CN103707322A - Flexible continuous-body mechanical structure capable of being bent and telescopic - Google Patents
Flexible continuous-body mechanical structure capable of being bent and telescopic Download PDFInfo
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- CN103707322A CN103707322A CN201310753254.6A CN201310753254A CN103707322A CN 103707322 A CN103707322 A CN 103707322A CN 201310753254 A CN201310753254 A CN 201310753254A CN 103707322 A CN103707322 A CN 103707322A
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Abstract
The invention relates to a flexible continuous-body mechanical structure capable of being bent and telescopic. The flexible continuous-body mechanical structure comprises a far structure body, a near structure body and a middle connection body. The far structure body comprises a far partition body, a far locking plate, a structure frame and a far moving chain. The near structure body comprises a near partition body, a near locking plate and a structure frame. The far structure body is related to the near structure body through the middle connection body, and one end of the structure frames are fixed on the near locking plate, sequentially penetrates through the near partition plate, the middle connection body and the far partition plate, and is fixed on the far locking plate, so that when the near structure body is driven to be bent and/or telescopic in any direction, the far structure body is correspondingly bent and/or telescopic in the opposite direction. The flexible continuous-body mechanical structure can be bent and/or telescopic in any direction by means of the very simple structure bodies and has very wide purposes.
Description
Technical field
The present invention relates to the fields such as medicine equipment, industrial automation, be specifically related to the curved retractable and flexible non-individual body frame for movement for medicine equipment, industrial automation equipment etc.
Background technology
In the existing frame for movement curving, controllable bending transhipment is moving be two rigidity by being hinged or flexible link substantially by articulation joint place relatively rotate realize.While realizing a plurality of series connection that independently curves motion by this kind of structure, due to the difficulty that transmission is arranged, generally need to driver element (as motor, hydraulic mandril etc.) be installed at each articulation joint place; Thereby far-end driver element becomes the load of near-end driver element, this can make the implementation structure of this kind of function relatively complicated, size is relatively large.
In the occasions such as medical operating or the dark chamber detection of industry, need to curve with minimum Outside Dimensions structure multiple degrees of freedom the apparatus of function more, especially at the Minimally Invasive Surgery for patient or the dark chamber of industry, detect, the aforementioned scheme that realizes the frame for movement of series connection by the mode of being hinged has shown many defects that is difficult to overcome.
Summary of the invention
The object of the invention is to invent a kind of frame for movement, this frame for movement can be received and can be curved scalablely, can bear a fixed load (moment of torsion, external force etc.), and the structure that can simplify with the utmost point realizes multivariant far-end flexible operating.
For achieving the above object, the invention provides a kind of flexible non-individual body frame for movement, it is characterized in that, comprising:
Distal structure body, described distal structure body comprises far-end space disc, far-end locking plate and structural bone;
Proximal structure body, described proximal structure body comprises near-end space disc, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone; And
Middle part connector, described middle part connector comprises pipeline fixed head and pipeline;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, near-end locking plate is fixed in structural bone one end, successively through near-end space disc, middle part connector, far-end space disc, the other end is fixed on far-end locking plate, make when driving described proximal structure body when any direction curves, described distal structure body correspondingly curves in the opposite direction, or, when driving described proximal structure body to elongate or shorten, described distal structure body correspondingly shortens or extends.
In a preferred embodiment of the present invention, the corresponding structural bone of the structural bone of described distal structure body and described proximal structure body is same root architecture bone, and described structural bone length can be measured, can estimate or constant.
The present invention also provides another kind of flexible non-individual body frame for movement, it is characterized in that, comprising:
Distal structure body, described distal structure body comprises far-end space disc, far-end locking plate and structural bone;
Proximal structure body, described proximal structure body comprises near-end space disc, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone;
Middle part connector, described middle part connector comprises pipeline fixed head and pipeline; And
Driving mechanism, be used for driving described proximal structure body motion, described driving mechanism is by driving locking plate, driving space disc, drives structure bone and driving fixed disk to form, described drives structure bone one end is fixed on described driving locking plate, and successively through described driving space disc and driving fixed disk;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, and near-end locking plate is fixed in structural bone one end, and through near-end space disc, middle part connector, far-end space disc, the other end is fixed on far-end locking plate successively;
Described driving mechanism is connected with described proximal structure body, while making to drive described drives structure bone, described driving mechanism drives described proximal structure body to curve towards any direction, described distal structure body correspondingly curves in the opposite direction, or, described driving mechanism drives described proximal structure body to elongate or shorten, and described distal structure body correspondingly shortens or extends.
In another preferred embodiment of the present invention, the structural bone of described distal structure body and described proximal structure body consists of thin elastic rod or elastic tubule, described far-end locking plate has respectively identical via arrangement with described far-end space disc, described near-end locking plate and described near-end space disc, and is rigidity disk-like structure.
In another preferred embodiment of the present invention, between described near-end space disc and between near-end space disc and near-end locking plate, keep certain distance, and described near-end space disc act as the position of limiting structure bone and prevents structural bone unstability when being subject to thrust.
In another preferred embodiment of the present invention, between described far-end space disc and between far-end space disc and far-end locking plate, keep certain distance, and described far-end space disc act as the position of limiting structure bone and prevents structural bone unstability when being subject to thrust.
In another preferred embodiment of the present invention, described middle part connector consists of three above pipelines and 2 above pipeline fixed heads, and the structural bone of described non-individual body frame for movement runs through described pipeline, one end extends in described distal structure body, through described far-end space disc, be fixed on described far-end locking plate, the other end extends in described proximal structure body, through described near-end space disc, is fixed on described near-end locking plate.
In another preferred embodiment of the present invention, described flexible non-individual body frame for movement is received the above proximal structure body of 2 joint and 2 and is saved above distal structure body to obtain higher kinematic dexterity.
In another preferred embodiment of the present invention, described middle part connector has two pipeline fixed heads, the two ends of described pipeline are separately fixed on two pipeline fixed heads, and the structural bone of the proximal structure body of non-individual body frame for movement can be successively through one, pipeline in two pipeline fixed heads, and another pipeline fixed head, then enter distal structure body.
In another preferred embodiment of the present invention, described proximal structure body has a near-end locking plate, a plurality of near-end space disc; Described distal structure body has a far-end locking plate, a plurality of far-end space disc; Described proximal structure body and described distal structure body share many root architectures bone, and the length of structural bone can be measured, can estimate or is constant; And described far-end locking plate is fixed in described structural bone one end, and successively through described far-end space disc, described middle part connector, and described near-end space disc, then be fixed on described near-end locking plate, make described proximal structure body driven when any direction curves and/or stretch, described distal structure body curves in the opposite direction and/or is flexible.
In another preferred embodiment of the present invention, the near-end locking plate of described proximal structure body is ring-type, is provided with a plurality of driving connecting holes radially, for described proximal structure body is connected to driving mechanism on the outer circumferential side of ring.
In another preferred embodiment of the present invention, the thin elastic rod of described structural bone or elastic tubule form, and its quantity is more than or equal to 3.
