Structural layout spiral tendon continuum robot and use method

Abstract

The invention discloses a structural layout spiral tendon continuum robot and a using method, and belongs to the technical field of continuum robots. The robot comprises a structural spiral guiding tendon spacing disc, a continuum backbone, a continuum guiding bone, a tendon adjustable tensioning device and a tendon winding transmission module. A plurality of structural spiral guide tendon spacing plates are mounted on the continuum backbone; the end part of the continuum backbone is mounted at one end of the continuum guide bone, and the other end of the continuum guide bone is arranged in front of the tendon adjustable tensioning device; the tendon winding transmission module is arranged behind the tendon adjustable tensioning device; the tendon sequentially passes through the structural spiral guide tendon spacing disc, the continuum guide bone and the tendon adjustable tensioning device and is connected to the tendon winding transmission module. According to the improved tendon tensioning device, the stability of tendons is guaranteed, the movement capacity of a continuum robot in a complex space environment is enhanced, and the control precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of continuum robots, and in particular to a structurally arranged spiral tendon continuum robot and a use method thereof. Background Art

[0002] With the rapid advancement of modern science and technology, the application of continuum robots in many key fields, especially in medical surgery, precision industrial inspection and disaster relief, is increasingly highlighting its irreplaceable value. With its excellent flexibility, high environmental adaptability and ability to move flexibly in complex spaces, this type of robot has become a powerful tool for solving problems such as extremely high precision requirements for minimally invasive surgery and difficulty in detecting narrow and unstructured environments. However, although continuum robots have shown great application potential in these fields, their existing technical framework and design concepts still face many challenges and limitations, hindering their further expansion into more complex and higher precision tasks.

[0003] The core of the continuum robot lies in its unique driving and transmission mechanism, which relies on the tendon system to achieve complex movements such as bending and twisting of the robot body. Although this mechanism gives the robot flexible motion characteristics to a certain extent, the tendon layout and guide structure design under the existing technology are relatively simple and fixed. Most continuum robots adopt a relatively simple tendon drive mode, in which the path and guide structure of the tendon are often limited to specific geometric shapes, such as straight lines or simple curves, which makes the robot appear powerless when facing tasks that require multi-dimensional and multi-angle bending and deformation to adapt to complex spatial structures. Especially in medical minimally invasive surgery, for the precise manipulation of surgical instruments to explore and operate complex paths in the human body, the existing tendon layout is difficult to meet the surgeon's dual requirements for robot flexibility and accuracy. In addition, in application scenarios such as disaster relief and industrial inspection, the exploration of narrow spaces and adaptability to unstructured environments also pose higher challenges to the structural design of continuum robots, and the limitations of existing tendon guide structures undoubtedly limit the application potential of robots in these fields.

[0004] The design and control accuracy of the tendon tensioning device is another urgent problem to be solved. During the working process of the continuum robot, the stable tensioning of the tendon is a key factor to ensure the robot's motion accuracy and stability. However, the traditional tendon tensioning device has significant deficiencies in adjustment. The adjustment process is cumbersome and it is not easy to achieve precise quantitative control, which leads to the gradual relaxation of the tendon due to fatigue and wear after the robot works continuously for a long time, directly affecting the control accuracy and motion effect of the robot. Especially in medical surgery, any small control error may bring unpredictable risks. Existing tendon guide and tensioning devices also have great difficulties in structural adjustment. Due to design limitations, these devices often need to disassemble the entire tendon system when they need to adjust the tendon layout or tension. This is not only complicated, time-consuming and labor-intensive, but may also cause damage to the tendon and guide structure, seriously affecting the work efficiency and service life of the robot. Especially in the face of emergency rescue missions or industrial inspection tasks that require frequent changes in the working environment, the complexity of this structural adjustment has undoubtedly become a major obstacle to the application of continuum robots. Summary of the invention

[0005] Aiming at the problems that the tendon continuum robot in the prior art has a single tendon layout, difficult tendon tensioning adjustment, and complex structure adjustment, which limits its flexibility and control accuracy in complex tasks, the present invention provides a structural layout spiral tendon continuum robot, an improved tendon tensioning device ensures the stability of the tendon, enhances the movement ability of the continuum robot in a complex space environment, and improves the control accuracy.

[0006] In order to achieve the above object, the present invention provides the following technical solutions.

[0007] In the first aspect, the present invention provides a structural layout spiral tendon continuum robot, including a structural spiral guide tendon spacer, a continuum backbone, a continuum guide bone, a tendon adjustable tensioning device and a tendon winding transmission module; a plurality of the structural spiral guide tendon spacers are installed on the continuum backbone; the end of the continuum backbone is installed at one end of the continuum guide bone, and the other end of the continuum guide bone is arranged in front of the tendon adjustable tensioning device; the tendon winding transmission module is arranged behind the tendon adjustable tensioning device; the tendon passes through the structural spiral guide tendon spacer, the continuum guide bone and the tendon adjustable tensioning device in sequence, and is connected to the tendon winding transmission module.

[0008] As a further improvement of the present invention, it also includes a transmission module; the transmission module is connected to the tendon winding transmission module.

[0009] As a further improvement of the present invention, it also includes a robot structural box; the continuum guide bone passes through the side wall of the robot structural box and extends into the robot structural box; the tendon adjustable tensioning device, the tendon winding transmission module and the transmission module are arranged inside the robot structural box.

[0010] As a further improvement of the present invention, the structural spiral guide tendon spacer includes an adjustable structural spiral guide tendon spacer fixing seat and a structural guide tendon spiral spacer; the structural guide tendon spiral spacer is installed on the adjustable structural spiral guide tendon spacer fixing seat, and the special-shaped pin hole of the adjustable structural spiral guide tendon spacer fixing seat and the mounting hole of the structural guide tendon spiral spacer are located on the same central axis; the continuum backbone passes through the special-shaped pin hole of the adjustable structural spiral guide tendon spacer fixing seat and the mounting hole of the structural guide tendon spiral spacer.

[0011] As a further improvement of the present invention, the adjustable structural spiral guide tendon spacer disc fixing seat also includes a front side of the spacer disc fixing seat, an installation inner surface groove and an open wire passing groove; a plurality of open wire passing grooves with equal spacing in the same direction are arranged in the outer area of ​​the adjustable structural spiral guide tendon spacer disc fixing seat; the special-shaped pin hole is arranged in the central area of ​​the adjustable structural spiral guide tendon spacer disc fixing seat; the installation inner surface groove is arranged on the back side of the spacer disc fixing seat opposite to the front side of the spacer disc fixing seat.

