Underactuated flexible continuum manipulator

Abstract

The present application relates to the technical fields of flexible joint mechanical arm equipment, in particular to an underactuated flexible continuum mechanical arm, which comprises a control mechanism, a visual perception module, a flexible continuum arm body and an end gripper; the control mechanism comprises a control box, a plurality of groups of first control modules and second control modules installed in the control box; the visual perception module is installed on the end face of the control box; the flexible continuum arm body comprises a first flexible joint installed on the end face of the control box and a second flexible joint installed on the first flexible joint, and the first flexible joint and the second flexible joint are respectively driven by a plurality of groups of control units to realize the rotation and bending of the first flexible joint and the second flexible joint; the end gripper is installed on the second flexible joint. The flexible continuum arm body in the present application adopts an embedded double-spring structure, which limits the axial expansion and contraction of the flexible continuum arm body of the mechanical arm, greatly improving the motion accuracy of the mechanical arm.

Description

Technical Field

[0001] This invention relates to the field of flexible joint robotic arm technology, and in particular to an underactuated flexible continuous robotic arm. Background Technology

[0002] Traditional robotic arms consist of rigid chain structures, lacking passive adaptability and struggling to meet the demands of tasks in confined spaces and complex environments with obstacles. Robotic arms based on flexible continuum arms, possessing flexible structures and continuum mechanics characteristics, exhibit high posture flexibility and environmental adaptability, and are gradually becoming a research focus. The hyperredundant structure of this robotic arm provides near-infinite degrees of freedom, enabling it to move and operate flexibly in complex and irregular workspaces without requiring precise trajectory planning and control.

[0003] Existing robotic arms based on flexible continuum arms mainly employ two drive methods: pneumatic and cable-driven. Pneumatic continuum robotic arms possess high flexibility and deformation capabilities, as well as extremely high collision tolerance, but they also suffer from drawbacks such as long response time, high sealing requirements, and extremely low load capacity. The mainstream continuum robotic arms are still primarily cable-driven, but these also have problems such as poor control accuracy and repeatability, weak load capacity, large overall size and mass, and low effective utilization of motors. Furthermore, their joint structures are mostly made of rigid materials, resulting in low collision tolerance and potential safety hazards due to collision damage. Summary of the Invention

[0004] This invention provides an underactuated flexible continuous robotic arm to solve the technical problems mentioned in the background art.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] This invention provides an underactuated flexible continuum robotic arm, comprising:

[0007] The control mechanism includes a control box and multiple sets of first and second control modules installed inside the control box.

[0008] The visual perception module is installed on the end face of the control box;

[0009] The flexible continuous arm includes a first flexible joint mounted on the end face of the control box and a second flexible joint mounted on the first flexible joint. The first flexible joint and the second flexible joint are driven by multiple sets of control units to realize the rotation and bending of the first flexible joint and the second flexible joint.

[0010] The end gripper is mounted on the second flexible joint and driven by the second control module to grasp the target object.

[0011] Furthermore, the first flexible joint includes:

[0012] The first disk is installed on the end face of the control box; the surface of the first disk has first through holes at equal intervals, the number of which is equal to the number of the first control modules.

[0013] A tension spring, one end of which is vertically mounted on the end face of the first disk, and the other end extending away from the control box;

[0014] The second disk is fitted into the middle of the tension spring; the surface of the second disk has second wire holes at equal intervals, the same number as the first control module.

[0015] The first compression spring is fitted onto the outer ring of the tension spring between the first and second disks.

[0016] Furthermore, the second flexible joint includes:

[0017] The third disk is installed on the end face of the tension spring away from the control box; the surface of the third disk has a number of third wire holes at equal intervals equal to the number of the first control modules.

[0018] The second compression spring is fitted onto the outer ring of the tension spring between the second and third disks.