In flexible non-individual body frame for movement of the present invention, preferably, driving mechanism has one and drives locking plate, a plurality of driving space disc, many drives structure bones, an and driving fixed disk, described driving locking plate is fixedly connected with the near-end locking plate of described proximal structure body, described driving fixed disk is fixedly connected with the fixed head of described middle part connector, make when driving described driving mechanism when any direction curves and/or stretch, described proximal structure body correspondingly curves and/or stretches towards any direction.
In flexible non-individual body frame for movement of the present invention, preferably, drives structure bone consists of thin elastic rod or elastic tubule, and its quantity is more than or equal to 3, and by artificial or by the Mechatronic Systems of automatically controlling realize correspondingly push away, roping is moving.
In flexible non-individual body frame for movement of the present invention, preferably, driving mechanism is received becomes more piece driving mechanism to realize receiving the driving of the non-individual body frame for movement of more piece proximal structure body and distal structure body.
Preferably, described near-end space disc and described far-end space disc are ring-type, are provided with a plurality of structural bone that supply through structural bone hole on ring.
Preferably, the outer circumferential side that faces the pipeline fixed head that leans on described proximal structure body of described middle part connector is provided with a plurality of driving connecting holes radially, for being connected with driving mechanism.
Preferably, described pipeline is arbitrary shape, rigidity or flexibility, but its length must can be measured, can estimate or is constant.
The present invention also provides another kind of flexible non-individual body frame for movement, it is characterized in that, comprising:
Distal structure body, described distal structure body comprises far-end space disc, far-end locking plate and structural bone;
Proximal structure body, described proximal structure body comprises near-end space disc, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone; And
Middle part connector, described middle part connector comprises that two with upper mounted plate, described fixed head is provided with a plurality of holes of passing for structural bone;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, near-end locking plate is fixed in structural bone one end, successively through near-end space disc, middle part connector, far-end space disc, the other end is fixed on far-end locking plate, make when driving described proximal structure body when any direction curves, described distal structure body correspondingly curves in the opposite direction, or, when driving described proximal structure body to elongate or shorten, described distal structure body correspondingly shortens or extends.
According to a further aspect in the invention, provide a kind of flexible non-individual body frame for movement, having comprised:
Distal structure body, described distal structure body comprises far-end interval body, far-end locking plate and structural bone;
Distal movement chain, described distal movement chain is built in described distal structure body and for changing distal structure body rigidity, and described distal movement chain and described distal structure body maintenance motion compatibility;
Proximal structure body, described proximal structure body comprises near-end interval body, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone; And
Middle part connector, described middle part connector comprises pipeline fixed head and pipeline;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, near-end locking plate is fixed in structural bone one end, successively through near-end interval body, middle part connector, far-end interval body, the other end is fixed on far-end locking plate, make when driving described proximal structure body when any direction curves, described distal structure body correspondingly curves in the opposite direction, or, when driving described proximal structure body to elongate or shorten, described distal structure body correspondingly shortens or extends.
In one preferred embodiment, the structural bone of described distal structure body and described proximal structure body consists of thin elastic rod or elastic tubule.
Preferably, far-end interval body and near-end interval body consist of a plurality of far-end space discs and a plurality of near-end space disc respectively, described far-end locking plate has respectively identical via arrangement with described far-end space disc, described near-end locking plate and described near-end space disc, and it is rigidity disk-like structure.
In one preferred embodiment, described middle part connector consists of three above pipelines and 2 above pipeline fixed heads, and the structural bone of described non-individual body frame for movement runs through described pipeline, one end extends in described distal structure body, through described far-end interval body, be fixed on described far-end locking plate, the other end extends in described proximal structure body, through described near-end interval body, is fixed on described near-end locking plate.
In one preferred embodiment, flexible non-individual body frame for movement also comprises driving mechanism, described driving mechanism is by driving locking plate, driving space disc, drives structure bone and driving fixed disk to form, described drives structure bone one end is fixed on described driving locking plate, and successively through described driving space disc and driving fixed disk; Described drives structure bone consists of thin elastic rod or elastic tubule, and its quantity is more than or equal to 3, and by artificial or by the Mechatronic Systems of automatically controlling realize correspondingly push away, roping is moving; And described driving mechanism is connected with described proximal structure body, while making to drive described drives structure bone, described driving mechanism drives described proximal structure body to curve towards any direction, described distal structure body correspondingly curves in the opposite direction, or, described driving mechanism drives described proximal structure body to elongate or shorten, and described distal structure body correspondingly shortens or extends.
In one preferred embodiment, described far-end interval body and described near-end interval body be bellows or helical spring or consist of a plurality of space discs, on described bellows and described helical spring and described space disc be provided with the hole of passing for described structural bone.
In one preferred embodiment, on the connector of described middle part, be also provided with retaining ring, for the fixed-piping of described middle part connector is divided into multi beam.
In one preferred embodiment, described distal movement chain forms with upper member by six, and one end of the first member is fixed on far-end locking plate or pipeline fixed head, and one end of the other end and second member is rotatably connected and forms the first swivel joint; One end of the other end of second member and the 3rd member is rotatably connected and forms the second swivel joint; One end that the other end telescopically of the 3rd member is connected in the 4th member forms expansion joint; One end of the other end of the 4th member and the 5th member is rotatably connected and forms the 3rd swivel joint; One end of the other end of the 5th member and the 6th member is rotatably connected and forms the 4th swivel joint, the other end of the 6th member is fixed on far-end locking plate, or the 6th member is connected in the 7th member, and last member is fixed on far-end locking plate, be arranged so that distal movement chain and the distal structure body of each swivel joint and expansion joint keep motion compatibility, thereby can towards all directions, curve and stretch with described distal structure body.
In another preferred embodiment, distal movement chain can comprise connecting rod one, connecting rod two, connecting rod three and be arranged on connecting rod one and pipeline fixed head or far-end locking plate between swivel joint, be arranged on expansion joint between connecting rod one and connecting rod two, be arranged on the swivel joint between connecting rod two and connecting rod three, be arranged on the swivel joint between connecting rod three and far-end locking plate.
According to another aspect of the invention, provide a kind of flexible non-individual body frame for movement, having comprised:
Distal structure body, described distal structure body comprises far-end interval body, far-end locking plate and structural bone;
Distal movement chain, described distal movement chain is built in described distal structure body and for changing distal structure body rigidity, and described distal movement chain and described distal structure body maintenance motion compatibility;
Proximal structure body, described proximal structure body comprises near-end interval body, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone;
Middle part connector, described middle part connector comprises pipeline fixed head and pipeline; And
Driving mechanism, described driving mechanism is built in described proximal structure body;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, near-end locking plate is fixed in structural bone one end, successively through near-end interval body, middle part connector, far-end interval body, the other end is fixed on far-end locking plate, make when described proximal structure body under described driving mechanism drives when any direction curves, described distal structure body correspondingly curves in the opposite direction, or, when driving described proximal structure body to elongate or shorten, described distal structure body correspondingly shortens or extends.
