A flexible dual-joint robot with multi-degree of freedom flexible operation

Abstract

The application discloses a flexible double-joint robot with multi-degree of freedom flexible operation, which comprises a flexible robot module, an electromechanical driving module and a mechanical arm module. The flexible robot module comprises a robot flexible double joint, a joint interface, an image sensing unit, a multi-lumen flexible instrument arm and an instrument arm mounting interface. The electromechanical driving module comprises a proximal joint driving unit, a distal joint driving unit, a linear driving module, a fixed-length hollow driving backbone, a driving wire, a driving module support and a support interface. The mechanical arm module comprises a robot chassis, a six-degree-of-freedom passive instrument arm and a driving module mounting interface. The robot flexible double joint is composed of a proximal joint and a distal joint. The application has the characteristics of high operation flexibility and accurate control under small scale requirements, and can effectively solve the problems in some robot working fields, such as flexible operation of catheters in cardiovascular and cerebrovascular interventional surgery.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a flexible dual-joint robot with multiple degrees of freedom and flexible operation. Background Technology

[0002] With the continuous development and application of robotics technology, higher demands are being placed on robotic operations in various fields. Traditional rigid robots mainly rely on motors to drive rigid links, resulting in a large overall size, limited degrees of freedom, and difficulty in achieving compliant control, thus limiting their application in certain areas. However, with the continuous development of materials and control technologies, inherently flexible, highly adaptable, and deformable flexible robots have excellent environmental adaptability. Their mechanisms are easily miniaturized, effectively compensating for the shortcomings of existing industrial rigid robots and finding wide application in fields such as medical equipment, aerospace, and marine engineering. Especially in fields like medical surgery and aerospace, where there are high requirements for robot size and weight, slender and compliant flexible robots can perform operations that traditional rigid robots cannot.

[0003] In current research and applications of flexible robots, the main flexible mechanism actuation methods include concentric tube actuation, wire actuation, and multi-skeletal actuation. To achieve small-scale design, concentric tube actuation uses nested pre-bent elastic tubes to move and rotate relative to each other, achieving overall robot deformation. Its structure is simple and easy to miniaturize, but it is prone to bifurcation during actuation and difficult to achieve multi-steering control, making it difficult to guarantee control accuracy. Wire actuation occupies less space and can achieve fast and flexible control in confined environments. Multi-skeletal actuation uses actuating rods with strong buckling resistance, effectively transmitting axial force and improving the structural stiffness and load-bearing capacity of the flexible body. The joint degrees of freedom of the flexible body are proportional to the number of actuating wires or rods. Interference and coupling easily occur between multiple sets of actuating wires, and the series actuation of multiple flexible rods also results in a larger outer diameter for the flexible body in multi-skeletal actuation.

[0004] Therefore, designing and developing flexible robots that can achieve high dexterity and precision operation on a small scale is of great significance for promoting the development of the flexible robot industry, especially for solving problems in fields such as medical surgery and aerospace operations. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] The purpose of this invention is to enable flexible robots to achieve high dexterity and precision operation at a small scale. It provides a flexible dual-joint robot with multiple degrees of freedom and flexible operation, aiming to solve the problem that existing flexible robots are difficult to achieve the performance requirements of high degree of freedom, fast and precise control at a small scale. This invention improves the performance of flexible robots by combining the advantages of various flexible robot structures and driving methods.

[0007] (II) Technical Solution

[0008] To solve the above-mentioned technical problems, the technical solutions of the present invention are as follows:

[0009] A flexible dual-joint robot with multiple degrees of freedom and flexible operation includes a flexible robot module, an electromechanical drive module, and a robotic arm module. It features small size, large deformation bending, six degrees of freedom flexible operation, and decoupled control of the front and rear joints.

[0010] The flexible robot module includes a flexible dual joint, a joint interface, an image sensing unit, a multi-cavity flexible manipulator arm, and a manipulator arm mounting interface.

[0011] The electromechanical drive module includes a proximal joint drive unit, a distal joint drive unit, a linear drive module, a fixed-length hollow drive backbone, a drive wire, a drive module bracket, and a bracket interface.

[0012] The robotic arm module includes a robot chassis, a six-degree-of-freedom passive robotic arm, and a drive module mounting interface.