[0012] As a further improvement of the present invention, the structural guide tendon spiral spacer disk includes a tendon guide hole and a hexahedron; the hexahedron is arranged in the central area of ​​the structural guide tendon spiral spacer disk; the side of the hexahedron is provided with a plurality of tendon guide holes in the same direction and at equal intervals; the mounting hole is arranged in the central area of ​​the hexahedron; the outer side surface of the structural guide tendon spiral spacer disk is a plane, and the hexahedron and the same bottom surface of the tendon guide hole are located in the same horizontal plane; on the inner side of the structural guide tendon spiral spacer disk, the hexahedron is higher than the tendon guide hole, forming a square convex groove on the inner side surface; the square convex groove on the inner side surface is installed in the mounting inner surface groove of the adjustable structural spiral guide tendon spacer disk fixing seat.

[0013] As a further improvement of the present invention, the continuum backbone includes a front end shoulder, a continuum flexible segment, a shoulder, an end fixed end and a continuum end spacer; a plurality of continuum flexible segments are arranged between the front end shoulder and the end fixed end; the front end of the first continuum flexible segment is connected to the front end shoulder, the end of the first continuum flexible segment is connected to the front end of the second continuum flexible segment, the end of the second continuum flexible segment is connected to the front end of the third continuum flexible segment, and so on, until the end of the N-1th continuum flexible segment is connected to the front end of the Nth continuum flexible segment, and the end of the Nth continuum flexible segment is connected to the end fixed end; the shoulder is arranged between every two continuum flexible segments; and the structural spiral guide tendon spacer is installed on the shoulder.

[0014] As a further improvement of the present invention, the adjustable tendon tensioning device includes a forward plate, a rear plate, a through groove, a longitudinal slide groove, a tendon guide hole, a transverse slide groove, a tendon guide block, a nut and a bolt rod; the through groove includes a first tendon through groove, a second tendon through groove, a third tendon through groove and a fourth tendon through groove; the longitudinal slide groove includes a first longitudinal slide groove and a second longitudinal slide groove; the transverse slide groove includes a first transverse slide groove and a second transverse slide groove; the tendon guide hole includes a first tendon guide hole, a second tendon guide hole, a third tendon guide hole and a fourth tendon guide hole; the first tendon through groove, the second tendon through groove, the third tendon through groove and the fourth tendon through groove are arranged at equal intervals with the center of the circle of the adjustable tendon tensioning device; the first tendon guide hole is arranged on one side of the first tendon through groove; the second tendon guide hole is arranged on one side of the second tendon through groove; the third tendon guide hole is arranged on one side of the third tendon through groove; the fourth tendon guide hole is arranged on one side of the fourth tendon through groove; the first tendon through groove The first longitudinal groove is set on the other side of the second tendon groove; the second transverse groove is set on the other side of the second tendon groove; the second longitudinal groove is set on the other side of the third tendon groove; the first transverse groove is set on the other side of the fourth tendon groove; the first longitudinal groove, the second longitudinal groove, the first transverse groove and the second transverse groove are set on the forward plate and do not penetrate the rear plate; the tendon guide block includes a tendon guide hole, a guide block fixing hole, a sliding T-slot and a guide block body; the tendon guide hole is set in the top area of ​​the guide block body, and the guide block fixing hole is set in the middle area of ​​the guide block body; the sliding T-slot is installed in the lower area of ​​the guide block body; the tendon guide block slides into the transverse groove or the longitudinal groove through the sliding T-slot; the bolt rod passes through the guide block fixing hole to reach the tendon groove, and the tendon guide block is fixed to the tendon adjustable tensioning device by the nut.

[0015] As a further improvement of the present invention, the continuum backbone, the continuum guide bone, the tendon adjustable tensioning device and the tendon winding transmission module are located on the same center line.

[0016] The second object of the present invention is to provide a method for using a structurally arranged spiral tendon continuum robot, comprising: After starting to work, the tendon winding transmission module starts to pull the tendon, and the tendon passes through the tendon adjustable tensioning device, the robot structure box, and the continuum guide bone in sequence, and controls the continuum backbone through several layouts of the structural spiral guide tendon spacer disk to perform the action; If the tendon becomes loose due to long-term work when performing complex tasks, the tendon can be tightened by the tendon adjustable tensioning device.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The structural layout spiral tendon continuum robot provided by the present invention solves the limitations faced by the tendon continuum robot in the prior art in tendon layout, tension adjustment and structural adjustment, thereby greatly improving its flexibility and control accuracy when performing complex tasks. Specifically, the structural spiral guide tendon spacer disk adopted by the robot not only breaks the singleness of the traditional tendon layout, but also realizes the multi-dimensional and spiral distribution of the tendons on the continuum backbone. This layout method not only optimizes the path planning of the tendons and reduces the mutual interference between the tendons, but also significantly enhances the structural strength and stability of the robot. The design of each spacer disk has been precisely calculated to ensure that the tendon can evenly distribute stress when bearing load, avoiding the degradation or damage of the robot performance caused by local overload, and providing a solid foundation for the robot to perform high-precision and high-load operations.

[0018] Furthermore, the combination of the continuum backbone and the continuum guide bone constructs a motion frame that is both flexible and stable. As the main support structure of the robot, the material selection and structural design of the continuum backbone take into account the balance between light weight and high strength, ensuring the robot's rapid response and long-term operation capabilities in complex spatial environments. The design of the continuum guide bone achieves precise guidance and support of the tendon path by precisely controlling its length, bending angle and material elasticity, effectively improving the efficiency and accuracy of tendon transmission. This design not only simplifies the complexity of traditional robot structural adjustment, but also enables the robot to adjust its posture more quickly and flexibly when facing different operating requirements to adapt to changing operating environments.