[0019] Furthermore, the number of the first control modules is three, and each first control module includes:

[0020] The first motor is mounted inside the control box via a motor support frame;

[0021] A coupling pulley is mounted on the output shaft of the first motor;

[0022] The remote guide pulley block is installed on the inner wall of the control box;

[0023] The guide pulley assembly is installed on the inner wall of the control box near the cable outlet.

[0024] The joint drive rope has one end wound in the first mounting groove of the coupling pulley, and the other end passes around the far guide pulley group and the near guide pulley group respectively, and passes through the cable outlet hole, the first cable hole and the second cable hole respectively, and is finally fixed on the second disk.

[0025] The distal joint drive rope has one end wound around the second mounting groove of the coupling pulley, and the other end passes around the distal guide pulley group and the proximal guide pulley group respectively, and passes through the outlet hole, the first through hole, the second through hole and the third through hole respectively, and is finally fixed on the third disk.

[0026] Furthermore, the three first wiring holes on the first disk, the three second wiring holes on the second disk, and the third wiring hole on the third disk each correspond to and match three different first control modules.

[0027] Furthermore, the first control module also includes:

[0028] Two decoupling springs are connected to the proximal joint drive rope and the distal joint drive rope, respectively.

[0029] Furthermore, the end gripper includes:

[0030] The gripper base is fixedly installed on the end face of the second flexible joint away from the first flexible joint;

[0031] Two fingers are symmetrically connected to the gripper base, each rotating via a different gripper pivot.

[0032] Two torsion springs, one end of which is inserted into the end of each finger, and the other end of which is engaged with the gripper base, so that the two fingers are closed in the initial state.

[0033] Furthermore, the second control module includes:

[0034] The second motor is fixedly installed on the inner wall of the control box;

[0035] The gripper-driven pulley is mounted on the output shaft of the second motor;

[0036] The motor-driven rope has one end wrapped and fixed to the outer ring of the gripper drive pulley, and the other end fixed to the movable pulley.

[0037] The gripper drive rope is fixed at both ends to the upper middle part of two fingers respectively; the middle part is wrapped around the outer ring of the movable pulley.

[0038] Furthermore, the gripper drive ropes pass through the first flexible joint and the second flexible joint respectively, and are then fixed to the upper middle part of the two fingers respectively.

[0039] Furthermore, the visual perception module includes:

[0040] The camera support bracket is fixedly installed on the top of the control box;

[0041] The camera is snapped onto the camera support frame in an orientation toward the flexible continuum arm.

[0042] The beneficial effects of this invention are:

[0043] 1. The flexible continuous arm in this invention differs from existing flexible continuous arms. The flexible continuous arm in this invention includes a first flexible joint and a second flexible joint. The first and second flexible joints adopt an embedded double spring structure, that is, a first easily compressible spring and a second compression spring are fitted on the outer ring of the tension spring. On the one hand, the tension spring utilizes its own characteristics to ensure that there is no downward compression at the center of the first and second flexible joints, thus ensuring the accuracy of movement in the form of a mechanical structure and greatly improving the movement precision of the robotic arm. On the other hand, it improves the collision tolerance of the robotic arm equipped with the flexible continuous arm.

[0044] 2. In this invention, the first flexible joint and the second flexible joint are coupled through a coupling pulley, which further reduces the driving amount. At the same time, the decoupling springs on the near joint drive rope and the far joint drive rope enable the other flexible joint to continue moving when one flexible joint comes into contact with an object.

[0045] 3. In this invention, the second motor that controls the movement of the end effector gripper is also fixed on the control box, which can further increase the load capacity of the robotic arm. At the same time, this invention uses a movable pulley to balance the driving force at both ends of the end effector gripper, so that the two fingers on the end effector gripper open at the same amount.

[0046] 4. This invention discloses an underactuated flexible continuous robotic arm with high collision tolerance. While maintaining strong passive adaptability to the manipulated object, it minimizes the number of motors. This underactuated structure reduces the overall structural complexity and the size of the control box, achieving optimal space utilization. It also makes the robotic arm structure more compact and easier to control. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0048] Figure 2 This is a layout diagram of the various components in this invention;

[0049] Figure 3 This is a front view of the present invention.

