Bent structure and power supply device

Abstract

Provided is a curved structure capable of being reduced in diameter and an energization device. The curved structure includes a curved portion (9) having an inner coil portion (13) and an outer coil portion (15) capable of being elastically bent and stretched, and a gap between adjacent coil portions (15a) of the outer coil portion (15) is fitted with corresponding coil portions (13a) of the inner coil portion (13). At least one of the inner coil portion (13) and the outer coil portion (15) has electrical conductivity, and forms an energization path (P1). The energization path (P1) can be formed using the curved portion (9) capable of suppressing compression in the axial direction, without providing an additional wire or the like, thereby achieving a simplified structure.

Description

Technical Field

[0001] This invention relates to a bending structure and an electrical device for realizing the joint function of a robot or robotic arm. Background Technology

[0002] For curved structures that enable joint functions in robots, manipulators, or actuators, power supply functionality is sometimes required depending on the equipment being used.

[0003] As an example of such a curved structure with an electrical function, there is the curved section described in Patent Document 1. This curved section is a curved structure applied to a medical robotic arm, supporting the end effector relative to an axis.

[0004] A wire is inserted into the core of the bent section. The wire functions as a cable for mechanically driving the end effector and can also supply power to the end effector.

[0005] However, in the aforementioned structure, it is necessary to insert wires to the end effector, making it difficult to reduce the diameter of the bending structure.

[0006] This problem arises in curved structures where electrical conductivity is widely required.

[0007] [Existing Technical Documents]

[0008] [Patent Literature]

[0009] Patent Document 1: Japanese Patent Application Publication No. 2014-176483 Summary of the Invention

[0010] [The problem the invention aims to solve]

[0011] The problems to be solved are as follows: there are limits to the reduction of the diameter of the curved structure that requires electrical conductivity.

[0012] [Technical means to solve the problem]

[0013] The most important feature of the bending structure of the present invention is that it includes a bending portion having an inner coil portion and an outer coil portion that are elastically bending and stretching, and a corresponding coil portion of the inner coil portion is fitted into the gap between adjacent coil portions of the outer coil portion, and at least one of the inner coil portion and the outer coil portion is conductive and forms an electrical path.

[0014] [The effects of the invention]

[0015] This invention allows for the stable formation of an electrical path using a curved section, eliminating the need for additional wires or the like, thereby enabling the reduction of the diameter of the curved structure. Attached Figure Description

[0016] Figure 1 This is a perspective view of the curved structure of Embodiment 1 of the present invention.

[0017] Figure 2 It is Figure 1 A three-dimensional cross-sectional view of a portion of a curved structure.

[0018] Figure 3 (A) and Figure 3 (B) means Figure 2 A cross-sectional view of the inner cylinder of the curved structure. Figure 3 (A) is the normal state. Figure 3 (B) is when it is bent.

[0019] Figure 4 Embodiment 2 of the present invention is a perspective view showing an energized device using a curved structure.

[0020] Figure 5 It means Figure 4 An enlarged 3D view of the periphery of the end effector of the energized device.

[0021] Figure 6 yes Figure 5 A cross-sectional view at section VI. Detailed Implementation

[0022] The purpose of reducing the diameter of the curved structure that requires power transmission is achieved by using the curved portion of a double coil to form the power transmission path. The curved portion of the double coil has an inner coil portion and an outer coil portion that can bend and stretch elastically, and the corresponding coil portion of the inner coil portion is fitted into the gap between the adjacent coil portions of the outer coil portion.

[0023] That is, the curved structure (1) includes a curved portion (9) having an inner coil portion (13) and an outer coil portion (15). The inner and outer coil portions (13, 15) are elastically bent and extended, and the corresponding coil portion (13a) of the inner coil portion (13) is fitted into the gap (15b) between adjacent coil portions (15a) of the outer coil portion (15). At least one of the inner and outer coil portions (13, 15) is conductive and forms a current-carrying path (P1).