In one preferred embodiment, described driving mechanism is by many connecting rods, and be arranged between connecting rod and connecting rod and near-end locking plate between expansion joint and swivel joint form, described expansion joint can drive described proximal structure body to make stretching operation, and described swivel joint can drive described proximal structure body to curve motion.
In one preferred embodiment, described driving mechanism comprises connecting rod one, connecting rod two, connecting rod three and be arranged on the swivel joint between described connecting rod one and pipeline fixed head, be arranged on the expansion joint between connecting rod one and connecting rod two, be arranged on the swivel joint between connecting rod two and connecting rod three, be arranged on the swivel joint between connecting rod three and near-end locking plate, the swivel joint being wherein arranged between connecting rod three and near-end locking plate is passive swivel joint, all the other swivel joints and stretching for active joint, described swivel joint and described expansion joint are moved by driven by motor, thereby drive described proximal structure body to curve motion and/or stretching motion.Flexible non-individual body frame for movement of the present invention with very simple, compact structure realized in near-end operation, control distal end body towards any direction curve and/or flexible, at medical field, industrial automation equipment aspect has application very widely.
Accompanying drawing explanation
Fig. 1 is the stereogram of the first embodiment of flexible non-individual body frame for movement of the present invention;
Fig. 2 is the stereogram of a variation of the first embodiment of flexible non-individual body frame for movement of the present invention;
Fig. 3 is the stereogram of another variation of the first embodiment of flexible non-individual body frame for movement of the present invention;
Fig. 4 a-4b is the stereogram of another variation of the first embodiment of flexible non-individual body frame for movement of the present invention, and wherein Fig. 4 b is the partial enlarged drawing of A part in Fig. 4 a;
Fig. 5 is the structural representation of the first embodiment of the driving mechanism of non-individual body frame for movement of the present invention;
Fig. 6 is that circular ring section non-individual body frame for movement of the present invention is assembled to the structural representation after driving mechanism;
Fig. 7 is that side of the present invention ring section non-individual body frame for movement is assembled to the structural representation after driving mechanism;
Fig. 8 is that incomplete ring section of the present invention non-individual body frame for movement is assembled to the structural representation after driving mechanism;
Fig. 9 is that the ring section non-individual body frame for movement of middle part of the present invention constraint is assembled to the structural representation after driving mechanism;
Figure 10 is the structural representation of ring section of the present invention two joint non-individual body frame for movements;
Figure 11 a and 11b are another structural representations of ring section of the present invention two joint non-individual body frame for movements, and wherein Figure 11 b is the partial enlarged drawing of B part in Figure 11 a;
Figure 12 is the structural representation of non-individual body frame for movement two joint driving mechanisms of the present invention;
Figure 13 is that ring section of the present invention two joint non-individual body frame for movements are assembled to the structural representation after two joint driving mechanisms;
Figure 14 is that another ring section two joint non-individual body frame for movements of the present invention are assembled to the structural representation after two joint driving mechanisms;
Figure 15 is the stereogram of the 3rd embodiment of flexible non-individual body frame for movement of the present invention;
Figure 16 is the stereogram of the distal structure body in Figure 15;
Figure 17 a and 17b illustrate for substituting stereogram and the cutaway view of an embodiment of the space disc of distal structure body and proximal structure body;
Figure 18 illustrates for substituting the stereogram of another embodiment of the space disc of distal structure body and proximal structure body; And
Figure 19 is the stereogram of another embodiment of the driving mechanism of flexible non-individual body frame for movement of the present invention.
The specific embodiment
Below with reference to accompanying drawing, preferred embodiment of the present invention is elaborated, so that clearer understanding objects, features and advantages of the present invention.It should be understood that embodiment shown in the drawings is not limitation of the scope of the invention, and just for the connotation of technical solution of the present invention is described.In description, identical Reference numeral represents same or analogous parts.
The present invention proposes a kind of receiving and can curve retractable and flexible non-individual body frame for movement, this structure can realize controlled curving and stretching motion, and there is certain load ability to bear, also can realize by the mode of receiving a plurality ofly curve, the series connection of stretching motion.The driving mechanism of this frame for movement can be separated with flexible non-individual body frame for movement, thereby realize the replaceable and secondary driving mechanism of driving mechanism, can drive many secondary this flexibility non-individual body frame for movement.
Specifically, this flexibility non-individual body frame for movement is comprised of a distal structure body, proximal structure body and middle part connector.Distal structure body is associated with proximal structure body via middle part connector.Distal structure body is comprised of far-end space disc, far-end locking plate and structural bone.Proximal structure body is comprised of near-end space disc, near-end locking plate and structural bone.Middle part connector is comprised of pipeline (being preferably rigid conduit) and pipeline fixed head.
Driving mechanism can be connected with proximal structure body and can drive proximal structure body, and under the driving of driving mechanism, proximal structure body can curve and/or stretch towards any direction, and drives thus distal structure body curve and/or stretch towards any direction.
Distal structure body inner structure bone consists of thin elastic rod or elastic tubule, can bearing tension or thrust, and its quantity and distribute and can set according to demand.Far-end locking plate and far-end space disc are rigidity disk-like structure, there is identical via arrangement, on far-end space disc, aperture is slightly larger than structural bone external diameter to guarantee that structural bone can therefrom pass freely through, on far-end locking plate, aperture is partly or entirely slightly less than structural bone external diameter, part or all of structural bone cannot be slided with respect to locking plate, or also can part or all of structural bone be locked on far-end locking plate by other locking device.The shape of far-end locking plate and far-end space disc and the layout in upper hole thereof all can be formulated according to design requirement (simplified example is that far-end locking plate and far-end space disc are circular ring, is along the circumferential direction uniformly distributed several through holes).Between space disc and between space disc and locking plate, keep certain distance, the position that space disc play a role is limiting structure bone and prevent structural bone unstability when being subject to thrust.
Proximal structure body inner structure bone also consists of thin elastic rod or elastic tubule, can bearing tension or thrust, and its quantity can be set according to demand.Near-end locking plate and near-end space disc are rigidity disk-like structure, there is identical via arrangement, on near-end space disc, aperture is slightly larger than structural bone external diameter to guarantee that structural bone can therefrom pass freely through, on near-end locking plate, aperture is partly or entirely slightly less than structural bone external diameter, and part or all of structural bone cannot be slided with respect to locking plate.The shape of near-end locking plate and near-end space disc and the layout in upper hole thereof all can be set according to design requirement (simplified example is that near-end locking plate and near-end space disc are circular ring, is along the circumferential direction uniformly distributed several through holes).Between the space disc of proximal structure body and between space disc and locking plate, keep certain distance, the position that space disc play a role is limiting structure bone and prevent structural bone unstability when being subject to thrust.
Middle part connector interior conduit is fixed by more than two or two pipeline fixed heads, and the shape of pipeline, sensing, length, crooked situation, drift condition all can be set arbitrarily.The quantity of pipeline can be set according to the quantity of distal structure bone and proximal structure bone.Continuum Structure bone runs through the pipeline in the connector of middle part; One end extends in distal structure body, through far-end space bar, is fixed on far-end locking plate; The other end extends in proximal structure body, through near-end space bar, is fixed on near-end locking plate.
