Self-growing continuum mechanical arm

Abstract

The invention discloses a self-growing continuum mechanical arm, and relates to the technical field of flexible mechanical arms. According to the self-growing continuum mechanical arm provided by the invention, through independent telescopic control of the first bending control ropes and the second bending control ropes, the supporting bone discs on the first joint body and the second joint body are driven to deflect independently, so that different joint bodies of the self-growing continuum mechanical arm can realize independent curl motion; the growth control ropes are arranged so that the self-growing continuum mechanical arm can extend and move in the head bending direction, the control ropes are matched so that the self-growing continuum mechanical arm can achieve multi-angle bending growth in a complex working environment, and meanwhile, the self-growing continuum mechanical arm has the comprehensive quality of high stability and high flexibility.

Description

Technical Field

[0001] The invention relates to the technical field of flexible mechanical arms, and in particular to a self-growing continuum mechanical arm. Background Art

[0002] With the rapid development of aviation, nuclear industry, and medical fields, the working performance of rigid-rod-connected robotic arms in complex, narrow, and high-risk extreme environments has technical problems such as low flexibility and precision.

[0003] In order to improve the detection and grasping performance of the robotic arm in extreme working environments, the relevant technology provides a self-growing movable flexible robotic arm, which, through the coordinated design of the airbag and the front and rear air feet, enables the front and rear air feet to expand and press against the inner wall of the space to fix their own positions. The main airbag is inflated and deflated, and the curling device is used to reel in the main pull rope, so that the front and rear air feet can be brought close to each other. The coordinated actions of the front and rear air feet, the main airbag, the curling device and the main pull rope can realize the forward or backward movement of the flexible robotic arm. At the same time, by controlling the extension and retraction lengths of multiple adjustment pull ropes through multiple winding motors, the main airbag can be restrained to expand and extend in different directions, thereby controlling the movement direction of the self-growing movable flexible robotic arm.

[0004] However, when the inner walls of the working environment are of varying widths, or when there are many inaccessible obstacles, the above-mentioned flexible robotic arm cannot realize its self-growth and steering functions in a complex working environment, and its airbag design makes the flexible robotic arm less stable. Summary of the invention

[0005] In view of the above-mentioned problems existing in the related technologies, the present invention provides a self-growing continuum robot arm. Through the design improvement of the device structure, the continuum robot arm has the comprehensive qualities of high stability and high flexibility.

[0006] According to one aspect of an embodiment of the present invention, there is provided a self-growing continuum robot arm, comprising a robot arm assembly and a drive assembly, characterized in that: The robotic arm assembly includes a first joint body and a second joint body, and the first joint body and the second joint body respectively include a preset number of supporting pelvises arranged in parallel; for each supporting pelvis, bending control rope holes are evenly distributed on the circumference of the outer circle of the supporting pelvis, and spring mounting holes are evenly distributed on the circumference of the inner circle of the supporting pelvis, and a growth control rope hole is provided in the center of the supporting pelvis, and growth control springs are fixedly connected between adjacent supporting pelvises through each spring mounting hole; the head ends of a preset number of first bending control ropes respectively pass through the bending control rope holes at the first preset array positions on each supporting pelvis of the first joint body in turn, and are fixedly connected to the nearest supporting pelvis; the head ends of a preset number of second bending control ropes respectively pass through the bending control rope holes at the second preset array positions on each supporting pelvis of the second joint body in turn, and are fixedly connected to the nearest supporting pelvis; the head end of the growth control rope passes through the growth control rope holes in the centers of each supporting pelvis of the first joint body and the second joint body in turn, and is fixedly connected to the supporting pelvis at the rear end; The driving assembly includes a driving box, and a connecting base plate for connecting to the supporting pelvis at the front end of the first joint body is provided on the side of the driving box close to the mechanical arm assembly. The connecting base plate is provided with driving rope holes corresponding to the positions of the rope holes on the supporting pelvis. The driving box is provided with wire transition devices matching each first bending control rope, each second bending control rope and the growth control rope in sequence along the direction away from the mechanical arm assembly, and wire curling devices matching each first bending control rope, each second bending control rope and the growth control rope. The tail end of each control rope passes through the corresponding driving rope hole, is redirected by the corresponding wire transition device, and is curled and connected to the corresponding wire curling device, and the telescopic state is controlled by the corresponding wire curling device.