[0013] The robot's flexible dual-joint system consists of a proximal joint and a distal joint. The multi-cavity flexible robotic arm is connected to the proximal joint via a joint interface, and the proximal joint is connected to the distal joint. The lens of the image sensing unit is fixed to the distal joint's end. The proximal joint is driven by several fixed-length hollow drive shafts, and its arc shape during bending is limited by compression springs and an elastic membrane covering the outside. The distal joint is controlled by a drive wire with a tension spring as its central skeleton. The distal joint drive wire passes through the hollow cavities of the fixed-length hollow drive shafts of the proximal joint, thus avoiding drive interference between the two joint segments.

[0014] The drive wires of each fixed-length hollow drive backbone of the robot pass through its center and then through the multi-cavity flexible instrument arm to avoid mutual interference and friction between the fixed-length hollow drive backbones when driving the flexible robot.

[0015] The proximal joint of the robot's flexible dual-joint system employs an integrated drive structure design. Several fixed-length hollow drive bones arranged circumferentially serve as both the elastic framework and the drive bones of the proximal joint. Compression springs and an outer elastic membrane primarily provide fixation and support. One fixed-length hollow drive bone is selected as the support framework; this bone maintains a fixed length during joint bending and is therefore called the fixed-length support framework. The other two spring-driven bones are pushed and pulled by the proximal drive unit, causing changes in their length and resulting in two degrees of freedom bending of the proximal joint in different directions. The drive wires of the distal joint pass through the central channel of the fixed-length hollow drive bone and are also evenly distributed on the circumference outside the spring-support framework. Pulling the drive wires achieves two degrees of freedom bending of the distal joint.

[0016] The proximal joint drive unit mainly consists of a bone shaft linear motor module and a drive bone fixation component. The bone shaft linear motor module controls the drive bone fixation component by driving the feed of a linear push rod. The fixed-length hollow drive bone extends from its fixation component, thereby ensuring that the bone does not bend when entering the catheter. By controlling the displacement of the slider on the linear motor module, the bending drive of the proximal joint by the spring-driven bone can be achieved.

[0017] The distal joint drive unit mainly consists of a linear stepper motor module for the drive wire and a drive wire fixing component. The linear stepper motor module is fixed to the drive shaft fixing component, and the drive wire extends from the drive wire fixing component and enters the central channel of the concentric spring drive shaft. By controlling the displacement of the servo motor push rod, the bending drive of the distal joint by the drive wire can be achieved. The specific structure of the fixed-length hollow drive shaft consists of a slender tension spring and a nickel-titanium alloy wire. The tension spring will undergo length changes under axial tensile load, which needs to be avoided for the drive shaft. Therefore, the nickel-titanium alloy wire is fixed to both ends of the spring to ensure the fixed length of the spring.

[0018] The six-degree-of-freedom passive robotic arm is fixed on the robot arm base and includes a rotary arm, a lower arm (L-axis), an upper arm, a wrist rotary arm, a wrist swing arm, and a wrist swivel arm. It mainly realizes the lateral, longitudinal, vertical, pitch, roll, and yaw movements of the robot connector in the operating space.

[0019] (III) Beneficial Effects

[0020] This invention provides a flexible dual-joint robot with multiple degrees of freedom that can be used in medical robotic surgery, aerospace robotic arm operation, marine exploration and other fields. It features high operational flexibility and precise control under small-scale requirements, and can effectively solve some problems in the field of robotic work, such as the flexible operation of catheters in cardiovascular interventional surgery. Attached Figure Description

[0021] Figure 1 A schematic diagram of a flexible dual-joint robot with multiple degrees of freedom and flexible operation.

[0022] Figure 2 This is a detailed diagram of the robot drive module according to an embodiment of the present invention.

[0023] Figure 3 This is a detailed drawing of the flexible double joint of the robot according to an embodiment of the present invention.

[0024] Figure 4 This is a detailed drawing of the flexible double joint of the robot according to an embodiment of the present invention.

[0025] Figure 5This is a detailed diagram of the proximal joint drive unit according to an embodiment of the present invention.

[0026] Figure 6 This is a detailed diagram of the distal joint drive unit according to an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the deformation of a multi-cavity flexible robotic arm according to an embodiment of the present invention.

