A continuum endoscopic robot capable of traversing complex passages

Abstract

The application relates to a continuum endoscopic robot capable of crossing complex channels, which comprises a driving device for driving the working of the whole robot, a robot body, the control end of which is connected with the driving device through a keel and tendon guide mechanism, the tail end of which can cross complex channels, is arranged at the front of the whole robot, and has the function of simultaneously stretching and bending; a plurality of tendon tension measuring mechanisms are arranged at the end of the driving device in a spaced manner along the circumference of the keel and tendon guide mechanism, are used for measuring the tendon tension of the robot body and transmitting the tendon tension to a controller; a tendon stretching mechanism is arranged outside the tendon tension measuring mechanism, and the controller is arranged outside the robot body and is used for controlling the working of the driving device and controlling the working of the tendon stretching mechanism according to the tendon tension information transmitted by the tendon tension measuring mechanism. The application improves the detection accessibility of the robot in complex space, reduces the detection blind area, and improves the detection efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a continuum endoscopic robot capable of passing through complex channels. BACKGROUND

[0002] The existing continuum robot still has many deficiencies, for example, the continuum robot laboratory of the University of Toronto designed a tendon-driven continuum robot relying on the expansion of the body. Although the robot realizes the expansion function by using three sleeve body mechanisms, the fixed three-section pipe driving device cannot be spaced far apart due to the low bending and torsional strength of the nickel-titanium alloy pipe, so that the robot has a short expansion stroke and poor torsional strength. In addition, the use of magnets as elastic units causes the wires to be spaced unevenly after the expansion of the continuum robot, resulting in inaccurate modeling.

[0003] The continuum robots disclosed in the existing literature do not have expansion function and have functional limitations during use. The expansion function of the continuum detection robot disclosed in the existing literature is provided by an external slide rail, and the flexible body of the continuum robot cannot be freely expanded. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a continuum endoscopic robot capable of passing through complex channels, which solves the design of high-length-diameter ratio continuum robot body, solves the design of long-stroke linear driving device, improves the detection accessibility of the robot in complex space, thereby reducing the detection blind area and improving the detection efficiency.

[0005] To achieve the above purpose, the present application adopts the following technical scheme: a continuum endoscopic robot capable of passing through complex channels, comprising: a driving device for driving the work of the whole robot; a robot body, the control end of which is connected with the driving device through a keel and a tendon guide mechanism, the tail end of which can pass through complex channels, and the robot body is arranged at the front of the whole robot and has the function of simultaneously expanding and bending; a plurality of tendon tension measuring mechanisms are arranged at the end of the driving device in a spaced manner along the circumference of the keel and the tendon guide mechanism, for measuring the tendon tension of the robot body and transmitting the tendon tension information to the controller; a tendon stretching mechanism is arranged outside the tendon tension measuring mechanism and at the end of the driving device; a controller is arranged outside the robot body for controlling the work of the driving device, and the tendon stretching mechanism is controlled to work according to the tendon tension information transmitted by the tendon tension measuring mechanism.

[0006] Further, the robot body comprises a first tendon guide disc, a second tendon guide disc, a third tendon guide disc, a keel, a right-handed compression spring, a left-handed compression spring, a general tendon guide disc and a tendon.

[0007] The keel is composed of a fine outer diameter keel, a middle outer diameter keel and a thick outer diameter keel, which are sequentially sleeved to form a telescopic structure of the nickel-titanium alloy keel, and the keel with a fine outer diameter can be extended from the keel with a thick outer diameter; the end of the fine outer diameter keel is fixedly provided with a first tendon guide disc, the end of the middle outer diameter keel is fixedly provided with a second tendon guide disc, and the end of the thick outer diameter keel is fixedly provided with a third tendon guide disc;

[0008] A plurality of general tendon guide discs are arranged on each keel behind the tendon guide disc fixed to the keel, and a right-handed compression spring and a left-handed compression spring are alternately arranged between two adjacent tendon guide discs;

[0009] Three tendons for controlling the bending deformation of the keel are arranged on the tendon guide disc of each keel, the three tendons are arranged at an angle of 120°, all the tendons are distributed in the circumferential direction of the keel, and the tendon for controlling the bending of the front keel is connected with the rear driving device through the rear tendon guide disc, and the tendons do not occupy each other.

[0010] Further, all the tendon guide discs have nine evenly distributed guide holes and a first center hole, and the end face of the first center hole is provided with a counterbore, the guide holes are used for threading the tendons, the first center hole is used for threading the keel, and the counterbore is used for installing and fixing the right-handed compression spring and the left-handed compression spring.

[0011] Further, the keel and the tendon guide mechanism include a first guide pipe, a first tendon guide hole, a first keel guide hole, a second tendon guide hole, a keel guide pipe, a second keel guide hole, a conical lead disc and a third tendon guide hole;

[0012] The conical lead disc is fixed at the front center position of the driving device, the first guide pipe is fixed on the conical lead disc, the first guide pipe is provided with a first keel guide hole at the inner center position, and nine first tendon guide holes are evenly distributed along the circumference of the first keel guide hole;

[0013] The contact end of the first guide pipe in the conical lead disc is also provided with nine second tendon guide holes, and the guide holes at both ends of the conical lead disc and the first guide pipe are aligned after the conical lead disc is fixed with the first guide pipe;

[0014] The keel guide pipe is inserted into the inside of the conical lead disc in a transition fit mode, and is attached to the end face of the first guide pipe in the conical lead disc, the first keel guide hole is coincided with the second keel guide hole, the first ends of the three keels are sequentially threaded through the first keel guide hole and the second keel guide hole and extended out of the conical lead disc, forming a keel extension section;

[0015] Nine third tendon guide holes are arranged on the lower cylindrical surface of the conical lead disc, which are distributed in the same direction as the nine second tendon guide holes.

[0016] Further, the tendon tension measuring mechanism comprises a sensor base, a tension sensor, a pulley guide light shaft, an elastic retainer, a linear bearing, a movable pulley support, a movable pulley, a first fixed pulley, a second fixed pulley and a fixed pulley support;

[0017] The sensor base is fixedly arranged on the driving device and located on the outer side of the keel and the tendon guide mechanism in the circumferential direction. The tension sensor is fixed on the sensor base by a bottom bolt. The upper part of the tension sensor is connected with the movable pulley support by a locking screw.

[0018] The linear bearing is fixed with the movable pulley support through elastic retainers at both ends. The pulley guide light shaft passes through the inner hole of the linear bearing and is fixed on the sensor base by a locking screw. Light shaft and linear bearing guide devices are installed on the symmetric sides of the installation position of the pulley guide light shaft and the linear bearing.

[0019] The bottom of the fixed pulley support is fixed on the top of the sensor base by a bolt. The top of the movable pulley support passes through the top of the sensor base and is located in the fixed pulley support. The movable pulley is installed on the movable pulley support. The first fixed pulley and the second fixed pulley are installed on the upper part of the fixed pulley support.

[0020] Further, the tendon stretching mechanism comprises a worm gear reducer box body, a first bearing, a turbine, a second bearing, a turbine shaft, a cylindrical pin, a third bearing, a worm, a fourth bearing, a fifth bearing, a worm shaft, a bobbin nut, a bobbin, a rectangular slot slide, a fourth tendon guide hole and a first driving motor.

[0021] The worm gear reducer box body is fixedly arranged on the driving device and located on the outer side of the keel and the tendon guide mechanism and the tendon tension measuring mechanism in the circumferential direction.

