Variable-stiffness continuous robot based on force locking

Abstract

The invention discloses a variable-stiffness continuous robot based on force locking. The variable-stiffness continuous robot comprises a flexible arm section, a variable-stiffness arm section, a rope driving mechanism and a wire driving mechanism, the flexible arm section and the variable-stiffness arm section are driven by winding a rope through a rope winding disc, so that the continuous robot generates six bending degrees of freedom. By changing the axial movement amount of the movable taper table, the lateral pressure of the rotating joint can be increased or reduced, the friction force of the joint is controlled, and therefore the rigidity of the continuous robot can be adjusted. The rigidity change of the variable-rigidity arm section can be realized, and the variable-rigidity arm section and the flexible arm section are connected in series, so that the tail end of the mechanical arm has enough flexibility while the joint rigidity is ensured, and the mechanical arm can adapt to a machining operation task in a complex and narrow space.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a variable stiffness continuous type robot based on force locking. Background Art

[0002] Continuous robots are usually composed of multiple connecting rods in series and have multiple joint degrees of freedom. They are a type of super-redundant robot with the characteristics of flexible movement and slender structure. They are particularly suitable for processing operations in complex spaces, such as minimally invasive medical surgery, nuclear plant inspection, and on-wing maintenance of aircraft engines.

[0003] During the processing of continuous robots, on the one hand, the robot is required to have sufficient movement flexibility to send the end effector to the target position, and on the other hand, the robot is required to have sufficient structural rigidity to resist external loads. However, for continuous robots, these two requirements conflict with each other and cannot be achieved at the same time. Therefore, the research on variable stiffness of continuous robots is of great significance. In recent years, people have invented a variety of variable stiffness continuous robots using vacuum pressure, particle blocking, variable stiffness materials and positive pressure locking, but most of them have problems such as small variable stiffness and excessive structural size. Summary of the invention

[0004] In order to solve the above problems, an object of the present invention is to provide a variable stiffness continuous type robot based on force locking.

[0005] In order to achieve the above-mentioned object, the variable stiffness continuous type robot based on force locking provided by the present invention comprises a flexible arm segment, a variable stiffness arm segment, a rope drive mechanism and a wire drive mechanism;

[0006] Wherein, the flexible arm segment includes a plurality of first joint links, a first end link, three first driving ropes and a plurality of elastic bending rods connected in sequence; the first end link is a cylindrical structure with an axial center hole, the rear end face is a plane, and the front end face is a special-shaped end face formed by the intersection of two inclined planes with the same inclination and symmetrically arranged, and the intersection of the two inclined planes is respectively recessed inward to form a first joint groove, and a first groove supporting blind hole is axially provided in the middle part of each first joint groove, and a plurality of first guide holes are formed axially through the inclined plane, and three first rope consolidation grooves are formed at intervals on the circumferential surface of the first end link; the first joint link is also a cylindrical structure with an axial center hole, and the front end face and the front end of the first end link are The surface structure is the same; the rear end face is also a special-shaped end face formed by the intersection of two inclined surfaces with the same inclination and symmetrically arranged, and the intersection of the inclined surfaces of the rear end face is 90 degrees different from the intersection of the inclined surfaces of the front end face, and the two inclined surfaces of the rear end face respectively protrude outward to form a first joint boss, and a first boss supporting blind hole is provided on the outer side of each first joint boss; the adjacent first joint connecting rods and the first joint connecting rod and the first end connecting rod cooperate with each other through the first joint groove and the first joint boss, and are connected to each other through two elastic bending rods whose two ends are respectively inserted into the first boss supporting blind hole on the previous first joint connecting rod and the corresponding first groove supporting blind hole on the next first joint connecting rod or the first end connecting rod;

