A wire-driven robot based on origami structure

Abstract

The invention provides a wire-driven robot based on an origami structure, which comprises a flexible arm, an inner tube driving device, an outer tube driving device and an inner tube quick-change device, wherein the flexible arm comprises an origami inner tube and an origami outer tube, wherein the origami inner tube is nested in the origami outer tube, and the rigidity of the origami outer tube exceeds that of the origami inner tube; the origami inner tube adopts a Yoshimura origami mechanism, and the origami outer tube adopts a Kresling origami mechanism, and a plurality of wire-passing holes for driving wires to pass through are respectively provided at the ends of the origami inner tube and the ends of the origami outer tube; the inner tube driving device is used for driving the origami inner tube to bend, twist, axially rotate and extend and retract along the axial direction of the origami inner tube in space; the outer tube driving device is used for driving the origami outer tube to bend, twist and extend and retract along the axial direction of the origami outer tube in space; the inner tube quick-change device is used for quickly replacing the origami inner tube; the origami inner tube can be quickly replaced by the inner tube quick-change device, is suitable for different surgical operations, and has the advantage of convenient replacement.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to a wire-driven robot based on an origami structure. Background Art

[0002] Robot-assisted minimally invasive surgery is becoming the direction of surgical development. Compared with traditional open surgery, it has the characteristics of less bleeding, less postoperative pain, faster recovery, and subtle or no scars.

[0003] The application of robot-assisted minimally invasive surgery has reformed the surgical operation mode, improved the safety of surgery, and can fully improve the surgical ability of doctors. It has effectively solved the various "bottleneck" problems faced by traditional minimally invasive surgery, such as long learning curve, inflexible operation, and difficulty in cooperation between doctors. Robot-assisted minimally invasive surgery technology has become a hot spot in the fields of robotics and surgical technology.

[0004] At the same time, as the requirements for surgery gradually increase, surgical robots, as an important tool to improve the quality of surgery, have a strong market demand. In the past few decades of development, minimally invasive surgical robots have been widely used in neurosurgery, abdominal surgery, thoracic surgery, orthopedic surgery, gynecology, urology, vascular intervention, craniofacial surgery and other surgeries.

[0005] Although minimally invasive surgery has made great progress in recent years, it is still difficult for existing minimally invasive surgical robots to perform intracavitary surgery on narrow cavities and to successfully remove lesions through complex cavities, making it difficult to meet clinical requirements.

[0006] The wire-driven robot is composed of multiple hollow units connected in series, and the position and posture of the robot end are adjusted by controlling the length of the driving wires evenly arranged in the circumference. Traditional wire-driven robots have two degrees of freedom in the bending direction and one degree of freedom in the moving direction. In order to increase the freedom of robot movement, a structure of multiple wire-driven robots superimposed in series is usually adopted. The robot under this structure has the disadvantages of low rigidity and uncontrollable length of each continuum.

[0007] The concentric tube robot is composed of two or more pre-bent highly elastic concentric tubes nested together. Each concentric tube has two degrees of freedom, rotation and translation. The robot end can reach the target position by controlling the extension and rotation of each concentric tube. However, since the curvature of the pre-bent concentric tubes in the robot is constant, the robot has limited reach and poor flexibility. In addition, the pre-bending rate of the concentric tubes will change with the use time and frequency, resulting in low surgical operation accuracy.

[0008] The continuum robot disclosed in Chinese Patent 202110015358.1 uses articulated units as outer arms and inner arms, which increases the reachable space of the flexible arm and has higher flexibility; however, the inner arm needs to be replaced during different surgical operations, and it has the defects of complicated inner arm replacement operation and fixed inner and outer tube lengths.

[0009] Therefore, it is necessary to continue to improve the existing technology. Summary of the invention

[0010] The purpose of the present invention is to provide a wire-driven robot based on an origami structure, which can realize the rapid replacement of an origami inner tube.

