A structured layout spiral muscle tendon continuum robot and method of use

Abstract

The application discloses a structural formula layout spiral muscle tendon continuum robot and a use method, and belongs to the technical field of continuum robots. The robot comprises a structural formula spiral guide muscle tendon interval disc, a continuum backbone, a continuum guide bone, a muscle tendon adjustable tension device and a muscle tendon winding transmission module; a plurality of structural formula spiral guide muscle tendon interval discs 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 muscle tendon adjustable tension device; the muscle tendon winding transmission module is arranged behind the muscle tendon adjustable tension device; the muscle tendon sequentially passes through the structural formula spiral guide muscle tendon interval disc, the continuum guide bone and the muscle tendon adjustable tension device, and is connected to the muscle tendon winding transmission module. The improved muscle tendon tension device of the application guarantees the stability of the muscle tendon, enhances the movement ability of the continuum robot in a complex space environment, and improves the control precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of continuum robots, and particularly relates to a structure type layout spiral muscle tendon continuum robot and a use method. BACKGROUND

[0002] With the rapid progress of modern science and technology, the application of continuum robots in multiple key fields, especially in medical surgery, precision industrial detection and disaster rescue, is increasingly highlighting its irreplaceable value. Such robots, with their excellent flexibility, high environmental adaptability and flexible movement in complex spaces, have become a powerful tool to solve the problems of high precision requirement in minimally invasive surgical operation, narrow and non-structured environment detection difficulty, etc. However, although continuum robots have shown great application potential in these fields, their existing technical framework and design concept still face many challenges and limitations, hindering their further expansion to more complex and high-precision task fields.

[0003] The core of the continuum robot is its unique driving and transmission mechanism, i.e. relying on the tendon system to realize the bending, twisting and other complex actions of the robot body. This mechanism, to some extent, endows the robot with flexible movement characteristics, but the tendon layout and guide structure design under the existing technology is relatively simple and fixed. Most continuum robots adopt a relatively simple tendon driving mode, in which the path and guide structure of the tendon are often limited to a specific geometric shape, such as a straight line or a simple curve, which makes the robot appear inadequate when facing tasks that require multi-dimensional, multi-angle bending deformation to adapt to complex spatial structures. Especially in medical minimally invasive surgery, for the precise control of surgical instruments to explore and operate complex paths in the human body, the existing tendon layout is difficult to meet the dual requirements of flexibility and precision of the robot by the surgeon. In addition, in the application scenarios of disaster rescue and industrial detection, the exploration of narrow space and the adaptability of non-structured environment also pose higher challenges to the structural design of continuum robots, and the limitations of the existing tendon guide structure undoubtedly limit the application potential of robots in these fields.

[0004] The design and control precision of tendon tensioning devices is another pressing issue. During the operation of a continuum robot, stable tendon tension is crucial for ensuring the robot's motion accuracy and stability. However, traditional tendon tensioning devices have significant shortcomings in adjustment. The adjustment process is cumbersome and difficult to achieve precise quantitative control, leading to gradual relaxation of the tendons due to fatigue and wear after prolonged continuous operation, directly affecting the robot's control accuracy and motion performance. Especially in medical surgery, even minor control errors can lead to unpredictable risks. Existing tendon guiding and tensioning devices also present significant challenges in structural adjustment. Due to design limitations, adjusting the tendon layout or tension often requires disassembling the entire tendon system. This is not only complex and time-consuming but can also damage the tendons and guiding structures, severely impacting work efficiency and the robot's lifespan. Especially in emergency rescue missions or industrial inspection tasks requiring frequent changes in working environment, this complexity of structural adjustment undoubtedly becomes a major obstacle to the application of continuum robots. Summary of the Invention

[0005] To address the limitations of existing tendon continuum robots, such as their simple tendon layout, difficulty in tendon tension adjustment, and complex structural adjustments, which restrict their flexibility and control precision in complex tasks, this invention provides a structurally designed helical tendon continuum robot. The improved tendon tensioning device ensures tendon stability, enhances the robot's mobility in complex spatial environments, and improves control precision.

[0006] To achieve the above objectives, the present invention provides the following technical solution.

[0007] In a first aspect, the present invention provides a structurally arranged spiral tendon continuum robot, comprising a structural spiral-guided 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-guided tendon spacers are mounted on the continuum backbone; one end of the continuum backbone is mounted on one end of the continuum guide bone, and the other end of the continuum guide bone is located in front of the tendon adjustable tensioning device; the tendon winding transmission module is located behind the tendon adjustable tensioning device; the tendon passes sequentially through the structural spiral-guided tendon spacer, the continuum guide bone, and the tendon adjustable tensioning device, and is connected to the tendon winding transmission module.

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

[0009] As a further improvement of the present application, the robot structure box is further included; the continuum guide bone passes through the side wall of the robot structure box and extends into the robot structure box; the tendon adjustable tension device, the tendon winding transmission module and the transmission module are arranged inside the robot structure box.