[0007] The rear end of the variable stiffness arm segment is connected to the front end of the flexible arm segment 1, including a first arm segment unit I and a second arm segment unit II which are arranged in sequence from back to front and connected end to end; wherein the first arm segment unit I includes a second end connecting rod, a plurality of second joint connecting rods connected in sequence, three second driving ropes, a plurality of elastic bending rods, a plurality of elastic taper rings and a plurality of movable taper platforms; the second end connecting rod is a cylindrical structure with an axial center hole, and the rear end face has the same structure as the rear end face of the first joint connecting rod; the front end face is also a special-shaped end face formed by the intersection of two inclined surfaces with the same inclination and symmetrically arranged, and the intersection of the inclined surface end of the rear end face is 90 degrees different from the intersection of the inclined surface end of the front end face, and the intersection of the two inclined surfaces on the front end face is respectively recessed inward to form a second joint groove, and a second groove supporting blind hole is axially provided in the middle part of each second joint groove, and a circular arc clamping plate is provided at the intersection of the second joint groove and the axial center hole, and a plurality of second guide holes are formed by axial penetration of the inclined surface of the front end face, and the second end Three second rope consolidation grooves are formed at intervals on the circumferential surface of the end link; the second joint link is also a cylindrical structure with an axial center hole, and the front and rear end surfaces are respectively the same in structure as the front and rear end surfaces of the second end link; the elastic taper ring is a circular ring structure, which is arranged in the center hole of the second end link or the second joint link near the arc clamping piece, and two elastic discs with inner sides tapered in the axial direction are symmetrically arranged at the front end, and the two elastic discs are respectively located on the inner sides of the two arc clamping pieces; the movable taper table is a columnar structure with a cross-shaped cross section, which is arranged inside the elastic taper ring, has a taper in the axial direction at the front, and a cone positioning hole is formed at the axial center position; adjacent second joint links and between the second joint links and the second end links cooperate with each other through the second joint groove and the first joint boss, and are connected to each other through two elastic bending rods at both ends respectively inserted into the first boss support blind hole on the previous second joint link and the corresponding second groove support blind hole on the next second joint link or the second end link;

[0008] The second arm segment unit II includes a second end link, a plurality of second joint links connected in sequence, a base link, a plurality of elastic bending rods, three third driving ropes, a plurality of elastic taper rings and a plurality of movable taper platforms; wherein the base link is a cylindrical structure with an axial center hole, the rear end face has the same structure as the rear end face of the second joint link, and a disc base is installed at the front end; the structure and connection relationship of the remaining components are the same as those of the first arm segment unit I;

[0009] The rope drive mechanism comprises a vertical plate, a lower bottom plate, four L-shaped support plates, an upper bottom plate, nine stepper motors, nine rope winding drums, nine motor mounting plates, nine guide plates and nine pulleys; the upper bottom plate and the lower bottom plate are arranged horizontally, and the two are connected by four L-shaped support plates located at the corners; the nine stepper motors are divided into two rows and are respectively installed on both sides of the upper bottom plate through a motor mounting plate; a rope winding drum is installed at the output end of each stepper motor; the vertical plate is installed in the middle of the rear end of the upper bottom plate in the horizontal direction, and is connected to the disc base on the base connecting rod in the variable stiffness arm section by bolts; a vertically arranged guide plate is respectively installed on the inner side of each stepper motor on the upper bottom plate in the longitudinal direction, and a pulley is installed on the upper end of the guide plate;

[0010] The wire drive mechanism comprises a driving motor, a linear guide rail, a movable slider, a rotating screw, a slider seat, a nut, a chuck and an elastic driving wire; wherein the linear guide rail is installed on the upper base plate at a position between two rows of guide plates; a rotating screw is installed inside the linear guide rail along the axial direction; the middle part of the movable slider is installed on the rotating screw and the outer side is slidably matched with the linear guide rail; the output end of the driving motor is connected with one end of the rotating screw, thereby driving the movable slider to move axially; the slider seat is installed on the movable slider, and a through hole with a taper is formed in the axial direction at the upper part; the chuck is installed in the through hole on the slider seat, and a through hole is formed in the axial direction in the middle part; the front part of the elastic driving wire passes through the through hole on the chuck, and a thread matching the nut is provided at the front end, and the chuck is driven to move axially by tightening the nut, thereby clamping the elastic driving wire, and the middle part of the elastic driving wire passes through and is fixed in the truncated cone positioning hole on all movable taper tables, thereby driving the movable taper table to move axially;

