WO2023008275A1 - 屈曲構造体及びその製造方法 - Google Patents
屈曲構造体及びその製造方法 Download PDFInfo
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- WO2023008275A1 WO2023008275A1 PCT/JP2022/028173 JP2022028173W WO2023008275A1 WO 2023008275 A1 WO2023008275 A1 WO 2023008275A1 JP 2022028173 W JP2022028173 W JP 2022028173W WO 2023008275 A1 WO2023008275 A1 WO 2023008275A1
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- WIPO (PCT)
- Prior art keywords
- bending
- bending structure
- washers
- welded
- axial direction
- Prior art date
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- 238000004519 manufacturing process Methods 0.000 title claims description 20
- 238000005452 bending Methods 0.000 claims description 109
- 238000003780 insertion Methods 0.000 claims description 21
- 230000037431 insertion Effects 0.000 claims description 21
- 238000003466 welding Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 10
- 238000010030 laminating Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 description 6
- 229910052751 metal Inorganic materials 0.000 description 6
- 239000002184 metal Substances 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000008407 joint function Effects 0.000 description 4
- 239000011347 resin Substances 0.000 description 3
- 229920005989 resin Polymers 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- JNDMLEXHDPKVFC-UHFFFAOYSA-N aluminum;oxygen(2-);yttrium(3+) Chemical compound [O-2].[O-2].[O-2].[Al+3].[Y+3] JNDMLEXHDPKVFC-UHFFFAOYSA-N 0.000 description 2
- 238000003475 lamination Methods 0.000 description 2
- 229910001000 nickel titanium Inorganic materials 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
- 229910001220 stainless steel Inorganic materials 0.000 description 2
- 229910019901 yttrium aluminum garnet Inorganic materials 0.000 description 2
- 229910000975 Carbon steel Inorganic materials 0.000 description 1
- HZEWFHLRYVTOIW-UHFFFAOYSA-N [Ti].[Ni] Chemical compound [Ti].[Ni] HZEWFHLRYVTOIW-UHFFFAOYSA-N 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 239000010962 carbon steel Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
Definitions
- the present invention relates to a bending structure provided for a joint function part of a robot or the like and a manufacturing method thereof.
- Patent Document 1 As a conventional bending structure, as in Patent Document 1, one having a bending portion in which a plurality of wave washers are laminated and welded together is known. A bent structure using this bent portion can have a small diameter and be excellent in load resistance and bendability.
- a bending structure may have multiple joint functions by connecting multiple bending parts.
- a bending structure having such a multi-joint function is expected to have a smaller diameter by applying a bent portion in which a plurality of wave washers are laminated and welded.
- the problem to be solved is a multi-joint function bending structure in which a plurality of wave washers are stacked and welded together to connect a plurality of bending parts, and the bending structure is made smaller in diameter and the distance between the bending parts is shortened. It is a point that it was difficult to connect integrally.
- the present invention includes a first bending portion and a second bending portion capable of bending and extending, and the first bending portion and the second bending portion welded in the axial direction between the first bending portion and the second bending portion.
- a connecting portion having a rigidity higher than that of provides a curved structure in which the inner circumference and the outer circumference are continuous in the circumferential direction.
- the plurality of wave washers of the first bent portion are sequentially stacked from one side of the connection portion in the axial direction and welded
- the plurality of wave washers of the second bent portion are:
- the diameter of the whole is reduced while the bending portions are shortened and integrated.
- FIG. 1 is a perspective view showing a bending structure according to Example 1 of the present invention.
- 2 is a side view of the bending structure of FIG. 1;
- FIG. 3 is a schematic cross-sectional view of the bending structure of FIG. 2;
- FIG. 4 is a plan view of a wave washer used in the bending structure of FIG. 1.
- FIG. 5 is a plan view of a flat washer used in the bending structure of FIG. 1.
- FIG. 6 is a plan view showing a connecting portion used in the bending structure of FIG. 1.
- FIG. FIG. 7 is a side view showing a method of manufacturing a bending structure according to Example 1 of the present invention.
