WO2025129783A1 - 生长型机械臂 - Google Patents

生长型机械臂 Download PDF

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Publication number
WO2025129783A1
WO2025129783A1 PCT/CN2024/072637 CN2024072637W WO2025129783A1 WO 2025129783 A1 WO2025129783 A1 WO 2025129783A1 CN 2024072637 W CN2024072637 W CN 2024072637W WO 2025129783 A1 WO2025129783 A1 WO 2025129783A1
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WIPO (PCT)
Prior art keywords
flexible film
fixed
flexible
support ring
growing
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.)
Pending
Application number
PCT/CN2024/072637
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English (en)
French (fr)
Inventor
袁鸿雁
于文凯
余子越
李鑫
陈惇宇
宫郅
周拓
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Southern University of Science and Technology
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Southern University of Science and Technology
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Publication of WO2025129783A1 publication Critical patent/WO2025129783A1/zh
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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—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Program-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Program-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

Definitions

  • the present disclosure relates to the technical field of medical equipment and complex and narrow space inspection, and in particular to a growing robotic arm.
  • the force between the intestines and the colonoscope will cause great pain to the patient, causing the patient to need general anesthesia, and the examination doctor is required to have superb operating skills.
  • the growing robot arm has become an ideal solution.
  • the design of the growing robot arm is inspired by the growth method of plants. It simulates the growth of plants by flipping the robot body outward, and continuously adjusts the growth direction to adapt to the environment through preset folds, wire drive, etc.
  • the main body of the growing robot arm is usually made of a flexible film and folded inward into the base, with the rear end fixed to the base. Through air pressure or other excitation methods, the folded body flips outward during the growth process and forms a hollow structure, which enables the front end of the robot to continue to advance and achieve autonomous growth.
  • the growth-type robotic arm can achieve autonomous growth in an unstructured environment by virtue of its excellent flexibility, its main body is mostly made of flexible films and has very limited structural rigidity. When other supporting tools are inserted inside, it cannot protect the environment and cannot shield the contact force.
  • the present disclosure provides a growth-type robotic arm to at least alleviate the problems existing in the related art, such as the low structural rigidity of the growth-type robotic arm, the inability to maintain a stable shape and structure by itself, and the inability to shield or isolate the contact force between the insertion tool and the environment.
  • Some embodiments of the present disclosure provide a growing mechanical arm that may include: a flexible film, a fixed body, and a support ring member;
  • the fixed body has a passage for the inspection mirror device to pass through;
  • the flexible film is configured as a cylindrical structure, one end of the flexible film is opened and fixed on the fixed body, the other end of the flexible film is opened and extends a certain length in the inspection insertion direction, then turned inward and extends into the channel, and the air cavity is formed between the turned portion of the flexible film and the unturned portion of the flexible film;
  • the flexible film of the flipping portion flips outward, so that the flexible film extends and grows in the inspection insertion direction;
  • the support ring member abuts against the inner layer of the flexible film, and the support ring member can be moved along the inner layer of the flexible film.
  • the inner layer of the film moves in translation, and the supporting ring component is used to support the flexible film and can adjust the diameter of the ring along with the flipping movement of the flexible film.
  • the annular body has elasticity, so that the inserting portion moves in the inserting groove when the annular body is subjected to force.
  • An opening may be formed in the flexible film at a position corresponding to the supporting ring member, and the connecting rope passes through the opening to be connected to the supporting ring member.
  • a rotating rod may be provided on the fixed box body, one end of the rotating rod extends into the fixed box body and abuts against the flexible film, and the other end of the rotating rod extends out of the fixed box body and is connected to the driving device.
  • Some other embodiments of the present disclosure provide a growing mechanical arm that may include: a flexible cylinder, a fixed body, a support ring member, and a pushing member;
  • the fixed body has a passage for the inspection mirror device to pass through;
  • the flexible tube is configured as a cylindrical structure, one end of the flexible tube is opened and fixed on the fixed body, the other end of the flexible tube is opened and extends a certain length in the inspection insertion direction, then turns inward and extends into the channel, and the driving cavity is formed between the turned portion of the flexible tube and the unturned portion of the flexible tube;
  • FIG1 is a schematic diagram of the overall structure of a growth-type robotic arm provided by an embodiment of the present disclosure
  • FIG3 is a schematic diagram of the overall structure of a growth-type robotic arm provided in yet another embodiment of the present disclosure.
  • FIG5 is a schematic structural diagram of a support ring component in a growth-type robotic arm provided by the present disclosure under another embodiment
  • FIG6 is a schematic structural diagram of a growth-type mechanical arm with a rotating rod provided in another embodiment of the present disclosure.
  • connection structure between the flexible film and the support ring component in the growth-type robotic arm provided by an embodiment of the present disclosure.
  • Icons 10-inspection mirror apparatus; 100-flexible film; 210-fixed cylinder; 220-fixed box; 221-first mounting hole; 222-second mounting hole; 223-vent; 300-support ring member; 310-circular ring body; 311-insertion groove; 320-insertion part; 330-clamping protrusion; 400-flexible cylinder; 500-rotating rod.
  • the growing type robot arm may include: a flexible film 100, a fixed body and a support ring member 300; the fixed body has a channel for the inspection mirror device 10 to pass through, and the inspection mirror device 10 It can be a colonoscope, a gastroscope, etc. In this solution, a colonoscope is used as an example.
  • the material of the flexible film 100 is a plastic material, which has a certain flexibility and can be turned inward or outward.
  • the flexible film 100 is set as a tubular structure with openings at both ends, which is a cylindrical structure.
  • the air cavity is inflated, and the flexible film 100 of the turning part is turned outward, so that the flexible film 100 can be extended and grown in the inspection extending direction.
  • the support ring component 300 is in contact with the inner layer of the flexible film 100, and the support ring component 300 and the flexible film 100 together constitute a composite structure, which has both rigidity and flexibility.