[0007] Preferably, the self-growing continuum robotic arm also includes a local growth control rope, the head end of which passes through the growth control rope holes in the center of each supporting pelvis of the first joint body in sequence and is fixedly connected to the nearest supporting pelvis; correspondingly, the drive box is sequentially provided with a wire transition device matching the local growth control rope and a wire curling device matching the local growth control rope along the direction away from the robotic arm assembly, after the tail end of the local growth control rope passes through the corresponding drive rope hole, it is redirected by the corresponding wire transition device and then curled and connected to the corresponding wire curling device, and the telescopic state is controlled by the corresponding wire curling device.

[0008] Preferably, the wire transition device includes a first substrate, which has an inner circle wire transition component array and an outer circle wire transition component array distributed circumferentially thereon corresponding to the positions of the bending control rope holes on the supporting pelvis. For each wire transition component in the wire transition component array, the wire transition component includes a first base and a pulley movably arranged on the first base. After passing through the wire curling device, each bending control rope enters the outer circle wire transition component array in a horizontal posture and then changes to a vertical posture, and then is adjusted to a horizontal posture through the inner circle wire transition component array, and finally passes through the driving rope holes corresponding to the connecting substrate and enters the bending control rope holes of each supporting pelvis.

[0009] Preferably, the wire curling device includes a second base plate, the second base plate is provided with wire curling assemblies corresponding to the positions of the bending control rope holes and the growth control rope holes on the supporting bone plate, and for each wire curling assembly, the wire curling assembly includes a second base, a stepping motor, a capstan, a rotating shaft, a worm gear and a worm, the stepping motor is fixed to the lower side of the second base plate by bolts, the worm gear is connected to the output shaft of the stepping motor and engages with the worm gear, the second base is connected to the capstan by the rotating shaft, and the second base is fixed to the upper side of the second base plate by bolts; When in working state, the output shaft of the stepper motor drives the worm wheel, the worm and the rotating shaft to rotate in sequence, and then drives the winch to rotate, so as to realize the individual control of the extension and retraction state of each control rope.

[0010] Preferably, each supporting pelvis is provided with a device placement hole at a preset position.

[0011] Preferably, the supporting bone plate at the end of the robotic arm assembly is also provided with working equipment, and each working equipment is inserted into the end of the robotic arm assembly through the equipment placement hole and fixed.

[0012] Preferably, each control rope is made of steel wire rope, and the diameter of each control rope is 1 mm.

[0013] Preferably, an elastic shell is also provided on the periphery of the mechanical arm assembly.

[0014] Preferably, each first bending control rope is installed adjacent to each corresponding supporting pelvis at 90°, and each second bending control rope is installed adjacent to each corresponding supporting pelvis at 90°.

[0015] Preferably, each rope hole has a smooth hole wall, and the hole diameter of the rope hole gradually shrinks from the opening to the center.

[0016] Compared with the prior art, the self-growing continuum robot arm provided by the present invention has the following advantages: A self-growing continuum robotic arm provided by the present invention drives the independent deflection of each supporting pelvis on the first joint body and the second joint body through the independent extension and contraction control of each first bending control rope and each second bending control rope, so that different joint bodies of the self-growing continuum robotic arm can realize independent curling movement. In addition, the setting of the growth control rope also enables the self-growing continuum robotic arm to extend and move along the bending direction of the head. The coordination of the control ropes enables the self-growing continuum robotic arm to realize multi-angle bending growth in a complex working environment, and at the same time possess the comprehensive qualities of high stability and high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of a device corresponding to a self-growing continuum robotic arm provided in an embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of the structure of a pelvis support provided by an embodiment of the present invention.

[0020] Figure 3 It is a structural schematic diagram of a mechanical arm assembly provided by an embodiment of the present invention.