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

[0011] As a further improvement of the present application, the adjustable structural formula spiral guide tendon interval disc fixing seat further includes an interval disc fixing seat front face, a mounting inner face groove and an open wire passing groove; a plurality of open wire passing grooves in the same direction and at equal intervals are arranged in the peripheral area of the adjustable structural formula spiral guide tendon interval disc fixing seat; the central area of the adjustable structural formula spiral guide tendon interval disc fixing seat is provided with the special-shaped pin hole; the interval disc fixing seat back face opposite to the interval disc fixing seat front face is provided with the mounting inner face groove.

[0012] As a further improvement of the present application, the structural formula guide tendon spiral interval disc includes a tendon guide hole and a hexahedron; the hexahedron is arranged in the central area of the structural formula guide tendon spiral interval disc; 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 of the structural formula guide tendon spiral interval disc is a plane, the same bottom surface of the hexahedron and the tendon guide hole is located in the same horizontal plane; the inner side of the structural formula guide tendon spiral interval disc, the hexahedron is higher than the tendon guide hole, forming an inner side square convex groove; the inner side square convex groove is installed in the mounting inner face groove of the adjustable structural formula spiral guide tendon interval disc fixing seat.

[0013] As a further improvement of the present application, the continuous body trunk comprises a front end shaft shoulder, a continuous body flexible section, a shaft shoulder, a fixed end and a continuous body end spacer disc; a plurality of continuous body flexible sections are arranged between the front end shaft shoulder and the fixed end; the front end of the first continuous body flexible section is connected with the front end shaft shoulder, the end of the first continuous body flexible section is connected with the front end of the second continuous body flexible section, the end of the second continuous body flexible section is connected with the front end of the third continuous body flexible section, and so on, until the end of the N-1th continuous body flexible section is connected with the front end of the Nth continuous body flexible section, and the end of the Nth continuous body flexible section is connected with the fixed end; the shaft shoulder is arranged between every two continuous body flexible sections; and the structural formula spiral guide muscle tendon spacer disc is installed on the shaft shoulder.

[0014] As a further improvement of the present application, the muscle tendon adjustable tension device comprises a front plate, a back plate, a through slot, a longitudinal sliding slot, a muscle tendon guide hole, a transverse sliding slot, a muscle tendon guide block, a nut and a bolt rod; the through slot comprises a first muscle tendon through slot, a second muscle tendon through slot, a third muscle tendon through slot and a fourth muscle tendon through slot; the longitudinal sliding slot comprises a first longitudinal sliding slot and a second longitudinal sliding slot; the transverse sliding slot comprises a first transverse sliding slot and a second transverse sliding slot; the muscle tendon guide hole comprises a first muscle tendon guide hole, a second muscle tendon guide hole, a third muscle tendon guide hole and a fourth muscle tendon guide hole; the first muscle tendon through slot, the second muscle tendon through slot, the third muscle tendon through slot and the fourth muscle tendon through slot are arranged at equal intervals with the center of the muscle tendon adjustable tension device; one side of the first muscle tendon through slot is provided with the first muscle tendon guide hole; one side of the second muscle tendon through slot is provided with the second muscle tendon guide hole; one side of the third muscle tendon through slot is provided with the third muscle tendon guide hole; one side of the fourth muscle tendon through slot is provided with the fourth muscle tendon guide hole; the other side of the first muscle tendon through slot is provided with the first longitudinal sliding slot; the other side of the second muscle tendon through slot is provided with the second transverse sliding slot; the other side of the third muscle tendon through slot is provided with the second longitudinal sliding slot; the other side of the fourth muscle tendon through slot is provided with the first transverse sliding slot; the first longitudinal sliding slot, the second longitudinal sliding slot, the first transverse sliding slot and the second transverse sliding slot are arranged on the front plate and do not penetrate the back plate; the muscle tendon guide block comprises a fifth muscle tendon guide hole, a guide block fixing hole, a sliding T slot and a guide block main body; the fifth muscle tendon guide hole is arranged at the top area of the guide block main body, the guide block fixing hole is arranged at the middle area of the guide block main body, and the sliding T slot is installed at the lower area of the guide block main body; the muscle tendon guide block is slid into the transverse sliding slot or the longitudinal sliding slot through the sliding T slot; the bolt rod passes through the guide block fixing hole to the muscle tendon through slot and fixes the fifth muscle tendon guide block on the muscle tendon adjustable tension device through the nut.

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

[0016] The second object of the present application is to provide a method for using the structural layout spiral tendon continuum robot, comprising:

[0017] After starting work, the tendon winding transmission module starts to pull the tendon, which sequentially passes through the tendon adjustable tension device, the robot structure box, the continuum guide bone, and the structural spiral guide tendon spacing disc of several layouts to control the continuum backbone and perform actions.

[0018] If a complex task is performed, the tendon is relaxed due to long-time work, and the tendon adjustable tension device is used to tension the tendon.