[0024] One or both of the inner and outer coil portions (13, 15) may be conductive and form a current-carrying path (P1). Alternatively, if both the inner and outer coil portions (13, 15) are conductive, the inner and outer coil portions (13, 15) may be insulated from each other, and the current-carrying path (P1) may be formed by only one of the inner and outer coil portions (13, 15).

[0025] When both the inner and outer coil sections (13, 15) are conductive and are insulated from each other, one of the inner and outer coil sections (13, 15) can form a current-carrying path (P1), and the other of the inner and outer coil sections (13, 15) can form another current-carrying path.

[0026] The curved structure (1) includes a conductive end member (7) connected to at least one end of the inner and outer coil portions (13, 15) that form the energizing path (P1), the end member (7) forming the energizing path (P1) together with at least one of the inner and outer coil portions (13, 15).

[0027] A conductive flexible member (11) may be included on the inner side of the inner coil portion (13). In this case, the flexible member (11) may be insulated relative to at least one of the inner and outer coil portions (13, 15) constituting the energizing path (P1) to form another energizing path (P2).

[0028] Here, the phrase "at least one of the inner and outer coil portions (13, 15) constituting the energizing path (P1)" refers to the conductive inner and outer coil portions (13, 15) when either of them is conductive. Furthermore, if both the inner and outer coil portions (13, 15) are conductive, and these two coil portions (13, 15) constitute the energizing path (P1), then at least one of the inner and outer coil portions (13, 15) constituting the energizing path (P1) is either the inner or outer coil portions (13, 15). If the inner and outer coil portions (13, 15) are insulated from each other and only one of them constitutes the energizing path (P1), then only one of the inner and outer coil portions (13, 15) (the same applies below).

[0029] A conductive cord-like member (21) may be included on the outside of the outer coil portion (15). In this case, the cord-like member (21) may be insulated relative to at least one of the inner and outer coil portions (13, 15) constituting the energizing path (P1) to form another energizing path (P2).

[0030] The energizing device (25) using the curved structure (1) has conductive electrode components (31a, 31b), which are connected to an energizing path (P1) formed by at least one of the conductive inner and outer coil portions (13, 15).

[0031] The energizing device (25) may include the following components: a conductive first electrode component (31a) connected to one of the energizing paths (P1, P2); a conductive second electrode component (31b) connected to the other of the energizing paths (P1, P2); and an insulating component (33) disposed between the first electrode component (31a) and the second electrode component (31b).

[0032] In the energized device (25), the first electrode component (31a) and the second electrode component (31b) can be configured as clamping components for performing clamping actions.

[0033] Example 1

[0034] [Bent Structure]

[0035] Figure 1 This is a perspective view of the curved structure of Embodiment 1 of the present invention. Figure 2 It is a three-dimensional cross-sectional view that uses a portion of a curved structure as a section. Figure 3 (A) and Figure 3 (B) is a cross-sectional view of the inner cylinder of the curved structure. Figure 3 (A) is the normal state. Figure 3 (B) is when it is bent.

[0036] The bending structure 1 is used in various devices such as robotic arms, robots, and actuators, including medical and industrial applications, requiring electrically powered joint functions. Joint functions are devices, mechanisms, and components that function as bending / extending joints.

[0037] The bending structure 1 is capable of elastic bending and stretching, and has an energizing path P1 from one end of the axial direction to the other. Furthermore, the axial direction refers to the direction along the axis of the bending structure 1, including not only directions that are strictly parallel to the axis, but also slightly inclined directions.

[0038] The bending structure 1 of this embodiment includes a base 5 as an end member, a movable part 7, a bending part 9, and a flexible member 11.

[0039] The base 5 includes a columnar body, such as a cylinder, formed of metal or resin. The base 5 is mounted to the end of a robot's shaft, etc. Furthermore, the base 5 is not limited to a columnar body; it may take an appropriate shape depending on the device using the bending structure 1.