[0021] Figure 4 It is a structural schematic diagram of a driving component provided by an embodiment of the present invention.

[0022] Figure 5 It is a structural schematic diagram of a wire transition device provided in an embodiment of the present invention.

[0023] Figure 6 It is a schematic structural diagram of another wire transition device provided in an embodiment of the present invention.

[0024] Figure 7 It is a structural schematic diagram of a wire curling device provided in an embodiment of the present invention.

[0025] Figure 8 It is a schematic structural diagram of another wire curling device provided in an embodiment of the present invention.

[0026] Fig. 9 A schematic diagram of the posture of the robotic arm assembly in curling motion provided by an embodiment of the present invention.

[0027] Fig.10 A schematic diagram of the posture of a robotic arm assembly during extension motion provided by an embodiment of the present invention.

[0028] Fig.11 A schematic diagram of the posture of the robotic arm assembly during contraction motion provided by an embodiment of the present invention.

[0029] Fig.12 This is a physical schematic diagram of a self-growing continuum robotic arm provided by the present invention. DETAILED DESCRIPTION

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 , 2 is a schematic diagram of a device corresponding to a self-growing continuum mechanical arm provided by an embodiment of the present invention, Figure 1 , 2 In the embodiment, the self-growing continuum robot arm comprises a robot arm assembly 100 and a drive assembly 200, and is characterized in that: The robot arm assembly 100 includes a first joint body 110 and a second joint body 120, wherein the first joint body 110 and the second joint body 120 respectively include a preset number of supporting bone discs 130 arranged in parallel; for each supporting bone disc 130, the outer circumference of the supporting bone disc 130 is evenly distributed with bending control rope holes 131, the inner circumference of the supporting bone disc 130 is evenly distributed with spring installation holes 132, and the center of the supporting bone disc 130 is provided with a growth control rope hole 133, and the adjacent supporting bone discs 130 are connected by respective spring installation holes 132. The mounting holes 132 are respectively fixedly connected with growth control springs 134; the head ends of a preset number of first bending control ropes respectively pass through the bending control rope holes 131 at the first preset array position on each supporting bone disc 130 of the first joint body 110 in sequence, and are fixedly connected to the nearest supporting bone disc 130; the head ends of a preset number of second bending control ropes respectively pass through the bending control rope holes 131 at the second preset array position on each supporting bone disc 130 of the second joint body 120 in sequence, and are fixedly connected to the nearest supporting bone disc 130; the growth control rope The head end passes through the growth control rope holes 133 at the centers of the supporting pelvis 130 of the first joint body 110 and the second joint body 120 in sequence, and is fixedly connected to the supporting pelvis 130 at the rear end; the driving assembly 200 includes a driving box 210, and the driving box 210 is provided with a connecting substrate 220 for connecting the supporting pelvis 130 at the front end of the first joint body 110 on the side close to the mechanical arm assembly 100, and the connecting substrate 220 is provided with driving rope holes corresponding to the positions of the rope holes on the supporting pelvis 130, and the driving box The body 210 is provided with wire transition devices 230 matching each first bending control rope, each second bending control rope and the growth control rope in sequence along the direction away from the robot arm assembly 100, and wire curling devices 240 matching each first bending control rope, each second bending control rope and the growth control rope. The tail end of each control rope passes through the corresponding driving rope hole, is redirected by the corresponding wire transition device 230, and is curled and connected with the corresponding wire curling device 240, and the telescopic state is controlled by the corresponding wire curling device 240.

[0032] In a feasible implementation manner, the first joint body 110 of the robot arm assembly 100 includes five parallel supporting pelvises 130, which are respectively denoted as supporting pelvis 130a, supporting pelvis 130b, supporting pelvis 130c, supporting pelvis 130d, and supporting pelvis 130e; the second joint body 120 of the robot arm assembly 100 includes five parallel supporting pelvises 130, which are respectively denoted as supporting pelvis 130f, supporting pelvis 130g, supporting pelvis 130h, supporting pelvis 130i, and supporting pelvis 130j. Figure 3 shown.

