A linkage type serial ball joint continuum robot structure

Abstract

The present invention discloses a linkage-type serial ball-joint continuum robot structure, comprising a joint ball, a ball-and-socket joint, and a rope. The ball-and-socket joint has hemispherical grooves at both ends, a rope-walking side block on the sidewall of the ball-and-socket joint, and a side block channel. The ball-and-socket joint has an array of double-helix ball-and-socket channels inside. The joint ball comprises a sub-joint ball, each of which has a protruding annular side block on its sidewall. The annular side blocks of the sub-joint ball have hemispherical structures at both ends for connecting to the hemispherical grooves. The sub-joint ball has a double-helix joint ball channel with both inlet and outlet located on the annular side block and an axially extending sub-channel inside. The rope is used to connect the sub-joint ball and the ball-and-socket joint. By utilizing the double-helix ball-and-socket channel and the double-helix joint ball channel for the rope to pass through, the present invention can achieve good structural flexibility and high rigidity, combining the flexibility and agility of a continuum robot with the rigidity and stability of a traditional rigid robot.

Description

Technical Field

[0001] The present 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 area is often covered in ruins, rubble, and obstacles. Continuum robots demonstrate their unique advantages in these extreme environments. Their flexible mechanical structure allows them to bend and stretch freely like a mollusk, traversing narrow spaces, bypassing obstacles, and even entering areas inaccessible to traditional rigid robots. This makes continuum robots highly adaptable and flexible in complex and obstacle-filled environments.

[0003] Unlike traditional multi-jointed rigid robots, continuum robots lack redundant rigid joints and rotating parts. This not only simplifies mechanical design but also reduces potential mechanical failure points, thereby improving system stability. Furthermore, due to the continuity of their structure, continuum robots possess unlimited degrees of freedom, enabling more complex motion patterns and posture changes.

[0004] However, due to external forces, the nonlinear properties of flexible materials, or environmental changes, continuum robots are prone to nonlinear or irregular deformations during operation, which can affect their precise operation and positioning. Furthermore, currently, commonly used materials for continuum robots include silicone, shape memory alloys, and elastomers. 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 exhibit certain limitations in mechanical performance, especially in terms of load-bearing capacity and structural strength. Flexible materials typically withstand smaller loads, and in scenarios requiring lifting or carrying tasks, continuum robots perform worse than 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:

[0008] A linkage type serial ball joint continuum robot structure, characterized in that it includes several joint balls, several ball and socket joints and ropes, the 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 passing axially therethrough, and the interior of the ball and socket joints is provided with an array of double-helix structured ball and socket channels passing axially therethrough; the joint balls include several sub-joint balls, the side walls of the sub-joint balls are provided with protruding annular side blocks, the annular side blocks of the sub-joint balls have hemispherical structures at both ends 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 passing sub-channel, the inlets and outlets of the sub-joint balls 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.

[0009] To optimize the above technical solutions, specific measures taken also include:

[0010] Furthermore, the double helix structure ball and socket channels are arranged in two groups at equal intervals, including a first ball and socket channel, a second ball and socket channel, a third ball and socket channel and a fourth ball and socket channel, and four side block channels are correspondingly provided, and the inlets of the four side block channels are respectively in the same radial direction as the inlets of the first ball and socket channel, the second ball and socket channel, the third ball and socket channel or the fourth ball and socket channel.

[0011] Furthermore, the spiral structure joint ball channels are equidistantly arranged 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, and 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 are respectively in the same radial direction as the inlets of the first joint ball channel, the second joint ball channel, the third joint ball channel or the fourth joint ball channel.

[0012] Furthermore, 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.

[0013] 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 all 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 intermediate joint ball are all located outside the inner sub-channel and the outer sub-channel.

[0014] Furthermore, the ropes are provided in four groups, each group including four first ropes, two second ropes and a third rope. The first first rope of one group passes through the first ball socket channel entrance of the first ball socket joint, passes through the first ball socket channel exit at the other end of the first ball socket joint, and then passes through 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, and the other end of the second first rope passes through the third ball socket channel entrance of the second ball socket joint, passes through the third ball socket channel exit at the other end of the second ball socket joint, and then passes through 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 jointly fixed to the inner sub-channel, the other end of the third first rope passes through the first ball and socket channel entrance of the third ball and socket joint, passes through the first ball and socket channel exit at the other end of the third ball and socket joint, and then passes through 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 jointly fixed to the inner sub-channel, the other end of the fourth first rope passes through the third ball and socket channel entrance of the fourth ball and socket joint, and passes through the third ball and socket channel exit at the other end of the fourth ball and socket joint;

[0015] 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 outlet 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 outlet at the other end, and then passes through the side mass channel of the fourth ball-and-socket joint on the same side;

[0016] 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, then enters from the entrance of the first joint ball channel on the outside of the middle joint ball, exits from the opposite exit, 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.