[0040] The movable part 7, like the base 5, includes a columnar body, such as a cylindrical body. An end effector or similar device corresponding to the equipment using the bending structure 1 is mounted on the movable part 7.

[0041] The movable part 7 in this embodiment is conductive. In addition to materials that are conductive by themselves, such as metal or conductive resin, the material of the conductive movable part 7 can also be a material on which a conductive coating is formed on a non-conductive resin or the like.

[0042] Furthermore, the movable part 7 can also be a non-conductive structure. In addition, the movable part 7 can also be configured in an appropriate shape depending on the device using the bending structure 1, and is not limited to a columnar shape.

[0043] The movable part 7 is supported on the base 5 by means of the bending part 9, which can be displaced relative to the axial direction.

[0044] The bending section 9 includes an inner cylinder 9a and an outer cylinder 9b arranged along the axial direction of the bending structure 1. The inner cylinder 9a is a double coil capable of elastically bending and extending relative to the axial direction, and includes an inner coil portion 13 and an outer coil portion 15. Therefore, when the bending section 9 (inner cylinder 9a) bends, the gap of the outer coil portion 15 on the inner side of the bend becomes smaller, and the gap of the outer coil portion 15 on the outer side of the bend becomes larger. As a result, the length of the outer coil portion 15 at its axis remains unchanged compared to when it is straight. Therefore, when the inner cylinder 9a is used to guide the flexible member 11 axially in a way that allows it to move along the inner circumference of the inner cylinder 9a, the amount of movement of the flexible member 11 can be reliably kept constant.

[0045] The inner coil portion 13 and the outer coil portion 15 are both helical springs that are flexible relative to the axial direction. At least one of the inner coil portion 13 and the outer coil portion 15 is conductive and forms a current-carrying path P1.

[0046] In this embodiment, both the inner coil portion 13 and the outer coil portion 15 are conductive and constitute a power-carrying path P1. The power-carrying path P1 is a path for devices such as end effectors that require power.

[0047] Furthermore, when both the inner coil portion 13 and the outer coil portion 15 are conductive, insulation can be provided between the inner coil portion 13 and the outer coil portion 15, with one of the inner coil portion 13 and the outer coil portion 15 forming a current-carrying path P1, and the other forming a different current-carrying path. Insulation between the inner coil portion 13 and the outer coil portion 15 can be achieved by providing an insulating coating layer on either the inner coil portion 13 or the outer coil portion 15.

[0048] Since the power path P1 utilizes the inner coil portion 13 and the outer coil portion 15, which have flexible bending portions 9, it is impossible for the bending portion 9 of the bending structure 1 to be damaged like a wire, even if it is repeatedly bent / stretched.

[0049] In this embodiment, the inner coil portion 13 and the outer coil portion 15 extend axially through the base 5 and their front ends are fitted into the recess 7a of the movable portion 7. Furthermore, the fitting into the recess 7a is performed in such a way that the ends of the inner coil portion 13 and the outer coil portion 15 abut against the recess 7a axially, and the outer periphery of the outer coil portion 15 abuts against the inner periphery of the recess 7a radially.

[0050] Therefore, the movable part 7 is electrically connected to the inner coil part 13 and the outer coil part 15, and together with the inner coil part 13 and the outer coil part 15, forms a power-conducting path P1. The power-conducting path P1 extends from one end of the axial direction of the curved structure 1 to the other end.

[0051] Furthermore, if the movable part 7 is not conductive, it is sufficient to provide a conductive body that extends through the movable part 7 axially and connect the conductive body to at least one of the conductive inner coil part 13 and outer coil part 15.

[0052] The conductive inner coil portion 13 and outer coil portion 15 can be made of the same conductive material as the movable portion 7. Furthermore, if one of the inner coil portion 13 and outer coil portion 15 is not conductive, it can be made of a non-conductive material such as resin.

