CN114654455A - Gear tooth rolling unit and snake-shaped arm structure with same - Google Patents
Gear tooth rolling unit and snake-shaped arm structure with same Download PDFInfo
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- CN114654455A CN114654455A CN202210370584.6A CN202210370584A CN114654455A CN 114654455 A CN114654455 A CN 114654455A CN 202210370584 A CN202210370584 A CN 202210370584A CN 114654455 A CN114654455 A CN 114654455A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
The invention discloses a gear tooth rolling unit and a snake-shaped arm structure with the same, wherein the snake-shaped arm structure comprises a plurality of rolling groups, and each rolling group comprises two rolling bodies which are in rolling connection with each other; the surfaces of the rolling bodies form arc surfaces, and the arc surfaces of two adjacent rolling bodies are matched; the rolling body is provided with an inward concave gear groove and an outward convex gear tooth; and adjacent rolling bodies are in rolling connection through the matching of gear teeth and gear grooves. The rolling unit of the invention introduces gear teeth of the gear into the rolling joint of the continuum robot, realizes the rolling joint with simpler assembly by utilizing the meshing characteristic of the gear, simultaneously solves the problem of small torsional rigidity of the rolling joint, and realizes the unique performance required by the continuum robot on the premise of meeting the basic rolling capacity.
Description
Technical Field
The invention relates to the technical field of snake-shaped arm robots, in particular to a rolling unit based on gear teeth and suitable for operation in narrow space such as nuclear reaction equipment and a snake-shaped arm structure of the rolling unit.
Background
In the existing nuclear reaction equipment, because the reaction speed needs to be controlled, a large number of absorption balls are arranged in a reactor for absorbing neutrons emitted by the reaction. However, after the nuclear reaction is finished or when the reactor is shut down for maintenance, the absorption balls in the reactor need to be recovered and replaced. The existing nuclear reactor mainly adopts a manual operation mode for recovering and replacing the absorption balls, which not only wastes labor and is laborious, but also brings great personal and health risks to workers due to manual operation.
In order to realize narrow space operation, a snake-shaped arm is generally used as a carrier. The existing S-shaped arm mainly has a continuum structure, and the continuum robot has multiple degrees of freedom and strong flexibility, can realize complex and narrow environment operation on the premise of not damaging the environment, and provides a new means for limited environment operation. Generally, a continuous robot arm is formed by connecting a plurality of unit joints in series, and small rigid segments or small rigid segments can be regarded as between the joints. Therefore, unlike a soft robot, the axial length of the robot is fixed or controllable, and the robot has certain pressure resistance. The mechanical properties of the whole arm body are greatly dependent on the mechanical properties of the unit joints.
At present, the unit joints have two main categories of rigidity and flexibility, and the continuum robot can be classified into a rigid unit continuum robot and a flexible unit continuum robot according to the two categories.
A rigid-cell continuum robot:
each unit joint is a pin shaft type revolute pair, a common spherical hinge or a Hooke hinge and other traditional rigid revolute pairs, and theoretically, the axial direction is absolute rigidity. Each degree of freedom of the joint can be controlled independently or the segments of several joints can be controlled in segments. The lateral performance of the joint when independently controlled is often determined by the drive mechanism (e.g., cable). During sectional control, flexible mechanisms such as springs and rubber are needed to ensure that all joints in the sections are uniformly distributed in a bending mode. The segmented control time interval has redundant freedom degree and poor transverse mechanical property.
Flexible unit continuum robot:
each unit joint is a flexible joint such as a flexible hinge, an elastic rod, a reed and the like, and is not absolutely rigid in the axial direction (a small number of joints based on auxiliary contact have larger axial rigidity). Because most of flexible mechanisms have poor mechanical properties after the maximum bending angle is small or the bending angle is large, most of flexible unit continuum robots are controlled in a segmented mode and have internal redundant degrees of freedom, and the transverse mechanical properties are determined by the driving mechanism and the unit joints together.
