Under-actuated core column type continuum robot facing narrow space task

Abstract

The invention discloses an under-actuated core column type continuum robot for a narrow space task, and belongs to the technical field of multi-degree-of-freedom redundant continuum robots. Comprising a driving device, a plurality of motors are used for controlling winding and unwinding combination of a driving rope, flexible movement of a mechanical arm is achieved, and an expected working pose is achieved. And the guide rail is moved to push the platform, linear motion is executed in the lead range, and the mechanical arm is moved to the designated operation range. The continuum mechanical arm main body consists of N mechanical arm units with the same structure and is divided into M joint sections; a rigid-flexible coupling mode is adopted, and a universal joint structure and a core column structure are combined, so that joints can flexibly deflect, and the torsional rigidity and the overall load capacity are improved; and the end effector is used for executing diversified tasks according to operation requirements. The robot provided by the invention has the advantages of high flexibility, large length-diameter ratio, high torsion resistance, high environmental adaptability and the like, and can meet the requirements of detection and operation and maintenance operation in a narrow unstructured space.

Description

Technical Field

[0001] The invention belongs to the technical field of multi-degree-of-freedom redundant continuous robots and relates to an under-actuated core-column type continuum robot for narrow space tasks. Background Art

[0002] With the rapid development of industrial heavy equipment and aerospace technology, the demand for operations in narrow and unstructured environments is increasing, such as aerospace engine inspection, aircraft wing fuel tank inspection, and operation and maintenance of in-service equipment in nuclear power plants. Take the aircraft wing fuel tank as an example. As a core component of the aircraft, it needs to be inspected before and after the flight. Its internal structure is narrow and limited, and the wing ribs are numerous and staggered, which is prone to dangerous accidents such as leakage, combustion and explosion. At present, most maintenance personnel enter the tank to manually carry out inspection and troubleshooting work, which has the problems of low inspection efficiency, long cycle, high intensity, and difficult to troubleshoot the source of faults. Therefore, there is an urgent need for equipment that can replace maintenance personnel to perform inspection tasks.

[0003] Traditional industrial robots are unable to operate in narrow spaces due to their limited size and flexibility. Existing continuous robots capable of operating in narrow spaces can generally include universal joint structures and core column structures. Others, such as origami-type, pure flexible structures, active motor drive structures, etc., cannot complete such tasks due to factors such as large size and insufficient rigidity. Since each joint of a continuous robot based on a universal joint requires a corresponding drive, the number of drives is greatly increased, thereby increasing the overall weight and design difficulty. On the one hand, a continuous robot based on a core column structure is prone to buckling instability under a large driving force, and on the other hand, its torsional stiffness is weak, and it is easy to torsional deformation under its own weight and load.

[0004] Combining the universal joint structure with the core column structure can form a new type of continuous robot for narrow space operations. The universal joint structure can provide torsional stiffness, axial deformation stiffness and repeated positioning accuracy; the core column structure can complete the force transmission relationship between two adjacent universal joints, provide bending deformation stiffness and realize a less-driven structure. The combination of the two can avoid buckling instability caused by axial deformation of the core column and greatly increase torsional stiffness, and at the same time greatly reduce the number of active drives. This structure can efficiently complete operations in restricted unstructured environments in narrow spaces, and has important scientific research value and practical significance. Summary of the invention

[0005] In order to solve the above problems, the present invention provides an under-actuated core column type continuum robot for narrow space tasks. The continuum robot introduces a core column into the universal joint structure to form a rigid-flexible coupling structure, which has the advantages of high flexibility, strong torsion resistance, large length-diameter ratio, strong environmental adaptability, and a small number of drives, and can meet the narrow space detection task.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An under-actuated core-column continuum robot for narrow space tasks, the under-actuated core-column continuum robot comprises a continuum manipulator body 1, a guide wire mechanism 2, a guide wire cone 3, a driving device 4, and a linear feed platform 5, as follows:

[0008] The driving device 4 includes driving cables and motors. Multiple driving cables are connected to multiple motors through a wire mechanism 2. The rotation of the motor is controlled to extend or shorten the driving cables. Through the retraction and extension combination of different driving cables, the control of the target posture of the continuum robot is achieved.