[0019] Furthermore, the adjustable tendon tensioning device introduced in the present invention is the key to improving the robot's motion performance and control accuracy. The device can monitor the tension state of the tendon in real time through built-in high-precision sensors and intelligent algorithms, and automatically adjust according to preset parameters or real-time feedback data to ensure that the tendon is always in the best working state. It not only solves the problem of difficult tendon tension adjustment, but also significantly improves the stability and reliability of tendon transmission, reduces the motion error caused by tendon relaxation or excessive tensioning, and enables the robot to more accurately control the motion trajectory and strength of each joint when performing precision operations or complex movements, thereby greatly improving the quality and efficiency of operations. In addition, the introduction of the tendon winding transmission module, which adopts advanced winding technology and precise transmission mechanism, realizes efficient and smooth transmission of the tendon. At the same time, its modular design makes maintenance and upgrading more convenient, and the transmission ratio can be flexibly adjusted or tendons of different specifications can be replaced according to actual needs to adapt to different operating scenarios and load requirements. This high degree of flexibility and scalability makes the robot proposed in the present invention not only suitable for current work tasks, but also has good future adaptability. It can be continuously upgraded with the continuous advancement of technology to meet more diversified and higher-level work requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure in any way. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a structural layout spiral tendon continuum robot of the present invention; Figure 2 This is a schematic diagram of the rear view of a structural layout spiral tendon continuum robot of the present invention without the shell; Figure 3 This is a schematic diagram of the axonometric structure of a structurally arranged spiral tendon continuum robot without the shell; Figure 4 It is a schematic diagram of the structure of a structural spiral guide tendon spacer disk of a structurally arranged spiral tendon continuum robot of the present invention; Figure 5 The present invention provides two modes of structural schematic diagrams of adjustable spiral-guided tendon spacer disc fixing seats; wherein (a) is a schematic diagram of the front structure of the adjustable spiral-guided tendon spacer disc fixing seat; (b) is a schematic diagram of the back structure of the adjustable spiral-guided tendon spacer disc fixing seat; Figure 6 The present invention provides a schematic diagram of the structure of a guide tendon spiral structure spacer disk; wherein (a) is a schematic diagram of the structure of the outer side of the guide tendon spiral structure spacer disk; (b) is a schematic diagram of the structure of the inner side of the guide tendon spiral structure spacer disk; Figure 7 It is a schematic diagram of a spacer disc structure of a structural guide tendon spiral working condition provided by the present invention; Figure 8 It is a schematic diagram of the structure of the structural spiral guide tendon spacer disc fixing seat provided by the present invention; Fig. 9 The present invention provides a schematic diagram of a continuum backbone structure; wherein (a) is a schematic diagram of the front structure of the continuum backbone; (b) is a schematic diagram of the back structure of the continuum backbone; Fig.10 The present invention provides a schematic diagram of a structure of a continuous body backbone equipped with a structural spiral guide tendon spacer; wherein (a) is a schematic diagram of the front structure of a continuous body backbone equipped with a structural spiral guide tendon spacer; (b) is a schematic diagram of the back structure of a continuous body backbone equipped with a structural spiral guide tendon spacer; Fig.11 The present invention provides a schematic structural diagram of an adjustable device for tendon tensioning; Fig.12 The present invention provides a schematic diagram of the structure of a tendon tensioning stand; wherein (a) is a schematic diagram of the structure of a forward plate of the tendon tensioning stand; (b) is a schematic diagram of the structure of a rearward plate of the tendon tensioning stand; Fig.13 The present invention provides a schematic diagram of the structure of a tendon guide block; wherein (a) is a schematic diagram of the structure of a tendon guide block from the front; (b) is a schematic diagram of the structure of a tendon guide block from the left side inverted; Fig.14 This is a schematic diagram of the structure of a tendon transmission device of a structurally arranged spiral tendon continuum robot of the present invention; Fig.15 This is a schematic diagram of a stepped shaft structure for pulling the tendon of a structurally arranged spiral tendon continuum robot of the present invention; Fig.16 This is a schematic diagram of the structure of a tendon drive transmission device of a structurally arranged spiral tendon continuum robot of the present invention; Fig.17 This is a schematic diagram of the application of the present invention.

[0021] In the figure, 1 is a structural layout spiral tendon continuum robot; 10 is a structural spiral guide tendon spacer; 101 is an adjustable structural spiral guide tendon spacer fixing seat; 1011 is a special-shaped pin hole; 1012 is the front of the spacer fixing seat; 1013 is the installation inner surface groove; 10131 is the first square groove; 10132 is the second square groove; 10137 is the Nth square groove; 1014 is an open wire groove; 102 is a structural guide tendon spiral spacer; 1021 is a mounting hole; 1022 is a square convex groove on the inner side; 1023 is an outer side; 1024 is a tendon guide hole; 1025 is a hexahedron; 20 is a continuum backbone; 201 is a front end shoulder; 202 is a continuum flexible section; 20 3 is a shoulder; 2031 is a shoulder arc surface; 204 is a shoulder plane; 205 is an end fixed end; 206 is a continuum end spacer; 2061 is a first outer diameter hole; 2062 is a second outer diameter hole; 30 is a continuum guide bone; 40 is a robot structure box; 50 is a tendon adjustable tensioning device; 501 is a forward plate; 502 is a backward plate; 503 is a through groove; 5031 is a first tendon through groove; 5032 is a second tendon through groove; 5033 is a third tendon through groove; 5034 is a fourth tendon through groove; 504 is a longitudinal slide groove; 5041 is a first longitudinal slide groove; 5042 is a second longitudinal slide groove; 505 is a tendon guide hole; 5051 is a first tendon guide hole; 5052 is a second tendon guide hole; 5 053 is the third tendon guide hole; 5054 is the fourth tendon guide hole; 506 is the transverse slide; 5061 is the first transverse slide; 5062 is the second transverse slide; 507 is the tendon guide block; 5071 is the tendon guide hole; 5072 is the guide block fixing hole; 5073 is the sliding T-slot; 5074 is the guide block body; 508 is the nut; 509 is the bolt rod; 60 is the tendon winding transmission module; 601 is the first rotating step wheel shaft; 6011 is the first main shaft; 6012 is the first shaft shoulder; 6013 is the first tendon fixing wheel; 60131 is the first tendon fixing groove; 60132 is the second tendon fixing groove; 60133 is the third tendon fixing groove; 602 is the second rotating step wheel shaft; 602 1 is the second main shaft; 6022 is the second shaft shoulder; 6023 is the second tendon fixing wheel; 6031 is the first fixing frame; 60311 is the first U-shaped groove; 60312 is the second U-shaped groove; 6032 is the second fixing frame; 60321 is the twenty-first U-shaped groove; 60322 is the twenty-second U-shaped groove; 6041 is the first driving fixing frame; 6042 is the second driving fixing frame; 605 is the fixing nut; 70 is the driving module; 7011 is the first coupling; 7012 is the second coupling; 7021 is the first worm gear reducer; 7022 is the second worm gear reducer; 7031 is the first servo motor; 7032 is the second servo motor; 704 is the worm gear reducer fixing frame. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the present invention will be clearly and completely described below in conjunction with the drawings in the present invention. The described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present invention.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0024] Aiming at the problems that the tendon continuum robot in the prior art has a single tendon layout, difficult tendon tensioning adjustment, and complex structure adjustment, which limits its flexibility and control accuracy in complex tasks, the present invention provides a structural layout spiral tendon continuum robot.