[0011] In order to achieve the above object, the present invention provides a wire-driven robot based on an origami structure, which comprises:

[0012] The flexible arm comprises an origami inner tube and an origami outer tube, wherein the origami inner tube is nested in the origami outer tube, and the stiffness of the origami outer tube exceeds the stiffness of the origami inner tube; the origami inner tube adopts a Yoshimura origami mechanism, and the origami outer tube adopts a Kresling origami mechanism, and a plurality of wire holes for driving wires to pass through are respectively provided at the ends of the origami inner tube and the ends of the origami outer tube;

[0013] The inner tube driving device is used to drive the origami inner tube to bend, twist, axially rotate and extend and retract along the axis direction of the origami inner tube in space;

[0014] The outer tube driving device is used to drive the origami outer tube to bend, twist and extend in the space along the axis direction of the origami outer tube;

[0015] Inner tube quick-change device, used to quickly replace the origami inner tube;

[0016] The inner tube quick-change device comprises a first housing, a plurality of first winding shafts disposed in the first housing, a first transmission disc, a second housing, a plurality of second winding shafts disposed in the second housing, and a second transmission disc, the first housing is disposed on the inner tube driving device, the origami inner tube is disposed on the second housing, and the first housing is connected to the second housing;

[0017] The first transmission disc is arranged on the first winding shaft, and a connecting protrusion is provided on the first transmission disc; the second transmission disc is arranged on the second winding shaft, and a connecting concave portion is provided on the second transmission disc;

[0018] Among them, the driving wire located at the driving end is respectively connected to the inner tube driving device and the first winding shaft, and the driving wire located downstream is respectively connected to the wire hole of the folded inner tube and the second winding shaft. Driven by the inner tube driving device, the first winding shaft rotates and can drive the first transmission disk to rotate. The second transmission disk and the second winding shaft are driven to rotate by utilizing the cooperation of the connecting protrusion and the connecting recess, thereby transmitting power to the driving wire located downstream.

[0019] According to another specific embodiment of the present invention, the inner tube quick-change device further includes a spring, the first transmission plate can be extended and retracted along the axial direction of the first winding shaft and compress the spring, and / or the second transmission plate can be extended and retracted along the axial direction of the second winding shaft and compress the spring.

[0020] According to another specific embodiment of the present invention, the first shell and the second shell are detachably connected together.

[0021] According to another specific embodiment of the present invention, a first snap plate is provided on the first shell, and a second snap plate is provided on the second shell, and the first snap plate is snap-fitted with the second snap plate.

[0022] According to another specific embodiment of the present invention, an origami outer tube comprises a plurality of outer tube origami units connected in sequence, the outer tube origami units are formed by enclosing a plurality of outer tube origami sheets in a circumferential array, each outer tube origami sheet comprises two identical outer tube isosceles triangle sheets, the bases of the two outer tube isosceles triangle sheets overlap and form a crease, wherein the outer tube origami unit located at the end of the origami outer tube is provided with four circumferentially evenly distributed wire holes, and the outer tube driving device drives the four driving lines to cooperatively control the origami outer tube to bend, twist and extend and retract along the axial direction of the origami outer tube in space.

[0023] According to another specific embodiment of the present invention, the origami inner tube includes a plurality of inner tube origami units connected in sequence, the inner tube origami unit includes two symmetrical inner tube origami modules, the inner tube origami module includes isosceles trapezoidal pieces and inner tube isosceles triangle pieces arranged alternately, the waist length of the isosceles trapezoidal pieces is the same as the waist length of the inner tube isosceles triangle pieces and are connected together, wherein the inner tube origami unit located at the end of the origami inner tube isosceles isotropically distributed is provided with four circumferentially evenly distributed wire holes, and the four driving wires are driven by the inner tube driving device to cooperatively control the origami inner tube to bend, twist, axially rotate and extend and retract along the axial direction of the origami inner tube in space.