[0017] The other three groups of ropes are threaded according to this group of ropes.

[0018] 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.

[0019] 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 ring 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.

[0020] Furthermore, a plurality of driving rope through holes are evenly spaced on the annular side block.

[0021] Furthermore, it also includes several driving ropes, each of which passes through the driving rope through hole at the end, several driving rope through holes on the same side, and the driving rope through hole at the root on the same side in sequence.

[0022] The beneficial effects of the present invention are:

[0023] 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 various sub-joint balls and the ball and socket joints at intervals, thereby ensuring the reliability of the structural connection. At the same time, the array of double-helix structure ball socket channels and the array of double-helix structure joint ball channels are utilized for the rope to pass through, so that the continuum robot structure has 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

[0024] Figure 1 This is a schematic diagram of the connection of a linkage-type serial ball-joint continuum robot structure proposed by the present invention;

[0025] Figure 2 This is a cross-sectional schematic diagram of a linkage-type serial ball-jointed continuum robot structure proposed by the present invention;

[0026] Figure 3 This is 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;

[0027] 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;

[0028] Figure 5 This is a schematic structural diagram of a sub-joint ball of a linkage-type serial ball-joint continuum robot structure proposed by the present invention;

[0029] Figure 6 This is a cross-sectional schematic diagram of a sub-joint ball of a linkage-type serial ball-joint continuum robot structure proposed by the present invention;

[0030] Figure 7 This is a schematic structural diagram of another sub-joint ball of a linkage-type serial ball-joint continuum robot structure proposed by the present invention;

[0031] Figure 8 This is a structural schematic diagram of a single-linked joint of a linkage-type serial ball-jointed continuum robot structure proposed by the present invention;

[0032] Figure 9 This is a cross-sectional schematic diagram of a single-linked joint of a linkage-type serial ball-jointed continuum robot structure proposed by the present invention;

[0033] Figure 10 This is a structural schematic diagram of a double-jointed linkage joint of a linkage-type serial ball-jointed continuum robot structure proposed by the present invention;

[0034] Figure 11 This is a cross-sectional schematic diagram of a double-jointed linkage joint of a linkage-type serial ball-jointed continuum robot structure proposed by the present invention;

[0035] Figure 12 This is a structural schematic diagram of the friction layer of a linkage-type serial ball-joint continuum robot structure proposed in the present invention.

[0036] 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

[0037] The present invention will now be described in further detail with reference to the accompanying drawings.

[0038] As attached Figure 1 As shown, an embodiment of the present invention is a linkage type serial ball joint continuum robot structure, including 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 passing axially therethrough, and the interior of the ball and socket joints is provided with an array of double-helix structured ball and socket channels passing axially therethrough; the joint balls include several sub-joint balls, the side walls of the sub-joint balls are provided with protruding annular side blocks, the annular side blocks of the sub-joint balls have hemispherical structures at both ends 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 passing sub-channel, 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.

[0039] 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 sub-channel of the sub-joint ball for rope routing to connect the various 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 be made flexible and rigid. 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.

[0040] As attached Figure 3 and attached Figure 4 As shown, in another specific embodiment, two groups of double-helix structured socket channels are provided at equal intervals, including a first socket channel 12, a second socket channel 13, a third socket channel 14, and a fourth socket channel 15. Four side block channels 20 are provided correspondingly, and the inlets of the four side block channels 20 are located in the same radial direction as the inlets of the first socket channel 12, the second socket channel 13, the third socket channel 14, or the fourth socket channel 15. The first socket channel 12, the second socket channel 13, the third socket channel 14, and the fourth socket channel 15 do not intersect with each other and do not intersect with the central through hole.

[0041] 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.

[0042] As attached Figure 5 and attached Figure 6 As shown, in a further embodiment, the spiral structure joint ball channels are provided with two groups of equal spacing, 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. The sub-channels are 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 connects 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. The inlet of each group of the inner sub-channel and the outer sub-channel 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. 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 with each other and do not intersect with the central through hole.

[0043] 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.

[0044] 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.