[0011] The rear end of each first driving rope is fixed to a first rope consolidation groove on the first end connecting rod by means of a first rope consolidation block, and the front end passes through a plurality of first guide holes on the flexible arm segment and a plurality of second guide holes on the variable stiffness arm segment in sequence, and then is guided by a pulley, and is finally fixed on a corresponding rope winding drum in the rope drive mechanism; the rear end of each second driving rope is fixed to a second rope consolidation groove on the second end connecting rod of the first arm segment unit I by means of a second rope consolidation block, and the front end passes through a plurality of second guide holes on the first arm segment unit I and the second arm segment unit II in sequence, and then is guided by a pulley, and is finally fixed on a corresponding rope winding drum in the rope drive mechanism; the rear end of each third driving rope is fixed to a second rope consolidation groove on the second end connecting rod of the second arm segment unit II by means of a third rope consolidation block, and the front end passes through a plurality of second guide holes on the second arm segment unit II in sequence, and then is guided by a pulley, and is finally fixed on a corresponding rope winding drum in the rope drive mechanism.

[0012] The linear guide rail in the wire drive mechanism is connected to the upper base plate in the rope drive mechanism through bolts.

[0013] The axial center holes of the second end connecting rod and the second joint connecting rod adopt a stepped hole structure, which is used to block the elastic tapered ring, thereby limiting the axial movement of the elastic tapered ring.

[0014] The variable stiffness continuous type robot based on force locking provided by the present invention has the following advantages:

[0015] 1. The use of elastic taper ring, mobile taper table and arc clamping piece can realize the stiffness change of variable stiffness arm section, while ensuring that the overall size of the robot arm is small to meet the processing requirements in complex and narrow spaces.

[0016] 2. A plurality of first joint links are connected in series to form a flexible arm segment, so that the end of the robot arm has sufficient flexibility of movement, which is convenient for adjusting the posture of the end during the processing operation.

[0017] 3. A single stepper motor is used to drive the rope winding drum to achieve motion drive, which makes the rope drive system structure smaller in size while ensuring the decoupling of each rope motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of a variable stiffness continuous type robot based on force locking provided by the present invention.

[0019] Figure 2 It is a schematic diagram of the variable stiffness arm section structure in the present invention.

[0020] Figure 3 It is a schematic diagram of the structure of the flexible arm segment in the present invention.

[0021] Figure 4 It is a schematic diagram of the first end connecting rod structure of the flexible arm segment in the present invention.

[0022] Figure 5 It is a schematic diagram of the first joint connecting rod structure of the flexible arm segment in the present invention.

[0023] Figure 6 It is a schematic diagram of the second end connecting rod structure of the variable stiffness arm section in the present invention.

[0024] Figure 7 It is a schematic diagram of the structure of the second joint connecting rod and its internal parts of the variable stiffness arm section in the present invention.

[0025] Figure 8 It is a schematic diagram of the structure of the rope drive mechanism in the present invention.

[0026] Fig. 9 It is a schematic diagram of the structure of the wire drive mechanism in the present invention. DETAILED DESCRIPTION

[0027] The variable stiffness continuous type robot based on force locking provided by the present invention is described in detail below with reference to the accompanying drawings.

