CN117442142B - Growing type mechanical arm - Google Patents
Growing type mechanical arm Download PDFInfo
- Publication number
- CN117442142B CN117442142B CN202311774474.7A CN202311774474A CN117442142B CN 117442142 B CN117442142 B CN 117442142B CN 202311774474 A CN202311774474 A CN 202311774474A CN 117442142 B CN117442142 B CN 117442142B
- Authority
- CN
- China
- Prior art keywords
- support ring
- flexible
- flexible film
- ring member
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000033001 locomotion Effects 0.000 claims abstract description 35
- 238000007689 inspection Methods 0.000 claims abstract description 23
- 238000003780 insertion Methods 0.000 claims description 61
- 230000037431 insertion Effects 0.000 claims description 61
- 239000012528 membrane Substances 0.000 claims description 12
- 230000003247 decreasing effect Effects 0.000 claims description 4
- 239000010410 layer Substances 0.000 description 30
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 239000000463 material Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 239000002985 plastic film Substances 0.000 description 5
- 229920006255 plastic film Polymers 0.000 description 5
- 230000004044 response Effects 0.000 description 5
- 239000002131 composite material Substances 0.000 description 4
- 239000011229 interlayer Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000002695 general anesthesia Methods 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000036407 pain Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 239000002356 single layer Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
- A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
- A61B1/00133—Drive units for endoscopic tools inserted through or with the endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00151—Holding or positioning arrangements using everted tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
Abstract
The invention provides a growing mechanical arm, which relates to the technical field of medical appliances, and a rigid-flexible combined tubular structure is formed by wrapping a supporting ring component with enhanced rigidity in a cylindrical flexible film and the supporting ring component and the film; when the air-driven type endoscope works, the inner support ring member is everted and grown at the tail end to form a hollow pipeline with radial rigidity, and the pipeline has the capability of resisting the pressure of the surrounding environment and forming a stable geometric structure due to the existence of the support ring member, so that the matched inspection scope can enter a narrow channel simply and conveniently without complex sensing, controlling, rigidity changing and other capabilities under the condition of not damaging the environment; in addition, when the tail end film turns outwards, the supporting ring member makes translational motion and radial expansion deformation, so that the resistance of structural turning outwards is reduced, and the structural damage of the supporting ring member is avoided; the support ring member can be locked in a small diameter state in an initial state and in a large diameter state after eversion.
Description
Technical Field
The invention relates to the technical field of medical equipment and inspection in complex and narrow spaces, in particular to a growing mechanical arm.
Background
In the process of passive in-vivo advancement of the enteroscope, the acting force between the intestinal tract and the enteroscope brings great pain to the patient, so that the patient needs to be subjected to general anesthesia, and meanwhile, an inspection doctor needs to have high operation skills.
To solve the problems existing in enteroscopy applications, related studies have been conducted in academia and industry. Currently, a growth-type mechanical arm has become an ideal solution. The design inspiration of the growth type mechanical arm is derived from the growth mode of plants, the growth of the plants is simulated by outwards overturning the robot main body, and the growth direction is continuously adjusted by presetting folds, line drives and the like so as to adapt to the environment. The body of the growing robot is typically made of flexible film and folded inwardly into a base to which the rear end is secured. Through air pressure or other excitation modes, the folded main body turns outwards in the growth process and forms a hollow structure, so that the front end of the robot is continuously propelled, and autonomous growth is realized.
However, although the growth type mechanical arm can realize autonomous growth in an unstructured environment by virtue of excellent flexibility, the main body of the growth type mechanical arm is mostly prepared based on a flexible film, the structural rigidity is very limited, and the growth type mechanical arm cannot play a role in protecting the environment and cannot shield contact force when other matched tools are inserted inside.
Disclosure of Invention
The invention aims to provide a growth type mechanical arm, which is used for relieving the problem that the structure rigidity of the growth type mechanical arm in the prior art is low, cannot keep stable shape and structure and cannot shield or isolate the contact force of an insertion tool and the environment.