[0050] Figure 4 This is a schematic diagram showing the connection between the flexible continuous body arm and the first control module in this invention;

[0051] Figure 5 This is a schematic diagram showing the connection between the end gripper and the second control module in this invention;

[0052] Figure 6 This is a schematic diagram of the bending of the first flexible joint and the second flexible joint in an embodiment of the present invention.

[0053] Explanation of reference numerals in the attached figures:

[0054] 1. Control mechanism; 1001. Control box; 1002. Remote joint drive rope; 1003. Proximal guide pulley block; 1004. Decoupling spring; 1005. Remote guide pulley block; 1006. Proximal joint drive rope; 1007. Coupling pulley; 1008. First motor; 1009. Motor support frame; 1010. Gripper drive pulley; 1011. Aluminum sleeve; 1401. Motor end drive rope; 1402. Movable pulley; 1403. Gripper drive rope;

[0055] 2. Visual perception module; 1201. Camera support frame; 1202. Camera;

[0056] 3. Flexible continuous body arm; 1301, first disk; 1302, tension spring; 1303, second disk; 1304, second compression spring; 1305, third disk;

[0057] 4. End gripper; 1404. Gripper base; 1405. Torsion spring; 1406. Finger; 1407. Gripper rotation shaft. Detailed Implementation

[0058] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many other different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0059] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0060] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present 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. Therefore, they should not be construed as limitations on the present invention.

[0061] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0062] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0063] It should also be noted that in the embodiments of this application, the same reference numerals are used to represent the same component or part. For the same part in the embodiments of this application, the reference numerals may only be used to mark one part or component as an example. It should be understood that the reference numerals are also applicable to other identical parts or components.

[0064] Reference Figure 1 and Figure 2 This application provides an underactuated flexible continuum robotic arm, comprising:

[0065] The control mechanism 1 includes a control box 1001 and multiple sets of first control modules and second control modules installed in the control box 1001;

[0066] The visual perception module 2 is installed on the end face of the control box 1001. The visual perception module 2 perceives external information in real time, especially the shape and texture of the target object. Based on visual feedback, it can perform robotic arm path planning to adapt to changes in the shape and posture of the target object, and achieve more flexible and precise operation.

[0067] The flexible continuous body 3 includes a first flexible joint mounted on the end face of the control box 1001 and a second flexible joint mounted on the first flexible joint. The first flexible joint and the second flexible joint are driven by multiple sets of control units to realize the rotation and bending of the first flexible joint and the second flexible joint.

[0068] The end gripper 4 is mounted on the second flexible joint and driven by the second control module to grasp the target object; the visual perception module 2 is set in the direction of the flexible continuous body arm 3 and the end gripper 4.

[0069] In some embodiments, refer to Figure 2 and Figure 3 The first flexible joint includes:

[0070] The first disk 1301 is mounted on the end face of the control box 1001; three first through holes are equidistantly opened on the surface of the first disk 1301.

[0071] The tension spring 1302 has one end vertically mounted on the end face of the first disk 1301, and the other end extends away from the control box 1001.

[0072] The second disk 1303 is fitted into the middle of the tension spring 1302; three second wire holes are equidistantly provided on the surface of the second disk 1303.

[0073] The first compression spring is fitted on the outer ring of the tension spring 1302 between the first disk 1301 and the second disk 1303. Both ends of the first compression spring are bonded to the first disk 1301 and the second disk 1303 by means of fine powder and glue.

[0074] In some embodiments, refer to Figure 2 and Figure 3 The second flexible joint includes:

[0075] The third disk 1305 is installed on the end face of the tension spring 1302 away from the control box 1001; three third wire holes are equidistantly opened on the surface of the third disk 1305;

[0076] The second compression spring 1304 is fitted on the outer ring of the tension spring 1302 between the second disk 1303 and the third disk 1305. Both ends of the second compression spring 1304 are bonded to the second disk 1303 and the third disk 1305 by means of fine powder and glue.

