Structure

Abstract

To provide a joint function part that can secure sufficient flexibility and rigidity in an axis direction.SOLUTION: A structure comprises a base part 31, a movable part 33 that is displaced with respect to the base part 31, and a bending structure 1, provided between the base part 31 and the movable part 33 in an axis direction, which bends in accordance with displacement of the movable part 33 with respect to the base part 31. The bending structure 1 is constituted of an outer coil part 5 made of a wire rod 5a wound in a coil shape having a plurality of wound parts 5b in the axis direction, and an inner coil part 7 made of a wire rod 7a wound in a coil shape having a plurality of wound parts 7b in the axis direction, which is positioned in the outer coil part 5. The outer coil part 5 has a plurality of gaps 5c separating the adjacent wound parts 5b from each other. For the inner coil part 7, the wound parts 7b are provided to correspond to the gaps 5c of the outer coil part 5, which fit spaces between the wound parts 5b while being in contact with the adjacent wound parts 5b of the outer coil part 5. The base part 31 and the movable part 33 have insertion holes 31b and 33b mounted to be inserted through respective ends of the bending structure 1 in the axis direction.SELECTED DRAWING: Figure 12

Description

[Technical Field]

[0001] The present invention relates to a robot or the like. In the structure Regarding. [Background technology]

[0002] There are robots in various fields, manipulators, actuators, and the like that have joint function parts. An example of a bending structure that can be applied to such a joint function part is a flexible member described in Patent Document 1.

[0003] The flexible member of Patent Document 1 is configured by engaging a plurality of disk elements so that they can swing freely with one another, and the swinging of each disk element causes the flexible member as a whole to perform a bending motion.

[0004] The flexible member having such a configuration can smoothly perform bending motion and can also ensure rigidity against compression in the axial direction, thereby stabilizing the bending motion.

[0005] However, the flexible member of Patent Document 1 has a problem in that the structure is complicated because a plurality of disk elements are engaged with each other. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Special Publication No. 2009-538186 Summary of the Invention [Problem to be solved by the invention]

[0007] The problem to be solved is that stabilizing the bending motion makes the structure complicated. [Means for solving the problem]

[0008] The present invention provides a device including: a base; a movable part that is displaceable relative to the base; a drive wire for displacing the movable part; a bending structure provided between the base and the movable part and bending in response to displacement of the movable part relative to the base, A double coil, and the drive wire is outside the double coil. It features a structure. [Effects of the Invention]

[0012] According to the present invention, it is possible to simplify the structure while stabilizing the bending motion. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a cross-sectional view showing a bent structure (Example 1). [Figure 2] FIG. 2 is an enlarged view showing a part of the bent structure of FIG. 1 (Example 1). [Figure 3] FIG. 2 is a cross-sectional view showing the bent state of the bent structure of FIG. 1 (Example 1). [Figure 4] FIG. 4 is an enlarged view showing a part of the bent structure of FIG. 3 (Example 1). [Figure 5] 1A and 1B are schematic cross-sectional views showing the detachment of the inner coil part from the outer coil part, where (A) is the state before detachment and (B) is the state after detachment (Example 1). [Figure 6] 1A is a cross-sectional view showing a bent structure according to a comparative example, and FIG. 1B is a cross-sectional view showing the bent state of the bent structure according to the comparative example (Example 1). [Figure 7] FIG. 10 is an enlarged cross-sectional view showing a part of a bent structure (Example 2). [Figure 8] FIG. 10 is an enlarged cross-sectional view showing a part of a bent structure (Example 3). [Figure 9] FIG. 10 is a cross-sectional view showing a bent structure (Example 4). [Figure 10] FIG. 10 is an enlarged cross-sectional view showing a part of a bent structure (Example 5). [Figure 11] FIG. 10 is a perspective view showing a part of the robotic forceps (Example 6). [Figure 12] FIG. 12 is a cross-sectional view of the robotic forceps of FIG. 11 (Example 6). [Figure 13] FIG. 12 is a perspective view showing a bending portion of the robotic forceps of FIG. 11 (Example 6). [Figure 14] FIG. 14 is a cross-sectional view of the bent portion of FIG. 13 (Example 6). DETAILED DESCRIPTION OF THE INVENTION

[0015] The objective of simplifying the structure while stabilizing the bending action was achieved by using a double-coil bending structure in which the inner coil portion is positioned within the outer coil portion.