Due to the need to meet certain rigidity requirements and to achieve retrieval of the absorbent ball, the serpentine arms are required to remain hollow, or at least provide a passageway for retrieval of the absorbent ball, while meeting narrow space handling requirements. In the current design, the working part of the continuum snake-shaped arm is composed of the same rolling units, and the rolling units are the most key factors for determining the final movement performance of the continuum robot. Due to the good stability of the circular shape, most of the current rolling joints mostly use a cylindrical surface as a rolling curved surface.
The serpentine arm solution in the prior art can achieve narrow space operation under general operation requirements. However, in the experimental process, a certain amount of axial torsion exists between each rolling body of the continuum robot, and especially when the robot is long, the torsion of a plurality of rolling units is overlapped, so that the head-to-tail torsion angle of the robot is large, and sometimes even larger than 90 degrees. In addition, when the multi-segment robot performs coupled motion, the small torsional rigidity of the multi-segment robot also causes many problems, such as axial torsion caused by gravity, stability fluctuation caused by the simultaneous action of friction and torsion, and the like. In addition, the problems of complex assembly, large slippage among rolling units and the like exist. These all bring great difficulties to the control of the serpentine arm, while not being effectively guaranteed in terms of working precision.
Therefore, in view of the above technical problems, it is highly desirable to develop a rolling unit based on gear teeth and a serpentine arm structure for the rolling unit, which is suitable for operations in a small space such as a nuclear reaction equipment.
Disclosure of Invention
The invention aims to provide a rolling unit based on gear teeth, which enhances the torsional rigidity of the rolling unit, can solve the problem of malposition gear teeth by only using one gear tooth, has the advantage of larger axial bearing capacity of a common rolling contact joint, and also has the advantages of simple assembly and strong torsional rigidity.
In order to achieve the above purpose, the invention provides the following technical scheme:
the invention relates to a gear tooth rolling unit, which comprises:
a plurality of rolling groups;
the rolling group comprises two rolling bodies which are in rolling connection with each other;
the surfaces of the rolling bodies form arc-shaped surfaces, and the arc-shaped surfaces of two adjacent rolling bodies are matched;
the rolling body is provided with an inward concave gear groove and an outward convex gear tooth;
and adjacent rolling bodies form rolling connection through the matching of the gear teeth and the gear grooves.
Further, one surface of the rolling body is configured as a first arc-shaped surface extending in an arc shape, and the other surface of the rolling body is configured as a second arc-shaped surface extending in an arc shape;
the first arc-shaped surface and the second arc-shaped surface of the adjacent rolling bodies are tangent to form rolling motion guide.
Further, the rolling body is formed into an arc-shaped extending structure along the circumferential direction;
the rolling body is provided with a convex part through the arc-shaped extension structure;
the convex part is a first convex part which is positioned on the upper surface of the rolling body and symmetrically formed on two sides of the rolling body in the first direction; and
second convex parts which are positioned on the lower surface of the rolling body and symmetrically formed on two sides of the rolling body in the second direction;
the first direction is perpendicular to the second direction.
Furthermore, the gear teeth are formed at the first convex part of the rolling body in a mode of protruding outwards;
the gear groove is formed at the second convex part of the rolling body in an inward concave manner.
Further, the gear teeth of the rolling bodies located at the lower portion are engaged with the gear grooves of the rolling bodies located at the upper portion to form a rolling connection.
Further, the curvature radius of the rolling contact part formed at the gear groove of the rolling body is equal to the reference circle radius formed by the gear tooth of the rolling body.
The invention discloses a snake-shaped arm structure which comprises a plurality of groups of rolling units.
Furthermore, a plurality of threading holes are formed in the rolling body at intervals;
and the adjacent rolling bodies are controlled to move by a steel wire rope penetrating through the threading holes.
Further, the rolling unit is controlled by three steel wire ropes.
Further, the middle part of the rolling unit is formed into a ball suction pipe reserved channel;
the diameter of the reserved channel of the ball suction pipe is 25 mm;
the diameter of the threading hole is 1.5 mm.