[0009] The wire guide mechanism 2 is connected to the motor of the driving device 4 and to the driving cable, and is mostly a driving pulley or a lead screw module.

[0010] The conductor cone 3 is larger at the rear and smaller at the front, and is fixed to the front fixing plate of the driving device 4 by bolts. The interior is hollow for passing the driving cable.

[0011] The linear feed platform 5 is placed under the driving device 4 and is used to drive the driving device 4 and the robot body 1 to feed or retreat within the lead range. One end of the driving cable is connected to the continuum robot body 1, and the other end is connected to the driving device 4 through the wire mechanism 2.

[0012] The linear feed platform 5 carrying the continuum robot arm body 1 moves into the working range, the driving device 4 drives the corresponding driving cable to contract through the wire mechanism 2, and the continuum robot arm body 1 begins to adjust its own posture. After passing through the first layer of ribs of the wing 6, the linear feed platform 5 continues to move, and the continuum robot arm body 1 continues to adjust its own posture and begins to pass through the second layer of ribs of the wing 6, and so on, until it reaches the target working position.

[0013] Furthermore, the continuum robot arm body 1 includes N robot arm units 7, core columns 11, and universal joints 10 that are connected in sequence and have the same structure. Each robot arm unit 7 is evenly arranged with a plurality of drive through holes 16 for passing the drive cables around the circumference and passing through the entire continuum robot arm body 1. The number of the drive cables is the same as the number of through holes. Among them, every N / M robot arm units 7 constitute a joint segment 8. The entire continuum robot arm body 1 has a total of M joint segments 8. Adjacent robot arm units 7 are connected by universal joints 10. The core column 11 passes through the hollow part of the universal joint 10 and is fixed in the boss 12 of the adjacent robot arm unit 7. The number of universal joints 10 in the same joint segment 8 is equal to the number of core columns 11. Specifically:

[0014] The first robot arm unit 7 at the head end is fixed to the wire cone 3 by bolts, and the end effector is connected to the robot arm unit 7 at the end of the continuum robot arm body 1 by bolts.

[0015] The upper and lower surfaces of each robot arm unit 7 are symmetrically provided with bosses 9. The bosses 9 are symmetrically provided with countersunk threaded holes 13 along a direction perpendicular to the central axis.

[0016] The upper and lower surfaces of each robot arm unit are symmetrically provided with bosses 12. The distance between the bosses 9 is greater than the side length of the bosses 12, and the distance between the bosses 12 and the left and right shoulders 9 is equal. A stem hole groove 14 is provided above the boss 12 along the central axis direction, and four tightening threaded holes 15 are evenly provided around the boss, and the stem hole groove 14 is connected to the tightening threaded hole groove 15.

[0017] Two adjacent robot arm units 7 are connected by a universal joint 10. The universal joint 10 has four threaded through holes evenly arranged in the circumference. When the threaded through holes of the universal joint 10 are coaxially aligned with the countersunk threaded holes 13 on the boss 9 of the robot arm unit 7, they are connected by a threaded shaft to achieve flexible deflection between the two adjacent robot arm units.

[0018] The core column 11 is made of a plurality of flexible nickel-titanium alloy rods, both ends of which pass through the core column slots 14 of the two adjacent robot arm units 7 and are fastened from four directions via the set screws 19 in the set threaded holes 15. The length of each section of the core column 11 is equal to the distance between the upper and lower surfaces of the two adjacent robot arm units 7; it should be noted that the larger the diameter of the core column 11, the greater the rigidity of the joint segment 8, and the smaller the diameter of the core column 11, the greater the flexibility of the joint segment 8. In practical applications, the joint segment 8 close to the wire cone 3 usually uses a large diameter core column 11, and the joint segment 8 close to the end of the continuum robot arm body 1 usually uses a small diameter core column 11.

[0019] Furthermore, one end of the robot arm base is fixed to the table surface of the wire cone 3 by bolts, and the other end is connected to the robot arm unit 7 by a universal joint 10.

[0020] Furthermore, each robot arm unit 7 is provided with a through slot 17 penetrating the upper and lower surfaces to achieve weight reduction.

[0021] Furthermore, the end effector 22 includes but is not limited to a camera, a robot gripper, a searchlight, etc.

[0022] Furthermore, the continuum robot arm body 1 can also be installed on an industrial robot arm, and the two can cooperate to achieve more flexible and accurate spatial movement.