[0016] In other words, the bending structure is a bending structure that can be bent in the axial direction, and is equipped with an outer coil portion made of wire wound in a coil shape and having multiple windings in the axial direction, and an inner coil portion made of wire wound in a coil shape and having multiple windings in the axial direction, and located within the outer coil portion.

[0017] The outer coil portion has a plurality of gaps separating adjacent winding portions in the axial direction, and the inner coil portion has winding portions that correspond to the gaps in the outer coil portion and fit between the winding portions while contacting the adjacent winding portions of the outer coil portion.

[0018] The outer coil portion may have a gap between adjacent winding portions in the axial direction, but it is also possible to have a configuration in which there is a gap only in a part of the axial direction.

[0019] The movable length over which the inner coil portion can move in the radial direction relative to the axis of the outer coil portion may be equal to or less than half of (diameter of the outer coil portion - diameter of the inner coil portion).

[0020] In this case, a restricting member may be provided to restrict movement of the inner coil part so that the movable length is equal to or less than half of (diameter of the outer coil part - diameter of the inner coil part). Specifically, a restricting member may be provided to restrict radial movement of the inner coil part relative to the axis of the outer coil part so that it is equal to or less than half of (diameter of the outer coil part - diameter of the inner coil part), thereby preventing the inner coil part from falling off due to relative climbing over through the gap of the outer coil part that has become larger on the outside of the bend.

[0021] The restricting member may be a flexible member, and the bending structure may be inserted through the flexible member so as to be movable in the axial direction, and be bendable together with the flexible member.

[0022] Furthermore, the inner coil portion and the outer coil portion can be configured as separate bodies or as an integrated body. When the inner coil portion and the outer coil portion are formed as separate bodies, the inner coil portion may be configured to be screwed into the outer coil portion.

[0023] The joint function unit using the bending structure of the flexible member may be configured to include a base and a movable part that is displaceable relative to the base. In this case, the bending structure is provided between the base and the movable part, and bends in response to the displacement of the movable part relative to the base.

[0024] The joint function unit may also include a flexible tube that is axially expandable and contractible and disposed between the base and the movable unit. The base and the movable unit have insertion holes through which both ends of the bending structure are inserted in the axial direction, and both ends of the flexible tube are fitted radially outside the base and the movable unit. In this case, the bending structure is disposed axially along the axial center of the flexible tube. [Example]

[0025] [Bent structure] FIG. 1 is a cross-sectional view showing a bending structure of a flexible member according to a first embodiment of the present invention, and FIG. 2 is an enlarged view showing the same portion.

[0026] The bending structure 1 is applied to, for example, joint function parts of robots, manipulators, actuators, etc. in various fields. The bending structure 1 is provided between the base and movable part of the joint function part, and supports the movable part so that it can be displaced relative to the base part by bending.

[0027] The bending structure 1 of this embodiment has a double coil shape and includes an outer coil portion 5 and an inner coil portion 7. Due to this double coil shape, the bending structure 1 of this embodiment is bendable in the axial direction, and when bent by an external force, the inner diameter side of the bend contracts and the outer diameter side of the bend expands, so that the length of the axial central axis or axis center O remains approximately constant before, during, and after bending, and axial compression is restricted when not bent. The bending structure 1 of this embodiment also includes a flexible member 3 as a restricting member.

[0028] The flexible member 3 is inserted through the bending structure 1 so as to be movable in the axial direction, and as will be described in detail later, it restricts radial displacement of the inner and outer coil sections 5, 7. The flexible member 3 in this embodiment is configured using, for example, a push-pull cable. Accordingly, the bending structure 1 also has the function of guiding the flexible member 3 in the axial direction, and is bendable together with the flexible member 3 in response to the bending movement of the joint function section.

[0029] Note that bending means curving or bending the axis O of the joint function part or bending structure 1. Also, the flexible member 3 may be omitted.