[0045] As attached Figure 7 As shown, in a further embodiment, the inlets and 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 on the first joint ball 2 and the second joint ball 4 are all 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 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 all located outside the inner sub-channel and the outer sub-channel.

[0046] As attached Figure 2 , Attachment Figure 9 and attached Figure 11As shown, in a further embodiment, four groups of ropes are provided, 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 and socket channel 12 of the first ball and socket joint 5, passes out from the outlet of the first ball and socket channel 12 corresponding to the other end of the first ball and 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 and the end of the first first rope 9-1 are fixed together in the inner sub-channel, the other end of the second first rope 9-1 penetrates from the inlet of the third ball and socket channel 14 of the second ball and socket joint 6, passes out from the outlet of the third ball and socket channel 14 corresponding to the other end of the second ball and socket joint 6, and then Penetrate into the inner sub-channel of the middle joint ball 3 and be 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 penetrates from the inlet of the first ball and socket channel 12 of the third ball and socket joint 7, and exits 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 penetrates into 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 penetrates from the inlet of the third ball and socket channel 14 of the fourth ball and socket joint 8, and exits from the outlet of the third ball and socket channel 14 corresponding to the other end of the fourth ball and socket joint 8;

[0047] A second rope 9-2 passes through the side mass 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 outlet at the other end, then passes through the side mass 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 and fixed. The end of another second rope 9-2 is looped and fixed to the outer sub-channel, and the other end passes through the side mass 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 outlet at the other end, and then passes through the side mass channel 20 of the fourth ball joint 8 on the same side;

[0048] The third rope 9-3 passes through the side mass channel 20 on one side of the first ball 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 joint 6 on the same side, then enters from the entrance of the first joint ball channel 16 on the outside of the middle joint ball 3, and exits from the opposite exit at the other end, and then passes through the side mass channel 20 of the third ball 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 joint 8 on the same side.

[0049] The other three groups of ropes are threaded according to this group of ropes.

[0050] In another specific embodiment, 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 mass. One end of each of the root joint hemisphere 1 and the end joint hemisphere 10 is a hemispherical structure for connecting to a hemispherical groove of a ball-and-socket joint at the root or end. The annular side mass of each of the root joint hemisphere 1 and the end joint hemisphere 10 is provided with an axially extending rope passage. The root joint hemisphere 1, the end joint hemisphere 10, the plurality of sub-joint balls, and the plurality of ball-and-socket joints are interconnected, and a rope is used to connect the root joint hemisphere 1, the end joint hemisphere 10, the plurality of sub-joint balls, and the plurality of ball-and-socket joints. Thus, when in use, the root joint hemisphere 1 and the end joint hemisphere 10 can serve as the structures at both ends. In specific use, they can be placed at the ends of the first ball-and-socket joint 5 and the fourth ball-and-socket joint 8, and the rope passage can be used to coordinate rope walking or to secure the rope ends.

[0051] As attached Figure 12 As shown, in a further embodiment, a friction layer 11 is further included. The friction layer 11 is truncated cone-shaped, and the flared end of the cone is provided with a hemispherical mounting groove for connecting to the hemispherical structure. The other end of the cone is open. The inner and outer surfaces of the friction layer 11 each have 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 corresponding bosses in the hemispherical groove are provided with connecting grooves for connecting with the bosses. The friction layer 11 is disposed between the hemispherical structure and the hemispherical groove. During use, for example, the inner boss of the friction layer 11 can be aligned with the connecting groove on the surface of the hemispherical structure of the root joint hemisphere 1 for installation. The friction layer 11 is tightly covered on the surface of the hemispherical structure. The corresponding connecting groove of the ball and socket joint is aligned with the outer boss of the friction layer 11, tightly attached to the friction layer. The rest of the installation can be performed in the same manner.

[0052] As attached Figure 8 and attached Figure 10 As shown, in the structure of the present invention, the entire linkage joint is considered a four-section linkage joint. A four-section linkage joint can be considered as two double-section linkage joints, and a double-section linkage joint can be further considered as two single-section linkage joints. For example, if it is considered 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 considered as a four-section linkage joint, the first double-section linkage joint and the second double-section linkage joint constitute the joint.

[0053] Specifically, 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.

[0054] 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 can be connected to the end joint hemisphere 10 of another structure so that the above structure can be continued.

