Bending structural body

Patent metadata

Field	Value
Publication number	US-12466088-B2
Application number	US-202218279881-A
Country	US
Kind code	B2
Filing date	Mar 3, 2022
Priority date	Mar 5, 2021
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

The present invention comprises: a first bending part and a second bending part which are capable of bending elastically; a connection part which connects the first bending part and the second bending part, and which has higher bending rigidity than the first bending part and the second bending part; and a plurality of first cord-like members which are attached to the first bending part, which are inserted through the first bending part, the connection part, and the second bending part, and which are capable of bending the first bending part via tension on the second bending part side. The first cord-like members each have a plurality of divided parts which are divided in the connection part and dispersed in the circumferential direction, and which are inserted through the second bending part in this dispersed state.

First claim

What is claimed is:

1 . A bending structural body, comprising:
a first bending part and a second bending part that are elastically bendable; a connection part connecting between the first bending part and the second bending part and having higher bending rigidity than the first bending part and the second bending part; and a plurality of first cord-like members attached to the first bending part and inserted through the first bending part, the connection part, and the second bending part, and being capable of bending the first bending part by pulling on the side of the second bending part, wherein each of the plurality of first cord-like members comprises a plurality of divided parts that include a first divided part and a second divided part, wherein the first divided part and the second divided part of each of the plurality of first cord-like members are divided at the connection part and dispersed in a circumferential direction, and the first divided part and the second divided part are inserted through the second bending part in a dispersed state, wherein the divided parts of the same first cord-like member are drawn out from the second bending part for the pulling, and portions drawn out from the second bending part constitute loop-shaped loop parts that are connected to each other.

2 . The bending structural body according to claim 1 , wherein the first divided part and the second divided part of each of the plurality of first cord-like members are arranged at equal intervals in the circumferential direction when inserted through the second bending part in the dispersed state.

3 . The bending structural body according to claim 1 , wherein an even number of the divided parts are provided for each of the first cord-like members, and the plurality of first cord-like members are arranged symmetrically to each other with respect to a center of the second bending part when inserted through the second bending part.

4 . The bending structural body according to claim 1 , wherein the divided parts of each of the plurality of first cord-like members are displaced in the circumferential direction with respect to main body parts of the first cord-like members in the first bending part when inserted through the second bending part.

5 . The bending structural body according to claim 4 , wherein a displacement amount in the circumferential direction between the first divided part and the second divided part of each of the plurality of first cord-like members is 90 degrees.

6 . The bending structural body according to claim 1 , comprising a plurality of second cord-like members attached to the second bending part and inserted through the second bending part, and being capable of bending the second bending part by pulling.

7 . The bending structural body according to claim 6 , wherein the divided parts are inserted through insertion paths of the second cord-like members when inserted through the second bending part.

8 . A bending structural body, comprising:
a first bending part and a second bending part that are elastically bendable; a connection part connecting between the first bending part and the second bending part and having higher bending rigidity than the first bending part and the second bending part; a plurality of first cord-like members attached to the first bending part and inserted through the first bending part, the connection part, and the second bending part, and being capable of bending the first bending part by pulling on the side of the second bending part; and a plurality of second cord-like members comprising a first second cord-like member and a second cord-like member each attached to the second bending part and inserted through the second bending part, and pulled together with the corresponding first cord-like member during bending of the first bending part to suppress bending of the second bending part, wherein each of the first cord-like members and the second cord-like member corresponding to the first cord-like member are drawn out from the second bending part for the pulling, and portions drawn out from the second bending part constitute loop-shaped loop parts that are connected to each other.

9 . The bending structural body according to claim 8 , wherein each of the first cord-like members and the second cord-like member corresponding to the first cord-like member are positioned on opposite sides across a center of the second bending part when inserted through the second bending part.

10 . The bending structural body according to claim 9 , wherein each of the first cord-like members and the second cord-like member corresponding to the first cord-like member are arranged symmetrically to each other with respect to the center of the second bending part when inserted through the second bending part.

11 . The bending structural body according to claim 8 , wherein a portion of each of the first cord-like members, which is inserted through the second bending part, is displaced in a circumferential direction with respect to a portion inserted through the first bending part, and
the second cord-like member is displaced in the circumferential direction with respect to the corresponding first cord-like member in the first bending part when inserted through the second bending part.

12 . The bending structural body according to claim 11 , wherein a displacement amount in the circumferential direction is 90 degrees.

13 . The bending structural body according to claim 8 , comprising a plurality of second cord-like members attached to the second bending part and inserted through the second bending part, and being capable of bending the second bending part by pulling.

14 . The bending structural body according to claim 13 , wherein the first cord-like members and the second cord-like members are inserted through insertion paths of the second cord-like members when inserted through the second bending part.

15 . The bending structural body according to claim 1 , comprising an operation part for pulling the loop part, which is not fixed to the loop part.

16 . The bending structural body according to claim 8 , comprising an operation part for pulling the loop part, which is not fixed to the loop part.

17 . A bending structural body, comprising:
a first bending part and a second bending part that are elastically bendable; a connection part connecting between the first bending part and the second bending part and having higher bending rigidity than the first bending part and the second bending part; and a plurality of first cord-like members attached to the first bending part and inserted through the first bending part, the connection part, and the second bending part, and being capable of bending the first bending part by pulling on the side of the second bending part, wherein each of the plurality of first cord-like members comprises a plurality of divided parts that include a first divided part and a second divided part, wherein the first divided part and the second divided part of each of the plurality of first cord-like members are divided at the connection part and dispersed in a circumferential direction, and the first divided part and the second divided part are inserted through the second bending part in a dispersed state, wherein the first divided part and the second divided part of one of the plurality of first cord-like members are inserted through a first insertion hole of the first bending part, and the first divided part of the one of the plurality of first cord-like members is inserted through a second insertion hole in the se

Assignees

• Nhk Spring Co Ltd

Inventors

• Hirata Takafumi
• Hotoda Yuki
• Hayakawa Yuki

Classifications

• B25J17/00

  Joints · CPC title

• B25J9/06

  characterised by multi-articulated arms · CPC title

• B25J18/06 Primary

  flexible · CPC title

• B25J9/104 Primary

  with cables, chains or ribbons · CPC title