Linkage type series ball joint continuum robot structure

Abstract

The linkage type series connection ball joint continuum robot structure comprises a joint ball, a ball socket joint and a rope, hemispherical grooves are formed in the two ends of the ball socket joint correspondingly, a rope walking side block is arranged on the side wall of the ball socket joint, a side block channel is formed in the rope walking side block, and a plurality of sets of double-spiral-structure ball socket channels are formed in the ball socket joint; the joint ball comprises a sub-joint ball, a protruding annular side block is arranged on the side wall of the sub-joint ball, the two ends of the annular side block of the sub-joint ball are of a hemispherical structure and used for being connected with the hemispherical groove, and a double-spiral-structure joint ball channel with an inlet and an outlet located in the annular side block and an axially-penetrating sub-channel are formed in the sub-joint ball. And the rope is used for connecting the sub-joint ball and the ball-and-socket joint. The double-helix structure ball socket channel and the double-helix structure joint ball channel are used for allowing a rope to penetrate through, so that the structure is good in flexibility and high in rigidity, and the flexibility of a continuum robot and the rigidity and stability of a traditional rigid robot are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of continuum robots, and in particular to a linkage-type serial ball-joint continuum robot structure. Background Art

[0002] After natural disasters such as earthquakes, mudslides, and landslides, the disaster areas are often filled with ruins, rubble, and obstacles. Continuum robots can show their unique advantages in these extreme environments. The flexible mechanical structure allows them to bend and stretch freely like soft-bodied animals, traverse narrow spaces, bypass obstacles, and even enter areas that traditional rigid robots cannot reach. This makes continuum robots highly adaptable and flexible in complex and obstacle-filled environments.

[0003] Unlike traditional multi-joint rigid robots, continuum robots have no redundant rigid joints and rotating parts. This not only simplifies the mechanical design, but also reduces possible mechanical failure points, thereby improving the stability of the system. In addition, due to the continuity of its structure, the continuum robot has unlimited degrees of freedom and can achieve more complex motion patterns and posture changes.

[0004] However, due to external forces, nonlinear properties of flexible materials or environmental changes, continuum robots are prone to nonlinear or irregular deformations when working, which will affect their precise operation and positioning. In addition, the materials commonly used to make continuum robots include silicone, shape memory alloys, elastomers, etc. These materials have high flexibility and deformability, supporting the diverse motion modes of continuum robots; however, due to the use of flexible materials, continuum robots show certain limitations in mechanical properties, especially in load-bearing capacity and structural strength. Flexible materials usually bear smaller loads. In scenarios that require lifting or carrying tasks, continuum robots do not perform as well as rigid robots.

[0005] Therefore, there is an urgent need for a linkage-type serial ball-joint continuum robot structure to solve the problem of insufficient stiffness and stability of the continuum robot during work. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a linkage-type serial ball-joint continuum robot structure to solve the problem of insufficient rigidity and stability of the continuum robot during operation.

[0007] To achieve the above object, the present invention adopts the following technical solutions: A linkage-type serial ball-joint continuum robot structure, characterized in that it comprises several joint balls, several ball-and-socket joints and ropes, wherein two ends of the ball-and-socket joints are respectively provided with hemispherical grooves, the side walls of the ball-and-socket joints are provided with several rope-walking side blocks at equal intervals along the axial direction, the rope-walking side blocks are provided with side block channels penetrating axially, and the interior of the ball-and-socket joint is provided with an array of double-helix structured ball-and-socket channels penetrating axially; the joint balls comprise several sub-joint balls, the side walls of the sub-joint balls are provided with protruding annular side blocks, the two ends of the annular side blocks of the sub-joint balls are hemispherical structures for connecting to the hemispherical grooves of the ball-and-socket joints at both ends, the interior of the sub-joint balls is provided with an array of double-helix structured joint ball channels and an axially penetrating sub-channels, the inlets and outlets of which are both located on the annular side blocks, the several sub-joint balls and the several ball-and-socket joints are connected to each other at intervals, and the rope is used to connect the several sub-joint balls and the several ball-and-socket joints.