[0055] In another specific embodiment, the annular side block is further provided with a plurality of equally spaced drive rope holes 21 extending therethrough. In a further embodiment, several drive ropes are further provided, each of which sequentially passes through a drive rope hole 21 at the end, several drive rope holes 21 on the same side, and a drive rope hole 21 at the base of the same side. Furthermore, the drive ropes are positioned between two adjacent rope-traveling side blocks and are not connected to the ball-and-socket joint. In this embodiment, four drive ropes are provided. During use, the four drive ropes are passed through these drive rope holes 21 and then connected to the drive motor. The drive motor controls the retraction and expansion of the four drive ropes, thereby changing the operational configuration of the robot structure.

[0056] 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 to their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0057] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A linkage-type serial ball-jointed continuum robot structure, characterized by: The rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the first to the fourth ball and socket joints, and the rope is configured to connect the The double helix structure ball-socket channel includes a first ball-socket channel, a second ball-socket channel, a third ball-socket channel and a fourth ball-socket channel. 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 and the fourth ball-socket channel respectively and are in the same radial direction. The double-helix structure joint ball channel includes 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 of sub-channels includes an inner sub-channel and an outer sub-channel, and 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 and the fourth joint ball channel, and the inlets of the inner sub-channel and the outer sub-channel of each group correspond one-to-one with the inlets of the first joint ball channel, the second joint ball channel, the third joint ball channel and the fourth joint ball channel respectively; The inlets and outlets of the first to fourth joint ball channels on the first and second joint balls are both located between the inner sub-channel and the outer sub-channel, and the inlets and outlets of the first to fourth joint ball channels on the intermediate joint ball are both located outside the inner sub-channel and the outer sub-channel; The continuum robot structure 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 ring surfaces of the friction layer also have a pair of bosses respectively, and the two pairs of bosses are perpendicular to each other. The surface of the hemispherical structure and the hemispherical groove are provided with connecting grooves for connection to the bosses, and the friction layer is arranged between the hemispherical structure and the hemispherical groove.

2. The linkage-type serial ball-jointed continuum robot structure according to claim 1, characterized in that: The ropes are provided in four groups, each group including four first ropes, two second ropes and a third rope. The first of the first ropes in one group passes through the first ball and socket channel entrance of the first ball and socket joint, passes through the first ball and socket channel exit at the other end of the first ball and socket joint, and then passes through 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 in the inner sub-channel. The other end of the second first rope passes through the third ball and socket channel entrance of the second ball and socket joint, passes through the third ball and socket channel exit at the other end of the second ball and socket joint, and then passes through the inner sub-channel of the middle joint ball and is fixed. One end of the three first ropes and the end of the second first rope are fixed together in the inner sub-channel, the other end of the third first rope passes through the first ball and socket channel entrance of the third ball and socket joint, passes through the first ball and socket channel exit at the other end of the third ball and socket joint, and then passes through 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 passes through the third ball and socket channel entrance of the fourth ball and socket joint, and passes through the third ball and socket channel exit at the other end of the fourth ball and socket joint. The ball and socket passage exits; a second rope passes through the side mass passage on one side of the first ball and socket joint, then passes through the entrance of the first joint ball passage in the middle position of the first joint ball, passes through the exit of the first joint ball passage at the other end, then passes through the side mass passage on the opposite side of the second ball and socket joint, and passes through the outer sub-channel in the middle position of the middle joint ball on the same side and is fixed, the end of the other second rope is fixed to the outer sub-channel, and the other end passes through the side mass passage of the third ball and socket joint on the same side, and then passes through the entrance of the third joint ball passage in the middle position of the second joint ball. The third rope passes through the side mass channel on one side of the first ball joint, the outer sub-channel of the first joint ball on the same side, and the side mass channel of the second ball joint on the same side, then passes through the entrance of the first joint ball channel of the middle joint ball, passes through the outlet of the first joint ball channel on the other end, and then passes through the side mass channel of the third ball 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 joint on the same side.

3. The linkage-type serial ball-jointed continuum robot structure according to claim 1, characterized in that: The root joint hemisphere and the end joint hemisphere are both provided with protruding annular side blocks, and one end of the root joint hemisphere and the end joint hemisphere are both hemispherical structures, which are used to connect 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 axially penetrating rope routing channels.

4. The linkage-type serial ball-jointed 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 which penetrate the block at equal intervals.

5. The linkage-type serial ball-joint continuum robot structure according to claim 4, characterized in that: The continuum robot structure further includes several driving ropes, each of which passes through the driving rope through hole at the end on the same side, several driving rope through holes on the same side, and the driving rope through hole at the root on the same side in sequence.

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