[0030] The outer coil portion 5 is a coil spring and is made of a wire 5a wound in a coil shape. Therefore, the outer coil portion 5 has a plurality of winding portions 5b in the axial direction. Note that a winding portion 5b means one turn that constitutes the coil shape (the same applies hereinafter).

[0031] The material of the wire 5a can be metal, resin, etc. The cross section of the wire 5a is formed to be circular, but may be elliptical or the like.

[0032] The central diameter D1 of the outer coil portion 5 is constant from one end to the other in the axial direction, but the central diameter D1 of the outer coil portion 5 can also be changed in the axial direction.

[0033] The outer coil portion 5 has a plurality of gaps 5c that separate adjacent winding portions 5b in the axial direction. In this embodiment, the gaps 5c are formed between adjacent winding portions 5b in the axial direction, and all of the gaps 5c have the same axial dimension. However, it is also possible to provide gaps 5c between only some of the winding portions 5b in the axial direction. It is also possible to vary the axial dimension of the gaps 5c.

[0034] The inner coil portion 7 is a coil spring, and is made of wire 7a wound in a coil shape with multiple windings 7b in the axial direction. As with the outer coil portion, the wire 7a of the inner coil portion 7 can be made of metal or resin, and the cross section of the wire 7a is circular, but it can also be elliptical or other shapes.

[0035] The inner coil portion 7 is located inside the outer coil portion 5, and has an insertion portion 9 defined on its inner periphery for inserting the flexible member 3. The inner coil portion 7 of this embodiment is screwed into the outer coil portion 5. This screwing position positions the winding portions 7b of the inner coil portion 7 between adjacent winding portions 5b of the outer coil portion 5. Therefore, the inner coil portion 7 is configured such that the winding portions 7b are provided to correspond to the gaps 5c of the outer coil portion 5.

[0036] Furthermore, the winding portion 7b of the inner coil portion 7 is fitted between the adjacent winding portions 5b of the outer coil portion 5 while contacting them due to the settings of the center diameter D2 and the wire diameter d2 of the wire material 7a.

[0037] The central diameter D2 of the inner coil portion 7 is constant from one end to the other in the axial direction, but the central diameter D2 of the inner coil portion 7 can be changed in the axial direction according to the central diameter D1 of the outer coil portion 5.

[0038] The wire diameter d2 of the wire 7a is the same as the wire diameter d1 of the wire 5a of the outer coil portion 5. However, the wire diameter d2 of the wire 7a may be larger or smaller than the wire diameter d1 of the wire 5a of the outer coil portion 5.

[0039] The inner coil portion 7 has a plurality of gaps 7c that separate adjacent winding portions 7b in the axial direction. The gaps 7c are formed between each of the adjacent winding portions 7b in response to threading with the outer coil portion 5, and all of the gaps 7c have the same axial dimension.

[0040] The outer coil portion 5 and the inner coil portion 7 can be configured to have gaps 5c, 7c between adjacent windings 5b, 7b in a free state where the inner coil portion 7 is not positioned within the outer coil portion 5, or can be configured to have adjacent windings 5b, 7b in close contact with each other in a free state (close contact spring). Furthermore, it is also possible to configure only one of the outer coil portion 5 and the inner coil portion 7 as a close contact spring.

[0041] When the outer coil portion 5 and the inner coil portion 7 are contact springs in a free state, the windings 5b, 7b are spaced apart by screwing the inner coil portion 7 and the outer coil portion 5 together, forming a gap 5c in the outer coil portion 5 and a gap 7c in the inner coil portion 7. In this case, it is possible to impart initial tension to the double-coil shaped bending structure 1.

[0042] [Bending structure operation] FIG. 3 is a cross-sectional view showing the bent state of the bent structure of FIG. 1, and FIG. 4 is an enlarged view showing the same part.

[0043] As shown in Figures 1 and 2, when the axis O (which is also the axis of the outer coil section 5) of the bending structure 1 is straight and not bent, the winding section 7b of the inner coil section 7 is in contact with the adjacent winding section 5b of the outer coil section 5 and is fitted between those adjacent winding sections 5b.

