Stiffness-variable tensegrity structure continuum robot

Abstract

The application provides a variable stiffness tensegrity structure continuum robot, which comprises a continuum robot body, a fixed platform, a working platform and a driving module; the first end of the continuum robot body is fixedly connected with the fixed platform, and the second end of the continuum robot body is connected with the working platform; the driving module is placed on the fixed platform, and the continuum robot body is driven to move by the driving module through driving the driving rope; the continuum robot body comprises a plurality of tensegrity structure basic units, first cables and compression springs, and two adjacent tensegrity structure basic units are connected by the first cables and the compression springs. The tensegrity structure basic unit comprises a first V-shaped rod, a second V-shaped rod and a spring. The application has the advantages of simple structure, light mass, high strength, and when suffering from impact or bearing, the relative position of the V-shaped rod changes slightly, thereby reducing the system oscillation and changing the structural stiffness of the tensegrity basic unit.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a variable stiffness tensioned integral continuous structure robot. Background Technology

[0002] Traditional industrial robots are mostly rigid, discrete link structures, whose motion performance is affected by their structure, limiting their application scenarios and safety performance. As robots are applied to various fields, their tasks are becoming more diversified, and their working environments are becoming more complex, variable, and highly unstructured. Examples include working in complex industrial environments with multiple obstacles, detecting and maintaining objects inside curved pipes, handling irregular objects, searching and rescuing people in collapsed buildings, and performing minimally invasive abdominal surgery. Traditional robots are lacking in flexibility, environmental adaptability, and safety, making it difficult to complete tasks in complex unstructured environments or inside the human body.

[0003] Currently, various continuum robots exist. Based on continuum robots with rigid structures as the main support, these robots undergo structural or actuation optimizations to achieve superior flexibility and safety compared to traditional continuum robots. Patent application CN115157228A discloses a gradually stiffening flexible robot with a self-locking mechanism. This robot achieves gradually varying stiffness of the entire continuum by gradient-changing the outer diameter of its basic unit modules and connecting springs with different stiffness coefficients in series. The self-locking mechanism ensures self-locking of the main continuum structure. This design improves the overall stiffness of the system while maintaining the robot's compliance, as well as enhancing its control accuracy and load capacity. However, this continuum robot cannot achieve axial extension and retraction, and its gradual stiffness change is limited by the spring stiffness.

[0004] On the other hand, continuum robots need to have good obstacle avoidance capabilities and structural variability when facing complex working environments. Most current continuum robots use a rigid skeleton as the main body, which can only achieve bending motion in two directions. Without external drive, they are difficult to achieve axial extension and contraction, and most of them have a single stiffness. Summary of the Invention

[0005] To address the shortcomings of the existing technology, the present invention aims to provide a variable stiffness tensioned monolithic structure continuous robot. This robot uses a high strength-to-mass ratio, stretchable tensioned monolithic structure as its basic unit, with these units connected by compression springs of the same elastic coefficient. This continuous robot, while maintaining a certain strength, can achieve bending, stretching, and three-degree-of-freedom motion and adaptive stiffness adjustment, which are difficult to achieve with traditional continuous robots, thus enabling it to adapt well to complex unstructured environments.

[0006] This invention provides a variable stiffness tensioned integral continuous robot, which includes a continuous robot body, a fixed platform, a working platform, and a drive module; the first end of the continuous robot body is fixedly connected to the fixed platform, and the second end of the continuous robot body is connected to the working platform; the drive module is placed on the fixed platform, and the drive rope of the drive module passes through the continuous robot body and is connected to the second end of the continuous robot body, so that the continuous robot body can move by driving the drive rope through the drive module;

[0007] The continuous robot body includes multiple tensioned integral structural basic units, a first cable and a compression spring. Adjacent tensioned integral structural basic units are connected by the first cable and the compression spring. The first cable provides radial and axial forces to adjacent tensioned integral structural basic units, and the pre-tensioned drive rope and the compression spring provide axial forces to adjacent tensioned integral structural basic units.

[0008] The basic unit of the tensioned integral structure includes a first V-shaped rod, a second V-shaped rod, and a spring connecting the first V-shaped rod and the second V-shaped rod. The V-shaped opening of the first V-shaped rod is oriented downwards, and the V-shaped opening of the second V-shaped rod is oriented upwards. The V-shaped openings of the first V-shaped rod and the second V-shaped rod are positioned opposite each other and connected by the spring at their V-shaped tips. The orthographic projection planes of the first V-shaped rod and the second V-shaped rod are perpendicular to each other and share a common axis of symmetry. The V-shaped tip of each V-shaped rod is connected to the inner sides of the two ends of the V-shaped opening of the other V-shaped rod by a second cable. The two ends of the V-shaped openings of the first V-shaped rod and the second V-shaped rod are connected by a third cable.