The invention provides a growth type mechanical arm, comprising: a flexible membrane, a stationary body, and a support ring member;
the stationary body having a passageway for passage of an inspection scope implement;
the flexible film is arranged into a cylindrical structure, one end opening of the flexible film is fixed on the fixed main body, the other end opening of the flexible film extends towards the checking extending direction for a certain length and then is turned inwards to extend into the channel, and the air cavity is formed between the flexible film of the turning part and the flexible film of the non-turning part;
when the air cavity is inflated, the flexible film of the overturning part is overturned outwards, so that the flexible film extends and grows in the direction of checking and extending;
the support ring member is in butt joint with the inner layer of the flexible film, and the support ring member can translate along the inner layer of the flexible film, and the support ring member is used for supporting the flexible film and can adjust the diameter size of the circular ring along with the overturning movement of the flexible film.
In an alternative embodiment of the present invention,
the plurality of support ring members are arranged on the inner layer of the flexible film at intervals;
the support ring member is capable of reducing a diameter of the ring in response to the inward flipping motion of the flexible membrane such that the support ring member is positioned on the flexible membrane of the flipped portion;
the support ring member is capable of increasing the diameter of the ring in response to the outward flipping motion of the flexible membrane of the flipped portion such that the support ring member is positioned on the flexible membrane of the un-flipped portion.
In an alternative embodiment of the present invention,
the support ring member includes a ring body and an insertion portion;
one end of the circular ring main body is connected with the insertion part, and an insertion groove for the insertion part to extend into is formed in the other end of the circular ring main body;
the ring body has elasticity, so that the insertion part moves in the insertion groove when the ring body is stressed.
In an alternative embodiment of the present invention,
the insertion portion is formed with a catching protrusion extending in a radial direction for catching with an opening of the insertion groove to restrict movement of the insertion portion in the insertion groove.
In an alternative embodiment of the present invention,
the fixed body is provided with a fixed cylinder, and the cavity of the fixed cylinder forms the channel;
one end opening of the flexible film is fixed on the fixed cylinder, the other end opening of the flexible film extends towards the checking extending direction for a certain length and then inwards overturns and extends into the channel and passes out, and the flexible film after passing out extends away from the checking extending direction for a certain length and then outwards overturns and is fixed on the fixed cylinder;
the flexible membrane is provided with a vent for delivering gas to the air chamber.
In an alternative embodiment of the present invention,
the fixing main body is a fixing box body, the inner cavity of the fixing box body forms the channel, a first mounting hole is formed in one side of the fixing box body, and a second mounting hole is formed in the other side of the fixing box body;
one end opening of the flexible film is fixed on the second mounting hole, the other end opening of the flexible film extends towards the checking extending direction for a certain length and then inwards overturns to extend into the fixed box body and is fixed on the first mounting hole, and a folding section is arranged at the joint of the flexible film and the first mounting hole;
the fixed box body is provided with a vent, gas enters the fixed box body through the vent, and gas in the fixed box body enters the air cavity.
In a second aspect, the present invention provides a growing-type mechanical arm, comprising: the device comprises a flexible barrel, a fixed body, a supporting ring member and a pushing member;
the stationary body having a passageway for passage of an inspection scope implement;
the flexible cylinder is in a cylindrical structure, one end opening of the flexible cylinder is fixed on the fixed main body, the other end opening of the flexible cylinder extends towards the checking extending direction for a certain length and then is turned inwards to extend into the channel, and the driving cavity is formed between the flexible cylinder of the turning part and the flexible cylinder of the non-turning part;
the support ring member is abutted with the inner layer of the flexible cylinder, can translate along the inner layer of the flexible cylinder, is used for supporting the flexible cylinder and can adjust the diameter size of the circular ring along with the overturning movement of the flexible cylinder;
the pushing component stretches into the driving cavity and can be abutted with the supporting ring component so as to push the flexible barrel of the overturning part to do eversion movement and extend and grow towards the inspection stretching direction.
In an alternative embodiment of the present invention,
the plurality of the support ring members are arranged on the inner layer of the flexible cylinder at intervals;
the support ring member is capable of decreasing a diameter of the ring in response to the inward flipping motion of the flexible barrel such that the support ring member is positioned on the flexible barrel of the flipping portion;
the support ring member is capable of increasing the diameter of the ring in response to the outward everting movement of the flexible barrel of the everting portion such that the support ring member is positioned on the flexible barrel of the non-everting portion.
In an alternative embodiment of the present invention,
the support ring member includes a ring body and an insertion portion;
one end of the circular ring main body is connected with the insertion part, and an insertion groove for the insertion part to extend into is formed in the other end of the circular ring main body;
the ring body has elasticity, so that the insertion part moves in the insertion groove when the ring body is stressed.