  • the flexible film 100 includes two layers, namely an outer film and an inner film, both of which are cylindrical, and the inner film is located inside the outer film to form an interlayer, and the support ring component 300 is located in the interlayer between the outer film and the inner film, and the support ring component 300 is wrapped by the inner film and the outer film, and the contact between the inner film and the outer film is fixed by a saddle stitch or hot melt, so that the support ring component 300 can be confined therein, and because the support ring component 300 is in contact with the inner film and the outer film, the support ring component 300 can move horizontally between the adjacent connection points of the inner film and the outer film.
  • the flexible film 100 is not limited to a two-layer form.
  • a single-layer flexible film 100 may be used, and the support ring member 300 is placed in the thickness of the flexible film 100 so that the support ring member 300 can move horizontally along the inner layer of the flexible film 100 .
  • the supporting ring member 300 can be provided with a plurality of supporting ring members 300, and the plurality of supporting ring members 300 are arranged at intervals on the inner layer of the flexible film 100; the supporting ring member 300 can reduce the diameter of the ring as the flexible film 100 turns inward, so that the supporting ring member 300 is located on the flexible film 100 of the turning part; the supporting ring member 300 can increase the diameter of the ring as the flexible film 100 of the turning part turns outward, so that the supporting ring member 300 is located on the flexible film 100 of the non-turned part. Specifically: during the installation of the supporting ring member 300, When the film 100 is not flipped over, a plurality of support ring members 300 are fixed on the inner layer of the flexible film 100.
  • the flexible film 100 drives the support ring members 300 to shrink inward, reducing the diameter of the circular ring of the support ring members 300, so that the support ring members 300 with smaller circular ring diameters are fixed on the flexible film 100 where the air cavity is located in the flipping part, while the support ring members 300 fixed on the flexible film 100 in the non-flipping part have larger circular ring diameters.
  • the arrangement of the support ring members 300 effectively improves the structural strength of the flexible film 100.
  • connection mode between the support ring member 300 and the flexible film 100 is abutment connection, that is, the support ring member 300 is restricted in the air cavity by two layers of flexible films 100, and the support ring member 300 is in contact with the flexible film 100.
  • the support ring member 300 can be pushed to move in the air cavity, and the support ring member 300 moves with the movement of the flexible film 100.
  • the contact force includes the friction between the flexible film 100 and the support ring member 300, and also includes the normal stress.
  • the abutment method in this embodiment can achieve the translation of the support ring member 300, while the bonding method cannot achieve the translation of the support ring member 300.
  • the specific structure of the support ring member 300 is as follows:
  • the support ring component 300 may include a circular ring body 310 and an insertion portion 320; the circular ring body 310 is an arc-shaped structure, one end of the circular ring body 310 is connected to the insertion portion 320, the insertion portion 320 is an arc rod-shaped structure, and the line connecting the insertion portion 320 and the circular ring body 310 forms a circular structure.
  • the other end of the circular ring body 310 is provided with an insertion groove 311 for the insertion portion 320 to extend into.
  • the circular ring body 310 is elastic.
  • the circular ring body 310 When the circular ring body 310 performs a flipping motion with the flexible film 100, the circular ring body 310 is deformed by force, and the insertion portion 320 moves in the insertion groove 311. The insertion portion 320 extends out or moves in the insertion groove 311, thereby changing the increase or decrease in the overall diameter size of the support ring component 300.
  • the insertion portion 320 extends radially to form a snap-fitting protrusion 330, and the snap-fitting protrusion 330 has a certain elasticity.
  • the diameter of the support ring component 300 is reduced as the flexible film 100 moves, and the insertion portion 320 extends into the insertion groove 311.
  • the snap-fitting protrusion 330 is snapped at the opening of the insertion groove 311, so that the insertion portion 320 can be snapped in the insertion groove 311 to form a small-sized support ring component 300.
  • the flexible film 100 can be set to be spliced with two materials, namely, a plastic film and a rubber material.
  • the plastic film is extended and grown in the direction of extending into the human body, and the rubber material is located on the side of the fixed cylinder 210 away from the inspection extension direction.
  • the gas pressure in the air cavity is relatively small at the beginning, and the plastic film extends and grows in the direction of extending into the human body.
  • the rubber material gradually expands under the influence of the gas pressure. Since the rubber material and the plastic film are an integrated structure, the expansion of the rubber material can drive the retraction of the plastic film, thereby realizing the retraction movement of the flexible film 100.
  • a hole may be opened at a position of the flexible film 100 corresponding to the support ring component 300, and a connecting rope may be passed through the hole to connect to the support ring component 300.
  • a connecting rope may be passed through the hole to connect to the support ring component 300.
  • the growing robot arm connects a supporting ring member 300 to the inner layer of the flexible film 100, and the supporting ring member 300 can freely adjust the diameter size of the circular ring.
  • the cylindrical flexible film 100 flips inward, and the supporting ring member 300 adjusts the diameter size of the circular ring as the flexible film 100 flips, so that the supporting ring member 300 is located in the air cavity formed by the inward flipping of the flexible film 100.
  • the supporting ring member 300 is used to support the flexible film 100, thereby improving the rigidity of the flexible film 100 and effectively avoiding the bending of the flexible template, thereby alleviating the technical problem in the related art that the structural rigidity of the growing robot arm is low and local deformation is prone to occur, causing the robot to bend.
  • the difference between this another embodiment of the present disclosure and the aforementioned embodiment lies in the structure of the fixed body.
  • the structures of the support ring member 300 and the flexible film 100 are the same, so the specific structures of the support ring member 300 and the flexible film 100 are not repeated here.