[0009] The cables and springs in the basic unit of the tensioned integral structure are all in a pre-tightened state, and the initial tension of the cables at each symmetrical position is equal, so the basic unit of the tensioned integral structure is in a state of self-stress equilibrium.

[0010] Preferably, hook fixing pieces are provided at the V-shaped sharp corners of the first V-shaped rod and the second V-shaped rod, and rectangular through holes, vertical fixing piece holes, hook fixing pieces and Y-shaped fixing pieces are provided at both ends of the V-shaped openings of the first V-shaped rod and the second V-shaped rod. The rectangular through holes and vertical fixing piece holes cooperate with the hook fixing pieces and the Y-shaped fixing pieces respectively and are fixed by means of pins.

[0011] One of the hook fixing pieces at the V-shaped tip of the V-shaped rod is connected to the hook fixing pieces on the inner sides of the two ends of the other V-shaped opening by means of two second cables of equal length;

[0012] One of the V-shaped rods has Y-shaped fixing plates at both ends connected to the other V-shaped rod at both ends by means of two third cables of equal length.

[0013] Preferably, the bottom of both ends of the first V-shaped rod and the second V-shaped rod in the basic unit of the tensioned integral structure are provided with circular grooves that cooperate with the first end of the compression spring. The second end of the compression spring cooperates with the upper part of the circular grooves at both ends of the first V-shaped rod and the second V-shaped rod in the adjacent basic unit of the tensioned integral structure, and the compression springs are evenly distributed at 90° intervals.

[0014] Preferably, the two ends of the first V-shaped rod in the basic unit of the tensioned integral structure are connected to the two ends of the second V-shaped rod in the adjacent basic unit of the tensioned integral structure by means of hook fixing plates and first cables; the two adjacent basic units of the tensioned integral structure are connected by four mutually symmetrical first cables in a stretched state, and springs are provided on the first cables.

[0015] Preferably, the circular groove of the first V-shaped rod of the basic unit of the tensioned integral structure at the first end of the continuum robot body is interference-fitted with the circular shaft of the upper fixed platform.

[0016] Preferably, the circular groove of the second V-shaped rod of the basic unit of the tensioning integral structure at the second end of the continuous robot body is interference-fitted with the short circular shaft of the working platform; the circular groove of the first V-shaped rod of the basic unit of the tensioning integral structure at the second end is interference-fitted with the drive rope fixing cylinder.

[0017] Preferably, the drive module is fixed to the lower fixed platform by bolts; the drive module includes four drive units and drive ropes, each drive unit includes a drive motor, a reduction belt pulley system and a drive shaft, the drive motor drives the drive shaft to rotate by means of the reduction belt pulley system, thereby contracting or releasing the drive rope.

[0018] Preferably, the four drive units are evenly distributed on the lower fixed platform at 90° intervals, and the tangent of the drive shaft of the drive unit is collinear with the axis of the through hole on the semi-circular platform of the V-shaped rod.

[0019] Preferably, the first end of the drive rope is wound and fixed to the drive shaft, and the second end of the drive rope passes through the through holes at both ends of the V-shaped rod and the compression spring axis between the basic unit of the tensioning integral structure, and is fixed to the second end of the continuous robot body by fixing bolts.

[0020] Compared with the prior art, the technical effects of the present invention are as follows:

[0021] (1) The entire continuous robot body of the present invention uses a tensioned integral structure as the basic unit. The tensioned integral structure basic unit uses two V-shaped rods as rigid components, and the two V-shaped rods are fixed by cables and springs to achieve a self-balancing state. Its overall structure is simple, lightweight, and high-strength. Moreover, when subjected to impact or load, the system vibration is reduced and the structural stiffness of the tensioned integral basic unit is changed by the slight change in the relative position of the V-shaped rods.

[0022] (2) The present invention provides axial support and radial fixation between two adjacent tension integral structure basic units through four first tension cables connected to compression springs and four compression springs, so that adjacent tension integral structure basic units can change their relative positions by driving the ropes to achieve bending motion, axial extension and contraction motion and stiffness adjustment of the continuous robot body. The entire continuous robot has more degrees of freedom and higher flexibility.