[0008] To optimize the above technical solutions, the specific measures taken also include: Furthermore, the double helix structure ball socket channels are arranged in two groups at equal intervals, including a first ball socket channel, a second ball socket channel, a third ball socket channel and a fourth ball socket channel, and four side block channels are arranged accordingly, and the inlets of the four side block channels correspond to the inlets of the first ball socket channel, the second ball socket channel, the third ball socket channel or the fourth ball socket channel and are in the same radial direction respectively.

[0009] Furthermore, the spiral structure joint ball channels are equally spaced in two groups, including a first joint ball channel, a second joint ball channel, a third joint ball channel and a fourth joint ball channel, and the sub-channels are correspondingly provided with four groups, each group including an inner sub-channel and an outer sub-channel, neither the inner sub-channel nor the outer sub-channel is connected to the first joint ball channel, the second joint ball channel, the third joint ball channel or the fourth joint ball channel, and the inlets of the inner sub-channel and the outer sub-channel of each group correspond to the inlets of the first joint ball channel, the second joint ball channel, the third joint ball channel or the fourth joint ball channel, respectively, and are in the same radial direction.

[0010] Further, the sub-joint ball includes a first joint ball, an intermediate joint ball and a second joint ball, the ball and socket joint includes a first ball and socket joint, a second ball and socket joint, a third ball and socket joint and a fourth ball and socket joint, and the first ball and socket joint, the first joint ball, the second ball and socket joint, the intermediate joint ball, the third ball and socket joint, the second joint ball and the fourth ball and socket joint are connected to each other in sequence.

[0011] Furthermore, the inlets and outlets of the first joint ball channel, the second joint ball channel, the third joint ball channel and the fourth joint ball channel on the first joint ball and the second joint ball are located in the middle of the inner sub-channel and the outer sub-channel, and the inlets and outlets of the first joint ball channel, the second joint ball channel, the third joint ball channel and the fourth joint ball channel on the middle joint ball are located outside the inner sub-channel and the outer sub-channel.

[0012] Furthermore, the ropes are provided with four groups, each group including four first ropes, two second ropes and a third rope, the first first rope of one group penetrates from the first ball socket channel entrance of the first ball socket joint, penetrates from the first ball socket channel exit corresponding to the other end of the first ball socket joint, and then penetrates into the inner sub-channel of the first joint ball and is fixed, one end of the second first rope is fixed together with the end of the first first rope to the inner sub-channel, the other end of the second first rope penetrates from the third ball socket channel entrance of the second ball socket joint, penetrates from the third ball socket channel exit corresponding to the other end of the second ball socket joint, and then penetrates into the middle joint. The inner sub-channel of the joint ball is fixed, one end of the third first rope and the end of the second first rope are fixed together in the inner sub-channel, the other end of the third first rope penetrates from the first ball socket channel entrance of the third ball socket joint, penetrates from the first ball socket channel exit corresponding to the other end of the third ball socket joint, and then penetrates into the inner sub-channel of the second joint ball and is fixed, one end of the fourth first rope and the end of the third first rope are fixed together in the inner sub-channel, the other end of the fourth first rope penetrates from the third ball socket channel entrance of the fourth ball socket joint, and penetrates from the third ball socket channel exit corresponding to the other end of the fourth ball socket joint; A second rope passes through the side mass channel on one side of the first ball-and-socket joint, then passes through the entrance of the first joint ball channel at the middle position of the first joint ball, passes out from the opposite exit at the other end, then passes through the side mass channel on the opposite side of the second ball-and-socket joint, passes through the outer sub-channel at the middle position of the middle joint ball on the same side and is fixed; an end of another second rope is fixed to the outer sub-channel, the other end passes through the side mass channel of the third ball-and-socket joint on the same side, then passes through the entrance of the third joint ball channel at the middle position of the second joint ball, passes out from the opposite exit at the other end, and then passes through the side mass channel of the fourth ball-and-socket joint on the same side; The third rope passes through the side mass channel on one side of the first ball-and-socket joint, the outer sub-channel of the first joint ball on the same side, and the side mass channel of the second ball-and-socket joint on the same side in sequence, then enters from the inlet of the first joint ball channel on the outer side of the middle joint ball, and exits from the outlet at the other end, and then passes through the side mass channel of the third ball-and-socket joint on the same side, the outer sub-channel of the second joint ball on the same side, and the side mass channel of the fourth ball-and-socket joint on the same side in sequence; The other three groups of ropes are threaded according to this group of ropes.

