Articulating structure using rolling joint and pin coupling, and tube insert device having the same
View Patent ↗There is disclosed an articulating structure that is steered by relative movement of a plurality of segments connected in series, the articulating structure including a first segment and a second segment arranged in contact with each other, wherein contact surfaces of the first segment and the second segment are rolling contact surfaces in line contact on a first direction contact line, the first segment has a pin on a side, the second segment has a coupling hole into which the pin is inserted, the first segment and the second segment make a relative rolling movement for translation of the first direction contact line while maintaining the line contact, and the coupling hole is formed with a larger area than the pin to allow the pin to make a relative position movement within the coupling hole during the rolling movement.
1. An articulating structure that is steered by relative movement of a plurality of segments connected in series, the articulating structure comprising:
a first segment and a second segment arranged in contact with each other,
wherein contact surfaces of the first segment and the second segment are rolling contact surfaces in line contact on a first direction contact line extending in a first direction,
the first segment has a pin on a side,
the second segment has a coupling hole into which the pin is inserted,
the second segment make a relative rolling movement with respect to the first segment in a second direction perpendicular to the first direction during which the first direction contact line moves while maintaining the line contact, and
the coupling hole is formed with a larger area than the pin to allow the pin to make a relative position movement within the coupling hole during the rolling movement.
2. The articulating structure according to claim 1 , wherein the coupling hole is formed to allow the pin to be relatively far away from the contact surface of the second segment during the rolling movement.
3. The articulating structure according to claim 1 , wherein the coupling hole includes an inner side where the pin makes a relative position movement while being in contact during the rolling movement, and
the inner side includes an inner side formed at an angle such that a width of the coupling hole in the second direction increases as a distance from the rolling contact surface of the second segment increases.
4. The articulating structure according to claim 3 , wherein the pin makes a position movement in contact with the inner side, and
the inner side of the coupling hole is formed in a curved shape.
5. The articulating structure according to claim 1 , wherein the pin is positioned close to an upper end portion of the side of the first segment.
6. The articulating structure according to claim 1 , wherein the pin protrudes from the side of the first segment,
the side of the first segment includes a curved part and a flat part along a circumferential direction of the side of the first segment,
the flat part extends in the second direction, and
the pin is formed in the flat part.
7. The articulating structure according to claim 6 , wherein the curved part is formed as part of a circumference of a circular cylinder, and
when a circumference of a perfect circular cylinder is defined by extending the curved part, a height of the pin does not go beyond the circumference of the perfect circular cylinder.
8. The articulating structure according to claim 6 , wherein the second segment includes a flange extending toward the first segment and having the coupling hole, and
the flange covers at least a portion of the flat part, and has an inner surface parallel to a surface of the flat part.
9. The articulating structure according to claim 1 , wherein the entire rolling contact surface of the first segment and the second segment is formed as part of a circumference of a circular cylinder.
10. The articulating structure according to claim 1 , wherein the articulating structure comprises a third segment positioned in contact with the second segment,
contact surfaces of the second segment and the third segment are rolling contact surfaces in line contact with each other on a second direction contact line extending in the second direction,
the second segment has a pin on a side,
the third segment has a coupling hole into which the pin formed in the second segment is inserted, and
the second segment and the third segment make a relative rolling movement during which the second direction contact line moves while maintaining the line contact.
11. The articulating structure according to claim 10 , wherein the plurality of segments has a wire connection hole passing through each segment in a front-rear direction,
when the articulating structure is placed in a straight line, a wire passes through the wire connection holes of each segment arranged such that the wire connection holes are aligned in a lengthwise direction of the articulating structure, and
the plurality of segments makes the relative movement by pulling or releasing the wire in the lengthwise direction of the articulating structure.
12. The articulating structure according to claim 11 , wherein the wire connection holes include a pair of first direction wire connection holes arranged in the first direction and a pair of second direction wire connection holes arranged in the second direction.
13. The articulating structure according to claim 12 , wherein a tool connection hole passing through each segment in the front-rear direction is formed at a center of the plurality of segments.
14. A tube insert device, comprising:
an elongated tube; and
the articulating structure according to claim 1 , connected to a front end of the tube.