In an alternative embodiment of the present invention,
the insertion portion is formed with a catching protrusion extending in a radial direction for catching with an opening of the insertion groove to restrict movement of the insertion portion in the insertion groove.
According to the growth type mechanical arm provided by the invention, the inner layer of the flexible film is connected with the supporting ring member, the supporting ring member can freely adjust the diameter size of the circular ring, the tubular flexible film is turned inwards to move in the process of installing the flexible film on the fixed main body, the supporting ring member adjusts the diameter size of the circular ring along with the turning movement of the flexible film, and the flexible film is supported by the supporting ring member, so that the change has the following advantages:
1. the built-in support ring member strengthens the radial rigidity and retains the capability of convenient steering (the distance between two rings can be shortened to steer towards the direction by threading); 2. the stability of the radial structure is enhanced, and the radial structure cannot collapse instantaneously even if damaged; 3. the support ring members create an intermediate passage channel in which articles (such as enteroscopes for enteroscopy) can be transported efficiently.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a growth-type mechanical arm according to a first embodiment of the present invention;
fig. 2 is a schematic diagram of the overall structure of a growth-type mechanical arm according to a second embodiment of the present invention;
fig. 3 is a schematic overall structure of a growth-type mechanical arm according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a support ring member in a first embodiment of a growing-type mechanical arm according to the present invention;
fig. 5 is a schematic structural diagram of a support ring member in a growing mechanical arm according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a growing mechanical arm with a rotating rod according to a second embodiment of the present invention;
fig. 7 is a cross-sectional view of a connection structure between a flexible film and a support ring member in a growth-type mechanical arm according to an embodiment of the present invention.
Icon: 10-an inspection scope appliance; 100-flexible film; 210-a fixed cylinder; 220-fixing the box body; 221-a first mounting hole; 222-a second mounting hole; 223-vent; 300-a support ring member; 310-a ring body; 311-insert slot; 320-an insertion portion; 330-snap-fit protrusions; 400-flexible cartridges; 500-rotating the rod.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1, the growth-type mechanical arm provided in this embodiment includes: a flexible film 100, a fixed body, and a support ring member 300; the fixing body has a channel for the passage of the scope apparatus 10, and the scope apparatus 10 may be a enteroscope, a gastroscope, etc., in this embodiment, the enteroscope is exemplified by a plastic material of the flexible film 100, which has a certain flexibility, and can be turned inwards or outwards, the flexible film 100 is configured as a cylindrical structure, and both ends thereof have openings, which are configured as a cylindrical structure.
When the flexible film 100 is mounted with the fixing body, an opening at one end of the flexible film 100 is fixed on the fixing body, an opening at the other end of the flexible film 100 extends towards the checking extending direction for a certain length and then is turned inwards to extend into the channel and is fixed on the fixing body, the flexible film 100 forms a turning part and a non-turning part in the mounting process, and an air cavity is formed between the flexible film 100 of the turning part and the flexible film 100 of the non-turning part in a surrounding mode.
When the flexible film 100 needs to be extended and grown in the inspection extending direction, the air cavity is inflated, and the flexible film 100 at the turning part is turned outwards, so that the flexible film 100 can be extended and grown in the inspection extending direction.
The support ring member 300 is abutted with the inner layer of the flexible film 100, the support ring member 300 and the flexible film 100 together form a composite structure, the composite structure has rigidity and flexibility, in the manufacturing process of the composite structure, as shown in fig. 7, the flexible film 100 comprises two layers, namely an outer layer film and an inner layer film which are cylindrical, the inner layer film is positioned in the outer layer film to form an interlayer, the support ring member 300 is positioned in the interlayer between the outer layer film and the inner layer film, the support ring member 300 is wrapped by the inner layer film and the outer layer film, and the contact place between the inner layer film and the outer layer film is fixed by adopting a seam line or a hot melt, so that the support ring member 300 can be limited in the composite structure, and the support ring member 300 can translate between adjacent connection points of the inner layer film and the outer layer film due to the abutting contact between the support ring member 300 and the inner layer film and the outer layer film.
In addition, the flexible film 100 is not limited to adopting a two-layer form, for example, a single-layer flexible film 100 may be adopted, and the support ring member 300 is placed in the thickness of the flexible film 100, so that the support ring member 300 can translate along the inner layer of the flexible film 100.