[0024] According to another specific embodiment of the present invention, the inner tube driving device includes an inner tube linear driving mechanism, an inner tube rotation driving mechanism and an inner tube linear driving mechanism. The inner tube linear driving mechanism is used to drive the origami inner tube to bend, twist and extend in space, the inner tube rotation driving mechanism is used to drive the origami inner tube to perform axial rotation, and the inner tube linear driving mechanism is used to drive the origami inner tube to perform linear motion along its axial direction.

[0025] According to another specific embodiment of the present invention, the outer tube driving device includes an outer pipeline driving mechanism, and the outer pipeline driving mechanism is used to drive the origami outer tube to bend, twist and extend in space.

[0026] According to another specific embodiment of the present invention, the outer tube driving device also includes a pulley mechanism for guiding the driving line, the pulley mechanism includes a support plate, a plurality of pulley seats, an outer tube seat and a pulley, the pulley seat is arranged on the support plate, the outer tube seat is arranged on the support plate, and the origami outer tube is arranged on the outer tube seat, wherein a part of the pulley is arranged on the support plate through the pulley seat, and another part of the pulley is arranged on the outer tube seat.

[0027] In this solution, the driving line is introduced into the origami outer tube in parallel, which avoids the driving inclination and improves the driving accuracy. The distributed design reduces the size of the surgical robot and has the advantage of high driving accuracy.

[0028] The present invention has the following beneficial effects:

[0029] In the present invention, the origami structure is used for the flexible arm, which not only enriches the types of flexible arms, but also thanks to the characteristics of the origami structure can reduce the weight and volume of the surgical robot, enhance its ability to pass through narrow cavities, and increase the accessible space of the flexible arm.

[0030] In the present invention, the origami wire-drive nested structure increases the degree of freedom of the surgical robot and improves the flexibility of the surgical robot. Thanks to the scalability of the origami structure, the adaptability to different patient cavities is enhanced.

[0031] In the present invention, the origami inner tube can be quickly replaced through the inner tube quick-change device, which is suitable for different surgical operations and has the advantage of convenient replacement.

[0032] The present invention also has the advantages of small overall structural size and high terminal flexibility.

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention;

[0035] Figure 2is a schematic structural diagram of the flexible arm in Example 1 of the present invention;

[0036] Figure 3 is a schematic structural diagram of an origami inner tube in Example 1 of the present invention;

[0037] Figure 4 is a schematic structural diagram of an origami outer tube in Example 1 of the present invention;

[0038] Figure 5 is a schematic structural diagram of the inner tube quick-change device in Example 1 of the present invention;

[0039] Figure 6 It is a schematic diagram of the coordination of a single set of first transmission disc and second transmission disc in Embodiment 1 of the present invention;

[0040] Figure 7 is a schematic structural diagram of the inner pipeline driving mechanism in Example 1 of the present invention;

[0041] Figure 8 is a schematic structural diagram of the inner tube rotation driving mechanism in Example 1 of the present invention;

[0042] Fig. 9 is a schematic structural diagram of the external pipeline driving mechanism in Embodiment 1 of the present invention;

[0043] Fig.10 It is a structural schematic diagram of the pulley mechanism in Example 1 of the present invention. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0046] Example 1

[0047] This embodiment provides a wire-driven robot based on an origami structure, such as Figure 1-10 As shown, it includes a flexible arm, an inner tube driving device, an outer tube driving device and an inner tube quick-change device 700, wherein the flexible arm includes an origami inner tube 100 and an origami outer tube 200, the inner tube driving device includes an inner tube linear driving mechanism 300, an inner tube rotation driving mechanism 400 and an inner tube linear driving mechanism 500, and the outer tube driving device includes an outer tube linear driving mechanism 600 and a pulley mechanism 800.