[0077] Specifically, the compression spring is split into a first compression spring and a second compression spring 1304, which avoids the inability of the compression spring to deform at the fixed point, thus affecting the bending posture of the robotic arm. This makes it more in line with the ideal assumption that one end of the flexible structure is fixed under the constant curvature model. In addition, this fixing method is faster and more convenient, and the operation is simpler.

[0078] In some embodiments, refer to Figure 3 and Figure 4 The number of the first control modules is three, and each first control module includes:

[0079] The first motor 1008 is installed in the control box 1001 via a motor support frame 1009;

[0080] The coupling pulley 1007 is mounted on the output shaft of the first motor 1008;

[0081] The remote guide pulley block 1005 is installed on the inner wall of the control box 1001;

[0082] The guide pulley assembly 1003 is installed on the inner wall of the control box 1001 near the cable outlet hole of the control box 1001;

[0083] The near joint drive rope 1006 has one end wound around the first mounting groove opened in the coupling pulley 1007, and the other end passes around the far guide pulley group 1005 and the near guide pulley group 1003 respectively, and passes through the cable outlet hole, the first cable hole and the second cable hole respectively, and is finally fixed on the second disk 1303 by the aluminum sleeve 1011.

[0084] The distal joint drive rope 1002 has one end wound around the second mounting groove opened in the coupling pulley 1007, and the other end passes around the distal guide pulley group 1005 and the proximal guide pulley group 1003 respectively, and passes through the cable outlet hole, the first cable hole, the second cable hole and the third cable hole respectively, and is finally fixed to the third disk 1305 by the aluminum sleeve 1011.

[0085] The three first control modules contain a total of three first motors 1008. The three first motors 1008 work together to control the flexible continuous arm 3, which is composed of the first flexible joint and the second flexible joint, to bend in an S-curve posture, while the operating point position of the end gripper 4 at the end of the robotic arm remains unchanged. The three first motors 1008 are arranged counterclockwise in the control box 1001 to maximize the use of the robotic arm space. The first motors 1008 are first fixed to the motor support frame 1009 by screws, and the motor support frame 1009 is fixed to the bottom of the control box 1001 by screws and nuts.

[0086] In some embodiments, the three first wiring holes on the first disk 1301, the three second wiring holes on the second disk 1303, and the third wiring hole on the third disk 1305 are respectively matched with three different first control modules.

[0087] Specifically, the proximal joint drive ropes 1006 on the three first control modules pass through the three first wiring holes, then through the three second wiring holes, and are finally fixed to the second disk 1303; the distal joint drive ropes 1002 on the three first control modules pass through the first wiring hole, then through the three second wiring holes, and finally through the third wiring hole and are fixed to the third disk 1305. Furthermore, the first and second wiring holes through which the proximal joint drive ropes 1006 and distal joint drive ropes 1002 on the same first control module pass are identical.

[0088] In some embodiments, refer to Figure 4 The first control module further includes:

[0089] Two decoupling springs 1004 are connected to the proximal joint drive rope 1006 and the distal joint drive rope 1002, respectively.

[0090] In some embodiments, refer to Figure 5 The end gripper 4 includes:

[0091] The gripper base 1404 is fixedly installed on the end face of the second flexible joint away from the first flexible joint;

[0092] Two fingers 1406 are symmetrically connected to the gripper base 1404 by rotating through two gripper rotation shafts 1407 respectively.

[0093] Two torsion springs 1405 are inserted at one end into the ends of two fingers 1406 respectively, and the other end is locked onto the gripper base 1404 so that the two fingers 1406 are closed in the initial state.

