TW201801874A - Linear extension and retraction mechanism - Google Patents

Abstract

The present invention realizes reduction in cost for an arm of a linear-motion expansion/contraction mechanism. This linear-motion expansion/contraction mechanism has: a plurality of first flat plate-shaped pieces (53) connected to each other so as to be bendable on the front and the rear end surfaces; and a plurality of second groove frame-shaped pieces (54) connected to each other so as to be bendable on the front and the rear surfaces at the bottoms thereof. The first and second pieces are linearly hardened when joined together, and the first and second pieces are restored to be bendable when separated from each other. The head of the first pieces is coupled to the head of the second pieces by means of a coupling piece (55). A feeding mechanism (25) supports the first and the second pieces so as to freely move back and forth, causes the first and the second pieces to join together when the first and second pieces move forward, and causes the first and second pieces to separate from each other when the first and second pieces move backward. At least either of the first and the second pieces has a recess (631, 641) on the surface of a side to be joined to the other.

Description

Direct-acting telescopic mechanism

An embodiment of the present invention relates to a direct-acting telescopic mechanism.

Robot arm mechanisms are used in various fields such as industrial robots. The inventors have developed a direct-acting telescopic mechanism applicable to a robot arm mechanism (Patent Document 1). The direct-acting telescopic mechanism has a plurality of metal links having a flat plate shape (first links) which are bendably connected by a hinge structure, and a metal frame having a groove frame shape which is bendably connected to the bottom plate by a bearing structure. A plurality of links (second link). The first and second links are connected at the front end, and when being sent forward, the first and second links overlap to ensure a rigid and straight state, and are formed into a columnar arm with a certain rigidity. When pulled back, the first and second links are separated, restored to a bendable state, and stored inside the pillar. The use of the direct-moving telescopic multi-joint robotic arm mechanism eliminates the need for elbow joints and can easily eliminate critical points, so it is a very useful structure.

The front end of the arm is equipped with an end effector such as a hand (end effector). The positional accuracy of the tip is improved by suppressing the looseness and sway of the arm. In order to suppress the looseness and sway of the arm, the first and second chain links, especially the joint surfaces, need to have high surface accuracy and have to become expensive parts. In addition, with regard to a bearing that links the links, a gap is unavoidable from a structural point of view, and therefore, there is a limit to restraining the looseness and sway of the arms.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent No. 5435679

The purpose of the present invention is to reduce the cost of the arm of the direct-acting telescopic mechanism.

The direct-acting telescopic mechanism of this embodiment includes: a plurality of first chain links in the shape of a flat plate, which are bendably connected to each other at the front and rear ends; and a plurality of second chain links in the shape of a groove frame, which are mutually equal to the front and rear ends of the bottom It can be flexibly connected, when the first and second links are engaged with each other, they are straight and rigid, and when the first and second links are separated from each other, they return to a bent state; a joint portion that connects the plurality of first chains The front end of the link is combined with the front end of the plurality of second chain links; and a support mechanism section that supports the first and second chain links to move back and forth freely, and when the first and second chain links are directed forward The first and second links are engaged when moving, and when the first and second When the chain link moves backward, the first and second links are separated; and at least one of the first and second link has at least one recess on a surface on the side where the first link and the second link are joined.

5‧‧‧ arm

53‧‧‧First Chain Link

54‧‧‧Second chain link

55‧‧‧ combined link

531‧‧‧Body

532‧‧‧ support block

533‧‧‧bearing block

534, 535‧‧‧shaft holes

536‧‧‧pin hole block

537‧‧‧pin hole

539‧‧‧linear gear

631-1, 631-2, 631-3, 631-4, 632, 633‧‧‧ recess

FIG. 1 shows the appearance of a robotic arm mechanism equipped with a linear telescopic joint of a first embodiment.

FIG. 2 is a diagram showing the structure of the robot arm mechanism of FIG. 1 by the representation of the symbol.

FIG. 3 is a side view showing the internal structure of the robot arm mechanism of FIG. 1. FIG.

FIG. 4 is a diagram showing the structure of the robot arm mechanism of FIG. 1 by the representation of the symbol.

FIG. 5A is a side view of the first link of FIG. 3.

5B is a bottom perspective view of the first chain link of FIG. 3.

FIG. 5C is a top perspective view of the first link of FIG. 3. FIG.

FIG. 5D is a cross-sectional view of the first link of FIG. 3.

FIG. 6A is a side view of the second link of FIG. 3.

FIG. 6B is a rear perspective view of the second link of FIG. 3. FIG.

FIG. 6C is a front perspective view of the second link of FIG. 3. FIG.

FIG. 6D is a side view showing the contact state of adjacent second links in FIG. 3.

FIG. 7A is a side view of the arm portion of FIG. 3. FIG.

FIG. 7B is a side view showing another structure of the arm portion of FIG. 3. FIG.

FIG. 7C is a side view showing still another structure of the arm portion of FIG. 3. FIG.

FIG. 8A is a side view of a first link constituting an arm portion of a linear motion telescopic mechanism according to a second embodiment. FIG.

FIG. 8B is a bottom perspective view of the first chain link of FIG. 8A.

8C is a top perspective view of the first link of FIG. 8A.

FIG. 8D is a cross-sectional view of the first link of FIG. 8A.

FIG. 9A is a side view of a second link constituting an arm portion of the linear motion telescopic mechanism of the second embodiment.

FIG. 9B is a bottom perspective view of the second link of FIG. 9A.

FIG. 9C is a top perspective view of the second link of FIG. 9A.

FIG. 9D is a side view showing a contact state of adjacent second links in FIG. 9A.

Fig. 10 is a side view showing the structure of an arm portion constituting the linear motion telescopic mechanism of the second embodiment.

FIG. 11A is a view showing a recessed portion of an end face before the first link of FIG. 10. FIG.

FIG. 11B is a view showing a convex portion of an end face after the first link of FIG. 10. FIG.

FIG. 11C is a diagram showing a contact state between the concave portion shown in FIG. 11A and the convex portion shown in FIG. 11B.

Fig. 12 is a side view showing another structure of an arm portion constituting the linear motion telescopic mechanism of the second embodiment.

FIG. 13A is a side view of a first link constituting an arm portion of the linear motion telescopic mechanism of the third embodiment.

FIG. 13B is a bottom perspective view of the first chain link of FIG. 13A.

13C is a top perspective view of the first link of FIG. 13A.

FIG. 13D is a cross-sectional view of adjacent first links of FIG. 13A.

FIG. 14A is a side view of a second link constituting the arm portion of the linear motion telescopic mechanism of the third embodiment.

14B is a rear perspective view of the second link of FIG. 14A.

14C is a front perspective view of the second link of FIG. 14A.

FIG. 14D is a side view showing the contact state of adjacent second links in FIG. 14A.

Fig. 15 is a side view of an arm portion constituting the linear motion telescopic mechanism of the third embodiment.

Fig. 16A is a side view of a first link constituting an arm portion of a linear motion telescopic mechanism of a fourth embodiment.

FIG. 16B is a bottom perspective view of the first link of FIG. 16A.

16C is a top perspective view of the first link of FIG. 16A.

FIG. 17A is a side view of a second link constituting the arm portion of the linear motion telescopic mechanism of the fourth embodiment.

17B is a rear perspective view of the second link of FIG. 17A.

FIG. 17C is a front perspective view of the second link of FIG. 17A. FIG.

Fig. 18 is a side view of an arm portion constituting the linear motion telescopic mechanism of the fourth embodiment.

Fig. 19 is a side view showing another structure of an arm portion constituting the linear motion telescopic mechanism of the fourth embodiment.

FIG. 20A is a side view of a first link of an arm portion of a linear motion telescopic mechanism constituting a modification of the fourth embodiment.

20B is a bottom perspective view of the first chain link of FIG. 20A.

20C is a top perspective view of the first link of FIG. 20A.

Hereinafter, the linear motion telescopic mechanisms of the first, second, third, and fourth embodiments will be described with reference to the drawings. In addition, the direct-acting telescopic mechanism of each embodiment can be used as a separate mechanism (joint). In the following description, a mechanical arm mechanism in which one of a plurality of joint portions is constituted by the direct-acting telescopic mechanism of each embodiment will be described as an example. As a robot arm mechanism, a vertical multi-joint type robot arm mechanism having a direct-acting telescopic mechanism will be described here, but other types of robot arm mechanisms can also be used. In the following description, components having substantially the same function and structure are denoted by the same reference numerals, and repeated descriptions will be made only when necessary.

(First Embodiment)

FIG. 1 shows the appearance of a robot arm mechanism equipped with a linear motion telescopic mechanism according to a first embodiment. FIG. 2 is a side view of the robot arm mechanism of FIG. 1. FIG. FIG. 3 is a side view showing the internal structure of the robot arm mechanism of FIG. 1. FIG.