[0048] like Figure 2 As shown, the origami inner tube 100 is nested in the origami outer tube 200, and the rigidity of the origami outer tube 200 exceeds the rigidity of the origami inner tube 100, wherein a plurality of wire holes for driving wires to pass through are respectively provided at the ends of the origami inner tube 100 and the ends of the origami outer tube 200;

[0049] Among them, since the stiffness of the origami outer tube 200 is greater than that of the origami inner tube 100, the origami inner tube 100 is restricted by the origami outer tube 200 and is allowed to bend with the same curvature as the origami outer tube 200, while the part of the origami inner tube 100 extending out of the origami outer tube 200 can bend with other curvatures under the action of the driving line, and the origami inner tube 100 can also twist and move forward and backward when the origami outer tube 200 is bent, and its movement mode is similar to that of the concentric tubes. However, what is completely different from the concentric tubes is that the bending curvatures of the origami inner tube 100 and the origami outer tube 200 can be adjusted in real time without the need for pre-bending operations. This movement mode can greatly improve the narrow cavity passability of the origami flexible arm and can be adjusted in real time according to the environment in which it is located.

[0050] The origami inner tube 100 adopts a Yoshimura origami mechanism. Yoshimura origami is a triangular grid buckling mode that is compressed along the cylinder axis in a thin-walled cylinder to produce a corrugated shape similar to a Schwarz lantern.

[0051] The origami inner tube 100 in this embodiment includes a plurality of inner tube origami units 110 connected in sequence, such as Figure 3 As shown, the inner tube origami unit 110 includes two symmetrical inner tube origami modules, and the inner tube origami modules include isosceles trapezoidal pieces 111 and inner tube isosceles triangle pieces 112 that are alternately arranged. The waist length of the isosceles trapezoidal pieces 111 is the same as the waist length of the inner tube isosceles triangle pieces 112 and are connected together, wherein the inner tube origami unit 110 located at the end of the origami inner tube 100 is provided with four circumferentially evenly distributed wire holes, and the four driving wires are driven by the inner tube driving device to cooperatively control the origami inner tube 100 to bend in space, rotate axially, and extend and retract along the axial direction of the origami inner tube 100.

[0052] The origami outer tube 200 adopts the Kresling origami mechanism. Kresling origami has effective unfolding characteristics, programmable bidirectionality and versatility, and load-bearing capacity. It was discovered and named by Birtua Kresling. Its folds are produced by twisting of thin-walled cylinders. The mechanism will have multiple stable states during the folding process.

[0053] Experiments with thin-walled cylinders of paper or polypropylene have shown that Kresling origami mechanisms produce a "natural" pattern under torsional loads, similar to the pattern of the hawk moth. When the mandrel is twisted, a highly regular self-organized fold pattern emerges, forming inclined and elongated parallelograms (mountain-shaped folds) through the gap, separated by a valley-shaped fold on their long diagonal. For any given gap size, there is a left-handed or right-handed torsional buckling mode that describes alternating valley folds along the torsion direction, in which the axial motion of the tubule is coupled to the rotational (torsion) motion.

[0054] The origami outer tube 200 in this embodiment includes a plurality of origami outer tube units 210 connected in sequence, such as Figure 4 As shown, the outer tube origami unit 210 is formed by enclosing a plurality of outer tube origami sheets 220 in a circumferential array, each outer tube origami sheet 220 includes two identical outer tube isosceles triangle sheets 221, the bases of the two outer tube isosceles triangle sheets 221 overlap and form a fold, wherein the outer tube origami unit 210 located at the end of the origami outer tube 200 is provided with four circumferentially evenly distributed wire holes, and the outer tube driving device drives the four driving wires to cooperatively control the origami outer tube 200 to bend in space and to extend and retract along the axial direction of the origami outer tube 200.

[0055] The inner tube quick-change device 700 is used to quickly replace the origami inner tube 100. Figure 5-6 As shown, the inner tube quick-change device 700 includes a first shell 701, a plurality of first winding shafts 702 arranged in the first shell 701, a first transmission disk 703, a second shell 704, a plurality of second winding shafts 705 arranged in the second shell 704, and a second transmission disk 706. The first shell 701 is arranged on the inner tube driving device, specifically on the inner tube rotation driving mechanism 400, the origami inner tube 100 is arranged on the second shell 704, and the first shell 701 and the second shell 704 are connected.

