A robot arm mechanism is capable of preventing a first piece string from colliding with a support column inner wall in the robot arm mechanism having a linear extension and retraction joint. The robot arm mechanism includes a plurality of first pieces that are connected in a string shape and a plurality of second pieces that are connected in a string shape, a feed mechanism section that supports the first and second strings movably forward and backward, a storage section in a square cylinder shape that stores the first pieces and the second pieces, and a guide that guides reciprocating movement of the first pieces between the feed mechanism section and the storage section from outside of the first pieces. The guide has a plurality of guide pieces that are connected bendably in mutual front and rear end surfaces to deform in accordance with rising and lowering movement of a rising and lowering rotation joint, and the guide hangs into the storage section from a tip position where the guide is fixed to the feed mechanism section.

A linear extension and retraction mechanism that is mounted in a robot arm mechanism includes: a plurality of first pieces having a flat plate shape which are bendably connected to each other at front and rear end faces; a plurality of second pieces having a groove shape which are bendably connected to each other at front and rear end faces of a bottom part, with the first and second pieces becoming linearly rigid when superposed, and the first and second pieces returning to a bent state when separated from each other; a head section which joins a leading first piece of the plurality of first pieces and a leading second piece of the plurality of second pieces; and a sending-out mechanism section including a plurality of rollers and for firmly superposing the first and second pieces and supporting the first and second pieces movably to front and rear. At least one groove section that extends from front to rear is formed in the surfaces of the first and second pieces that contact the rollers.

A robotic picking assembly (100) comprising an arm support arrangement (8) configured to move vertically and to rotate about a vertical axis. A horizontally extendable arm (1) is supported in the arm support arrangement. A gripping tool (20) arranged at a free end (1a) of the arm. The arm comprises arm modules (2) linked together in a chain. The arm modules (2) have a pivot means (4) linking adjacent arm modules together in a pivoting manner and a pivot restriction means (15, 16, 18, 19) limiting curving of the arm to only one direction. The arm support arrangement (8) has an arm guiding arrangement (25, 21, 21a, 21b, 33) guiding the arm between an extended position and a retracted position, and an arm drive arrangement (7) configured to move the arm between said extended and retracted positions.

A linear extension and retraction mechanism includes: a plurality of first pieces coupled together bendably; a plurality of second pieces coupled together bendably; a plurality of rollers adapted to join together the first pieces and the second pieces, forming a columnar body, and support the columnar body movably back and forth; a drive gear adapted to move the first pieces and the second pieces back and forth; and a motor unit adapted to generate power for rotating the drive gear. On a surface on a side where each of the first pieces is joined to a corresponding one of the second pieces, the first piece includes a linear gear to be meshed with the drive gear as well as a protrusion installed by protruding toward the second piece side. At least one third piece is bendably connected to a rearmost one of the plurality of first pieces.

An up/down section 4 of a robot arm mechanism includes: a pair of side frames disposed on a rotating section of a turning rotary joint; a cylindrical body supported in an axially rotatable manner by the side frames; a motor unit including a motor and a gearbox for rotationally driving the cylindrical body; connecting sections for connecting with an arm support body that movably supports an arm section; and a guide structure for guiding second pieces that were separated from first pieces into a columnar support section. The motor unit, connecting sections and guide structure are integrated with the cylindrical body. The motor unit is housed inside the cylindrical body, and an output shaft of the motor unit is connected to one of the side frames. The connecting sections are fixed to the outer circumferential surface of the cylindrical body. The guide structure is an annular body provided on the outer circumferential surface of the cylindrical body.

A linear extension and retraction mechanism includes: a plurality of first pieces shaped like a plate and coupled bendably with one another by first hinge sections; and a plurality of second pieces C-shaped or hollow square-shaped in transverse section and coupled bendably with one another on a bottom surface side by second hinge sections. The first pieces and the second pieces are formed into a columnar body stiffened by being restrained from bending when the first pieces are joined to the second pieces on a front surface side opposite the bottom surface side, and the first pieces and the second pieces return to a bent state when separated from each other. Each of the first hinge sections is made up of a shaft, columnar in shape, and bearing sections for the shaft, the bearing sections being provided on front and rear ends of each of the first pieces. A flange 61, non-circular in shape, is provided at a rear end of the shaft. A receiving section 535 shaped as a recess and configured to accommodate a shape of the flange is provided in the bearing section at the front or rear end of the first piece. The flange is fitted in the receiving section.

Provided is a torsional rotational joint mechanism that realizes simplification of a structure, reduction in weight, and falling-off prevention. The torsional rotational joint mechanism that is mounted to a robot arm mechanism includes a fixed section in a cylindrical shape, a motor unit that is housed in the fixed section, and a rotating section that is fixed to an output shaft 65 of the motor unit. A flange section in an annular shape is jutted out on an outer circumferential surface of a tip of the fixed section to project outward, and one or two or more falling-off prevention sections are attached to a rear end surface of the rotating section in such a manner that the flange section on the fixed section is sandwiched between the one or two or more falling-off prevention sections and the rear end surface of the rotating section.

A linear extension and retraction mechanism includes: a plurality of first pieces connected bendably with each other; a plurality of second pieces connected bendably with each other; and a plurality of rollers configured to cause the first pieces to join the second pieces so as to form an arm section in the form of a columnar body, and configured to support the arm section in a longitudinally movable manner. A drive gear is arranged behind the plurality of rollers, and the drive gear is configured to send out the first and second pieces forward from the plurality of rollers, and to pull back the first and second pieces to the plurality of rollers. The drive gear is engaged with linear gears on back surfaces of the plurality of first pieces. The drive gear is coupled to a motor unit by way of a power transmitting mechanism. The power transmitting mechanism includes a pair of bevel gears, and one of the pair of bevel gears is coupled to an output shaft of the motor unit, and the other of the pair of bevel gears is coupled to a rotary shaft 45 of the drive gear.

A linear extension and retraction mechanism provided in a robot arm mechanism includes first and second pieces that are bendably connected, respectively. A sending-out mechanism includes a plurality of rollers that firmly sandwich the first and second pieces and support the first and second pieces movably to front and rear, and a drive gear that is meshed with a linear gear of the first pieces rearward of the rollers, and sends out the first pieces to the front and pulls back the first pieces to the rear. The sending-out mechanism is composed of separate bodies that are a roller unit including rollers, and a drive unit including the drive gear. The drive unit is fixed to a drum body of an up/down section. The roller unit is configured to be detachably attachable to the drive unit.

A linear extension and retraction mechanism has a plurality of first connection pieces connected bendably and a plurality of second connection pieces connected bendably. The first and second connection pieces become linearly rigid when joined together and return to a bent state when separated. The first connection piece has a main body part. A pair of bearing sections is provided on front both sides of the main body part, and a single bearing section is provided on a rear center of the main body part. In order to limit bending of the connected first connection pieces to a front surface side from a linearly aligned posture, a projection section protruding to the rear is provided on the bearing section on the rear of the main body part, and a receiving section adapted to receive the projection section is provided between the pair of bearing sections on the front of the main body part.