[0022] The worm is fixed on the turbine shaft by a locking screw. The turbine shaft is connected with the second bearing on one side inside the worm gear reducer box body by the first bearing. The end of the second bearing is positioned by screwing a bolt.

[0023] The worm is fixed on the worm shaft by a locking screw. The worm shaft is connected with the fifth bearing on the other side inside the worm gear reducer box body by the fourth bearing. The other end of the worm shaft is coaxially connected with the output end of the first driving motor by screwing a bolt.

[0024] The bobbin nut is fixed on the other end of the worm gear reducer box body by a locking screw. The bobbin is provided with external threads on the outside. The bobbin is threadedly connected with the bobbin nut by the external threads.

[0025] The worm shaft is provided with a cylindrical pin perpendicular to the axial direction of the worm shaft, and the cylindrical pin is connected to the worm shaft through a third bearing; the worm shaft is provided with a cylindrical pin which can be inserted into the winding drum; the inside of the winding drum is provided with a rectangular slot slide, and the cylindrical pin can slide in the rectangular slot slide.

[0026] Further, the driving device comprises a front supporting disc, a rear supporting disc, a coarse outer diameter keel pneumatic clamp, a middle outer diameter keel pneumatic clamp, a fine outer diameter keel pneumatic clamp, a clamp sliding block, a clamp support, a guide rail, a first square tube, a second square tube, a first guide light shaft, a second guide light shaft, a ball screw, a driving arm, a tension sensor, a force sensor base, a movable pneumatic clamp, a shaft coupling, a motor base, a second driving motor and an instability light shaft;

[0027] The keel and tendon guiding mechanism, the tendon tension measuring mechanism and the tendon stretching mechanism are all arranged on the front supporting disc;

[0028] The front supporting disc and the rear supporting disc are respectively fixed on the front and rear parts of the support, and the front supporting disc and the rear supporting disc are connected through three instability light shafts;

[0029] The first square tube is arranged on the bottom, and the second square tube, the first guide light shaft, the second guide light shaft and the ball screw are arranged on the top;

[0030] The guide rail is fixed on the first square tube through bolts, and three clamp supports are arranged on the guide rail; the bottom of each clamp support is provided with a clamp sliding block, and the clamp support is fixed on the guide rail through the clamp sliding block and position adjustment of the clamp sliding block and the guide rail, so that the adjacent two clamp supports have a preset interval; the clamp support at the front end is in close contact with the front supporting disc, the coarse outer diameter keel pneumatic clamp is arranged on the clamp support in close contact with the front supporting disc, the middle outer diameter keel pneumatic clamp is arranged on the clamp support in the middle, and the fine outer diameter keel pneumatic clamp is arranged on the clamp support at the rear part;

[0031] The second driving motor is fixed on the outer side of the upper part of the rear supporting disc through the motor base, and one end of the ball screw is coaxially connected with the output shaft of the second driving motor through the shaft coupling; the second driving motor is connected with the controller and controlled by the controller;

[0032] The force sensor base is arranged on the ball screw and can move forward and backward with the rotation of the ball screw; one side of the force sensor base is connected with one side of the driving arm through the tension sensor, and the force sensor base and the driving arm are respectively connected with the first guide light shaft and the second guide light shaft through linear bearings; the force sensor base is driven by the second driving motor to move forward and backward along the first guide light shaft and the second guide light shaft, so as to drive the driving arm to move forward and backward;

[0033] The movable pneumatic clamping jaw is fixedly connected to the driving arm, the tension and compression force sensor is arranged between the force sensor base and the driving arm, and the upper and lower end faces of the tension and compression force sensor are connected to the force sensor base and the driving arm through the set screws, respectively; the movable pneumatic clamping jaw is driven by the driving arm to move forward and backward.

[0034] The keel extension section of the three-section keel head passes through the center hole of the front support disc and is matched with the pneumatic clamps, wherein the thick outer diameter keel is matched with the thick outer diameter keel pneumatic clamp, the medium outer diameter keel is matched with the medium outer diameter keel pneumatic clamp, and the thin outer diameter keel is matched with the thin outer diameter keel pneumatic clamp; the extension and contraction of the keels are controlled by the movable pneumatic clamps.

[0035] Further, when the movable pneumatic clamping jaw moves to the position between the thick outer diameter keel pneumatic clamp and the medium outer diameter keel pneumatic clamp, the movable pneumatic clamping jaw is closed and clamps the thick outer diameter keel, at this time, the thick outer diameter keel pneumatic clamp is opened, the movable pneumatic clamping jaw is driven by the second driving motor to move forward and backward to realize the extension and contraction of the robot body.

[0036] The movable pneumatic clamping jaw is moved to the position between the medium outer diameter keel pneumatic clamp and the thin outer diameter keel pneumatic clamp, the movable pneumatic clamping jaw is matched with the medium outer diameter keel pneumatic clamp again to realize the extension and contraction of the medium outer diameter keel.

[0037] The movable pneumatic clamping jaw is moved to the position between the thin outer diameter keel pneumatic clamp and the rear support disc, the movable pneumatic clamping jaw is matched with the thin outer diameter keel pneumatic clamp again to realize the extension and contraction of the thin outer diameter keel.

[0038] Further, the driving device further comprises a proximity switch; the proximity switch is fixed on the second square tube and is used for detecting the stroke position information of the driving arm and transmitting the stroke position information to the controller.

[0039] The center position of the front support disc is provided with a second center hole corresponding to the second keel guide hole of the keel and tendon guide mechanism, and the center position of the rear support disc is provided with a third center hole.

[0040] Further, the clamping jaw support comprises a base, a threaded hole, a keel centering support, a third keel guide hole, a fourth keel guide hole, a first rubber pad and a second rubber pad.

[0041] The bottom of the base is provided with a sliding block, and the base is provided with a threaded hole for fixing the base, the bottom of the keel centering support is arranged on the base, the top of the keel centering support has an opening, the clamping jaw passes out from the inside of the opening, and the first rubber pad and the second rubber pad are arranged in the inside of the clamping jaw and in the opening, and the first rubber pad and the second rubber pad are connected with the clamping jaw in a gluing manner.

[0042] The third keel guide hole and the fourth keel guide hole are arranged on the keel centering support on both sides of the opening between the first rubber pad and the second rubber pad.

[0043] The present application has the following advantages due to the above technical solutions:

[0044] 1. The present application realizes the function of simultaneous stretching and bending deformation of the continuum robot body mechanism through the design of three concentric sleeve keels, solves the design of high length-diameter ratio continuum robot body, solves the design of long-stroke linear driving device, improves the detection accessibility of the robot in complex space, thereby reducing the detection blind area and improving the detection efficiency.

[0045] 2. The present application solves the problem of too large space occupied by the previous tendon winding and unwinding device through the tendon stretching mechanism.

[0046] 3. Each keel of the present application is a high-elasticity nickel-titanium alloy pipe keel, and three nickel-titanium alloy pipe keels with different inner diameters are nested together to realize the stretching function of the continuum robot body. Ten universal tendon guide discs that can move axially along the keel are sleeved around each keel, and one tendon guide disc at the end of each nickel-titanium alloy keel is fixed with the keel by glue. All the guide discs have the same structure, each having one central hole inserted into the keel and nine circumferentially distributed guide holes, and two counterbores on both sides of the central hole for fixing springs. The guide disc at the end of the robot body close to the driving device is fixed with the keel and the tendon guide mechanism, and all the guide discs are fixedly connected by alternating arrangement of left-handed springs and right-handed springs, and the fixed mode is adhesive. Three tendons are fixed on the guide disc at the end of each keel by means of buckling, each tendon passes through the guide holes of all the guide discs between the driving device to reach the driving device. The tendon driving structure is used to drive the continuum robot body structure, which can effectively reduce the weight of the continuum robot body, thereby ignoring the influence of the self-weight that needs to be compensated.