[0056] The first transmission disc 703 is disposed on the first winding shaft 702, and a connecting protrusion 707 is provided on the first transmission disc 703; the second transmission disc 706 is disposed on the second winding shaft 705, and a connecting recess 708 is provided on the second transmission disc 706;

[0057] The connection protrusions 707 and the connection recesses 708 are preferably hemispherical, and a plurality of connection protrusions 707 and connection recesses 708 are distributed in a circular array.

[0058] The driving wire at the driving end is respectively connected to the inner tube driving device and the first winding shaft 702, and the driving wire at the downstream is respectively connected to the wire hole of the folded inner tube and the second winding shaft 705. Driven by the inner tube driving device, the first winding shaft 702 rotates and can drive the first transmission disk 703 to rotate. The second transmission disk 706 and the second winding shaft 705 are driven to rotate by the cooperation of the connecting protrusion 707 and the connecting recess, thereby transmitting power to the driving wire at the downstream.

[0059] Furthermore, the inner tube quick-change device 700 includes a spring 709 , the first transmission disc 703 can be extended and retracted along the axial direction of the first winding shaft 702 and compress the spring 709 , and / or the second transmission disc 706 can be extended and retracted along the axial direction of the second winding shaft 705 and compress the spring 709 .

[0060] Correspondingly, the inner tube quick-change device 700 also includes a torsion spring (not shown in the figure) and a bearing. The driving wire is wound around the first winding shaft 702. When the rope length changes, the first winding shaft 702 rotates under the action of the torsion spring and the bearing and transmits the rotation to the first transmission disk 703.

[0061] Furthermore, the first shell 701 and the second shell 704 are detachably connected together. A specific structure is: a first snap plate 710 is provided on the first shell 701, and a second snap plate 711 is provided on the second shell 704. The first snap plate 710 and the second snap plate 711 are snap-fitted together.

[0062] The inner tube driving mechanism 300 is used to drive the origami inner tube 100 to bend in space, such as Figure 7 As shown, it includes an inner pipeline driving bracket 301, a motor base 302, a servo motor 303, a ball screw 304, a screw nut 305, a wire pulling base 306, a coupling 307, a bearing 308, a linear guide 309 and a guide slider 310, wherein the driving wire pulling part has four groups, which are evenly distributed in a circular shape on the inner pipeline driving bracket 301, and each group pulls a driving wire connected to the origami inner tube 100.

[0063] During operation, the roller screw 304 is driven to rotate by the rotation of the servo motor 303, and the screw nut 305 is slidingly connected to the linear guide 309 through the wire pull seat 306. A driving wire is fixed on the wire pull seat 306. Due to the action of the linear guide 309, the wire pull seat 306 is driven by the roller screw 304 to move linearly along the linear guide 309, thereby pulling the driving wire.

[0064] The inner tube rotation driving mechanism 400 is used to drive the origami inner tube 100 to perform axial rotation. Figure 8As shown, the inner tube rotation drive mechanism 400 has a rotor part and a stator part, wherein the inner pipeline drive mechanism 300 is a rotor part, and the stator part includes a base plate 401, a thrust bearing 402, a thrust bearing seat 403, a needle bearing 404 and a needle bearing seat 405, a synchronous belt 406 and a rotating motor 407, wherein the thrust bearing seat 403 and the needle bearing seat 405 are fixed on the base plate 401, and two thrust bearings 402 are arranged in the thrust bearing seat 403, and the thrust bearings 402 are distributed on both sides of the inner pipeline drive bracket 301, and are used to limit the axial movement of the rotor part, and the needle bearing 404 is connected to the motor seat 302, and is used to limit the radial movement of the rotor part, and at the same time, a synchronous pulley 408 is arranged on the rotor part, which is connected to the synchronous pulley 408 connected to the rotating motor 407 through the synchronous belt 406, and the rotation of the rotor part is driven by the rotation of the rotating motor 407, wherein the rotating motor 407 is fixed together with the thrust bearing seat 403.