[0033] In a feasible embodiment, the head ends of the four first bending control ropes respectively pass through the four bending control rope holes 131 of the first preset array positions of upper, lower, left and right on each supporting pelvis 130 of the first joint body 110 in sequence, and are fixedly connected to the nearest supporting pelvis 130 to form a bending control system for the first joint body 110; the head ends of the four second bending control ropes respectively pass through the four bending control rope holes 131 of the second preset array positions of upper left, upper right, lower right and lower left on each supporting pelvis 130 of the second joint body 120 in sequence, and are fixedly connected to the nearest supporting pelvis 130 to form a bending control system for the second joint body 110; and each wire curling device in the drive assembly 200 realizes independent adjustment of the bending directions of different joints by controlling the extension and retraction states of different bending control ropes in the bending control systems of each joint.

[0034] Preferably, in a feasible implementation, each joint body can make multiple coordinate transformations each time it moves and can also be fed back to the rear-end drive assembly 200 to control the movement, so that movement in the two directions of "pitch" and "yaw" can be achieved through each universal joint, and then the curling movement of the entire continuum flexible arm in all directions can be achieved through the transformation of the coordinate system and the linkage of multiple universal joints.

[0035] Correspondingly, the wire curling device in the drive component 200 also controls the extension and retraction state of the growth control rope in the self-growing continuum robot arm, so that the contraction shape of the growth control spring 134 between the supporting pelvises 130 of the robot arm component 100 changes, thereby realizing radial contraction or growth of the robot arm component 100, and then cooperating with the above-mentioned bending control system to realize multi-angle bending growth in a complex working environment, and at the same time possessing the comprehensive qualities of high stability and high flexibility.

[0036] Preferably, the self-growing continuum robotic arm also includes a local growth control rope, the head end of which passes through the growth control rope holes in the center of each supporting pelvis of the first joint body in sequence and is fixedly connected to the nearest supporting pelvis; correspondingly, the drive box is sequentially provided with a wire transition device matching the local growth control rope and a wire curling device matching the local growth control rope along the direction away from the robotic arm assembly, after the tail end of the local growth control rope passes through the corresponding drive rope hole, it is redirected by the corresponding wire transition device and then curled and connected to the corresponding wire curling device, and the telescopic state is controlled by the corresponding wire curling device.

[0037] Similarly, the provision of local growth control ropes allows each joint in the robot assembly 100 to independently control the radial growth state, making the control of the overall radial growth of the self-growing continuum robot arm more precise and stable.

[0038] Preferably, the wire transition device 230 includes a first substrate 231, and the first substrate 231 has an inner circle wire transition component array 232a and an outer circle wire transition component array 232b distributed circumferentially thereon corresponding to the positions of the bending control rope holes on the supporting pelvis 130. For each wire transition component in the wire transition component array, the wire transition component includes a first base 232c and a pulley 232d movably arranged on the first base 232c; after each bending control rope passes through the wire curling device 240, it enters the outer circle wire transition component array 232b in a horizontal posture and then changes to a vertical posture, and then is adjusted to a horizontal posture through the inner circle wire transition component 232a array, and finally passes through the corresponding driving rope holes of the connecting substrate 220 into the bending control rope holes of each supporting pelvis 130.

[0039] The wire transition device 230 is used to achieve the transition of the posture of each control rope, and the sliding friction of each control rope directly transitioning from the outer ring to the inner ring is reduced through the sliding friction of the pulley 232d.

[0040] Preferably, the wire curling device 240 includes a second substrate 241, and the second substrate 241 is provided with wire curling assemblies 242 corresponding to the positions of the bending control rope holes and the growth control rope holes on the supporting bone plate 130. For each wire curling assembly 242, the wire curling assembly 242 includes a second base 242a, a stepping motor 242b, a capstan 242c, a rotating shaft 242d, a worm gear 242e and a worm 242f. The stepping motor 242b is fixed to the lower side of the second substrate 241 by bolts, and the worm 242e is fixed to the lower side of the second substrate 241 by bolts. 42f is connected to the output shaft of the stepper motor 242b and engages with the worm gear 242e. The second base 242a is connected to the capstan 242c through the rotating shaft 242d. The second base 242a is fixed to the upper side 241 of the second substrate by bolts. When in working state, the output shaft of the stepper motor 242b drives the worm gear 242e, the worm 242f, and the rotating shaft 242d to rotate in turn, and then drives the capstan 242c to rotate, so as to realize the individual control of the extension and retraction state of each control rope.