[0053] The cross-sectional shape of the bare wires in the inner coil section 13 and the outer coil section 15 is a circle with the same wire diameter, but it can also be a semicircle or an ellipse. The cross-sectional shape or wire diameter of the inner coil section 13 and the outer coil section 15 can also be different from each other.

[0054] The inner coil portion 13 has a smaller center diameter than the outer coil portion 15 and is screwed into the outer coil portion 15. The center diameters of the inner coil portion 13 and the outer coil portion 15 are constant from one end to the other along the axial direction. However, the center diameter of the outer coil portion 15 can also vary along the axial direction.

[0055] The outer coil portion 15 has a plurality of gaps, or spacings 15b, that axially separate adjacent coil portions 15a (adjacent coil portions 15a). The corresponding coil portion 13a of the inner coil portion 13 is fitted into the plurality of gaps 15b from the inside. Through this fitting, the coil portion 13a of the inner coil portion 13 and the coil portion 15a of the adjacent outer coil portion 15 come into contact.

[0056] On the other hand, the inner coil portion 13 has a plurality of gaps 13b that separate the axially adjacent coil portions 13a (between adjacent coil portions 13a) in the axial direction. The corresponding coil portion 15a of the outer coil portion 15 is fitted into the plurality of gaps 13b from the outside. Through this fitting, the coil portion 15a of the outer coil portion 15 and the coil portion 13a of the adjacent inner coil portion 13 come into contact.

[0057] The structure restricts the axial compression of the inner cylinder 9a, stabilizes the energizing path P1 between the inner coil section 13 and the outer coil section 15, and reduces contact resistance.

[0058] The outer cylinder 9b is a cylinder concentrically arranged with the inner cylinder 9a and covering the outer periphery of the inner cylinder 9a. In this embodiment, the outer cylinder 9b is constructed by stacking multiple corrugated washers 17 axially. The corrugated washers 17 adjacent to each other in the axial direction are interlocked. The outer cylinder 9b can be bent by the elastic deformation of the corrugated washers 17.

[0059] Each wave washer 17 is formed into a closed loop by a conductive or non-conductive material. Between axially adjacent wave washers 17, the mountain portion 17a of one wave washer 17 abuts against the valley portion 17b of another wave washer 17, and the abutting mountain portion 17a and valley portion 17b are joined by appropriate means such as welding or bonding.

[0060] Multiple flat washers 19, with a smaller deformation than the corrugated washer 17, are installed at both ends of the outer cylinder 9b along its axial direction. The base 5 and the movable part 7 are joined at both ends of the outer cylinder 9b via these flat washers 19. This joining is achieved by appropriate means such as welding. Alternatively, the flat washers 19 can be omitted.

[0061] On the outer cylinder 9b, through holes 17c and 19a, which communicate in the axial direction, are provided between the mountain and valley portions 17a and 17b of each corrugated washer 17 and at the corresponding flat washer 19. In this embodiment, the through holes 17c and 19a are arranged at 90-degree intervals in the circumferential direction. Furthermore, the number of through holes 17c and 19a can be varied, such as every 60 degrees, every 120 degrees, every 180 degrees, etc., in the circumferential direction.

[0062] The through holes 17c and 19a allow the drive metal wire 21 to be inserted axially. Thus, the outer cylinder 9b functions as a guide to hold the drive metal wire 21 in a predetermined position outside the outer coil portion 15 of the inner cylinder 9a.

[0063] Furthermore, the outer cylinder 9b is not limited to a component obtained by stacking the corrugated washers 17, and can be made of other flexible components. For example, the outer cylinder 9b can be made of a bellows including a tube with a corrugated cross-section or a double coil like the inner cylinder 9a.

[0064] The driving metal wire 21 is a cable-like member along the axial direction of the curved structure 1. Furthermore, the cable-like member is not limited to metal wire; it can be stranded wire, single wire, piano wire, multi-jointed rod, chain, belt, yarn, rope, etc.