[0028] like Figure 1 — Fig. 9 As shown, the variable stiffness continuous type robot based on force locking provided by the present invention comprises a flexible arm segment 1, a variable stiffness arm segment 2, a rope drive mechanism 3 and a wire drive mechanism 4;

[0029] The flexible arm section 1 includes a plurality of first joint links 11, a first end link 12, three first drive ropes 13 and a plurality of elastic bending rods 14 connected in sequence; the first end link 12 is a cylindrical structure with an axial center hole, the rear end face is a plane, and the front end face is a special-shaped end face formed by the intersection of two inclined planes with the same inclination and symmetrically arranged, and the intersection of the two inclined planes is respectively recessed inward to form a first joint groove 121, and a first groove support blind hole 122 is axially provided in the middle part of each first joint groove 121, and a plurality of first guide holes 123 are formed axially through the inclined plane, and three first rope consolidation grooves 124 are formed at intervals on the circumferential surface of the first end link 12; the first joint link 11 is also a cylindrical structure with an axial center hole, and the front end face and the front end face of the first end link 12 are The structure is the same; the rear end face is also a special-shaped end face formed by the intersection of two inclined surfaces with the same inclination and symmetrically arranged, and the intersection of the inclined surfaces of the rear end face is 90 degrees different from the intersection of the inclined surfaces of the front end face, and the two inclined surfaces of the rear end face protrude outward to form a first joint boss 111, and a first boss supporting blind hole 112 is provided on the outer side of each first joint boss 111; the adjacent first joint connecting rods 11 and the first joint connecting rod 11 and the first end connecting rod 12 cooperate with each other through the first joint groove 121 and the first joint boss 111, and are connected to each other through two elastic bending rods 14 whose two ends are respectively inserted into the first boss supporting blind hole 112 on the previous first joint connecting rod 11 and the corresponding first groove supporting blind hole 122 on the next first joint connecting rod 11 or the first end connecting rod 12;

[0030] The rear end of the variable stiffness arm segment 2 is connected to the front end of the flexible arm segment 1, and includes a first arm segment unit I and a second arm segment unit II which are arranged in sequence from back to front and connected end to end; wherein the first arm segment unit I includes a second terminal connecting rod 21, a plurality of second joint connecting rods 22 connected in sequence, three second driving ropes 23, a plurality of elastic bending rods 14, a plurality of elastic taper rings 24 and a plurality of movable taper platforms 25; the second terminal connecting rod 21 is a cylindrical structure with an axial center hole, and the rear end face has the same structure as the rear end face of the first joint connecting rod 11; the front end face is also composed of two having the same inclination The angled surfaces of the rear end face and the front end face are 90 degrees apart from each other, and the intersection of the two inclined surfaces on the front end face are respectively recessed inward to form a second joint groove 211, and a second groove supporting blind hole 212 is axially arranged in the middle of each second joint groove 211, and a circular arc clamping piece 213 is arranged at the intersection of the second joint groove 211 and the axial center hole, and a plurality of second guide holes 214 are formed through the inclined surface of the front end face along the axial direction, and the circumferential surface of the second end connecting rod 21 is spaced apart. The second joint link 22 is also a cylindrical structure with an axial center hole, and the front and rear end surfaces are respectively the same as the front and rear end surface structures of the second end link 21; the elastic taper ring 24 is a circular ring structure, which is arranged in the center hole of the second end link 21 or the second joint link 22 near the arc clamping piece 213, and the front end is symmetrically provided with two elastic discs 241 with tapered inner sides along the axial direction, and the two elastic discs 241 are respectively located on the inner sides of the two arc clamping pieces 213; the movable taper table 25 is a cylindrical structure with a cross-shaped cross section. The structure is arranged inside the elastic tapered ring 24, the front part has a taper in the axial direction, and a truncated cone positioning hole 251 is formed at the axial center position; the adjacent second joint links 22 and the second joint links 22 and the second terminal links 21 are matched with each other through the second joint groove 211 and the first joint boss 111, and are connected to each other through two elastic bending rods 14 inserted into the first boss support blind hole 112 on the previous second joint link 22 and the corresponding second groove support blind hole 212 on the next second joint link 22 or the second terminal link 21 at both ends;