[0044] Therefore, even if a compressive force acts in the axial direction on the bent structure 1, the winding portion 7b of the inner coil portion 7 prevents the gap 5c of the outer coil portion 5 from being compressed, thereby suppressing overall compression. Note that, when the inner coil portion 7 is used as a reference, the winding portion 5b of the outer coil portion 5 prevents the gap 7c of the inner coil portion 7 from being compressed.

[0045] Therefore, the bending structure 1 can suppress its own compression, and in turn, the compression of the joint function part to which it is applied. As a result, when guiding the axial movement of the flexible member 3, the length of the axis O and the amount of movement of the flexible member 3 passing along the axis O can be kept constant, and the stability of the movement of the flexible member 3 can also be ensured.

[0046] As shown in FIGS. 3 and 4, when the axis O of the bent structure 1 is bent, the gap 5c of the outer coil portion 5 becomes smaller on the inside of the bend, and the gap 5c of the outer coil portion 5 becomes larger on the outside of the bend.

[0047] At this time, the inner coil portion 7 of the bending structure 1 is displaced radially outward, allowing the bending structure 1 to bend smoothly.

[0048] That is, each winding portion 7b of the inner coil portion 7 is pushed radially inward as the gap 5c of the outer coil portion 5 becomes smaller inside the bend of the bent structure 1. In response, the inner coil portion 7 as a whole is displaced radially outward, but this displacement is allowed as each winding portion 7b of the inner coil portion 7 enters the enlarged gap 5c of the outer coil portion 5.

[0049] Therefore, the bending structure 1 is configured to be able to restrict axial compression without impairing flexibility, and as a result, the bending structure 1 stabilizes bending motion.

[0050] Furthermore, when the bending structure 1 is bent, as described above, the gap 5c of the outer coil portion 5 becomes smaller on the inside of the bend and becomes larger on the outside of the bend, so the size of the gap 5c on the axis O does not change compared to when it is straight.

[0051] Therefore, the bending structure 1 can maintain constant the length of the axis O and the amount of movement of the flexible member 3 passing along the axis O of the bending structure 1 not only when straight but also when bent, thereby ensuring the stability of the operation of the flexible member 3.

[0052] Furthermore, when the bending structure 1 of this embodiment is bent at a predetermined angle, adjacent winding portions 5b of the outer coil portion 5 come into contact with each other on the inside of the bend (see FIG. 4).

[0053] Therefore, in the bending structure 1, the length along the axis O starts to increase from the moment the winding portion 5b comes into contact. Therefore, the change in the amount of movement of the flexible member 3 can notify the operator of the joint function unit that it has been bent to an angle greater than a predetermined angle.

[0054] When the bending structure 1 is bent, the flexible member 3 prevents the inner coil portion 7 from falling off the outer coil portion 5 .

[0055] That is, as described above, when the bending structure 1 is bent, each winding portion 7b of the inner coil portion 7 enters the enlarged gap 5c of the outer coil portion 5, and the inner coil portion 7 as a whole is displaced radially outward.

[0056] This displacement (the movable length by which the inner coil section 7 can move radially relative to the axis O of the outer coil section 5) is equal to or less than half of (diameter of the outer coil section - diameter of the inner coil section). Note that the diameter here means the center diameters D1 and D2 of the outer coil section 5 and the inner coil section 7. However, the diameters may also be the outer or inner diameters of the outer coil section 5 and the inner coil section 7.

[0057] FIG. 5 is a schematic cross-sectional view showing the inner coil portion 7 coming off from the outer coil portion 5, where (A) shows the state before coming off and (B) shows the state after coming off.

[0058] As shown in Figure 5, when the radial movement amount L of the inner coil portion 7 in the straight state exceeds half (D1 - D2) / 2 of (diameter of the outer coil portion 5 - diameter of the inner coil portion 7), the inner coil portion 7 will climb over the outer coil portion 5 and fall off. Note that in Figure 5, the movement amount L is shown as the amount of deviation between the axial center of the inner coil portion 7 and the axial center of the outer coil portion 5.