[0041] In order to facilitate understanding of the structure of each component in the drive assembly provided by the present invention, a schematic diagram of the structure of the drive assembly is shown as follows: Figure 4 , showing the structural diagram of the line transition device as shown Figure 5 , Figure 6 , showing the structural schematic diagram of the wire winding device as shown in Figure 7 , Figure 8 .

[0042] Preferably, each supporting pelvis is provided with a device placement hole at a preset position.

[0043] The equipment placement holes are used to connect various signal lines and power lines, as well as corresponding detection equipment or grasping equipment.

[0044] Preferably, the supporting bone plate at the end of the robotic arm assembly is also provided with working equipment, and each working equipment is inserted into the end of the robotic arm assembly through the equipment placement hole and fixed.

[0045] Preferably, each control rope is made of steel wire rope, and the diameter of each control rope is 1 mm.

[0046] In this embodiment, a steel wire rope is used to ensure the accuracy of the variable-section elephant trunk robotic arm. Therefore, the length of the steel wire rope must be accurately measured, and the range of motion of each joint angle is determined by the relationship between the steel wire rope and the driving space. A steel wire rope with a diameter of 1 mm and as small a deformation as possible must be used.

[0047] Preferably, an elastic shell is also provided on the periphery of the mechanical arm assembly.

[0048] The elastic shell further protects the overall robotic arm assembly while reducing the influence of the shell on the bending and growth movement of the continuum robotic arm in all directions.

[0049] Preferably, each first bending control rope is installed adjacent to each corresponding supporting pelvis at 90°, and each second bending control rope is installed adjacent to each corresponding supporting pelvis at 90°.

[0050] Using four steel wire ropes installed at 90° adjacent to each other to control the same joint can make the force on each joint more balanced, improve the rigidity, ensure good cantilever beam mechanical properties, and also ensure operability and precision.

[0051] Preferably, each rope hole has a smooth hole wall, and the hole diameter of the rope hole gradually shrinks from the opening to the center.

[0052] The diameter of the rope hole gradually shrinks from the opening to the center, and has a smooth hole wall, which can reduce the rigid friction between each control rope and the rope hole when bending, and at the same time improve the control smoothness of the control rope when controlling the posture of the robotic arm component.

[0053] In order to better illustrate the embodiment of the present invention, the working principle of the self-growing continuum robot arm in various motion states is shown as follows: (a) Curling movement: the four first bending control ropes pass through the corresponding bending control rope holes on the supporting platters of the first joint body respectively, and the four second bending control ropes pass through the corresponding bending control rope holes on the supporting platters of the second joint body respectively. After the above eight bending control ropes pass through the connecting base plate, they are connected to the capstan of the wire curling device after being transferred through the wire transfer device, and the growth control ropes remain stationary; among the eight stepper motors corresponding to the eight bending control ropes on the wire curling device, the adjacent four motors rotate clockwise, thereby driving the worm wheels and worms connected to them to rotate, so that the four capstans connected to the rotating shaft rotate, and the other four motors rotate counterclockwise, thereby making the four adjacent bending control ropes in a relaxed state, and the other four bending control ropes in a tensioned state, so as to realize the simultaneous bending of the first joint body and the second joint body of the entire robotic arm assembly.

[0054] It should be noted that the embodiment of the present invention can achieve independent bending movements of the first joint body and the second joint body in different directions through the independent operation of the wire curling devices corresponding to different first bending control ropes and different second bending control ropes.

[0055] For example, a schematic diagram showing the posture of the robot arm assembly in curling motion is shown as follows: Fig. 9 shown.

