Flexible robot capable of extending and bending simultaneously and reserved with instrument channels

Abstract

The invention discloses a flexible robot capable of extending and bending simultaneously and reserved with instrument channels. The robot comprises an upper top end module 1, an upper extending and bending module 2, an upper extending and bending module 3, an upper extending and bending module 4, an upper extending and bending module 5, an upper extending and bending module 6, an upper extending and bending module 7, an upper extending and bending module 8, a lower top end module 9, a lower extending and bending module 10, a lower extending and bending module 11, a lower extending and bendingmodule 12, a lower extending and bending module 13, a lower extending and bending module 14, a lower extending and bending module 15, a tail end section 16, an upper NI-TI traction wire 17, a lower NI-TI traction wire 18, an upper NI-TI traction wire 19, a lower NI-TI traction wire 20, a lower NI-TI traction wire 21 and a lower NI-TI traction wire 22. Each module of the robot comprises a spacing disc and three support springs. The instrument channels are reserved in the spacing discs. Each module can realize extension and relative bending. The robot has the advantages of flexibility in extension and bending movement, convenience in carrying of instruments due to the reversed channels, and simplicity in operation control.

Description

technical field [0001] The invention relates to a flexible robot that can be stretched and bent simultaneously and has an instrument channel, which belongs to the technical field of robots, and in particular relates to the structural design of a robot. Background technique [0002] At present, the main driving mode of multi-joint flexible robots is rope traction driving. The advantage of this driving method is that the robot is more flexible in bending, and the rope takes up less space, so the robot can be changed in shape. However, most rope-pulled soft robots also have the following disadvantages: [0003] Such as figure 2 As shown, the robot needs a central rod as a support, and no channel is reserved, resulting in a relatively single function; the central rod is relatively fixed to the surrounding discs, and the central rod cannot be stretched, so the whole body cannot be stretched; most snake-shaped robots only It can realize 'L' type bending, but can't realize 'S' t...

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Problems solved by technology

[0003] like figure 2 As shown, the robot needs a central rod as a support, and no channel is reserved, resulting in a relatively single function; the central rod is relatively fixed to the surrounding discs, and the central rod cannot be stretched, so the whole body cannot be stretched; most snake-shaped robots only Can realize 'L' type bending, can't realize 'S' type bending

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