[0025] like Figure 1 As shown, the present invention is a structural layout spiral tendon continuum robot, including a structural spiral guide tendon spacer disk 10, a continuum backbone 20, a continuum guide bone 30, a robot structure box 40, a tendon adjustable tensioning device 50, a tendon winding transmission module 60 and a driving module 70.

[0026] The structural spiral guide tendon spacer 10 is installed on the continuum backbone 20 to form the actuator of the structural layout spiral tendon continuum robot. The other end of the continuum backbone 20 is installed on one end of the continuum guide bone 30, and the other end of the continuum guide bone 30 is installed on the robot structural box 40, forming the overall appearance of the structural layout spiral tendon continuum robot 1. The tendon adjustable tensioning device 50, the tendon winding transmission module 60 and the driving module 70 are placed inside the robot structural box 40. The driving module 70 is used to drive the tendon winding transmission module 60 to move.

[0027] like Figure 2 As shown, the tendon adjustable tensioning device 50 is placed in the inner area of ​​the robot structure box 40 close to the continuum guide bone 30, and the tendon winding transmission module 60 and the driving module 70 are placed in the inner area of ​​the robot structure box 40 away from the continuum guide bone 30.

[0028] like Figure 3As shown, the continuum backbone 20, the continuum guide bone 30, the tendon adjustable tensioning device 50 and the tendon winding transmission module 60 are located on the same center line.

[0029] The tendon is installed on the structural layout spiral tendon continuum robot 1, and the tendon passes through the structural spiral guide tendon spacer 10, the continuum guide bone 30, the robot structure box 40, the tendon adjustable tensioning device 50 in sequence, and is finally connected to the tendon winding transmission module 60. Under the action of the driving module 70, the tendon winding transmission module 60 starts to pull the tendon, and the tendon passes through the tendon adjustable tensioning device 50, the robot structure box 40, and the continuum guide bone 30. Through the structural spiral guide tendon spacer 10 with different layouts, the force is transmitted to the continuum backbone 20, so that it can achieve different configurations in specific tasks.

[0030] When the structurally arranged spiral tendon continuum robot 1 performs a complex task, the tendon may become loose due to long-term work. Therefore, when performing a new task or during a task, it is necessary to detect the tension of the tendon or to tension the tendon using an adjustable tendon tensioning device 50.

[0031] Therefore, the structural layout spiral tendon continuum robot of the present invention can perform deep cavity operation tasks, such as minimally invasive surgery and narrow and congested unstructured environment detection. Since the present invention improves the tendon tensioning device, the stability of the tendon is guaranteed, the movement ability of the continuum robot in a complex space environment is enhanced, and the control accuracy is improved.

[0032] The structural spiral guide tendon spacer 10 of the present invention can realize the tendon spiral layout of the structural spiral tendon continuum robot 1 without disassembling the tendon. Figure 4 As shown, the structural spiral guiding tendon spacer 10 includes an adjustable structural spiral guiding tendon spacer fixing seat 101 and a structural guiding tendon spiral spacer 102 .

[0033] The adjustable structural spiral guide tendon spacer disc fixing seat 101 comprises a special-shaped pin hole 1011 , a spacer disc fixing seat front face 1012 , an installation inner surface groove 1013 and an open wire passing groove 1014 .

[0034] The structural guide tendon spiral spacer 102 is installed on the adjustable structural spiral guide tendon spacer fixing seat 101, and the special-shaped pin hole 1011 of the adjustable structural spiral guide tendon spacer fixing seat 101 and the mounting hole 1021 of the structural guide tendon spiral spacer 102 are located on the same central axis.

[0035] like Figure 5As shown, the adjustable structure type spiral guide tendon spacer disc fixing seat 101 is circular, and a plurality of open wire grooves 1014 with equal spacing in the same direction are arranged in the outer area of ​​the circle, and a special-shaped pin hole 1011 is arranged in the central area of ​​the adjustable structure type spiral guide tendon spacer disc fixing seat 101, and the front side 1012 of the spacer disc fixing seat is a horizontal smooth surface. The back side of the spacer disc fixing seat opposite to the front side 1012 of the spacer disc fixing seat is provided with an installation inner surface groove 1013, and the center point of the installation inner surface groove 1013 and the special-shaped pin hole 1011 are located on the same central axis. The installation inner surface groove 1013 includes a first square groove 10131 and a second square groove 10132.

[0036] The first square groove 10131 and the second square groove 10132 are overlapped and arranged on the back of the spacer plate fixing seat. The first square groove 10131 and the second square groove 10132 are of the same size, and the center point and the special-shaped pin hole 1011 are located on the same central axis.

[0037] like Figure 6 As shown, the structural guiding tendon spiral spacer 102 includes a mounting hole 1021 , a tendon guiding hole 1024 and a hexahedron 1025 .

[0038] The central area of ​​the structural guiding tendon spiral spacer 102 is a hexahedron 1025, and the four sides of the hexahedron 1025 are provided with a plurality of tendon guiding holes 1024 with equal spacing in the same direction, and the mounting hole 1021 is provided in the central area of ​​the hexahedron 1025. Figure 6 As shown in (a), the outer side surface 1023 of the structural tendon guiding spiral spacer 102 is a plane, and the hexahedron 1025 and the same bottom surface of the tendon guiding hole 1024 are located in the same horizontal plane; Figure 6 As shown in (b), on the inner side of the structural guiding tendon spiral spacer 102, the hexahedron 1025 is higher than the tendon guiding hole 1024, forming a square convex groove 1022 on the inner side.

[0039] like Figure 7 As shown, the structural guide tendon spiral spacer 102 is installed on the adjustable structural spiral guide tendon spacer fixing seat 101, the special-shaped pin hole 1011 and the mounting hole 1021 are aligned, and the inner side square convex groove 1022 of the structural guide tendon spiral spacer 102 is installed in the square groove of the adjustable structural spiral guide tendon spacer fixing seat 101.

[0040] When the first square groove 10131 of the inner groove 1013 is selected for installation, at this time, in the structural spiral guide tendon spacer 10, the special-shaped pin hole 1011 of the adjustable structural spiral guide tendon spacer fixing seat 101 and the installation hole 1021 of the structural guide tendon spiral spacer 102 are aligned to form a circular hole.

[0041] When the second square groove 10132 of the inner groove 1013 is selected for installation, at this time, in the structural spiral guide tendon spacer 10, the special-shaped pin hole 1011 of the adjustable structural spiral guide tendon spacer fixing seat 101 and the installation hole 1021 of the structural guide tendon spiral spacer 102 are aligned to form a long strip hole.