When middle part connector keeps fixedly, because each structural bone length can be measured, can estimate or constant, curve proximal structure body and will make distal structure body curve round about, always curving arbitrarily of distal structure body can realize by corresponding the curving of proximal structure body.Proximal structure body can also increase its length by driving, the corresponding shortening of the length of distal structure body, and vice versa.In a word, distal structure body curves and stretches to any direction, all can be realized by the respective drive of proximal structure body.Distal structure body can be more large and small or approximate than proximal structure body on Outside Dimensions, to adapt to the performance need of different motion occasion.
This kind of flexible non-individual body frame for movement can be received successively and be become more piece non-individual body frame for movement, can receive successively more piece proximal structure body and/or more piece distal structure body.Two proximal structure bodies and two distal structure bodies for example can have been received successively, wherein, middle proximal structure body and distal structure body form a non-individual body frame for movement, and the proximal structure body and the distal structure body that are positioned at two ends form No. two non-individual body frame for movements, No. one and No. two shared middle part connectors of non-individual body frame for movements.The structural bone of No. two non-individual body frame for movements is first connected with No. two non-individual body far-end locking plates, through No. two non-individual body far-end space discs, again successively through the pipeline in the distal structure body of a non-individual body frame for movement, shared middle part connector and the proximal structure body of a non-individual body, through No. two non-individual body near-end space discs, be affixed on No. two non-individual body near-end locking plates.If structural bone is tubule in a non-individual body frame for movement, in No. two non-individual body frame for movements, structural bone can be connected in the distal structure body and proximal structure body of No. two non-individual body frame for movements through the structural bone of a non-individual body frame for movement with one heart.The structural bone of No. two non-individual body frame for movements also can not form relative motion relation and directly passes shared middle part connector and be connected in the distal structure body and proximal structure body of No. two non-individual body frame for movements with a non-individual body frame for movement.Curving arbitrarily and stretching of the distal structure body of two joint non-individual body frame for movements, all can be by driving the proximal structure body of this two joints non-individual body frame for movement to realize.In like manner can receive a plurality of non-individual body frame for movement to realize a plurality of series connection that curve with stretching motion, to obtain higher kinematic dexterity.High-intensity structural bone (for example forming with Nitinol or stainless steel) can make this structure when realizing flexible motion, have the ability of the load of bearing, the factors such as diameter, material, radical, distribution and length of this ability each structural bone in non-individual body frame for movement determine, this ability also can be adjusted by controlling the relevant parameter of structural bone and space disc in non-individual body, can realize and has very high load-carrying ability or lower load-carrying ability but be easier under external force condition Passive deformation to adapt to surrounding environment.
The above-mentioned driving mechanism for this kind of non-individual body frame for movement is driven, driving mechanism can be separated with this non-individual body frame for movement, thereby realize the replaceable and secondary driving mechanism of driving mechanism, can drive how secondary non-individual body frame for movement.Driving mechanism is by driving locking plate, driving space disc, drives structure bone and driving fixed disk to form.
Drives structure bone consists of thin elastic rod or elastic tubule, can bearing tension or thrust, its quantity must be more than or equal to 3, can by artificial or by the Mechatronic Systems of automatically controlling to realize, correspondingly push away, roping is moving.Driving locking plate and driving space disc is rigid structure (shape can be circular or non-circular), there is identical via arrangement, driving on space disc aperture to be slightly larger than drives structure bone external diameter can therefrom pass freely through to guarantee drives structure bone, on driving locking plate, aperture is partly or entirely slightly less than drives structure bone external diameter, and part or all of drives structure bone cannot be slided with respect to driving locking plate.
Driving locking plate and driving in fixed disk has large through-hole, and the proximal structure body that can hold non-individual body frame for movement passes through.Drive locking plate and driving fixed disk also can be connected with near-end locking plate in non-individual body frame for movement and the pipeline fixed head of middle part connector respectively by latch.The collaborative push-and-pull of drives structure bone drives and can realize curving arbitrarily and stretching of driving mechanism, in driving mechanism, drive the motion of locking plate to drive the motion of near-end locking plate in this non-individual body frame for movement, thereby realize curving arbitrarily and stretching of proximal structure body, finally realize curving and stretching of distal structure body.
Driving mechanism also can be received becomes more piece driving mechanism to realize the driving to the non-individual body frame for movement after receiving.For example, when non-individual body frame for movement has been received two proximal structure bodies and two distal structure bodies, correspondingly, can be provided with two joint driving mechanisms.After receiving, the drives structure bone of No. two driving mechanisms is fixed on the driving locking plate of No. two driving mechanisms, after passing the driving space disc of No. two driving mechanisms, driving locking plate and driving space disc through a driving mechanism, by artificial or dynamo-electric driving, realize No. two driving mechanisms curve and flexible, thereby drive No. two non-individual body frame for movements proximal structure body curve and flexible, and finally realize No. two non-individual body frame for movements distal structure body curve and flexible.
Embodiment 1
Fig. 1 illustrates according to the stereogram of the first embodiment of flexible non-individual body frame for movement of the present invention.As Fig. 1, flexible non-individual body frame for movement 100 is comprised of distal structure body 1, middle part connector 2 and proximal structure body 3.Distal structure body 1 comprises far-end locking plate 4, far-end space disc 5 and structural bone 6, and middle part connector 2 comprises pipeline fixed head 7,9 and pipeline 8, and proximal structure body 3 comprises near-end space disc 10, near-end locking plate 11 and structural bone 6.In the present embodiment, structural bone 6 on distal structure body 1 and the corresponding structural bone on proximal structure body 6 are same root architecture bone, but one skilled in the art should appreciate that, structural bone on distal structure body 1 can not be also same root architecture bone with the corresponding structural bone 6 on proximal structure body, but is fixed together by various syndetons.Structural bone 6 lock onto on far-end locking plate 4, and through far-end space disc 5, pipeline 8, near-end space disc 10, lock onto on near-end locking plate 11.Structural bone 6 length in this non-individual body frame for movement can be measured, can estimate or keep constant.Near-end locking plate 11 is provided with the pin hole 112 and 92 for being connected with driving mechanism with pipeline fixed head 9.
Specifically, distal structure body 1 has a far-end locking plate 4, a plurality of far-end space disc 5 and many root architectures bone 6.The quantity of far-end space disc is set according to the length of needed distal structure body, and the quantity of structural bone is set according to the load of required realization and compliance, shown in Fig. 1, in embodiment, be provided with 8 root architecture bones 6, but can be also 3,4,5,6 ... 19,20 ... root etc.Structural bone can be thin elastic rod or elastic tubule.Far-end locking plate 4 and far-end space disc 5 can have any suitable annular or semi-toroidal shape.In embodiment shown in Fig. 1, far-end locking plate 4 is circular, which is provided with a plurality of structural bone locking holes 41 for locking mechanism bone 6, and structural bone locking hole 41 is diameters that diameter is slightly less than structural bone.The shape of far-end space disc 5 is identical with the shape of far-end locking plate 4, and the slightly larger in diameter in structural bone hole 51 on it is in the diameter of structural bone 6, allows thus structural bone 6 freely through far-end space disc 5.When assembling, can between structural bone 6 surfaces and space disc 5, resilient sleeve be set, or in space disc 5 periphery parcel one deck resilient sleeve, each space disc 5 be uniformly distributed all the time, allow structural bone 6 to slide with respect to space disc 5 simultaneously.
