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公开(公告)号：US20210186637A1
公开(公告)日：2021-06-24
申请号：US16755116
申请日：2018-10-02
Applicant: NHK SPRING CO., LTD.
Inventor： Shimpei KUROKAWA , Yuki HOTODA
Abstract: Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a corrugated tube portion having a corrugated portion in which crests and troughs are alternately arranged in the axial direction and being bendable according to expansion and contraction of the crests and the troughs, and insertion holes provided on the corrugated portion to pass the drive wires in the axial direction.
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公开(公告)号：US20220145956A1
公开(公告)日：2022-05-12
申请号：US17601927
申请日：2020-04-13
Applicant: NHK SPRING CO., LTD.
Inventor： Yosuke KAWAI , Shimpei KUROKAWA , Yuki HAYAKAWA
Abstract: The present invention provides a flexible member having excellent load resistance and flexibility while achieving a reduction in size. This flexible member is provided with: a main body part which includes multiple wave washers that are stacked in an axial direction and are joined to one another by multiple joint parts, and which is capable of bending relative to the axial direction by elastic deformation of the wave washers; and easily deformable parts formed between the joint parts that are adjacent to one another in the circumferential direction in each wave washer.
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公开(公告)号：US20200323600A1
公开(公告)日：2020-10-15
申请号：US16755121
申请日：2018-10-02
Applicant: NHK SPRING CO., LTD.
Inventor： Shimpei KUROKAWA , Yuki HOTODA , Shinji IINO
Abstract: Provided are a bending structure and a flexible tube for a medical manipulator, which comprise a main body that is composed of the wave washers stacked in an axial direction and kept a stacked state, the main body being bendable according to the expansion and contraction in the axial direction. Accordingly, linearity of load characteristics based on load and a bending angle is made high to make it possible to obtain the flexible tube having superior load bearing and bendability while conducting size reduction.
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公开(公告)号：US20230339124A1
公开(公告)日：2023-10-26
申请号：US17799384
申请日：2021-02-12
Applicant: NHK SPRING CO., LTD.
Inventor： Motoyuki OTSUKA , Takafumi HIRATA , Shimpei KUROKAWA , Yuki HOTODA
IPC: B25J18/06
CPC classification number: B25J18/06 , A61M25/0138
Abstract: Provided are a bending structure and a joint function part, capable of stabilizing bending operation and simplifying a structure. An inner coiled part is located into an outer coiled part. The outer coiled part and the inner coiled part have a plurality of gaps distancing adjacent coils in an axial direction, and the coils of the inner coiled part fit between the adjacent coils of the outer coiled part while being in contact with the adjacent coils. A dimension P is set in a range meeting πR/4N≤P
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Patent Agency Ranking
公开(公告)号：US20230001590A1
公开(公告)日：2023-01-05
申请号：US17268929
申请日：2019-08-02
Applicant: NHK SPRING CO., lTD.
Inventor： Takafumi HIRATA , Shimpei KUROKAWA , Yuki HOTODA
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 formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.
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公开(公告)号：US20220193932A1
公开(公告)日：2022-06-23
申请号：US17601425
申请日：2020-04-10
Applicant: NHK SPRING CO., LTD.
Inventor： Motoyuki OTSUKA , Takafumi HIRATA , Shimpei KUROKAWA , Soichi NAKAYAMA , Masahiro INABA
Abstract: Provided is a flexible member that can exhibit excellent load resistance and flexibility while achieving a reduction in size. This flexible member includes: a main body part which has multiple wave washers stacked in an axial direction and joined to each other, and the main body part is able to be bent with respect to the axial direction due to elastic deformation of the wave washers; and a linking member that is elastically deformable, the linking member being provided at an end part of the main body part and being linked to other member. A deformation amount of the linking member is smaller than a deformation amount of the wave washer, when the main body part is bent.
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公开(公告)号：US20220193933A1
公开(公告)日：2022-06-23
申请号：US17601711
申请日：2020-04-13
Applicant: NHK SPRING CO., LTD.
Inventor： Shimpei KUROKAWA , Yosuke KAWAI
Abstract: A flexible member is provided which can have excellent load resistance and flexibility while being more compact. This flexible member has a main body part in which multiple wave washers having closed ring shapes is stacked in an axial direction and joined to each other by multiple joint parts, and the main body part is able to be bent with respect to the axial direction due to elastic deformation of the wave washers. Each of the joint parts includes: a pair of welded parts in linear shape, being gradually separated from each other in a circumferential direction from an inner circumferential side toward an outer circumferential side of the wave washer.
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公开(公告)号：US20210307773A1
公开(公告)日：2021-10-07
申请号：US17268891
申请日：2019-08-02
Applicant: NHK SPRING CO., LTD. , RIVERFIELD Inc.
Inventor： Takafumi HIRATA , Shimpei KUROKAWA , Yuki HOTODA , Daisuke HARAGUCHI , Koki SHINDO , Kyohei TAKIKAWA
Abstract: An instrument for a surgical assistance robot is provided with a bending structure that enables a joint function part to be bent and is provided with an outer coiled part formed of a wire wound in a coiled shape and an inner coiled part formed of a wire wound in a coiled shape and arranged in the outer coiled part, wherein the outer coiled part has a plurality of gaps to distance adjacent coils, and coils of the inner coiled part are provided so as to correspond to the gaps of the outer coiled part and fit between the adjacent coils while being in contact with the adjacent coils of the outer coiled part.
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公开(公告)号：US20190390727A1
公开(公告)日：2019-12-26
申请号：US16559137
申请日：2019-09-03
Applicant: NHK SPRING CO., LTD.
Inventor： Takeshi SUZUKI , Yoshiki ONO , Shimpei KUROKAWA , Kosuke SHIBAIRI
Abstract: A spring consists of, by mass %, 0.5 to 0.7% of C, 1.0 to 2.0% of Si, 0.1 to 1.0% of Mn, 0.1 to 1.0% of Cr, not more than 0.035% of P, not more than 0.035% of S, and the balance of Fe and inevitable impurities. The spring has a structure including not less than 65% of bainite and 4 to 13% of residual austenite by area ratio in a cross section. The spring has a compressive residual stress layer in a cross section from a surface to a depth of 0.35 mm to D/4, in which D (mm) is a circle-equivalent diameter of the cross section. The spring has a high hardness layer with greater hardness than a center portion by 50 to 500 HV from a surface to a depth of 0.05 to 0.3 mm.
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