[0047] 4. The right-handed compression spring and the left-handed compression spring are arranged alternately in the robot body of the present application, which effectively improves the torsional strength and bending strength of the robot body, so that the robot body can be designed longer under the condition of fixed diameter, thereby solving the problem of small length-diameter ratio in the design of the continuum robot body.

[0048] 5. The present application adopts the scheme of one movable pneumatic clamping jaw and three fixed pneumatic clamping jaws to push and pull the keel in reverse hand cooperation, which can realize the unlimited length of single keel push and pull movement, so that the stretching length of the continuum robot is no longer limited by the bending strength of the keel and the driving device.

[0049] 6、The high length-diameter ratio robot body with a length of 510mm and a diameter of 8mm after full expansion enables the robot to perform endoscopic detection through complex channels.

[0050] 7、The hollow keel structure adopted in the application can be used for wiring of the end tool, avoiding the risks of cable winding with the external environment or corrosion by the external environment due to cable distribution outside the robot body. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 is a whole structure schematic diagram of the continuum endoscopic robot in the embodiment of the application;

[0052] Figure 2 is a robot body structure schematic diagram in the embodiment of the application;

[0053] Figure 3 is an assembly relationship schematic diagram of each component in the robot body structure in the embodiment of the application;

[0054] Figure 4 is a structure schematic diagram of the keel and tendon guiding mechanism in the embodiment of the application;

[0055] Figure 5 is a structure schematic diagram of the tendon tension measuring mechanism in the embodiment of the application;

[0056] Figure 6 is a one-side structure view of the tendon stretching mechanism in the embodiment of the application;

[0057] Figure 7 is another side structure view of the tendon stretching mechanism in the embodiment of the application;

[0058] Figure 8 is a driving device structure schematic diagram in the embodiment of the application;

[0059] Figure 9 is a pneumatic gripper and its support structure schematic diagram in the embodiment of the application;

[0060] REFERENCE SIGNS:

[0061] 100-continuum robot body mechanism, 101-first tendon guiding disc, 102-second tendon guiding disc, 103-third tendon guiding disc, 104-keel, 105-right-hand compression spring, 106-left-hand compression spring, 107-universal tendon guiding disc, 108-tendon;

[0062] 200-keel and tendon guide mechanism, 201-first guide tube, 202-first tendon guide hole, 203-first keel guide hole, 204-second tendon guide hole, 205-keel guide tube, 206-second keel guide hole, 207-conical lead-in disc, 208-third tendon guide hole;

[0063] 300-tendon tension measurement mechanism, 301-sensor base, 302-tension sensor, 303-pulley guide optical axis, 304-elastic retainer ring, 305-linear bearing, 306-moving pulley support, 307-moving pulley, 308-first idler pulley, 309-second idler pulley, 310-idler pulley support;

[0064] 400-tendon stretching mechanism, 401-worm and gear reducer box body, 402-first bearing, 403-turbine, 404-second bearing, 405-turbine shaft, 406-cylindrical pin, 407-third bearing, 408-worm, 409-fourth bearing, 410-fifth bearing, 411-worm shaft, 412-winding drum nut, 413-winding drum, 414-rectangular groove slide, 415-fourth tendon guide hole, 416-first drive motor;

[0065] 500-continuum robot body telescopic drive system, 501-front support disc, 502-rear support disc, 503-coarse outer diameter keel pneumatic clamping jaw, 504-medium outer diameter keel pneumatic clamping jaw, 505-base, 506-fine outer diameter keel pneumatic clamping jaw, 507-clamping jaw sliding block, 508-clamping jaw support, 509-guide rail, 510-first square tube, 511-second square tube, 512-proximity switch, 513-first guide optical axis, 514-second guide optical axis, 515-ball screw, 516-driving arm, 517-tension and pressure sensor, 518-force sensor base, 519-wandering pneumatic clamping jaw, 520-coupling, 521-motor base, 522-second drive motor, 523-instability optical axis, 524-threaded hole, 525-keel centering support, 526-third keel guide hole, 527-fourth keel guide hole, 528-first rubber pad, 529-second rubber;

[0066] 600-support. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below with reference to the drawings of the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the described embodiments of the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0068] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0069] When people talk about robots, they often think of humanoid robots or industrial robotic arms. However, the form of robots is diverse, and the design inspiration comes from mature mechanical structures or natural organisms. In the past decade, thanks to the progress of computer science, materials and manufacturing technology, bio-inspired robot design has been realized, among which continuum robots are the most representative. Continuum robots are inspired by snakes, elephant trunks, etc., have a compliant skeleton, can achieve continuous bending, and control the shape through built-in actuators or transmission elements. This type of robot has strong flexibility and high length-to-diameter ratio, which is suitable for deploying tools or sensors in narrow paths. The emergence of this type of robot provides a new solution to cope with complex environments and will play an important role in more fields in the future (e.g., in-situ non-destructive testing of engines, minimally invasive surgery, etc.), bringing convenience to human life.

[0070] In order to solve the problems of poor controllability and inability to achieve long-stroke linear driving of the continuum robot in the prior art, the present application provides a continuum endoscopic robot capable of passing through a complex channel, which comprises a driving device for driving the whole robot to work; a robot body, the control end of which is connected with the driving device through a keel and tendon guide mechanism, the tail end of which can pass through a complex channel, which is arranged at the front of the whole robot and has the function of stretching and bending deformation at the same time; a tendon tension measuring mechanism is arranged in multiple, which is arranged at the end of the driving device in a spaced manner along the circumference of the keel and tendon guide mechanism, and is used for measuring the tendon tension of the robot body and transmitting to the controller; a tendon stretching mechanism is arranged outside the tendon tension measuring mechanism, and a controller is arranged outside the robot body, which is used for controlling the work of the driving device, and controlling the work of the tendon stretching mechanism according to the tendon tension information transmitted by the tendon tension measuring mechanism. The present application solves the design of high length-to-diameter ratio continuum robot body, solves the design of long-stroke linear driving device, and improves the detection accessibility of the robot in complex space.

[0071] In one embodiment of the present application, a continuum endoscopic robot capable of passing through a complex channel is provided. In this embodiment, as shown in Figure 1 the continuum endoscopic robot comprises:

[0072] a driving device 500 for driving the stretching and contraction of the keel 104;

[0073] The robot body 100 is connected with the driving device 500 and the tendon stretching mechanism 400 through the keel and tendon guide mechanism 200, and the end of the robot body 100 can pass through a complex channel, and the robot body 100 is arranged at the front of the whole robot and has the function of stretching and bending deformation at the same time.

[0074] The tendon tension measuring mechanism 300 is arranged at the end of the driving device 500 in a spaced manner along the circumference of the keel and tendon guide mechanism 200, and is used for measuring the tendon tension of the robot body 100 and transmitting the tendon tension information to the controller.

[0075] The tendon stretching mechanism 400 is arranged outside the tendon tension measuring mechanism 300 and is arranged at the end of the stretching driving device 500 in a spaced manner.