The support ring members 300 are provided in plurality, and the plurality of support ring members 300 are provided on the inner layer of the flexible film 100 at intervals; the support ring member 300 is capable of decreasing the diameter of the circular ring in response to the inward flipping motion of the flexible membrane 100 such that the support ring member 300 is positioned on the flexible membrane 100 of the flipped portion; the support ring member 300 is capable of increasing the ring diameter size with the outward flipping motion of the flipped portion of the flexible film 100 such that the support ring member 300 is positioned on the non-flipped portion of the flexible film 100, specifically: in the installation process of the support ring member 300, when the flexible film 100 is not turned over, the plurality of support ring members 300 are fixed on the inner layer of the flexible film 100, when the flexible film 100 is turned inwards, the flexible film 100 drives the support ring members 300 to shrink inwards, the diameter size of the circular ring of the support ring members 300 is reduced, the support ring members 300 with smaller diameter size of the circular ring are fixed on the flexible film 100 of the air cavity positioned at the turning part, and the diameter size of the circular ring of the support ring members 300 fixed on the flexible film 100 of the non-turning part is larger, so that the structural strength of the flexible film 100 is effectively improved through the arrangement of the support ring members 300.
In addition, it should be noted that, the connection mode of the support ring member 300 and the flexible film 100 is an abutting connection, that is, the support ring member 300 is limited in the air cavity by the two layers of flexible films 100, the support ring member 300 contacts with the flexible film 100, during the everting growth process of the flexible film 100, the support ring member 300 can be pushed to translate in the air cavity due to the contact force between the support ring member 300 and the flexible film 100, and the support ring member 300 moves along with the movement of the flexible film 100, and it should be noted that, the contact force includes the friction force between the flexible film 100 and the support ring member 300 and also includes the positive stress, compared with the connection mode of the support ring member 300 and the flexible film 100 by adopting the bonding mode, the embodiment can realize the translation of the support ring member 300 by adopting the abutting mode, but can not realize the translation of the support ring member 300 by adopting the bonding mode. The specific structure of the support ring member 300 is as follows:
as shown in fig. 4, the support ring member 300 includes a ring main body 310 and an insertion portion 320; the circular ring main body 310 has an arc-shaped structure, one end of the circular ring main body 310 is connected with the insertion part 320, the insertion part 320 has an arc rod-shaped structure, a connecting line of the insertion part 320 and the circular ring main body 310 forms a circular structure, the other end of the circular ring main body 310 is provided with an insertion groove 311 for the insertion part 320 to extend in, the circular ring main body 310 has elasticity, when the circular ring main body 310 performs overturning motion along with the flexible film 100, the circular ring main body 310 is stressed to deform, the insertion part 320 moves in the insertion groove 311, and the extension or extension movement of the insertion part 320 in the insertion groove 311 changes the increase or decrease of the whole diameter size of the support ring member 300.
In order to enable the support ring member 300 to be fixed after being reduced from a large diameter to a small diameter when the flexible film 100 is turned inwards, specifically, the insertion portion 320 is formed with a clamping protrusion 330 extending along a radial direction, the clamping protrusion 330 has a certain elasticity, when the flexible film 100 is turned inwards, the support ring member 300 is reduced in diameter along with the movement of the flexible film 100, the insertion portion 320 extends into the insertion groove 311, the clamping protrusion 330 is clamped at the opening of the insertion groove 311, and the insertion portion 320 can be clamped in the insertion groove 311 to form the small-sized support ring member 300.
In addition, as shown in fig. 4, the ring main body 310 may be an integrally formed structure, or may be a spliced structure, for example, as shown in fig. 5, the ring main body 310 is formed by two parts, including a first main body and a second main body, the first main body is provided with a buckle, the second main body is provided with a through hole corresponding to the position of the buckle, the first main body and the second main body are fastened with each other to form an insertion slot 311 through the cooperation of the buckle and the through hole, the insertion portion 320 is fixed at one end of the first main body or the second main body far away from the insertion slot 311, when the first main body and the second main body are stressed and deformed, the insertion portion 320 can perform telescopic motion in the insertion slot 311 to adjust the diameter size of the ring main body 310, and the specific structure of the support ring member 300 is selected according to practical situations.