  • the fixed body can be set as a fixed box body 220, the inner cavity of the fixed box body 220 forms a channel, a first mounting hole 221 is set on one side of the fixed box body 220, and a second mounting hole 222 is set on the other side of the fixed box body 220;
  • the installation process of the flexible film 100 is as follows: one end opening of the flexible film 100 is fixed on the second mounting hole 222, and the other end opening of the flexible film 100 is extended inwardly for a certain length in the inspection insertion direction and then turned inward to extend into the fixed box body 220 and fixed on the first mounting hole 221, so that the flexible film 100 can be installed on the fixed box body 220, and the connection between the flexible film 100 and the first mounting hole 221 has a folded section, and the folded section enables the flexible film 100 to extend and grow.
  • the fixed box 220 may be provided with a vent 223, through which gas enters the fixed box 220, and the gas in the fixed box 220 enters the air cavity.
  • a vent 223 through which gas enters the fixed box 220, and the gas in the fixed box 220 enters the air cavity.
  • the air pressure in the air cavity gradually increases, pushing the flexible film 100 in the inverted part to be turned outward, thereby allowing the flexible film 100 to extend and grow in the inspection direction.
  • a rotating rod 500 may be provided on the fixed box 220 , one end of the rotating rod 500 extends into the fixed box 220 and abuts against the flexible film 100 , and the other end of the rotating rod 500 extends out of the fixed box 220 and is connected to the driving device.
  • the driving force generated by the driving device drives the rotating rod 500 to rotate, and the rotation of the rotating rod 500 drives the flexible film 100 to move through the friction force, so that the flexible film 100 can retract.
  • two rotating rods 500 are provided, which are respectively located on the upper and lower sides of the flexible film 100 .
  • the fixed body is not shown in FIG3 , and the structure of the fixed body can refer to FIG1 and FIG2 , and a driving cavity is formed between the flexible tube 400 of the flipped part and the flexible tube 400 of the unflipped part; the support ring member 300 is connected to the inner layer of the flexible tube 400, and the support ring member 300 is located in the driving cavity, the support ring member 300 is used to support the flexible tube 400, and can adjust the diameter size of the circular ring with the flipping movement of the flexible tube 400.
  • the pushing member can be a cylindrical structure. When the pushing member is inserted into the driving cavity, it can abut against the supporting ring member 300. When the flexible tube 400 needs to be extended and grown, the pushing member pushes the flexible tube 400 of the flipping part to perform an outward movement, so that the flexible tube 400 can be extended and grown in the inspection direction.