[0013] Furthermore, the joint ball also includes a root joint hemisphere and an end joint hemisphere, and the root joint hemisphere and the end joint hemisphere are both provided with a protruding annular side block, and one end of the root joint hemisphere and the end joint hemisphere is a hemispherical structure, which is used to be connected to the hemispherical groove of the ball and socket joint located at the root or the end, and the annular side blocks of the root joint hemisphere and the end joint hemisphere are both provided with an axially penetrating rope walking channel, the root joint hemisphere, the end joint hemisphere, several sub-joint balls and several ball and socket joints are connected to each other, and the rope is used to connect the root joint hemisphere, the end joint hemisphere, several sub-joint balls and several ball and socket joints.

[0014] Furthermore, it also includes a friction layer, which is in the shape of a truncated cone, and the flared end of the truncated cone is provided with a hemispherical mounting groove for connection to the hemispherical structure, and the other end of the truncated cone is open. The inner and outer circle surfaces of the friction layer also have a pair of bosses respectively, and the two pairs of bosses on the inner and outer surfaces are perpendicular to each other. The surface of the hemispherical structure and the boss corresponding to the hemispherical groove are provided with a connecting groove for connection to the boss, and the friction layer is arranged between the hemispherical structure and the hemispherical groove.

[0015] Furthermore, a plurality of driving rope through holes are evenly spaced on the annular side block.

[0016] Furthermore, it also includes several driving ropes, each of which passes through the driving rope through hole located at the end, several driving rope through holes on the same side, and the driving rope through hole located at the root on the same side in sequence.

[0017] The beneficial effects of the present invention are: The present invention connects the hemispherical groove of the ball and socket joint with the hemispherical structure of the sub-joint ball, and utilizes the side block channel and the ball socket channel of the ball and socket joint, as well as the joint ball channel and the sub-channel of the sub-joint ball for rope routing to connect the sub-joint balls and the ball and socket joint at intervals, thereby ensuring the reliability of the structural connection. At the same time, by utilizing an array of double-helix structure ball socket channels and an array of double-helix structure joint ball channels for the rope to pass through, the continuum robot structure can have good flexibility and high rigidity, that is, it has both the flexibility and agility of the continuum robot and the rigidity and stability of the traditional rigid robot, thereby solving the problem of insufficient rigidity and stability of the continuum robot during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a connection schematic diagram of a linkage type serial ball joint continuum robot structure proposed by the present invention; Figure 2 A cross-sectional schematic diagram of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Figure 3 A schematic structural diagram of a ball and socket joint of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Figure 4 A schematic cross-sectional view of a ball and socket joint of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Figure 5 A schematic structural diagram of a sub-joint ball of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Figure 6 A schematic cross-sectional view of a sub-joint ball of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Figure 7 A schematic structural diagram of another sub-joint ball of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Figure 8 A schematic structural diagram of a single-linked joint of a linkage-type tandem ball-joint continuum robot structure proposed by the present invention; Fig. 9 A schematic cross-sectional view of a single-linked joint of a linkage-type serial ball-joint continuum robot structure proposed by the present invention; Fig.10 A schematic structural diagram of a double-joint linkage joint of a linkage-type tandem ball-joint continuum robot structure proposed by the present invention; Fig.11 A cross-sectional schematic diagram of a double-jointed linkage joint of a linkage-type tandem ball-joint continuum robot structure proposed by the present invention; Fig.12 This is a schematic structural diagram of the friction layer of a linkage-type serial ball-joint continuum robot structure proposed by the present invention.

[0019] Figure markings: root joint hemisphere 1, first joint ball 2, middle joint ball 3, second joint ball 4, first ball and socket joint 5, second ball and socket joint 6, third ball and socket joint 7, fourth ball and socket joint 8, first rope 9-1, second rope 9-2, third rope 9-3, end joint hemisphere 10, friction layer 11, first ball and socket channel 12, second ball and socket channel 13, third ball and socket channel 14, fourth ball and socket channel 15, first joint ball channel 16, second joint ball channel 17, third joint ball channel 18, fourth joint ball channel 19, side block channel 20, drive rope through hole 21. DETAILED DESCRIPTION

[0020] The present invention will now be described in further detail with reference to the accompanying drawings.

