[특허]Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism

National Institute of Advanced Industrial Science and Technology

검색어에 아래의 연산자를 사용하시면 더 정확한 검색결과를 얻을 수 있습니다.
검색연산자

검색도움말
검색연산자	기능	검색시 예
()	우선순위가 가장 높은 연산자	예1) (나노 (기계 \| machine))
공백	두 개의 검색어(식)을 모두 포함하고 있는 문서 검색	예1) (나노 기계) 예2) 나노 장영실
\|	두 개의 검색어(식) 중 하나 이상 포함하고 있는 문서 검색	예1) (줄기세포 \| 면역) 예2) 줄기세포 \| 장영실
!	NOT 이후에 있는 검색어가 포함된 문서는 제외	예1) (황금 !백금) 예2) !image
*	검색어의 *란에 0개 이상의 임의의 문자가 포함된 문서 검색	예) semi*
""	따옴표 내의 구문과 완전히 일치하는 문서만 검색	예) "Transform and Quantization"

과학기술 지식인프라 ScienceON

연합인증

연합인증 가입 기관의 연구자들은 소속기관의 인증정보(ID와 암호)를 이용해 다른 대학, 연구기관, 서비스 공급자의 다양한 온라인 자원과 연구 데이터를 이용할 수 있습니다.

이는 여행자가 자국에서 발행 받은 여권으로 세계 각국을 자유롭게 여행할 수 있는 것과 같습니다.

연합인증으로 이용이 가능한 서비스는 NTIS, DataON, Edison 등이 있습니다.

한번의 인증절차만으로 연합인증 가입 서비스에 추가 로그인 없이 이용이 가능합니다.

다만, 연합인증을 위해서는 최초 1회만 인증 절차가 필요합니다. (회원이 아닐 경우 회원 가입이 필요합니다.)

연합인증 절차는 다음과 같습니다.

최초이용시에는
ScienceON에 로그인 → 연합인증 서비스 접속 → 로그인 (본인 확인 또는 회원가입) → 서비스 이용

그 이후에는
ScienceON 로그인 → 연합인증 서비스 접속 → 서비스 이용

연합인증을 활용하시면 KISTI가 제공하는 다양한 서비스를 편리하게 이용하실 수 있습니다.

특허 상세정보

MyON담기

내보내기 페이스북 공유 트위터 공유 카카오톡 공유

Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B25J-017/02 B25J-018/06 B25J-018/02 B25J-017/00 F16G-013/20 F16H-019/06 B25J-009/06
출원번호	US-0823971 (2015-08-11)
등록번호	US-9833911 (2017-12-05)
우선권정보	JP-2010-124598 (2010-05-31)
발명자 / 주소	Yoon, Woo-Keun
출원인 / 주소	National Institute of Advanced Industrial Science and Technology
대리인 / 주소	Nakanishi IP Associates, LLC
인용정보	피인용 횟수 : 0 인용 특허 : 18

초록
▼

A multi-joint arm mechanism includes an arm supporting member a first, second and third joints. The third joint has a linear extension and retraction axis. The third joint includes flat-shaped first structures bendably coupled to one another, second structures having a C-shaped section and bendably coupled to one another, a supporting member supporting the stiffened first and second structures, and a drive member sending and drawing the stiffened first and second structures. The first and the second structures are linearly stiffened by being in contact with each other and return to a bent state by being separated from each other. The second structures are bent toward the bottom parts and conveyed into the arm supporting member. The first structures are bent in a same direction as the second structures and conveyed into the arm supporting member. The first structures are stored in the arm supporting member along the second structures.

대표
청구항
▼

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; anda 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; anda 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; andthe 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. 2. The multi-joint arm mechanism of claim 1, wherein the supporting member comprises a plurality of rollers. 3. The multi-joint arm mechanism of claim 1, the stiffened first and second structures form a columnar body having a flat surface. 4. The multi-joint arm mechanism of claim 1, wherein a top first structure of the first structures is coupled to a top second structure of the second structures. 5. The multi-joint arm mechanism of claim 1, further comprising a separation member which separates the second structures from the first structures behind the supporting member. 6. The multi-joint arm mechanism of claim 1, wherein a linear gear is formed on inner surfaces of the first structures, the drive member is located behind the roller, andthe multi-joint arm mechanism further comprises a drive gear engaged with the linear gear and an actuator which drives the drive gear. 7. The multi-joint arm mechanism of claim 1, wherein each of the first structures has a same length as each of the second structures. 8. The multi-joint arm mechanism of claim 1, each of the first structures has a same length as each of the second structures, and a top first structure the first structures is shifted from a top second structure of the second structures. 9. The multi-joint arm mechanism of claim 1, wherein the first and second structures are provided with engagement parts which engage with each other. 10. A linear extension and retraction mechanism, 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 structure, wherein the first structures and the second structures 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;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; anda storage which stores the first and second structures,wherein:the second string is configured to be bent toward the bottom parts and conveyed into the storage from the supporting member;the first string is configured to be bent in a same direction as the second string, and conveyed into the storage from the supporting member;the first structures are stored in the storage along the second structures; andthe 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. 11. A robot apparatus comprising a multi-joint arm mechanism, the 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; anda 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 structure, wherein the first structures and the second structures 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; anda 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 structures, 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; andthe 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.

이 특허에 인용된 특허 (18)

IPC 상위 출원인

내보내기

상세정보
내보내기 구분	파일저장 인쇄 메일전송
구성항목	관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	> 총 건의 자료가 검색되었습니다. > 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) > 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. > 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) > 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오 > ~ > Text(ASCII format) Excel format

과학기술 지식인프라 ScienceON

ScienceON Chatbot

연합인증

특허 상세정보

Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism

초록
▼

대표
청구항
▼

이 특허에 인용된 특허 (18)

IPC 상위 출원인

과제정보

상세정보조회

원문조회

IPC 상세정보(version : 201201)

연구과제 성과물(0)

참여연구원의 다른 문헌(0)

처리중입니다.

잠시만 기다려주세요.

ScienceON Chatbot

연합인증

특허 상세정보

Direct acting extensible and retractable arm mechanism, and robot arm provided with direct acting extensible and retractable arm mechanism

초록 ▼

대표청구항 ▼

이 특허에 인용된 특허 (18)

IPC 상위 출원인

과제정보

상세정보조회

원문조회

IPC 상세정보(version : 201201)

연구과제 성과물(0)

참여연구원의 다른 문헌(0)

처리중입니다.

잠시만 기다려주세요.

초록
▼

대표
청구항
▼