[0028] Figure 8 This is a schematic diagram of the fixed-length center drive backbone installation (structure) according to an embodiment of the present invention. Detailed Implementation

[0029] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0030] In the description of this invention, unless otherwise stated, "a plurality of" means two or more; unless otherwise stated, "notched" means a shape other than a flush cross-section. Terms such as "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail," etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, terms such as "first," "second," and "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "robot," "base," and "interface" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0032] The technical solution adopted in this invention is a flexible dual-joint robot with multiple degrees of freedom and flexible operation, including a flexible robot module, an electromechanical drive module, and a robotic arm module; the flexible robot module is driven by the electromechanical drive module, and the flexible robot module and the electromechanical drive module are mounted on the robotic arm module.

[0033] The flexible robot module includes a flexible double joint (1), a joint interface (2), an image sensing unit (3), a multi-cavity flexible manipulator arm (4), and a manipulator arm mounting interface (5). The tail of the flexible double joint (1) is mounted on the multi-cavity flexible manipulator arm (4), and the bottom of the multi-cavity flexible manipulator arm (4) is provided with the manipulator arm mounting interface (5). The flexible double joint (1) is a multi-joint structure, and the joint structures are connected through the joint interface (2). The bending motion of each joint structure is controlled by the sheath drive mode to complete the operation of the flexible double joint (1). The end of the flexible double joint (1) is provided with an image sensing unit (3), which collects and identifies the control environment information. The multi-cavity flexible manipulator arm (4) uses a multi-cavity flexible hose made of materials such as TPU / PA / PVC / PP / PE as its main flexible structure. According to the design requirements, 3-6 hollow cavities are arranged inside the hose for the passage of drive components such as sheaths.

[0034] The electromechanical drive module includes a proximal joint drive unit (6) and a distal joint drive unit (7);

[0035] The proximal joint drive unit (6) is composed of a linear motor module, a linear push rod, and a drive shaft fixation component connected in sequence. The drive shaft fixation component is mounted on the linear push rod and moves backward or forward under the drive of the linear motor module, thereby driving the fixed-length hollow drive shaft (9) fixed on the drive shaft fixation component.

[0036] The distal joint drive unit (7) consists of a drive wire linear stepper motor module and a drive wire fixing component. The drive wire fixing component is mounted on the drive wire linear stepper motor module and moves backward or forward under the drive of the drive wire linear motor module, thereby driving the drive wire (10) fixed on the drive wire fixing component. The fixing holes of the drive wire fixing component and the drive shaft fixing component are concentric, allowing the drive wire to pass through the channel in the middle of the drive shaft fixing component.

[0037] The proximal joint drive unit (6) is mounted on the drive module bracket (11), and the distal joint drive unit (7) is mounted on the drive shaft fixation member in the proximal joint drive unit (6). The fixed-length hollow drive shaft (9) is fixed in the mounting hole at the top of the drive shaft fixation member. The fixed-length hollow drive shaft (9) fixed on the proximal joint drive unit (6) can pass through the multi-cavity flexible instrument arm (4), and the drive wire (10) passing through the fixed-length hollow drive shaft (9) is fixed on the drive wire fixation member. The feed length of the fixed-length hollow drive shaft (9) is controlled by the drive wire (10).

[0038] Furthermore, the robot's flexible dual joint (1) consists of a proximal joint and a distal joint. The proximal joint is controlled by a fixed-length hollow drive skeleton (9), and the distal joint is controlled by a drive wire (10). Both the proximal and distal joints are covered with compression springs and elastic membranes. When the proximal or distal joint bends, the fixed-length hollow drive skeleton (9) and drive wire (10) located at the joint also bend. The compression springs and elastic membranes covering the outside restrict the displacement of the drive skeleton and drive wire in the non-stretching direction, keeping them in an arc shape when bending. The elastic membrane is made of biocompatible materials such as TPU / PA / PVC / PP / PE.

[0039] Furthermore, the fixed-length hollow driving bones (9) are arranged in parallel and fixed to the proximal joint end in a circumferential distribution. The fixed-length hollow driving bones (9) are connected to the proximal driving unit module. The proximal joint is controlled by being pulled and pushed by the proximal driving unit module. The fixed-length hollow driving bones (9) themselves have rigid support, and they can also serve as the supporting skeleton of the proximal joint. At least three fixed-length hollow driving bones (9) are arranged in parallel and fixed to the proximal joint in a circumferential distribution. Therefore, when the fixed-length hollow driving bones (9) are stretched, at least one fixed-length hollow driving bone (9) can serve as the supporting skeleton. By pushing and pulling the other two fixed-length hollow driving bones (9), two-degree-of-freedom yaw control of the proximal joint can be achieved.