[0065] In addition to being circular like the insertion holes 17c and 19a of the outer cylinder 9b, the cross-sectional shape of the driving metal wire 21 can also be elliptical or rectangular.

[0066] The drive metal wire 21 may be formed of a conductive or non-conductive material. In any case, the drive metal wire 21 has a degree of flexibility that does not impede the bending and stretching of the bending structure 1.

[0067] When the drive metal wire 21 is made of a conductive material, as long as the drive metal wire 21 is insulated relative to the conductive inner coil portion 13 and outer coil portion 15, another power path P2 can be formed by the drive metal wire 21.

[0068] The insulation of the drive metal wire 21 relative to the inner coil portion 13 and the outer coil portion 15 can be achieved, for example, by covering the drive metal wire 21 itself with an insulator, or by forming the movable part 7 with a non-conductive material and covering the outside of the outer coil portion 15 of the inner cylinder 9a with an insulator, or by making the outer coil portion 15 a non-conductive material.

[0069] The front end of the drive metal wire 21 is located in the connection hole 7b provided on the movable part 7, and is engaged with the movable part 7 by end treatment, thereby preventing it from falling off. The base end of the drive metal wire 21 is directly or indirectly connected to an operating mechanism (not shown).

[0070] The drive metal wire 21 is operated axially, thereby enabling the movable part 7 to be driven relative to the base 5. Specifically, the movable part 7 is driven by pulling the drive metal wire 21 axially, thereby bending the bending structure 1. The number of drive metal wires 21 can be appropriately set according to the required bending action of the bending structure 1.

[0071] The flexible member 11 is a drive member, such as a push-pull cable, an air pipe, or other flexible strip-shaped member, corresponding to the device that applies the bending structure 1. In this embodiment, the flexible member 11 is a push-pull cable.

[0072] A flexible member 11 is provided on the inner side of the inner coil portion 13 of the inner cylinder 9a. The flexible member 11 may be formed of a conductive or non-conductive material and has a degree of flexibility that does not hinder the bending and stretching of the bending structure 1.

[0073] When the flexible member 11 is formed of a conductive material, the flexible member 11 can be insulated relative to the conductive inner coil portion 13 and outer coil portion 15 to form another power path P2.

[0074] Furthermore, the energizing path P2 can be selectively constructed from either the flexible member 11 or the drive metal wire 21. Alternatively, both the flexible member 11 and the drive metal wire 21 can be used as energizing paths, providing three or more conductive paths. Additionally, the energizing path P2 can be constructed from components other than the flexible member 11 and the drive metal wire 21. Furthermore, for example, in the case of end effectors requiring unipolar energization, the energizing path P2 can be omitted.

[0075] The insulation of the flexible member 11 relative to the inner coil section 13 and the outer coil section 15 is provided by the flexible tube 23.

[0076] The flexible tube 23 is a cylindrical component made of insulating resin or the like, and has a degree of flexibility that does not hinder the bending and stretching of the bending structure 1. The flexible tube 23 is inserted into the inner coil portion 13 of the inner cylinder 9a and exists between the inner coil portion 13 and the flexible component 11.

[0077] Furthermore, the insulation of the flexible member 11 relative to the inner coil portion 13 and the outer coil portion 15 can also be achieved by making the inner coil portion 13 an insulating material. Alternatively, depending on the device, either or both of the flexible member 11 and the flexible tube 23 can be omitted.

[0078] [Actions, etc.]

[0079] The curved structure 1 in this embodiment is as follows: Figure 3 As shown in (A), when straight and unbent (when extended), the corresponding roll portion 13a of the inner coil portion 13 is fitted between the adjacent roll portions 15a of the outer coil portion 15 of the inner cylinder 9a.

[0080] Therefore, even when the bending structure 1 is subjected to axial compressive force, the inner coil portion 13 and the outer coil portion 15 of the inner cylinder 9a are not compressed, thus maintaining the length of the central portion and achieving posture stability.

