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Patent Searching and Data

Document Type and Number:
WIPO Patent Application WO/2019/167352
Kind Code:
Provided is a mechanism that uses a small number of drive sources, that is lightweight, and that is for operating a multi-jointed robot. This wave propagation mechanism (2) is provided with: a plurality of wires (10) that are stretched substantially in parallel to each other; a plurality of fixing tools (30) that are for fixing the plurality of wires (10) or cancelling the fixation thereof, and that are disposed at a prescribed interval; and an attitude restriction tool (60) which alternately restricts portions between adjacent fixing tools (30) such that each assumes a prescribed shape or cancels the restriction of the prescribed shape. The plurality of wires (10) are configured to have different lengths between the plurality of fixing tools (30) so as to be capable of keeping inter-fixing-tool portions in a bent state. The bent inter-fixing-tool portions and the inter-fixing-tool portions restricted in the prescribed shape are assumed to be a single unit, and the plurality of wires (10) are fixed by the fixing tools located at both ends of the unit, while fixation is cancelled at intermediate fixing tools. The attitude restriction tool (60) is able to propagate a bent position by restricting a bent inter-fixing-tool portion in a prescribed shape and then cancelling the restriction at the inter-fixing-tool portion restricted in the prescribed shape.

HIROSE, Shigeo (Watanabe Corporation Building 4F5-9-15, Kitashinagawa, Shinagawa-k, Tokyo 01, 〒1410001, JP)
Application Number:
Publication Date:
September 06, 2019
Filing Date:
November 13, 2018
Export Citation:
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HIBOT CORPORATION (Watanabe Corporation Building 4F, 5-9-15 Kitashinagawa, Shinagawa-k, Tokyo 01, 〒1410001, JP)
International Classes:
Domestic Patent References:
Foreign References:
Attorney, Agent or Firm:
OKUTANI, Masako (Aoyama Palacio Tower 6F, 3-6-7 Kita Aoyama Minato-k, Tokyo 61, 〒1070061, JP)
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