# US 12,594,680 B2 · Flexible structure and method for producing same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,680 B2 - Document ID: US12594680B2 - Status: Granted - Kind: B2 - Application number: 18/291,904 - Filed: 2022-07-20 - Published: 2024-08-01 - Granted: 2026-04-07 - Earliest claimed: 2021-07-27 - Assignees: NHK Spring Co., Ltd. - Applicants: Nhk Spring Co., Ltd. - Inventors: Takafumi Hirata; Yuki Hotoda; Yuki Hayakawa - Web page: https://patentgrep.com/patent/US12594680B2 ## CPC - B25J 18/06: flexible - B25J 19/007: {Means or methods for designing or fabricating manipulators} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A flexible structure with a multi-joint function is formed by connecting flexing parts in which wave washers are stacked and welded to each other. The flexible structure includes a first flexing part, a second flexing part, and a connection part. The first flexing part and the second flexing part are capable of flexing and extending. The connection part is welded in an axial direction between the first flexing part and the second flexing part and has a rigidity higher than the first flexing part and the second flexing part. The first flexing part and the second flexing part each include wave washers stacked in the axial direction and welded to each other. The connection part has a circulating shape in which an inner circumference and an outer circumference are each continuous in a circumferential direction. ## Claims ### Claim 1 A flexible structure comprising: a first flexing part and a second flexing part that are capable of flexing and extending; and a connection part that is welded in an axial direction between the first flexing part and the second flexing part and has a rigidity higher than the first flexing part and the second flexing part, wherein the first flexing part and the second flexing part each comprise a plurality of wave washers that are stacked in the axial direction and are welded to each other, and the connection part has a circulating shape in which an inner circumference and an outer circumference are each continuous in a circumferential direction, and the connection part does not have a recess, and does not have a notch, along the axial direction for welding to ends of the first flexing part and the second flexing part. ### Claim 2 (depends on 1) The flexible structure according to claim 1, wherein a width of the connection part between the inner circumference and the outer circumference is constant. ### Claim 3 (depends on 1) The flexible structure according to claim 1, wherein welding between the plurality of wave washers is performed at a middle part between an inner circumference and an outer circumference of each of the wave washers, and the connection part overlaps, in the axial direction, with welded portions of the plurality of wave washers. ### Claim 4 (depends on 1) The flexible structure according to claim 1, wherein one or both of the first flexing part and the second flexing part comprise a flat washer that constitutes an end part in the axial direction, the flat washer is welded in a state abutting against the connection part over an entire circumference, and the plurality of wave washers are welded to the connection part via the flat washer. ### Claim 5 (depends on 1) A method for producing a flexible structure, which is a method for producing the flexible structure according to claim 1, the method comprising: sequentially stacking and welding the plurality of wave washers of the first flexing part from one side in the axial direction of the connection part; and sequentially stacking and welding the plurality of wave washers of the second flexing part from another side in the axial direction of the connection part. ### Claim 6 (depends on 5) The method for producing a flexible structure according to claim 5, wherein the plurality of wave washers and the connection part have an insertion hole for inserting a cord-shaped member, the method comprising: inserting a guide member into the insertion hole of the connection part; and when stacking the plurality of wave washers of the first flexing part and the second flexing part, inserting the guide member into the insertion hole of the plurality of wave washers to position to the connection part. ### Claim 7 (depends on 5) The method for producing a flexible structure according to claim 5, comprising: stacking and welding a flat washer on one or both of one side and another side in the axial direction of the connection part; and sequentially stacking and welding the plurality of wave washers in the axial direction to the flat washer.