[0023] (3) The entire continuous robot body of the present invention is fixed and connected by cables and springs. The cables can be connected to V-shaped rods through hooks, which makes it easy to install and disassemble the continuous robot body. The cable parameters and pretension can be adjusted as needed to change the performance of the continuous robot.

[0024] (4) The continuum robot of the present invention achieves a predetermined movement at its end via the contraction and relaxation of a drive rope. When the drive rope contracts or relaxes, the basic unit of the tensioned integral structure rotates around two virtual axes formed by the downward-opening V-shaped bar in this unit and the upward-opening V-shaped bar in the lower basic unit. The bending motion of the continuum robot is achieved by the rotation of several tensioned basic units, making the bending motion of the continuum body more precise and stable. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of a variable stiffness tensioned integral continuous robot according to one embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the basic unit structure of the tensioned integral structure in one embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of a V-shaped bar structure in one embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the connection method of adjacent tensioned integral structural basic units and the second end structure of the robot in one embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the driving module and fixed platform structure in one embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the drive unit structure in one embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the rotation of adjacent tensioned integral structural basic units around a virtual axis in one embodiment of the present invention.

[0032] Some of the attached labels in the figure are as follows:

[0033] 1-Continuous robot body, 101-Tension integral structure basic unit, 102-Compression spring, 103-First cable, 104-Drive rope fixing cylinder, 105-Drive rope fixing bolt;

[0034] 1011-V-shaped rod, 1012-Hook fixing piece b, 1013-Second cable, 1014-Pin, 1015-Y-shaped hook fixing piece, 1016-Hook fixing piece a, 1017-Tension spring, 1018-Tension spring fixing piece, 1019-Third cable;

[0035] 1011a - Vertical fixing plate hole a, 1011b - Pin hole a, 1011c - Rectangular through hole, 1011d - Circular groove, 1011e - Through hole, 1011f - Hook fixing plate, 1011g - Vertical fixing plate hole b, 1011h - Horizontal fixing plate hole b, 1011k - Pin hole b;

[0036] 2-Fixed platform, 201-Upper fixed platform, 202-Lower fixed platform;

[0037] 3-Work platform;

[0038] 4-Drive module, 401-Drive unit, 4011-Drive motor mounting bracket, 4012-Drive motor, 4013-Reduction belt pulley, 4014-Drive shaft, 402-Drive rope. Detailed Implementation

[0039] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings and specific examples.

[0040] To address the challenge of traditional continuous robots, which rely on rigid components and struggle to achieve axial extension and stiffness variations without external actuation, this invention proposes a variable-stiffness tensioned monolithic structure continuous robot. This robot leverages the adjustable stiffness, extensibility, and high strength-to-mass ratio of tensioned monolithic structures. For example… Figure 1As shown, it includes a continuous robot body 1, a fixed platform 2, a working platform 3, and a drive module 4. The first end of the continuous robot body 1 is connected to the fixed platform 2, and the second end of the continuous robot body 1 is connected to the working platform 3. The drive module 4 is fixed to the fixed platform 2 by bolts, and its output drive rope 402 is connected to the second end of the continuous robot body 1. The fixed platform 2 includes an upper fixed platform 201 and a lower fixed platform 202. The first end of the continuous robot body 1, i.e., the bottom starting end of the continuous robot body 1, is fixed to the upper fixed platform 201, and the second end of the continuous robot body 1, i.e., the top end of the continuous robot body 1, is connected to the working platform 3. The working platform 3 can be connected to external equipment as needed. The drive module 4 is fixed to the lower fixed platform 202.

[0041] The continuous robot body 1 includes multiple tensioned integral structural basic units 101, a first cable 103, and compression springs 102. Adjacent tensioned integral structural basic units are connected by the first cable and compression springs, each equipped with a spring. Four compression springs are provided, with an included angle of 90 degrees between any two springs. The first cable 103 provides radial and axial stiffness to adjacent tensioned integral structural basic units, while the pre-tensioned drive cable and compression springs provide axial stiffness to adjacent tensioned integral structural basic units, thereby enabling the multiple tensioned integral structural basic units 101 to be interconnected to form the continuous robot body 1.

[0042] The entire continuous robot body is based on a tensioned integral structure as the basic unit. The basic unit of the tensioned integral structure uses two V-shaped rods as rigid components, and the two V-shaped rods are fixed by cables and springs to achieve a self-balancing state.