[0021] As attached Figure 1As shown, a linkage type serial ball joint continuum robot structure of an embodiment of the present invention comprises several joint balls, several ball and socket joints and ropes, two ends of the ball and socket joints are respectively provided with hemispherical grooves, the side walls of the ball and socket joints are provided with several rope walking side blocks at equal intervals along the axial direction, the rope walking side blocks are provided with side block channels 20 penetrating axially, and the interior of the ball and socket joint is provided with an array of double helix structure ball and socket channels penetrating axially; the joint ball comprises several sub-joint balls, the side walls of the sub-joint balls are provided with protruding annular side blocks, the two ends of the annular side blocks of the sub-joint balls are hemispherical structures for connecting to the hemispherical grooves of the ball and socket joints at both ends, the interior of the sub-joint balls is provided with an array of double helix structure joint ball channels and axially penetrating sub-channels, the inlets and outlets of which are both located on the annular side blocks, the several sub-joint balls and the several ball and socket joints are connected to each other at intervals, and the rope is used to connect the several sub-joint balls and the several ball and socket joints.

[0022] The present invention connects the hemispherical groove of the ball and socket joint with the hemispherical structure of the sub-joint ball, and utilizes the side block channel 20 and the ball socket channel of the ball and socket joint, as well as the joint ball channel and the sub-channel of the sub-joint ball for rope routing to connect the sub-joint balls and the ball and socket joint at intervals, thereby ensuring the reliability of the structural connection. At the same time, by utilizing an array of double-helix structure ball socket channels and an array of double-helix structure joint ball channels for the rope to pass through, the continuum robot structure can have good flexibility and high rigidity, that is, it has both the flexibility and agility of the continuum robot and the rigidity and stability of the traditional rigid robot, thereby solving the problem of insufficient rigidity and stability of the continuum robot during operation.

[0023] As attached Figure 3 and attached Figure 4 As shown, in another specific embodiment, two groups of double helix structure ball socket channels are arranged at equal intervals, including a first ball socket channel 12, a second ball socket channel 13, a third ball socket channel 14 and a fourth ball socket channel 15, and four side block channels 20 are arranged accordingly, and the inlets of the four side block channels 20 correspond to the inlets of the first ball socket channel 12, the second ball socket channel 13, the third ball socket channel 14 or the fourth ball socket channel 15 and are in the same radial direction. Among them, the first ball socket channel 12, the second ball socket channel 13, the third ball socket channel 14 and the fourth ball socket channel 15 do not intersect each other and do not intersect with the central through hole.

[0024] In this embodiment, the outlets of the first ball socket channel 12, the second ball socket channel 13, the third ball socket channel 14 or the fourth ball socket channel 15 are respectively located at the other end coaxial with the inlet of another ball socket channel in the same group due to the special setting of the double helix structure.

[0025] As attached Figure 5 and attached Figure 6As shown, in a further embodiment, the spiral structure joint ball channel is provided with two groups at equal intervals, including the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 and the fourth joint ball channel 19, and the sub-channels are provided with four groups, each group includes an inner sub-channel and an outer sub-channel, and the inner sub-channel and the outer sub-channel are not connected with the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 or the fourth joint ball channel 19, and the inlet of the inner sub-channel and the outer sub-channel of each group is respectively in the same radial direction as the inlet of the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 or the fourth joint ball channel 19. Among them, the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 and the fourth joint ball channel 19 do not intersect each other and do not intersect with the central through hole.

[0026] In this embodiment, the outlets of the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 and the fourth joint ball channel 19 are respectively located at the other end coaxial with the inlet of another joint ball channel in the same group due to the special setting of the double helix structure.

[0027] In which, in a further embodiment, the sub-joint ball includes a first joint ball 2, an intermediate joint ball 3 and a second joint ball 4, the ball and socket joint includes a first ball and socket joint 5, a second ball and socket joint 6, a third ball and socket joint 7 and a fourth ball and socket joint 8, and the first ball and socket joint 5, the first joint ball 2, the second ball and socket joint 6, the intermediate joint ball 3, the third ball and socket joint 7, the second joint ball 4 and the fourth ball and socket joint 8 are connected to each other in sequence.