In an alternative embodiment, in order to adjust the turning direction of the support ring members 300, a traction rope is provided, one end of which passes through the flexible film 100 and one of the support ring members 300 and is fixed to an adjacent support ring member 300, and a user shortens a portion of the traction rope between the two support ring members 300 by pulling the other end of the traction rope, and since the support ring members 300 are connected to the flexible film 100, the connection line is shortened to cause the support ring members 300 to adjust the turning direction, so that the turning direction of the support ring members 300 can be freely controlled.
In an alternative embodiment, the fixing body is provided as a fixing cylinder 210, the fixing cylinder 210 is of a cylindrical structure, and a cavity in the fixing cylinder 210 of the cylindrical structure forms a channel; the flexible film 100 is installed as follows: the method comprises the steps of firstly fixing an opening at one end of a flexible film 100 on a fixed cylinder 210, then extending the opening at the other end of the flexible film 100 towards an inspection extending direction for a certain length, inwards turning over and extending into a channel and penetrating out, extending the penetrated flexible film 100 away from the inspection extending direction for a certain length, outwards turning over and fixing the penetrated flexible film 100 on the fixed cylinder 210, installing the flexible film 100 on the fixed cylinder 210, forming an air cavity, penetrating a space formed by surrounding the middle part of the flexible film 100 through a enteroscope, inflating the air cavity in the process that the enteroscope extends into a human body, and enabling the flexible film 100 at an inversion part to extend and grow towards the direction extending into the human body, wherein the flexible film 100 plays a role in preventing the enteroscope from contacting the human body.
It should be noted that, since the flexible film 100 extends for a certain length along the inspection extending direction and then turns inwards, and then passes through the channel in the opposite direction and extends for a certain length and then turns outwards to be fixed on the fixed cylinder 210, air cavities are formed on the front side and the rear side of the fixed cylinder 210, in order to ensure that the flexible film 100 extends and grows in the inspection extending direction after the air cavities are inflated, the flexible film 100 needs to be set to a variable diameter structure, and the area of the air cavity of the flexible film 100 close to the inspection extending direction is ensured to be larger than the area of the air cavity of the flexible film 100 far away from the inspection extending direction, so that the flexible film 100 can extend and grow in the inspection extending direction when the air cavity is inflated and pressurized.
The flexible film 100 is provided with a vent 223, and an external gas delivery device delivers gas into the air chamber through the vent 223.
In addition, the usage scenario of the enteroscope is as follows: the enteroscope stretches into the human body, in the stretch-in process, the flexible film 100 stretches into the human body for growth, the flexible film 100 wraps the enteroscope, the enteroscope is effectively prevented from touching the human body, when the enteroscope reaches the most distal end, the detection is started, the probe at the end of the enteroscope stretches out of the flexible film 100, the enteroscope moves along the direction of stretching out of the human body, and the flexible film 100 retracts along with the stretch-out movement of the enteroscope until the enteroscope and the flexible film 100 stretch out of the human body together.
As an alternative embodiment, the flexible film 100 after the extension growth can be formed by splicing two materials, namely, a plastic film and a rubber material, wherein the plastic film extends and grows towards the direction of extending into the human body, the rubber material is positioned on one side of the fixed cylinder 210 far away from the direction of checking and extending, the gas pressure in the gas cavity is smaller at the beginning in the process of pressurizing the gas cavity, the plastic film extends and grows towards the direction of extending into the human body, the rubber material is gradually expanded under the influence of the gas pressure along with the gradual rising of the gas pressure, and the expansion of the rubber material can drive the retraction of the plastic film due to the integral structure of the rubber material and the plastic film, so as to realize the retraction movement of the flexible film 100.
As another alternative embodiment, holes may be formed at positions of the flexible film 100 corresponding to the support ring members 300, and connection ropes may be used to pass through the holes to connect the support ring members 300, so that when the flexible film 100 needs to be retracted, an operator pulls the support ring members 300 through the connection ropes, and the flexible film 100 can be retracted because the support ring members 300 are fixed on the flexible film 100.
According to the growth type mechanical arm provided by the embodiment, the supporting ring member 300 is connected to the inner layer of the flexible film 100, the supporting ring member 300 can freely adjust the diameter of the circular ring, in the process that the flexible film 100 is mounted on the fixed main body, the tubular flexible film 100 is turned inwards, the supporting ring member 300 adjusts the diameter of the circular ring along with the turning movement of the flexible film 100, so that the supporting ring member 300 is positioned in the air cavity formed by the turning inwards of the flexible film 100, the flexible film 100 is supported by the supporting ring member 300, the rigidity of the flexible film 100 is improved, the bending of a flexible template is effectively avoided, the technical problem that the growth type mechanical arm in the prior art is low in structural rigidity and easy to locally deform, and the robot is bent is solved.