[0043] The basic unit of the tensioning structure includes two V-shaped rods 1011 and a spring 1017 connecting the V-shaped rods. The V-shaped rod 1011 with its V-shaped opening facing downwards is called the first V-shaped rod, and the V-shaped rod 1011 with its V-shaped opening facing upwards is called the second V-shaped rod. The V-shaped openings of the first and second V-shaped rods are positioned opposite each other and connected by the spring at their V-shaped apex. The orthographic projection planes of the first and second V-shaped rods are perpendicular to each other and share a common axis of symmetry, forming a cross on the plane. Each V-shaped rod's V-shaped apex is connected to the inner sides of the two ends of the V-shaped opening of the other V-shaped rod via a second cable 1013. The two ends of the V-shaped openings of the first and second V-shaped rods are connected by a third cable 1019.

[0044] In the basic unit of the tensioned monolithic structure, the cables are connected in the same way and in the same number on the two V-shaped rods, and the effective length of the cables at corresponding positions is equal with respect to the plane of symmetry of the V-shaped rods. All cables and springs in the basic unit of the tensioned monolithic structure are in a pre-tensioned state, and the initial tension force of the cables at each symmetrical position is equal, so the basic unit of the tensioned monolithic structure is in a state of self-stress equilibrium.

[0045] Both the first V-shaped rod and the second V-shaped rod have hook fixing pieces at their V-shaped sharp corners. Both ends of the V-shaped openings of the first V-shaped rod and the second V-shaped rod have rectangular through holes 1011c, vertical fixing piece holes a1011a, hook fixing pieces a1016, and Y-shaped hook fixing pieces 1015. The rectangular through holes 1011c and vertical fixing piece holes a1011a cooperate with the hook fixing pieces 1016 and Y-shaped fixing pieces 1015 respectively and are fixed by means of pins 1014.

[0046] In the specific connection, the hook fixing piece at the V-shaped tip of one of the V-shaped rods is connected to the hook fixing pieces on the inner sides of the two ends of the other V-shaped opening by means of two second cables of equal length.

[0047] One of the V-shaped rods has Y-shaped fixing plates at both ends connected to the other V-shaped rod at both ends by means of two third cables of equal length.

[0048] When adjacent tensioned integral structural basic units are connected to each other, the two ends of the first V-shaped rod in the upper tensioned integral structural basic unit are connected to the two ends of the second V-shaped rod in the adjacent lower tensioned integral structural basic unit via hook fixing plates and first cable 103. Adjacent tensioned integral structural basic units are connected by four symmetrically arranged first cables 103 in a stretched state, each cable 103 equipped with a spring.

[0049] The bottom of both ends of the first V-shaped rod and the second V-shaped rod in the basic unit 101 of the tensioning integral structure are provided with circular grooves 1011d that cooperate with the first end of the compression spring. The second end of the compression spring cooperates with the upper part of the circular grooves 1011d at both ends of the first V-shaped rod and the second V-shaped rod in the adjacent basic unit of the tensioning integral structure. The four compression springs are evenly distributed with a 90° interval between them and are evenly arranged around the circumference.

[0050] In the basic unit 101 of the tensioned integral structure, the two ends of the first V-shaped rod are connected to the two ends of the second V-shaped rod in the adjacent basic unit 101 of the tensioned integral structure by means of hook fixing plates and first cables; the two adjacent basic units of the tensioned integral structure are connected by four symmetrical first cables in a stretched state, and springs are provided on the first cables.

[0051] The four compression springs in the circular groove of the first V-shaped rod of the basic unit 101 of the tensioned integral structure at the first end of the continuous robot body 1 are interference-fitted with the circular shaft of the upper fixed platform 201.

[0052] The circular groove 1011d of the second V-shaped rod of the tension integral structural basic unit 101 at the second end of the continuous robot body 1 is interference-fitted with the short round shaft of the work platform 3; the circular groove 1011d of the first V-shaped rod of the tension integral structural basic unit 101 at the second end is interference-fitted with the drive rope fixing cylinder.