[0031] The second arm segment unit II includes a second end link 21, a plurality of second joint links 22 connected in sequence, a base link 27, a plurality of elastic bending rods 14, three third driving ropes 28, a plurality of elastic taper rings 24 and a plurality of movable taper platforms 25; wherein the base link 27 is a cylindrical structure with an axial center hole, the rear end face of which is the same as the rear end face structure of the second joint link 22, and a disc base 271 is installed at the front end; the structures and connection relationships of the remaining components are the same as those of the first arm segment unit I;

[0032] The rope drive mechanism 3 includes a vertical plate 31, a lower bottom plate 32, four L-shaped support plates 33, an upper bottom plate 34, nine stepper motors 35, nine rope winding drums 36, nine motor mounting plates 37, nine guide plates 38 and nine pulleys 39; the upper bottom plate 34 and the lower bottom plate 32 are arranged horizontally, and the two are connected by four L-shaped support plates 33 located at the corners; the nine stepper motors 35 are divided into two rows and are installed on both sides of the upper bottom plate 34 through a motor mounting plate 37; a rope winding drum 36 is installed at the output end of each stepper motor 35; the vertical plate 31 is installed in the middle of the rear end of the upper bottom plate 34 in the transverse direction, and is connected to the disc base 271 on the base connecting rod 27 in the variable stiffness arm section 2 by bolts; a vertically arranged guide plate 38 is respectively installed on the inner side of each stepper motor 35 on the upper bottom plate 34 in the longitudinal direction, and a pulley 39 is installed on the upper end of the guide plate 38;

[0033] The wire drive mechanism 4 includes a driving motor 41, a linear guide 42, a moving slider 43, a rotating lead screw 44, a slider seat 45, a nut 46, a chuck 47 and an elastic driving wire 26; wherein the linear guide 42 is installed on the upper base plate 34 at a position between two rows of guide plates 38; a rotating lead screw 44 is installed inside the linear guide 42 along the axial direction; the middle part of the moving slider 43 is installed on the rotating lead screw 44 and the outer side is slidably matched with the linear guide 42; the output end of the driving motor 41 is connected to one end of the rotating lead screw 44, thereby driving the moving slider 43 to move axially; The slider seat 45 is installed on the movable slider 43, and a through hole with a taper is formed on the upper part thereof in the axial direction; the chuck 47 is installed in the through hole on the slider seat 45, and a through hole is formed in the middle part thereof in the axial direction; the front part of the elastic driving wire 26 passes through the through hole on the chuck 47, and a thread matching with the nut 46 is provided at the front end, and the chuck 47 is driven to move axially by tightening the nut 46, thereby clamping the elastic driving wire 26, and the middle part of the elastic driving wire 26 passes through and is fixed in the truncated cone positioning hole 251 on all movable tapered platforms 25, thereby driving the movable tapered platform 25 to move axially;

[0034] The rear end of each first driving rope 13 is fixed in a first rope consolidation groove 124 on the first end link 12 by means of a first rope consolidation block 131, and the front end passes through a plurality of first guide holes 123 on the flexible arm segment 1 and a plurality of second guide holes 214 on the variable stiffness arm segment 2 located at the same position, and then is guided by a pulley 39 and finally fixed on a corresponding rope drum 36 in the rope drive mechanism 3; the rear end of each second driving rope 23 is fixed in a second rope consolidation groove 215 on the second end link 21 of the first arm segment unit I by means of a second rope consolidation block 231, and the front end passes through a plurality of first guide holes 123 on the flexible arm segment 1 and a plurality of second guide holes 214 on the variable stiffness arm segment 2 located at the same position, and then is guided by a pulley 39 and finally fixed on a corresponding rope drum 36 in the rope drive mechanism 3; It passes through a plurality of second guide holes 214 on the first arm segment unit I and the second arm segment unit II located at the same position, and then is guided by a pulley 39, and is finally fixed on a corresponding rope winding drum 36 in the rope drive mechanism 3; the rear end of each third driving rope 28 is fixed in a second rope consolidation groove 215 on the second end connecting rod 21 of the second arm segment unit II by a third rope consolidation block 281, and the front end passes through a plurality of second guide holes 214 on the second arm segment unit II located at the same position in turn, and then is guided by a pulley 39, and is finally fixed on a corresponding rope winding drum 36 in the rope drive mechanism 3.