  • the above-mentioned rotating rod 500 can be used to rotate the flexible tube 400.
  • the friction force of the tube 400 drives the flexible tube 400 to retract.
  • the structure of the support ring member 300 in the further embodiment is the same as that of the support ring member 300 in the first embodiment and the other embodiment, it will not be described in detail here.
  • the present disclosure provides a growing robot arm, which relates to the technical field of medical devices.
  • a cylindrical flexible film is wrapped with densely placed support ring components with enhanced rigidity to form a rigid-flexible tubular structure together with the film.
  • the internal support ring is driven by air to grow outward at the end to form a hollow pipe with radial rigidity. Due to the existence of the support ring component, the pipe has the ability to resist the pressure of the surrounding environment and form a stable geometric structure, so that the matching inspection mirror instrument can easily enter the narrow passage without damaging the environment and does not require complicated sensing, control, and variable stiffness capabilities.
  • the support ring when the film at the end is everted, the support ring performs translational motion and deformation with an enlarged radius, thereby reducing the resistance to the eversion of the structure and avoiding structural damage to the support ring.
  • the support ring component can be locked in a small diameter state in the initial state, and is in a large diameter state after eversion.
  • the growth-type robotic arm of the present disclosure is reproducible and can be used in a variety of applications.
  • the growth-type robotic arm of the present disclosure can be used in the field of medical device technology.

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  • Health & Medical Sciences (AREA)
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  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Radiology & Medical Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
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Abstract

本公开提供了一种生长型机器臂，涉及医疗器械技术领域，通过在圆筒状柔性薄膜中包裹密集放置的刚度增强的支撑环构件，与薄膜一起形成一种刚柔结合的管状结构；工作时，通过气驱，内部的支撑环在末端外翻生长，形成一个具有径向刚度的空心管道，由于支撑环构件的存在，管道具有抵抗周围环境的压力和形成稳定的几何结构的能力，可以让配套的检查镜器具在不破坏环境的条件下简便地进入狭道而不需要复杂地感知、控制、变刚度等能力；另外，在末端薄膜外翻时，支撑环做平动运动和半径扩大的变形，降低结构外翻的阻力，以及避免支撑环的结构破坏；支撑环构件在初始状态能锁在小直径状态，而外翻之后处在大直径状态。

Description

生长型机械臂
相关申请的交叉引用
本公开要求于2023年12月22日提交中国国家知识产权局的申请号为202311774474.7、名称为“生长型机械臂”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及医疗器械以及复杂狭小空间的检查技术领域，尤其是涉及一种生长型机械臂。
背景技术
肠镜被动向体内推进过程中，肠道与肠镜之间的作用力会给病人带来较大痛苦，导致病人需要进行全身麻醉，同时需要检查医生具备高超的操作技巧。
为解决肠镜应用中存在的问题，学术界及工业界均进行了相关研究。目前，生长型机械臂已成为一种理想的解决方案。生长型机械臂的设计灵感源自植物的生长方式，通过机器人主体向外翻转来模拟植物的生长，并通过预置褶皱、线驱等方式持续调整生长方向以适应环境。生长型机械臂的主体通常由柔性薄膜制成，并向内折叠于基座内，后端固定于基座上。通过气压或其他激励方式，折叠的主体在生长过程向外翻转并形成中空结构，进而使得机器人前端持续推进，实现自主生长。