[0056] (b) Growth movement: The growth control rope passes through the growth control rope holes in the center of each supporting bone disc on the robotic arm assembly in turn, and then passes through the corresponding drive rope holes on the connecting base plate, and is connected to the capstan of the corresponding wire winding device after passing through the corresponding wire transition device. When the stepper motor of the wire winding device rotates clockwise, it drives the worm wheel and worm connected to it to rotate, so that the capstan connected to it on the same shaft rotates, so that the growth control rope is in a relaxed state, and further the springs in the compressed state on the robotic arm assembly are synchronously relaxed and stretched. As a result, the robotic arm assembly realizes self-growth movement, and the contraction movement is the same.

[0057] For example, a schematic diagram showing the posture of the robot arm assembly during the extension movement is shown as follows: Fig.10 As shown in the figure, the posture diagram of the robot arm assembly in the contraction movement is as follows Fig.11 shown.

[0058] Further, a schematic diagram of a self-growing continuum robot arm provided by the present invention is shown as follows: Fig.12 shown.

[0059] The embodiment of the present invention adopts a self-growth design. Compared with the traditional flexible arm which only has the degrees of freedom of pitch and yaw, it provides an additional degree of freedom of growth, making the robot arm more flexible and better adapted to narrow spaces. Moreover, when the robot arm is in the retracted state, the tension on the axis is greater, which can provide greater rigidity and overcome the defects of the flexible arm itself. In addition, the present invention adopts a wire rope drive, which is more environmentally friendly and simpler than a hydraulic drive, and does not require an additional hydraulic device; compared with the gear motor drive design, it has better flexibility and greatly reduces the weight of the front-end robot arm.

[0060] Compared with the prior art, the self-growing continuum robot arm provided by the present invention has the following advantages: A self-growing continuum robotic arm provided by the present invention drives the independent deflection of each supporting pelvis on the first joint body and the second joint body through the independent extension and contraction control of each first bending control rope and each second bending control rope, so that different joint bodies of the self-growing continuum robotic arm can realize independent curling movement. In addition, the setting of the growth control rope also enables the self-growing continuum robotic arm to extend and move along the bending direction of the head. The coordination of the control ropes enables the self-growing continuum robotic arm to realize multi-angle bending growth in a complex working environment, and at the same time possess the comprehensive qualities of high stability and high flexibility.

[0061] It should be noted that the present invention does not limit the number of joints that the robotic arm assembly has, that is, the robotic arm assembly can include at least 2 joints, and the installation and control methods of the control ropes corresponding to the remaining joints are the same as the installation and control methods of the bending control ropes and growth control ropes in the above-mentioned first joint and second joint.

[0062] Although the present invention has been described in detail above by means of general description, specific implementation methods and tests, it is obvious to those skilled in the art that modifications or improvements can be made based on the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection claimed by the present invention.

[0063] Those skilled in the art will readily appreciate other embodiments of the invention after considering the specification and practicing the invention herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. It should be understood that the present invention is not limited to the precise structures and methods described above and shown in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof.

Claims

1. A self-growing continuum robot arm, comprising a robot arm assembly and a drive assembly, characterized in that: The robotic arm assembly includes a first joint body and a second joint body, and the first joint body and the second joint body respectively include a preset number of supporting pelvises arranged in parallel; for each supporting pelvis, bending control rope holes are evenly distributed on the circumference of the outer circle of the supporting pelvis, and spring mounting holes are evenly distributed on the circumference of the inner circle of the supporting pelvis, and a growth control rope hole is provided in the center of the supporting pelvis, and growth control springs are fixedly connected between adjacent supporting pelvises through each spring mounting hole; the head ends of a preset number of first bending control ropes respectively pass through the bending control rope holes at the first preset array positions on each supporting pelvis of the first joint body in turn, and are fixedly connected to the nearest supporting pelvis; the head ends of a preset number of second bending control ropes respectively pass through the bending control rope holes at the second preset array positions on each supporting pelvis of the second joint body in turn, and are fixedly connected to the nearest supporting pelvis; the head end of the growth control rope passes through the growth control rope holes in the centers of each supporting pelvis of the first joint body and the second joint body in turn, and is fixedly connected to the supporting pelvis at the rear end; The driving assembly includes a driving box, and a connecting base plate for connecting to the supporting pelvis at the front end of the first joint body is provided on the side of the driving box close to the mechanical arm assembly. The connecting base plate is provided with driving rope holes corresponding to the positions of the rope holes on the supporting pelvis. The driving box is provided with wire transition devices matching each first bending control rope, each second bending control rope and the growth control rope in sequence along the direction away from the mechanical arm assembly, and wire curling devices matching each first bending control rope, each second bending control rope and the growth control rope. The tail end of each control rope passes through the corresponding driving rope hole, is redirected by the corresponding wire transition device, and is curled and connected to the corresponding wire curling device, and the telescopic state is controlled by the corresponding wire curling device.