[0035] The linear guide rail 42 in the wire drive mechanism 4 is connected to the upper base plate 34 in the rope drive mechanism 3 by bolts.

[0036] The axial center holes of the second end connecting rod 21 and the second joint connecting rod 22 adopt a stepped hole structure, which is used to block the elastic tapered ring 24, thereby limiting the axial movement of the elastic tapered ring 24.

[0037] The working principle of the variable stiffness continuous type robot based on force locking provided by the present invention is as follows: the nine stepping motors 35 in the rope driving mechanism 3 rotate, driving the nine rope winding drums 36 to wind the first driving rope 13, the second driving rope 23 and the third driving rope 28, thereby driving the flexible arm segment 1, the first unit arm segment I and the second arm segment unit II to bend, generating six bending degrees of freedom; and when the variable stiffness continuous type robot reaches the specified target position, the driving motor 41 in the wire driving mechanism 4 rotates, driving the moving slider 43 to move axially, pulling the elastic driving wire 26, thereby driving the variable stiffness arm segment 2 The movable taper platform 25 installed in the second end link 21 and the second joint link 22 moves axially, laterally squeezes the elastic disc 241 on the elastic taper ring 24, causes it to deform radially, and cooperates with the first joint boss 111 to clamp the arc clamping plate 213; by changing the axial movement of the movable taper platform 25, the lateral pressure of the joint can be changed, and the friction force of the joint can be changed, thereby realizing the adjustable stiffness of the continuous robot; the variable stiffness continuous robot has the characteristics of flexible movement, small overall size, and adjustable stiffness, and is suitable for processing operations in complex and narrow environments.