[0040] Furthermore, the distal joint is centered on a tension spring, and the drive wires (10) pass through the hollow cavity of the fixed-length hollow drive shaft (9) and are fixed to the distal joint in parallel according to a circumferential distribution. A tension spring is installed in the middle of the distal joint as a supporting central skeleton, and the drive wires (10) distributed around it are pulled to bend in different directions, thereby completing the control of the distal joint.

[0041] Furthermore, when driving the proximal joint, the proximal joint is stretched and bent due to the fixed-length hollow driving shaft (9). The distal driving unit module is fixed to the moving platform of the proximal driving unit module. That is, the length change of the fixed-length hollow driving shaft (9) and the driving wire (10) on the same path is the same when the proximal joint bends. Controlling the fixed-length hollow driving shaft (9) to drive the proximal joint to bend will not affect the change in the length of the driving wire (10) in the distal joint. Since the driving wire (10) passes through the hollow cavity of the fixed-length hollow driving shaft (9), the accuracy of driving transmission is guaranteed. Similarly, controlling the driving wire (9) to drive the distal joint to bend will not interfere with the proximal joint.

[0042] Furthermore, the distal joint is controlled by a drive wire with the tension spring as the central skeleton. The drive wire (10) of the distal joint drive unit (7) passes through the hollow cavity of the fixed-length hollow drive shaft (9) of the proximal joint drive unit (6), thereby avoiding drive interference between the two joint segments of the proximal joint drive unit (6) and the distal joint drive unit (7).

[0043] Furthermore, the robotic arm module includes a robot chassis (13), a six-degree-of-freedom passive robotic arm (14), and a drive module mounting interface (15). The robot's flexible dual joints (1) are mounted on a linear drive module (8) via joint interfaces (2), a multi-cavity flexible robotic arm (4), a robotic arm mounting interface (5), a proximal joint drive unit (6), and a distal joint drive unit (7) to form the robot body. The linear drive module (8) is connected to the six-degree-of-freedom passive robotic arm (14) via the drive module mounting interface (15). The six-degree-of-freedom passive robotic arm (14) is mounted on the robot chassis (13), and the robot body can perform lateral, longitudinal, vertical, pitch, roll, and yaw movements in space.

[0044] Furthermore, one end of the robot joint interface (2) is connected to the robot flexible double joint (1), and the other end is connected to the multi-cavity flexible instrument arm (4); the robot flexible double joint (1) is driven by the motors in the proximal joint drive unit (6) and the distal joint drive unit (7), respectively driving the feed of the fixed-length hollow drive backbone (9) and the drive wire (10), thereby controlling the sway of each joint of the flexible double joint (1).

[0045] Furthermore, the proximal joint of the robot's flexible double joint (1) adopts an integrated drive structure configuration. Multiple fixed-length hollow bones (9) are distributed in a circular pattern as the elastic skeleton of the proximal joint, and also as the drive bones for the traction of the proximal joint drive unit (6).

[0046] Furthermore, the distal joint drive unit (7) controls the drive wire (10) of the distal joint to pass through the middle channel of the fixed-length hollow drive shaft (9) to achieve decoupling control of the proximal joint and the distal joint at a small scale. The distal joint drive unit (7) controls the feed of the drive wire (10) to achieve control of the deflection of the distal joint.

[0047] The fixed-length hollow drive skeleton (9) and drive wire (10) pass through a multi-cavity flexible instrument arm (4) and are connected to the proximal joint drive unit (6); each drive unit consists of a proximal joint drive unit (6) and a distal joint drive unit (7). The two joint drive units (7) drive the concentrically arranged fixed-length hollow drive skeleton (9) and drive wire (10) respectively through two linear motors.

[0048] The drive wires on the same set of drive units require the same feed rate to ensure that the shape of the distal joint does not change. Therefore, the distal drive unit needs to be mounted on the slider of the proximal drive unit.