[0076] The controller is arranged outside the robot body 100 and is used for controlling the working of the driving device 500 and controlling the working of the tendon stretching mechanism 400 according to the tendon tension information transmitted by the tendon tension measuring mechanism 300.

[0077] In the above embodiment, the continuum endoscope robot of the present application further comprises a bracket 600. The driving device 500 is arranged on the bracket 600.

[0078] In the above embodiment, as shown in Figure 2 、 Figure 3 The robot body 100 comprises a first tendon guide disc 101, a second tendon guide disc 102, a third tendon guide disc 103, a keel 104, a right-handed compression spring 105, a left-handed compression spring 106, a general tendon guide disc 107 and a tendon 108.

[0079] The diameter of the central hole of the first tendon guide disc 101 is smaller than the diameter of the central hole of the second tendon guide disc 102, and the diameter of the central hole of the second tendon guide disc 102 is smaller than the diameter of the central hole of the third tendon guide disc 103, that is, the diameter of the central hole of the first tendon guide disc 101 is the smallest, and the diameter of the central hole of the third tendon guide disc 103 is the largest. In the embodiment, the first tendon guide disc 101 is defined as the front of the robot body 100, and the direction of the third tendon guide disc 103 is the rear of the robot body 100.

[0080] The keel 104 is composed of three sections of different inner and outer diameters of nickel-titanium alloy round tube: the thin outer diameter keel 104, the medium outer diameter keel 104 and the thick outer diameter keel 104 are sequentially sleeved to form a telescopic structure of nickel-titanium alloy keel, and the thin outer diameter keel 104 can be extended from the thick outer diameter keel 104. Specifically, the end of the thin outer diameter keel 104 is fixedly provided with the first tendon guide disc 101, the end of the medium outer diameter keel 104 is fixedly provided with the second tendon guide disc 102, and the end of the thick outer diameter keel 104 is fixedly provided with the third tendon guide disc 103; the thick outer diameter keel 104 is slidably arranged on the keel and tendon guide mechanism 200, the medium outer diameter keel 104 is slidably arranged in the thick outer diameter keel 104, and the thin outer diameter keel 104 is slidably arranged in the medium outer diameter keel 104 and the thick outer diameter keel 104.

[0081] According to different use scenarios, a plurality of general tendon guide discs 107 are arranged on each section of the keel 104 behind the tendon guide disc fixed to the keel 104, and right-handed compression springs 105 and left-handed compression springs 106 are alternately arranged between adjacent two tendon guide discs (including the fixed tendon guide disc and the general tendon guide disc). Three tendons 108 for controlling the bending deformation of the section of the keel 104 are arranged on the tendon guide disc of each section of the keel 104, the three tendons 108 are arranged at an angle of 120°, all the tendons 108 are distributed in the circumferential direction of the keel 104, and the tendons 108 for controlling the bending of the front section of the keel 104 pass through the tendon guide disc behind and are connected with the driving device 500 behind, without occupying each other.

[0082] In the embodiment, all the tendon guide discs have nine evenly distributed guide holes and a first central hole, and the end face of the first central hole is provided with a counterbore. The guide holes are used for arranging the tendons 108, the first central hole is used for arranging the keel 104, and the counterbore is used for mounting and fixing the right-handed compression springs 105 and the left-handed compression springs 106 and positioning the springs.

[0083] In the embodiment, the end of the thin outer diameter keel 104 and the first tendon guide disc 101, the end of the medium outer diameter keel 104 and the second tendon guide disc 102, and the end of the thick outer diameter keel 104 and the third tendon guide disc 103 are fixedly connected by means of glue.

[0084] The two ends of the right-handed compression spring 105 and the left-handed compression spring 106 and the tendon guide disc are also fixed by means of glue, and when the spring and the tendon guide disc are fixed, the nine evenly distributed through holes of all the tendon guide discs need to be aligned in the circumferential direction to ensure that the tendons 108 pass through all the tendon guide discs and are approximately parallel to the central axis of the keel 104.

[0085] Specifically, because the length-diameter ratio of the conventional continuum robot structure design is small, the larger the length-diameter ratio, the smaller the rigidity of the robot body, and the worse the controllability. In the embodiment, when the robot works, all the springs are in a compressed state, and the spring is in an energy storage state when compressed, and the rigidity is larger than that in the relaxed state. Therefore, the bending stiffness of the spring is enhanced, and all the left-handed compression springs 106 in the robot body 100 improve the strength of the robot body 100 in the axial counterclockwise torsion, and all the right-handed compression springs 105 in the robot body 100 improve the strength of the robot body 100 in the axial clockwise torsion. Therefore, the alternating arrangement of the left-handed compression spring 106 and the right-handed compression spring 105 effectively improves the torsional stiffness and bending stiffness of the robot body 100, and also improves the rigidity and load of the continuum robot of this structure. Therefore, under the condition that the diameter of the continuum robot body is fixed, the robot body can be designed to be longer by alternating the arrangement of the left-handed compression spring 106 and the right-handed compression spring 105 and the telescopic mode based on the concentric tube keel 104, thereby solving the problem of small length-diameter ratio in the design of the continuum robot body.

[0086] In the embodiment, the tendon 108 passes through the circumferential guide holes of the first tendon guide disc 101, the second tendon guide disc 102, and the third tendon guide disc 103, and is fixed in a buckling manner; the tendon 108 is made of ultra-high molecular weight polyethylene fiber. When the tendon 108 controlling the bending of the front keel passes through the tendon guide disc (102 / 107 / 103) of the rear adjacent keel 104, each tendon needs to avoid the occupied hole position.

[0087] In the above embodiment, as shown in Figure 4 , the keel and tendon guide mechanism 200 includes a first guide tube 201, a first tendon guide hole 202, a first keel guide hole 203, a second tendon guide hole 204, a keel guide tube 205, a second keel guide hole 206, a tapered lead disc 207, and a third tendon guide hole 208.

[0088] The conical lead wire disc 207 is fixed at the front center position of the driving device 500, the first guide tube 201 is fixed on the conical lead wire disc 207 through threaded connection, the first guide tube 201 is provided with a first keel guide hole 203 at the inner center position, and nine first tendon guide holes 202 are uniformly distributed along the circumference of the first keel guide hole 203. In the conical lead wire disc 207, the contact end of the first guide tube 201 is also provided with nine second tendon guide holes 204, and the guide holes at both ends of the conical lead wire disc 207 and the first guide tube 201 are aligned after the conical lead wire disc 207 is fixed with the first guide tube 201. The keel guide tube 205 is inserted into the inside of the conical lead wire disc 207 through transition fit, and is in contact with the end face of the first guide tube 201 in the conical lead wire disc 207. At this time, the first keel guide hole 203 coincides with the second keel guide hole 206, the first end of the three-section keel 104 passes through the first keel guide hole 203 and the second keel guide hole 206 in turn and extends out of the conical lead wire disc 207, forming a keel extension section. Nine third tendon guide holes 208 are arranged on the lower cylindrical surface of the conical lead wire disc 207, which are distributed in the same direction as the nine second tendon guide holes 204.

[0089] In use, the tendon 108 first enters the keel and tendon guide mechanism 200 through the first tendon guide hole 202, then enters the second tendon guide hole 204 aligned with the first tendon guide hole 202, and finally passes out of the keel and tendon guide mechanism 200 through the third tendon guide hole 208 which is distributed in the same direction as the second tendon guide hole 204.

