the fifth axis and the sixth axis is different from a difference between the first distance and the second distance, and
wherein the robot arm mechanism prevents or eliminates singular point postures.