但是，生长型机械臂虽然能够凭借自身优异的柔顺性在非结构化环境中实现自主生长，但其主体大多基于柔性薄膜制备，结构刚度非常有限，在内部插入其他配套工具时，不能起到保护环境的作用，不能屏蔽掉接触力。
发明内容
本公开提供了一种生长型机械臂，以至少缓解了相关技术中存在的生长型机械臂结构刚度较低，不能自我保持稳定的形状和结构，不能屏蔽或隔绝掉插入工具与环境的接触力。
本公开的一些实施方式提供的生长型机械臂可以包括：柔性薄膜、固定主体和支撑环构件；
所述固定主体具有用于供检查镜器具穿行的通道；
所述柔性薄膜设置为筒状结构，所述柔性薄膜的一端开口固定在所述固定主体上，所述柔性薄膜的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述通道中，翻转部分的所述柔性薄膜与未翻转部分的所述柔性薄膜之间形成所述气腔；
向所述气腔充气时，翻转部分的所述柔性薄膜向外翻转，以使所述柔性薄膜向检查伸入方向延伸生长；
所述支撑环构件与所述柔性薄膜的内层抵接，且所述支撑环构件能够沿着所述柔性薄 膜的内层平动，所述支撑环构件用于支撑所述柔性薄膜，且能够随着所述柔性薄膜的翻转运动而调整圆环直径尺寸。
在可选的实施方式中，
所述支撑环构件可以设置有多个，多个所述支撑环构件间隔设置在所述柔性薄膜的内层上；
所述支撑环构件能够随着所述柔性薄膜的向内翻转运动而减少圆环直径尺寸，以使所述支撑环构件位于翻转部分的所述柔性薄膜上；
所述支撑环构件能够随着翻转部分的所述柔性薄膜向外翻转运动而增大圆环直径尺寸，以使所述支撑环构件位于未翻转部分的所述柔性薄膜上。
在可选的实施方式中，
所述支撑环构件可以包括圆环主体和插入部；
所述圆环主体的一端与所述插入部连接，所述圆环主体的另一端设置有用于供所述插入部伸入的插入槽；
所述圆环主体具有弹性，以使所述圆环主体受力时所述插入部在所述插入槽中移动。
在可选的实施方式中，
所述插入部可以沿着径向延伸形成有卡接凸起，所述卡接凸起用于与所述插入槽的开口卡接，以限制所述插入部在所述插入槽中移动。
在可选的实施方式中，
所述固定主体可以设置为固定圆筒，所述固定圆筒的空腔形成所述通道；
所述柔性薄膜的一端开口固定在所述固定圆筒上，所述柔性薄膜的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述通道中并穿出，穿出后的所述柔性薄膜向远离检查伸入方向延伸一定长度后向外翻转固定在所述固定圆筒上；
所述柔性薄膜设置有用于向所述气腔输送气体的通气口。
在可选的实施方式中，
所述柔性薄膜可以由塑料薄膜和橡胶材料拼接而成，向所述检查伸入方向延伸生长的是所述塑料薄膜，所述橡胶材料位于所述固定圆筒的远离检查伸入方向的一侧。
在可选的实施方式中，
在所述柔性薄膜的对应于所述支撑环构件的位置上可以开设有开孔，并且连接绳穿过所述开孔而被连接在所述支撑环构件上。
在可选的实施方式中，
所述固定主体可以设置为固定箱体，所述固定箱体的内腔形成所述通道，所述固定箱体的一侧设置有第一安装孔，所述固定箱体的另一侧设置有第二安装孔；
所述柔性薄膜的一端开口固定在所述第二安装孔上，所述柔性薄膜的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述固定箱体内并固定在所述第一安装孔上，且所述柔性薄膜与所述第一安装孔的连接处具有折叠段；
所述固定箱体设置有通气口，气体通过所述通气口进入到所述固定箱体内，所述固定箱体内的气体进入到所述气腔中。
在可选的实施方式中，
在所述固定箱体上可以穿设有转动杆，所述转动杆的一端伸入到所述固定箱体中并且与所述柔性薄膜抵接，所述转动杆的另一端伸出所述固定箱体而与驱动装置连接。
本公开的另一些实施方式提供的生长型机械臂可以包括：柔性筒、固定主体、支撑环构件和推动构件；
所述固定主体具有用于供检查镜器具穿行的通道；
所述柔性筒设置为筒状结构，所述柔性筒的一端开口固定在所述固定主体上，所述柔性筒的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述通道中，翻转部分的所述柔性筒与未翻转部分的所述柔性筒之间形成所述驱动空腔；
所述支撑环构件与所述柔性筒的内层抵接，且所述支撑环构件能够沿着所述柔性薄膜的内层平动，所述支撑环构件用于支撑所述柔性筒，且能够随着所述柔性筒的翻转运动而调整圆环直径尺寸；
所述推动构件伸入到所述驱动空腔中能够与所述支撑环构件抵接，以推动翻转部分的所述柔性筒做外翻运动，向检查伸入方向延伸生长。
在可选的实施方式中，
所述支撑环构件可以设置有多个，多个所述支撑环构件间隔设置在所述柔性薄膜的内层上；
所述支撑环构件能够随着所述柔性薄膜的向内翻转运动而减少圆环直径尺寸，以使所述支撑环构件位于翻转部分的所述柔性薄膜上；
所述支撑环构件能够随着翻转部分的所述柔性薄膜向外翻转运动而增大圆环直径尺寸，以使所述支撑环构件位于未翻转部分的所述柔性薄膜上。
在可选的实施方式中，
所述支撑环构件可以包括圆环主体和插入部；
所述圆环主体的一端与所述插入部连接，所述圆环主体的另一端设置有用于供所述插入部伸入的插入槽；
所述圆环主体具有弹性，以使所述圆环主体受力时所述插入部在所述插入槽中移动。
在可选的实施方式中，
所述插入部可以沿着径向延伸形成有卡接凸起，所述卡接凸起用于与所述插入槽的开口卡接，以限制所述插入部在所述插入槽中移动。
本公开提供的生长型机械臂，通过在柔性薄膜的内层连接支撑环构件，支撑环构件能够自由调整圆环直径尺寸，在柔性薄膜安装到固定主体的过程中，筒状的柔性薄膜向内翻转运动，支撑环构件随着柔性薄膜的翻转运动而调整圆环直径尺寸，利用支撑环构件支撑柔性薄膜，这些改变有如下好处：
1.内置支撑环构件加强了径向刚度，且保留了便捷转向的能力(两个环之间穿线，距离缩短就可以朝该方向转向)；2.加强了径向结构稳定稳定性，即便有破损也不会瞬间垮塌；3.支撑环构件创造了中间的穿行通道，可以高效的在其中运输物品(比如肠镜检查的肠镜)。
附图说明
为了更清楚地说明本公开具体实施方式或相关技术中的技术方案，下面将对具体实施方式或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开的一实施例提供的生长型机械臂的整体结构示意图；
图2为本公开的另一实施例提供的生长型机械臂的整体结构示意图；
图3为本公开的又一实施例提供的生长型机械臂的整体结构示意图；
图4为本公开提供的生长型机械臂中支撑环构件在一实施方式下的结构示意图；
图5为本公开提供的生长型机械臂中支撑环构件在另一实施方式下的结构示意图；
图6为本公开的所述另一实施例提供的生长型机械臂带有转动杆的结构示意图；
图7为本公开实施例提供的生长型机械臂中柔性薄膜和支撑环构件的连接结构剖视图。
图标：10-检查镜器具；100-柔性薄膜；210-固定圆筒；220-固定箱体；221-第一安装孔；222-第二安装孔；223-通气口；300-支撑环构件；310-圆环主体；311-插入槽；320-插入部；330-卡接凸起；400-柔性筒；500-转动杆。