The robot arm mechanism includes a base 1, a turning portion (pillar portion) 2, an undulating portion 4, an arm portion 5, and a wrist portion 6. The turning portion 2, the undulating portion 4, the arm portion 5, and the wrist portion 6 are sequentially arranged from the base 1. A plurality of joints J1, J2, J3, J4, J5, and J6 are sequentially arranged from the base 1. The rotary joint mechanism of this embodiment is realized by the fourth joint portion J4. The turning portion 2 forming a cylindrical body on the base 1 is typically provided vertically. Convolution 2 is contained as a convolution Use the first joint part J1 to rotate the joint part. The first joint portion J1 has a rotation axis RA1. The rotation axis RA1 is parallel to the vertical direction. The turning portion 2 includes a lower frame 21 and an upper frame 22. One end of the lower frame 21 is connected to a fixing portion of the first joint portion J1. The other end of the lower frame 21 is connected to the base 1. The lower frame 21 is covered by a cylindrical case 31. The upper frame 22 is connected to the rotating portion of the first joint portion J1 and rotates around the rotation axis RA1. The upper frame 22 is covered by a cylindrical case 32. As the first joint portion J1 rotates, the upper frame 22 rotates relative to the lower frame 21, whereby the arm portion 5 rotates horizontally. The inside of the turning portion 2 forming the cylindrical body is hollow, and the first and second link rows 51 and 52 of the third joint portion J3 as a linear motion telescopic mechanism described later are stored.

An undulating portion 4 accommodating a second joint portion J2 serving as an undulating rotary joint portion is placed on the upper portion of the turning portion 2. The second joint J2 is a rotary joint. The rotation axis RA2 of the second joint portion J2 is perpendicular to the rotation axis RA1. The undulating portion 4 has a side frame 23 which is one of the fixing portions (supporting portions) of the second joint portion J2. The pair of side frames 23 are connected to the upper frame 22. The pair of side frames 23 are covered by a saddle-shaped outer cover 33. A cylindrical body 24 serving as a rotating portion of the second joint portion J2 serving as a motor case is supported on the pair of side frames 23. A delivery mechanism 25 is attached to the peripheral surface of the cylindrical body 24. The delivery mechanism 25 is covered with a cylindrical outer cover 34. The gap between the saddle cover 33 and the cylindrical cover 34 is covered by a U-shaped bellows cover 14 having a U-shaped cross section. The U-shaped snake belly cover 14 is extended and retracted following the undulating movement of the second joint J2.

The sending-out mechanism 25 holds the driving gear 56, the guide roller 57, and the roller unit 58. As the axis of the cylindrical body 24 rotates, the sending-out mechanism 25 rotates, and the arm portion 5 supported by the sending-out mechanism 25 fluctuates up and down.

”字形之槽狀體或“

”字形之筒狀體。第二鏈節54係藉由底板端部部位之鉸鏈部彎曲自如地連結。第二鏈節排52之彎曲係於第二鏈節54之側板之端面彼此抵接之位置被限制。於此位置，第二鏈節排52係直線排列。第一鏈節排51之最前端之第一鏈節53、第二鏈節排52之最前端之第二鏈節54係藉由結合鏈節55而連接。例如，結合鏈節55具有將第一鏈節53與第二鏈節54合成後之形狀。 The third joint part J3 is provided by a direct-acting telescopic mechanism. The direct-acting telescopic mechanism has a structure newly developed by the inventors and others, and is clearly distinguished from the so-called previous direct-acting joints from the viewpoint of the movable range. The arm portion 5 of the third joint portion J3 can bend freely. However, when the arm portion 5 is sent forward from the root portion 5 of the arm portion 5 along the central axis (telescopic center axis RA3), the bending is restricted to ensure linear rigidity. When the arm part 5 is pulled back, it returns to bending. The arm portion 5 includes a first link row 51 and a second link row 52. The first link row 51 includes a plurality of first link links 53 that are flexibly connected. The first link 53 is formed in a substantially flat plate shape. The first link 53 is flexibly connected by a hinge portion at an end portion. The second link row 52 includes a plurality of second link links 54. The second link 54 is configured as a cross section "

"Grooves or"

"-Shaped cylindrical body. The second link 54 is flexibly connected by a hinge portion at the end portion of the bottom plate. The bending of the second link row 52 is such that the end faces of the side plates of the second link 54 abut against each other. The position is restricted. At this position, the second link row 52 is arranged in a straight line. The first link 53 at the forefront of the first link row 51 and the second link 54 at the forefront of the second link row 52 They are connected by a link 55. For example, the link 55 has a shape in which the first link 53 and the second link 54 are combined.

The first and second link rows 51 and 52 are pressed and engaged with each other by the roller 59 when passing through the roller unit 58 of the feeding mechanism 25. The first and second link rows 51 and 52 exhibit linear rigidity by joining, and constitute a columnar arm portion 5. Behind the roller unit 58, a driving gear 56 is provided together with the guide roller 57 Home. The driving gear 56 is connected to a motor unit (not shown). The motor unit generates power for rotating the driving gear 56. A linear gear is formed along the connecting direction on the inner side surface of the first link 53, that is, on the width center of the side joined to the second link 54. When the plurality of first chain links 53 are aligned in a straight line, the adjacent linear gears are connected in a straight line to form a longer linear gear. The driving gear 56 meshes with the linear gear of the first link 53 pressed by the guide roller 57. The linearly connected linear gear train and the driving gear 56 constitute a rack and pinion mechanism. When the driving gear 56 rotates in the forward direction, the first and second link rows 51 and 52 are sent forward from the roller unit 58. When the driving gear 56 rotates in the reverse direction, the first and second link rows 51 and 52 are pulled back toward the rear of the roller unit 58. The pulled back first and second link rows 51 and 52 are separated from each other between the roller unit 58 and the driving gear 56. After separation, the first and second link rows 51 and 52 are restored to a bendable state, respectively. The first and second link rows 51 and 52 restored to the bendable state are both bent in the same direction (inside), and are stored vertically inside the turning portion 2. At this time, the first link row 51 and the second link row 52 are stored in a substantially aligned state substantially parallel to the second link row 52.

A wrist portion 6 is attached to the front end of the arm portion 5. The wrist 6 is equipped with fourth to sixth joints J4 to J6. The fourth to sixth joints J4 to J6 are provided with rotation axes RA4 to RA6 of orthogonal three axes, respectively. The fourth joint portion J4 is a rotation joint centered on a fourth rotation axis RA4 that substantially coincides with the telescopic central axis RA3, and the end effector swings left and right by the rotation of the fourth joint portion J4. The fifth joint portion J5 is a rotation joint centered on a fifth rotation axis RA5 arranged perpendicular to the fourth rotation axis RA4, and the fifth joint portion J5 It rotates and the end effector tilts back and forth. The sixth joint portion J6 is a rotation joint centered on a sixth rotation axis RA6 that is arranged perpendicular to the fourth rotation axis RA4 and the fifth rotation axis RA5. The end effector rotates the axis by the rotation of the sixth joint portion J6. .

The end effector (end effector) is an adapter 7 installed at the lower part of the rotating part of the sixth joint part J6 of the wrist 6. The end effector is a part that has the function of allowing the robot to directly act on the work object (workpiece). For example, there are various tools such as a holding part, a vacuum suction part, a nut fastener, a welding gun, and a spray gun. The end effector is moved to any position by the first, second, and third joints J1, J2, and J3, and is arranged in any posture by the fourth, fifth, and sixth joints J4, J5, and J6. . In particular, the length of the telescopic distance of the arm portion 5 of the third joint portion J3 enables the end effector to reach a wide range of objects from the close position to the distant position of the base 1. The third joint portion J3 is characterized in that the linear telescopic action and the length of the telescopic distance realized by the linear telescopic mechanism constituting it are different from the previous linear joints.

FIG. 4 shows the structure of a robotic arm mechanism through the representation of the symbols. In the robot arm mechanism, three positional degrees of freedom are realized by the first joint portion J1, the second joint portion J2, and the third joint portion J3 constituting the three axes of the root. Furthermore, the fourth joint portion J4, the fifth joint portion J5, and the sixth joint portion J6 constituting the three axes of the wrist realize three degrees of freedom of posture. As shown in FIG. 4, the rotation axis RA1 of the first joint portion J1 is provided in the vertical direction. The rotation axis RA2 of the second joint portion J2 is disposed in the horizontal direction. The second joint portion J2 is orthogonal to the rotation axis RA1 and orthogonal to the rotation axis RA1 with respect to the first joint portion J1. The two directions of the axis are offset. The rotation axis RA2 of the second joint portion J2 does not cross the rotation axis RA1 of the first joint portion J1. The movement axis RA3 of the third joint portion J3 is oriented perpendicular to the rotation axis RA2. The third joint portion J3 is offset from the second joint portion J2 in two directions of the rotation axis RA1 and an axis orthogonal to the rotation axis RA1. The rotation axis RA3 of the third joint portion J3 does not cross the rotation axis RA2 of the second joint portion J2. One of the three joints of the roots of the multiple joints J1-J6 is replaced by a linear joint J3, and the second joint J2 is shifted in two directions relative to the first joint J1. The third joint portion J3 is shifted in two directions relative to the second joint portion J2, thereby eliminating the critical point posture from the structure of the robot arm mechanism of the robot apparatus of this embodiment.