In the technical scheme, the gear tooth rolling unit and the snake-shaped arm structure based on the gear have the following beneficial effects:
the rolling unit of the invention introduces gear teeth of the gear into the rolling joint of the continuum robot, realizes the rolling joint with simpler assembly by utilizing the meshing characteristic of the gear, simultaneously solves the problem of small torsional rigidity of the rolling joint, and realizes the unique performance required by the continuum robot on the premise of meeting the basic rolling capacity.
The snake-shaped arm structure of the rolling unit based on gear teeth has larger torsional rigidity. The continuum robot has the advantages of long length, multiple degrees of freedom, complex shape and posture during working, redundant degrees of freedom and redundant control, and thus the requirement on torsional rigidity is higher.
Secondly, the structure has less friction. The rolling joint has smaller friction compared with a driving pin type revolute pair, but when the rolling joint is applied to a continuum robot, in order to simplify assembly, the rolling joint is usually realized by using the friction force provided by axial pre-tightening force, which is partially against the original intention of introducing the rolling joint. Care should therefore be taken to minimize or minimize the use of friction in achieving scrolling.
In addition, this structure achieves simpler assembly. In general, since the number of joints or rolling elements used in a continuum robot is large, problems due to complicated assembly are particularly significant. The simplification of the assembly is therefore particularly important in a continuum robot.
The invention combines the existing serpentine arm design, comprehensively considers the practical engineering application of recovery and replacement of the nuclear reactor absorption ball, and develops the absorption ball recovery device suitable for the in-service maintenance of the high-temperature gas cooled reactor. The mechanism ensures safety and stability, and meanwhile, the hollow channel is used for transporting the absorption balls, so that manual recovery and replacement work of the absorption balls of the reactor is replaced, the cost of manpower and material resources is greatly reduced, and the operation danger of workers is greatly reduced. Fills the gap of in-service maintenance of the high-temperature gas cooled reactor, and improves the national nuclear power level.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings required in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to these drawings.
Fig. 1 is a schematic structural diagram of a gear tooth rolling unit according to an embodiment of the present invention;
FIG. 2 is a front view of a gear tooth based rolling unit according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a serpentine arm structure having a gear tooth rolling unit according to an embodiment of the present invention;
FIG. 4 is a diagram illustrating a positional relationship between gear teeth and a basic configuration of a rolling unit based on a gear teeth rolling unit according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a movement of a gear tooth rolling unit at a limit corner according to an embodiment of the present invention.
Description of reference numerals:
1. a rolling body; 2. threading holes; 3. a serpentine arm structure; 4. a channel is reserved in the ball suction pipe;
101. a first arc-shaped face; 102. a second arc-shaped surface; 103. gear teeth; 104. a gear groove; 105. a rolling contact portion curvature radius; 106. the radius of the reference circle.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
See fig. 1-5;
a gear teeth based rolling unit of the present embodiment comprises:
a plurality of rolling groups;
the rolling group comprises two rolling bodies 1 which are in rolling connection with each other;
the surfaces of the rolling bodies 1 form arc-shaped surfaces, and the arc-shaped surfaces of two adjacent rolling bodies 1 are matched;
the rolling body 1 is provided with an inward concave gear groove 104 and an outward convex gear tooth 103;
adjacent rolling bodies 1 form a rolling connection by the cooperation of the gear teeth 103 and the gear grooves 104.
Among them, one surface of the rolling element 1 of the present embodiment is configured as a first arc-shaped surface 101 extending in an arc shape, and the other surface of the rolling element 1 is configured as a second arc-shaped surface 102 extending in an arc shape;
the first arc-shaped surface 101 and the second arc-shaped surface 102 of adjacent rolling bodies 1 are tangent to form a rolling motion guide.