[0081] At this time, the energizing path P1 is formed in the winding direction and axial direction of the inner coil section 13 and the outer coil section 15, which is adjacent to the inner cylinder 9a and the outer coil section 15.

[0082] The resulting energized path P1 is stable without excessive deformation due to the posture of the bent structure 1. Furthermore, the contact resistance of the energized path P1 is reduced and its electrical properties are stabilized due to the contact pressure between the outer coil portion 15a and the inner coil portion 13a.

[0083] In the bending structure 1, the operator can pull any one or more drive metal wires 21 to point the end effector of the device using the bending structure 1 in the desired direction.

[0084] When the drive metal wire 21 is pulled, as Figure 3 As shown in (B), on the inner side of the bend, the distance 15b between adjacent coil portions 15a of the outer coil portion 15 of the inner cylinder 9a decreases, while on the outer side of the bend, the distance 15b between adjacent coil portions 15a of the outer coil portion 15 of the inner cylinder 9a increases. On the other hand, the length of the center portion of the inner cylinder 9a remains unchanged, that is, the length at the axis of the outer coil portion 15 does not change compared to the straight state, and the posture of the bent structure 1 is stable.

[0085] In addition, the outer cylinder 9b bends together with the inner cylinder 9a through the elastic deformation of the wave washer 17.

[0086] When the inner cylinder 9a bends, the inner coil portion 13 of the inner cylinder 9a is pushed outward toward the bend. The pushing out of the inner coil portion 13 on the bend is allowed by the increased spacing 15b between the adjacent coil portions 15a of the outer coil portion 15 of the inner cylinder 9a. Therefore, the bending action can be performed smoothly.

[0087] Furthermore, during bending, the corresponding roll portion 13a of the inner coil portion 13 is continuously fitted between the adjacent roll portions 15a of the outer coil portion 15 of the inner cylinder 9a.

[0088] Therefore, similar to the case of a straight structure, axial compression of the curved structure 1 is suppressed, thereby suppressing changes in the length of the central portion.

[0089] As a result, when bending, the coiled portion 15a of the outer coil portion 15 adjacent to the inner coil portion 13a also comes into contact with the coiled portion 13a of the inner coil portion 13, thus stably and reliably forming the energizing path P1.

[0090] [Effect of Example 1]

[0091] As described above, the bending structure 1 of this embodiment includes a bending portion 9, which has an inner coil portion 13 and an outer coil portion 15 that are capable of elastically bending and stretching. A corresponding coil portion 13a of the inner coil portion 13 is fitted into the gap between adjacent coil portions 15a of the outer coil portion 15. At least one of the inner coil portion 13 and the outer coil portion 15 is conductive and forms an electrical path.

[0092] Therefore, in the curved structure 1, the bending portion 9 can be used to stably form the electrical path P1 without the need for additional wires, thus enabling a smaller diameter. Furthermore, the curved structure 1 simplifies the overall structure.

[0093] Furthermore, by forming the energizing path P1 from at least one of the inner coil portion 13 and the outer coil portion 15 of the bending portion 9, damage to the energizing path P1 caused by repeated bending / stretching can be suppressed compared to the case where other wires are used. In addition, compression in the bending portion 9 before and after bending and during the bending process is suppressed, and excessive deformation is avoided, thus stably forming the energizing path P1.

[0094] In addition, in this embodiment, the inner coil portion 13 and the outer coil portion 15 are both conductive and form a power-carrying path P1.

[0095] Therefore, by contacting the outer coil portion 15a adjacent to the inner coil portion 13a with the inner coil portion 13a, the energizing path P1 can be formed not only in the winding direction of the inner coil portion 13 and the outer coil portion 15, but also in the axial direction. The energizing path P1 can be electrically stabilized based on the contact pressure between the outer coil portion 15a and the inner coil portion 13a.