[0042] like Figure 8 As shown, in order to perform more complex spatial tasks, the number of square grooves in the installation inner groove 1013 can be increased until the Nth square groove 10137 is reached. When the tendon winding state needs to be adjusted, the structural guide tendon spiral spacer 102 is installed in different sub-square grooves in the installation inner groove 1013 to form the holes required under the set conditions. By alternately installing the structural guide tendon spiral spacer 102 in square grooves at different positions, a variety of spiral variations of the tendon path can be achieved.

[0043] A plurality of structural spiral guide tendon spacers 10 are installed on the continuum backbone 20, and the spirally arranged tendons are used to enable the continuum backbone 20 to achieve complex spatial bending deformation.

[0044] It should be clear that the shapes of the square groove and the corresponding inner square convex groove in the present invention correspond to each other and are not limited to square. In the plurality of structural spiral guide tendon spacers 10 installed on the continuum backbone 20, each structural spiral guide tendon spacer 10, its structural guide tendon spiral spacer 102 can be installed in different sub-square grooves in the installation inner surface groove 1013, or can be installed in the same sub-square groove in the installation inner surface groove 1013, and the selection is made according to actual needs.

[0045] Therefore, when the structural spiral guide tendon spacer 10 of the present invention is installed on the continuum backbone 20, the continuum actuator of the structural layout spiral tendon continuum robot 1 can be constructed.

[0046] like Fig. 9 As shown, the continuum backbone 20 includes a front end shoulder 201 , a continuum flexible section 202 , a shoulder 203 , a terminal fixed end 205 and a continuum terminal spacer 206 .

[0047] A plurality of continuum flexible segments 202 are arranged between the front end shoulder 201 and the terminal fixed end 205, the front end of the first continuum flexible segment 202 is connected to the front end shoulder 201, the end of the first continuum flexible segment 202 is connected to the front end of the second continuum flexible segment 202, the end of the second continuum flexible segment 202 is connected to the front end of the third continuum flexible segment 202, and so on, until the end of the N-1th continuum flexible segment 202 is connected to the front end of the Nth continuum flexible segment 202, and the end of the Nth continuum flexible segment 202 is connected to the terminal fixed end 205; a shoulder 203 is arranged between the two continuum flexible segments 202.

[0048] like Fig. 9 (a) and Fig. 9 As shown in (b), the shoulder 203 includes a shoulder arc surface 2031 and a shoulder plane 204 .

[0049] like Fig.10 As shown, the continuum end spacer 206 is installed on the front end shaft shoulder 201, and the structural spiral guide tendon spacer 10 is installed on the shaft shoulder 203. By installing the structural spiral guide tendon spacer 10 on the continuum backbone 20, the front continuum actuator can be constructed.

[0050] The continuum end spacer disk 206 includes a first outer diameter hole 2061 and a second outer diameter hole 2062 .

[0051] The first outer diameter hole 2061 is disposed in an annular region near the edge of the spacer disk 206 at the end of the continuum, and the second outer diameter hole 2062 is disposed in an annular region near the edge of the spacer disk 206 at the end of the continuum backbone 20 .

[0052] The tendon passes through the first outer diameter hole 2061 and the second outer diameter hole 2062 to reach the structural spiral guide tendon spacer 10.

[0053] The continuum end spacer 206 is installed on the continuum guide bone 30 to complete the connection between the continuum backbone 20 and the continuum guide bone 30, so that a continuum actuator capable of performing more complex tasks can be constructed.

[0054] like Fig.11 As shown, the tendon adjustable tensioning device 50 includes a forward plate 501, a rearward plate 502, a through slot 503, a longitudinal slot 504, a tendon guide hole 505, a transverse slot 506, a tendon guide block 507, a nut 508 and a bolt rod 509.

[0055] The through groove 503 includes a first tendon through groove 5031, a second tendon through groove 5032, a third tendon through groove 5033 and a fourth tendon through groove 5034. The longitudinal slide groove 504 includes a first longitudinal slide groove 5041 and a second longitudinal slide groove 5042. The transverse slide groove 506 includes a first transverse slide groove 5061 and a second transverse slide groove 5062. The tendon guide hole 505 includes a first tendon guide hole 5051, a second tendon guide hole 5052, a third tendon guide hole 5053 and a fourth tendon guide hole 5054.

[0056] like Fig.12 As shown, the first tendon groove 5031, the second tendon groove 5032, the third tendon groove 5033 and the fourth tendon groove 5034 are arranged at equal intervals with the center of the adjustable tendon tensioning device 50. The first tendon groove 5031, the second tendon groove 5032, the third tendon groove 5033 and the fourth tendon groove 5034 are arranged in the same direction, and the first tendon guide hole 5051, the second tendon guide hole 5052, the third tendon guide hole 5053 and the fourth tendon guide hole 5054 are provided. Fig.12 As shown in (b), a first tendon guide hole 5051 is provided on one side of the first tendon groove 5031; a second tendon guide hole 5052 is provided on one side of the second tendon groove 5032; a third tendon guide hole 5053 is provided on one side of the third tendon groove 5033; and a fourth tendon guide hole 5054 is provided on one side of the fourth tendon groove 5034. Fig.12 As shown in (a), a first longitudinal groove 5041 is provided on the other side of the first tendon groove 5031; a second transverse groove 5062 is provided on the other side of the second tendon groove 5032; a second longitudinal groove 5042 is provided on the other side of the third tendon groove 5033; and a first transverse groove 5061 is provided on the other side of the fourth tendon groove 5034. The first tendon groove 5031, the first tendon guide hole 5051 and the first longitudinal groove 5041 are parallel to each other; the second tendon groove 5032, the second tendon guide hole 5052 and the second transverse groove 5062 are parallel to each other; the third tendon groove 5033, the third tendon guide hole 5053 and the second longitudinal groove 5042 are parallel to each other; the fourth tendon groove 5034, the fourth tendon groove 5034 and the first transverse groove 5061 are parallel to each other.

[0057] The first longitudinal sliding groove 5041 , the second longitudinal sliding groove 5042 , the first transverse sliding groove 5061 and the second transverse sliding groove 5062 are arranged on the forward plate 501 and do not penetrate the backward plate 502 .

[0058] like Fig.13 As shown, the tendon guide block 507 includes a tendon guide hole 5071, a guide block fixing hole 5072, a sliding T-slot 5073 and a guide block body 5074.