[0090] In the above embodiment, the number of tendon tension measurement mechanisms 300 is the same as the number of tendons 108, which is nine in this embodiment, and the structure and principle of all tendon tension measurement mechanisms 300 are the same. As shown in Figure 5 each tendon tension measurement mechanism 300 includes a sensor base 301, a tension sensor 302, a pulley guide optical axis 303, an elastic retainer ring 304, a linear bearing 305, a movable pulley bracket 306, a movable pulley 307, a first fixed pulley 308, a second fixed pulley 309, and a fixed pulley bracket 310.

[0091] The sensor base 301 is fixedly arranged on the driving device 500 and located on the outer side of the keel and tendon guiding mechanism 200 in the circumferential direction. The tension sensor 302 is fixed on the sensor base 301 through the bottom bolt. The upper part of the tension sensor 302 is connected with the movable pulley bracket 306 through the set screw. The linear bearing 305 is fixed with the movable pulley bracket 306 through the elastic retainer ring 304 at both ends. The pulley guiding light shaft 303 passes through the inner hole of the linear bearing 305 and is fixed on the sensor base 301 through the set screw. The light shaft and linear bearing guiding devices are arranged on the symmetric sides of the installation position of the pulley guiding light shaft 303 and the linear bearing 305. The bottom of the fixed pulley bracket 310 is fixed on the top of the sensor base 301. The top of the movable pulley bracket 306 passes through the top of the sensor base 301 and is located in the fixed pulley bracket 310. The movable pulley 307 is arranged on the movable pulley bracket 306. The first fixed pulley 308 and the second fixed pulley 309 are arranged on the upper part of the fixed pulley bracket 310.

[0092] In use, the tendon 108 passing out of the keel and tendon guiding mechanism 200 passes into the tendon tension measuring mechanism 300 through the second fixed pulley 309, bypasses the movable pulley 307 and passes out of the tendon tension measuring mechanism 300 through the first fixed pulley 308. The movable pulley 307 moves along the direction of the pulley guiding light shaft 303 with the movable pulley bracket 306, so as to generate the pulling force on the tension sensor 302, thereby obtaining the real-time tension of the tendon. The tension sensor 302 transmits the detected real-time tension information to the controller.

[0093] In the above embodiment, the number of tendon stretching mechanisms 400 is the same as the number of tendons 108. The structure and principle of all tendon stretching mechanisms 400 are the same. As shown in Figure 6 、 Figure 7 each tendon stretching mechanism 400 includes a worm and gear reducer box body 401, a first bearing 402, a turbine 403, a second bearing 404, a turbine shaft 405, a cylindrical pin 406, a third bearing 407, a worm 408, a fourth bearing 409, a fifth bearing 410, a worm shaft 411, a bobbin nut 412, a bobbin 413, a rectangular slot slide 414, a fourth tendon guiding hole 415 and a first driving motor 416.

[0094] The worm gear reducer housing 401 is fixedly mounted on the drive unit 500, located outside the bracket 600, and circumferentially outside the tendon tension measuring mechanism 300 of the keel and tendon guide mechanism. The worm gear 403 is fixed to the worm shaft 405 by set screws. The worm shaft 405 is connected to one side of the worm gear reducer housing 401 via a first bearing 402 and a second bearing 404. The end of the worm gear reducer housing 401 is positioned by bolt tightening. The worm 408 is fixed to the worm shaft 411 by set screws. The worm shaft 411 is connected to the other side of the worm gear reducer housing 401 via a fourth bearing 409 and a fifth bearing 410, and is also positioned by bolt tightening at one end. The other end of the worm shaft 411 is connected to the first drive motor 416 (e.g., Figure 1 The output end of the worm gear reducer 401 is coaxially connected to the first drive motor 416, which is located inside the bracket 600. The winding drum nut 412 is fixed to the other end of the worm gear reducer housing 401 by a set screw; the winding drum 413 has an external thread on its exterior and is threaded to the winding drum nut 412 through the external thread. One end of the worm gear shaft 405 is provided with a cylindrical pin 406 perpendicular to its axis, and the two are connected by a third bearing 407; the end of the worm gear shaft 405 with the cylindrical pin 406 can be inserted into the winding drum 413, and the inside of the winding drum 413 is provided with a rectangular groove slide 414, in which the cylindrical pin 406 can slide.

[0095] In use, the cylindrical pin 406 is restricted in its movement by the side of the rectangular groove slide 412, so that when the worm gear shaft 405 rotates, it can drive the winding drum 413 to rotate. Since the winding drum nut 412, which mates with the winding drum 413, is fixed on the worm gear reducer housing 401, when the winding drum 413 rotates, it will move axially relative to the worm gear reducer housing 401, thus realizing the function of winding and unwinding at the same time.

[0096] In this embodiment, since the tendon extension and retraction in previous tendon-driven continuum robot designs used two methods: ① One end of the tendon is fixed to the end of the ball screw moving component, and the tendon stretching function is achieved through the linear motion of the ball screw. This method requires the stroke of the ball screw to be the same as the required maximum stretching distance of the tendon, which occupies a large space; ② A winding wheel with a V-groove around its circumference is used to achieve the tendon stretching function. If the circumference of the V-groove is less than the required maximum stretching distance of the tendon, when the required pulling distance is greater than the circumference of the V-groove, the outer tendon will press on the inner tendon during winding, resulting in a decrease in control accuracy. If the circumference of the V-groove is equal to the required maximum stretching distance of the tendon, the diameter of the winding wheel increases, increasing the space occupied.

[0097] Therefore, the two-degree-of-freedom precise winding is realized by using the tendon stretching mechanism 400 in the embodiment to solve the problems in the design of the tendon-driven continuum robot.

[0098] In the above embodiment, as shown in Figure 8 The driving device 500 includes a front supporting disc 501, a rear supporting disc 502, a coarse outer diameter keel pneumatic clamp jaw 503, a middle outer diameter keel pneumatic clamp jaw 504, a fine outer diameter keel pneumatic clamp jaw 506, a clamp jaw sliding block 507, a clamp jaw support 508, a guide rail 509, a first square tube 510, a second square tube 511, a proximity switch 512, a first guide light shaft 513, a second guide light shaft 514, a ball screw 515, a driving arm 516, a tension sensor 517, a force sensor base 518, a floating pneumatic clamp jaw 519, a shaft coupling 520, a motor base 521, a second driving motor 522, and an instability light shaft 523. The keel and tendon guiding mechanism 200, the tendon tension measuring mechanism 300, and the tendon stretching mechanism 400 are all arranged on the front supporting disc 501.

[0099] A second center hole corresponding to the second keel guiding hole 206 in the keel and tendon guiding mechanism 200 is arranged at the center position of the front supporting disc 501, and a third center hole on the same axis as the second center hole is arranged at the center position of the rear supporting disc 502.

[0100] The front supporting disc 501 and the rear supporting disc 502 are respectively fixed at the front and rear parts of the support 600, and the front supporting disc 501 and the rear supporting disc 502 are connected by three instability light shafts 523 (as shown in Figure 1The first square tube 510 is arranged at the bottom, and the second square tube 511, the first guide light shaft 513, the second guide light shaft 514 and the ball screw 515 are arranged at the top.

[0101] The guide rail 509 is fixed on the first square tube 510 through bolt connection, and three claw supports 508 are arranged on the guide rail 509. The bottom of each claw support 508 is provided with a claw sliding block 507, the claw support 508 is fixed on the guide rail 509 after position adjustment through cooperation of the claw sliding block 507 and the guide rail 509, so that the adjacent two claw supports 508 have a preset interval; the claw support 508 at the front end is in close contact with the front supporting disc 501, the coarse outer diameter keel pneumatic clamp jaw 503 is arranged on the claw support 508 close to the front supporting disc 501, the medium outer diameter keel pneumatic clamp jaw 504 is arranged on the claw support 508 at the middle, and the fine outer diameter keel pneumatic clamp jaw 506 is arranged on the claw support 508 at the rear.