[0096] In addition, the curved structure 1 includes a conductive end member, i.e., a movable part 7, which is connected to one end of the conductive inner coil part 13 and the outer coil part 15. The movable part 7 together with the inner coil part 13 and the outer coil part 15 forms an electrical path P1.

[0097] Therefore, the movable part 7 can be used as a terminal or electrode of the bending structure 1 relative to the end effector, thereby simplifying the structure.

[0098] The inner coil portion 13 includes a conductive flexible member 11. If the flexible member 11 is insulated relative to the inner coil portion 13 and the outer coil portion 15 that constitute the energizing path P1, another energizing path P2 can be formed.

[0099] Therefore, a flexible member 11, such as a push-pull cable, can be used to form the power transmission path P2. In this case, another power transmission path P2 can be formed inside the inner coil portion 13 where bending has less impact.

[0100] Furthermore, the power supply path P2 is provided separately from the power supply path P1, which includes at least one of the inner coil section 13 and the outer coil section 15, so that the branching is not required as in the past.

[0101] As a result, even with both energizing paths P1 and P2, the structure can be simplified. Furthermore, since energizing path P2 can be a single path, the thickness of the inner coil portion 13 will not increase beyond what is necessary, thus suppressing an increase in the bending radius.

[0102] In this embodiment, a conductive cord-like member, namely a driving metal wire 21, is included on the outside of the outer coil portion 15. As long as the driving metal wire 21 is insulated relative to the inner coil portion 13 and the outer coil portion 15 that constitute the energizing path P1, another energizing path P2 can be formed.

[0103] In this case, another power path P2 can be formed using the drive metal wire 21, and the branching required in the past is not necessary. In addition, the drive metal wire 21 is much thinner than push-pull cables, thus more reliably suppressing the increase in bending radius.

[0104] Example 2

[0105] Figure 4 Embodiment 2 of the present invention is a perspective view showing an energized device using a curved structure. Figure 5 This is an enlarged 3D view showing the periphery of the end effector of an energized device. Figure 6 yes Figure 5 A cross-sectional view at section VI. Furthermore, in Example 2, the structures corresponding to those in Example 1 are labeled with the same symbols, and repeated descriptions are omitted.

[0106] In this embodiment, the curved structure 1 of Embodiment 1 is used to construct the energizing device 25. The energizing device 25 is a medical robotic arm, but is not limited thereto.

[0107] The energized device 25 supports the end effector 29 on the shaft 27 via the curved structure 1.

[0108] Shaft 27 is formed from metal or the like into a hollow cylindrical shape, such as a cylinder. A curved structure 1 is mounted at the front end of shaft 27. Shaft 27 functions as a base supporting curved structure 1. Furthermore, the base supporting curved structure 1 can be replaced with a suitable component depending on the equipment using curved structure 1.

[0109] In this embodiment, the end effector 29 is a bipolar pliers. However, the end effector 29 is not limited to pliers; it can also be a bipolar scissor or an electric knife. Furthermore, the end effector 29 can also be a unipolar electric knife.

[0110] The end effector 29 is composed of a clamping member 31a and a clamping member 31b, which serve as a first electrode member and a second electrode member, and an insulating member 33.

[0111] The clamping components 31a and 31b perform a clamping action by opening and closing. These clamping components 31a and 31b are made of a conductive material and are connected to the power-conducting paths P1 and P2, respectively. Alternatively, the connection objects of the clamping components 31a and 31b can be the power-conducting paths P2 and P1, respectively, in the opposite manner. Furthermore, in this embodiment, the power-conducting path P2 is composed of a flexible member 11.

[0112] One of the clamping components 31a has its base end supported on the movable part 7 of the curved structure 1 and connected to the power path P1. The clamping component 31a is fixed for use. The other clamping component 31b is coupled to the front end of the flexible component 11 and connected to the power path P2. The clamping component 31b is supported by the insulating component 33 on the base end of the clamping component 31a, and clamps the clamping component 31a by the forward and backward movement of the flexible component 11.