[0059] The tendon guide hole 5071 is arranged in the top area of ​​the guide block body 5074, and the guide block fixing hole 5072 is arranged in the middle area of ​​the guide block body 5074; the sliding T-slot 5073 is installed in the lower area of ​​the guide block body 5074, and the included angle with the guide block body 5074 is 90°.

[0060] The tendon guide block 507 slides into the transverse slide groove 506 or the longitudinal slide groove 504 through its sliding T-slot 5073. The bolt rod 509 passes through the guide block fixing hole 5072 to reach the tendon through groove 503, and fixes the tendon guide block 507 to the tendon adjustable tensioning device 50 through the nut 508. The tendon passes through the tendon guide hole 5071 into the continuum guide bone 30, and reaches the structural spiral guide tendon spacer 10 through the outer diameter hole of the continuum diaphysis.

[0061] By sliding the tendon guide block 507 and adjusting its position, the structurally arranged spiral tendon continuum robot 1 can control the tensioning of the tendon within a certain range.

[0062] like Fig.14 As shown, a driving module 70 is provided on one side of the tendon winding transmission module 60 .

[0063] The tendon winding transmission module 60 includes a rotating stepped wheel shaft and a fixing frame.

[0064] The rotating stepped wheel shaft includes a first rotating stepped wheel shaft 601 and a second rotating stepped wheel shaft 602 ; the fixing frame includes a first fixing frame 6031 and a second fixing frame 6032 .

[0065] The first fixing frame 6031 is provided with a first U-shaped sink groove 60311 and a second U-shaped sink groove 60312 ; the second fixing frame 6032 is provided with a twenty-first U-shaped sink groove 60321 and a twenty-second U-shaped sink groove 60322 .

[0066] The first U-shaped trough 60311 and the second U-shaped trough 60312 are the same size as the twenty-first U-shaped trough 60321 and the twenty-second U-shaped trough 60322. The first U-shaped trough 60311 is arranged in parallel with the twenty-first U-shaped trough 60321, and the second U-shaped trough 60312 is arranged in parallel with the twenty-second U-shaped trough 60322.

[0067] The first rotating stepped wheel shaft 601 is placed on the second U-shaped groove 60312 and the twenty-second U-shaped groove 60322 , and the second rotating stepped wheel shaft 602 is placed on the first U-shaped groove 60311 and the twenty-first U-shaped groove 60321 .

[0068] A first drive fixing frame 6041 is disposed outside the first fixing frame 6031 and is fixed to the first drive fixing frame 6041 via a fixing nut 605. A second drive fixing frame 6042 is disposed outside the second fixing frame 6032 and is fixed to the second drive fixing frame 6042 via a fixing nut 605.

[0069] The first rotating stepped wheel shaft 601 and the second rotating stepped wheel shaft 602 are placed between the first fixing frame 6031 and the second fixing frame 6032 .

[0070] The first rotating stepped wheel shaft 601 includes a first main shaft 6011, a first shaft shoulder 6012 and a first tendon fixation wheel 6013. Fig.15 As shown, the first tendon fixation wheel 6013 is provided with a first tendon fixation groove 60131, a second tendon fixation groove 60132 and a third tendon fixation groove 60133. The tendon is pulled through the tendon fixation groove. The driving force is transmitted to the continuum backbone 20 through the structural spiral guide tendon spacer 10 with different layouts, so that it can achieve precise bending deformation. The first tendon fixation wheel 6013 is arranged in the middle area of ​​the first main shaft 6011, and the first shoulder 6012 is located on the first main shaft 6011 near the inner side of the first fixed frame 6031 of the first rotating step wheel shaft 601 to prevent the first rotating step wheel shaft 601 from falling off from the second U-shaped groove 60312 and the twenty-second U-shaped groove 60322; a shoulder can also be set on the first main shaft 6011 near the inner side of the second fixed frame 6032.

[0071] The second rotating stepped wheel shaft 602 comprises a second main shaft 6021, a second shaft shoulder 6022 and a second tendon fixation wheel 6023. The second tendon fixation wheel 6023 is provided with a twenty-first tendon fixation groove, a twenty-second tendon fixation groove and a twenty-third tendon fixation groove.

[0072] The second tendon fixing wheel 6023 is arranged in the middle area of ​​the second main shaft 6021, and the second shoulder 6022 is located on the first main shaft 6011 near the inner side of the first fixing frame 6031 of the second rotating step wheel shaft 602 to prevent the second rotating step wheel shaft 602 from falling off from the first U-shaped groove 60311 and the twenty-first U-shaped groove 60321; a shoulder can also be set on the second main shaft 6021 near the inner side of the second fixing frame 6032.

[0073] The grooves set on the side or top of the tendon fixation wheel can be used as the wire guide port for the tendon. Its function is to guide the tendon steel in and out of the tendon fixation wheel and ensure that they can move smoothly. This can reduce the friction and wear between the tendons and prevent them from getting confused or stuck when entering and exiting the tendon fixation wheel.

[0074] like Fig.16 As shown, the driving module 70 is mounted on the first driving fixed frame 6041, and is used to drive the first rotating stepped wheel shaft 601 and the second rotating stepped wheel shaft 602 to move.

[0075] The driving module 70 includes a coupling, a worm gear reducer, a servo motor and a worm gear reducer fixing frame 704 .

[0076] The worm gear reducer fixing frame 704 is used to fix the worm gear reducer.

[0077] The coupling includes a first coupling 7011 and a second coupling 7012. The worm gear reducer includes a first worm gear reducer 7021 and a second worm gear reducer 7022. The servo motor includes a first servo motor 7031 and a second servo motor 7032.

[0078] The first main shaft 6011 is connected to the first worm gear reducer 7021 through the first coupling 7011, and the first worm gear reducer 7021 is connected to the first servo motor 7031; the second main shaft 6021 is connected to the second worm gear reducer 7022 through the second coupling 7012, and the second worm gear reducer 7022 is connected to the second servo motor 7032. Thus, the connection between the tendon winding transmission module 60 and the driving module 70 is realized.

[0079] The worm gear reducer is connected to the servo motor so that the output motion of the servo motor is transmitted to the worm gear reducer, and the worm gear reducer is connected to the tendon winding transmission module 60 through a coupling. The tendon winding transmission module 60 pulls the tendon, and the tendon passes through the tendon adjustable tensioning device 50, and then to the continuum guide bone 30, and finally transmits the driving force to the continuum backbone 20 through the structural spiral guide tendon spacer 10, so that it bends and deforms.