具体实施方式
下面将结合实施例对本公开的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
下面对根据本公开的一实施例提供的生长型机械臂进行描述。
如图1所示，本公开的该实施例提供的生长型机械臂，可以包括：柔性薄膜100、固定主体和支撑环构件300；固定主体具有用于供检查镜器具10穿行的通道，检查镜器具10 可为肠镜、胃镜等，在本方案中，以肠镜举例说明，柔性薄膜100的材料为塑料材料，具有一定的柔性，能够向内或向外翻转，柔性薄膜100设置为筒状结构，两端均具有开口，为圆筒状结构。
柔性薄膜100与固定主体的安装时，先将柔性薄膜100的一端开口固定在固定主体上，柔性薄膜100的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到通道中并固定在固定主体上，柔性薄膜100在安装过程中，形成翻转部分和未翻转部分，翻转部分的柔性薄膜100与未翻转部分的柔性薄膜100之间围设形成气腔。
当需要使柔性薄膜100向检查伸入方向延伸生长时，向气腔充气，翻转部分的柔性薄膜100向外翻转，即可使柔性薄膜100向检查伸入方向延伸生长。
支撑环构件300与柔性薄膜100的内层抵接，支撑环构件300与柔性薄膜100共同构成复合结构，该复合结构兼具刚性和柔性，在复合结构制造的过程中，参阅图7所示，柔性薄膜100包括两层，分为外层膜和内层膜，均为圆筒状，内层膜位于外层膜内形成夹层，且支撑环构件300位于外层膜和内层膜之间的夹层中，支撑环构件300被内层膜和外层膜包裹，且内层膜与外层膜之间接触的地方采用骑缝线固定或热熔固定，即可将支撑环构件300限于其中，而由于支撑环构件300与内层膜和外层膜之间是抵接接触的，支撑环构件300因此可在内层膜与外层膜相邻的连接点位之间平动。
另外，柔性薄膜100也不限于采用两层的形式，例如也可采用单层柔性薄膜100，将支撑环构件300置于柔性薄膜100的厚度中，能够实现支撑环构件300沿着所述柔性薄膜100的内层平动即可。
支撑环构件300可以设置有多个，多个支撑环构件300间隔设置在柔性薄膜100的内层上；支撑环构件300能够随着柔性薄膜100的向内翻转运动而减少圆环直径尺寸，以使支撑环构件300位于翻转部分的柔性薄膜100上；支撑环构件300能够随着翻转部分的柔性薄膜100向外翻转运动而增大圆环直径尺寸，以使支撑环构件300位于未翻转部分的柔性薄膜100上，具体而言：在支撑环构件300安装过程中，在柔性薄膜100未翻转时，将多个支撑环构件300固定在柔性薄膜100的内层上，在柔性薄膜100向内翻转时，柔性薄膜100带动支撑环构件300向内收缩，减少支撑环构件300的圆环直径尺寸，使圆环直径尺寸较小的支撑环构件300固定在气腔位于翻转部分的柔性薄膜100上，而在未翻转部分的柔性薄膜100上固定的支撑环构件300的圆环直径尺寸较大，通过支撑环构件300的设置有效提高柔性薄膜100的结构强度。
另外，需要注意的是，支撑环构件300与柔性薄膜100的连接方式为抵接连接，即支撑环构件300被两层柔性薄膜100限制在气腔中，支撑环构件300与柔性薄膜100相接触，在柔性薄膜100外翻生长的过程中，由于支撑环构件300与柔性薄膜100之间的接触力， 能够推动支撑环构件300在气腔中平动，支撑环构件300随着柔性薄膜100的运动而运动，需要注明的是，上述接触力包括柔性薄膜100与支撑环构件300之间的摩擦力，也包括正应力，相较于采用粘接的方式将支撑环构件300与柔性薄膜100连接，本实施例采用抵接的方式能够实现支撑环构件300的平动，而采用粘接的方式无法实现支撑环构件300的平动。关于支撑环构件300的具体结构如下：
如图4所示，支撑环构件300可以包括圆环主体310和插入部320；圆环主体310圆弧状结构，圆环主体310的一端与插入部320连接，插入部320为圆弧杆状结构，插入部320与圆环主体310的连线形成圆状结构，圆环主体310的另一端设置有用于供插入部320伸入的插入槽311，圆环主体310具有弹性，当圆环主体310随着柔性薄膜100做翻转运动时，圆环主体310受力形变，插入部320在插入槽311中移动，通过插入部320在插入槽311中的伸出或伸出移动，进而改变支撑环构件300整体直径尺寸的增大或减少。
为了使柔性薄膜100向内翻转运动时，支撑环构件300能够从大直径缩小成小直径后固定，可选地，插入部320沿着径向延伸形成有卡接凸起330，卡接凸起330具有一定弹性，当柔性薄膜100向内翻转后，支撑环构件300随着柔性薄膜100的运动而缩小直径尺寸，插入部320伸入到插入槽311中，卡接凸起330卡在插入槽311的开口处，即可将插入部320卡在插入槽311中，形成小尺寸的支撑环构件300。
另外，需要注意的是，如图4所示，圆环主体310可为一体成型结构，也可设置为拼接结构，例如图5所示，圆环主体310由两部分组成，分为第一主体和第二主体，第一主体上具有卡扣，第二主体对应卡扣的位置设置有通孔，通过卡扣与通孔的配合，使第一主体和第二主体相互扣合形成插入槽311，插入部320固定在第一主体或者第二主体远离插入槽311的一端，当第一主体和第二主体受力发生形变时，插入部320可在插入槽311中做伸缩运动，调整圆环主体310的直径尺寸，根据实际情况，选择支撑环构件300的具体结构。
在可选的实施方式中，为了调整支撑环构件300的转向，设置有牵引绳，牵引绳的一端穿过柔性薄膜100和其中一个支撑环构件300，并固定在相邻的支撑环构件300上，使用者通过拉拽牵引绳的另一端，使牵引绳在两个支撑环构件300之间的部分缩短，由于支撑环构件300是连接在柔性薄膜100上的，连接线缩短导致支撑环构件300调整朝向，即可自由控制支撑环300的转向。
在可选的实施方式中，固定主体可以设置为固定圆筒210，固定圆筒210为圆筒状结构，圆筒状结构的固定圆筒210内的空腔形成通道；柔性薄膜100的安装过程如下：先将柔性薄膜100的一端开口固定在固定圆筒210上，然后将柔性薄膜100的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到通道中并穿出，穿出后的柔性薄膜100向远离检 查伸入方向延伸一定长度后向外翻转固定在固定圆筒210上，即可将柔性薄膜100安装在固定圆筒210上，并形成气腔，肠镜穿过柔性薄膜100中部围设形成的空间，在肠镜伸入到人体的过程中，向气腔中充气，处于内翻部分的柔性薄膜100外翻运动，即可向伸入人体的方向延伸生长，柔性薄膜100起到避免肠镜与人体接触的作用的。
需要注意的是，由于柔性薄膜100是先沿检查伸入方向延伸一定长度后内翻，再向相反方向穿过通道后延伸一定长度后外翻固定在固定圆筒210上，因此会在固定圆筒210的前后两侧均具有气腔，为了保证气腔充气后柔性薄膜100向检查伸入方向延伸生长，需要将柔性薄膜100设置成变径结构，保证靠近检查伸入方向的柔性薄膜100的气腔面积大于远离检查伸入方向的柔性薄膜100的气腔面积，在向气腔充气加压时，即可使柔性薄膜100向检查伸入方向延伸生长。