[0053] The fixed platform 2 includes an upper fixed platform 201 and a lower fixed platform 202. The drive module 4 is fixed to the lower fixed platform by bolts. The drive module 4 includes four drive units 401 and drive ropes 402. Each drive unit 401 includes a drive motor 4012, a reduction belt pulley system 4013, and a drive shaft 4014. The output end of the drive motor 401 is connected to the reduction belt pulley system 4013, and the reduction belt pulley system 4013 is further connected to the drive shaft 4014. The drive motor 401 drives the drive shaft to rotate by means of the reduction belt pulley system, thereby contracting or releasing the drive ropes 402.

[0054] During installation, the four drive units 401 are evenly distributed on the lower fixed platform 202 at 90° intervals, and the tangent of the drive shaft of the drive unit 401 is collinear with the axis of the through hole on the semi-circular platform of the V-shaped rod.

[0055] The first end of the drive rope 402 is wound and fixed to the drive shaft, and the second end of the drive rope 402 passes through the through holes at both ends of the V-shaped rod and the compression spring axis between the basic unit of the tensioned integral structure, and is fixed to the second end of the continuous robot body by a fixing bolt. When the drive rope contracts or relaxes, the basic unit of the tensioned integral structure rotates around the virtual axis formed by the downward-opening V-shaped rod in this unit and the upward-opening V-shaped rod in the adjacent basic unit, thereby realizing the bending motion of the continuous body by the rotation of multiple basic units of the tensioned structure. Specific Implementation

[0057] The specific structure of the present invention will be described in detail below with reference to specific embodiments: In this embodiment, as shown in the following description... Figure 1 , 2 As shown in Figure 3, the body of the continuous robot is composed of multiple tension integral structural basic units 101 connected in series with compression springs 102. The tension integral structural basic unit 101 includes two V-shaped rods 1011, hook fixing plate b1012, fixing cable 1013, pin 1014, Y-shaped hook fixing plate 1015, hook fixing plate a1016, tension spring 1017, and tension spring fixing plate 1018.

[0058] The basic unit of the tensioning structure uses two intersecting perpendicular V-shaped rods 1011 as rigid components. The two V-shaped rods 1011 are connected by a first cable and a compression spring to maintain self-stress balance. A spring is also provided on the first cable.

[0059] Specifically, each basic unit 101 of the tensioned integral structure is provided with two V-shaped rods 1011. The two V-shaped rods 1011 are arranged perpendicularly and intersecting with their V-shaped openings facing each other. The top sharp corner of one V-shaped rod 1011 is successively engaged with the hook fixing piece b1012 and the tension spring fixing piece 1018 in the horizontal and vertical directions, respectively, and is fixed with a pin. Then, the hook fixing piece b is connected to the hook fixing piece 1011f on the inner side of the other V-shaped rod by a second cable 1013, and the tension spring fixing piece 1018 fixed to the two V-shaped rods 1011 is connected by a spring 1017. The two ends of one V-shaped rod 1011 are successively engaged with the hook fixing piece a and the Y-shaped hook fixing piece, respectively, and are fixed with a pin 1014. Then, the two ends of the Y-shaped hook fixing piece 1015 are connected to the Y-shaped hook fixing piece 1015 on the other V-shaped rod 1011 by a third cable 1019. In other embodiments, the connection of the second or third cable between the two V-shaped bars 1011 can also be achieved using other methods, and is not limited to the form of the fixing plate. For example... Figure 3 As shown, in this embodiment, the end of the V-shaped rod is provided with a vertical fixing plate hole a1011a, a pin hole a1011b, a rectangular through hole 1011c, a circular groove 1011d, a through hole 1011e, and a hook fixing plate 1011f. The top of the V-shaped rod is provided with a vertical fixing plate hole b1011g, a horizontal fixing plate hole b1011h, and a pin hole b1011k. The above connections are made through the above components.

[0060] In the basic unit 101 of the tensioned integral structure, the cables at corresponding positions with the planes of symmetry of the two V-shaped rods 1011 as the planes of symmetry are of equal length and are all in a tensioned state with equal tension forces. The tension springs 1017 connecting the two V-shaped rods 1011 are in a stretched state, giving the basic unit of the tensioned integral structure a certain stiffness under the initial preload.

[0061] like Figure 4 As shown, four compression springs 102 connect adjacent tensioned integral structural basic units 101, which are fixed by circular grooves 1011c. Furthermore, the hook fixing pieces a1016 at both ends of the downward-opening V-shaped rod 1011 in the previous tensioned structural basic unit 101 are connected to the ends of the upward-opening V-shaped rod 1011 in the next tensioned structural basic unit 101 via first cables 103, thus fixing adjacent tensioned integral structural basic units 101 by four first cables 103.