Proximal structure body 3 has a near-end locking plate 11, a plurality of near-end space disc 10 and many root architectures bone 6.The quantity of near-end space disc is set according to the length of needed proximal structure body, and the quantity of structural bone depends on the quantity of structural bone in distal structure body, is provided with 8 root architecture bones 6 shown in Fig. 1 in embodiment.Near-end locking plate 11 and near-end space disc 10 can have any suitable annular or semi-toroidal shape.In embodiment shown in Fig. 1, near-end locking plate 11 is circular, which is provided with the structural bone fixing hole 111 for fixed structure bone 6, can be by bonding, welding, or interference fit etc. is fixed to structural bone 6 in structural bone fixing hole 111.Or, also can on near-end locking plate, be provided with clamping device, thereby structural bone 6 is clamped on near-end locking plate 11.On the outer circumferential side of near-end locking plate 11, be also provided with the driving connecting hole 112 that 4 driving connecting hole 112(radially can arrange suitable quantity as required), for being connected with driving mechanism, below will be described in more detail.The shape of the shape of near-end space disc 10 and near-end locking plate 11 is basic identical, and the slightly larger in diameter in structural bone hole 101 on it is in the diameter of structural bone 6, allows thus structural bone 6 freely through near-end space disc 10.When assembling, can between structural bone 6 surfaces and space disc 10, resilient sleeve be set, or in space disc 10 periphery parcel one deck resilient sleeve, each space disc 10 be uniformly distributed all the time, allow structural bone 6 to slide with respect to space disc 10 simultaneously.
Middle part connector 2 comprises pipeline fixed head 7, the pipeline 8 being connected with distal structure body 1, and the pipeline fixed head 9 being connected with proximal structure body 3.Pipeline fixed head 7 and pipeline fixed head 9 can be any suitable structures which is provided with the hole of passing for pipeline 8 and structural bone.In embodiment shown in Fig. 1, pipeline fixed head 7 is rectangular plate shape part, its middle part be provided with for pipeline 8 pass with equal angles 8 through holes 71 spaced apart.Pipeline fixed head 9 is circular, which is provided with for pipeline 8 pass with equal angles 8 through holes 91 spaced apart.On the outer circumferential side of pipeline fixed head 9, be also provided with the driving connecting hole 92 that 4 driving connecting hole 92(radially can arrange suitable quantity as required), for being connected with driving mechanism.The two ends of pipeline 8 by welding, connect, or the distribution such as interference fit is connected with the through hole 71,91 on pipeline fixed head 9 with pipeline fixed head 7.It is to be noted that shape, sensing, length, crooked situation, the drift condition of pipeline 8 all can set arbitrarily.As shown in Fig. 4 a, pipeline 8 rear shared area of section in bond even can be less than distal structure body 1 or proximal structure body 3, below will be described in more detail.In addition, if while using, pipeline fixed head 7 and pipeline fixed head 9 are fixed, and can cancel pipeline 8, and pipeline fixed head 7 and pipeline fixed head 9 are provided with a plurality of holes of passing for structural bone.
The one end of having assembled rear structural bone 6 is fixed on far-end locking plate 4, successively through far-end space disc 5, pipeline fixed head 7, pipeline 8, pipeline fixed head 9, and near-end space disc 10, be finally locked on near-end locking plate 11.When by motor or manually order about driving mechanism (not shown in figure 1) when any direction curves and/or stretch, proximal structure body 3 has correspondingly been realized curving of any direction and flexible.And due to the length of structural bone 6, can measure, can estimate or constant, proximal structure body is also correspondingly being realized and is being curved arbitrarily and stretch, and below will more elaborate.
Fig. 2-4b illustrates three modified examples according to the first embodiment of flexible non-individual body frame for movement of the present invention.The difference of the flexible non-individual body frame for movement shown in the variation shown in Fig. 2 and Fig. 1 is far-end locking plate, the far-end space disc of distal structure body, the space disc of proximal structure body, and the fixing shape of the pipeline of middle part connector.Wherein, far-end locking plate 4 and far-end space disc 5 side's of being ring-types, its cross section is polygonal shape, is provided with the structural bone hole of passing for structural bone 6 on polygonal each limit.The pipeline of middle part connector is fixed 9 and is shaped as plate-like.
The difference of the flexible non-individual body frame for movement shown in the variation shown in Fig. 3 and Fig. 1 is the shape of far-end locking plate and the far-end space disc of distal structure body.In the present embodiment, the cross sectional shape of far-end locking plate and far-end space disc is for being with annular jaggy or claiming arc.All the other are identical, are not described in detail in this.
The difference of the flexible non-individual body frame for movement shown in the variation shown in Fig. 4 a-4b and Fig. 1 is the structure of middle part connector.As shown in Figs. 4a and 4b, middle part connector 2 can be fixed 7 from pipeline and go out to extend a segment distance again on the basis of the embodiment shown in Fig. 1, and correspondingly increases a plurality of pipeline fixed disks 81 and a pipeline fixed head 7a.The shape that thus, can extend the length of middle part connector and change middle part connector is to be applicable to different demands.The shape of pipeline fixed disk and the arrangement of pipe hole thereof can be set as required and meet various different demands.In embodiment shown in Fig. 4 a, pipeline fixed disk 81 is circular, and 4 row 4 that are arranged as of the pipe hole on it are listed as.But one skilled in the art will understand that and can design as required the pipeline fixed disk of arbitrary shape and the pipeline fixing hole of arbitrary arrangement.
Fig. 5 illustrates according to the stereogram of the first embodiment of the driving mechanism 200 of flexible non-individual body frame for movement of the present invention.As shown in Figure 5, the driving mechanism of flexible non-individual body frame for movement is by driving locking plate 13, driving space disc 14, drives structure bone 15 and driving fixed disk 16 to form.Drives structure bone 15 is fixed on to drive on locking plate 13 and can pass freely through and drives space disc 14 and drive fixed disk 16.By motor or artificial push-and-pull (rectilinear motion), activate each drives structure bone 15, the movement combination of each drives structure bone 15 can be realized driving mechanism and curves and stretch towards any direction.On driving locking plate 13 and driving fixed disk 16, be respectively equipped with the pin hole 132 and 161 for being connected with pipeline fixed head 9 with near-end locking plate 11.