[0113] The insulating member 33 is a columnar body with a fan-shaped cross-section made of insulating material. The insulating member 33 is installed at the base end of the clamp member 31a. The interior of the insulating member 33 is hollow and houses the flexible member 11 and the front end of the flexible tube 23. The front end of the flexible member 11 is engaged with the clamp member 31b inside the insulating member 33.

[0114] In the second embodiment, the structure of the bipolar energizing device 25 can be simplified.

[0115] Furthermore, if the energizing device 25 is configured as a unipolar type, it can be handled solely through the energizing path P1 without requiring the energizing path P2, thus simplifying the structure.

[0116] Furthermore, in Example 2, the same effect as in Example 1 can be achieved.

[0117] [Explanation of Symbols]

[0118] 1: Bending structure

[0119] 9: Bending section

[0120] 11: Flexible components

[0121] 13: Inner coil section

[0122] 13a: Volume

[0123] 13b: Spacing (Gap)

[0124] 15: Outer coil section

[0125] 15a: Volume

[0126] 15b: Spacing (Gap)

[0127] 21: Driven metal wire (cable-like component)

[0128] P1, P2: Power supply path

[0129] 25: Electrically powered devices

[0130] 31a, 31b: Pliers component (electrode component)

[0131] 33: Insulating components

Claims

1. A curved structure, comprising: The bending portion has an inner coil portion and an outer coil portion that are capable of elastically bending and stretching, and a corresponding coil portion of the inner coil portion is fitted into the gap between adjacent coil portions of the outer coil portion; and A conductive end member having a recess and a connecting hole disposed on the outer side of the recess. At least one of the inner coil portion and the outer coil portion is conductive and forms a current-carrying path. The recess is connected to the end of at least one of the inner coil portion and the outer coil portion that constitute the energizing path. A conductive cord-like member is included on the outer side of the outer coil portion, and the cord-like member is disposed within the connecting hole. The ends of the inner coil portion and the outer coil portion abut against the recess along the axial direction, and the outer periphery of the outer coil portion abuts against the inner periphery of the recess along the radial direction.

2. The bending structure according to claim 1, wherein, The end member, together with at least one of the inner coil portion and the outer coil portion, constitutes the energizing path.

3. The bending structure according to claim 1 or 2, wherein, The inner side of the inner coil section includes a conductive flexible member. The flexible member is insulated relative to at least one of the inner coil portion and the outer coil portion constituting the energizing path, thereby forming another energizing path.

4. The bending structure according to claim 1 or 2, wherein, The cord-like member is insulated relative to at least one of the inner coil portion and the outer coil portion constituting the energizing path, thus forming another energizing path.

5. The bending structure according to claim 1 or 2, wherein, Both the inner coil portion and the outer coil portion are conductive and constitute the energizing path.

6. The bending structure according to claim 1 or 2, wherein, Both the inner coil portion and the outer coil portion are conductive. The inner coil portion and the outer coil portion are insulated from each other, and one of the inner coil portion and the outer coil portion constitutes the power-conducting path, while the other of the inner coil portion and the outer coil portion constitutes another power-conducting path.

7. A power-conducting device using a curved structure according to any one of claims 1 to 6, the power-conducting device comprising: A conductive electrode component, the conductive electrode component being connected to the energizing path formed by at least one of the conductive inner coil portion and the conductive outer coil portion.

8. A power-conducting device using a curved structure according to claim 4 or 5, the power-conducting device comprising: A first conductive electrode component is connected to one of the energized paths; A conductive second electrode component is connected to the other in the energizing path; as well as An insulating component is disposed between the first electrode component and the second electrode component.

9. The energizing device according to claim 8, wherein, The first electrode component and the second electrode component are clamping components that perform clamping actions.

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