柔性薄膜100可以设置通气口223，外部输气装置通过通气口223向气腔内输送气体。
另外，肠镜的使用场景如下：肠镜伸入到人体中，在伸入过程中，柔性薄膜100向人体内延伸生长，柔性薄膜100将肠镜包裹，有效避免肠镜触碰人体，当肠镜到达最远端时，开始检查，肠镜端部的探头伸出柔性薄膜100，肠镜沿着伸出人体的方向移动，柔性薄膜100随着肠镜的伸出运动一同回缩，直至肠镜和柔性薄膜100一同伸出人体。
至于延伸生长后的柔性薄膜100的回缩运动，作为一种可选的实施方式，可将柔性薄膜100设置为两种材料拼接而成，即塑料薄膜和橡胶材料拼接而成，向伸入人体方向延伸生长的是塑料薄膜，橡胶材料位于固定圆筒210远离检查伸入方向的一侧，在气腔通入气体加压的过程中，一开始气腔内气体压力较小，塑料薄膜向伸入人体方向延伸生长，随着气体压力的逐渐升高，橡胶材料受气体压力影响逐渐膨胀，由于橡胶材料与塑料薄膜为一体结构，橡胶材料的膨胀即可带动塑料薄膜的回缩，实现柔性薄膜100的回缩运动。
作为另一种可选的实施方式，可在柔性薄膜100对应支撑环构件300的位置开孔，使用连接绳穿过开孔连接在支撑环构件300上，当需要柔性薄膜100回缩时，操作者通过连接绳拉拽支撑环构件300，由于支撑环构件300是固定在柔性薄膜100上的，即可使柔性薄膜100做回缩运动。
本公开的该实施例提供的生长型机械臂，通过在柔性薄膜100的内层连接支撑环构件300，支撑环构件300能够自由调整圆环直径尺寸，在柔性薄膜100安装到固定主体的过程中，筒状的柔性薄膜100向内翻转运动，支撑环构件300随着柔性薄膜100的翻转运动而调整圆环直径尺寸，使支撑环构件300位于柔性薄膜100内翻形成的气腔中，利用支撑环构件300支撑柔性薄膜100，提高柔性薄膜100的刚度，有效避免柔性模板弯曲，缓解了相关技术中存在的生长型机械臂结构刚度较低，容易发生局部变形，使得机器人产生弯曲的技术问题。
接下来，对根据本公开的另一实施例提供的生长型机械臂进行描述。
如图2所示，本公开的该另一实施例与前述一实施例的区别在于固定主体的结构上，支撑环构件300以及柔性薄膜100的结构相同，因此支撑环构件300以及柔性薄膜100的具体结构此处不再赘述。
固定主体可以设置为固定箱体220，固定箱体220的内腔形成通道，固定箱体220的一侧设置有第一安装孔221，固定箱体220的另一侧设置有第二安装孔222；柔性薄膜100的安装过程如下：柔性薄膜100的一端开口固定在第二安装孔222上，柔性薄膜100的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到固定箱体220内并固定在第一安装孔221上，即可将柔性薄膜100安装在固定箱体220上，并且柔性薄膜100与第一安装孔221的连接处具有折叠段，折叠段使柔性薄膜100能够延伸生长。
固定箱体220可以设置有通气口223，气体通过通气口223进入到固定箱体220内，固定箱体220内的气体进入到气腔中，在持续通气的过程中，气腔内气压逐渐升高，推动处于内翻部分的柔性薄膜100外翻，即可使柔性薄膜100向检查伸入方向延伸生长。
至于延伸生长后的柔性薄膜100的回缩运动，参阅图6，可在固定箱体220上穿设转动杆500，转动杆500一端伸入到固定箱体220中，与柔性薄膜100抵接，转动杆500另一端伸出固定箱体220与驱动装置连接，驱动装置产生的驱动力带动转动杆500转动，转动杆500转动通过摩擦力带动柔性薄膜100移动，即可使柔性薄膜100回缩运动，并且，为了使柔性薄膜100的上下两侧一同回缩，设置两个转动杆500，分别位于柔性薄膜100的上下两侧。
接下来，对根据本公开的又一实施例提供的生长型机械臂进行描述。
如图3所示，本公开的所述又一实施例提供的生长型机械臂，可以包括：柔性筒400、固定主体、支撑环构件300和推动构件；固定主体具有用于供检查镜器具10穿行的通道；柔性筒400设置为筒状结构，柔性筒400的安装过程如下：柔性筒400的一端开口固定在固定主体上，柔性筒400的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到通道中，然后外翻固定在固定主体上，图3中并未示出固定主体，固定主体的结构可参考图1和图2，翻转部分的柔性筒400与未翻转部分的柔性筒400之间形成驱动空腔；支撑环构件300与柔性筒400的内层连接，且支撑环构件300位于驱动空腔内，支撑环构件300用于支撑柔性筒400，且能够随着柔性筒400的翻转运动而调整圆环直径尺寸。
推动构件可以为圆筒状结构，推动构件伸入到驱动空腔中能够与支撑环构件300抵接，当需要使柔性筒400延伸生长时，推动构件推动翻转部分的柔性筒400做外翻运动，即可使柔性筒400向检查伸入方向延伸生长。
至于柔性筒400的回缩运动，可采用上述转动杆500的方式，通过转动杆500与柔性 筒400的摩擦力带动柔性筒400做回缩运动。
由于所述又一实施例中的支撑环构件300与所述一实施例和所述另一实施例中的支撑环构件300的结构相同，此处不再赘述。
另外，也可采用其他驱动方式驱动柔性薄膜300，例如使用驱动件作用在穿过柔性薄膜300最内部围设形成的供检查器具穿行的通道内壁，对柔性薄膜300进行驱动，根据实际情况选择不同的驱动方式。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。
工业实用性
本公开提供了一种生长型机器臂，涉及医疗器械技术领域，通过在圆筒状柔性薄膜中包裹密集放置的刚度增强的支撑环构件，与薄膜一起形成一种刚柔结合的管状结构；工作时，通过气驱，内部的支撑环在末端外翻生长，形成一个具有径向刚度的空心管道，由于支撑环构件的存在，管道具有抵抗周围环境的压力和形成稳定的几何结构的能力，可以让配套的检查镜器具在不破坏环境的条件下简便地进入狭道而不需要复杂地感知、控制、变刚度等能力；另外，在末端薄膜外翻时，支撑环做平动运动和半径扩大的变形，降低结构外翻的阻力，以及避免支撑环的结构破坏；支撑环构件在初始状态能锁在小直径状态，而外翻之后处在大直径状态。
此外，可以理解的是，本公开的生长型机器臂是可以重现的，并且可以应用在多种应用中。例如，本公开的生长型机器臂可以应用于医疗器械技术领域。

Claims (13)

  1. 一种生长型机械臂，其特征在于，所述生长型机械臂包括：柔性薄膜(100)、固定主体和支撑环构件(300)；
    所述固定主体具有用于供检查镜器具(10)穿行的通道；
    所述柔性薄膜(100)设置为筒状结构，所述柔性薄膜(100)的一端开口固定在所述固定主体上，所述柔性薄膜(100)的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述通道中，翻转部分的所述柔性薄膜(100)与未翻转部分的所述柔性薄膜(100)之间形成气腔；