[0080] like Fig.17 As shown, the structural layout spiral tendon continuum robot provided by the present invention, through a series of innovative designs and improvements, not only overcomes the limitations of traditional tendon continuum robots in layout, tension adjustment and structural adjustment, but also achieves remarkable results in improving robot flexibility, enhancing motion stability, and improving control accuracy. This breakthrough not only opens up new ways for the application of robotics in complex space environments, but also brings unprecedented development opportunities to multiple fields such as intelligent manufacturing, aerospace, and medical rehabilitation, indicating that future robotics will develop in a more intelligent, efficient, and precise direction.

[0081] The invention discloses a novel structural layout spiral tendon continuum robot, the core of which is to realize the spiral path layout and tension control of tendons through unique structural design, and enhance the spatial bending ability and operation accuracy of the robot. The robot is composed of a structural spiral guide tendon spacer 10, a continuum backbone 20, a continuum guide bone 30, a robot structural box 40, a tendon adjustable tensioning device 50, a tendon winding transmission module 60 and a driving module 70.

[0082] The structural spiral guide tendon spacer 10 is installed on the continuum backbone 20 to form a continuum actuator. The structural spiral guide tendon spacer 10 adopts an adjustable structural design and has multiple sub-square grooves, which can be installed with a structural guide tendon spiral spacer 102. By adjusting its installation position, various spiral changes of the tendon path can be achieved, and the adjustment can be made without disassembling the tendon. This design enables the tendon to be arranged in a spiral form, improves the bending ability of the continuum backbone 20, and meets the requirements of complex space tasks.

[0083] The continuum backbone 20 is mounted on the continuum guide bone 30, which enables the robot to have higher flexibility and can operate in complex environments such as deep cavities and narrow areas. The tendon adjustable tensioning device 50, the tendon winding transmission module 60 and the driving module 70 are arranged in the robot structural box. The tendon passes through the structural spiral guide tendon spacer 10, the continuum guide bone 30, the robot structural box 40 and the tendon adjustable tensioning device 50 in sequence, and is finally connected to the tendon winding transmission module 60.

[0084] The tendon adjustable tensioning device 50 achieves precise control of the tendon tensioning degree through sliding adjustment of the tendon guide block 507. The tendon guide block 507 can slide in the longitudinal slide groove 504 and the transverse slide groove 506, and is fixed by the nut 508 and the bolt rod 509. The adjustment process is simple and efficient. The device effectively solves the problem of tendon relaxation that may occur after long-term work, ensuring that the robot always maintains the best state when performing new tasks or tasks.

[0085] The output motion of the servo motor in the driving module 70 is transmitted to the tendon winding transmission module 60 through the worm gear reducer and the coupling. The rotating stepped wheel shaft transmitted to the tendon winding transmission module 60 is provided with a plurality of tendon fixing grooves, through which the tendon is pulled. The driving force is transmitted to the continuum backbone 20 through the structural spiral guide tendon spacer 10 with different layouts, so that it can achieve precise bending deformation.

[0086] In summary, the present invention has high structural flexibility. Through the adjustable structural spiral guide tendon spacer 10, a variety of spiral layouts of the tendon path can be realized, thereby enhancing the spatial bending ability of the continuum robot. Secondly, the tensioning control of the present application is precise. The adjustable tendon tensioning device 50 allows the tension of the tendon to be accurately adjusted without disassembling the tendon, thereby ensuring the stable performance of the robot after long-term work. The adaptability of the robot is improved, making the robot structural design more compact, and it can adapt to complex tasks such as deep cavity operation, minimally invasive surgery, and unstructured environment detection in narrow spaces. It is also easy to maintain. Each module in the present application adopts a modular design, which is easy to install and maintain, reduces the downtime of the robot, and improves work efficiency. Finally, the present application adopts a combination of a servo motor and a worm gear reducer to provide high-precision drive control to meet the needs of fine operation.

[0087] The second object of the present invention is to provide a method for using a structurally arranged spiral tendon continuum robot, comprising: When the structural layout spiral tendon continuum robot 1 starts working, under the action of the driving module 70, the tendon winding transmission module 60 starts to pull the tendon, and the tendon passes through the tendon adjustable tensioning device 50, the robot structure box 40, and the continuum guide bone 30 in sequence, and controls the continuum backbone 20 through several types of structural spiral guide tendon spacer disks 10 to perform actions. If the tendon is relaxed due to long-term work when performing complex tasks, the tendon is tensioned by the tendon adjustable tensioning device 50.

[0088] Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the preceding claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the preceding claims is not intended to be a disclaimer of such subject matter, nor should it be considered that the applicants did not consider such subject matter to be part of the disclosed inventive subject matter.

[0089] The above content is a further detailed description of the present invention. It cannot be determined that the specific implementation methods of the present invention are limited to these. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, they can also make several simple deductions or substitutions, which should be regarded as belonging to the protection scope of the present invention determined by the submitted claims.

Claims

1. A structural layout spiral tendon continuum robot, characterized in that: It comprises a structural spiral-guided tendon spacer (10), a continuum backbone (20), a continuum guide bone (30), a tendon adjustable tensioning device (50) and a tendon winding transmission module (60); A plurality of the structural spiral guide tendon spacer disks (10) are mounted on the continuum backbone (20); the end of the continuum backbone (20) is mounted on one end of the continuum guide bone (30), and the other end of the continuum guide bone (30) is arranged in front of the tendon adjustable tensioning device (50); the tendon winding transmission module (60) is arranged behind the tendon adjustable tensioning device (50); The tendon passes through the structural spiral guide tendon spacer (10), the continuum guide bone (30) and the tendon adjustable tensioning device (50) in sequence, and is connected to the tendon winding transmission module (60).

2. A structural layout spiral tendon continuum robot according to claim 1, characterized in that: Also includes a transmission module (70); The transmission module (70) is connected to the tendon winding transmission module (60).

3. A structural layout spiral tendon continuum robot according to claim 2, characterized in that: Also included is a robot structural box (40); The continuum guide bone (30) passes through the side wall of the robot structure box (40) and extends into the robot structure box (40); The tendon adjustable tensioning device (50), the tendon winding transmission module (60) and the transmission module (70) are arranged inside the robot structure box (40).

4. A structural layout spiral tendon continuum robot according to claim 1, characterized in that: The structural spiral guiding tendon spacer (10) comprises an adjustable structural spiral guiding tendon spacer fixing seat (101) and a structural guiding tendon spiral spacer (102); The structural guide tendon spiral spacer (102) is mounted on the adjustable structural spiral guide tendon spacer fixing seat (101), and the special-shaped pin hole (1011) of the adjustable structural spiral guide tendon spacer fixing seat (101) and the mounting hole (1021) of the structural guide tendon spiral spacer (102) are located on the same central axis; The continuum backbone (20) passes through the special-shaped pin hole (1011) of the adjustable structural spiral guide tendon spacer disc fixing seat 101 and the mounting hole (1021) of the structural guide tendon spiral spacer disc (102).

