ENDOSCOPE ROBOT HAVING JOINT STRUCTURE WITH HIGH CURVATURE

摘要

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

主权项

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