Specifically, in the present embodiment, in consideration of the fact that the gear teeth of the gear meet the unique requirements of the continuum robot if the rolling unit is used for meeting, since the structure of the present embodiment is to use the self-meshing characteristics of the cylindrical gear to realize rolling, the cylindrical surface is also used as the rolling curved surface. However, the continuum robot has a corresponding requirement on the joint to return to the zero rotation angle, and in most cases, the joint does not use a complete gear, so that the problem of difficulty in centering caused by staggered teeth easily occurs when each rolling unit is free, and the problem of complex assembly caused by fixing the rolling units is also caused. In order to solve the above problems caused by the design of the snake-shaped arm of the rolling unit based on the basic configuration of the cylindrical surface, a single standard involute cylindrical gear tooth is added into the snake-shaped arm, and the curvature radius of the rolling contact part is the same as the reference circle radius of the gear corresponding to the added gear tooth, as shown in fig. 4, the method specifically comprises the following steps: the radius of curvature 105 of the rolling contact portion formed at the gear groove 104 of the rolling element 1 is equal to the radius 106 of the reference circle formed by the gear tooth 103 of the rolling element 1. Due to the particularity of the involute cylindrical gear, if the involute cylindrical gear is installed at a standard center distance, the involute cylindrical gear is superposed with a pitch circle meshed with the pitch circle in a reference circle, and the involute cylindrical gear is in zero-backlash transmission at the moment and has no relative sliding between two circles, namely pure rolling. The performance of the gear tooth type continuous body robot meets the performance requirement of the continuous body robot on the joint, and meanwhile, due to the introduction of the gear tooth, the torsional rigidity of the gear tooth type continuous body robot is enhanced. The use of only one gear tooth may also account for misaligned gear teeth. The joint has the advantages of larger axial bearing capacity of a common rolling contact joint, simple assembly and strong torsional rigidity.
Based on the above-mentioned distance, the rolling unit of the present embodiment includes a plurality of rolling groups, each rolling group has two rolling bodies 1 in rolling connection with each other, the rolling bodies 1 realize rolling guidance through tangential arc-shaped surfaces, and form rolling fit through the gear grooves 104 and the gear teeth 103.
Preferably, in order to realize the matching of the two rolling elements 1 and the rolling connection between the gear groove 104 and the gear tooth 103, the specific technical scheme is as follows:
the rolling body 1 is formed into an arc-shaped extending structure along the circumferential direction;
the rolling body 1 is formed with a convex part through the arc extending structure;
the convex part is a first convex part which is positioned on the upper surface of the rolling body 1 and symmetrically formed on two sides of the rolling body 1 in the first direction; and
second convex parts which are positioned on the lower surface of the rolling body 1 and symmetrically formed on both sides of the rolling body 1 in the second direction;
the first direction is perpendicular to the second direction.
Wherein, the first convex part of the rolling element 1 of the embodiment is formed with gear teeth 103 protruding outwards;
In practical arrangement, the arrangement directions of the rolling bodies 1 in the same group are different by 90 °, so that the gear teeth 103 of the rolling bodies 1 located at the lower part and the gear grooves 104 of the rolling bodies 1 located at the upper part cooperate to form a rolling connection.
The rolling unit is the most key factor for determining the final movement performance of the snake-shaped arm, and the basic configuration of the rolling unit is that a cylinder is cut by two circles on a mutually vertical reference surface, and the two circles are respectively tangent to the upper surface and the lower surface of the cylinder; the axes of the two rolling elements 1 perpendicular to each other do not intersect.
Since the movement of the serpentine arm is a superposition of the movement of each group of the movement units, the maximum rotation angle of the movement units is an important parameter for representing the movement limit of the serpentine arm. Conventionally, the maximum rotation angle of the snake-shaped arm moving unit of the basic configuration can be conveniently obtained, but for the rolling unit disclosed by the embodiment, due to the introduction of gear teeth, in order to ensure that the gear teeth are effective, the maximum rotation angle of the unit needs to be determined according to the geometric parameters of the gear. Referring to fig. 5, fig. 5 is a schematic view of the movement of the unit at an extreme corner. According to calculation, the range of the effective maximum rotation angle of the unit is related to the module, and the maximum rotation angle of the unit is in direct proportion to the module of the gear on the premise that the arc radius R (the reference circle radius of the gear) of the rolling unit is determined, namely the larger the module of the gear teeth of the gear is, the larger the maximum rotation angle of the unit is within the limit of size constraint.
The invention discloses a snake-shaped arm structure 3, and the snake-shaped arm structure 3 comprises a plurality of groups of rolling units.
