Joint function unit

Patent metadata

Field	Value
Publication number	US-2023256625-A1
Application number	US-202118015537-A
Country	US
Kind code	A1
Filing date	Jul 14, 2021
Priority date	Jul 16, 2020
Publication date	Aug 17, 2023
Grant date	—

Abstract

A joint function unit, in which a movable part is supported by a base partso as to be displaceable in an axial direction thereof, includes: a plurality of drive wireseach having a fixed partfixed to the movable parton one side in the axial direction and the a supported partsupported by the base parton the other side in the axial direction; and an elastic bodysupporting the supported partof each of the plurality of drive wireson the base part, energizing the supported partwith respect to the fixed partin the axial direction, and applying tension to the drive wires.

First claim

1 . A joint function unit in which a movable-side member is supported so as to be displaceable between a bending position and an extension position with respect to a fixed-side member, the joint function unit comprising:
a plurality of cord-like members, having a fixed part fixed to the movable-side member on one side in an axial direction and a supported part supported by the fixed-side member on the other side in the axial direction; and an elastic body, supporting the supported part of the plurality of cord-like members on the fixed-side member, energizing the supported part toward a side opposite to the fixed part in the axial direction, and applying tension to the plurality of cord-like members.

2 . The joint function unit according to claim 1 , wherein
the elastic body is arranged in parallel with the plurality of cord-like members.

3 . The joint function unit according to claim 1 , wherein
the plurality of cord-like members each are inserted through the fixed-side member between the fixed part and the supported part; and the elastic body is interposed between the supported part of the plurality of cord-like members and the fixed-side member.

4 . The joint function unit according to claim 3 , wherein
the elastic body has each of the plurality of cord-like members inserted therethrough and provided on a same axis.

5 . The joint function unit according to claim 3 , further comprising:
a support member, spanning between the supported parts of the plurality of cord-like members, wherein
the elastic body is interposed between the support member and the fixed-side member.

6 . The joint function unit according to claim 1 , further comprising:
a guide part, guiding one of the plurality of cord-like members and locating the supported part of the plurality of cord-like members on a same axis, wherein
the elastic body connects between the supported parts of the plurality of cord-like members.

7 . The joint function unit according to claim 1 , wherein
the fixed-side member comprises a support part located on a side opposite to the fixed part with the supported part of the plurality of cord-like members therebetween in the axial direction; and the elastic body is interposed between the support part and the supported part of the plurality of cord-like members.

8 . The joint function unit according to claim 1 , wherein
the elastic body is a coil spring.

9 . The joint function unit according to claim 1 , wherein
the plurality of cord-like members aredrive wires in which the supported part is operated in the axial direction to displace the movable-side member with respect to the fixed-side member.

10 . The joint function unit according to claim 2 , wherein
the plurality of cord-like members each are inserted through the fixed-side member between the fixed part and the supported part; and the elastic body is interposed between the supported part of the plurality of cord-like members and the fixed-side member.

11 . The joint function unit according to claim 2 , further comprising:
a guide part, guiding one of the plurality of cord-like members and locating the supported part of the plurality of cord-like members on a same axis, wherein
the elastic body connects between the supported parts of the plurality of cord-like members.

12 . The joint function unit according to claim 2 , wherein
the fixed-side member comprises a support part located on a side opposite to the fixed part with the supported part of the plurality of cord-like members therebetween in the axial direction; and the elastic body is interposed between the support part and the supported part of the plurality of cord-like members.

Assignees

• Nhk Spring Co Ltd

Inventors

• Hirata Takafumi
• Hotoda Yuki
• Inaba Masahiro

Classifications

• B25J17/00

  Joints · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J17/02 Primary

  Wrist joints · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2034/305

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