[0102] The second driving motor 522 for driving the ball screw 515 is fixed on the outer side of the upper part of the rear supporting disc 502 through the motor seat 521, and one end of the ball screw 515 is coaxially connected with the output shaft of the second driving motor 522 through the shaft coupling 520; the second driving motor 522 is connected with the controller and is controlled to work by the controller.

[0103] The force sensor base 518 is arranged on the ball screw 515 and can move forward and backward with the rotation of the ball screw 515; one side of the force sensor base 518 is connected with one side of the driving arm 516 through the tension and compression force sensor 517, and the force sensor base 518 and the driving arm 516 are respectively connected on the first guide light shaft 513 and the second guide light shaft 514 through linear bearings, guided by the first guide light shaft 513 and the second guide light shaft 514, and driven by the second driving motor 522 to move forward and backward along the first guide light shaft 513 and the second guide light shaft 514, so as to drive the driving arm 516 to move forward and backward.

[0104] The movable pneumatic clamp jaw 519 is fixedly connected on the driving arm 516 through bolts, the tension and compression force sensor 517 is arranged between the force sensor base 518 and the driving arm 516, and the upper and lower end faces of the tension and compression force sensor 517 are respectively connected with the force sensor base 518 and the driving arm 516 through tight screws; and then the movable pneumatic clamp jaw 519 is driven by the driving arm 516 to move forward and backward.

[0105] The proximity switch 512 is fixed on the second side pipe 511 for detecting the stroke position information of the driving arm 516 and transmitting to the controller.

[0106] The keel extension section of the first end of the three-section keel 104 passes through the second center hole of the front support disc 501 and cooperates with each pneumatic clamp jaw, wherein the coarse outer diameter keel 104 cooperates with the coarse outer diameter keel pneumatic clamp jaw 503, the medium outer diameter keel 104 cooperates with the medium outer diameter keel pneumatic clamp jaw 504, and the thin outer diameter keel 104 cooperates with the thin outer diameter keel pneumatic clamp jaw 506; the extension and retraction of each section of the keel 104 is controlled by the traveling pneumatic clamp jaw 519.

[0107] Specifically, when the traveling pneumatic clamp jaw 519 moves between the coarse outer diameter keel pneumatic clamp jaw 503 and the medium outer diameter keel pneumatic clamp jaw 504, the traveling pneumatic clamp jaw 519 is closed and clamps the coarse outer diameter keel 104, at this time the coarse outer diameter keel pneumatic clamp jaw 503 is opened, the traveling pneumatic clamp jaw 519 is driven to move forward and backward by the second driving motor 522 to realize the extension and retraction of the robot body 100. Since the position between the coarse outer diameter keel pneumatic clamp jaw 503 and the medium outer diameter keel pneumatic clamp jaw 504 is limited, each time the traveling pneumatic clamp jaw 519 is driven to move a fixed short distance, the coarse outer diameter keel fixed pneumatic clamp jaw 503 is closed, the traveling pneumatic clamp jaw 519 is opened and retreated to the starting position, then it is closed again, the coarse outer diameter keel pneumatic clamp jaw 503 is opened again, and the above steps are repeated to realize the extension and retraction of the coarse outer diameter keel 104.

[0108] The traveling pneumatic clamp jaw 519 is moved between the medium outer diameter keel pneumatic clamp jaw 504 and the thin outer diameter keel pneumatic clamp jaw 506, and the traveling pneumatic clamp jaw 519 cooperates with the medium outer diameter keel pneumatic clamp jaw 504 as described above, thereby realizing the extension and retraction of the medium outer diameter keel 104.

[0109] The traveling pneumatic clamp jaw 519 is moved between the thin outer diameter keel pneumatic clamp jaw 506 and the rear support disc 502, and the traveling pneumatic clamp jaw 519 cooperates with the thin outer diameter keel pneumatic clamp jaw 506 as described above, thereby realizing the extension and retraction of the thin outer diameter keel 104.

[0110] In this embodiment, in order to avoid the problem of bending deformation when extending forward due to the low bending strength of the keel, the distance between the traveling pneumatic clamp jaw 519 and the fixed pneumatic clamp jaw cooperating therewith is adjusted, and the smaller the distance, the better the effect of preventing bending.

[0111] In this embodiment, as shown in Figure 9 The clamp jaw support 508 includes a base 505, a threaded hole 524, a keel centering support 525, a third keel guide hole 526, a fourth keel guide hole 527, a first rubber pad 528, and a second rubber pad 529.

[0112] The base 505 is provided with a sliding block 507 at the bottom, and the base 505 is provided with a threaded hole 524 for fixing the base 505. The bottom of the keel centering support 525 is arranged on the base 505, the top of the keel centering support 525 is provided with an opening, the clamping jaw passes through the inside of the opening, and the first rubber pad 528 and the second rubber pad 529 are arranged in the clamping jaw, and the first rubber pad 528 and the second rubber pad 529 are connected with the clamping jaw by gluing. The keel centering support 525 on both sides of the opening between the first rubber pad 528 and the second rubber pad 529 is provided with a third keel guide hole 526 and a fourth keel guide hole 527, respectively.

[0113] In use, the three nickel-titanium alloy keels 104 of the robot body 100 first pass through the center hole of the front support disc 501, then reach the driving device 500, and then pass through the fourth keel guide hole 527 and the third keel guide hole 526 of the three pneumatic clamping jaws in sequence. If the length exceeds the distance between the front support disc 501 and the rear support disc 502, the third center hole on the rear support disc 502 is used to pass to the rear. When the robot body 100 stops stretching and retracting, the three pneumatic clamping jaws are all in a closed state, and at this time, the three nickel-titanium alloy keels 104 are clamped.

[0114] In this embodiment, the first square tube 510, the second square tube 511, the first guide optical axis 513, the second guide optical axis 514 and the ball screw 515 are fixedly connected with the front support disc 501 and the rear support disc 502 through bolts.

[0115] In this embodiment, the thick outer diameter keel pneumatic clamping jaw 503, the medium outer diameter keel pneumatic clamping jaw 504 and the thin outer diameter keel pneumatic clamping jaw 506 are fixedly connected with the keel centering support 525 through bolts, and the three are fixed on the clamping jaw support 508 through bolts. The clamping jaw support 508 is fixed with the clamping jaw sliding block 507 through a bolt connection, the clamping jaw sliding block 507 can slide on the guide rail 509, and the guide rail 509 is fixed with the first square tube 510 through a bolt connection. After determining the fixed position of the pneumatic clamping jaw, a long bolt is screwed into the threaded hole 524 until the bolt abuts against the guide rail 509, so as to realize the positioning of the pneumatic clamping jaw.

[0116] In this embodiment, specifically, since the existing robot stretching is realized by two ways, and both have the following technical defects: the continuum robot driving mechanism is connected on the slide rail, and the driving platform is driven forward and backward by controlling the forward and backward of the slide rail, so as to realize the forward and backward of the robot end tool. This stretching mode cannot be regarded as the stretching function of the robot body. For example, a continuum robot with 3 stretching functions, 3 sets of ball screw devices are installed behind the driving mechanism, each keel is connected with the moving part of the ball screw device through the fixing mechanism, and the stretching of the robot body is realized by driving the screw rod by the motor. The disadvantage of this stretching mode is that the stretching stroke is limited by the bending strength of the keel. When the fixed end of the keel is far away from the adjacent constraint end, the keel will be deformed under a small thrust, and cannot provide the support force required when the front end is stretched and deformed.

