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Publication Number
US-12150631-B2
Publication Date
2024-11-26
Expiration Date
Abstract
An articulated arm including: a tubular structure comprising a plurality of coupled longitudinal sections including: at least one rigid portion; and at least one flexible portion comprising a plurality of connected annular portions; wherein the tubular structure includes: a trench formed along a long axis of the tubular structure and extending along the plurality of coupled longitudinal sections; and a cover attached to the tubular structure and covering at least a portion of the trench.
Core Innovation
The articulated arm includes a tubular structure comprising a plurality of coupled longitudinal sections with one or more rigid portions and at least one flexible portion comprising a plurality of connected annular portions. A trench is formed along a longitudinal axis of the tubular structure and extends along the plurality of coupled longitudinal sections.
A cover is attached to the tubular structure and covers at least a portion of the trench, and the cover is at least partly recessed within the trench. The trench-and-cover arrangement is configured to interact with the rigid portions and the at least one flexible portion within the tubular structure.
The disclosed configuration supports control cables in hollow passages within the tube walls and/or enclosed trenches, and the recessed cover geometry and trench/cover attachment arrangement accommodate elongated elements associated with control and actuation, including cable-tension-controlled flexion. The disclosed cable support structures include helical/circumferential cable support, and the document further summarizes torque transfer portions and nested tubular structures as part of the articulated arm concept.
Claims Coverage
The document includes one independent claim. It provides a trench-and-recessed-cover tubular architecture combined with rigid portions and a flexible portion made of connected annular portions; dependent claims refine the trench/cover geometry and add elongated control elements and tension-based flexion control, with additional attachment and cover-shape constraints. Inventive features reflected in the independent claim and its key dependent refinements are as follows (total inventor-feature themes: 5).
Trenched tubular structure with recessed cover
An articulated arm having a tubular structure comprising coupled longitudinal sections with a trench formed along a longitudinal axis and a cover attached to the tubular structure, covering at least a portion of the trench, with the cover at least partly recessed within the trench.
Rigid and annular connected flexible portions
A tubular structure comprising one or more rigid portions and at least one flexible portion comprising a plurality of connected annular portions within the plurality of coupled longitudinal sections.
Elongated control element in trench coupled beyond flexible portion
An articulated arm including an elongated control element disposed in the trench, at least partially enclosed by the cover, and coupled to a distal portion of the tubular structure beyond the at least one flexible portion.
Flexion controlled by changing tension on elongated element
Flexion of the at least one flexible portion is controlled by changing tension on the elongated element.
Recessed cover outer contour constrained within tubular outer contour
The trench and the cover are sized and shaped so the cover’s outer contour is contained within the tubular structure’s outer contour.
Overall, the claim coverage centers on a tubular articulated arm architecture combining rigid portions and a flexible portion formed from connected annular portions with a trench along a longitudinal axis partially covered by a recessed cover. The dependent refinements further add an elongated control element in the trench with tension-controlled flexion, and constrain trench/cover outer contour relative to the tubular outer contour.
Stated Advantages
Mechanical integrity.
Friction/wear distribution.
Improved control accuracy.
Documented Applications
Not explicitly described in patent.
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