[0059] Even when the bending structure 1 is bent, if the radial movement amount L of the inner coil portion 7 exceeds half (D1-D2) / 2 of (diameter of the outer coil portion 5-diameter of the inner coil portion 7), it will result in detachment as shown in Figure 5 when it returns to a straight state.Therefore, in this embodiment, the movable length by which the inner coil portion 7 can move radially relative to the axis O of the outer coil portion 5 is less than half (D1-D2) / 2 of (diameter of the outer coil portion 5-diameter of the inner coil portion 7).

[0060] In this embodiment, this movable length is set by inserting the flexible member 3 through the bending structure 1. In this way, in this embodiment, the flexible member 3 prevents the inner coil portion 7 from falling off from the outer coil portion 5. However, if the bending structure 1 does not insert the flexible member 3 or if the diameter of the flexible member 3 is so thin that the above-mentioned movable length cannot be set, the movable length can also be set by setting either or both of the wire diameters d1 and d2 of the outer coil portion 5 and the inner coil portion 7.

[0061] [Movement amount in comparative example] FIG. 6(A) is a cross-sectional view showing a bending structure according to a comparative example, and FIG. 6(B) is a cross-sectional view showing the same when bent.

[0062] The bending structure 1A according to the comparative example is made up of only contact springs, and is capable of bending while restricting compression.

[0063] In this bent structure 1A, when bent, the windings 1Aa maintain contact with each other on the inside of the bend, and a gap is formed between the windings 1Aa on the outside of the bend.

[0064] As a result, when bending, gaps 1Ab are formed between the windings 1Aa at the center inside and outside the bend of the bending structure 1A. The length of the axis O of the bending structure 1A and the movement amount of the flexible member 3 passing on the axis O increase by the amount of the gaps 1Ab.

[0065] Therefore, in the comparative example, when guiding the flexible member 3, it is not possible to ensure the stability of the operation of the flexible member 3 as in the first embodiment.

[0066] [Effects of Example 1] As described above, the bending structure 1 of this embodiment is a bending structure that can be bent together with the flexible member 3 by inserting the flexible member 3 movably in the axial direction, and is equipped with an outer coil portion 5 consisting of wire 5a wound in a coil shape and having multiple winding portions 5b in the axial direction, and an inner coil portion 7 located within the outer coil portion 5 and consisting of wire 7a wound in a coil shape and having multiple winding portions 7b in the axial direction.

[0067] The outer coil portion 5 has a plurality of gaps 5c separating adjacent winding portions 5b, and the inner coil portion 7 has winding portions 7b arranged to correspond to the gaps 5c of the outer coil portion 5, and fits between the adjacent winding portions 5b while contacting the adjacent winding portions 5b of the outer coil portion 5.

[0068] Therefore, the bending structure 1 can have a simplified structure because the bending structure is configured with the inner coil portion positioned inside the outer coil portion.

[0069] Furthermore, even if a compressive force acts in the axial direction on the bending structure 1, the winding portion 7b of the inner coil portion 7 prevents the gap 5c of the outer coil portion 5 from being compressed, thereby suppressing compression as a whole. Therefore, the bending structure 1 can ensure sufficient axial rigidity to prevent the joint function portion from being compressed.

[0070] Furthermore, when bending, the gap 5c of the outer coil section 5 is reduced on the inside of the bend while the inner coil section 7 is displaced to the outside of the bend, and the gap of the outer coil section 5 is increased on the outside of the bend to allow displacement of the inner coil section 7, thereby ensuring sufficient flexibility to bend together with the joint function section while maintaining axial rigidity.

[0071] As a result, the bending structure 1 can simplify its structure while stabilizing bending motion, thereby ensuring the stability of operation of equipment with joint function parts such as robots, manipulators, or actuators.

[0072] Furthermore, in the bending structure 1 of this embodiment, the gap 5c of the outer coil portion 5 becomes smaller on the inside of the bend and becomes larger on the outside of the bend, so the length of the outer coil portion 5 at the axis O does not change compared to when it is straight, and the amount of movement of the flexible member 3 can be reliably kept constant.

[0073] Therefore, it is possible to ensure the stability of the operation of the flexible member 3, and in turn, it is possible to further ensure the stability of the operation of the equipment having the joint function part.