[0028] As attached Figure 7 As shown, in a further embodiment, the inlet and outlet of the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 and the fourth joint ball channel 19 on the first joint ball 2 and the second joint ball 4 are both located in the middle of the inner sub-channel and the outer sub-channel, and the inlet and outlet of the first joint ball channel 16, the second joint ball channel 17, the third joint ball channel 18 and the fourth joint ball channel 19 on the middle joint ball 3 are both located outside the inner sub-channel and the outer sub-channel.

[0029] As attached Figure 2 , Attachment Fig. 9 and attached Fig.11As shown, in a further embodiment, the ropes are provided with four groups, each group includes four first ropes 9-1, two second ropes 9-2 and a third rope 9-3, the first first rope 9-1 of one group penetrates from the inlet of the first ball socket channel 12 of the first ball socket joint 5, passes out from the outlet of the first ball socket channel 12 corresponding to the other end of the first ball socket joint 5, and then penetrates into the inner sub-channel of the first joint ball 2 and is fixed, one end of the second first rope 9-1 is fixed together with the end of the first first rope 9-1 to the inner sub-channel, the other end of the second first rope 9-1 penetrates from the inlet of the third ball socket channel 14 of the second ball socket joint 6, passes out from the outlet of the third ball socket channel 14 corresponding to the other end of the second ball socket joint 6, and then Insert into the inner sub-channel of the middle joint ball 3 and fix, one end of the third first rope 9-1 and the end of the second first rope 9-1 are fixed together in the inner sub-channel, the other end of the third first rope 9-1 is inserted from the inlet of the first ball and socket channel 12 of the third ball and socket joint 7, and passes out from the outlet of the first ball and socket channel 12 corresponding to the other end of the third ball and socket joint 7, and then inserts into the inner sub-channel of the second joint ball 4 and fixes, one end of the fourth first rope 9-1 and the end of the third first rope 9-1 are fixed together in the inner sub-channel, the other end of the fourth first rope 9-1 is inserted from the inlet of the third ball and socket channel 14 of the fourth ball and socket joint 8, and passes out from the outlet of the third ball and socket channel 14 corresponding to the other end of the fourth ball and socket joint 8; A second rope 9-2 passes through the side block channel 20 on one side of the first ball joint 5, then passes through the entrance of the first joint ball channel 16 at the middle position of the first joint ball 2, passes out from the opposite exit at the other end, then passes through the side block channel 20 on the opposite side of the second ball joint 6, passes through the outer sub-channel at the middle position of the middle joint ball 3 on the same side and is looped back and fixed. The end of another second rope 9-2 is looped back and fixed to the outer sub-channel, and the other end passes through the side block channel 20 of the third ball joint 7 on the same side, then passes through the entrance of the third joint ball channel 18 at the middle position of the second joint ball 4, passes out from the opposite exit at the other end, and then passes through the side block channel 20 of the fourth ball joint 8 on the same side; The third rope 9-3 passes through the side mass channel 20 on one side of the first ball-and-socket joint 5, the outer sub-channel of the first joint ball 2 on the same side, and the side mass channel 20 of the second ball-and-socket joint 6 on the same side in sequence, then enters from the entrance of the first joint ball channel 16 on the outer side of the middle joint ball 3, and exits from the outlet at the other end, and then passes through the side mass channel 20 of the third ball-and-socket joint 7 on the same side, the outer sub-channel of the second joint ball 4 on the same side, and the side mass channel 20 of the fourth ball-and-socket joint 8 on the same side in sequence; The other three groups of ropes are threaded according to this group of ropes.