- FIG. 8 is a side view showing a method of manufacturing a bending structure according to Example 1 of the present invention.
- FIG. 1 is a perspective view showing a bending structure according to Example 1 of the present invention.
- FIG. 9 is a side view showing a method of manufacturing a bending structure according to Example 1 of the present invention.
- 10A and 10B are side views showing a method for manufacturing a bending structure according to Example 1 of the present invention.
- 11A and 11B are side views showing a method of manufacturing a bending structure according to Example 1 of the present invention.
- the bending structure (1) includes a first bending portion (7), a second bending portion (9), and a connecting portion (11).
- the first flexure (7) and the second flexure (9) are capable of flexion and extension and each comprise a plurality of wave washers (13) axially stacked and welded together.
- the connection (11) is axially welded between the first bend (7) and the second bend (9) and is stiffer than the first bend (7) and the second bend (9). , the inner circumference and the outer circumference are continuous in the circumferential direction.
- connection part (11) may have a constant width between the inner circumference and the outer circumference.
- Welding between the plurality of wave washers (13) is performed at an intermediate portion between the inner circumference and the outer circumference of each wave washer (13), and the connection portion (11) is welded between the plurality of wave washers (13). It is good also as a structure which overlaps in the axial direction with the part (W).
- first bent portion (7) and the second bent portion (9) is provided with a flat washer (15) forming an axial end, the flat washer (15) extending along the entire circumference of the connecting portion ( 11), and a plurality of wave washers (13) may be welded to the connecting portion (11) via flat washers (15).
- a plurality of wave washers (13) of the first bent portion (7) are sequentially stacked from one side of the connecting portion (11) in the axial direction and welded, and the second A plurality of wave washers (13) of the bent portion (9) are welded while sequentially stacked from the other side of the connecting portion (11) in the axial direction.
- the insertion holes (11b) of the connecting portion (11) ), and a plurality of wave washers ( 13) may be inserted through the insertion holes (7a, 9a) and positioned at the connecting portion (11).
- a flat washer (15) is laminated and welded to one or both of one side and the other side of the connection part (11) in the axial direction, and a plurality of wave washers (13) are sequentially axially attached to the flat washer (15). You may weld while laminating
- FIG. 1 is a perspective view showing a bending structure according to Example 1 of the present invention
- FIG. 2 is a side view of the bending structure
- FIG. 3 is a schematic sectional view of the bending structure. 1 to 3 show the same structure, although the shape of each part is slightly different.
- the bending structure 1 is applied to joint function parts of various devices such as manipulators, robots, and actuators for medical and industrial purposes.
- a joint function part is an apparatus, a mechanism, a device, or the like that functions as a joint that bends and extends.
- the bending structure 1 of this embodiment includes a base portion 3 , a movable portion 5 , a first bending portion 7 and a second bending portion 9 , and a connecting portion 11 .
- the base 3 is a columnar body made of metal, resin, or the like, for example, a columnar body, and is attached to the end of the shaft of the manipulator. Note that the base 3 is not limited to a columnar body, and may be formed in an appropriate form according to the equipment to which the bending structure 1 is applied.
- the base 3 is provided with a radial recess 3a.
- the recessed portion 3 a is provided along the axial direction with respect to the base portion 3 . Due to this concave portion 3a, the base portion 3 has a discontinuous outer circumference in the circumferential direction.
- the concave portion 3a enables welding on the base portion 3 side to the second bent portion 9, as will be described later.
- the radial direction means a direction along the diameter of the bending structure 1, and includes a direction slightly inclined with respect to the diameter.
- the axial direction means a direction along the axis of the bending structure 1 and includes a direction slightly inclined with respect to the axis.
- a circumferential direction means a direction along the outer circumference of the bending structure 1 .
- the movable part 5 is supported by the base part 3 by the first bent part 7 and the second bent part 9 so as to be displaceable in the axial direction.
- An end effector or the like corresponding to the equipment to which the bending structure 1 is applied is attached to the movable portion 5 .