Example two
As shown in fig. 2, the difference between the second embodiment and the first embodiment is that the structure of the fixing body is the same as that of the support ring member 300 and the flexible film 100, so that the specific structures of the support ring member 300 and the flexible film 100 are not described here again.
The fixing body is provided with a fixing box 220, a channel is formed in the inner cavity of the fixing box 220, a first mounting hole 221 is formed in one side of the fixing box 220, and a second mounting hole 222 is formed in the other side of the fixing box 220; the flexible film 100 is installed as follows: one end opening of the flexible film 100 is fixed on the second mounting hole 222, the other end opening of the flexible film 100 extends towards the inspection extending direction for a certain length and then turns inwards to extend into the fixed box 220 and is fixed on the first mounting hole 221, the flexible film 100 can be mounted on the fixed box 220, and a folding section is arranged at the joint of the flexible film 100 and the first mounting hole 221, so that the flexible film 100 can extend and grow.
The fixed box 220 is provided with a vent 223, gas enters the fixed box 220 through the vent 223, the gas in the fixed box 220 enters the air cavity, the air pressure in the air cavity is gradually increased in the continuous ventilation process, and the flexible film 100 at the inversion part is pushed to be everted, so that the flexible film 100 can extend and grow towards the inspection extending direction.
As for the retraction movement of the flexible film 100 after the extension and growth, referring to fig. 6, a rotating rod 500 may be inserted into the fixed box 220, one end of the rotating rod 500 extends into the fixed box 220 and is in contact with the flexible film 100, the other end of the rotating rod 500 extends out of the fixed box 220 and is connected with a driving device, the driving force generated by the driving device drives the rotating rod 500 to rotate, the rotating rod 500 rotates to drive the flexible film 100 to move through friction force, so that the flexible film 100 can be retracted, and in order to retract the upper side and the lower side of the flexible film 100 together, two rotating rods 500 are provided and are respectively located on the upper side and the lower side of the flexible film 100.
Example III
As shown in fig. 3, the growth-type mechanical arm provided in this embodiment includes: a flexible tube 400, a fixed body, a support ring member 300, and a pushing member; the stationary body has a passageway for the passage of the endoscopic tool 10; the flexible tube 400 is provided in a cylindrical structure, and the flexible tube 400 is installed as follows: one end opening of the flexible tube 400 is fixed on the fixed body, the other end opening of the flexible tube 400 extends for a certain length towards the inspection extending direction and then turns inwards to extend into the channel, then turns outwards to be fixed on the fixed body, the fixed body is not shown in fig. 3, the structure of the fixed body can refer to fig. 1 and 2, and a driving cavity is formed between the flexible tube 400 of the turning part and the flexible tube 400 of the non-turning part; the support ring member 300 is connected with the inner layer of the flexible tube 400, and the support ring member 300 is located in the driving cavity, and the support ring member 300 is used for supporting the flexible tube 400 and can adjust the diameter size of the circular ring along with the overturning movement of the flexible tube 400.
The pushing member is in a cylindrical structure, and extends into the driving cavity to be abutted against the supporting ring member 300, and when the flexible tube 400 needs to be extended and grown, the pushing member pushes the flexible tube 400 of the turning part to make an everting motion, so that the flexible tube 400 can extend and grow towards the direction of inspection extending and entering.
As for the retraction movement of the flexible tube 400, the above-mentioned manner of the rotating rod 500 may be adopted, and the friction force between the rotating rod 500 and the flexible tube 400 drives the flexible tube 400 to perform the retraction movement.
Since the support ring member 300 in the third embodiment is the same as the support ring member 300 in the first and second embodiments, the description thereof will be omitted.