[0023] The working process of the under-actuated core-column continuum robot for narrow space tasks is as follows: the maintenance personnel operate the linear feed platform to move to the front of the wing 6 to be inspected, and control the multiple motors in the drive device 4 on the advanced controller (PC) interface to drive the wire mechanism 2 to move, and the corresponding drive cables shrink. The continuum robot arm body 1 adjusts its own posture under the action of the drive cables to pass through the first layer of ribs of the wing 6. At this time, the linear feed platform 5 continues to move, and the continuum robot arm body 1 continues to adjust its position and posture through the coordination of the retraction and extension of the drive cables to complete the second crossing or turning movement. By analogy, the continuum robot reaches different inspection operation points in the wing 6 by adjusting its own posture multiple times, and the end effector 22 feeds back the inspection information to the advanced controller (PC) interface to provide a reference for the maintenance personnel.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) The present invention introduces the nickel-titanium alloy rod (core column) into the design of the universal joint structure by adopting a rigid-flexible coupling method, taking into account the advantages of both, that is, the rigidity provided by the nickel-titanium alloy rod limits the maximum bending angle of the universal joint structure, and the torsion of the nickel-titanium alloy rod is limited by the characteristics of the universal joint. The two cooperate with each other to limit the mechanical arm, so that the mechanical arm has a larger load capacity. While ensuring the flexible movement of the mechanical arm body, the working length and anti-torsion rigidity of the continuum mechanical arm are greatly improved, and a certain self-centering ability is provided.

[0026] (2) The present invention introduces a nickel-titanium alloy rod as a flexible connector between two adjacent robotic arm units, thereby avoiding the drawback that the conventional continuum robotic arm with a universal joint structure requires full drive, thereby greatly reducing the number of drives and the size of the drive device.

[0027] (3) The present invention can realize the switching of different task requirements by combining nickel-titanium alloy rods with different stiffness. The design of the arm body is relatively small when changing to different tasks, and the implementation is simple.

[0028] (4) The robot described in the present invention has the characteristics of small unit diameter, large main body length, large length-diameter ratio, small mass, compact and reasonable layout, replicability and scalability, and can adapt to different working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of an under-actuated core column type continuum robot for narrow space tasks provided by the present invention performing operations;

[0030] Figure 2 It is a structural schematic diagram of the continuum mechanical arm main body provided by the present invention; Figure 2 (a) is an isometric view of the main structure; Figure 2 (b) is the front view of the main structure;

[0031] Figure 3 It is a structural schematic diagram of a mechanical arm unit provided by the present invention;

[0032] Figure 4 is a top view of the mechanical arm unit provided by the present invention;

[0033] Figure 5 It is a structural schematic diagram of the "mouth" shaped block of the universal joint provided by the present invention;

[0034] Figure 6 It is a schematic diagram of the structure between the upper and lower surfaces of two adjacent mechanical arm units provided by the present invention;

[0035] Figure 7 It is a schematic diagram of the combined application of the continuum mechanical arm and the industrial robot provided by the present invention.

[0036] In the figure: 1 continuum robot arm body; 2 wire mechanism; 3 wire cone; 4 driving device; 5 linear feed platform; 6 wing; 7 robot arm unit; 8 joint segment; 9 shoulder; 10 universal joint; 11 core column; 12 boss; 13 countersunk threaded hole; 14 core column hole groove; 15 fastening threaded hole; 16 driving through hole; 17 through groove; 18 rotating shaft; 19 fastening screw; 20 base; 21 industrial robot arm; 22 actuator. DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0038] The present invention provides an underactuated core column type continuum robot for narrow space tasks, such as Figure 1 Shown: Included:

[0039] The driving device controls the forward and reverse rotation of multiple motors and cooperates with the wire mechanism to change the length of different driving cables to achieve flexible movement of the robot arm and achieve the expected working posture.

[0040] The mobile guide rail propels the platform to increase the freedom of the robot arm, perform linear feed and retract motion within the lead range, and move the robot arm to the specified working range.