- the movable portion 5 is made of metal, resin, or the like and formed into a columnar body as a whole. As with the base portion 3, the movable portion 5 has an appropriate shape according to the equipment to which the bending structure 1 is applied, and is not limited to a columnar body made of metal, resin, or the like.
- the movable portion 5 is provided with a radial recessed portion 5a along the axial direction, similar to the base portion 3. Therefore, the movable portion 5 has a discontinuous outer periphery in the circumferential direction due to the recess 5a.
- the concave portion 5a enables welding on the movable portion 5 side to the first bent portion 7, as will be described later.
- the first bending portion 7 and the second bending portion 9 are capable of bending and extending, and each includes a plurality of wave washers 13 and a plurality of flat washers 15.
- first bent portion 7 and the second bent portion 9 basically have the same configuration, but differ in length in the axial direction.
- the first bent portion 7 is axially longer than the second bent portion 9 .
- the first bent portion 7 may be configured to be shorter in the axial direction than the second bent portion 9 .
- the first bent portion 7 and the second bent portion 9 may have the same length.
- the first bent portion 7 and the second bent portion 9 may not have the same configuration, such as a configuration in which one has a smaller diameter than the other, or a configuration in which the planar shape of the wave washer 13 differs from each other.
- the bending structure 1 can have three or more bending portions, but even in that case, the first bending portion 7 is on the distal end side with respect to the connecting portion 11, and the second bending portion 9 is on the base end side.
- the distal and proximal ends are the axial distal and proximal ends of the bending structure 1 .
- FIG. 4 is a plan view showing the wave washer 13.
- the plurality of wave washers 13 are stacked in the axial direction and welded together to maintain the stacked state, as shown in FIGS. Due to the elastic deformation of these wave washers 13, the first bending portion 7 and the second bending portion 9 can be elastically bent.
- Each wave washer 13 is a circular plate material made of metal or the like.
- the wave washer 13 of this embodiment is an annular plate member made of stainless steel, and has a constant radial width and plate thickness between the inner and outer circumferences.
- the wave washer 13 is welded to the adjacent wave washer 13 at its abutting portion. This welding is performed at an intermediate portion between the inner circumference and the outer circumference of each wave washer 13 .
- the intermediate portion between the inner circumference and the outer circumference of each wave washer 13 means the area between the inner circumference and the outer circumference excluding the inner circumference and the outer circumference, and means the central position of the width between the inner circumference and the outer circumference. not something to do. Therefore, the welding to the intermediate portion between the inner circumference and the outer circumference can be performed not only at the central position of the width between the inner circumference and the outer circumference, but also at positions deviated from the central position toward the inner circumference side or the outer circumference side. be. Moreover, this welding can also be performed at a plurality of locations aligned in the radial direction of the intermediate portion between the inner circumference and the outer circumference. Welding may be performed on the inner circumference and the outer circumference of each wave washer 13 .
- the wave washer 13 has a plurality of peaks 13a in the circumferential direction, and valleys 13b between adjacent peaks 13a. Between the wave washers 13 adjacent in the axial direction, the peaks 13a of one wave washer 13 are in contact with the valleys 13b of the other wave washer. In these abutting peaks 13a and valleys 13b, an intermediate portion between the inner periphery and the outer periphery is joined by a welded portion W by laser welding or the like.
- the peaks 13a and the valleys 13b may not contact each other, and may, for example, contact the slopes 13c while being displaced from each other in the circumferential direction. Further, the shape, material, etc. of the wave washer 13 can be appropriately changed according to the required characteristics.
- FIG. 5 is a plan view showing the flat washer 15.
- a plurality of flat washers 15 constitute both axial end portions of the first bent portion 7 and the second bent portion 9, as shown in FIGS. 11, welded to base 3 or movable part 5; That is, the plurality of wave washers 13 are welded to the connecting portion 11 via the plurality of flat washers 15 .
- the flat washer 15 may be provided only at one end of the first bent portion 7 and the second bent portion 9 . Also, the flat washer 15 may be provided only at one end of one or both of the first bent portion 7 and the second bent portion 9 . Furthermore, the flat washer 15 can also be omitted.