Claims

1. A variable stiffness continuous type robot based on force locking, characterized in that: The variable stiffness continuous type robot based on force locking comprises a flexible arm segment (1), a variable stiffness arm segment (2), a rope drive mechanism (3) and a wire drive mechanism (4); The flexible arm section (1) comprises a plurality of first joint connecting rods (11), a first end connecting rod (12), three first driving ropes (13) and a plurality of elastic bending rods (14) connected in sequence; the first end connecting rod (12) is a cylindrical structure with an axial center hole, the rear end face is a plane, and the front end face is a special-shaped end face formed by the intersection of two inclined planes with the same inclination and symmetrically arranged, and the intersection of the two inclined planes is respectively recessed inward to form a first joint groove (121), and a first groove supporting blind hole (122) is axially provided in the middle of each first joint groove (121), and a plurality of first guide holes (123) are formed axially through the inclined plane, and three first rope consolidation grooves (124) are formed at intervals on the circumferential surface of the first end connecting rod (12); the first joint connecting rod (11) is also a cylindrical structure with an axial center hole, and the front end face is aligned with the front end face of the first end connecting rod (12). The structure is the same; the rear end face is also a special-shaped end face formed by the intersection of two inclined surfaces with the same inclination and symmetrically arranged, and the intersection of the inclined surfaces of the rear end face and the intersection of the inclined surfaces of the front end face are 90 degrees apart, and at the same time, the two inclined surfaces of the rear end face protrude outward to form a first joint boss (111), and a first boss supporting blind hole (112) is provided on the outer side of each first joint boss (111); the adjacent first joint connecting rods (11) and the first joint connecting rods (111) and the first end connecting rods (12) cooperate with each other through the first joint groove (121) and the first joint boss (111), and are connected to each other through two elastic bending rods (14) whose two ends are respectively inserted into the first boss supporting blind hole (112) on the previous first joint connecting rod (11) and the corresponding first groove supporting blind hole (122) on the next first joint connecting rod (11) or the first end connecting rod (12); The rear end of the variable stiffness arm segment (2) is connected to the front end of the flexible arm segment (1), and comprises a first arm segment unit I and a second arm segment unit II which are arranged in sequence from back to front and connected end to end; wherein the first arm segment unit I comprises a second end connecting rod (21), a plurality of second joint connecting rods (22) connected in sequence, three second driving ropes (23), a plurality of elastic bending rods (14), a plurality of elastic taper rings (24) and a plurality of movable taper platforms (25); the second end connecting rod (21) is a cylindrical structure with an axial center hole, and the rear end face has the same structure as the rear end face of the first joint connecting rod (11); the front end face is also composed of two connecting rods with the same inclination. The symmetrically arranged inclined surfaces intersect to form a special-shaped end face, and the intersection of the inclined surface end of the rear end face is 90 degrees different from the intersection of the inclined surface end of the front end face, and the intersection of the two inclined surfaces on the front end face is respectively recessed inward to form a second joint groove (211), and a second groove supporting blind hole (212) is axially provided in the middle of each second joint groove (211), and a circular arc clamping piece (213) is provided at the intersection of the second joint groove (211) and the axial center hole, and a plurality of second guide holes (214) are formed through the inclined surface of the front end face along the axial direction, and three second ropes are formed at intervals on the circumferential surface of the second end connecting rod (21). The second joint connecting rod (22) is also a cylindrical structure with an axial center hole, and the front and rear end surfaces are respectively the same as the front and rear end surface structures of the second end connecting rod (21); the elastic taper ring (24) is a circular ring structure, which is arranged in the center hole of the second end connecting rod (21) or the second joint connecting rod (22) near the arc clamping piece (213), and the front end is symmetrically provided with two elastic discs (241) with tapered inner sides along the axial direction, and the two elastic discs (241) are respectively located on the inner sides of the two arc clamping pieces (213); the movable taper platform (25) is a columnar structure with a cross-shaped cross section, which is arranged on the elastic tapered plate. The interior of the tapered ring (24) has a taper in the axial direction at the front, and a truncated cone positioning hole (251) is formed at the axial center position; the adjacent second joint connecting rods (22) and the second joint connecting rods (22) and the second terminal connecting rod (21) cooperate with each other through the second joint groove (211) and the first joint boss (111), and are connected to each other through two elastic bending rods (14) whose two ends are respectively inserted into the first boss supporting blind hole (112) on the previous second joint connecting rod (22) and the corresponding second groove supporting blind hole (212) on the next second joint connecting rod (22) or the second terminal connecting rod (21); The second arm segment unit II comprises a second end