5A, 5B, and 5C are diagrams showing the structure of the first link 53 of FIG. The first link 53 is substantially a flat plate as a whole. The first link 53 is formed by integrally forming a pair of support blocks 532 and a bearing block 533 on the flat rectangular body portion 531. A pair of support blocks 532 are provided on both sides of the front end of the main body portion 531 and protrude forward. The bearing block 533 is provided at the center of the rear end of the main body portion 531 and protrudes rearward. A pair of support blocks 532 at a front end penetrate a pair of shaft holes 534 in parallel with the width direction of the first link 53. The bearing block 533 at the rear end also penetrates the shaft hole 535 in parallel with the width direction of the first link 53. A bearing is provided on the inner wall of the bearing block 533. A pair of shaft holes 534 and shaft holes 535 are continuously connected between a pair of support blocks 532 at the front end of the first chain link 53 and bearing blocks 533 at the rear ends of the other first chain links 53 are embedded. A shaft (not shown) is inserted into the continuously connected through-holes, and the front and rear first links 53 are rotatably connected to each other. Yudi A linear gear 539 is provided across the center of the width of the back surface of the one link 53 in parallel with the connection direction (length direction) and back and forth. On both sides of the back surface, a pair of protrusions (pin hole blocks) 536, which is a quadrangular frustum shape, protrude vertically. A pair of pin hole blocks 536 are located on both sides near the center in the front-rear direction (length direction) of the first link 53. A lock pin hole 537 is formed in the pin hole block 536 along the front-rear direction.

On the upper surface of the rear end of the bearing block 533, a protruding portion protruding rearward is provided. The receiving portion that receives the step shape of the protruding portion is provided on the upper surface of the front end of the main body portion 531. The receiving portion has a shape recessed from the surface of the main body portion 531. The recessed depth of the receiving portion is the same as the thickness of the protruding portion. In a state where the receiving portion is in contact with the protruding portion, the surfaces of the adjacent first link 53 constitute a single flat surface with a very small gap between the links. The protruding portion of the first first chain link 53 abuts the receiving portion of the first first chain link, thereby restricting the first and second first chain links 53 from the linear arrangement state to the outer side (link surface side). bending.

”字形之槽狀體或剖面“

”字形之筒狀體。此處，第二鏈節54設為剖面“

”字形之槽狀體。第二鏈節54包含底板541、及同尺寸、同形狀之一對側板540。於底板541之前端兩側突出設置有一對支持塊542。於底板541之後端中央突出設置有軸承塊543。於前端之一對支持塊542，與第二鏈節54之寬度方向平行地貫通有一對軸孔544。於後端之軸承塊543，亦與第二鏈節54之寬度方向平行地貫通 有軸孔545。於軸承塊543之內壁裝備有軸承。於第二鏈節54之前端之一對支持塊542之間，嵌入有其它第二鏈節54之後端之軸承塊543之狀態下，一對軸孔544與軸孔545連續地相連。於該連續相連之貫通孔插入軸，前後之第二鏈節54相互旋轉自如地連結。於第二鏈節54之側板540各自之前端上部朝內側突出設置有鎖定銷塊546。鎖定銷塊546形成長方體，於其前方側面設置有鎖定銷547。鎖定銷547形成圓柱體，與連結方向平行地朝前方突出設置。於第二鏈節54之側板540各自之後端上部朝內側突出設置有夾頭塊548。夾頭塊548形成四角錐台形狀，其傾斜面朝向後方。於第二鏈節排52，前方之第二鏈節54之夾頭塊548係與後方之第二鏈節54之鎖定銷塊546一併構成前後承接銷孔塊536之承接部。 6A, 6B, and 6C are diagrams showing the structure of the second link 54 of FIG. The second link 54 has a cross section as a whole "

"Glyph-shaped trough or section"

"Cylinder shaped body. Here, the second link 54 is set to a cross section"

"Slot-shaped body. The second link 54 includes a bottom plate 541 and a pair of side plates 540 of the same size and shape. A pair of support blocks 542 are protruded from both sides of the front end of the bottom plate 541. They protrude from the center of the rear end of the bottom plate 541 A bearing block 543 is provided. A pair of support blocks 542 at the front end penetrate a pair of shaft holes 544 parallel to the width direction of the second link 54. The bearing block 543 at the rear end also has the width of the second link 54 Shaft holes 545 are penetrated in parallel in the direction. Bearings are provided on the inner wall of the bearing block 543. Between one pair of support blocks 542 at the front end of the second link 54, the bearing blocks at the rear end of the other second link 54 are embedded. In the state of 543, a pair of shaft holes 544 and shaft holes 545 are continuously connected. The shaft is inserted into the continuously connected through holes, and the front and rear second links 54 are rotatably connected to each other. Side plates 540 of the second link 54 A locking pin block 546 protrudes inwardly from the upper part of each front end. The locking pin block 546 forms a rectangular parallelepiped, and a locking pin 547 is provided on the front side thereof. The locking pin 547 forms a cylinder and protrudes forward parallel to the connecting direction. Each side plate 540 of the two chain links 54 A chuck block 548 is protruded to the inside at the upper end of the rear end. The chuck block 548 is formed in a quadrangular truncated cone shape, and its inclined surface faces rearward. At the second link row 52, the front chuck block 548 of the second link 54 Together with the locking pin block 546 of the second chain link 54 at the rear, a receiving portion for receiving the pin hole block 536 at the front and rear is formed.

The direct-acting telescopic mechanism has a locking mechanism for firmly maintaining the engaged state of the first and second links 53, 54. The locking mechanism is composed of a chuck block 548 and a locking pin block 546 of the second link 54 and a pin hole block 536 of the first link 53.

When the arm portion 5 is extended, the pin hole blocks 536 of the first link 53 are clamped by the receiving portions of the second and front link 54 to thereby engage the first and second links 53 and 54. The engagement state of the first and second links 53 and 54 is maintained in a state where the locking pin 547 of the second link 54 is inserted into the pin hole 537 of the first link 53. When the second link 54 passes through the last roller 59 of the roller unit 58 and is aligned in a straight line with respect to the second link 54 in front of it, the locking pin 547 of the second link 54 is inserted into the first link Pin hole 53 537. The state in which the locking pin 547 of the second link 54 is inserted into the pin hole 537 of the first link 53 is a state in which the second links 54 are aligned in a straight line, that is, the rear end of the arm 5 is covered. The state where the roller unit 58 is firmly held is maintained.

When the arm portion 5 contracts, behind the roller unit 58, the second link 54 returns to a bendable state and is pulled downward due to gravity. On the other hand, the first link 53 is pulled backward by the driving gear 56 while maintaining the horizontal posture. As the second link 54 is pulled downward and the first link 53 is pulled rearward, the locking pin 547 of the second link 54 is pulled out from the pin hole 537 of the first link 53 and the front and rear second links The receiving portion of 54 opens the pin hole block 536 of the first link 53, whereby the joint state of the first and second links 53 and 54 is released, and they can be flexibly separated from each other.

The detailed description will be described later, but in order to achieve smooth and linear movement of the arm 5, the contact surfaces of the first links 53, the contact surfaces of the second links 54, and the first and second links 53, The contact surface of 54 requires higher dimensional accuracy and higher surface accuracy (surface roughness) for machining such as cutting, grinding and grinding. Such high-precision machining will increase the manufacturing cost of the first and second links 53 and 54. The concept of the first embodiment is to reduce the contact area between the first link 53, the contact area between the second link 54, and the contact area between the first link 53 and the second link 54, thereby reducing the higher surface area. The machining range of accuracy is of course the same for other embodiments.

In this embodiment, the surfaces on the contact side of the first link 53, the surfaces on the contact side of the second link 54, and the first and second links 53, The surface on the contact side of 54 forms a recess. The recesses of each link do not contact the surface of other links, so the area where the recesses are formed will reduce the area required for high-precision processing. Reducing the contact area in this way will reduce the area requiring higher dimensional accuracy and higher surface accuracy, thereby reducing the processing cost and yield. The reduction of processing cost and yield can reduce the manufacturing cost of the first and second links 53, 54. Hereinafter, it demonstrates concretely.

At least one recessed portion (recessed portion) is formed on a surface of a side of the first link 53 constituting the direct-acting telescopic mechanism of the first embodiment in contact with the adjacent first link 53. In addition, the recessed portion will be described as a line-shaped one due to the ease of processing. Of course, the recessed portion may also be a partial recess of a closed area such as a circle.

As a surface on the side where the first link 53 contacts each other, the rear end surface of the bearing block 533 of the first link 53 contacts the front end surface of the adjacent first link 53. Recesses 632 and 633 are recessed on the front end surface of the main portion 531 and the rear end surface of the bearing block 533 of the first link 53 by, for example, cutting.

The shape of the recessed portion 632 is a groove shape with a rectangular cross section, typically a base shape such as a cross section, and is provided across the entire body portion 531 in parallel with the width direction (left-right direction) of the first link 53. The recessed portion 632 is located at the center of the thickness (height) of the front end surface of the main body portion 531, and its depth is shallow to the extent that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 632 is, for example, 1/5 to 4/5, and preferably 1/2 of the thickness of the front end surface of the main body portion 531. On the other hand, the recess 633 at the rear end of the first chain link 53 is a groove in the shape of a base such as a narrow cross section in the depth direction, and the first chain The width direction of the joint 53 is provided in parallel throughout the entire bearing block 533. When the first links 53 are arranged in a straight line, the recessed portion 633 at the rear end is set to match and face the recessed portion 632 at the front end of the first link 53.