[0041] The main body of the continuum robot arm is composed of N robot arm units with the same structure and divided into M joint segments. The main body of the robot arm adopts a rigid-flexible coupling method, and the joints can be flexibly deflected. The nickel-titanium alloy rod is passively bent as a flexible skeleton, and its two ends are fixed to the upper and lower surfaces of two adjacent robot arm units. This design not only reduces the force transmission of the drive device, but also improves the torsional stiffness and further increases the overall load capacity.

[0042] End effector: including mechanical grippers, cameras and other components, which can perform various tasks according to the operation requirements. The robot disclosed in the present invention has the advantages of strong flexibility, large length-diameter ratio, strong torsion resistance, strong environmental adaptability, etc., and can meet the needs of detection and operation and maintenance in narrow unstructured spaces.

[0043] Specifically, it includes a continuum robot arm body 1, a wire mechanism 2, a wire cone 3, a drive device 4, and a linear feed platform 5. The wire cone 3 is larger at the back and smaller at the front, and the rear end is fixed to the front fixing plate of the drive device 4 by bolts. The inside is hollow, and the drive rope passes through it. The drive device 4 is connected to the continuum robot arm body 1 through the wire mechanism 2 and can control the rotation of the motor to extend or shorten the drive cable. Through the combination of different drive cables, the target posture of the continuum robot can be controlled to adapt to different working environments. The linear feed platform 5 is placed at the bottom of the drive device 4, which can drive the drive device 4 and the continuum robot arm body 1 to complete the feeding or retreating movement within the lead range. When the robot is operating as in this example, the linear feed platform 5 carrying the continuum robotic arm 1 moves into the working range. Driven by the drive device 4, the cable is stretched or contracted through the conversion of the wire mechanism 2, and the continuum robotic arm body 1 begins to adjust its own posture. After passing through the first layer of ribs of the wing 6, the linear feed platform 5 continues to move, and the continuum robotic arm body 1 continues to adjust its own posture and begins to pass through the second layer of ribs, and so on, until it reaches the target working position.

[0044] like Figure 2As shown, the continuum robot arm body 1 is formed by connecting N robot arm units 7 of the same structure in sequence, which are divided into M joint segments 8, and each joint segment 8 includes N / M robot arm units 7. Each joint segment with two degrees of freedom of pitch and yaw requires at least 3 ropes to be fully constrained, so the number of drive cables in each group of joint segments is at least 3. The drive cables are evenly arranged circumferentially along the vertical axis direction, with a total of 3M cables. The number of drive cable through holes is the same as the number of drive cables, and they are divided into M groups. The three drive cables in each group pass through the last robot arm unit of the corresponding joint segment 8 and are limited by wire clamps to prevent them from malfunctioning due to accidental falling off. The bosses 9 of two adjacent robot arm units are arranged in an alternating manner, and the connecting lines between the two pairs of bosses 9 are vertical, and are connected to the "mouth" block of the universal joint 10 through a rotating shaft with a thread. The core column 11 is a nickel-titanium alloy rod, which serves as a flexible skeleton. Its head and tail ends are respectively inserted into the core column hole grooves 14 set on the upper and lower surface bosses 12 of the two adjacent robot arm units, and are fixed by screwing in two pairs of set screws.

[0045] Figure 3 is a schematic diagram of the structure of the robot arm unit 7, Figure 4 It is a top view of the robot arm unit 7. In the initial state, the axes of each unit of the robot arm are on the same horizontal line, and the continuum robot arm body 1 is horizontal. As shown in the figure, the upper and lower surfaces of the robot arm unit are symmetrically provided with bosses 9, and the bosses 9 are symmetrically provided with countersunk threaded holes 13 in a direction perpendicular to the central axis. The upper and lower surfaces of the robot arm unit 7 are symmetrically provided with bosses 12, and the bosses 12 are provided with a core column hole groove 14 for fixing the nickel-titanium alloy rod along the central axis direction of the robot arm body. Four tightening threaded holes 15 are opened around the boss 12 perpendicular to the central axis direction, and the core column is fixed by tightening screws. The robot arm unit 7 is evenly provided with a plurality of drive through holes 16 in the circumference, and the drive cables pass through the through holes 16, and the number of through holes is the same as the number of drive cables. The control of different motion states of the robot arm is achieved by the retraction and extension combination of different drive cables. On the premise of meeting the strength requirements, the robot arm unit 7 can achieve the purpose of weight reduction by setting a through slot 17. Preferably, the specification of the threaded hole on the boss 9 is M3, the specification of the fastening threaded hole on the boss is M2, and the number of the drive cables and through holes is 9.