[0094] In some embodiments, the second control module includes:

[0095] The second motor is fixedly installed on the inner wall of the control box 1001;

[0096] The gripper drive pulley 1010 is mounted on the output shaft of the second motor;

[0097] The motor-driven rope 1401 has one end wrapped and fixed to the outer ring of the gripper drive pulley 1010, and the other end fixed to the movable pulley 1402;

[0098] The gripper drive rope 1403 is fixed at both ends to the upper middle part of two fingers 1406 respectively; the middle part is wrapped around the outer ring of the movable pulley 1402.

[0099] In some embodiments, the gripper drive ropes 1403 pass through the first flexible joint and the second flexible joint respectively, and are then fixed to the upper middle part of the two fingers 1406 respectively.

[0100] In use, the end gripper 4 is driven by the second control module, and a torsion spring 1405 is selected as the return spring. Under the action of the torsion spring 1405, the two symmetrically arranged fingers 1406 are closed in the initial state. The second motor drives the gripper pulley 1010 to rotate, causing the motor-end drive rope 1401 to be in a tensioned state and generating a pulling force on the movable pulley 1402. The movable pulley 1402 is wound with a gripper drive rope 1403, and the two ends of the gripper drive rope 1403 are fixed to the upper middle part of the two fingers 1406 by aluminum sleeves 1011. The pulling force on the movable pulley 1402 is applied to the two fingers 1406 through the gripper drive rope 1403, thereby causing the two fingers 1406 to gradually open from a closed state. When the second motor reverses and the motor-end drive rope 1401 gradually relaxes, the two fingers 1406 will close again under the action of the torsion spring 1405. The end gripper 4 only has the ability to grasp. To realize the operation of the target object, the cooperation of the flexible continuous arm 3 is required.

[0101] In some embodiments, the visual perception module 2 includes:

[0102] The camera support bracket 1201 is fixedly installed on the top of the control box 1001;

[0103] The camera 1202 is snapped onto the camera support frame 1201 in an orientation toward the flexible continuous body 3.

[0104] In this invention, the flexible continuous arm 3 includes a first flexible joint and a second flexible joint. The first and second flexible joints adopt an embedded double spring structure, that is, a first compression spring and a second compression spring are fitted on the outer ring of the tension spring 1302. On the one hand, the tension spring 1302 utilizes its own characteristics to ensure that the first and second flexible joints have no downward compression at the center of the flexible joint, thus ensuring the accuracy of movement in the form of a mechanical structure and greatly improving the movement precision of the robotic arm. On the other hand, it improves the collision tolerance of the robotic arm equipped with the flexible continuous arm 3.

[0105] Furthermore, the presence of the tension spring 1302 ensures that the boundary line of the tension spring 1302 is incompressible, guaranteeing the existence of a curve with a constant arc length on the bending cross-section, i.e., the spring boundary line. Since the outer diameter and wire diameter of the tension spring 1302 are very small, and its centerline coincides with the central axis of the flexible joint (including the first and second flexible joints, hereinafter referred to as the flexible joint), it can be approximated that the length l of the flexible joint center remains unchanged. In the constant curvature model, l = ρ m ·θ m Therefore, the parameter ρ in the flexible joint space m θ mThere is a coupling relationship; that is, if the arc length of the flexible joint can be kept constant during bending, only two actuators are needed to control one flexible joint. ρ m θ m Let represent the radius of curvature and central angle of the m-th flexible joint, respectively.

[0106] Specifically, refer to Figure 6 Since the first and second flexible joints are connected end-to-end, and their bending directions are opposite but on the same cross section, their geometric relationship satisfies the condition that the position of the end effector of the robotic arm remains unchanged. That is, the spatial parameters ρ1, θ1 of the first flexible joint and the spatial parameters ρ2, θ2 of the second flexible joint have a certain coupling relationship. When the torsion angle of a certain flexible joint... The torsion angle of the other flexible joint changes. The coupling relationship can be maintained by changing the same amount in the opposite direction.