[0049] The robot's flexible double joint (1) controls the degrees of freedom from several sets of proximal joint drive units (6) and distal joint drive units (7). Several sets of drive devices are arranged in a circle and installed on the drive module bracket (11). The drive module bracket (11) and the robot's flexible double joint (1) are both connected to the bracket interface (12). The bracket interface (12) is connected to the linear drive module (8), thereby enabling the overall feed and displacement.

[0050] The image sensing unit (3) is installed at the end of the flexible double joint (1), and the wiring of the image sensing unit (3) passes through the internal channel of the flexible double joint (1). The image sensing unit (3) is used to collect environmental information, and the control system identifies and analyzes the features of the collected environmental information images, and adjusts the position and attitude of the robot's flexible double joint according to the task objectives to achieve correct path planning and related operation tasks.

[0051] In use, the servo motor of the linear motor module drives the push rod to move, thereby achieving the bending drive of the distal joint by the drive wire. When bending the proximal joint by driving the bone through a fixed-length center, the drive wires on the same set of drive devices need to have the same feed rate to ensure that the shape of the distal joint does not change. Therefore, the distal drive device needs to be mounted on the slider of the proximal drive device.

[0052] In use, this invention selects a tension spring as the proximal drive spring. To achieve its fixed-length design, a nickel-titanium alloy wire is first passed through the tension spring. Then, capillary metal tubes obtained by laser cutting are placed at both ends of the tension spring, and the length of the nickel-titanium alloy wire between the capillary metal tubes at both ends is fixed by adhesive bonding, thereby ensuring the axial length of the tension spring. At the same time, the capillary metal tubes serve as the distal joint drive wire, passing through the spring's channel to ensure the decoupling of the drive between the two joint segments.

[0053] Although the proximal and distal joints are connected in series, when the control drive module drives the proximal and distal joints to bend, neither joint is affected by the bending of the other joint, thus achieving independent decoupled control. The drive wire (10) passes through the fixed-length hollow drive shaft (9) through the drive access design, which also effectively improves the utilization rate of the drive space, reduces the volume of the drive joint, and avoids mutual interference and friction between drive wires.

Claims

1. A flexible dual-joint robot with multiple degrees of freedom and flexible operation, characterized in that, It includes a flexible robot module, an electromechanical drive module, and a robotic arm module; the flexible robot module is driven by the electromechanical drive module, and the flexible robot module and the electromechanical drive module are mounted on the robotic arm module. The flexible robot module includes a flexible dual joint (1), a joint interface (2), an image sensing unit (3), a multi-cavity flexible instrument arm (4), and an instrument arm mounting interface (5). The tail of the flexible dual joint (1) is mounted on the multi-cavity flexible instrument arm (4), and the bottom of the multi-cavity flexible instrument arm (4) is provided with an instrument arm mounting interface (5). The flexible dual joint (1) is a multi-joint structure, and the joint structures are connected through the joint interface (2). The bending motion of each joint structure is controlled by the sheath drive mode to complete the operation of the flexible dual joint (1). The end of the flexible dual joint (1) is provided with an image sensing unit (3), which collects and identifies the control environment information. The flexible dual joint (1) consists of two parts: a proximal joint and a distal joint. The electromechanical drive module includes a proximal joint drive unit (6) and a distal joint drive unit (7). The proximal joint drive unit (6) is composed of a linear motor module, a linear push rod, and a drive shaft fixation piece connected in sequence; the drive shaft fixation piece is installed on the linear push rod and moves backward or forward under the drive of the linear motor module, thereby driving the fixed-length hollow drive shaft (9) fixed on the drive shaft fixation piece. The distal joint drive unit (7) consists of a drive wire linear stepper motor module and a drive wire fixing component. The drive wire fixing component is installed on the drive wire linear stepper motor module and moves backward or forward under the drive of the drive wire linear motor module, thereby driving the drive wire (10) fixed on the drive wire fixing component. The fixing holes of the drive wire fixing component and the drive bone fixation component are concentric, so that the drive wire can pass through the channel in the middle of the drive bone fixation component. The proximal joint drive unit (6) is mounted on the drive module bracket (11), and the distal joint drive unit (7) is mounted on the drive shaft fixation member in the proximal joint drive unit (6); the fixed-length hollow drive shaft (9) is fixed in the mounting hole at the top of the drive shaft fixation member, and the fixed-length hollow drive shaft (9) fixed on the proximal joint drive unit (6) can pass through the multi-cavity flexible instrument arm (4), and the drive wire (10) passing through the fixed-length hollow drive shaft (9) is fixed on the drive wire fixation member; the feed length of the fixed-length hollow drive shaft (9) is controlled by the drive wire (10).

