Korea Institute of Science and Technology

Lg Innotek Co., Ltd.

Sangmyung Kim

Sung Chul Kang

Keri Kim

Woosub Lee

Soojun Lee

Suhyeon Gim

Byungsook Kim

Jungeun Han

A tube insertion device which inserts a tube into a line path to perform an operation has an elongated hollow tube, an end effector connected to a front end of the tube such that the direction of the end effector is changed with respect to the tube, a plurality of wires connected to the end effector and extended into the tube and a tension controller controlling tensions of the plurality of wires. The tension controller controls tensions of a pair of wires facing each other in the opposite directions, in order to change the direction of the end effector.

Tube insertion device having end effector capable of changing direction

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.

Endoscope robot having joint structure with high curvature

Growing community of inventors

Seoul, South Korea

Sangmyung Kim