Thereby, as shown in FIG. 5D, in the state where the adjacent first links 53 are linearly arranged, the outermost surface of the front end surface of the main body portion 531 except the range of the recessed portion 632 and the rear end surface of the bearing block 533 The outermost surfaces except for the range of the recess 633 are in contact with each other over the entire area. By contacting the entire areas of the surfaces with each other, stress unevenness caused by the firm bonding of the first links 53 to each other can be avoided. Furthermore, the most important thing is that the contact area of the first chain links 53 in contact with each other is smaller than the case where the recesses 632 and 633 are not provided, thereby reducing the area requiring higher dimensional accuracy and higher surface accuracy. Thereby, the reduction of the processing cost and the yield can be achieved, and the manufacturing cost of the first link 53 can be reduced.

Similar to the first link 53, the second link 54 also has at least one recessed portion on the surface of the side that is in contact with the adjacent second link 54. The surface on the side in contact with the adjacent second link 54 is the rear end surface and the front end surface of the pair of side plates 540. A plurality of recessed portions 642-1, 642-2, 642-3, and 642-4 (hereinafter collectively referred to as recessed portions 642) are recessed on the front end surfaces of the pair of side plates 540 by, for example, cutting, and the end surfaces of the pair of side plates 540 are borrowed. A plurality of recessed portions 643-1, 643-2, 643-3, 643-4 (hereinafter collectively referred to as recessed portions 643) are provided by, for example, cutting. The shapes of the recesses 642 and 643 are rectangular cross-sections, typically depressions of the same base shape, and are provided across the entire end surface of the side plate 540 in parallel with the width direction (left-right direction) of the second link 54. The depth of the recesses 642 and 643 is so shallow that it does not touch the target surface Degrees, such as 1 mm, or less than 1 mm. The width of the recesses 642 and 643 is, for example, about 1/5 of the height of the side plate 540 of the second link 54. The recessed portions 642-1 and 642-2 are provided on the front end surface of one side plate 540 so as to be spaced up and down. The recessed portions 642-3 and 642-4 are spaced apart from each other on the front end surface of the other side plate 540. When the recesses 643-1, 643-2, 643-3, and 643-4 are aligned in a straight line on the second link 54, the recesses 642-1, 642-2, and 642-3 are arranged in front of the second link 54 , 642-4 are matched and opposite positions and sizes. Thereby, as shown in FIG. 6D, in a state where the adjacent second links 54 are linearly arranged, the outermost surface of the front end surface of the pair of side plates 540 except the range of the recessed portion 642, and the rear end surface of the pair of side plates 540 The outermost surfaces, except for the range of the recess 643, are in contact with each other as a whole. By integrally contacting the surfaces with each other, stress unevenness caused by the firm bonding of the second links 54 to each other can be avoided. Furthermore, the most important thing is that the contact area of the second chain links 54 contacting each other is smaller than the case where the recesses 642 and 643 are not provided, so that the area requiring higher dimensional accuracy and higher surface accuracy can be reduced. Thereby, the processing cost and the yield are reduced, and the manufacturing cost of the second link 54 can be reduced.

Furthermore, in the first embodiment, at least one of the first and second links 53 and 54 has at least one recessed portion on a surface on a side to be joined with the other. Preferably, the first link 53 has a plurality of recesses on its corresponding surface, and similarly, the second link 54 has a plurality of recesses on its corresponding surface.

The width of the edge portions on both sides of the first link 53 is approximately equivalent to the plate thickness of the side plate 540, for example. Thereby, the entire lower surface of the first chain link 53 at the edges of both sides thereof is joined to the entire upper surface of the side plate of the second chain link 54. The surface on the side where the second link 54 is joined to the first link 53 is an upper end surface of the side plate 540 opposite to one of the second links 54. The edges of both sides of the first link 53 are cut in a concave shape in the width direction. Through this cutting process, a plurality of recessed portions 631-1, 631-2, 631-3, and 631-4 (hereinafter collectively referred to as recessed portions 631) are formed on the edge portions on both sides of the first link 53. Similarly, the upper end surface of the pair of side plates 540 of the second link 54 is cut in a concave shape in the width direction. Through this cutting process, a plurality of recessed portions 641-1, 641-2, 641-3, and 641-4 (hereinafter collectively referred to as recessed portions 641) are formed on the side plate 540 which is one of the second link 54.

The recessed portion 631 is a depression having a rectangular cross-section, typically a base shape such as a cross-section, and is provided in parallel with the width direction of the first link 53 across the entire edges of both sides of the back surface of the first link 53. The depth of the recessed part 631 is shallow to the extent that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 631 (the length along the length direction of the first link 53) is, for example, about 1/5 of the length of the first link 53. The recesses 631-1 and 631-2 are spaced back and forth on one side of the back surface of the first link 53. The recesses 631-3 and 631-4 are spaced from each other on the other side of the back surface of the first link 53. For example, the recesses 631-1 and 631-3 are located further forward than the center of the first link 53. The recesses 631-2 and 632-4 are located farther to the rear than the center of the first chain link 53.

The recessed portion 641 is a depression in the shape of a base such as a narrower cross section in the depth direction, and is provided in parallel with the width direction of the second link 54 across the entire upper end surface of the side plate 540. The depth of the recessed portion 641 is shallow enough to not contact the target surface, for example, 1 mm or less than 1 mm. Width of recess 641 (The length along the length direction of the second link 54) is the same as the width of the recessed portion 631. The recesses 641-1 and 641-2 are spaced from each other on the end surface of one side plate 540. The recesses 641-3 and 641-4 are spaced apart from each other on the upper end surface of the other side plate 540. The recesses 641-1, 641-2, 641-3, and 641-4 of the second link 54 are respectively provided on the recesses of the first link 53 in a state where the first and second links 53 and 54 are engaged. 631-3, 631-4, 631-1, 631-2 facing each other. Thereby, as shown in FIG. 7A, in a state where the first and second links 53 and 54 are joined, the surface of the edge portions on both sides of the back surface of the first link 53 is the most excluding the range of the recessed portion 631. The outer surface and the outermost surface of the upper end surface of one pair of side links 540 of the second link 54 except for the range of the recessed portion 641 are in overall contact with each other. By making the outermost surfaces integrally contact each other, it is possible to avoid stress unevenness caused by the firm joining of the first and second links 53 and 54. Furthermore, the most important thing is that the contact area of the first and second links 53 and 54 is smaller than the case where the recesses 631 and 641 are not provided, which can reduce the area requiring higher dimensional accuracy and higher surface accuracy. Thereby, the processing cost and the yield are reduced, and the manufacturing costs of the first and second links 53 and 54 can be reduced.

In addition, the concept of the present invention is to reduce the contact area between the links, so the shapes and numbers of the recesses provided in the first and second links 53 and 54 are not limited to the first embodiment. For example, as shown in FIG. 7B, as compared with the first embodiment, a larger number of recessed portions may be recessed on the surface on the side where the first and second links 53 and 54 are joined. Further, as shown in FIG. 7C, if one of the two surfaces on the sides in contact with each other is provided with a recessed portion, the recessed portion may not be provided at a position facing the recessed portion.

(Second Embodiment)

The straight telescopic mechanism has a large number of first and second links 53 and 54 connected to each other. A gap inevitably appears on the bearings of the shafts that connect the first and second links 53 and 54 to each other. Therefore, the influence of the gap is cumulatively increased in proportion to the stretching of the arm portion 5. Therefore, the arm portion 5 is loosened, and the linearity and rigidity of the arm portion 5 are reduced. In the second embodiment, the aforementioned problems are alleviated by adopting a fitting structure for the first link 53, the second link 54, and the first and second links 53 and 54. At the same time, as in the first embodiment, the contact areas between the first chain links 53, the second chain links 54 and the first and second chain links 53, 54 are reduced to achieve the first and second chain links. Reduction in manufacturing costs of 53,54.

In the second embodiment, the shapes of the surfaces of the first links 53, the second links 54, and the sides where the first and second links 53 and 54 are joined are different from those of the first embodiment. The basic structure of the first and second links 53 and 54 of the second embodiment is the same as that of the first embodiment. The fitting structure provided on the surface on the side where the first and second links 53 and 54 are joined, the surface on the side where the first links 53 are in contact with each other, and the surface on the side where the second links 54 are in contact with each other will be described. 8A, 8B, and 8C are diagrams showing the structure of the first link 53 constituting the direct-acting telescopic mechanism of the second embodiment. 9A, 9B, and 9C are diagrams showing the structure of the second link 54 constituting the direct-acting telescopic mechanism of the second embodiment. Fig. 10 is a side view showing the structure of the arm portion 5 constituting the linear motion telescopic mechanism of the second embodiment. 11A, 11B, and 11C are views showing a direct-acting telescopic mechanism constituting a second embodiment; Drawing of the fitting structure of the arm 5. Fig. 12 is a side view showing another structure of the arm portion 5 constituting the linear motion telescopic mechanism of the second embodiment.

The first chain link 53 constituting the direct-acting telescopic mechanism of the second embodiment has at least one convex portion on a side contacting the first chain link 53 adjacent to the front or rear, respectively. A surface of the side where the link 53 contacts is provided with at least one recessed portion for receiving the protruding portion. Preferably, a concave portion 732 is formed on the front end surface of the body portion 531 of the first link 53 by, for example, cutting processing, and a convex portion 733 is also formed on the end surface of the bearing block 533 of the first link 53 by cutting processing, for example.