- the number of flat washers 15 is three, but it can be arbitrarily changed to one, two, or four or more.
- the welded portion W between the flat washer 15 and the wave washer 13 is formed in the intermediate portion between the inner and outer peripheries of the contact portion between the flat washer 15 and the wave washer 13 .
- Each flat washer 15 is an annular plate made of metal or the like, made of the same material as the wave washer 13, has the same inner and outer diameters and plate thickness, and is flat.
- the flat washer 15 deforms together with the wave washer 13 so as to open the space between them, but the amount of deformation is smaller than that of the wave washer 13.
- the flat washer 15 may be formed using a material different from that of the wave washer 13 .
- FIG. 6 is a plan view showing the connecting portion 11.
- the connecting portion 11 is axially welded between the first bend 7 and the second bend 9 as in FIGS. 1-3 and 6 and is stiffer than the first bend 7 and the second bend 9. It is a member. Rigidity refers to bending stiffness in the axial direction.
- the connecting portion 11 forms a multi-joint by connecting the first bending portion 7 and the second bending portion 9 .
- the connecting portion 11 has a circumferential shape in which the inner circumference and the outer circumference are continuous in the circumferential direction. Continuity here means that the inner circumference or outer circumference is not discontinuous due to recesses or notches along the axial direction for welding to the ends of the first bent portion 7 and the second bent portion 9. It also includes the case where the inner circumference or the outer circumference is discontinuous due to having a slight concave portion or the like.
- the connecting portion 11 of this embodiment has a cylindrical shape, and the width between the inner circumference and the outer circumference is constant. In order to make the width between the inner circumference and the outer circumference constant, it is sufficient that the connecting portion 11 has a planar shape without corners. Therefore, the connecting portion 11 may be formed in an elliptical cylindrical shape or the like. Also, the connecting portion 11 may have a rectangular tubular shape in which the width between the inner circumference and the outer circumference is not constant. Furthermore, the connecting portion 11 may have one or both of the diameters of the inner circumference and the outer circumference that change in the axial direction. In this case, the bent portions with different diameters can be connected.
- the connecting portion 11 of this embodiment axially overlaps the welded portion W, which is the welded portion of the plurality of wave washers 13 and the plurality of flat washers 15 .
- the connecting portion 11 can reliably receive the first bent portion 7 and the second bent portion 9 and stabilize the operation.
- connection portion 11 On both sides of the connecting portion 11 in the axial direction, a flat circular joint surface 11a with a constant width is formed. Due to this joint surface 11a, the flat washer 15 coupled to the connection portion 11 evenly contacts the connection portion 11 over the entire circumference. In this state, the flat washer 15 is welded to the connection portion 11 . Therefore, the connecting portion 11 can more reliably receive the first bent portion 7 and the second bent portion 9 and stabilize the operation.
- the connecting portion 11 is provided with insertion holes 11b and holding portions 11c for the wires 17a and 17b, which are cord-like members.
- the cord-like members are used for operating the bending structure 1, such as the wires 17a and 17b, as well as for conducting electricity and guiding.
- the guide is for guiding the cord-like member for operation and for energization.
- the cord-like member in addition to the wires 17a and 17b, it is possible to adopt an appropriate one such as a single wire, a stranded wire, a piano wire, an articulated rod, a chain, a cord, a thread, a rope, and the like.
- the material of the cord-like member it is possible to adopt an appropriate material such as metal such as stainless steel, NiTi (nickel titanium), carbon steel, or the like.
- a plurality of insertion holes 11 b are provided in the circumferential direction with respect to the connecting portion 11 .
- the insertion hole 11b passes through the connecting portion 11 in the axial direction.
- the insertion hole 11b communicates with the insertion holes 7a and 9a of the first bent portion 7 and the second bent portion 9 in the axial direction.