Preferably, the rolling element 1 of the present embodiment is provided with a plurality of threading holes 2 at intervals;
the adjacent rolling bodies 1 are controlled to move by a steel wire rope passing through the threading holes 2.
Wherein, the rolling unit is controlled by three steel wire ropes.
Preferably, the middle part of the rolling unit of the embodiment is formed as a suction bulb reservation channel 4;
the diameter of the ball suction pipe reserved passage 4 is 25 mm;
the diameter of the threading hole 2 is 1.5 mm.
Because the straight pipe part is axially a plane, one surface of the working part connected with the straight pipe part needs to meet the rolling requirement of the working part, and the other surface needs to be a plane. Except that one surface is a plane, other auxiliary hole positions and the like are consistent with the rolling unit.
In the technical scheme, the gear tooth rolling unit and the snake-shaped arm structure based on the gear have the following beneficial effects:
the rolling unit of the invention introduces gear teeth of the gear into the rolling joint of the continuum robot, realizes the rolling joint with simpler assembly by utilizing the meshing characteristic of the gear, simultaneously solves the problem of small torsional rigidity of the rolling joint, and realizes the unique performance required by the continuum robot on the premise of meeting the basic rolling capacity.
The serpentine arm structure 3 of the gear tooth based rolling unit of the present invention has a large torsional stiffness. The continuum robot has the advantages of long length, multiple degrees of freedom, complex shape and posture during working, redundant degrees of freedom and redundant control, and thus the requirement on torsional rigidity is higher.
Secondly, the structure has less friction. The rolling joint has smaller friction compared with a driving pin type revolute pair, but when the rolling joint is applied to a continuum robot, in order to simplify assembly, the rolling joint is usually realized by using the friction force provided by axial pre-tightening force, which is partially against the original intention of introducing the rolling joint. Care should therefore be taken to minimize or minimize the use of friction in achieving scrolling.
In addition, this structure achieves simpler assembly. In general, since the number of joints or rolling elements used in a continuum robot is large, problems due to complicated assembly are particularly significant. Therefore, simplification of assembly is particularly important in a continuum robot.
The invention combines the existing serpentine arm design, comprehensively considers the practical engineering application of recovery and replacement of the nuclear reactor absorption ball, and develops the absorption ball recovery device suitable for the in-service maintenance of the high-temperature gas cooled reactor. The mechanism ensures safety and stability, and meanwhile, the hollow channel is used for transporting the absorption balls, so that manual recovery and replacement work of the absorption balls of the reactor is replaced, the cost of manpower and material resources is greatly reduced, and the operation danger of workers is greatly reduced. Fills the gap of in-service maintenance of the high-temperature gas cooled reactor, and improves the national nuclear power level.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the present invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (10)
1. Based on gear teeth and teeth rolling unit, its characterized in that, this rolling unit includes:
a plurality of rolling groups;
the rolling group comprises two rolling bodies (1) which are in rolling connection with each other;
the surfaces of the rolling bodies (1) form arc-shaped surfaces, and the arc-shaped surfaces of two adjacent rolling bodies (1) are matched;
the rolling body (1) is provided with an inwards concave gear groove (104) and an outwards convex gear tooth (103);
and adjacent rolling bodies (1) form rolling connection through the matching of the gear teeth (103) and the gear grooves (104).
2. Gear tooth rolling unit according to claim 1, characterized in that one side of the rolling body (1) is configured as a first arc-shaped surface (101) extending in an arc shape, and the other side of the rolling body (1) is configured as a second arc-shaped surface (102) extending in an arc shape;
the first arc-shaped surface (101) and the second arc-shaped surface (102) of the adjacent rolling bodies (1) are tangent to form rolling motion guide.
3. Gear tooth rolling unit according to claim 2, characterized in that the rolling bodies (1) are formed in an arc-shaped extension along their circumference;
the rolling body (1) is provided with a convex part through the arc-shaped extending structure;
the convex parts are first convex parts which are positioned on the upper surface of the rolling body (1) and symmetrically formed on two sides of the rolling body (1) in a first direction; and
second convex parts which are positioned on the lower surface of the rolling body (1) and symmetrically formed on two sides of the rolling body (1) in the second direction;
the first direction is perpendicular to the second direction.