The recessed portion 732 is a line groove having a rectangular cross section, typically a base shape such as a cross section, and is provided throughout the entire front end surface of the main body portion 531 in parallel with the width direction (left-right direction) of the first link 53. The depth of the recessed portion 732 is so shallow that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 732 (the length in the thickness direction of the first link 53) is, for example, 1/5 to 4/5, preferably 1/2 of the thickness of the front end surface of the main body portion 531. The convex portion 733 is formed into a linear body having a cross-sectional shape fitted into the concave portion 732, and is provided over the entire bearing block 533 in parallel with the width direction of the first link 53. When the convex portions 733 are arranged in a straight line when the adjacent first link 53 is aligned, the convex portion 733 is set at a position facing the concave portion 732 at the front end of the first link 53 and the size of the fitting.

As shown in FIG. 11A, FIG. 11B, and FIG. 11C, in the fitting structure provided on the surfaces where the first links 53 are in contact with each other, the convex portion 733 does not contact the entire surface of the concave portion 732, but is formed in At least two locations contact the recessed portion 732. Specifically, the convex portion 733 is configured as follows to make. As shown in FIG. 11A, the recess 732 is a depression in the shape of a base such as a cross section, and its depth is set to Lh2, the lower bottom (the width of the bottom side of the depression) is set to Lu2, and the upper bottom (the width of the opening of the recess) is set to Ll2 (> Lu2). As shown in FIG. 11B, the convex portion 733 is a base-shaped protrusion such as a cross section, and its height is set to Lh1, the upper bottom (width of the front side of the protrusion) is set to Lu1, and the lower bottom (width of the root side of the protrusion) is set to Ll1. (> Lu1).

As shown in FIG. 11C, the height Lh1 of the convex portion 733 is lower than the depth Lh2 (Lh1 <Lh2) of the concave portion 732, so that the upper surface of the convex portion 733 does not contact the bottom surface of the concave portion 732. In addition, the bottom L1 of the convex portion 733 is shorter than the bottom Ll2 of the concave portion 732 (Ll1 <Ll2), so that the inclined surface of the convex portion 733 does not contact the inclined surface of the concave portion 732.

The upper portion Lu1 of the convex portion 733 is shorter than the lower portion Ll2 (Lu1 <Ll2) of the concave portion 732, and is longer than the upper portion Lu2 (Lu1> Lu2) of the concave portion 732, so that the inclined surface of the convex portion 733 does not contact the inclined surface of the concave portion 732. The two portions of the portion 733 contact the inclined surfaces of the recessed portion 732 at two portions of the upper corner portion thereof.

In other words, under the above conditions, the height Lh1 of the convex portion 733, the lower bottom Ll1, and the upper bottom Lu1 are adjusted such that the corner portion on the top side of the convex portion 733 contacts the inclined surface of the concave portion 732. As shown in FIG. 8D, when the adjacent first link 53 is linearly arranged, the convex portion 733 behind the first link 53 is fitted with the concave portion 732 before the other first link 53. As shown in FIG. 11C, in a state where the convex portion 733 is fitted into the concave portion 732, the surface other than the range of the convex portion 733 of the rear end surface of the first link 53 and the front surface of the other first link 53 are excluded. The outermost surfaces outside the range of the recessed portion 732 are in contact with each other as a whole, and the top and bottom sides of the protruding portion 733 are two above and below. The corner portion contacts the inclined surface of the recessed portion 732. Therefore, the contact area of the first chain links 53 in contact with each other is smaller than that in the case where the concave portion 732 and the convex portion 733 are not provided, thereby reducing the area requiring higher dimensional accuracy and higher surface accuracy. Thereby, the processing cost and the yield are reduced, so that the manufacturing cost of the first link 53 can be reduced. In addition, by forming the convex portion to contact the concave portion at at least one portion (one point), and preferably two portions, it is possible to reduce the processing cost and yield compared with the case where the convex portion surface contacts the concave portion.

In addition, the upper and lower corner portions of the top side of the convex portion 733 are brought into contact with the hypotenuse of the concave portion 732, so that the movement of the first links 53 in the upward and downward directions is locked. Thereby, the arm part 5 is restrained from being loosened in the up-down direction (the thickness direction of the first link 53), and the linearity and rigidity of the arm part 5 are suppressed from being lowered. Therefore, the fitting structure of the first chain links 53 to each other can simultaneously solve the reduction in the manufacturing cost of the first chain links 53 and the suppression of the reduction in the linearity and rigidity of the arm portion 5. Furthermore, the mating structure provided on the surfaces of the first chain links 53 that are in contact with each other described herein is also applicable to the mating structure provided on the surfaces of the second chain links 54 that are in contact with each other and the The fitting structure of the surfaces of the first and second links 53 and 54 on the joined side.

Similar to the first link 53, the second link 54 also has at least one convex portion on the side contacting the second link 54 adjacent to the front or the rear, and the second link 54 is adjacent to the second link 54 adjacent to the front or rear. The surface of the side where the link 54 contacts is provided with at least one recessed portion for receiving the protruding portion. Here, a plurality of recessed portions 742-1, 742-2, 742-3, and 742-4 (hereinafter collectively referred to as recessed portions 742) are recessed by the front end surface of the pair of side plates 540, for example, by cutting, and the end surfaces are rearward of the pair of side plates 540. The plurality of convex portions 743-1 are protruded by, for example, cutting. 743-2, 743-3, and 743-4 (hereinafter collectively referred to as convex portions 743).

The recessed portion 742 is a depression having a rectangular cross section, typically a base shape such as a cross section, and is provided across the entire front end surface of the side plate 540 in parallel with the width direction (left-right direction) of the second link 54. The depth of the concave portion 742 is shallow to the extent that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 742 is, for example, about 1/5 of the height of the side plate 540 of the second link 54. The recessed portions 742-1 and 742-2 are provided on the front end surface of one side plate 540 and spaced apart from each other. The recessed portions 742-3 and 742-4 are provided on the front end surface of the other side plate 540 so as to be spaced up and down. The convex portion 743 is provided with a cross-sectional protrusion that fits into the concave portion 742, and is provided over the entire rear end surface of the side plate 540 in parallel with the width direction of the second link 54. When the convex portions 743-1, 743-2, 743-3, and 743-4 are arranged in a straight line on the adjacent second link 54, the convex portions 743-1, 742-2, and 74 742-3, 742-4 opposite positions and fit dimensions.

As shown in FIG. 9D, when the adjacent second link 54 is linearly arranged, the convex portion 743 behind the second link 54 is fitted into the concave portion 742 before the other second link 54. In a state where the convex portion 743 is fitted into the concave portion 742, the surface other than the range of the convex portion 743 of the end surface after the second link 54 and the area other than the range of the concave portion 742 of the end surface before the second link 54 The outermost surfaces are in contact with each other as a whole, and the upper and lower corner portions of the front end side of the convex portion 743 contact the inclined surface of the concave portion 742. Therefore, the contact area of the second chain links 54 in contact with each other is smaller than that in the case where the concave portion 742 and the convex portion 743 are not provided, thereby reducing the area requiring higher dimensional accuracy and higher surface accuracy. As a result, processing costs and yields can be reduced, which can reduce Manufacturing cost of the second link 54. In addition, by forming the convex portion to contact the concave portion at two locations, it is possible to reduce the processing cost and yield as compared with the case where the convex portion surface contacts the concave portion.

In addition, when the convex portion 743 is brought into contact with the concave portion 742 at at least two locations above and below, the movement of the second links 54 in the up-down direction is locked. Accordingly, the arm portion 5 is restrained from being loosened in the up-down direction (the thickness direction of the second link 54), and the linearity and rigidity of the arm portion 5 are suppressed from being lowered. Therefore, the fitting structure of the second link 54 with each other can simultaneously solve the reduction of the manufacturing cost of the second link 54 and the suppression of the reduction of the linearity and rigidity of the arm portion 5.

Furthermore, in the second embodiment, one of the first and second links 53 and 54 has at least one convex portion on a surface to be joined with the other, and the other of the first and second links 53 and 54 is provided. At least one recessed portion receiving the protruding portion is provided on a surface on the side to be joined with one. Here, a plurality of convex portions 731-1 and 731-2 (hereinafter collectively referred to simply as convex portions 731) are convexly provided on the surface of the first link 53 that is joined to the second link 54 by, for example, cutting. ), A plurality of recessed portions 741-1 and 741-2 (hereinafter collectively referred to as recessed portions 741) are recessed on the surface of the second link 54 that is joined to the first link 53 by, for example, cutting.

The recessed portion 741 is a depression having a rectangular cross-section, typically a base shape such as a cross-section, and is provided across the entire upper end surface of the side plate 540 in parallel with the width direction of the second link 54. The depth of the concave portion 741 is shallow to the extent that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 741 is, for example, about 1/5 of the length of the second link 54. The recess 741-1 is provided at a rear side of the upper end surface of one side plate 540 and further rearward than the center. Recess 741-2 is located behind the upper end surface of the other side plate 540, and is more rearward than the center. The convex portion 731 is provided with a cross-section-shaped protrusion that fits into the concave portion 741, and is provided over the entire edges of both sides of the back surface of the first link 53 in parallel with the width direction of the first link 53. In a state where the first and second links 53 and 54 are engaged, the convex portions 731-1 and 731-2 are set at positions facing the concave portions 741-1 and 741-2 and dimensions of fitting.