- the insertion holes 7a and 9a are provided through the wave washer 13 and the flat washer 15. Although the insertion holes 7a and 9a of this embodiment communicate with each other in the axial direction, they can be formed at positions displaced in the circumferential direction by the adjacent wave washer 13 and flat washer 15. FIG.
- a wire 17a for operating the first bending portion 7 is axially routed through the insertion holes 7a, 9a, and 11b from the second bending portion 9 side through the connecting portion 11 to the first bending portion 7. Insert and guide in the direction.
- the tip of the wire 17a inserted through the first bent portion 7 is held by the movable portion 5, and the first bent portion 7 is bent by pulling on the base end side to enable the movable portion 5 to be displaced.
- the holding portion 11c of the connection portion 11 holds the tip of the wire 17b for operating the second bending portion 9.
- the holding portion 11c is formed of a space portion that is open on the outer periphery in the intermediate portion of the connecting portion 11 in the axial direction.
- connection portion 11 loses continuity of the outer periphery due to the holding portion 11c, continuity is maintained on both sides in the axial direction.
- the insertion hole 11b of the connection portion 11 communicates with the holding portion 11c.
- the insertion hole 11b communicates with the insertion hole 9a of the second bent portion 9 in the axial direction.
- the wire 17b for operating the second bent portion 9 is axially inserted through the second bent portion 9 to the connection portion 11 and guided.
- the tip of the wire 17b is held by the holding portion 11c of the connection portion 11, and the second bent portion 9 is bent by pulling on the base end side to enable the connection portion 11 to be displaced.
- the tip of the wire 17b is held by engaging the end processing member 18 such as a sleeve attached to the tip of the wire 17b with the holding portion 11c.
- the holding of the tip of the wire 17b is not limited to the engagement of the end processing member 18 with the holding portion 11c, and can be performed by an appropriate method, and the holding portion 11c may be omitted.
- FIG. 7 to 11 are side views showing the method of manufacturing the bending structure 1.
- the first bending portion 7 and the second bending portion 9 are attached to the connection portion 11 as shown in FIGS.
- the connecting portion 11 is arranged with one side in the axial direction facing upward. This arrangement may be performed using an appropriate holder.
- the guide member G is inserted through the insertion hole 11b of the connecting portion 11.
- a rod-like member or a cord-like member is used as the guide member G.
- the guide member G preferably has such rigidity that it can stand on its own.
- the first bent portion 7 is attached to the connection portion 11 as shown in FIGS. Specifically, a plurality of flat washers 15 of the first bent portion 7 are stacked on one side of the connecting portion 11 in the axial direction and welded.
- an appropriate technique such as a carbon dioxide laser, a YAG (Yttrium Aluminum Garnet) laser, a fiber laser, or the like may be adopted.
- a plurality of wave washers 13 are sequentially stacked and welded to the stacked flat washers 15 . As a result, the plurality of wave washers 13 are welded while being sequentially layered from one side of the connection portion 11 in the axial direction.
- the connection portion 11 is can be positioned with respect to Note that the guide member is not limited to one inserted through the insertion hole 7a.
- the guide member may be positioned outside the plain washer 15 and wave washer 13, such as one that guides the outer periphery of flat washer 15 and wave washer 13, or may be positioned outside flat washer 15 and wave washer 13. It may be located inside the flat washer 15 and the wave washer 13, such as one that guides the inner periphery.
- the movable portion 5 After laminating the plurality of flat washers 15 and the plurality of wave washers 13 of the first bent portion 7, the movable portion 5 is laminated.
- the flat washer 15 of the first bent portion 7 is attached by welding to the connecting surface 5b of the movable portion 5 to the first bent portion 7.
- two flat washers 15, which is less than one, are stacked on the end of the first bent portion 7 where the movable portion 5 is attached.
- the flat washer 15 coupled to the movable portion 5 is layered on the flat washer 15 and welded through the concave portion 5a of the movable portion 5 .
- connection portion 11 After connecting the first bent portion 7 to the connection portion 11 in this way, the other side of the connection portion 11 in the axial direction is arranged upward as shown in FIG.