In addition, other driving modes may be used to drive the flexible tube 400, for example, a driving member is used to act on the inner wall of a channel formed through the innermost circumference of the flexible tube 400 for the inspection tool to pass through, so as to drive the flexible tube 400, and different driving modes are selected according to actual situations.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. A growing type mechanical arm, characterized by comprising: a flexible membrane (100), a stationary body and a support ring member (300);
the stationary body has a passage for passing an examination scope (10);
the support ring member (300) includes a ring body (310) and an insert (320);
the flexible film (100) is arranged into a cylindrical structure, one end opening of the flexible film (100) is fixed on the fixed main body, the other end opening of the flexible film (100) extends towards the checking extending direction for a certain length and then is turned inwards to extend into the channel, and an air cavity is formed between the flexible film (100) of the turning part and the flexible film (100) of the non-turning part;
when the air cavity is inflated, the flexible film (100) of the overturning part is overturned outwards, so that the flexible film (100) extends and grows towards the inspection extending direction;
the support ring member (300) is abutted with the inner layer of the flexible film (100), the support ring member (300) can translate along the inner layer of the flexible film (100), the support ring member (300) is used for supporting the flexible film (100), and the diameter size of the circular ring can be adjusted along with the overturning movement of the flexible film (100);
a plurality of support ring members (300) are arranged, and the plurality of support ring members (300) are arranged on the inner layer of the flexible film (100) at intervals;
the support ring member (300) is capable of decreasing a ring diameter size with an inward flipping motion of the flexible membrane (100) such that the support ring member (300) is located on the flexible membrane (100) of the flipped portion;
the support ring member (300) is capable of increasing the ring diameter size with the outward flipping motion of the flexible film (100) of the flipped portion so that the support ring member (300) is located on the flexible film (100) of the non-flipped portion;
one end of the circular ring main body (310) is connected with the insertion part (320), and an insertion groove (311) into which the insertion part (320) extends is formed in the other end of the circular ring main body (310);
the ring body (310) has elasticity so that the insertion portion (320) moves in the insertion groove (311) when the ring body (310) is forced.
2. The growing-type mechanical arm of claim 1, wherein,
the insertion portion (320) is formed with a clamping protrusion (330) extending along a radial direction, and the clamping protrusion (330) is used for clamping with an opening of the insertion groove (311) so as to limit the movement of the insertion portion (320) in the insertion groove (311).
3. The growing-type mechanical arm of claim 1, wherein,
the fixed body is provided as a fixed cylinder (210), the cavity of the fixed cylinder (210) forming the channel;
one end opening of the flexible film (100) is fixed on the fixed cylinder (210), the other end opening of the flexible film (100) extends towards the checking and extending direction for a certain length and then inwards overturns and extends into the channel and passes out, and the flexible film (100) after passing out extends away from the checking and extending direction for a certain length and then outwards overturns and is fixed on the fixed cylinder (210);
the flexible membrane (100) is provided with a vent (223) for delivering gas to the air cavity.
4. The growing-type mechanical arm of claim 1, wherein,
the fixing body is a fixing box body (220), the inner cavity of the fixing box body (220) forms the channel, a first mounting hole (221) is formed in one side of the fixing box body (220), and a second mounting hole (222) is formed in the other side of the fixing box body (220);
one end opening of the flexible film (100) is fixed on the second mounting hole (222), the other end opening of the flexible film (100) extends towards the checking extending direction for a certain length and then inwards overturns and extends into the fixed box body (220) and is fixed on the first mounting hole (221), and a folding section is arranged at the joint of the flexible film (100) and the first mounting hole (221);
the fixed box body (220) is provided with a vent (223), gas enters the fixed box body (220) through the vent (223), and the gas in the fixed box body (220) enters the air cavity.