2. The self-growing continuum robot arm according to claim 1, characterized in that: The self-growing continuum robotic arm also includes a local growth control rope, the head end of which passes through the growth control rope holes in the center of each supporting pelvis of the first joint body in turn, and is fixedly connected to the nearest supporting pelvis; correspondingly, the drive box is sequentially provided with a wire transition device matching the local growth control rope and a wire curling device matching the local growth control rope along the direction away from the robotic arm assembly, after the tail end of the local growth control rope passes through the corresponding drive rope hole, it is redirected by the corresponding wire transition device and then curled and connected to the corresponding wire curling device, and the telescopic state is controlled by the corresponding wire curling device.

3. The self-growing continuum robot arm according to claim 1, characterized in that: The wire transition device includes a first substrate, and the first substrate has an inner circle wire transition component array and an outer circle wire transition component array distributed around its circumference corresponding to the positions of the bending control rope holes on the supporting pelvis. For each wire transition component in the wire transition component array, the wire transition component includes a first base and a pulley movably arranged on the first base. After passing through the wire curling device, each bending control rope enters the outer circle wire transition component array in a horizontal posture and then changes to a vertical posture, and then is adjusted to a horizontal posture through the inner circle wire transition component array, and finally passes through the driving rope holes corresponding to the connecting substrate and enters the bending control rope holes of each supporting pelvis.

4. The self-growing continuum robot arm according to claim 1, characterized in that: The wire curling device includes a second base plate, the second base plate is provided with wire curling assemblies corresponding to the positions of the bending control rope holes and the growth control rope holes on the supporting bone plate, and for each wire curling assembly, the wire curling assembly includes a second base, a stepping motor, a capstan, a rotating shaft, a worm gear and a worm, the stepping motor is fixed to the lower side of the second base plate by bolts, the worm gear is connected to the output shaft of the stepping motor and engages with the worm gear, the second base is connected to the capstan by the rotating shaft, and the second base is fixed to the upper side of the second base plate by bolts; When in working state, the output shaft of the stepper motor drives the worm wheel, the worm and the rotating shaft to rotate in sequence, and then drives the winch to rotate, so as to realize the individual control of the extension and retraction state of each control rope.

5. The self-growing continuum robot arm according to claim 1, characterized in that: Equipment placement holes are also provided at the preset positions of each supporting pelvis.

6. The self-growing continuum robot arm according to claim 5, characterized in that: The supporting bone plate at the end of the mechanical arm assembly is also provided with working equipment, and each working equipment is sent into the end of the mechanical arm assembly through the equipment placement hole and fixed.

7. The self-growing continuum robot arm according to claim 1, characterized in that: The material of each control rope is steel wire rope, and the diameter of each control rope is 1mm.

8. The self-growing continuum robot arm according to claim 1, characterized in that: An elastic shell is also provided on the periphery of the mechanical arm assembly.

9. The self-growing continuum robot arm according to claim 1, characterized in that: Each first bending control rope is installed adjacent to each corresponding supporting pelvis at 90°, and each second bending control rope is installed adjacent to each corresponding supporting pelvis at 90°.

10. The self-growing continuum robot arm according to claim 1, characterized in that: Each rope hole has a smooth hole wall, and the hole diameter of the rope hole gradually decreases from the opening to the center.

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