Specifically, driving mechanism has one and drives locking plate 13, a plurality of driving space disc 14, many drives structure bones 15, and one drives fixed disk 16.After assembling, driving mechanism is formed with the through hole along its axis direction, to hold proximal structure body 3.Drive the quantity of space disc to set according to the length of proximal structure body, and the quantity of drives structure bone 15 is set according to the load of required realization, but at least needed 3, shown in Fig. 5, in embodiment, be provided with 4 drives structure bones 15.Drive locking plate 13 and drive space disc 14 can there is any suitable shape of coupling proximal structure body.In embodiment shown in Fig. 5, it be circular driving locking plate 13, which is provided with the structural bone fixing hole 131 for fixed drive structural bone 15, can by bonding, weld, or interference fit etc. is fixed to drives structure bone 15 in structural bone fixing hole 131.Or, also can on driving locking plate, be provided with clamping device, thereby drives structure bone 15 is clamped to and is driven on locking plate 13.On the outer circumferential side that drives locking plate 13, be also provided with 4 driving connecting holes 132 that drive connecting hole 132(that suitable quantity can be set as required), for being connected with proximal structure body.Drive the shape of space disc 14 and the shape of near-end space disc 10 basic identical, and the slightly larger in diameter in drives structure bone hole 141 on it is in the diameter of drives structure bone 15, allows thus drives structure bone 15 freely through driving space disc 14.When assembling, can and drive between space disc 14 on drives structure bone 15 surfaces resilient sleeve is set, or driving space disc 14 periphery parcel one deck resilient sleeve, each space disc 14 is uniformly distributed all the time, allows drives structure bone 15 to slide with respect to driving space disc 14 simultaneously.
The flexible non-individual body frame for movement 100 that Fig. 6-9 illustrate respectively in Fig. 1-4b is assembled to the structure chart after the driving mechanism 200 in Fig. 5.As Figure 6-9, proximal structure body 3 is contained in the formed through hole of driving mechanism, and be connected respectively (by latch etc.) with 161 with the pin hole 132 on driving mechanism with 92 by the driving connecting hole 112 on proximal structure body, and flexible non-individual body frame for movement 100 is assemblied on driving mechanism 200.Wherein, near-end locking plate 11 is fixedly connected with driving locking plate 13, and pipeline fixed head 9 is fixedly connected with driving fixed disk 16.
After assembling, the collaborative push-and-pull of drives structure bone 15 drives and can make to drive locking plate 13 to curve to any direction, also can make the entire length of driving mechanism occur flexible simultaneously.Owing to driving locking plate 13 and driving fixed disk 16 to be connected by latch with pipeline fixed head 9 with near-end locking plate 11 respectively, the collaborative push-and-pull of drives structure bone 15 drives and makes proximal structure body 3 realize curving of any direction and flexible, thereby has realized curving arbitrarily and stretching of distal structure body 1.
Figure 10 illustrates according to the structure chart of the second embodiment of flexible non-individual body frame for movement of the present invention.In the present embodiment, flexible non-individual body frame for movement can be received successively becomes more piece non-individual body frame for movement, can receive successively more piece proximal structure body and/or more piece distal structure body.Embodiment shown in Figure 10 has received two joint proximal structure bodies and two joint distal structure bodies, and they share a middle part connector.Wherein, each proximal structure body, distal structure body, and the basic structure of middle part connector is identical with the embodiment shown in Fig. 1, is not described in detail in this.
As shown in figure 10, a proximal structure body 3 and a distal structure body 1 form a non-individual body frame for movement, and No. two proximal structure bodies 19 and No. two distal structure bodies 18 form No. two non-individual body frame for movements.The distal structure body 18 of No. two non-individual body frame for movements can be received in the proximal structure body 19 of 1, No. two non-individual body frame for movement of distal structure body of a non-individual body frame for movement and receive the proximal structure body 3 in a non-individual body frame for movement.The structural bone 20 of No. two non-individual body frame for movements is first connected with No. two non-individual body far-end locking plates 21, through No. two non-individual body far-end space discs 22, the distal structure body 1(that passes successively again a non-individual body frame for movement comprises a far-end locking plate 4 and a far-end space disc 5), the number that pipeline 8(pipeline 8 numbers in shared middle part connector 2 are more than or equal to the structural bone 6 of a non-individual body frame for movement adds the number of the structural bone 20 of No. two non-individual body frame for movements) and the proximal structure body 3(of a non-individual body comprise a non-individual body near-end locking plate 11 and a non-individual body near-end space disc 10), through No. two non-individual body near-end space discs 23, be affixed on No. two non-individual body near-end locking plates 24.Now, on a non-individual body far-end locking plate 4 and a non-individual body near-end locking plate 11, all in corresponding position, be furnished with through hole, No. two Continuum Structure bone 20 can pass these through holes flexibly.No. two non-individual body near-end locking plates 24, a non-individual body near-end locking plate 11 and the pin hole 242,112 and 92 being equipped with on pipeline fixed head 9 for being connected with driving mechanism.In addition, as required, the proximal structure body of any amount and the distal structure body of any amount can be set and realize different stretching and curve motion.
The structural bone 6 of a non-individual body frame for movement in the more piece non-individual body frame for movement shown in Figure 10 is thin elastic rod.But the structural bone 6 of a non-individual body frame for movement can be also elastic tubule.As shown in Figure 11 a and 11b, when it is elastic tubule, No. two Continuum Structure bone 20 can run through from structural bone 6.In addition, the structural bone 6 of a non-individual body can be partly also that thin elastic rod, part are elastic tubule.The number of the pipeline 8 in the connector 2 of middle part needs to meet the demand of passing through of a Continuum Structure bone 6 and No. two Continuum Structure bones 20.
In addition, although locking plate, space disc uiform section in the frame for movement of more piece non-individual body shown in Figure 10 and 11 are circular, it also can be the cross section of arbitrary shape.
Figure 12 illustrates according to the stereogram of the driving mechanism of the second embodiment of flexible non-individual body frame for movement of the present invention.As shown in figure 12, driving mechanism by driving locking plate 25 for No. two, drive space disc 26, No. two drives structure bones 27 for No. two, drive locking plate 13 for No. one, drive space disc 14 for No. one, a drives structure bone 15 and drive fixed disk 16 to form.No. two drives structure bones 27 are fixed on to drive for No. two on locking plates 25 and can pass freely through and drive space disc 26 for No. two, drive locking plate 13 for No. one, drive space disc 14 and drive fixed disk 16 for No. one.A drives structure bone 15 is fixed on to drive for No. one on locking plate 13 and can pass freely through and drives space disc 14 and drive fixed disk 16.Drive locking plate 25 for No. two, drive locking plate 13 No. one and drive on fixed disk 16, be respectively equipped with for No. two near-end locking plates 24, pin hole 252, pin hole 132 that No. one near-end locking plate 11 is connected with pipeline fixed head 9, and pin hole 161.