[0074] In addition, in this embodiment, the movable length (displacement) by which the inner coil portion 7 can move radially relative to the axis O of the outer coil portion 5 is less than half of (diameter of the outer coil portion - diameter of the inner coil portion), thereby preventing the inner coil portion 7 from falling off from the outer coil portion 5.

[0075] In addition, in this embodiment, the flexible member 3 serving as a restricting member restricts the movement of the inner coil portion 7 so that the movable length is less than half of (diameter of the outer coil portion - diameter of the inner coil portion), so that the inner coil portion 7 can be easily prevented from falling off without changing the shapes of the inner coil portion 7 and the outer coil portion 5.

[0076] The bending structure 1 can be bent together with the flexible member 3 by inserting the flexible member 3 axially movably therethrough, and therefore, in a mode in which the flexible member 3 is guided, the flexible member 3 can be used to prevent the inner coil portion 7 from falling off.

[0077] In this embodiment, the outer coil portion 5 has gaps 5c between the winding portions 5b adjacent to each other in the axial direction, so that the bending structure 1 can be bent smoothly.

[0078] In this embodiment, the inner coil portion 7 and the outer coil portion 5 are formed separately, and the inner coil portion 7 is screwed into the outer coil portion 5, making assembly easy. Furthermore, by changing the characteristics of either or both of the inner coil portion 7 and the outer coil portion 5, the characteristics of the bending structure 1 can be easily changed.

[0079] Furthermore, when the bending structure 1 of this embodiment is bent to a predetermined angle, the adjacent winding portions 5b of the outer coil portion 5 come into contact on the inside of the bend, and therefore, the operator of the joint function can be notified that the joint has been bent beyond the predetermined angle by the change in the amount of movement of the flexible member 3. [Example]

[0080] 7 is an enlarged cross-sectional view showing a part of the bending structure according to Example 2. In Example 2, the same reference numerals are used to designate the components corresponding to those in Example 1, and redundant explanations will be omitted.

[0081] In the bending structure 1 of Example 2, the wire diameter d1 of the wire material 5a of the outer coil portion 5 is different from the wire diameter d2 of the wire material 7a of the inner coil portion 7. In Example 2, the wire diameter d1 of the outer coil portion 5 is larger than the wire diameter d2 of the inner coil portion 7. It is also possible to make the wire diameter d1 of the outer coil portion 5 smaller than the wire diameter d2 of the inner coil portion 7.

[0082] In this way, even if the wire diameter d1 of the outer coil portion 5 and the wire diameter d2 of the inner coil portion 7 are made different, the bending structure 1 can achieve the same effects as those of Example 1. Furthermore, by making the wire diameter d2 different from the wire diameter d1, the free length and characteristics of the bending structure 1 can be adjusted. [Example]

[0083] 8 is an enlarged cross-sectional view showing a part of a bending structure according to Example 3. In Example 3, the same reference numerals are used to designate the same components as those in Example 1, and redundant explanations will be omitted.

[0084] In the bending structure 1 of Example 3, in part of the axial direction of the outer coil section 5, the winding section 7b of the inner coil section 7 contacts the adjacent winding section 5b of the outer coil section 5 and fits between the adjacent winding sections 5b.

[0085] That is, the inner coil portion 7 is formed so that the center diameter D2 (see FIG. 1) gradually decreases in the axial direction. Accordingly, as described above, the inner coil portion 7 is fitted between adjacent winding portions 5b of the outer coil portion 5 only in a portion in the axial direction.

[0086] In this embodiment, the inner coil portion 7 and the outer coil portion 5 are each a tightly packed coil, and as the center diameter D2 of the inner coil portion 7 becomes smaller, the gap 5c of the outer coil portion 5 becomes smaller.

[0087] This configuration can also achieve the same effects as in Example 1. In addition, in this example, the free length and characteristics of the bending structure 1 can be adjusted by fitting the winding portions 7b of the inner coil portion 7 between the adjacent winding portions 5b of the outer coil portion 5 only in a portion of the axial direction of the outer coil portion 5. [Example]

[0088] 9 is a cross-sectional view showing a bending structure according to Example 4. In Example 4, the same reference numerals are used to designate the same components as those in Example 1, and redundant explanations will be omitted.