5. A growing type mechanical arm, characterized by comprising: a flexible barrel (400), a stationary body, a support ring member (300), and a pushing member;
the stationary body has a passage for passing an examination scope (10);
the support ring member (300) includes a ring body (310) and an insert (320);
the flexible tube (400) is arranged into a tubular structure, one end opening of the flexible tube (400) is fixed on the fixed main body, the other end opening of the flexible tube (400) extends towards the checking extending direction for a certain length and then is turned inwards to extend into the channel, and a driving cavity is formed between the flexible tube (400) of the turning part and the flexible tube (400) of the non-turning part;
the support ring member (300) is abutted with the inner layer of the flexible cylinder (400), the support ring member (300) can translate along the inner layer of the flexible cylinder (400), the support ring member (300) is used for supporting the flexible cylinder (400), and the diameter size of the circular ring can be adjusted along with the overturning movement of the flexible cylinder (400);
the pushing component stretches into the driving cavity and can be abutted against the supporting ring component (300) so as to push the flexible barrel (400) of the overturning part to do eversion movement and extend and grow towards the inspection stretching direction;
a plurality of support ring members (300) are arranged, and the plurality of support ring members (300) are arranged on the inner layer of the flexible cylinder (400) at intervals;
the support ring member (300) is capable of decreasing a ring diameter size with an inward flipping motion of the flexible barrel (400) such that the support ring member (300) is located on the flexible barrel (400) of the flipped portion;
the support ring member (300) is capable of increasing the ring diameter size with the outward flipping motion of the flexible tube (400) of the flipped portion such that the support ring member (300) is located on the flexible tube (400) of the un-flipped portion;
one end of the circular ring main body (310) is connected with the insertion part (320), and an insertion groove (311) into which the insertion part (320) extends is formed in the other end of the circular ring main body (310);
the ring body (310) has elasticity so that the insertion portion (320) moves in the insertion groove (311) when the ring body (310) is forced.
6. The growing-type mechanical arm of claim 5, wherein,
the insertion portion (320) is formed with a clamping protrusion (330) extending along a radial direction, and the clamping protrusion (330) is used for clamping with an opening of the insertion groove (311) so as to limit the movement of the insertion portion (320) in the insertion groove (311).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311774474.7A CN117442142B (en) | 2023-12-22 | 2023-12-22 | Growing type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311774474.7A CN117442142B (en) | 2023-12-22 | 2023-12-22 | Growing type mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117442142A CN117442142A (en) | 2024-01-26 |
| CN117442142B true CN117442142B (en) | 2024-03-19 |
Family
ID=89591466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311774474.7A Active CN117442142B (en) | 2023-12-22 | 2023-12-22 | Growing type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117442142B (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113103212A (en) * | 2021-04-30 | 2021-07-13 | 哈尔滨工业大学 | Self-growing flexible arm gripper device |
| CN114789945A (en) * | 2022-06-27 | 2022-07-26 | 徐州金太阳包装材料有限公司 | PVC film winding machine and winding method |
| WO2022170989A1 (en) * | 2021-02-09 | 2022-08-18 | 北京术锐技术有限公司 | Developable instrument and surgical robot system |
| CN115128085A (en) * | 2022-06-27 | 2022-09-30 | 江苏科技大学 | Large-scale ring rolling spare is from inside and outside defect testing platform of horizontal upset |
-
2023
- 2023-12-22 CN CN202311774474.7A patent/CN117442142B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022170989A1 (en) * | 2021-02-09 | 2022-08-18 | 北京术锐技术有限公司 | Developable instrument and surgical robot system |
| CN113103212A (en) * | 2021-04-30 | 2021-07-13 | 哈尔滨工业大学 | Self-growing flexible arm gripper device |
| CN114789945A (en) * | 2022-06-27 | 2022-07-26 | 徐州金太阳包装材料有限公司 | PVC film winding machine and winding method |
| CN115128085A (en) * | 2022-06-27 | 2022-09-30 | 江苏科技大学 | Large-scale ring rolling spare is from inside and outside defect testing platform of horizontal upset |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117442142A (en) | 2024-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9114037B2 (en) | Tube with reverse necking properties | |
| US8038704B2 (en) | Stent and other objects removal from a body | |
| US20190247210A1 (en) | Evertable sheath devices, systems, and methods | |
| JP2013505058A (en) | Propulsion device with a function of actively changing the size | |
| KR101364328B1 (en) | Cuff-equipped tube | |
| WO2008048941A2 (en) | Inflatable actuation device | |
| US7879005B2 (en) | Device and method for collapsing an angioplasty balloon | |
| CN117442142B (en) | Growing type mechanical arm | |
| JP6882484B2 (en) | Anticanulation web | |
| IL263072A (en) | System, device and method for advancing an article along a path | |
| CN108042893B (en) | Double-tube laryngeal mask device and control method thereof | |
| WO2020208961A1 (en) | Balloon catheter | |
| JP7199729B2 (en) | Expansion and contraction operation means for balloon catheter | |
| CN219374580U (en) | Endoscope system | |
| JP2024004451A (en) | Catheter and balloon actuation method | |
| CN117298421A (en) | Working method of catheter and balloon | |
| WO2018062116A1 (en) | Balloon catheter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |