Flexible structure

Patent metadata

Field	Value
Publication number	US-12337469-B2
Application number	US-202218291910-A
Country	US
Kind code	B2
Filing date	Jul 20, 2022
Priority date	Jul 27, 2021
Publication date	Jun 24, 2025
Grant date	Jun 24, 2025

Abstract

A flexible structure includes a first member, a second member, a recess, and a wire. The first member is capable of flexing and extending. The second member covers an outer circumference of the first member and is capable of flexing and extending in conjunction with the first member. The recess is provided at an inner circumference of the second member. The wire is held between the first member and the second member in a state in which at least a part of the wire is inserted into the recess in the radial direction.

First claim

The invention claimed is:

1. A flexible structure comprising:
a first member capable of flexing and extending;
a second member that covers an outer circumference of the first member and is capable of flexing and extending in conjunction with the first member;
a first recess provided in a radial direction at the first member; and
a first cord-shaped member held between the first member and the second member in a state in which at least a part of the first cord-shaped member is inserted into the first recess in the radial direction,
wherein the first recess is recessed radially inward from an outer circumferential surface of the first member.

2. The flexible structure according to claim 1 , wherein
the first member is formed in a tubular shape, and
the first recess is a first groove provided at the first member formed in the tubular shape.

3. The flexible structure according to claim 1 , wherein
the second member has a tubular shape formed by stacking a plurality of wave washers in an axial direction.

4. The flexible structure according to claim 1 , further comprising:
a second recess provided in the radial direction at the first member;
a second cord-shaped member held between the first member and the second member in a state in which at least a part of the second cord-shaped member is inserted into the second recess in the radial direction.

5. The flexible structure according to claim 4 , wherein
the first cord-shaped member is arranged along a circumferential direction according to a shape of the first recess,
the second cord-shaped member is arranged along the circumferential direction according to a shape of the second recess.

6. A flexible structure comprising:
a first member capable of flexing and extending;
a second member that covers an outer circumference of the first member and is capable of flexing and extending in conjunction with the first member;
a first recess provided in a radial direction at the second member; and
a first cord-shaped member held between the first member and the second member in a state in which at least a part of the first cord-shaped member is inserted into the first recess in the radial direction,
wherein the first recess is recessed radially outward from an inner circumferential surface of the second member.

7. The flexible structure according to claim 6 , wherein
the second member is formed in a tubular shape, and
the first recess is a groove provided at the second member formed in the tubular shape.

8. The flexible structure according to claim 6 , wherein
the second member has the tubular shape formed by stacking a plurality of wave washers in an axial direction, and
the first recess is provided at the wave washers continuous in the axial direction.

9. The flexible structure according to claim 6 , further comprising:
a second recess provided in the radial direction at the second member;
a second cord-shaped member held between the first member and the second member in a state in which at least a part of the second cord-shaped member is inserted into the second recess in the radial direction.

10. The flexible structure according to claim 9 , wherein
the first cord-shaped member is arranged along a circumferential direction according to a shape of the first recess,
the second cord-shaped member is arranged along the circumferential direction according to a shape of the second recess.

11. The flexible structure according to claim 6 , wherein another recess is provided in a radial direction at the first member,
wherein the another recess is recessed radially inward from an outer circumferential surface of the first member.

12. The flexible structure according to claim 6 , further comprising:
another cord-shaped member, held between the first member and the second member in a state in which at least a part of the another cord-shaped member is inserted into the first recess in the radial direction.

Assignees

• Nhk Spring Co Ltd

Inventors

• Hirata Takafumi
• Hotoda Yuki
• Hayakawa Yuki
• ISHIYAMA Yuta

Classifications

• B25J9/104

  with cables, chains or ribbons · CPC title

• A61B34/71

  Manipulators operated by drive cable mechanisms · CPC title

• A61B2034/305

  Details of wrist mechanisms at distal ends of robotic arms · CPC title

• A61B34/30

  Surgical robots · CPC title

• B25J18/06 Primary

  flexible · CPC title