4. Gear tooth rolling unit according to claim 3, wherein the gear teeth (103) are formed at a first protrusion of the rolling body (1) protruding outwards;
the gear groove (104) is formed at the second convex part of the rolling body (1) in an inward concave manner.
5. Gear-tooth rolling unit according to claim 4, characterized in that the gear teeth (103) of the lower rolling elements (1) cooperate with the gear grooves (104) of the upper rolling elements (1) to form a rolling connection.
6. Gear tooth rolling unit according to claim 5, wherein the radius of curvature (105) of the rolling contact formed at the gear groove (104) of the rolling element (1) is equal to the radius of pitch circle (106) formed by the gear tooth (103) of the rolling element (1).
7. Serpentine arm structure, characterized in that the serpentine arm structure (3) comprises a plurality of sets of rolling units according to any one of claims 1 to 6.
8. The S-shaped arm structure as claimed in claim 7, wherein the rolling body (1) is provided with a plurality of threading holes (2) at intervals;
the adjacent rolling bodies (1) are controlled to move through a steel wire rope penetrating through the threading holes (2).
9. The serpentine arm structure of claim 8, wherein the rolling unit is controlled by three of the wire ropes.
10. The serpentine arm structure according to claim 8, characterized in that the rolling unit is formed in its middle part as a bulb-suction reserve channel (4);
the diameter of the ball suction pipe reserved passage (4) is 25 mm;
the diameter of the threading hole (2) is 1.5 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370584.6A CN114654455A (en) | 2022-04-10 | 2022-04-10 | Gear tooth rolling unit and snake-shaped arm structure with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210370584.6A CN114654455A (en) | 2022-04-10 | 2022-04-10 | Gear tooth rolling unit and snake-shaped arm structure with same |
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| Publication Number | Publication Date |
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| CN114654455A true CN114654455A (en) | 2022-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210370584.6A Pending CN114654455A (en) | 2022-04-10 | 2022-04-10 | Gear tooth rolling unit and snake-shaped arm structure with same |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4393728A (en) * | 1979-03-16 | 1983-07-19 | Robotgruppen Hb | Flexible arm, particularly a robot arm |
| CN104507397A (en) * | 2012-07-24 | 2015-04-08 | 理查德·沃尔夫有限公司 | Shaft for medical instruments, comprising movable sections |
| CN106163421A (en) * | 2014-02-21 | 2016-11-23 | 直观外科手术操作公司 | Have a constrained motion can articulated element and relevant device and method |
| US20170281296A1 (en) * | 2001-06-29 | 2017-10-05 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
| US20180008125A1 (en) * | 2008-11-11 | 2018-01-11 | Intuitive Surgical Operations, Inc. | Robotic linkage |
| CN113183144A (en) * | 2021-05-13 | 2021-07-30 | 上海大学 | Rolling joint continuum mechanical arm driven by cable |
-
2022
- 2022-04-10 CN CN202210370584.6A patent/CN114654455A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4393728A (en) * | 1979-03-16 | 1983-07-19 | Robotgruppen Hb | Flexible arm, particularly a robot arm |
| US20170281296A1 (en) * | 2001-06-29 | 2017-10-05 | Intuitive Surgical Operations, Inc. | Apparatus for pitch and yaw rotation |
| US20180008125A1 (en) * | 2008-11-11 | 2018-01-11 | Intuitive Surgical Operations, Inc. | Robotic linkage |
| CN104507397A (en) * | 2012-07-24 | 2015-04-08 | 理查德·沃尔夫有限公司 | Shaft for medical instruments, comprising movable sections |
| CN106163421A (en) * | 2014-02-21 | 2016-11-23 | 直观外科手术操作公司 | Have a constrained motion can articulated element and relevant device and method |
| CN113183144A (en) * | 2021-05-13 | 2021-07-30 | 上海大学 | Rolling joint continuum mechanical arm driven by cable |
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