As shown in FIG. 10, in a state where the first and second links 53 and 54 are engaged, the convex portion 731 in front of the back surface (inside of the arm portion 5) of the first link 53 and the second link 54 A recess 741 behind the upper end surface of the side plate 540 is fitted. In a state where the convex portion 731 is fitted into the concave portion 741, the surface except the area of the concave portion 741 on the upper end surface of the pair of side plates 540 and the edge portions of both sides of the back surface of the first link 53 except the convex portion 731 The outermost surfaces other than the entire surface are in contact with each other, and the two front and rear corner portions of the front end side of the convex portion 731 contact the inclined surfaces of the front and rear sides of the concave portion 741. Therefore, the contact area of the first and second chain links 53 and 54 is smaller than the case where the concave portion 741 and the convex portion 731 are not provided, and the area requiring higher dimensional accuracy and higher surface accuracy can be reduced. Thereby, the processing cost and the yield are reduced, and the manufacturing costs of the first and second links 53 and 54 can be reduced. In addition, by forming the convex portion to contact the concave portion at two locations, it is possible to reduce the processing cost and yield as compared with the case where the convex portion surface contacts the concave portion.

In addition, by causing the convex portion 731 to contact the concave portion 741 at at least two positions in the front and back, the movement of the first and second links 53 and 54 in the front-back direction (connection direction) is locked. Thereby, the back-and-back direction (connection direction) of the arm part 5 is restrained from being loosened, and the linearity and rigidity of the arm part 5 are suppressed from being lowered. because Therefore, the fitting structure of the first and second chain links 53 and 54 can simultaneously solve the reduction of the manufacturing cost of the first and second chain links 53 and 54 and the suppression of the linearity and rigidity reduction of the arm portion 5.

In addition, the fitting structure of the first and second links 53 and 54 makes contact with two portions spaced forward and backward (in a direction parallel to the movement axis RA3 of the arm portion 5) to suppress the arm portion 5 in that direction. Loosely, through the fitting structure of the first link 53 with each other and the fitting structure of the second link 54 with each other, it comes into contact with two places spaced apart from each other (direction orthogonal to the movement axis RA3 of the arm 5) The loosening of the arm portion 5 in this direction can be suppressed, in other words, the loosening of the arm portion 5 can be suppressed in two orthogonal directions, so that the linearity and rigidity of the arm portion 5 can be effectively reduced.

Here, the fitting structure of the two corner portions on the top side of the convex portion contacting the concave portion has been described, but the fitting structure is not limited to this. A fitting structure provided on a surface where the first links 53 contact each other, a fitting structure provided on a surface where the second links 54 contact each other, and a structure provided on the first and second links 53 and 54 The fitting structure of the joined side surfaces may be configured as follows. For example, in the fitting structure shown in FIG. 11A, FIG. 11B, and FIG. 11C, which are provided on the surfaces of the first links 53 in contact with each other, the convex portion 733 is before the corner portions including the upper and lower parts of the top side. The end surface is configured to contact the bottom surface of the recessed portion 732. Specifically, the convex portion 733 is equivalent to its height Lh1 and the depth Lh2 of the concave portion 732 (Lh1 = Lh2), its lower bottom Ll1 is shorter than the lower bottom Ll2 (Ll1 <Ll2), and its upper bottom Lu1 and the concave portion 732 The bottom Ll2 equivalent (Lu1 = Ll2) is constructed. Thereby, the inclined surface of the convex portion 733 does not contact the inclined surface of the concave portion 732, and the entire front end surface of the convex portion 733 contacts the concave portion. The underside of the 732 is entire.

As shown in FIG. 12, the height of the convex portion 763 is higher than the depth of the concave portion 762 so that the adjacent second link 54 does not contact the surface other than the uneven portions 762 and 763, and only the second link 54 The top of the convex portion 763 is in contact with the bottom of the concave portion 762 of the other second link 54. By adopting such a structure, the contact portions between the second links 54 can only be the uneven portions of the front and rear ends of the second links 54. As a result, the area requiring higher dimensional accuracy and higher surface accuracy can be reduced, so that the processing cost and yield of the second link 54 can be reduced. Furthermore, the fitting structure provided on the surfaces on the contact sides of the second links 54 described herein can also be applied to the fitting structure provided on the surfaces on the contact sides of the first links 53 and on the first The fitting structure of the side surfaces of the second and third link links 53 and 54 can reduce the processing cost and yield of the first and second link links 53 and 54.

(Third Embodiment)

The first and second links 53 and 54 constituting the direct-acting telescopic mechanism of the third embodiment have a structure in which recesses are provided on the surfaces on the contact sides of the links of the first embodiment and the links of the second embodiment These two structures are fitted together. In the third embodiment, the contact areas of the first chain links 53 with each other, the second chain links 54 with each other, and the first and second chain links 53, 54 are reduced by these two structures, thereby achieving the first and second chains. Reduced manufacturing costs in sections 53,54. The basic structure of the first and second links 53 and 54 of the third embodiment is the same as that of the first embodiment. The surface on the side where the first and second links 53 and 54 are joined, the surface on the side where the first links 53 are in contact with each other, and the second chain A description will be given of a fitting structure in which the surfaces of the nodes 54 are in contact with each other. 13A, 13B, and 13C are diagrams showing the structure of the first link 53 constituting the direct-acting telescopic mechanism of the third embodiment. 14A, 14B, and 14C are diagrams showing the structure of the second link 54 constituting the direct-acting telescopic mechanism of the third embodiment. Fig. 15 is a side view showing the structure of the arm portion 5 constituting the linear motion telescopic mechanism of the third embodiment.

Each of the first links 53 constituting the direct-acting telescopic mechanism of the third embodiment has at least one recessed portion on the surface in contact with the adjacent first link 53 and on the side in contact with the first link 53 adjacent in front or rear. The surface has at least one convex portion, and the surface on the side contacting the first link 53 adjacent to the rear or front has at least one other concave portion which receives the convex portion. Here, recessed portions 832-1 and 832-2 (hereinafter collectively referred to as recessed portions 833) are recessed on the front end surface of the body portion 531 of the first link 53 after the bearing block 533 of the first link 53 The end surface is provided with a convex portion 833-1 and a concave portion 833-2 by, for example, a cutting process.

The recessed portion 832 is a groove having a rectangular cross section and typically a base shape, and is provided over the entire front end surface of the main body portion 531 in parallel with the width direction (left-right direction) of the first link 53. The depth of the concave portion 833 is shallow to the extent that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 833 is, for example, 1/5 to 4/5, preferably 1/4, of the thickness of the front end surface of the main body portion 531. The recessed portions 832-1 and 832-2 are provided on the front end surface of the main body portion 531 so as to be spaced up and down. The convex portion 833-1 is provided with a linear protrusion with a cross-sectional shape that fits into the concave portion 832-1, and is provided over the entire rear end surface of the bearing block 533 in parallel with the width direction of the first link 53. Recess 832-2 The grooves, which are rectangular in cross-section and typically have the shape of a base, are provided in parallel to the width direction (left-right direction) of the first link 53 and over the entire end face of the bearing block 533. When the convex portion 833-1 is arranged in a straight line when the adjacent first link 53 is aligned, the convex portion 833-1 is set to a position facing the concave portion 832-1 of the front end of the first link 53 and a fitting size. When the recessed portion 833-2 is aligned in a straight line with the adjacent first link 53, it is set to a position and a matching size opposite to the recessed portion 832-2 at the front end of the first link 53.

Thereby, as shown in FIG. 13D, in a state where the adjacent first link 53 is linearly arranged, the convex portion 833-1 behind the first link 53 is fitted into the concave portion before the other first link 53 832-1, the concave portion 833-2 behind the first chain link 53 faces the concave portion 832-2 before the other first chain links 53. The outermost surface of the front end surface of the main body portion 531 except the range of the recessed portion 832 and the outermost surface of the rear end surface of the bearing block 533 except the range of the convex portion 833-1 and the recessed portion 833-2. The upper and lower corners of the front side of 833-1 and the upper and lower slopes of the recessed part 832-1 are in contact at two places. Therefore, the contact area of the first chain links 53 in contact with each other is smaller than the case where the above-mentioned fitting structure is not provided on the surfaces of the first chain links 53 in contact with each other, and the area requiring higher dimensional accuracy and higher surface accuracy can be reduced. Thereby, the processing cost and the yield are reduced, so that the manufacturing cost of the first link 53 can be reduced. In addition, when at least two portions above and below the convex portion 833-1 contact the inclined surfaces above and below the concave portion 732-1, the upward and downward movement of the first link 53 is locked. Thereby, the arm part 5 is restrained from being loosened in the up-down direction (the thickness direction of the arm part 5), and the linearity and rigidity of the arm part 5 are suppressed from being lowered. Therefore, the first link 53 is fitted with each other. It is possible to solve both the reduction of the manufacturing cost of the first link 53 and the reduction of the linearity and rigidity of the arm portion 5 at the same time.

Similar to the first link 53, the second link 54 also has at least one recess on the surface contacting the adjacent second link 54, and on the side contacting the second link 54 adjacent to the front or the rear. The surface has at least one convex portion, and the surface on the side contacting the second link 54 adjacent to the rear or front has at least one other concave portion that receives the convex portion. Here, a plurality of recessed portions 842-1, 842-2, 842-3, and 842-4 (hereinafter collectively referred to as recessed portions 842) are recessed on the front end surfaces of the pair of side plates 540 by, for example, cutting, and the rear end surfaces are formed on In the cutting process, convex portions 843-1 and 843-3 and concave portions 843-2 and 843-4 are provided.