[0046] like Figure 5 As shown, there are four through holes evenly arranged around the "mouth" block 8 of the universal joint, which are divided into two pairs. One pair cooperates with the boss 9 on the lower surface of the i-th mechanical arm unit 7, and the other pair cooperates with the boss 9 on the upper surface of the i+1-th mechanical arm unit 7. It should be noted that a gap must be left between the "mouth" block 10 of the universal joint and the boss 9 of the mechanical arm unit 7 to ensure that the universal joint can flexibly realize pitch and yaw movements. The four edges of the "mouth" block 10 of the universal joint are rounded to avoid interference with the boss 9 during movement.

[0047] In another example, Figure 6 It is a schematic diagram of the structure between the upper and lower surfaces of two adjacent mechanical arm units. As shown in the figure, the two adjacent mechanical arm units 7 are connected by the "mouth"-shaped block 10 of the universal joint. The four through holes arranged circumferentially of the universal joint are respectively coaxially matched with the two pairs of bosses 9, and the rotating shaft 18 with threads is screwed into the through holes to realize the flexible rotation of the universal joint. The main body of the mechanical arm adopts a rigid-flexible coupling method, and the nickel-titanium alloy rod is introduced into the design of the universal joint structure as a flexible skeleton. After the two ends of the nickel-titanium alloy rod are respectively inserted into the core column hole groove 14 set on the upper and lower surface bosses of the two adjacent mechanical arms, they are locked and fixed by screwing in the set screws 19. When the mechanical arm is bent by the external force load, the nickel-titanium alloy rod also bends passively with the bending trend of the main body of the mechanical arm, and when the external force disappears, it can provide a certain return ability. Such a rigid-flexible coupling structure can greatly reduce the torsion of the continuum mechanical arm around the central axis. It should be noted that the spacing between the bosses 9 should be slightly larger than the width of the universal joint, and the diameter of the core column hole groove 14 should be slightly larger than the diameter of the nickel-titanium alloy rod, in order to reduce the negative impact caused by friction. Preferably, the specification of the threaded rotating shaft is M3×6, and the specification of the set screw is M2×4.

[0048] like Figure 7 As shown, the base 20 of the robot body can be directly connected to the drive device and can also be fixed to the end of the industrial robot arm 21 by bolts, which can enhance the flexibility and adaptability of the continuum robot arm, making it more stable and effective when carrying heavy objects and fine operations, and can adapt to different work tasks and working environments. The end of the continuum robot arm is equipped with different types of actuators 22 (such as clamps, cameras, suction cups, sensors, etc.) which can be replaced or combined according to specific task requirements, thereby realizing diversified functions.

[0049] When the continuum robot is in operation, the linear feed platform 5 carries the drive device 4 and the continuum robot arm body 1 to reach the operating range, and the multiple motors in the drive device 4 move in coordination, and the wire mechanism is driven to move by controlling the forward and reverse rotation of the motor, and the retraction and extension of multiple drive cables are adjusted, thereby realizing the flexible movement of the robot arm in a narrow space. In this process, the universal joint structure plays an active role, rotates under pressure, and provides flexible "pitch" and "yaw" degrees of freedom. The nickel-titanium alloy rod plays a flexible role, deforms under pressure, and provides a certain torsional stiffness and self-restoring ability for the robot arm body, limiting the maximum bending angle of the robot arm unit, avoiding accidents due to self-contact, and also improving the load capacity of the continuum robot arm.

[0050] The basic principle of the present invention is described above in conjunction with specific embodiments, but it should be pointed out that the advantages, strengths, effects, etc. mentioned in the present invention are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and facilitation of understanding, rather than limitation, and the above details do not limit the present invention to being implemented by adopting the above specific details.