    向所述气腔充气时，翻转部分的所述柔性薄膜(100)向外翻转，以使所述柔性薄膜(100)向检查伸入方向延伸生长；
    所述支撑环构件(300)与所述柔性薄膜(100)的内层抵接，且所述支撑环构件(300)能够沿着所述柔性薄膜(100)的内层平动，所述支撑环构件(300)用于支撑所述柔性薄膜(100)，且能够随着所述柔性薄膜(100)的翻转运动而调整圆环直径尺寸。
  2. 根据权利要求1所述的生长型机械臂，其特征在于，
    所述支撑环构件(300)设置有多个，多个所述支撑环构件(300)间隔设置在所述柔性薄膜(100)的内层上；
    所述支撑环构件(300)能够随着所述柔性薄膜(100)的向内翻转运动而减少圆环直径尺寸，以使所述支撑环构件(300)位于翻转部分的所述柔性薄膜(100)上；
    所述支撑环构件(300)能够随着翻转部分的所述柔性薄膜(100)向外翻转运动而增大圆环直径尺寸，以使所述支撑环构件(300)位于未翻转部分的所述柔性薄膜(100)上。
  3. 根据权利要求1或2所述的生长型机械臂，其特征在于，
    所述支撑环构件(300)包括圆环主体(310)和插入部(320)；
    所述圆环主体(310)的一端与所述插入部(320)连接，所述圆环主体(310)的另一端设置有用于供所述插入部(320)伸入的插入槽(311)；
    所述圆环主体(310)具有弹性，以使所述圆环主体(310)受力时所述插入部(320)在所述插入槽(311)中移动。
  4. 根据权利要求3所述的生长型机械臂，其特征在于，
    所述插入部(320)沿着径向延伸形成有卡接凸起(330)，所述卡接凸起(330)用于与所述插入槽(311)的开口卡接，以限制所述插入部(320)在所述插入槽(311) 中移动。
  5. 根据权利要求1至4中的任一项所述的生长型机械臂，其特征在于，
    所述固定主体设置为固定圆筒(210)，所述固定圆筒(210)的空腔形成所述通道；
    所述柔性薄膜(100)的一端开口固定在所述固定圆筒(210)上，所述柔性薄膜(100)的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述通道中并穿出，穿出后的所述柔性薄膜(100)向远离检查伸入方向延伸一定长度后向外翻转固定在所述固定圆筒(210)上；
    所述柔性薄膜(100)设置有用于向所述气腔输送气体的通气口(223)。
  6. 根据权利要求5所述的生长型机械臂，其特征在于，
    所述柔性薄膜(100)是由塑料薄膜和橡胶材料拼接而成的，向所述检查伸入方向延伸生长的是所述塑料薄膜，所述橡胶材料位于所述固定圆筒(210)的远离检查伸入方向的一侧。
  7. 根据权利要求5所述的生长型机械臂，其特征在于，
    在所述柔性薄膜(100)的对应于所述支撑环构件(300)的位置上开设有开孔，并且连接绳穿过所述开孔而被连接在所述支撑环构件(300)上。
  8. 根据权利要求1至4中的任一项所述的生长型机械臂，其特征在于，
    所述固定主体设置为固定箱体(220)，所述固定箱体(220)的内腔形成所述通道，所述固定箱体(220)的一侧设置有第一安装孔(221)，所述固定箱体(220)的另一侧设置有第二安装孔(222)；
    所述柔性薄膜(100)的一端开口固定在所述第二安装孔(222)上，所述柔性薄膜(100)的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述固定箱体(220)内并固定在所述第一安装孔(221)上，且所述柔性薄膜(100)与所述第一安装孔(221)的连接处具有折叠段；
    所述固定箱体(220)设置有通气口(223)，气体通过所述通气口(223)进入到所述固定箱体(220)内，所述固定箱体(220)内的气体进入到所述气腔中。
  9. 根据权利要求8所述的生长型机械臂，其特征在于，
    在所述固定箱体(220)上穿设有转动杆(500)，所述转动杆(500)的一端伸入到所述固定箱体(220)中并且与所述柔性薄膜(100)抵接，所述转动杆(500)的另一端伸出所述固定箱体(220)而与驱动装置连接。
  10. 一种生长型机械臂，其特征在于，所述生长型机械臂包括：柔性筒(400)、固定主体、支撑环构件(300)和推动构件；
    所述固定主体具有用于供检查镜器具(10)穿行的通道；
    所述柔性筒(400)设置为筒状结构，所述柔性筒(400)的一端开口固定在所述固定主体上，所述柔性筒(400)的另一端开口朝向检查伸入方向延伸一定长度后向内翻转伸入到所述通道中，翻转部分的所述柔性筒(400)与未翻转部分的所述柔性筒(400)之间形成驱动空腔；
    所述支撑环构件(300)与所述柔性筒(400)的内层抵接，且所述支撑环构件(300)能够沿着所述柔性薄膜(100)的内层平动，所述支撑环构件(300)用于支撑所述柔性筒(400)，且能够随着所述柔性筒(400)的翻转运动而调整圆环直径尺寸；
    所述推动构件伸入到所述驱动空腔中而能够与所述支撑环构件(300)抵接，以推动翻转部分的所述柔性筒(400)做外翻运动，向检查伸入方向延伸生长。
  11. 根据权利要求10所述的生长型机械臂，其特征在于，
    所述支撑环构件(300)设置有多个，多个所述支撑环构件(300)间隔设置在所述柔性薄膜(100)的内层上；
    所述支撑环构件(300)能够随着所述柔性薄膜(100)的向内翻转运动而减少圆环直径尺寸，以使所述支撑环构件(300)位于翻转部分的所述柔性薄膜(100)上；
    所述支撑环构件(300)能够随着翻转部分的所述柔性薄膜(100)向外翻转运动而增大圆环直径尺寸，以使所述支撑环构件(300)位于未翻转部分的所述柔性薄膜(100)上。
  12. 根据权利要求10或11所述的生长型机械臂，其特征在于，
    所述支撑环构件(300)包括圆环主体(310)和插入部(320)；
    所述圆环主体(310)的一端与所述插入部(320)连接，所述圆环主体(310)的另一端设置有用于供所述插入部(320)伸入的插入槽(311)；
    所述圆环主体(310)具有弹性，以使所述圆环主体(310)受力时所述插入部(320)在所述插入槽(311)中移动。
  13. 根据权利要求12所述的生长型机械臂，其特征在于，
    所述插入部(320)沿着径向延伸形成有卡接凸起(330)，所述卡接凸起(330)用于与所述插入槽(311)的开口卡接，以限制所述插入部(320)在所述插入槽(311)中移动。
PCT/CN2024/072637 2023-12-22 2024-01-16 生长型机械臂 Pending WO2025129783A1 (zh)

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