[0107] The derivation process of the relationship between the four parameters ρ1, θ1, ρ2, and θ2 is as follows:

[0108] First, define the coordinates of the fixed point P in the 01 coordinate system as (x, y);

[0109] Then the coordinates of point P in the O2 coordinate system are (p2·(1-cosθ2)+Lsinθ2,ρ2sinθ2+LCOSθ2);

[0110] In the formula, ρ1 and θ1 are the radius of curvature and central angle of the first flexible joint, respectively; ρ2 and θ2 are the radius of curvature and central angle of the second flexible joint, respectively; and θ is the length of the end gripper 4.

[0111] Coordinate system transformation O2→01 results in:

[0112]

[0113] Therefore, the position of fixed point P in coordinate system 02, when transformed to coordinate system 01, is:

[0114] x=[ρ2·(1-cosθ2)+Lsinθ2]·cosθ1-[ρ2sinθ2+Lcosθ2]·sinθ1+ρ1(cosθ1-1)

[0115] y=[ρ2sinθ2+Lcosθ2]·cosθ1+[ρ2·(1-cosθ2)+Lsinθ2]·sinθ1+ρ1sinθ1

[0116] Since the fixed point P is located on the central axis of the flexible joint, we have:

[0117] [ρ2·(1-cosθ2)+Lsinθ2]·cosθ1+ρ1(cosθ1-1)=[ρ2sinθ2+Lcosθ2]·sinθ1 (1)

[0118] Because the neutral layer lengths of the first and second flexible joints remain unchanged, we have:

[0119] l=ρ1·θ1=ρ2·θ2 (2)

[0120] Where l is the initial length of the first or second flexible joint, so only the value of any one of the parameters ρ1, θ1, ρ2, θ2 is needed. The other parameters can be obtained through (1) and (2). That is, the four parameters ρ1, θ1, ρ2, θ2 are coupled to each other and there is only one degree of freedom.

[0121] Furthermore, the proximal joint drive rope 1006 on the first flexible joint and the distal joint drive rope 1002 on the second flexible joint are respectively fixed to the two slots of the coupling pulley 1007. Since the first flexible joint and the second flexible joint rotate the same number of times at this position when the first motor rotates, therefore...

[0122]

[0123] In the formula, Δl is the change in length of the proximal joint drive rope 1006 on the first flexible joint; r is the radius of the proximal joint drive rope 1006 wound around the coupling pulley 1007; Δl' is the change in length of the distal joint drive rope 1002 on the second flexible joint; and r' is the radius of the distal joint drive rope 1002 wound around the coupling pulley 1007.

[0124] From the forward kinematics formula, we get:

[0125]

[0126] By combining the equations, we can obtain:

[0127]

[0128] By combining (1), (2) and (5), the values ​​of the four parameters ρ1, θ1, ρ2, and θ2 can be obtained.

[0129] This invention discloses an underactuated flexible continuum robotic arm with high collision tolerance. While maintaining strong passive adaptability to the manipulated object, it minimizes the number of motors. This underactuated structure reduces the overall structural complexity and the size of the control box 1001, achieving optimal space utilization. It also makes the robotic arm structure more compact and easier to control.

[0130] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An underactuated flexible continuum robotic arm, characterized in that, include: The control mechanism (1) includes a control box (1001) and multiple sets of first control modules and second control modules installed in the control box (1001); The visual perception module (2) is installed on the end face of the control box (1001); The flexible continuous body (3) includes a first flexible joint mounted on the end face of the control box (1001) and a second flexible joint mounted on the first flexible joint. The first flexible joint and the second flexible joint are driven by multiple control units to realize the rotation and bending of the first flexible joint and the second flexible joint. The end gripper (4) is mounted on the second flexible joint and driven by the second control module to grasp the target object; The first flexible joint includes: The first disk (1301) is mounted on the end face of the control box (1001); the surface of the first disk (1301) has first wiring holes at equal intervals, the number of which is equal to the number of the first control modules; A tension spring (1302) has one end vertically mounted on the end face of the first disk (1301), and the other end extends away from the control box (1001); The second disk (1303) is fitted in the middle of the tension spring (1302); the surface of the second disk (1303) is provided with second wire holes at equal intervals, the same number as the first control module; The first compression spring is fitted onto the outer ring of the tension spring (1302) between the first disk (1301) and the second disk (1303); The second flexible joint includes: The third disk (1305) is installed on the end face of the tension spring (1302) away from the control box (1001); the surface of the third disk (1305) is provided with a third wire hole at equal intervals, the same number as the first control module; The second compression spring (1304) is fitted onto the outer ring of the tension spring (1302) between the second disk (1303) and the third disk (1305).

