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公开(公告)号：EP4331783A1
公开(公告)日：2024-03-06
申请号：EP22795888.1
申请日：2022-04-28
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , INABA Masahiro , HAYAKAWA Yuki
IPC: B25J17/00
Abstract: Provided is a multi-joint bending structure body that makes it possible to obtain a structure capable of making a small-radius turn. The present invention comprises: a plurality of first bendable parts 9 and second bendable parts 11 that can elastically bend with respect to the axial direction; and an intermediate part 13 that is positioned between a first bendable part 9 and a second bendable part 11 which are adjacent to each other. The first bendable parts 9 and the second bendable parts 11 are provided with a flexible member 17 that is an integral body in the axial direction. The intermediate part 13 is attached to the flexible member 17 between the first bendable part 9 and the second bendable part 11 which are adjacent, and suppresses the bending of the flexible member 17 with respect to the axial direction.
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公开(公告)号：EP4378643A1
公开(公告)日：2024-06-05
申请号：EP22849337.5
申请日：2022-07-20
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , HAYAKAWA Yuki
IPC: B25J18/06
CPC classification number: B25J18/06
Abstract: Provided is a flexible structure with an articulation function, wherein a plurality of flexible portions are connected, said flexible portions comprising a plurality of wave washers that are stacked and welded to each other. The flexible structure comprises: a first flexible portion 7 and a second flexible portion 9 that are capable of flexing and extending; and a connection portion 11 that is welded, in the radial direction, between the flexible portion 7 and the second flexible portion 9, and has higher rigidity than the first flexible portion 7 and the second flexible portion 9. The first flexible portion 7 and the second flexible portion 9 are each layered in the axial direction and comprise a plurality of mutually welded wave washers 13. The connection portion 11 has a circular shape in which the inner circumference and the outer circumference are linked in the circumferential direction.
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公开(公告)号：EP4302941A1
公开(公告)日：2024-01-10
申请号：EP22763379.9
申请日：2022-03-03
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , HAYAKAWA Yuki
Abstract: The present invention provides a bending structural body capable of improving operability in a polyarticular structure. The present invention comprises: a first bending part 3 and second bending part 5 which are capable of bending elastically; a connection part 7 which connects the first bending part 3 and the second bending part 5, and which has higher bending rigidity than the first bending part 3 and the second bending part 5; and a plurality of first cord-like members 9 which are attached to the first bending part 3, which are inserted through the first bending part 3, the connection part 7, and the second bending part 5, and which are capable of bending the first bending part 3 via tension on the second bending part 5 side. The first cord-like members 9 each have a plurality of divided parts 37 which are divided in the connection part 7 and dispersed in the circumferential direction, and which are inserted through the second bending part 5 in this dispersed state.
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公开(公告)号：EP4238723A1
公开(公告)日：2023-09-06
申请号：EP21886385.0
申请日：2021-10-29
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , INABA Masahiro , HAYAKAWA Yuki
IPC: B25J17/00
Abstract: The present invention provides a bending structural body with which a simplified structure can be achieved. The bending structural body comprises: an inner cylinder 3 that is formed from a first inner coil part 15 and a first outer coil part 13, and in which wound parts 15a corresponding to the first inner coil part 15 are respectively fitted to pitches 13b between adjacent wound parts 13a of the first outer coil part 13; an outer cylinder 5 that covers at least some of the outer circumference of the inner cylinder 3 with a space 21 therebetween, that is formed from a second inner coil part 19 and a second outer coil part 17, and in which wound parts 19a corresponding to the second inner coil part 19 are respectively fitted to pitches 17b between adjacent wound parts 17a of the second outer coil part 17; and drive wires 9a and guide wires 9b that are guided and axially inserted into the space 21 between the inner cylinder 3 and the outer cylinder 5.
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公开(公告)号：EP4299023A1
公开(公告)日：2024-01-03
申请号：EP22759706.9
申请日：2022-02-24
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki
Abstract: Provided is a bending structure that can be reduced in diameter. The present invention is provided with a bending part 9 which has an elastically bendable and expandable inner coil part 13 and outer coil part 15, and in which a corresponding winding section 13a of the inner coil part 13 is fit in the space between adjacent winding sections 15a of the outer coil part 15. At least one of the inner and outer coil parts 13 and 15 is conductive and forms a conductive path P1. The bending part 9, which is capable of suppressing compression in the axial direction, enables the formation of the conductive path P1 without the need of another conductive line or the like, thereby simplifying the structure.