[0117] In order to solve the technical short board of the driving device push-pull function in the prior art, the present application adopts an alternating push-pull long-stroke linear driving system including four pneumatic clamps. One movable pneumatic clamp 519 is fixed on the ball screw 515, which is used to realize the push-pull function of the three keels. The remaining three pneumatic clamps are fixed on the frame of the driving device (on the first square tube 510), which is used to realize the fixing function of the non-moving state keel. The movable pneumatic clamp 519 can cooperate with the other three fixed pneumatic clamps at different positions. When the movable pneumatic clamp 519 holds one keel to move, the fixed pneumatic clamp responsible for holding the keel is released, and the other two pneumatic clamps hold the other two keels to keep them in a fixed state. Since the distance between the movable pneumatic clamp 519 and the pneumatic clamp fixing the keel can be set to a minimum of 1 mm when the movable pneumatic clamp 519 pushes and pulls the keel each time, that is, the fixed end of the keel 104 is 1 mm away from the adjacent constraint end, the movable pneumatic clamp 519 advances at least 1 mm each time, and the pushing distance each time can be set according to the bending strength of the keel. Therefore, the problem of the stretching stroke being limited by the bending strength of the keel is solved, and the movable pneumatic clamp 519 and one fixed pneumatic clamp repeatedly cooperate to push and pull, so as to realize the push-pull movement of a single keel with unlimited length. The four pneumatic clamps repeatedly cooperate to push and pull, and the stretching length of the continuum robot can no longer be limited by the bending strength of the keel and the driving device.

[0118] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A continuum endoscopic robot capable of traversing complex passages, comprising: The utility model relates to a kind of whole robot and its drive device, including: Driving device (500) for driving the work of whole robot; Robot body (100), its control end is connected with driving device (500) by keel and tendon guide mechanism (200), the end can pass through complex channel, it is arranged in the front of whole robot, with telescopic and bending deformation simultaneously function; Tendon tension measuring mechanism (300) is arranged as multiple, it is interval arranged in the end of driving device (500) along the circumference of keel and tendon guide mechanism (200), for measuring the tendon tension of robot body (100), and transmit to controller; Tendon stretching mechanism (400) is arranged outside tendon tension measuring mechanism (300), and it is interval arranged in the end of driving device (500); Controller is arranged outside robot body (100), for controlling the work of driving device (500), and according to the tendon tension information received by tendon tension measuring mechanism (300) transmission, tendon stretching mechanism (400) works; Robot body (100) includes first tendon guide disc (101), second tendon guide disc (102), third tendon guide disc (103), keel (104), right-hand compression spring (105), left-hand compression spring (106), general tendon guide disc (107) and tendon (108); Keel (104) is composed of thin outer diameter keel (104), medium outer diameter keel (104) and thick outer diameter keel (104) in turn, and the thin outer diameter keel (104) can be stretched out from thick outer diameter keel (104);The end of thin outer diameter keel (104) is fixedly provided with first tendon guide disc (101), the end of medium outer diameter keel (104) is fixedly provided with second tendon guide disc (102), and the end of thick outer diameter keel (104) is fixedly provided with third tendon guide disc (103); On each keel (104), a plurality of general tendon guide discs (107) are arranged behind the tendon guide disc fixed to the keel (104), and right-hand compression spring (105) and left-hand compression spring (106) are alternately arranged between adjacent two tendon guide discs; Three tendons (108) for controlling the bending deformation of the segment keel (104) are arranged on the tendon guide disc on each keel (104), the three tendons (108) are arranged at an angle of 120°, all the tendons (108) are distributed around the keels (104), and the tendon (108) for controlling the bending of the front segment keel (104) passes through the tendon guide disc behind it and is connected with the driving device (500) behind it, without occupying each other.

2. The contineous in-vivo endoscopic robotic system capable of traversing complex passages of claim 1, wherein, All tendon guide discs have nine evenly distributed guide holes and a first central hole, and the end face of the first central hole is provided with a counterbore, the guide holes are used for arranging tendons (108), the first central hole is used for arranging keels (104), and the counterbore is used for mounting and fixing right-hand compression spring (105) and left-hand compression spring (106).

3. The contineous in-vivo endoscopic robotic vehicle capable of traversing complex passages of claim 1, wherein, The keel and tendon guiding mechanism (200) comprises a first guiding tube (201), a first tendon guiding hole (202), a first keel guiding hole (203), a second tendon guiding hole (204), a keel guiding tube (205), a second keel guiding hole (206), a conical lead-in disc (207) and a third tendon guiding hole (208); The conical lead-in disc (207) is fixed at a front center position of the driving device (500), the first guiding tube (201) is fixed on the conical lead-in disc (207), a first keel guiding hole (203) is arranged at an inner center position of the first guiding tube (201), and nine first tendon guiding holes (202) are uniformly distributed along the circumference of the first keel guiding hole (203); In the conical lead-in disc (207), nine second tendon guiding holes (204) are also arranged at the contact end of the first guiding tube (201), and the guiding holes at both ends of the conical lead-in disc (207) and the first guiding tube (201) are aligned after the conical lead-in disc (207) is fixed with the first guiding tube (201); The keel guiding tube (205) is inserted into the interior of the conical lead-in disc (207) in a transition fit manner, and is attached to the end face of the first guiding tube (201) located in the conical lead-in disc (207), the first keel guiding hole (203) is coincided with the second keel guiding hole (206), and the first end of the three-section keel (104) passes through the first keel guiding hole (203) and the second keel guiding hole (206) in sequence and extends out of the conical lead-in disc (207), forming a keel extension section; Nine third tendon guiding holes (208) are arranged on the lower cylindrical surface of the conical lead-in disc (207) in the same circumferential distribution direction as the nine second tendon guiding holes (204).

4. The contineous in-vivo endoscopic robotic vehicle capable of traversing complex passages of claim 1, wherein, The tendon tension measuring mechanism (300) comprises a sensor base (301), a tension sensor (302), a pulley guiding light shaft (303), an elastic retainer ring (304), a linear bearing (305), a movable pulley support (306), a movable pulley (307), a first fixed pulley (308), a second fixed pulley (309) and a fixed pulley support (310); The sensor base (301) is fixedly arranged on the driving device (500) and located on the outer side of the keel and tendon guiding mechanism (200) in the circumferential direction, the tension sensor (302) is fixed on the sensor base (301) through a bottom bolt, and the upper part of the tension sensor (302) is connected with the movable pulley support (306) through a locking screw; The linear bearing (305) is fixed with the movable pulley support (306) through the elastic retainer rings (304) at both ends, the pulley guiding light shaft (303) passes through the inner hole of the linear bearing (305) and is fixed on the sensor base (301) through a locking screw; the light shaft and linear bearing guiding devices are installed on the symmetric sides of the installation position of the pulley guiding light shaft (303) and the linear bearing (305). The bottom of the fixed pulley support (310) is fixed on the top of the sensor base (301) by bolts, and the top of the movable pulley support (306) is located in the fixed pulley support (310) through the top of the sensor base (301), the movable pulley (307) is installed on the movable pulley support (306), and the first fixed pulley (308) and the second fixed pulley (309) are installed on the upper part of the fixed pulley support (310).