[0051] The above-described embodiments merely express the implementation methods of the present invention, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An underactuated core-column continuum robot for narrow space tasks, characterized in that: The under-actuated core column type continuum robot comprises a continuum robot arm body (1), a wire guide mechanism (2), a wire cone (3), a driving device (4), and a linear feed platform (5); The driving device (4) comprises a driving cable and a motor. One end of the driving cable is connected to the continuum robot arm body (1), and the other end is connected to the motor through a wire mechanism (2). The motor is controlled to rotate so as to extend or shorten the driving cable. The control of the target posture of the continuum robot is achieved through the retraction and extension combination of different driving cables. The conductor cone (3) is larger at the rear and smaller at the front, is fixed on the front fixing plate of the driving device (4), and is hollow inside for passing the driving cable; The linear feeding platform (5) is placed below the driving device (4) and is used to drive the driving device (4) and the robot arm body (1) to feed or retreat within the lead range.

2. The underactuated core-column continuum robot for narrow space tasks according to claim 1, characterized in that: The continuum robot arm body (1) comprises N robot arm units (7) connected in sequence and having the same structure, core columns (11), and universal joints (10); each robot arm unit (7) is evenly provided with a plurality of drive through holes (16) for passing drive cables in the circumferential direction and passing through the entire continuum robot arm body (1); adjacent robot arm units (7) are connected via universal joints (10); the core columns (11) pass through the hollow part of the universal joints (10) and are fixed in the bosses (12) of the adjacent robot arm units (7); the number of the drive cables is the same as the number of the through holes (16); each N / M robot arm units (7) constitute a joint segment (8), and the entire continuum robot arm body (1) has a total of M joint segments (8); the number of universal joints (10) in the same joint segment (8) is equal to the number of core columns (11).

3. The underactuated core-column continuum robot for narrow space tasks according to claim 2, characterized in that: In the continuum robot arm body (1), the first robot arm unit (7) at the head end is fixedly connected to the wire cone (3), and the end effector (22) is connected to the end robot arm unit (7) of the continuum robot arm body (1).

4. The underactuated core-column continuum robot for narrow space tasks according to claim 2, characterized in that: In the continuum mechanical arm body (1): The upper and lower surfaces of each mechanical arm unit (7) are symmetrically provided with bosses (9); the bosses (9) are symmetrically provided with countersunk threaded holes (13) along a direction perpendicular to the central axis; The upper and lower surfaces of each mechanical arm unit are symmetrically provided with bosses (12); the distance between the bosses (9) is greater than the side length of the bosses (12), and the distance between the bosses (12) and the left and right shoulders (9) is equal; a core column hole groove (14) is provided above the boss (12) along the central axis direction, and tightening threaded holes (15) are evenly provided around the boss, and the core column hole groove (14) is connected to the tightening threaded hole (15); The universal joint (10) is evenly arranged with threaded through holes in the circumference. When the threaded through holes of the universal joint (10) are coaxially aligned with the countersunk threaded holes (13) on the boss (9) of the robot arm unit (7), they are connected via a threaded shaft to achieve flexible deflection between two adjacent robot arm units.

5. The underactuated core-column continuum robot for narrow space tasks according to claim 4, characterized in that: The core column (11) is made of a plurality of flexible nickel-titanium alloy rods, both ends of which pass through the core column slots (14) of two adjacent robot arm units (7) and are fastened from four directions via set screws (19) in the fastening threaded holes (15); the length of each section of the core column (11) is equal to the spacing between the upper and lower surfaces of the two adjacent robot arm units (7).

6. The underactuated core-column continuum robot for narrow space tasks according to claim 5, characterized in that: The joint segment (8) close to the wire cone (3) usually adopts a core column (11) with a large diameter, and the joint segment (8) close to the end of the continuum robot arm body (1) usually adopts a core column (11) with a small diameter.

7. The underactuated core-column continuum robot for narrow space tasks according to claim 2, characterized in that: Each mechanical arm unit (7) is provided with a through slot (17) penetrating the upper and lower surfaces.

8. The underactuated core-column continuum robot for narrow space tasks according to claim 3, characterized in that: The end effector (22) includes but is not limited to a camera, a mechanical gripper, and a searchlight.

9. The underactuated core-column continuum robot for narrow space tasks according to claim 2, characterized in that: The continuum robot arm body (1) can also be installed on an industrial robot arm, and the two cooperate to achieve flexible and accurate spatial movement.

10. The underactuated core-column continuum robot for narrow space tasks according to claim 1, characterized in that: The guide wire mechanism (2) is a driving pulley or a lead screw module.

Images