5. A structural layout spiral tendon continuum robot according to claim 4, characterized in that: The adjustable structural spiral guide tendon spacer disc fixing seat (101) further comprises a spacer disc fixing seat front side (1012), an installation inner surface groove (1013) and an open wire passing groove (1014); A plurality of open wire grooves (1014) are arranged in the same direction and at equal intervals in the peripheral area of ​​the adjustable structural spiral guide tendon spacer disc fixing seat (101); The center area of ​​the adjustable structural spiral guide tendon spacer disc fixing seat (101) is provided with the special-shaped pin hole (1011); the back side of the spacer disc fixing seat opposite to the front side (1012) of the spacer disc fixing seat is provided with the mounting inner surface groove (1013).

6. A structural layout spiral tendon continuum robot according to claim 5, characterized in that: The structural tendon guiding spiral spacer (102) comprises a tendon guiding hole (1024) and a hexahedron (1025); The hexahedron (1025) is arranged in the central area of ​​the structural guiding tendon spiral spacer (102); a plurality of tendon guiding holes (1024) are arranged in the same direction and at equal intervals on the side of the hexahedron (1025); the mounting hole (1021) is arranged in the central area of ​​the hexahedron (1025); The outer side surface (1023) of the structural tendon guiding spiral spacer (102) is a plane, and the hexahedron (1025) and the same bottom surface of the tendon guiding hole (1024) are located in the same horizontal plane; On the inner side of the structural tendon guiding spiral spacer (102), the hexahedron (1025) is higher than the tendon guiding hole (1024), forming a square convex groove (1022) on the inner side; The inner side square convex groove (1022) is installed in the installation inner surface groove (1013) of the adjustable structural spiral guide tendon spacer disc fixing seat (101).

7. The structural layout spiral tendon continuum robot according to claim 1, characterized in that: The continuum backbone (20) comprises a front end shaft shoulder (201), a continuum flexible section (202), a shaft shoulder (203), a terminal fixed end (205) and a continuum terminal spacer (206); A plurality of continuous body flexible sections (202) are provided between the front end shaft shoulder (201) and the terminal fixed end (205); The front end of the first continuum flexible segment (202) is connected to the front end shaft shoulder (201), the end of the first continuum flexible segment (202) is connected to the front end of the second continuum flexible segment (202), the end of the second continuum flexible segment (202) is connected to the front end of the third continuum flexible segment (202), and so on, until the end of the N-1th continuum flexible segment (202) is connected to the front end of the Nth continuum flexible segment (202), and the end of the Nth continuum flexible segment (202) is connected to the end fixed end (205); the shaft shoulder (203) is provided between every two continuum flexible segments (202); The structural spiral guide tendon spacer (10) is mounted on the shaft shoulder (203).

8. The structural layout spiral tendon continuum robot according to claim 1, characterized in that: The tendon adjustable tensioning device (50) comprises a forward plate (501), a rearward plate (502), a through slot (503), a longitudinal slide slot (504), a tendon guide hole (505), a transverse slide slot (506), a tendon guide block (507), a nut (508) and a bolt rod (509); The through grooves (503) include a first tendon through groove (5031), a second tendon through groove (5032), a third tendon through groove (5033) and a fourth tendon through groove (5034); The longitudinal slide groove (504) comprises a first longitudinal slide groove (5041) and a second longitudinal slide groove (5042); The transverse sliding groove (506) comprises a first transverse sliding groove (5061) and a second transverse sliding groove (5062); The tendon guide hole (505) comprises a first tendon guide hole (5051), a second tendon guide hole (5052), a third tendon guide hole (5053) and a fourth tendon guide hole (5054); The first tendon groove (5031), the second tendon groove (5032), the third tendon groove (5033) and the fourth tendon groove (5034) are arranged at equal intervals with the center of the adjustable tendon tensioning device (50); The first tendon guide hole (5051) is arranged on one side of the first tendon groove (5031); the second tendon guide hole (5052) is arranged on one side of the second tendon groove (5031); the third tendon guide hole (5053) is arranged on one side of the third tendon groove (5033); and the fourth tendon guide hole (5054) is arranged on one side of the fourth tendon groove (5034); The first longitudinal groove (5041) is arranged on the other side of the first tendon groove (5031); the second transverse groove (5062) is arranged on the other side of the second tendon groove (5032); the second longitudinal groove (5042) is arranged on the other side of the third tendon groove (5033); the first transverse groove (5061) is arranged on the other side of the fourth tendon groove (5034); The first longitudinal sliding groove (5041), the second longitudinal sliding groove (5042), the first transverse sliding groove (5061) and the second transverse sliding groove (5062) are arranged on the forward plate (501) and do not penetrate the rearward plate (502); The tendon guide block (507) comprises a tendon guide hole (5071), a guide block fixing hole (5072), a sliding T-slot (5073) and a guide block body (5074); The tendon guide hole (5071) is arranged in the top area of ​​the guide block body (5074), and the guide block fixing hole (5072) is arranged in the middle area of ​​the guide block body (5074); the sliding T-slot (5073) is installed in the lower area of ​​the guide block body (5074); The tendon guide block (507) slides into the transverse slide groove (506) or the longitudinal slide groove (504) through the sliding T-slot (5073); the bolt rod (509) passes through the guide block fixing hole (5072) to reach the tendon groove (503), and the tendon guide block 507 is fixed to the tendon adjustable tensioning device (50) through the nut (508).

9. The structural layout spiral tendon continuum robot according to claim 1, characterized in that: The continuum backbone (20), the continuum guide bone (30), the tendon adjustable tensioning device (50) and the tendon winding transmission module (60) are located on the same center line.

10. A method for using a structurally arranged spiral tendon continuum robot, characterized in that: A structural layout spiral tendon continuum robot according to any one of claims 1 to 9, comprising: After starting to work, the tendon winding transmission module (60) starts to pull the tendon, and the tendon passes through the tendon adjustable tensioning device (50), the robot structure box (40), and the continuum guide bone (30) in sequence, and controls the continuum backbone (20) through the structural spiral guide tendon spacer (10) of several layouts to perform the action; If the tendon becomes loose due to long-term work when performing complex tasks, the tendon can be tensioned by the tendon adjustable tensioning device (50).

Images