The recessed portion 842 is a recess having a rectangular cross section and typically an equal base shape, and is provided over the entire front end surface of the pair of side plates 540 in parallel with the width direction (left-right direction) of the second link 54. The depth of the recessed portion 842 is so shallow that it does not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 842 is, for example, about 1/5 of the height of the side plate 540 of the second link 54. The recesses 842-1 and 842-2 are spaced from each other on the front end surface of one side plate 540. The recessed portions 842-3 and 842-4 are provided on the front surface of the other side plate 540 so as to be spaced up and down.

The convex portions 843-1 and 843-3 are respectively provided with cross-sectional protrusions that fit into the concave portions 842-1 and 842-3, and extend parallel to the width direction of the second link 54 across the entire end surface of the pair of side plates 540. And set. The recesses 843-2 and 843-4 are recesses with rectangular cross-sections and typically equal base shapes. They are parallel to the width direction of the second link 54 and extend behind a pair of side plates 540. The entire end face is provided. When the convex portions 843-1 and 843-3 are aligned in a straight line with the adjacent second link 54, the convex portions 843-1 and 843-3 are arranged at positions facing each other and recessed portions 842-1 and 842-3 of the second link 54 and a fitting dimension. When the recessed portions 843-2 and 843-4 are aligned in a straight line with the adjacent second link 54, the recessed portions 843-2 and 843-4 are set at positions and matching dimensions respectively facing the recessed portions 842-2 and 842-4 at the front end of the second link 54.

Thereby, as shown in FIG. 14D, in a state where the adjacent second links 54 are linearly arranged, the convex portion 843-1 behind the second link 54 is fitted to the concave portion in front of the other second links 54. 842-1, the recessed portion 843-2 behind the second link 54 and the recessed portion 842-2 located in front of the other second link 54 face each other. The outermost surface of the front end surface of the pair of side plates 540 except for the range of the recessed portion 842 and the outermost surface of the rear end surface of the pair of side plates 540 except for the range of the convex portion 843-1 and the recessed portion 843-2 are in integral contact with each other. The upper and lower corners of the front side of the convex portion 843-1 and the inclined surfaces of the upper and lower sides of the concave portion 842-1 are in contact with each other. Therefore, the contact area of the second chain links 54 in contact with each other is smaller than that in the case where the above-mentioned fitting structure is not provided on the surfaces of the second chain links 54 in contact with each other, and the area requiring higher dimensional accuracy and higher surface accuracy can be reduced. Thereby, the processing cost and the yield are reduced, so that the manufacturing cost of the second link 54 can be reduced. Furthermore, by moving the upper and lower corner portions of the convex portion 843-1 into contact with the upper and lower slopes of the concave portion 832-1, the upward and downward movement of the second link 54 is locked. Thereby, the arm part 5 is restrained from being loosened in the up-down direction (the thickness direction of the arm part 5), and the linearity and rigidity of the arm part 5 are suppressed from being lowered. Therefore, the fitting structure of the second link 54 with each other can simultaneously solve the reduction in the manufacturing cost of the second link 54 and the reduction of the arm portion 5 Suppression of linearity and rigidity.

Furthermore, in the third embodiment, one of the first and second links 53 and 54 has at least one recessed portion on the side to be joined with the other, and one of the first and second links 53 and 54 is connected to the other. The surface of one engaging side has at least one convex portion, and the other of the first and second links 53 and 54 has at least one other concave portion receiving the convex portion on the surface of the engaging side. Here, a plurality of convex portions 831-1 and 831-3 and a plurality of concave portions 831-2 and 831- are provided on the surface of the first link 53 that is joined to the second link 54 by, for example, cutting. 4. A plurality of recesses 841-1, 841-2, 841-3, and 841-4 (hereinafter collectively referred to as "collectively referred to as below") are formed on the surface of the second link 54 that is joined to the first link 53 by, for example, cutting Recess 841).

The recessed portion 841 is a recess with a rectangular cross section, typically a constant base shape, and is provided in parallel with the width direction of the second link 54 across the entire upper end surface of the side plate 540 of one of the second link 54. The depth of the recessed portion 841 is shallow enough to not contact the target surface, for example, 1 mm or less than 1 mm. The width of the recessed portion 841 is, for example, about 1/5 of the length of the second link 54. The recessed portions 841-1 and 841-3 are provided in front of and behind the upper end surfaces of the pair of side plates 540 and further forward than the center. The recessed portions 841-2 and 841-4 are provided rearward and rearward from the center of the upper end surfaces of the pair of side plates 540.

The convex portions 831-1 and 831-3 are respectively provided with cross-sectional protrusions fitted into the concave portions 841-2 and 841-4, and are parallel to the width direction of the first link 53 and extend across the back surface of the first link 53. The edges on both sides are integrally provided. The convex portions 831-1 and 831-3 are opposed to the concave portions 841-2 and 841-4 of the second link 54 when the first and second links 53 and 54 are engaged. Location and fit size.

The recesses 831-2 and 831-4 are recesses with rectangular cross-sections and typically equal base shapes. They are parallel to the width direction (left-right direction) of the first link 53 and extend across both sides of the back surface of the first link 53. The edge portion is provided as a whole. The depth of the recesses 831-2 and 831-4 is shallow to the extent that they do not contact the target surface, for example, 1 mm or less than 1 mm. When the recesses 831-2 and 831-4 are engaged with the first and second links 53 and 54, the recesses 831-2 and 831-4 are set to match the recesses 841-2 and 841-4 of the second link 54 and face each other.

Thereby, as shown in FIG. 15, in a state where the first and second links 53 and 54 are engaged, the convex portions 831-1 and 831-3 of the first link 53 are respectively fitted to the second link 54. The recesses 841-2 and 841-4, and the recesses 831-2 and 831-4 of the first link 53 are opposed to the recesses 841-1 and 841-3 of the second link 54 respectively. The outermost surface of the second chain link 54 opposite to the upper end surface of the side plate 540 except for the range of the recessed portion 841 and the edge portions on both sides of the back surface of the first link 53 except for the convex portions 831-1 and 831- 3 and the outermost surfaces outside the range of 831-2, 831-4 are in overall contact with each other. The front and back bevels are in contact at two locations. Therefore, the contact area of the first and second chain links 53 and 54 is smaller than the case where the above-mentioned fitting structure is provided on the contact side surfaces of the first and second chain links 53 and 54, which can reduce the requirement for high dimensional accuracy and Area with higher surface accuracy. Thereby, the processing cost and the yield are reduced, and the manufacturing costs of the first and second links 53 and 54 can be reduced. In addition, the first and second links 53 and 53 are brought into contact with the front and rear corners of the convex portions 831-1 and 831-3 before and after the concave portions 841-2 and 841-4. The mutual movement of 54 in the forward and backward directions is blocked. Accordingly, the arm portion 5 is restrained from loosening in the front-rear direction (the length direction of the arm portion 5), and the linearity and rigidity of the arm portion 5 are suppressed from being lowered. Therefore, the fitting structure of the first and second links 53 and 54 can simultaneously solve the reduction of the manufacturing cost of the first and second links 53 and 54 and the suppression of the linearity and rigidity of the arm portion 5.

(Fourth embodiment)

From the viewpoint of the manufacturing cost of the first and second links 53 and 54, the joint portion of the first link 53 and the joint portion of the second link 54 and further the first and second links 53 and 54 The fewer joints there are, the better. In addition, it is necessary to stabilize these joint states. The first and second links 53 and 54 are connected at least three points, the first links 53 are connected to each other at least one point, and the second links 54 are also connected to each other at least one point. Here, the joint structure of at least three points of the first and second links 53 and 54 will be described. The structure of the joint of at least one point of the first and second links 53 and 54 is the same. Explanation is omitted.

The direct-acting telescopic mechanism of the fourth embodiment is based on stabilizing the joint state of the first and second chain links 53, 54 to reduce the manufacturing cost of the first and second chain links 53, 54. Specifically, at least three convex portions are dispersedly disposed on a surface of one of the first and second links 53 and 54 on a side to be joined with the other. The at least three convex portions abut on the other joint surface (plane) of the first and second chain links 53, 54 so that the first and second chain links 53, 54 are joined. Here, three convex portions are provided on the surface of the first link 53 that is joined to the second link 54.

In the fourth embodiment, on the side of the first link 53 that is joined to the second link 54, a plurality of protrusions are provided by cutting, for example, three protrusions 931-1, 931 here. -2, 931-3 (hereinafter collectively referred to as convex portions 931). 16A, 16B, and 16C are diagrams showing the structure of the first link 53 constituting the direct-acting telescopic mechanism of the fourth embodiment. 17A, 17B, and 17C are diagrams showing the structure of the second link 54 constituting the direct-acting telescopic mechanism of the fourth embodiment. Fig. 18 is a side view showing the structure of the arm portion 5 constituting the linear motion telescopic mechanism of the fourth embodiment.

The fourth embodiment is different from the first embodiment in the shape of the surface on the side where the first and second links 53, 54 are joined. The basic structure of the first and second chain links 53 and 54 of the fourth embodiment is that the linear gear 539 on the back of the first chain link 53 of the first embodiment is equipped on one side plate 540 of the second chain link 54 The rest of the surfaces (the left and right sides of the arm portion 5) are the same as those of the first embodiment. At this time, a driving gear (not shown) meshing with the linear gear 949 of the second chain link 54 is provided on the moving path of the second chain link 54, typically the left and right sides of the roller unit 58.

