An actuator includes first and second structural units arranged independently of one another. An engagement means is arranged in the first structural unit. A drive motor is in driving relationship to the engagement means and arranged in the first structural unit. An anti-backbend chain is in engagement with the engagement means, and a chain depot is arranged in the second structural unit.

The invention provides a multijoint cable protection and guide device that steadily protects and guides cables and the like that assume flexed and straight postures. The device includes a flexible belt member in which a plurality of center tubular portions through which cables are inserted and a pair of right and left side tubular portions disposed in parallel along the center tubular portions. The center tubular portions and the pair of right and left side tubular portions are integrally molded. A pair of right and left multijoint supporting members is inserted through side tubular portions of the flexible belt member. The multijoint supporting member is composed of a large number of block bodies that are flexibly connected together by concave-convex fittings.

The invention provides a multijoint cable protection and guide device that steadily protects and guides cables and the like that assume flexed and straight postures. The device includes a flexible belt member in which a plurality of center tubular portions through which cables are inserted and a pair of right and left side tubular portions disposed in parallel along the center tubular portions. The center tubular portions and the pair of right and left side tubular portions are integrally molded. A pair of right and left multijoint supporting members is inserted through side tubular portions of the flexible belt member. The multijoint supporting member is composed of a large number of block bodies that are flexibly connected together by concave-convex fittings.

The invention relates to an actuator with an anti-backbend chain, a drive motor, and a worm which can be driven by the drive motor and which comprises a helical groove. The anti-backbend chain has engagement means and is guided along the worm, and the chain is in engagement with the worm by means of the engagement means and the helical groove to drive the anti-backbend chain. Such an actuator should have a more compact design and should optionally exhibit less wear. For this purpose, the core diameter of the worm is larger than twice the distance from the motor axis to the motor exterior along which the anti-backbend chain is guided, and the anti-backbend chain is guided at least partly along the drive motor by means of the engagement means.

The invention relates to an actuator with an anti-backbend chain, a drive motor, and a worm which can be driven by the drive motor and which comprises a helical groove. The anti-backbend chain has engagement means and is guided along the worm, and the chain is in engagement with the worm by means of the engagement means and the helical groove to drive the anti-backbend chain. Such an actuator should have a more compact design and should optionally exhibit less wear. For this purpose, the core diameter of the worm is larger than twice the distance from the motor axis to the motor exterior along which the anti-backbend chain is guided, and the anti-backbend chain is guided at least partly along the drive motor by means of the engagement means.

A purpose is to prevent a first connection piece string from colliding against a second connection piece string in a robot arm mechanism including a linear extension and retraction joint. In the robot arm mechanism having the linear extension and retraction joint, the linear extension and retraction joint includes an arm section, and an ejection section for supporting the arm section, the arm section includes a first connection piece string 21 made by a plurality of first connection pieces, and a second connection piece string made by a plurality of second connection pieces, the second connection piece string is sent out forward from the ejection section together with the first connection piece string in a state where the second connection piece string is joined to the first connection piece string, and a flexible guide rail for separating the first connection piece string from the second connection piece string and guiding the second connection piece string to the ejection section is interposed between the first connection piece string and the second connection piece string behind the ejection section.

A linear extension and retraction mechanism includes a first connection piece string including a plurality of first connection pieces; a second connection piece string including a plurality of second connection pieces; a linear gear consisted of a plurality of teeth and provided on a back face of each of the first connection piece;

an ejection section adapted to support a columnar body formed by joining together the first and second connection piece strings and; and a drive gear adapted to be meshed with the linear gears, wherein gear-end teeth located adjacent to each other across a junction between adjacent first connection piece string are provided in such a way as not to overlap each other when viewed along a center axis of the columnar body.

Rigidity of an arm is improved in a linear extension and retraction mechanism. The linear extension and retraction mechanism includes a first connection piece string consisted of a plurality of first connection pieces; a second connection piece string consisted of a plurality of second connection pieces; and an ejection section adapted to form a columnar body by joining the first connection piece string to the second connection piece string and support the columnar body, in which a foremost one of the plurality of second connection pieces is connected with a foremost one of the plurality of first connection pieces, the first and second connection piece strings are joined with each other to constrain bending, thereby a columnar body with a tubular shape being formed, and the columnar body is relaxed when the first and second connection piece strings are separated from each other. In the linear extension and retraction mechanism, the first connection pieces have a width substantially equivalent to spacing between side plates of the second connection pieces and are fitted into the second connection pieces.

A multilinear actuator transmits a force in several directions, and includes complementary actuating strands made of flexible material and provided on a first face with spaced studs, the actuating strands being located opposite each other, the studs meshing with one another, and transverse faces of one stud bear against respective rear and front transverse faces of adjacent studs of the other actuating strand, defining a straight section in which the two actuating strands are rigidly connected, so that the straight section behaves like a rigid bar, said actuating strands including on an outer face, regularly spaced teeth, the actuator including one driving member per actuating strand, meshing with the teeth of the second face of one of said actuating strands to translate said actuating strand, the actuator including a straight section and a straight section in which the actuating strands are meshed, and a curved region located between the straight sections in which the actuating strands are spaced apart.

A multilinear actuator transmits a force in several directions, and includes complementary actuating strands made of flexible material and provided on a first face with spaced studs, the actuating strands being located opposite each other, the studs meshing with one another, and transverse faces of one stud bear against respective rear and front transverse faces of adjacent studs of the other actuating strand, defining a straight section in which the two actuating strands are rigidly connected, so that the straight section behaves like a rigid bar, said actuating strands including on an outer face, regularly spaced teeth, the actuator including one driving member per actuating strand, meshing with the teeth of the second face of one of said actuating strands to translate said actuating strand, the actuator including a straight section and a straight section in which the actuating strands are meshed, and a curved region located between the straight sections in which the actuating strands are spaced apart.