[0089] The bent structure 1 of Example 4 is provided with an expanded diameter portion 11 that gradually expands in diameter in a portion of the axial direction. In this example, the expanded diameter portion 11 is provided at one axial end of the bent structure 1. However, the expanded diameter portion 11 can also be provided at the middle portion or the other end of the bent structure 1 in the axial direction.

[0090] In the expanded diameter section 11, the central diameters D1 and D2 of the outer coil section 5 and the inner coil section 7 both gradually expand, and the winding section 7b of the inner coil section 7 remains in contact with the adjacent winding section 5b of the outer coil section 5 while remaining fitted between the winding sections 5b.

[0091] Even with this configuration, it is possible to achieve the same effects as in Example 1. Furthermore, the expanded diameter portion 11 allows the characteristics of the bent structure 1 to be adjusted. [Example]

[0092] 10 is an enlarged cross-sectional view showing a part of a bending structure according to Example 5. In Example 5, the same reference numerals are used to designate the same components as in Example 1, and redundant explanations will be omitted.

[0093] In the bending structure 1 of Example 5, the outer coil section 5 and the inner coil section 7 are each composed of two coil sections. Specifically, the outer coil section 5 is composed of a first outer coil section 13 and a second outer coil section 15, and the inner coil section 7 is composed of a first inner coil section 17 and a second inner coil section 19.

[0094] The first outer coil portion 13 and the second outer coil portion 15 have winding portions 13a and 15a positioned alternately in the axial direction, and the first inner coil portion 17 and the second inner coil portion 19 also have winding portions 17a and 19a positioned alternately in the axial direction.

[0095] That is, in the outer coil portion 5, the winding portions 13a, 15a of the first outer coil portion 13 and the second outer coil portion 15 are adjacent to each other in the axial direction, and a gap 5c is formed between the adjacent winding portions 13a, 15a.

[0096] The winding portion 17a of the first inner coil portion 17 and the winding portion 19a of the second inner coil portion 19 of the inner coil portion 7 are in contact with the winding portions 13a and 15a of the first outer coil portion 13 and the second outer coil portion 15, respectively, and are fitted between these winding portions 13a and 15a.

[0097] Even with this configuration, it is possible to achieve the same effects as in the first embodiment, and it is also possible to adjust the characteristics and free length of the bending structure 1.

[0098] It is possible to change the number of coil sections constituting the outer coil section 5 and the inner coil section 7. It is also possible for only one of the outer coil section 5 and the inner coil section 7 to be composed of multiple coil sections. [Example]

[0099] Fig. 11 is a perspective view showing a part of robotic forceps to which a bending structure is applied according to a sixth embodiment of the present invention, Fig. 12 is a cross-sectional view of the same, Fig. 13 is a perspective view showing a joint function part of the robotic forceps of Fig. 11, and Fig. 14 is a cross-sectional view of the same. In the sixth embodiment, the same reference numerals are used to designate components corresponding to those in the first embodiment, and redundant explanations will be omitted.

[0100] The robotic forceps 21 of this embodiment constitutes the tip of a robotic arm of a surgical robot, which is a medical manipulator.

[0101] The robotic forceps 21 is an example of a device having a joint function unit. As mentioned above, devices having a joint function unit are not limited to medical manipulators. That is, devices having a joint function unit are not particularly limited, and include robots in other fields, various manipulators, actuators, etc., as long as they have a joint function unit that performs bending motions and perform operations by moving the flexible member 3 in the axial direction. Furthermore, medical manipulators also include endoscopic cameras and manual forceps that are not attached to surgical robots.

[0102] The robotic forceps 21 of this embodiment is composed of a shaft 23, a joint function section 25, and a grasping unit 27 as an end effector for surgical operations.

[0103] The shaft 23 is formed, for example, in a cylindrical shape. A flexible member 3 made up of a drive wire 29 for driving the joint function part 25 and a push-pull cable for driving the gripping unit 27 passes through the inside of the shaft 23. The gripping unit 27 is provided on the tip side of the shaft 23 via the joint function part 25.

