Continuum robot

Abstract

The invention provides a continuum robot which comprises driving ropes, a driving system of the driving ropes, a rope pipe, an execution arm and a driving system of the execution arm. The rope driving system is used for controlling all the driving ropes and comprises a support frame, a plurality of rope driving devices which are uniformly fixed to the support frame and correspond to the driving ropes in number, and a way switching mechanism. The execution arm driving system is used for introducing the driving ropes in the rope pipe into the execution arm and providing driving force for the execution arm through the driving ropes. The execution arm comprises a plurality of joint sections which are connected in sequence, and each joint section is controlled by the corresponding driving rope to move. Each joint section is formed by sequentially connecting a plurality of identical joints in series. Each joint comprises two rolling contact joint bodies of the same structure, connecting bodies fixed to the outer sides of the rolling contact joint bodies correspondingly and two flexible rods fixed to the outer sides of the rolling contact joint bodies through the connecting bodies. The continuum robot has the advantages that a joint model is accurate, miniaturized processing is easy, and a driving structure is simple.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a continuum robot. Background technique [0002] Compared with rigid robots, continuous robots have highly redundant degrees of freedom. The robot body moves flexibly and can produce large deformations, so it has the advantage of being able to move in narrow and unstructured environments, which greatly makes up for the shortcomings of rigid robots. It has gradually become the focus and hotspot of robot research. [0003] At present, continuum robots have been widely used in bionic motion, industrial inspection and repair, disaster prevention and rescue, object grasping, minimally invasive surgery, medical rehabilitation and human-computer interaction, but there are still some shortcomings: 1. Accurate perception Due to the difficulty of integrating the system into the narrow cavity space of the continuum robot and the highly compliant execution arm of the continuum robot, the rea...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problems in the application of continuum robots in the field of medical minimally invasive surgery, such as complex joint structure, difficulty in miniaturization, inability to accurately model and control, heavy drive system equipment and low space utilization, and propose a continuous robot. body robot, the present invention has the advantages of accurate joint model, easy miniaturization processing, simple driving structure, small space occupation rate, precise control and tumbling degree of freedom, etc.

Images