The flexible non-individual body frame for movement of more piece that Figure 13 illustrates in Figure 10 is assembled to the structure chart after the more piece driving mechanism in Figure 12.The flexible non-individual body frame for movement of more piece is inserted in more piece driving mechanism, and by latch etc., the flexible non-individual body frame for movement of more piece and more piece driving mechanism is fixed together.After having assembled, as shown in figure 13, the collaborative push-and-pull of No. two drives structure bones 27 and a drives structure bone 15 drives (artificial or dynamo-electric realization) can make to drive for No. two locking plate 25 and drive for No. one locking plate 13 to curve to any direction, also can make two joint length of driving mechanism stretch respectively simultaneously.Owing to driving locking plate 25 for No. two, drive locking plate 13 for No. one and drive fixed disk 16 by latch, to be connected with pipeline fixed head 9 with No. two near-end locking plates 24, a near-end locking plate 11 respectively, the collaborative push-and-pull of drives structure bone 27,15 drives and makes No. two proximal structure bodies 19 and a proximal structure body 3 realize curving of any direction and flexible, thereby has realized curving arbitrarily and stretching of a distal structure body 1 and No. two distal structure bodies 18.
The flexible non-individual body frame for movement of more piece that Figure 14 illustrates in Figure 11 a is assembled to the structure chart after the more piece driving mechanism in Figure 12.Its actuation movement principle is consistent with content shown in Figure 13, is not described in detail in this.
Figure 15-16 illustrate according to the structure chart of the 3rd embodiment of flexible non-individual body frame for movement of the present invention.In the present embodiment, be with embodiment 2 main difference parts, on a distal structure body 1 ' and No. two distal structure bodies 18 ', be also respectively equipped with the first distal movement chain 1a ' and the second distal movement chain 18a ', be respectively used to strengthen rigidity, the especially torsional strength of a distal structure body 1 ' and No. two distal structure bodies 18 '.The first distal movement chain 1a ' and the second distal movement chain 18a ' keep compatible locomitivity or keep motion compatibility with a distal structure body 1 ' and No. two distal structure bodies 18 ' respectively, thereby can curve and stretch with it.Herein, the implantation that keeps compatible locomitivity or keep motion compatibility to refer to distal movement chain does not hinder the motion of distal structure body, even can the local shape that changes distal structure body.
Particularly, one end of the first distal movement chain 1a ' is fixed on the first far-end locking plate 11 ' of pipeline fixed head or a distal structure body 1 ', the other end is fixed on the end plate 12 ' of a distal structure body, thereby the motion of a distal structure body 1 ' can drive the first distal movement chain 1a ' to move accordingly.
In embodiment shown in Figure 15-16, the second distal movement chain 18a ' has swivel joint-swivel joint-expansion joint-swivel joint-swivel joint structure.Particularly, the second distal movement chain 18a ' is comprised of at least six members, and it is upper that the second far-end locking plate 181 ' is fixed in one end of the first member 18a1 ', and one end of the other end and second member 18a2 ' is rotatably connected and forms the first swivel joint 18aa '; One end of the other end of second member 18a2 ' and the 3rd member 18a3 ' is rotatably connected and forms the second swivel joint 18ab '; One end that the other end telescopically of the 3rd member 18a3 ' is connected in the 4th member 18a4 ' forms expansion joint 18ac '; One end of the other end of the 4th member and the 5th member 18a5 ' is rotatably connected and forms the 3rd swivel joint 18ad '; One end of the other end of the 5th member and the 6th member 18a6 ' is rotatably connected and forms the 4th swivel joint 18ae ', and the other end of the 6th member is fixed on the first far-end locking plate 12 '.The second distal movement chain 1a ' that is arranged so that of each swivel joint and expansion joint has the locomitivity compatible with No. two distal structure bodies, thereby can towards all directions, curve and stretch with No. two distal structure bodies.Should point out, when being provided with the 7th during with upper member, the other end of the 6th member is connected in the 7th member, and last member is fixed on far-end locking plate 12 '.
In the illustrated embodiment of Figure 15-16, the first distal movement chain 1a ' on a distal structure body 1 ' is identical with the second distal movement chain 18a '.But the structure that should be understood that the first distal movement chain also can be different from the second distal movement chain.In fact, the structure of distal movement chain also can adopt other versions, as long as it can strengthen rigidity and/or the torsional strength of far-end non-individual body, and does not affect curving with stretching motion of far-end non-individual body and both can.In another embodiment, distal movement chain adopts flexible axle, and this flexible axle has higher torsional strength, can be easy to bending simultaneously.
In addition, as shown in figure 15, when middle part connector 2' is longer, retaining ring 2a ' can be set a branch of or a branch of above to reduce taking up room of middle part connector 2 for conduit 8 is bundled into.When the length of middle part connector more in short-term, the first and second embodiment as shown in Fig. 1-14, also can not need retaining ring.
Figure 17 a-17b and 18 illustrates for substituting two kinds of structures of the space disc of distal structure body and proximal structure body, and for ease of explanation, this structure is called interval body.This interval body can stretch and curve, and which is provided with the hole of passing for structural bone.
As shown in Figure 17 a and 17b, interval body is bellows 500, and the periphery of bellows 500 is provided with the hole 501 of passing for structural bone.Interval body also can be helical spring 600, and as shown in figure 18, helical spring is provided with the hole 601 of passing for structural bone.The material of bellows 500 and helical spring 600 is chosen to make it when can stretching and curve, and has needed torsional strength, thereby does not need to increase extra distal movement chain.
Figure 19 illustrates the structural representation of another driving mechanism 200 '.For clarity sake, proximal structure body 3 ' and driving mechanism 200 ' thereof are only shown in Figure 19.The structure of No. two proximal structure bodies and a proximal structure body are basic identical, are not described in detail in this.In the present embodiment, driving mechanism 200 ' is with the driving mechanism difference shown in Fig. 5 and Figure 12, and driving mechanism 200 ' is arranged in near-end non-individual body, forms a part for near-end non-individual body.And the driving mechanism of Fig. 5 and Figure 12 is independent mechanism, and structure is different.
Particularly, as shown in figure 19, driving mechanism 200 ' is by many connecting rods, and be arranged between connecting rod and connecting rod and near-end locking plate between expansion joint and swivel joint form, expansion joint can drive a proximal structure body 3 ' to make stretching operation, and swivel joint can drive a proximal structure body to curve motion.
In one preferred embodiment, driving mechanism 200 ' by connecting rod 701, connecting rod 702, connecting rod 703 and be arranged on connecting rod 701 and pipeline fixed head 9 ' between swivel joint (not shown), be arranged on expansion joint 801 between connecting rod 701 and connecting rod 702, be arranged on the swivel joint 802 between connecting rod 702 and connecting rod 703, be arranged on the swivel joint (not shown) between connecting rod 703 and near-end locking plate 11 '.Wherein, the swivel joint being arranged between connecting rod 703 and near-end locking plate 11 ' is passive swivel joint, and all the other swivel joints are active rotation joint, by motor (not shown) driven rotary.Each swivel joint can rotate according to the indicated direction of rotation of arrow in figure, thereby drives a proximal structure body 3 ' to curve motion.Expansion joint 801 is also active joint, by motor (not shown), is driven, and according to indicated direction in figure, makes stretching motion, thereby drives a proximal structure body 3 ' to make stretching motion.