[0065] The inner tube linear driving mechanism 500 is used to drive the origami inner tube 100 to perform linear motion along its axial direction. For example, it adopts a screw slider mechanism, and its specific structure will not be described in detail here.

[0066] The outer tube driving mechanism 600 is used to drive the origami outer tube 200 to bend in space, such as Fig. 9 As shown, its structure is similar to that of the inner pipeline driving mechanism 300, and the driving principle is the same as that of the inner pipeline driving mechanism 300, which will not be elaborated here. The outer pipeline driving mechanism 600 has four groups of pull wire assemblies 610 that are symmetrically distributed, and the four groups of pull wire assemblies 610 are distributed on both sides of the inner tube driving mechanism.

[0067] The pulley mechanism 800 is used to guide the driving line acting on the origami outer tube 200. Fig.10 As shown, it includes a support plate 801, multiple pulley seats 802, an outer tube seat 803 and a pulley 804, the pulley seat 802 is arranged on the support plate 801, the outer tube seat 803 is arranged on the support plate 801, the origami outer tube 200 is arranged on the outer tube seat 803, a part of the pulley 804 is arranged on the support plate 801 through the pulley seat 803, and another part of the pulley 804 is arranged on the outer tube seat 803.

[0068] There are eight pulley seats 803 of two types installed on the support plate 801, and four pulleys 804 are provided on the outer tube seat 803. Each driving line is guided by a multi-angle steering pulley group formed by three pulleys until the driving line is guided to the wire hole of the origami outer tube 200. In this embodiment, the presence of the pulley can greatly reduce the friction between the driving line and other structures, thereby improving the control accuracy of the wire drive.

[0069] In this embodiment, the origami inner tube 100 can be quickly replaced through the inner tube quick-change device 700, which is suitable for different surgical operations. At the same time, the origami structure is used for the flexible arm, which not only enriches the types of flexible arms, but also thanks to the characteristics of the origami structure can reduce the weight of the surgical robot, reduce its volume, enhance its ability to pass through narrow cavities, and increase the accessible space of the flexible arm.

[0070] Although the present invention is disclosed as above with preferred embodiments, it is not intended to limit the scope of the present invention. Any person skilled in the art can make some improvements without departing from the scope of the present invention, that is, all equivalent improvements made according to the present invention should be covered by the scope of the present invention.

Claims

1. A wire-driven robot based on an origami structure, characterized in that: include: A flexible arm, comprising an origami inner tube and an origami outer tube, wherein the origami inner tube is nested in the origami outer tube, and the stiffness of the origami outer tube exceeds the stiffness of the origami inner tube; the origami inner tube adopts a Yoshimura origami mechanism, and the origami outer tube adopts a Kresling origami mechanism, and a plurality of wire holes for driving wires to pass through are respectively provided at the ends of the origami inner tube and the ends of the origami outer tube; An inner tube driving device, used for driving the origami inner tube to bend, twist, axially rotate in space and extend and retract along the axis direction of the origami inner tube; An outer tube driving device, used for driving the origami outer tube to bend, twist and extend in space along the axis direction of the origami outer tube; An inner tube quick-change device, used for quickly replacing the origami inner tube; The inner tube quick-change device comprises a first shell, a plurality of first winding shafts arranged in the first shell, a first transmission plate, a second shell, a plurality of second winding shafts arranged in the second shell, and a second transmission plate, wherein the first shell is arranged on the inner tube driving device, the origami inner tube is arranged on the second shell, and the first shell is connected to the second shell; the first shell and the second shell are detachably connected together; The first transmission disc is disposed on the first winding shaft, and a connecting protrusion is provided on the first transmission disc; the second transmission disc is disposed on the second winding shaft, and a connecting recess is provided on the second transmission disc; Among them, the driving wire located at the driving end is respectively connected to the inner tube driving device and the first winding shaft, and the driving wire located downstream is respectively connected to the wire hole of the origami inner tube and the second winding shaft. Under the drive of the inner tube driving device, the first winding shaft rotates and can drive the first transmission disk to rotate. The cooperation between the connecting protrusion and the connecting recess is utilized to drive the second transmission disk and the second winding shaft to rotate, thereby transmitting power to the driving wire located downstream.