- the second bent portion 9 is attached to the connection portion 11 as shown in FIG. Specifically, the plurality of flat washers 15 and the plurality of wave washers 13 of the second bent portion 9 are sequentially stacked from the other side of the connecting portion 11 in the axial direction and welded.
- guide members G When stacking a plurality of flat washers 15 and a plurality of wave washers 13, similar to the first bending portion 7, guide members G are inserted into the insertion holes 9a provided in the flat washers 15 and wave washers 13 of the second bending portion 9. can be positioned with respect to the connecting portion 11 by inserting the .
- the base portion 3 After laminating the plurality of flat washers 15 and the plurality of wave washers 13 of the second bent portion 9, the base portion 3 is laminated.
- the lamination of the base portion 3 can be performed in the same manner as the lamination of the movable portion 5 on the first bent portion 7 . That is, the base 3 having the flat washer 15 of the second bent portion 9 attached to the connecting surface by welding is laminated on the end portion of the second bent portion 9 laminated with two flat washers 15 less than one.
- the movable part 5 and the base part 3 are attached to the connection part 11 via the first bent part 7 and the second bent part 9 . After that, when the guide member G is pulled out from the side of the base portion 3, the bending structure 1 is completed.
- first bent portion 7 and the second bent portion 9 are attached to the connection portion 11 in that order, but the order in which the first bent portion 7 and the second bent portion 9 are attached is arbitrary.
- the second bent portion 9 may be attached to the connection portion 11 prior to the first bent portion 7 .
- the wave washers 13 of the first bent portion 7 and the second bent portion 9 may be alternately laminated while reversing the connection portion 11 in the axial direction.
- the bending structure 1 of the present embodiment does not need to provide a concave portion for welding in the connection portion 11, and the inner circumference and the outer circumference of the connection portion 11 can be formed into a circumferential shape that is continuous in the circumferential direction. can.
- connection portion 11 can be made small in diameter, and while the diameter of the bending structure 1 is reduced, the distance between the bending portions 7 and 9 can be shortened and connected integrally.
- connection portion 11 when the connection portion 11 is provided with recesses for welding such as the base portion 3 and the movable portion 5, the proportion of the recesses in the connection portion 11 increases as the diameter of the connection portion 11 is reduced. In this structure, the load of the wire 17b cannot be received, and there is a limit to reducing the diameter and shortening in the axial direction.
- the bending structure 1 of the present embodiment even if the diameter of the connecting portion 11 is reduced or the length in the axial direction is shortened, the load of the wire 17b is received by the circular shape in which the inner circumference and the outer circumference are continuous in the circumferential direction. be able to. As a result, the bending structure 1 can cope with a reduction in diameter as a whole.