[0104] The joint function section 25 includes a base section 31, a movable section 33, a flexible tube 35, and a bending structure 1.

[0105] The base 31 is a cylindrical body made of resin, metal, or the like, and is attached to the tip of the shaft 23. The drive wire 29 is inserted axially through a through-hole 31a in the base 31, and the flexible member 3 is inserted through an insertion hole 31b in the axial center portion.

[0106] The movable part 33 is a cylindrical body made of resin, metal, or the like, and is attached to the gripping unit 27, which will be described later. The tip of a drive wire 29 is fixed to the movable part 33. Therefore, by operating the drive wire 29, the movable part 33 is displaced relative to the base part 31, and the gripping unit 27 is directed in a desired direction. An insertion hole 33b is provided in the axial center of the movable part 33, and the flexible member 3 is inserted through it.

[0107] The flexible tube 35 is interposed between the base 31 and the movable part 33, and bends in response to the displacement of the movable part 33 relative to the base 31. The flexible tube 35 passes the drive wire 29 and the flexible member 3 in the axial direction.

[0108] The flexible tube 35 in this embodiment is configured by a bellows made of a tubular body having a corrugated cross section. However, the flexible tube 35 may also be a coil spring, a cylindrical body, or the like, and is not particularly limited as long as it has a flexible tubular shape.

[0109] The bending structure 1 has the same configuration as in Example 1. This bending structure 1 is disposed along the axial center of the flexible tube 35, and is provided between the base 31 and the movable part 33. Note that the bending structure 1 of any of Examples 2 to 5 can also be applied to the joint function part 25.

[0110] With the flexible member 3 inserted into the insertion portion 9, the bending structure 1 has both ends attached to the insertion holes 31b and 33b of the base 31 and the movable portion 33, respectively. As a result, the bending structure 1 supports the movable portion 33 relative to the base 31 so that it cannot move in the axial direction, and is adapted to bend together with the flexible member 3 in response to the displacement of the movable portion 33 relative to the base 31.

[0111] The gripping unit 27 has a pair of gripping sections 37 pivotally supported by the movable section 33 of the joint function section 25 so as to be able to open and close. A flexible member 3 passing through the joint function section 25 is connected to this gripping unit 27, and the gripping sections 37 are configured to open and close by axial movement (advance and retreat movement) of the flexible member 3. Note that the end effector is not limited to the gripping unit 27, and may be, for example, scissors, a gripping retractor, a needle driver, or the like.

[0112] In the robotic forceps 21 having such a configuration, an operator such as a doctor can move the flexible member 3 back and forth to cause the gripping portion 37 of the gripping unit 27 to perform an opening and closing operation.

[0113] Furthermore, when the operator pulls one or more of the drive wires 29, the joint function portion 25 bends, and the gripping unit 27 can be directed in a desired direction relative to the shaft 23. In this state, by moving the flexible member 3 back and forth, the gripping portion 37 of the gripping unit 27 can be opened or closed.

[0114] As explained in the first embodiment, this opening and closing operation can be performed stably and accurately because the amount of movement of the flexible member 3 is constant.

[0115] In addition, this embodiment can achieve the same effects as the first embodiment. [Explanation of symbols]

[0116] 1 bending structure 3 flexible member 5 outer coil portion 5a, 7a wire rod 5b, 7b winding portion 5c gap 7 inner coil portion 25 joint function portion 27 gripping unit 31 base portion 33 movable portion 35 flexible tube

Claims

1. a base portion, a movable portion displaceable relative to the base portion; a drive wire for displacing the movable part; a bending structure provided between the base and the movable part and bending in response to displacement of the movable part relative to the base, the bending structure is a double coil; the drive wire is outside the double coil; structure.

2. The structure of claim 1, The double coil is longer in the axial direction than the bending portion of the bending structure. structure.

3. The structure of claim 2, the drive wire has a tip in the axial direction attached to the movable part, and the tip in the axial direction of the double coil is located closer to the base part than the tip in the axial direction of the drive wire. structure.

4. The structure of any one of claims 1 to 3, The double coil includes an outer coil and an inner coil located within the outer coil, The cross section of the coiled wire of the outer coil is circular or elliptical. structure.

Images