2. The wire-driven robot based on origami structure as claimed in claim 1, characterized in that: The inner tube quick-change device further includes a spring, the first transmission plate can be extended and retracted along the axial direction of the first winding shaft and compress the spring, and / or the second transmission plate can be extended and retracted along the axial direction of the second winding shaft and compress the spring.

3. The wire-driven robot based on origami structure as claimed in claim 1, characterized in that: The first shell is provided with a first snap plate, the second shell is provided with a second snap plate, and the first snap plate is snap-fitted with the second snap plate.

4. The wire-driven robot based on origami structure as claimed in claim 1, characterized in that: The origami outer tube comprises a plurality of outer tube origami units connected in sequence, wherein the outer tube origami units are formed by enclosing a plurality of outer tube origami sheets in a circumferential array, wherein each of the outer tube origami sheets comprises two identical outer tube isosceles triangle sheets, wherein the bases of the two outer tube isosceles triangle sheets overlap and form a fold, wherein the outer tube origami unit located at the end of the origami outer tube is provided with four circumferentially evenly distributed wire holes, and the outer tube driving device drives four driving wires to cooperatively control the origami outer tube to bend, twist and extend in space and along the axial direction of the origami outer tube.

5. The wire-driven robot based on origami structure as claimed in claim 1, characterized in that: The origami inner tube comprises a plurality of inner tube origami units connected in sequence, wherein the inner tube origami unit comprises two symmetrical inner tube origami modules, wherein the inner tube origami modules comprise isosceles trapezoidal pieces and inner tube isosceles triangle pieces which are alternately arranged, wherein the waist length of the isosceles trapezoidal pieces is the same as the waist length of the inner tube isosceles triangle pieces and are connected together, wherein the inner tube origami unit located at the end of the origami inner tube isosceles tube is provided with four circumferentially evenly distributed wire holes, and the inner tube driving device drives four driving wires to cooperatively control the origami inner tube to perform bending, twisting, axial rotation and extension and retraction along the axial direction of the origami inner tube in space.

6. The wire-driven robot based on origami structure as claimed in claim 1, characterized in that: The inner tube driving device includes an inner tube linear driving mechanism, an inner tube rotation driving mechanism and an inner tube linear driving mechanism. The inner tube linear driving mechanism is used to drive the origami inner tube to bend, twist and extend in space, the inner tube rotation driving mechanism is used to drive the origami inner tube to rotate axially, and the inner tube linear driving mechanism is used to drive the origami inner tube to move linearly along its axial direction.

7. The wire-driven robot based on origami structure as claimed in claim 1, characterized in that: The outer tube driving device comprises an outer pipeline driving mechanism, and the outer pipeline driving mechanism is used to drive the origami outer tube to bend, twist and stretch in space.

8. The wire-driven robot based on origami structure as claimed in claim 7, characterized in that: The outer tube driving device also includes a pulley mechanism for guiding the driving line, and the pulley mechanism includes a support plate, a plurality of pulley seats, an outer tube seat and a pulley, wherein the pulley seat is arranged on the support plate, the outer tube seat is arranged on the support plate, and the origami outer tube is arranged on the outer tube seat, wherein a part of the pulley is arranged on the support plate through the pulley seat, and another part of the pulley is arranged on the outer tube seat.

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