5. The contineous in-vivo endoscopic robotic vehicle capable of traversing complex passages of claim 1, wherein, The tendon stretching mechanism (400) comprises a worm gear reducer box body (401), a first bearing (402), a worm gear (403), a second bearing (404), a worm gear shaft (405), a cylindrical pin (406), a third bearing (407), a worm (408), a fourth bearing (409), a fifth bearing (410), a worm shaft (411), a bobbin nut (412), a bobbin (413), a rectangular groove slide (414), a fourth tendon guide hole (415), and a first driving motor (416); The worm gear reducer box body (401) is fixedly arranged on the driving device (500) and located on the outside of the keel and the tendon guide mechanism (200) and the tendon tension measurement mechanism (300) in a circumferential direction; The worm gear (403) is fixed on the worm gear shaft (405) by a locking screw, the worm gear shaft (405) is connected to the inside of one end of the worm gear reducer box body (401) on one side through the first bearing (402) and the second bearing (404), and the end located on the second bearing (404) is positioned by being screwed by a bolt; The worm (408) is fixed on the worm shaft (411) by a locking screw, the worm shaft (411) is connected to the inside of one end of the worm gear reducer box body (401) on the other side through the fourth bearing (409) and the fifth bearing (410), and is positioned by being screwed by a bolt at one end; the other end of the worm shaft (411) is coaxially connected to the output end of the first driving motor (416); The bobbin nut (412) is fixed on the other end of the worm gear reducer box body (401) by a locking screw; the bobbin (413) is provided with external threads on the outside, and is threadedly connected to the bobbin nut (412) through the external threads; The worm gear shaft (405) is provided at one end with a cylindrical pin (406) perpendicular to the axis direction, and the two are connected through the third bearing (407); the end of the worm gear shaft (405) provided with the cylindrical pin (406) can be inserted into the bobbin (413), the inside of the bobbin (413) is provided with a rectangular groove slide (414), and the cylindrical pin (406) can slide in the rectangular groove slide (414).

6. The contineous in-vivo endoscopic robotic vehicle capable of traversing complex passages of claim 1, wherein, The driving device (500) comprises a front supporting disc (501), a rear supporting disc (502), a coarse outer diameter keel pneumatic clamp jaw (503), a middle outer diameter keel pneumatic clamp jaw (504), a fine outer diameter keel pneumatic clamp jaw (506), a clamp jaw sliding block (507), a clamp jaw support (508), a guide rail (509), a first square tube (510), a second square tube (511), a first guide light shaft (513), a second guide light shaft (514), a ball screw (515), a driving arm (516), a tension and pressure sensor (517), a force sensor base (518), a floating pneumatic clamp jaw (519), a shaft coupling (520), a motor base (521), a second driving motor (522) and an instability light shaft (523); The keel and tendon guiding mechanism (200), the tendon tension measuring mechanism (300) and the tendon stretching mechanism (400) are all arranged on the front supporting disc (501); The front supporting disc (501) and the rear supporting disc (502) are fixed at the front and rear parts of a support (600) respectively, and the front supporting disc (501) and the rear supporting disc (502) are connected through three instability light shafts (523); The first square tube (510) is arranged at the bottom, and the second square tube (511), the first guide light shaft (513), the second guide light shaft (514) and the ball screw (515) are all arranged at the top; The guide rail (509) is fixed on the first square tube (510) through bolt connection, three clamp jaw supports (508) are arranged on the guide rail (509), the bottom of each clamp jaw support (508) is provided with a clamp jaw sliding block (507), the clamp jaw support (508) is fixed on the guide rail (509) after position adjustment through cooperation of the clamp jaw sliding block (507) and the guide rail (509), so that the adjacent two clamp jaw supports (508) have a preset interval; the clamp jaw support (508) at the front end is in close contact with the front supporting disc (501), the coarse outer diameter keel pneumatic clamp jaw (503) is arranged on the clamp jaw support (508) in close contact with the front supporting disc (501), the middle outer diameter keel pneumatic clamp jaw (504) is arranged on the clamp jaw support (508) at the middle part, and the fine outer diameter keel pneumatic clamp jaw (506) is arranged on the clamp jaw support (508) at the rear part; The second driving motor (522) is fixed on the outer side of the upper part of the rear supporting disc (502) through the motor base (521), one end of the ball screw (515) is coaxially connected with the output shaft of the second driving motor (522) through the shaft coupling (520); the second driving motor (522) is connected with a controller, and the working state of the second driving motor (522) is controlled by the controller. The force sensor base (518) is arranged on the ball screw (515) and can move forward and backward with the rotation of the ball screw (515); one side of the force sensor base (518) is connected with one side of the driving arm (516) through the tension and compression force sensor (517), and the force sensor base (518) and the driving arm (516) are connected on the first guide light shaft (513) and the second guide light shaft (514) through linear bearings respectively, and the force sensor base (518) is driven by the second driving motor (522) to move forward and backward along the first guide light shaft (513) and the second guide light shaft (514), so as to drive the driving arm (516) to move forward and backward; The movable pneumatic clamping jaw (519) is fixedly connected on the driving arm (516), the tension and compression force sensor (517) is arranged between the force sensor base (518) and the driving arm (516), and the upper and lower end faces of the tension and compression force sensor (517) are connected with the force sensor base (518) and the driving arm (516) through tight screws; the movable pneumatic clamping jaw (519) is driven by the driving arm (516) to move forward and backward; The first end of the three-section keel (104) is arranged through the center hole of the front support disc (501) and matched with the pneumatic clamping jaws, wherein the coarse outer diameter keel (104) is matched with the coarse outer diameter keel pneumatic clamping jaw (503), the medium outer diameter keel (104) is matched with the medium outer diameter keel pneumatic clamping jaw (504), and the thin outer diameter keel (104) is matched with the thin outer diameter keel pneumatic clamping jaw (506); the telescopic movement of the keels (104) is controlled by the movable pneumatic clamping jaw (519).

7. The contineous in-vivo endoscopic robot capable of crossing complex passages of claim 6, wherein, The driving device (500) further comprises a proximity switch (512); the proximity switch (512) is fixed on the second square tube (511) and is used for detecting the stroke position information of the driving arm (516) and transmitting the stroke position information to the controller; The center position of the front support disc (501) is provided with a second center hole corresponding to the second keel guide hole (206) in the keel and tendon guide mechanism (200), and the center position of the rear support disc (502) is provided with a third center hole.

8. The contineous in-vivo endoscopic robot capable of crossing complex passages of claim 6, wherein, The clamping jaw support (508) comprises a base (505), a threaded hole (524), a keel centering support (525), a third keel guide hole (526), a fourth keel guide hole (527), a first rubber pad (528) and a second rubber pad (529); The bottom of the base (505) is provided with a sliding block (507), the base (505) is provided with a threaded hole (524) for fixing the base (505), the bottom of the keel centering support (525) is arranged on the base (505), the top of the keel centering support (525) has an opening, the clamping jaw passes through the inside of the opening, and the first rubber pad (528) and the second rubber pad (529) are arranged in the inside of the clamping jaw and in the opening, and the first rubber pad (528) and the second rubber pad (529) are connected with the clamping jaw in a gluing manner; The third keel guide hole (526) and the fourth keel guide hole (527) are respectively arranged on the keel centering support (525) on both sides of the opening between the first rubber pad (528) and the second rubber pad (529).

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