[0030] In another specific embodiment, the joint ball also includes a root joint hemisphere 1 and an end joint hemisphere 10, and the root joint hemisphere 1 and the end joint hemisphere 10 are both provided with a protruding annular side block, and one end of the root joint hemisphere 1 and the end joint hemisphere 10 is a hemispherical structure, which is used to be connected to the hemispherical groove of the ball and socket joint located at the root or the end, and the annular side blocks of the root joint hemisphere 1 and the end joint hemisphere 10 are both provided with an axially penetrating rope walking channel, and the root joint hemisphere 1, the end joint hemisphere 10, several sub-joint balls and several ball and socket joints are connected to each other, and the rope is used to connect the root joint hemisphere 1, the end joint hemisphere 10, several sub-joint balls and several ball and socket joints. In this way, when in use, the root joint hemisphere 1 and the end joint hemisphere 10 can be used as the structures at both ends, and in specific use, they can be set at the ends of the first ball and socket joint 5 and the fourth ball and socket joint 8 mentioned above, and cooperate with the rope walking or rope end fixing through the rope walking channel.

[0031] As attached Fig.12 As shown, in a further embodiment, a friction layer 11 is also included. The friction layer 11 is in a truncated cone shape, and the expanded end of the truncated cone is provided with a hemispherical installation groove for connecting the hemispherical structure, and the other end of the truncated cone is open. The inner and outer surfaces of the friction layer 11 also have a pair of bosses respectively, and the two pairs of bosses on the inner and outer surfaces are perpendicular to each other. The surface of the hemispherical structure and the corresponding boss of the hemispherical groove are provided with a connection groove for connecting with the boss, and the friction layer 11 is arranged between the hemispherical structure and the hemispherical groove. When in use, for example, the inner circle boss of the friction layer 11 can be aligned with the connection groove on the surface of the hemispherical structure of the root joint hemisphere 1 for installation, and the friction layer 11 is tightly covered on the surface of the hemispherical structure, and the connection groove of the corresponding ball and socket joint is aligned with the outer circle boss of the friction layer 11, and tightly attached to the friction layer, and the others can be installed in the same way.

[0032] As attached Figure 8 and attached Fig.10 As shown, in the structure of the present invention, the entire linkage joint is regarded as a four-section linkage joint, a four-section linkage joint can be regarded as two double-section linkage joints, and a double-section linkage joint can be regarded as two single-section linkage joints. For example, if it is regarded as two double-section linkage joints, the first single-section linkage joint and the second single-section linkage joint constitute the first double-section linkage joint; the third single-section linkage joint and the fourth single-section linkage joint constitute the second double-section linkage joint. If it is regarded as a four-section linkage joint, the first double-section linkage joint and the second double-section linkage joint constitute.

[0033] Specifically, for example, the root joint hemisphere 1, two friction layers 11, the first ball and socket joint 5 and the first joint ball 2 constitute a first single-section linkage joint; the first joint ball 2, two friction layers 11, the second ball and socket joint 6 and the intermediate joint ball 3 constitute a second single-section linkage joint; the intermediate joint ball 3, two friction layers 11, the third ball and socket joint 7 and the second joint ball 4 constitute a third single-section linkage joint; the second joint ball 4, two friction layers 11, the fourth ball and socket joint 8 and the end joint hemisphere 10 constitute a fourth single-section linkage joint.

[0034] In one embodiment, the root joint hemisphere 1 and the end joint hemisphere 10 can be replaced with the intermediate joint ball 3 respectively so that the above structure can be continued, or the root joint hemisphere 1 of one structure is connected to the end joint hemisphere 10 of another structure so that the above structure can be continued.

[0035] In another specific embodiment, the annular side block is also provided with several driving rope through holes 21 at equal intervals. In a further embodiment, several driving ropes are also included, each driving rope sequentially passes through the driving rope through hole 21 at the end, several driving rope through holes 21 on the same side, and the driving rope through hole 21 at the root on the same side. At the same time, the driving rope is located between two adjacent rope-walking side blocks and is not connected to the ball-and-socket joint. In this embodiment, four driving ropes can be correspondingly arranged. When in use, the four driving ropes are connected to the driving motor after passing through these driving rope through holes 21 respectively. The extension and retraction states of the four driving ropes are changed by the driving motor control, thereby changing the use form of the robot structure.