As shown in FIGS. 16A, 6B, and 16C, at least three convex portions 931 are dispersedly disposed on a side of the first link 53 that joins the second link 54. The convex portion 931 is a protrusion of a base shape such as a rectangular cross section, typically a cross section. The convex portion 931-1 is provided in front of and behind the first link 53, which is further forward than the center, that is, the width center of the back surface of the first link 53. The convex portions 931-2 and 931-3 are disposed farther to the rear than the center of the first chain link 53, that is, parallel to the width direction of the first chain link 53 and extending across both sides of the back surface of the first chain link 53. The edge portion is provided as a whole. As shown in FIG. 17A, FIG. 17B, and FIG. 17C, Between one pair of side plates 540 of the second chain link 54, a columnar beam portion 941 for receiving the convex portion 931-1 is set up.

As shown in FIG. 18, in a state where the first and second links 53 and 54 are engaged, the convex portion 931-1 in front of the back surface (inside of the arm portion 5) of the first link 53 abuts against the second link The side of the beam portion 941 of 54 and the convex portions 931-2 and 931-3 behind the back of the first link 53 abut the upper surface of the side plate 540 of the second link 54 respectively. Therefore, the contact area of the first and second links 53 and 54 can be limited to the top of the convex portion 931 and the surface portion that receives it. Only high-precision processing can be performed on this portion, which can reduce the requirements for higher dimensional accuracy and Area with higher surface accuracy. Thereby, the processing cost and the yield are reduced, and the manufacturing costs of the first and second links 53 and 54 can be reduced. In addition, by securing the joints of the first and second links 53 and 54 at three points, the joint state of the first and second links 53 and 54 can be stabilized.

As shown in FIG. 19, the convex portion 931 on the back surface of the first link 53 is received by the respective surfaces of the beam portion 941 and the side plate 540 of the second link 54. The receiving parts of the parts 931-1, 931-2, and 931-3 can also be provided with three convex parts 942-1, 942-2, 942 on the side of the second link 54 that is joined to the first link 53. -3 (hereinafter collectively referred to as convex portion 942). The convex portion 942-1 is provided at the center of the front and back of the beam portion 941 of the second link 54, in other words, at the center of the width of the second link 54. The convex portions 942-2 and 942-3 are provided in front of the upper end surface of the side plate 540. The convex parts 942-1, 942-2, and 942-3 of the second link 54 are respectively connected to the convex parts 931- of the first link 53 in a state where the first and second links 53 and 54 are engaged. 1, 931-2, 931-3 opposite positions. By this, as shown in FIG. 19, In a state where the first and second links 53 and 54 are joined, the front end surface of the convex portion 931 on the lower surface (back surface) of the first link 53 and the convex portion 942 on the upper surface of the second link 54 are in contact with each other. The contact area of the first and second links 53 and 54 can be defined as the tops of the three convex portions 931-1, 931-2, and 931-3 on the back of the first link 53 and the areas of the second link 54. On the tops of the three convex portions 942-1, 942-2, and 942-3, only high-precision machining can be performed on this portion, so that the processing cost and yield can be reduced, and the first and second links 53, 54 of manufacturing costs.

Furthermore, in the fourth embodiment, three convex portions 931-1, 931-2, and 931-3 are provided on the surface of the side of the first link 53 that is joined to the second link 54 and are in contact with each other. The upper surface of the side plate 540 on one side of the second chain link 54 in the upper center of the side surface of the beam portion 941 of the second chain link 54. However, the first and second links 53 and 54 are respectively connected freely by a hinge portion, and the movement of two orthogonal axes is restricted. Only movement in a bending direction centered on its rotation axis is allowed, so only bending is allowed. The movement in the direction may be locked, so as long as any one of the three convex portions 931-1, 931-2, and 931-3 contacts the second link 54 at only one position (one point), the first 1. Stable joint state between the second chain links 53 and 54. Preferably, as shown in FIG. 20A, FIG. 20B, and FIG. 20C, the first link 53 only includes the convex portion 931-1 disposed in front of the first link 53 in the width direction center, and does not include the two convex portions 931 on both sides of the rear. -2, 931-3. The convex portion 931-1 is a flat portion that is substantially in the center of the beam portion 941 behind the second link 54.

The second link 54 follows the rotation of the front hinge part, and approaches from below the first link 53 that is aligned in a straight line during stretching, and finally moves away from the front hinge. The substantially central planar portion of the rear beam portion 941 behind the second link 54 of the chain portion abuts the convex portion 931-1 before the first link 53. The rotation centered on the front hinge portion is locked by the substantially central flat portion away from the rear beam portion 941 abutting the convex portion 931-1 in front of the first link 53, so that it can be locked. The second link 54 is joined to the first link 53 in a stable state.

Although some embodiments of the present invention have been described, those embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are also included in the invention described in the scope of patent application and its equivalent scope.

53‧‧‧First Chain Link

531‧‧‧Body

532‧‧‧ support block

533‧‧‧bearing block

534, 535‧‧‧shaft holes

536‧‧‧pin hole block

537‧‧‧pin hole

539‧‧‧linear gear

631-1, 631-2, 631-3, 631-4, 632, 633‧‧‧ recess

Claims (14)

A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and at least one of the first and second links The surface on the side to be joined with the other has at least one recess. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a bendable manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to bend. A bending state; a joint unit that combines the foremost ends of the plurality of first links with the foremost ends of the plurality of second links; and a support mechanism unit that moves the first and second links freely back and forth Support, and when the first and second links are moved forward, the first and second links are engaged, and when the first and second links are moved backward, the first and second links are separated ; And each of the first chain links has at least one recessed portion on a surface on a side in contact with each other. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and the second links are on the sides that are in contact with each other. Face has at least one Recess. For example, the direct-acting telescopic mechanism of any of claims 1 to 3, wherein the recessed portion has a trapezoidal shape. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and one of the first and second links is at The surface on the side joined with the other has at least one convex portion, and the other of the first and second chain links has on the surface on the side joined with the at least one concave portion that receives the convex portion. A direct-acting telescopic mechanism is characterized by: A plurality of first chain links in the shape of a flat plate are connected to each other at the front and rear ends in a bendable manner; a plurality of second chain links in the shape of a slot frame are connected to the front and rear ends of the bottom in a bendable manner. When the first, The second links are straight and rigid when they are joined to each other, and return to a bent state when the first and second links are separated from each other; a joint portion that connects the foremost ends of the plurality of first links with the plurality of second The front ends of the chain links are combined; and a support mechanism unit that supports the first and second links to move back and forth freely, and makes the first and second chains when the first and second links move forward The joints are connected to separate the first and second links when the first and second links move rearward; and the first links each have at least one convex portion on a surface contacting each other and receive the convex portion. At least one recess. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The front end of the link is combined with the front end of the plurality of second links; and The support mechanism unit supports the first and second links to move back and forth freely, and engages the first and second links when the first and second links are moved forward. When the second link moves backward, the first and second links are separated; and the second link has at least one convex portion and at least one concave portion receiving the convex portion on the surfaces of the sides in contact with each other. For example, the direct-acting telescopic mechanism according to any one of claims 5 to 7, wherein the convex portion is contacted with the concave portion at at least one point. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and the first and second links are separated from the second Surface configuration of the joint side of the link There is at least one first convex portion, and at least one second convex portion abutting the first convex portion is disposed on a surface of the second link that is joined to the first link. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and the first links are connected to each other by convex portions. The abutment and bending are blocked. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces can be flexibly connected. When the first and second links are engaged with each other, Straight and straight, returning to a bent state when the first and second links are separated from each other; a joint that combines the foremost ends of the plurality of first links with the foremost ends of the plurality of second links; and The support mechanism unit supports the first and second links to move back and forth freely, and engages the first and second links when the first and second links are moved forward. When the second link moves backward, the first and second links are separated; and the second link is bent and locked by the contact of the convex portions with each other. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are in front of each other The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and one of the first and second links is separated. The side that joins with the other The surface is provided with at least one convex portion which is in contact with the other joint surface of the first and second chain links. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are equal to each other in front of the bottom The end faces are connected in a curved manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to a bent state. The foremost end of the chain link is combined with the foremost ends of the plurality of second links; and a support mechanism section that supports the first and second links to move back and forth freely, and when the first and second links are toward The first and second links are engaged when moving forward, and the first and second links are separated when the first and second links are moving backward; and the first link is connected to the first link by a convex portion. The surface abuts and bends and is locked. A direct-acting telescopic mechanism is characterized in that: a plurality of first links in the shape of a flat plate are bendably connected to each other at the front and rear end surfaces; a plurality of second links in the shape of a slot frame are in front of each other The end faces are connected in a bendable manner. When the first and second links are engaged with each other, they are straight and rigid. When the first and second links are separated from each other, they return to bend. A bending state; a joint unit that combines the foremost ends of the plurality of first links with the foremost ends of the plurality of second links; and a support mechanism unit that moves the first and second links freely back and forth Support, and when the first and second links are moved forward, the first and second links are engaged, and when the first and second links are moved backward, the first and second links are separated ; And the second chain link is bent and locked by contact between the convex portion and the surface.