2. The underactuated flexible continuous manipulator according to claim 1, characterized in that, The number of the first control modules is three, and each first control module includes: The first motor (1008) is installed in the control box (1001) via a motor support frame (1009); The coupling pulley (1007) is mounted on the output shaft of the first motor (1008); The remote guide pulley block (1005) is installed on the inner wall of the control box (1001); The guide pulley assembly (1003) is installed on the inner wall of the control box (1001) near the cable outlet hole of the control box (1001); The near joint drive rope (1006) has one end wound around the first mounting groove opened in the coupling pulley (1007), and the other end passes around the far guide pulley group (1005) and the near guide pulley group (1003) respectively, and passes through the cable outlet hole, the first cable hole and the second cable hole respectively, and is finally fixed on the second disk (1303); The distal joint drive rope (1002) has one end wound around the second mounting groove opened in the coupling pulley (1007), and the other end passes around the distal guide pulley group (1005) and the proximal guide pulley group (1003) respectively, and passes through the outlet hole, the first wire hole, the second wire hole and the third wire hole respectively, and is finally fixed on the third disk (1305).

3. The underactuated flexible continuous body robotic arm according to claim 2, characterized in that, The three first wiring holes on the first disk (1301), the three second wiring holes on the second disk (1303), and the third wiring hole on the third disk (1305) are respectively matched with three different first control modules.

4. The underactuated flexible continuous manipulator according to claim 2, characterized in that, The first control module further includes: Two decoupling springs (1004) are connected to the proximal joint drive rope (1006) and the distal joint drive rope (1002), respectively.

5. The underactuated flexible continuous body robotic arm according to claim 1, characterized in that, The end gripper (4) includes: The gripper base (1404) is fixedly installed on the end face of the second flexible joint away from the first flexible joint; Two fingers (1406) are symmetrically connected to the gripper base (1404) by rotating through two gripper rotation shafts (1407); Two torsion springs (1405) have one end inserted into the end of each of the two fingers (1406), and the other end is engaged with the gripper base (1404) so ​​that the two fingers (1406) are closed in the initial state.

6. The underactuated flexible continuous body robotic arm according to claim 5, characterized in that, The second control module includes: The second motor is fixedly installed on the inner wall of the control box (1001); The gripper drive pulley (1010) is mounted on the output shaft of the second motor; One end of the motor-driven rope (1401) is wrapped and fixed to the outer ring of the gripper drive pulley (1010), and the other end is fixed to the movable pulley (1402); The gripper drive rope (1403) is fixed at both ends to the upper middle part of two fingers (1406); the middle part is wrapped around the outer ring of the movable pulley (1402).

7. The underactuated flexible continuous body robotic arm according to claim 6, characterized in that, The gripper drive ropes (1403) pass through the first flexible joint and the second flexible joint respectively, and are then fixed to the upper middle part of the two fingers (1406).

8. The underactuated flexible continuum manipulator according to any one of claims 1 to 7, characterized in that, The visual perception module (2) includes: The camera support bracket (1201) is fixedly installed on the top of the control box (1001); The camera (1202) is snapped onto the camera support frame (1201) in an orientation toward the flexible continuum arm (3).

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