[0036] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0037] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A linkage type serial ball joint continuum robot structure, characterized in that: The invention comprises a plurality of joint balls, a plurality of ball-and-socket joints and a rope, wherein the two ends of the ball-and-socket joint are respectively provided with a hemispherical groove, the side wall of the ball-and-socket joint is provided with a plurality of rope-walking side blocks at equal intervals along the axial direction, the rope-walking side blocks are provided with a side block channel (20) penetrating axially, and the interior of the ball-and-socket joint is provided with an array of double-helix structure ball-and-socket channels penetrating axially; the joint ball comprises a plurality of sub-joint balls, the side wall of the sub-joint ball is provided with a protruding annular side block, the two ends of the annular side block of the sub-joint ball are hemispherical structures for connecting to the hemispherical grooves of the ball-and-socket joints at the two ends, the interior of the sub-joint ball is provided with an array of double-helix structure joint ball channels and an axially penetrating sub-channel, the inlet and outlet of which are both located on the annular side block, the plurality of sub-joint balls and the plurality of ball-and-socket joints are connected to each other at intervals, and the rope is used to connect the plurality of sub-joint balls and the plurality of ball-and-socket joints.

2. A linkage type tandem ball joint continuum robot structure according to claim 1, characterized in that: The double helix structure ball socket channels are provided in two groups at equal intervals, including a first ball socket channel (12), a second ball socket channel (13), a third ball socket channel (14) and a fourth ball socket channel (15), and four side block channels (20) are provided correspondingly, and the inlets of the four side block channels (20) are respectively located in the same radial direction as the inlets of the first ball socket channel (12), the second ball socket channel (13), the third ball socket channel (14) or the fourth ball socket channel (15).

3. The linkage type tandem ball joint continuum robot structure according to claim 2, characterized in that: The spiral structure joint ball channels are provided with two groups at equal intervals, including a first joint ball channel (16), a second joint ball channel (17), a third joint ball channel (18) and a fourth joint ball channel (19), and the sub-channels are provided with four groups accordingly, each group including an inner sub-channel and an outer sub-channel, the inner sub-channel and the outer sub-channel are not connected to the first joint ball channel (16), the second joint ball channel (17), the third joint ball channel (18) or the fourth joint ball channel (19), and the inlet of the inner sub-channel and the outer sub-channel of each group are respectively located in the same radial direction as the inlet of the first joint ball channel (16), the second joint ball channel (17), the third joint ball channel (18) or the fourth joint ball channel (19).

4. The linkage-type serial ball-joint continuum robot structure according to claim 3 is characterized in that: The sub-joint ball comprises a first joint ball (2), an intermediate joint ball (3) and a second joint ball (4); the ball and socket joint comprises a first ball and socket joint (5), a second ball and socket joint (6), a third ball and socket joint (7) and a fourth ball and socket joint (8); the first ball and socket joint (5), the first joint ball (2), the second ball and socket joint (6), the intermediate joint ball (3), the third ball and socket joint (7), the second joint ball (4) and the fourth ball and socket joint (8) are connected to each other in sequence.

5. The linkage type serial ball joint continuum robot structure according to claim 4, characterized in that: The inlet and outlet of the first joint ball channel (16), the second joint ball channel (17), the third joint ball channel (18) and the fourth joint ball channel (19) on the first joint ball (2) and the second joint ball (4) are both located in the middle of the inner sub-channel and the outer sub-channel, and the inlet and outlet of the first joint ball channel (16), the second joint ball channel (17), the third joint ball channel (18) and the fourth joint ball channel (19) on the intermediate joint ball (3) are both located outside the inner sub-channel and the outer sub-channel.