[0062] like Figure 1 and Figure 5As shown, the first V-shaped rod 1011 with its first end opening downwards is connected to the upper fixed platform 201, and the second V-shaped rod 1011 with its second end opening upwards is connected to the working platform.

[0063] The drive module 4 includes four drive units 401 and drive ropes 402. The drive units 401 are controlled by independent drive motors 4012 and are fixed to the lower fixed platform 202 at 90° intervals. The upper fixed platform 201 is connected to the lower fixed platform 202 by bolts.

[0064] The first end of the drive rope 402, i.e. the bottom starting end, is fixed to the drive shaft 4014 at the end of the drive unit 401. The end of the drive rope 402 is connected to the second end, i.e. the upper end, of the continuous robot body 1 through the drive rope fixing bolt fixed in the drive rope fixing cylinder 104. The movement of the entire continuous robot is controlled by the contraction or relaxation of the drive rope 402 by the drive unit 401. The drive rope fixing cylinder 104 is interference-fitted with the end of the continuous body 1.

[0065] The effective length of the drive rope 402 connecting the output shaft of the drive unit to the end of the continuous robot body is the same. Furthermore, by contracting and pre-tensioning the drive rope 402, the continuous robot body is pre-tensioned, compressing and tensioning the springs between the basic structural units to achieve the initial position of the continuous robot.

[0066] The specific methods by which a continuum robot performs bending motion are as follows:

[0067] During operation, the contraction and relaxation of the drive rope 402 by the drive unit 401 causes the compression springs 102 of each unit in the driving direction to shorten or lengthen equally, providing driving force to each basic unit. For example... Figure 4 and Figure 7 As shown, since the four first cables 103 impose almost zero restriction on the rotation of the basic tensioning structural unit 101 in its diagonal direction, when the basic tensioning structural unit 101 is driven by the driving rope 402, it will rotate around the virtual axis between the first V-shaped rod 1011 with its opening facing downward in the previous basic tensioning structural unit 101 and the second V-shaped rod 1011 with its opening facing upward in the next basic tensioning structural unit 101. Therefore, if multiple driving units 401 contract and relax the driving rope 402 with different driving forces, then adjacent basic tensioning structural units 101 can rotate around any axis on the plane formed by the two virtual axes, thereby realizing the bending motion of the continuum robot body 1.

[0068] The drive module 4 simultaneously contracts or relaxes the drive ropes 402 via four drive units 401, and several compression springs 102 in four directions simultaneously shorten or extend by equal length, thereby realizing the axial extension and retraction motion of the continuous robot. Furthermore, the bending stiffness of the continuous robot body changes predictably due to the extension and retraction of the compression springs.

[0069] By having the drive units 401 at opposite corners drive the drive ropes 402 to output equal tension, and the drive units 401 at the other opposite corners output unequal tension, the relative positions of the two V-shaped rods 1011 of the same tensioning overall structural basic unit are changed, thereby changing their internal forces and the stiffness of the tensioning overall structural basic unit 101 changes.

[0070] In practical operation, this invention uses a tensioned integral structure as the basic unit, connecting each basic unit with springs and ropes. While ensuring a certain load-bearing capacity, this reduces the number of rigid components, lowers processing costs, and lightens the overall weight. Furthermore, through the coordinated operation of independent drive units, the continuous robot achieves adjustable axial extension and bending movements, making it more adaptable to unstructured and variable working environments.

[0071] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A variable stiffness tensioned integral continuous structure robot, characterized in that: It includes a continuous robot body, a fixed platform, a working platform, and a drive module; the first end of the continuous robot body is fixedly connected to the fixed platform, and the second end of the continuous robot body is connected to the working platform; the drive module is placed on the fixed platform, and the drive rope of the drive module passes through the continuous robot body and is connected to the second end of the continuous robot body, so that the continuous robot body can move by driving the drive rope through the drive module. The continuous robot body includes multiple tensioned integral structural basic units, a first cable and a compression spring. Adjacent tensioned integral structural basic units are connected by the first cable and the compression spring. The first cable provides radial and axial forces to adjacent tensioned integral structural basic units, and the drive cable and the compression spring provide axial forces to adjacent tensioned integral structural basic units. The basic unit of the tensioned integral structure includes a first V-shaped rod, a second V-shaped rod, and a spring connecting the first V-shaped rod and the second V-shaped rod. The V-shaped opening of the first V-shaped rod is oriented downwards, and the V-shaped opening of the second V-shaped rod is oriented upwards. The V-shaped openings of the first V-shaped rod and the second V-shaped rod are positioned opposite each other and connected by the spring at their V-shaped tips. The orthographic projection planes of the first V-shaped rod and the second V-shaped rod are perpendicular to each other and share a common axis of symmetry. The V-shaped tip of each V-shaped rod is connected to the inner sides of the two ends of the V-shaped opening of the other V-shaped rod by a second cable. The two ends of the V-shaped openings of the first V-shaped rod and the second V-shaped rod are connected by a third cable. The cables and springs in the basic unit of the tensioned integral structure are all in a pre-tightened state, and the initial tension of the cables at each symmetrical position is equal, so the basic unit of the tensioned integral structure is in a state of self-stress equilibrium.