It is to be noted, the concrete structure that is built in the driving mechanism 200 ' of proximal structure body can be set as required, and be not limited to the structure shown in figure, as long as it can drive proximal structure body do flexible and curve motion, and and then drive distal structure body to do corresponding motion.
Also can and be built in distal structure body by above-mentioned driving mechanism 200 ' each swivel joint and each expansion joint are all arranged to passive joint and be used as distal movement chain.Particularly, distal movement chain can comprise connecting rod one, connecting rod two, connecting rod three and be arranged on described connecting rod one and pipeline fixed head or far-end locking plate between swivel joint, be arranged on expansion joint between connecting rod one and connecting rod two, be arranged on the swivel joint between connecting rod two and connecting rod three, be arranged on the swivel joint between connecting rod three and far-end locking plate.
Flexible non-individual body frame for movement of the present invention with very simple, compact structure realized in near-end operation, control distal end body towards any direction curve and/or flexible, at medical field, industrial automation equipment aspect has application very widely.
Below described preferred embodiment of the present invention in detail, but it will be appreciated that, after having read above-mentioned instruction content of the present invention, those skilled in the art can make various changes or modifications the present invention.These equivalent form of values fall within the application's appended claims limited range equally.
Claims (10)
1. a flexible non-individual body frame for movement, is characterized in that, comprising:
Distal structure body, described distal structure body comprises far-end interval body, far-end locking plate and structural bone;
Distal movement chain, described distal movement chain is built in described distal structure body and for changing distal structure body rigidity, and described distal movement chain and described distal structure body maintenance motion compatibility;
Proximal structure body, described proximal structure body comprises near-end interval body, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone; And
Middle part connector, described middle part connector comprises pipeline fixed head and pipeline;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, near-end locking plate is fixed in structural bone one end, successively through near-end interval body, middle part connector, far-end interval body, the other end is fixed on far-end locking plate, make when driving described proximal structure body when any direction curves, described distal structure body correspondingly curves in the opposite direction, or, when driving described proximal structure body to elongate or shorten, described distal structure body correspondingly shortens or extends.
2. flexible non-individual body frame for movement according to claim 1, is characterized in that: the structural bone of described distal structure body and described proximal structure body consists of thin elastic rod or elastic tubule.
3. flexible non-individual body frame for movement according to claim 1, it is characterized in that: described middle part connector consists of three above pipelines and two above pipeline fixed heads, and the structural bone of described non-individual body frame for movement runs through described pipeline, one end extends in described distal structure body, through described far-end interval body, be fixed on described far-end locking plate, the other end extends in described proximal structure body, through described near-end interval body, is fixed on described near-end locking plate.
4. flexible non-individual body frame for movement according to claim 1, it is characterized in that: also comprise driving mechanism, described driving mechanism is by driving locking plate, driving space disc, drives structure bone and driving fixed disk to form, described drives structure bone one end is fixed on described driving locking plate, and successively through described driving space disc and driving fixed disk; Described drives structure bone consists of thin elastic rod or elastic tubule, and its quantity is more than or equal to 3, and by artificial or by the Mechatronic Systems of automatically controlling realize correspondingly push away, roping is moving; And described driving mechanism is connected with described proximal structure body, while making to drive described drives structure bone, described driving mechanism drives described proximal structure body to curve towards any direction, described distal structure body correspondingly curves in the opposite direction, or, described driving mechanism drives described proximal structure body to elongate or shorten, and described distal structure body correspondingly shortens or extends.
5. flexible non-individual body frame for movement according to claim 1, it is characterized in that: described far-end interval body and described near-end interval body be bellows or helical spring or consist of a plurality of space discs, described bellows and described helical spring and described space disc are provided with the hole of passing for described structural bone.
6. flexible non-individual body frame for movement according to claim 1, is characterized in that: on the connector of described middle part, be also provided with retaining ring, for the fixed-piping of described middle part connector is divided into multi beam.
7. flexible non-individual body frame for movement according to claim 1, it is characterized in that: described distal movement chain forms with upper member by six, one end of the first member is fixed on far-end locking plate or pipeline fixed head, and one end of the other end and second member is rotatably connected and forms the first swivel joint; One end of the other end of second member and the 3rd member is rotatably connected and forms the second swivel joint; One end that the other end telescopically of the 3rd member is connected in the 4th member forms expansion joint; One end of the other end of the 4th member and the 5th member is rotatably connected and forms the 3rd swivel joint; One end of the other end of the 5th member and the 6th member is rotatably connected and forms the 4th swivel joint, the other end of the 6th member is fixed on far-end locking plate, or the 6th member is connected in the 7th member, and last member is fixed on far-end locking plate, be arranged so that distal movement chain and the distal structure body of each swivel joint and expansion joint keep motion compatibility, thereby can towards all directions, curve and stretch with described distal structure body.
8. a flexible non-individual body frame for movement, is characterized in that, comprising:
Distal structure body, described distal structure body comprises far-end interval body, far-end locking plate and structural bone;
Distal movement chain, described distal movement chain is built in described distal structure body and for changing distal structure body rigidity, and described distal movement chain and described distal structure body maintenance motion compatibility;
Proximal structure body, described proximal structure body comprises near-end interval body, near-end locking plate and structural bone, and the structural bone on described distal structure body is fixedly connected with corresponding structural bone on described proximal structure body or be same root architecture bone;
Middle part connector, described middle part connector comprises pipeline fixed head and pipeline; And
Driving mechanism, described driving mechanism is built in described proximal structure body;
Wherein, described distal structure body is associated with described proximal structure body via described middle part connector, near-end locking plate is fixed in structural bone one end, successively through near-end interval body, middle part connector, far-end interval body, the other end is fixed on far-end locking plate, make when described proximal structure body under described driving mechanism drives when any direction curves, described distal structure body correspondingly curves in the opposite direction, or, when driving described proximal structure body to elongate or shorten, described distal structure body correspondingly shortens or extends.
9. flexible non-individual body frame for movement according to claim 8, it is characterized in that: described driving mechanism is by many connecting rods, and be arranged between connecting rod and connecting rod and near-end locking plate between expansion joint and swivel joint form, described expansion joint can drive described proximal structure body to make stretching operation, and described swivel joint can drive described proximal structure body to curve motion.
10. flexible non-individual body frame for movement according to claim 8, it is characterized in that: described driving mechanism comprises connecting rod one, connecting rod two, connecting rod three and be arranged on the swivel joint between described connecting rod one and pipeline fixed head, be arranged on the expansion joint between connecting rod one and connecting rod two, be arranged on the swivel joint between connecting rod two and connecting rod three, be arranged on the swivel joint between connecting rod three and near-end locking plate, the swivel joint being wherein arranged between connecting rod three and near-end locking plate is passive swivel joint, all the other swivel joints and stretching for active joint, described swivel joint and described expansion joint are moved by driven by motor, thereby drive described proximal structure body to curve motion and/or stretching motion.
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