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    Endoscope robot having joint structure with high curvature
    1.
    发明授权
    Endoscope robot having joint structure with high curvature 有权
    具有高曲率关节结构的内窥镜机器人

    公开(公告)号：US09526582B2

    公开(公告)日：2016-12-27

    申请号：US14264579

    申请日：2014-04-29

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Sung Chul Kang ,  Woosub Lee ,  Sangmyung Kim ,  Soojun Lee

    IPC: A61B19/00 ,  A61B1/00 ,  A61B1/005 ,  A61B17/00

    CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0051 ,  A61B2017/00345 ,  A61B2017/00867 ,  A61B2034/305 ,  A61B2034/306

    Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.

    Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。

    ENDOSCOPE ROBOT HAVING JOINT STRUCTURE WITH HIGH CURVATURE
    2.
    发明申请
    ENDOSCOPE ROBOT HAVING JOINT STRUCTURE WITH HIGH CURVATURE 有权
    具有高曲率接头结构的内窥镜机器人

    公开(公告)号：US20150223895A1

    公开(公告)日：2015-08-13

    申请号：US14264579

    申请日：2014-04-29

    Applicant: KOREA INSTITUTE OF SCIENCE AND TECHNOLOGY

    Inventor： Keri Kim ,  Sung Chul Kang ,  Woosub Lee ,  Sangmyung Kim ,  Soojun Lee

    IPC: A61B19/00 ,  A61B1/00

    CPC classification number: A61B34/30 ,  A61B1/0016 ,  A61B1/0051 ,  A61B2017/00345 ,  A61B2017/00867 ,  A61B2034/305 ,  A61B2034/306

    Abstract: An endoscope robot inserted into a duct to perform a predetermined work includes a flexible first tube body, a joint structure coupled to an end of the first tube body, and an end-effector connected to the joint structure so that location and direction of the end-effector are adjusted by the joint structure. The joint structure includes a fixed arm coupled to an end of the first tube body, and a plurality of pivotal arms arranged in order in a row from the fixed arm and pivotally connected to each other. The first tube body curves and linearly moves in the duct to move the end-effector to a working position. The plurality of pivotal arms is pivoted at the working position to adjust location and direction of the end-effector.

    Abstract translation: 插入到管道中以执行预定工作的内窥镜机器人包括柔性第一管体，联接到第一管体的端部的接头结构以及连接到接头结构的端部执行器，使得端部的位置和方向 - 联合结构调整。 所述接合结构包括联接到所述第一管体的端部的固定臂和从所述固定臂排成一排并且彼此枢转地连接的多个枢转臂。 第一管体在管道中弯曲并线性移动，以将末端执行器移动到工作位置。 多个枢转臂在工作位置枢转以调节端部执行器的位置和方向。

    Device for regulating stiffness
    3.
    发明授权
    Device for regulating stiffness 有权
    用于调节刚度的装置

    公开(公告)号：US08951129B2

    公开(公告)日：2015-02-10

    申请号：US13918646

    申请日：2013-06-14

    Applicant: Korea Institute of Science and Technology

    Inventor： Jun Ho Choi ,  Soojun Lee

    IPC: F16D7/04 ,  F16D3/16 ,  F16D3/00

    CPC classification number: F16D3/16 ,  B25J19/068 ,  F16D3/005 ,  F16D3/60 ,  Y10S901/28 ,  Y10T74/20305

    Abstract: A device for regulating stiffness has a rotary shaft coupled to the driven member to rotate the driven member, a rotational connection body coupled to the rotary shaft to freely rotate thereon and rotating by a driving power of the driving motor, and an elastic connection body fixed to the rotary shaft and extending in the length direction of the rotary shaft to connect to the rotational connection body, wherein the elastic connection body gives an elastic force in a direction opposite to the rotating direction of the rotational connection body to interrupt free rotation of the rotational connection body with respect to the rotary shaft, and wherein if the rotational connection body rotates by the driving motor, the elastic force of the elastic connection body acts as spring so that the rotating force of the rotational connection body is transmitted to the rotary shaft.

    Abstract translation: 用于调节刚度的装置具有联接到从动构件以旋转从动构件的旋转轴，旋转连接体，其联接到旋转轴，以在其上自由旋转并通过驱动电动机的驱动力旋转;以及弹性连接体固定 到旋转轴并且沿着旋转轴的长度方向延伸以连接到旋转连接体，其中弹性连接体在与旋转连接体的旋转方向相反的方向上产生弹性力，以中断自由旋转 旋转连接体相对于旋转轴旋转，并且其中如果旋转连接体由驱动电机旋转，弹性连接体的弹力用作弹簧，使得旋转连接体的旋转力传递到旋转轴 。

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