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Patent Agency Ranking
公开(公告)号：EP3838518A1
公开(公告)日：2021-06-23
申请号：EP19850396.3
申请日：2019-08-02
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , KUROKAWA Shimpei , HOTODA Yuki
Abstract: Provided is a bending structure and a joint function part, capable of ensuring sufficient flexibility and rigidity in an axial direction. The bending structure is provided with an outer coiled part 5 formed of a wire 5a wound in a coiled shape and an inner coiled part 7 formed of a wire 7a wound in a coiled shape and arranged in the outer coiled part 5, wherein the outer coiled part 5 has a plurality of gaps 5c to distance adjacent coils 5b, and coils 7b of the inner coiled part 7 are provided so as to correspond to the gaps 5c of the outer coiled part 5 and fit between the adjacent coils 5b while being in contact with the adjacent coils 5b of the outer coiled part 5.
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公开(公告)号：EP4378642A1
公开(公告)日：2024-06-05
申请号：EP22849336.7
申请日：2022-07-20
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , HAYAKAWA Yuki , ISHIYAMA Yuta
Abstract: Provided is a flexible structure which enables a reduction in the outer diameter and an increase in the inner diameter of a second member that covers the outer periphery of a first member. The flexible structure comprises: a first member 11 that can flex and extend; a second member 13 that covers the outer periphery of the first member, and can flex and extend in conjunction with the first member 11; recesses 23 provided to the inner periphery of the second member 13; and wires 9 held between the first member 11 and the second member 13 in a state in which at least portions of the wires 9 are inserted in the recesses 23 in the radial direction.
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公开(公告)号：EP4331784A1
公开(公告)日：2024-03-06
申请号：EP22795889.9
申请日：2022-04-28
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , HAYAKAWA Yuki
Abstract: Provided is a bending structure in which an end member can be attached, by laser welding, to an an axial-direction end of a bending part. This bending structure includes: a bending part 11 that is elastically bendable with respect to the axial direction; a movable part 5 that serves as an end member and is attached to an axial-direction end of the bent part 11; a thin part 14 that is formed on the movable part 5 and that is thinner in the axial direction than the movable part 5; a notch portion 15 that is provided on the movable part 5 and that exposes the thin part 14 so that the thin part 14 can be irradiated, in the axial direction, with laser light for laser welding; and a weld portion 18 that is formed on the thin part 14 by the laser welding and that joins the thin part 14 to the bending part 11.
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公开(公告)号：EP4238722A1
公开(公告)日：2023-09-06
申请号：EP21886384.3
申请日：2021-10-29
Applicant: NHK Spring Co., Ltd.
Inventor： HIRATA Takafumi , HOTODA Yuki , INABA Masahiro
Abstract: The present invention provides a bending operation mechanism that enables improved followability of a driven part with respect to a driving part. The bending operation mechanism comprises: an elastically bendable driving part 5; an elastically bendable driven part 7 that is provided separate from the driving part 5; and a linking part 9 that connects the driving part 5 and the driven part 7, and tensions and bends the driven part 7 in accordance with bending of the driving part 5. The driving part 5 and the driven part 7 each comprise an inner coil part 19 and an outer coil part 21 that are bendable with respect to the axial direction, and wound parts 19a corresponding to the inner coil part 19 are respectively fitted to pitches 21b between adjacent wound parts 21a of the outer coil part 21.
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公开(公告)号：EP4104983A1
公开(公告)日：2022-12-21
申请号：EP21753100.3
申请日：2021-02-12
Applicant: NHK Spring Co., Ltd.
Inventor： OTSUKA Motoyuki , HIRATA Takafumi , KUROKAWA Shimpei , HOTODA Yuki
Abstract: Provided are a bending structure and a joint function part, capable of stabilizing bending operation and simplifying a structure. In the bending structure, an inner coiled part 5 is located into an outer coiled part 3. The outer coiled part 3 has a plurality of gaps 3c distancing adjacent coils 3b in an axial direction, and coils 5b of the inner coiled part 5 are provided so as to correspond to the gaps 3c of the outer coiled part 3 and fit between the adjacent coils 3b of the outer coiled part 3 while being in contact with the adjacent coils 3b . A dimension P is set in a range meeting πR/4N≤P
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