6. The linkage-type serial ball-joint continuum robot structure according to claim 5, characterized in that: The ropes are provided in four groups, each group comprising four first ropes (9-1), two second ropes (9-2) and a third rope (9-3). The first first rope (9-1) of the group passes through the inlet of the first ball socket passage (12) of the first ball socket joint (5), passes through the outlet of the first ball socket passage (12) corresponding to the other end of the first ball socket joint (5), and then passes through the inner sub-channel of the first joint ball (2) and is fixed. One end of the second first rope (9-1) is fixed together with the end of the first first rope (9-1) to the inner sub-channel. The other end of the second first rope (9-1) passes through the inlet of the third ball socket passage (14) of the second ball socket joint (6), passes through the outlet of the third ball socket passage (14) corresponding to the other end of the second ball socket joint (6), and then passes through the middle joint. The inner sub-channel of the ball (3) is fixed, one end of the third first rope (9-1) and the end of the second first rope (9-1) are fixed together in the inner sub-channel, the other end of the third first rope (9-1) passes through the inlet of the first ball and socket channel (12) of the third ball and socket joint (7), passes through the outlet of the first ball and socket channel (12) corresponding to the other end of the third ball and socket joint (7), and then passes through the inner sub-channel of the second joint ball (4) and is fixed, one end of the fourth first rope (9-1) and the end of the third first rope (9-1) are fixed together in the inner sub-channel, the other end of the fourth first rope (9-1) passes through the inlet of the third ball and socket channel (14) of the fourth ball and socket joint (8), and passes through the outlet of the third ball and socket channel (14) corresponding to the other end of the fourth ball and socket joint (8); A second rope (9-2) passes through the side block channel (20) on one side of the first ball-and-socket joint (5), then passes through the entrance of the first joint ball channel (16) at the middle position of the first joint ball (2), passes out from the opposite exit at the other end, then passes through the side block channel (20) on the opposite side of the second ball-and-socket joint (6), passes through the outer sub-channel at the middle position of the middle joint ball (3) on the same side and is fixed; another second rope (9-2) has its end fixed to the outer sub-channel, and the other end passes through the side block channel (20) of the third ball-and-socket joint (7) on the same side, then passes through the entrance of the third joint ball channel (18) at the middle position of the second joint ball (4), passes out from the opposite exit at the other end, and then passes through the side block channel (20) of the fourth ball-and-socket joint (8) on the same side; The third rope (9-3) sequentially passes through the side mass channel (20) on one side of the first ball-and-socket joint (5), the outer sub-channel of the first joint ball (2) on the same side, and the side mass channel (20) of the second ball-and-socket joint (6) on the same side, then enters from the inlet of the first joint ball channel (16) on the outside of the middle joint ball (3), and exits from the outlet at the other end, then sequentially passes through the side mass channel (20) of the third ball-and-socket joint (7) on the same side, the outer sub-channel of the second joint ball (4) on the same side, and the side mass channel (20) of the fourth ball-and-socket joint (8) on the same side; The other three groups of ropes are threaded according to this group of ropes.

7. The linkage-type serial ball-joint continuum robot structure according to claim 1, characterized in that: The joint ball further comprises a root joint hemisphere (1) and an end joint hemisphere (10), each of which is provided with a protruding annular side block, one end of each of which is a hemispherical structure for connecting to a hemispherical groove of a ball-and-socket joint at the root or the end, and an axially penetrating rope passage is provided on the annular side blocks of the root joint hemisphere (1) and the end joint hemisphere (10), the root joint hemisphere (1), the end joint hemisphere (10), a plurality of sub-joint balls and a plurality of ball-and-socket joints are connected to each other, and a rope is used to connect the root joint hemisphere (1), the end joint hemisphere (10), a plurality of sub-joint balls and a plurality of ball-and-socket joints.

8. The linkage-type serial ball-joint continuum robot structure according to claim 7, characterized in that: The friction layer (11) is also included. The friction layer (11) is in a truncated cone shape. The expanded end of the truncated cone is provided with a hemispherical mounting groove to which the hemispherical structure can be connected. The other end of the truncated cone is open. The inner and outer ring surfaces of the friction layer (11) are respectively provided with a pair of bosses. The two pairs of bosses on the inner and outer surfaces are perpendicular to each other. The surface of the hemispherical structure and the boss corresponding to the hemispherical groove are provided with a connecting groove to which the boss can be connected. The friction layer (11) is arranged between the hemispherical structure and the hemispherical groove.

9. The linkage-type serial ball-joint continuum robot structure according to claim 1, characterized in that: The annular side block is also provided with a plurality of driving rope through holes (21) at equal intervals.

10. The linkage type serial ball joint continuum robot structure according to claim 9, characterized in that: It also comprises a plurality of driving ropes, each of which passes through a driving rope through hole (21) at the end, a plurality of driving rope through holes (21) on the same side, and a driving rope through hole (21) at the root on the same side in sequence.

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