Multi-Joint Bending Structure With Segmented Cord Control
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Solution Overview
Problem
The operability of multi-joint bending structural bodies is deteriorated due to the bending of the base end side when the distal end side is operated, causing unwanted movement and reduced efficiency.
Innovation Solution
A bending structural body with a first and second elastically bendable part connected by a higher rigidity connection part, featuring cord-like members that are divided and dispersed to control bending, allowing independent operation of the parts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple bending pieces are connected in series to form a multi-joint bending structural body, then the versatility and range of motion are improved, but the operability deteriorates due to unwanted coupling between adjacent bending pieces
Solution Approach 1:
The cord-like member is divided into multiple divided parts (first, second, third, fourth divided parts) that are dispersed in the circumferential direction within the connection part. This segmentation allows selective engagement with different bending pieces, enabling independent operation of each bending piece while maintaining the multi-joint structure's versatility
Solution Approach 2:
Different divided parts of the cord-like member are positioned at different radial positions and circumferential locations within the connection part. The first and second divided parts are positioned to engage the first bending piece, while the third and fourth divided parts engage the second bending piece, creating localized control zones that prevent unwanted coupling between adjacent bending pieces
2Ease of operation
If a single cord-like member passes through multiple bending pieces to enable bending operation, then the bending function is achieved, but the complexity of controlling individual bending pieces increases
Solution Approach 1:
The cord-like member is segmented into multiple divided parts that can be independently positioned and engaged with specific bending pieces. This allows the operator to control each bending piece separately by pulling the appropriate divided part, reducing control complexity while maintaining the bending function
Solution Approach 2:
The connection part acts as an intermediary structure that houses the divided parts of the cord-like member and provides a mechanism for selective engagement with different bending pieces. This intermediary structure simplifies the control system by providing clear separation between control zones for each bending piece
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The solution suppresses unwanted bending of the second part during operation of the first part, improving overall operability and simplifying the bending process by reducing unnecessary loads.
Implementation Method 1
a first bending part (3) and a second bending part (5) that are elastically bendable
Implementation Method 2
a connection part (7) connecting between the first bending part (3) and the second bending part (5) and having higher bending rigidity than the first bending part (3) and the second bending part (5)
Data Source
AI summary
The present invention comprises: a first bending part and a second bending part which are capable of bending elastically; a connection part which connects the first bending part and the second bending part, and which has higher bending rigidity than the first bending part and the second bending part; and a plurality of first cord-like members which are attached to the first bending part, which are inserted through the first bending part, the connection part, and the second bending part, and which are capable of bending the first bending part via tension on the second bending part side. The first cord-like members each have a plurality of divided parts which are divided in the connection part and dispersed in the circumferential direction, and which are inserted through the second bending part in this dispersed state.