2. The variable stiffness tensioned integral continuous structure robot according to claim 1, characterized in that: The first V-shaped rod and the second V-shaped rod are both provided with hook fixing pieces at the V-shaped sharp corners. The two ends of the V-shaped opening of the first V-shaped rod and the second V-shaped rod are provided with rectangular through holes, vertical fixing piece holes, hook fixing pieces and Y-shaped fixing pieces. The rectangular through holes and vertical fixing piece holes cooperate with the hook fixing pieces and Y-shaped fixing pieces respectively and are fixed by means of pins. One of the hook fixing pieces at the V-shaped tip of the V-shaped rod is connected to the hook fixing pieces on the inner sides of the two ends of the other V-shaped opening by means of two second cables of equal length; One of the V-shaped rods has Y-shaped fixing plates at both ends connected to the other V-shaped rod at both ends by means of two third cables of equal length.

3. The variable stiffness tensioned integral continuous structure robot according to claim 1, characterized in that: The bottom of both ends of the first V-shaped rod and the second V-shaped rod in the basic unit of the tensioned integral structure are provided with circular grooves that cooperate with the first end of the compression spring. The second end of the compression spring cooperates with the upper part of the circular grooves at both ends of the first V-shaped rod and the second V-shaped rod in the adjacent basic unit of the tensioned integral structure.

4. The variable stiffness tensioned integral continuous structure robot according to claim 3, characterized in that: The compression springs are evenly distributed at 90° intervals.

5. The variable stiffness tensioned integral continuous structure robot according to claim 2, characterized in that: In the basic unit of the tensioned integral structure, the two ends of the first V-shaped rod are connected to the two ends of the second V-shaped rod in the adjacent basic unit of the tensioned integral structure by means of hook fixing plates and first cables; the two adjacent basic units of the tensioned integral structure are connected by four symmetrical first cables in a stretched state, and springs are provided on the first cables.

6. The variable stiffness tensioned integral continuous structure robot according to claim 1, characterized in that: The circular groove of the first V-shaped rod of the basic unit of the tensioned integral structure at the first end of the continuous robot body is interference-fitted with the circular shaft of the upper fixed platform.

7. The variable stiffness tensioned integral continuous structure robot according to claim 1, characterized in that: The circular groove of the second V-shaped rod of the basic unit of the tensioning integral structure at the second end of the continuous robot body is interference-fitted with the short circular shaft of the working platform; the circular groove of the first V-shaped rod of the basic unit of the tensioning integral structure at the second end is interference-fitted with the drive rope fixing cylinder.

8. The variable stiffness tensioned integral continuous structure robot according to claim 1, characterized in that: The drive module is fixed to the lower fixed platform by bolts; the drive module includes four drive units and drive ropes. Each drive unit includes a drive motor, a reduction belt pulley system and a drive shaft. The drive motor drives the drive shaft to rotate by means of the reduction belt pulley system, thereby contracting or releasing the drive rope.

9. The variable stiffness tensioned integral continuous structure robot according to claim 8, characterized in that: The four drive units are evenly distributed on the lower fixed platform at 90° intervals, and the tangent of the drive shaft of the drive unit is collinear with the axis of the through hole on the semi-circular platform of the V-shaped rod.

10. The variable stiffness tensioned integral continuous structure robot according to claim 1, characterized in that: The first end of the drive rope is wound and fixed to the drive shaft, and the second end of the drive rope passes through the through holes at both ends of the V-shaped rod and the compression spring axis between the basic unit of the tensioning integral structure, and is fixed to the second end of the continuous robot body by fixing bolts.

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