- bent structure 7 first bent portions 7a, 9a insertion hole 9 second bent portion 11 connecting portion 13 wave washer 15 flat washers 17a, 17b wire (cord-like member) G guide member
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Flexible Shafts (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
- Manipulator (AREA)
Abstract
Description
図1は、本発明の実施例1に係る屈曲構造体を示す斜視図、図2は、屈曲構造体の側面図、図3は、屈曲構造体の概略断面図である。なお、図1~図3は、各部の形状が若干相違するが、同一構造を示す。
図7~図11は、屈曲構造体1の製造方法を示す側面図である。
7 第1屈曲部
7a、9a 挿通孔
9 第2屈曲部
11 接続部
13 ウェーブワッシャー
15 平ワッシャー
17a、17b ワイヤー(索状部材)
G ガイド部材
Claims (7)
- 屈曲及び伸展が可能な第1屈曲部及び第2屈曲部と、
前記第1屈曲部及び前記第2屈曲部間に軸方向で溶接され前記第1屈曲部及び前記第2屈曲部よりも剛性が高い接続部と、を備え、
前記第1屈曲部及び前記第2屈曲部は、それぞれ前記軸方向に積層されると共に相互間が溶接された複数のウェーブワッシャーを備え、
前記接続部は、内周及び外周がそれぞれ周方向で連続する周回形状である、
屈曲構造体。 - 請求項1記載の屈曲構造体であって、
前記接続部は、前記内周及び外周間の幅が一定である、
屈曲構造体。 - 請求項1又は2記載の屈曲構造体であって、
前記複数のウェーブワッシャーの相互間の溶接は、各ウェーブワッシャーの内周及び外周間の中間部で行われ、
前記接続部は、前記複数のウェーブワッシャーの溶接された部分に前記軸方向で重なる、
屈曲構造体。 - 請求項1~3の何れか一項に記載の屈曲構造体であって、
前記第1屈曲部及び前記第2屈曲部の一方又は双方は、前記軸方向の端部を構成する平ワッシャーを備え、
前記平ワッシャーは、全周にわたって前記接続部に当接した状態で溶接され、
前記複数のウェーブワッシャーは、前記平ワッシャーを介して前記接続部に溶接された、
屈曲構造体。 - 請求項1~3の何れか一項に記載の屈曲構造体の製造方法であって、
前記第1屈曲部の前記複数のウェーブワッシャーを、前記接続部の前記軸方向の一側から順次積層しつつ溶接し、
前記第2屈曲部の前記複数のウェーブワッシャーを、前記接続部の前記軸方向の他側から順次積層しつつ溶接する、
屈曲構造体の製造方法。 - 請求項5記載の屈曲構造体の製造方法であって、
前記複数のウェーブワッシャー及び前記接続部は、索状部材を挿通するための挿通孔を有し、
前記接続部の挿通孔にガイド部材を挿通し、
前記第1屈曲部及び前記第2屈曲部の前記複数のウェーブワッシャーを積層する際に前記ガイド部材に前記複数のウェーブワッシャーの挿通孔を挿通して前記接続部に位置決める、
屈曲構造体の製造方法。 - 請求項5または6の何れか一項に記載の屈曲構造体の製造方法であって、
前記接続部の軸方向の一側及び他側の一方又は双方に平ワッシャーを積層して溶接し、
前記平ワッシャーに対し前記複数のウェーブワッシャーを前記軸方向に順次積層しつつ溶接する、
屈曲構造体の製造方法。
Priority Applications (2)
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CN116922446A (zh) * | 2023-09-18 | 2023-10-24 | 中国科学技术大学 | 一种自生长可移动柔性机械臂 |
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WO2002013682A1 (en) * | 2000-07-24 | 2002-02-21 | Technische Universiteit Delft | Spring and endoscope equipped with such a spring |
JP2014090800A (ja) * | 2012-11-01 | 2014-05-19 | Tokyo Institute Of Technology | 鉗子マニピュレータ、および鉗子マニピュレータを備える鉗子システム |
WO2020209386A1 (ja) * | 2019-04-11 | 2020-10-15 | 日本発條株式会社 | 可撓部材 |
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WO2002013682A1 (en) * | 2000-07-24 | 2002-02-21 | Technische Universiteit Delft | Spring and endoscope equipped with such a spring |
JP2014090800A (ja) * | 2012-11-01 | 2014-05-19 | Tokyo Institute Of Technology | 鉗子マニピュレータ、および鉗子マニピュレータを備える鉗子システム |
WO2020209386A1 (ja) * | 2019-04-11 | 2020-10-15 | 日本発條株式会社 | 可撓部材 |
JP2020172001A (ja) | 2019-04-11 | 2020-10-22 | 日本発條株式会社 | 可撓部材 |
Cited By (2)
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CN116922446A (zh) * | 2023-09-18 | 2023-10-24 | 中国科学技术大学 | 一种自生长可移动柔性机械臂 |
CN116922446B (zh) * | 2023-09-18 | 2024-01-05 | 中国科学技术大学 | 一种自生长可移动柔性机械臂 |
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TWI817618B (zh) | 2023-10-01 |
JP2023018450A (ja) | 2023-02-08 |
CN117751027A (zh) | 2024-03-22 |
TW202304678A (zh) | 2023-02-01 |
EP4378643A1 (en) | 2024-06-05 |
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