2. The flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, The proximal joint is controlled by a fixed-length hollow driving shaft (9), and the distal joint is controlled by a driving wire (10). Both the proximal and distal joints are covered with compression springs and elastic membranes. When the proximal or distal joint is bent, the fixed-length hollow driving shaft (9) and driving wire (10) located at the joint also bend. The compression springs and elastic membranes covering the outside restrict the displacement of the driving shaft and driving wire in the non-stretching direction, so that they maintain an arc shape when bending.

3. The flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, The fixed-length hollow drive skeleton (9) is fixed in parallel at the end of the proximal joint in a circumferential distribution. The fixed-length hollow drive skeleton (9) is connected to the proximal drive unit module. The proximal joint is controlled by being pulled and pushed by the proximal drive unit module. The fixed-length hollow drive skeleton (9) itself has rigid support, and it can also serve as a support skeleton for the proximal joint.

4. The flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, The distal joint is supported by a tension spring as the central skeleton. The drive wire (10) passes through the hollow cavity of the fixed-length hollow drive bone (9) and is fixed in parallel to the distal joint in a circular distribution. A tension spring is installed in the middle of the distal joint as the central skeleton for support. The drive wires (10) distributed around it are pulled to bend in different directions, thereby completing the control of the distal joint.

5. A flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, When the proximal joint is driven, the proximal joint is stretched and then bent due to the fixed-length hollow driving shaft (9). The distal driving unit module is fixed to the moving platform of the proximal driving unit module. That is, the fixed-length hollow driving shaft (9) and the driving wire (10) on the same path have the same length change when the proximal joint is bent. Controlling the fixed-length hollow driving shaft (9) to drive the proximal joint to bend will not affect the change in the length of the driving wire (10) in the distal joint.

6. A flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, The distal joint is controlled by a drive wire with a tension spring as the central skeleton. The drive wire (10) of the distal joint drive unit (7) passes through the hollow cavity of the fixed-length hollow drive shaft (9) of the proximal joint drive unit (6), thus avoiding drive interference between the two joint segments of the proximal joint drive unit (6) and the distal joint drive unit (7).

7. A flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, The robotic arm module includes a robot chassis (13), a six-degree-of-freedom passive robotic arm (14), and a drive module mounting interface (15). The robot's flexible dual joints (1) are mounted on a linear drive module (8) through joint interfaces (2), a multi-cavity flexible robotic arm (4), a robotic arm mounting interface (5), a proximal joint drive unit (6), and a distal joint drive unit (7) to form the robot body. The linear drive module (8) is connected to the six-degree-of-freedom passive robotic arm (14) through the drive module mounting interface (15). The six-degree-of-freedom passive robotic arm (14) is mounted on the robot chassis (13). The robot body can realize lateral, longitudinal, vertical, pitch, roll, and yaw movements in space.

8. A flexible dual-joint robot with multiple degrees of freedom and flexible operation according to claim 1, characterized in that, The distal joint drive unit (7) controls the drive wire (10) of the distal joint to pass through the middle channel of the fixed-length hollow drive shaft (9) to achieve decoupling control of the proximal joint and the distal joint at a small scale. The distal joint drive unit (7) controls the feed of the drive wire (10) to achieve control of the deflection of the distal joint. The fixed-length hollow drive shaft (9) and drive wire (10) are passed through a multi-cavity flexible instrument arm (4) and connected to the proximal joint drive unit (6); each drive unit consists of a proximal joint drive unit (6) and a distal joint drive unit (7); the two joint drive units (7) drive the concentrically arranged fixed-length hollow drive shaft (9) and drive wire (10) through two linear motors respectively. The robot's flexible double joint (1) controls the degrees of freedom from several sets of proximal joint drive units (6) and distal joint drive units (7). Several sets of drive devices are arranged in a circle and installed on the drive module bracket (11). The drive module bracket (11) and the robot's flexible double joint (1) are both connected to the bracket interface (12). The bracket interface (12) is connected to the linear drive module (8), thereby enabling the overall feed and displacement.

Images