Propulsion and pose adjusting device for continuous robot and adjusting method

Abstract

The invention relates to a propulsion and pose adjusting device for a continuous robot and an adjusting method. The adjusting device comprises a linear propelling component, a linear adjusting component, a rotary adjusting component and a clamping component, wherein the linear propelling component drives the continuous robot to do forward or backward linear motion towards a curved channel, the linear adjusting component drives the continuous robot to do up-down translational linear motion relative to the curved channel, the rotary adjusting component drives the continuous robot to do rotary motion relative to the curved channel and the clamping component is used for clamping the continuous robot. According to the technical scheme, the clamping component grasps the continuous robot, the linear propelling component propels the continuous robot to enter the curved channel, the linear adjusting component and the rotary adjusting component further adjust the overall pose of the continuous robot relative to the curved channel, and therefore position interference and collision between the continuous robot and the curved channel are reduced, and the ability of the continuous robot to pass through the curved channel is improved.

Description

technical field [0001] The invention relates to the technical field of automatic control, in particular to an adjustment device and adjustment method for the propulsion and posture of a continuous robot. Background technique [0002] Continuous robots are composed of single-segment or multi-segment flexible structures, which imitate the soft movement characteristics of biological organs such as elephant trunks, octopus arms, and mammalian tongues, and can change their shapes softly and flexibly. Compared with traditional rigid industrial robots, continuous robots are more suitable for complex unstructured environments such as collapsed buildings, curved pipelines, and human digestive tracts, and have broad application prospects. [0003] At present, only the end of the continuous robot can actively bend, and the other parts do not have the function of active bending. During the process of intervening and passing through the curved channel, due to the complexity of the exte...

AI Technical Summary

Problems solved by technology

[0003] At present, only the end of the continuous robot can actively bend, and the other parts do not have the function of active bending. During the process of intervening and passing through the curved channel, due to the complexity of the external curved channel, it is inevitable that the continuous robot will have a problem with the external environment. Interference or collision, ranging from being unable to accurately intervene in the curved channel to complete the assigned task, or causing damage to the intervening objects such as delicate digestive tracts, blood vessels and other human organs, thus causing great pain to the patient; or Hazardous environments such as collapsed buildings can destroy the body structure of continuous robots

Images