connecting rod (21), a plurality of second joint connecting rods (22) connected in sequence, a base connecting rod (27), a plurality of elastic bending rods (14), three third driving ropes (28), a plurality of elastic taper rings (24) and a plurality of movable taper platforms (25); wherein the base connecting rod (27) is a cylindrical structure with an axial center hole, the rear end face of which has the same structure as the rear end face of the second joint connecting rod (22), and a disc base (271) is installed at the front end; the structures and connection relationships of the remaining components are the same as those of the first arm segment unit I; The rope drive mechanism (3) comprises a vertical plate (31), a lower bottom plate (32), four L-shaped support plates (33), an upper bottom plate (34), nine stepper motors (35), nine rope winding drums (36), nine motor mounting plates (37), nine guide plates (38) and nine pulleys (39); the upper bottom plate (34) and the lower bottom plate (32) are arranged horizontally, and the two are connected by four L-shaped support plates (33) located at the corners; the nine stepper motors (35) are divided into two rows, each connected by a motor mounting plate (37). ) are installed on both sides of the upper base plate (34); a rope winding drum (36) is installed at the output end of each stepping motor (35); the vertical plate (31) is installed in the middle of the rear end of the upper base plate (34) in the horizontal direction, and is connected to the disc base (271) on the base connecting rod (27) in the variable stiffness arm section (2) by bolts; a vertically arranged guide plate (38) is installed in the longitudinal direction on the inner side of each stepping motor (35) on the upper base plate (34), and a pulley (39) is installed on the upper end of the guide plate (38); The wire drive mechanism (4) comprises a driving motor (41), a linear guide rail (42), a movable slider (43), a rotating lead screw (44), a slider seat (45), a nut (46), a chuck (47) and an elastic driving wire (26); wherein the linear guide rail (42) is mounted on the upper base plate (34) at a position between two rows of guide plates (38); a rotating lead screw (44) is mounted inside the linear guide rail (42) along the axial direction; the middle part of the movable slider (43) is mounted on the rotating lead screw (44) and the outer side is slidably matched with the linear guide rail (42); the output end of the driving motor (41) is connected to one end of the rotating lead screw (44), thereby driving the movable slider (43) ) axial movement; the slider seat (45) is installed on the movable slider (43), and a through hole with a taper is formed on the upper part along the axial direction; the chuck (47) is installed in the through hole on the slider seat (45), and a through hole is formed in the middle part along the axial direction; the front part of the elastic drive wire (26) passes through the through hole on the chuck (47), and a thread matching with the nut (46) is provided at the front end, and the chuck (47) is driven to move axially by tightening the nut (46), thereby clamping the elastic drive wire (26), and the middle part of the elastic drive wire (26) passes through and is fixed in the truncated cone positioning hole (251) on all the movable taper platforms (25), thereby driving the movable taper platform (25) to move axially; The rear end of each first driving rope (13) is fixed in a first rope fixing groove (124) on the first end link (12) by means of a first rope fixing block (131), and the front end passes through a plurality of first guide holes (123) on the flexible arm segment (1) and a plurality of second guide holes (214) on the variable stiffness arm segment (2) located at the same position, and then is guided by a pulley (39) and finally fixed on a corresponding rope winding drum (36) in the rope drive mechanism (3); the rear end of each second driving rope (23) is fixed in a second rope fixing groove (215) on the second end link (21) of the first arm segment unit I by means of a second rope fixing block (231), and the front end passes through a plurality of first guide holes (123) on the flexible arm segment (1) and a plurality of second guide holes (214) on the variable stiffness arm segment (2) located at the same position, and then is guided by a pulley (39) and finally fixed on a corresponding rope winding drum (36) in the rope drive mechanism (3). The ends of the third driving ropes (28) are sequentially passed through a plurality of second guide holes (214) on the first arm segment unit I and the second arm segment unit II located at the same position, and then guided by a pulley (39), and finally fixed on a corresponding rope winding drum (36) in the rope drive mechanism (3); the rear end of each third driving rope (28) is fixed in a second rope consolidation groove (215) on the second end connecting rod (21) of the second arm segment unit II by means of a third rope consolidation block (281), and the front ends are sequentially passed through a plurality of second guide holes (214) on the second arm segment unit II located at the same position, and then guided by a pulley (39), and finally fixed on a corresponding rope winding drum (36) in the rope drive mechanism (3).

2. The variable stiffness continuous type robot based on force locking according to claim 1, characterized in that The linear guide rail (42) in the wire drive mechanism (4) and the upper base plate (34) in the rope drive mechanism (3) are connected via bolts.

3. The variable stiffness continuous type robot based on force locking according to claim 1, characterized in that The axial center holes of the second end connecting rod (21) and the second joint connecting rod (22) adopt a stepped hole structure, which is used to block the elastic taper ring (24), thereby limiting the axial movement of the elastic taper ring (24).

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