[0019] Compared with the prior art, the present application has the following beneficial effects:

[0020] The structural layout spiral tendon continuum robot provided by the present application solves the limitations of tendon continuum robots in tendon layout, tension adjustment and structure adjustment in the prior art, thereby greatly improving the flexibility and control accuracy of the robot when performing complex tasks. Specifically, the structural spiral guide tendon spacing disc used by the robot not only breaks the single nature of traditional tendon layout, but also realizes the multidimensional and spiral distribution of the tendon on the continuum backbone. This layout method not only optimizes the path planning of the tendon and reduces the mutual interference between the tendons, but also significantly enhances the structural strength and stability of the robot. The design of each spacing disc is precisely calculated to ensure that the tendon can evenly distribute stress when bearing load, avoiding performance degradation or damage of the robot caused by local overload, and providing a solid foundation for the robot to perform high-precision and high-load operations.

[0021] Further, the combination of the continuum backbone and the continuum guide bone constructs a flexible and stable motion framework. The continuum backbone, as the main support structure of the robot, considers the balance between lightweight and high strength in material selection and structure design, ensuring the rapid response capability and endurance capability of the robot in complex spatial environments. The design of the continuum guide bone precisely controls its length, bending angle and material elasticity, realizes accurate guidance and support of the tendon path, and effectively improves the efficiency and accuracy of tendon transmission. This design not only simplifies the complexity of traditional robot structure adjustment, but also enables the robot to quickly and flexibly adjust its posture to adapt to changing working environments when facing different working demands.

[0022] Further, the tendon adjustable tension device introduced by the present application is the key to improving the motion performance and control accuracy of the robot. Through the built-in high-precision sensor and intelligent algorithm, the device can monitor the tension state of the tendon in real time and automatically adjust according to the preset parameters or real-time feedback data, ensuring that the tendon is always in the best working state. Not only does it solve the problem of tendon tension adjustment, but it also significantly improves the stability and reliability of tendon transmission, reduces motion errors caused by tendon relaxation or excessive tension, and enables the robot to control the motion trajectory and force of each joint more accurately when performing precise operations or complex actions, thereby greatly improving the quality and efficiency of the work. In addition, the introduction of the tendon winding transmission module, which uses advanced winding technology and precise transmission mechanisms, realizes efficient and stable transmission of the tendon. At the same time, its modular design makes maintenance and upgrading more convenient, and can flexibly adjust the transmission ratio or replace tendons of different specifications according to actual needs to adapt to different work scenarios and load requirements. This high degree of flexibility and scalability makes the robot proposed by the present application not only suitable for current work tasks, but also has good future adaptability, and can continue to upgrade as technology continues to advance, meeting more diverse and higher-level work requirements. BRIEF DESCRIPTION OF DRAWINGS

[0023] 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:

[0024] Figure 1 is a schematic diagram of the overall structure of a structural layout spiral tendon continuum robot of the present application;

[0025] Figure 2 is a schematic diagram of the rear view structure of a structural layout spiral tendon continuum robot of the present application without a shell;

[0026] Figure 3 is a schematic diagram of the axonometric structure of a structural layout spiral tendon continuum robot of the present application without a shell;

[0027] Figure 4 is a schematic diagram of the structural spiral guide tendon spacer disc structure of a structural layout spiral tendon continuum robot of the present application;

[0028] Figure 5 is a schematic diagram of the adjustable structural spiral guide tendon spacer disc fixing seat structure provided by the present application; wherein (a) is a front view schematic diagram of the adjustable structural spiral guide tendon spacer disc fixing seat; (b) is a back view schematic diagram of the adjustable structural spiral guide tendon spacer disc fixing seat;

[0029] Figure 6The application provides a schematic diagram of a guide tendon helix structure interval disc structure; wherein, (a) is a schematic diagram of an outer side surface structure of the guide tendon helix structure interval disc; and (b) is a schematic diagram of an inner side surface structure of the guide tendon helix structure interval disc.

[0030] Figure 7 The application provides a schematic diagram of a guide tendon helix structure interval disc structure.

[0031] Figure 8 The application provides a schematic diagram of a guide tendon helix structure interval disc structure.

[0032] Figure 9 The application provides a schematic diagram of a continuum backbone structure; wherein, (a) is a schematic diagram of a front surface structure of the continuum backbone; and (b) is a schematic diagram of a back surface structure of the continuum backbone.

[0033] Figure 10 The application provides a schematic diagram of a continuum backbone structure provided with a guide tendon helix structure interval disc structure; wherein, (a) is a schematic diagram of a front surface structure of the continuum backbone provided with the guide tendon helix structure interval disc structure; and (b) is a schematic diagram of a back surface structure of the continuum backbone provided with the guide tendon helix structure interval disc structure.

[0034] Figure 11 The application provides a schematic diagram of a tendon tensioning adjustable device structure.

[0035] Figure 12 The application provides a schematic diagram of a tendon tensioning bench structure; wherein, (a) is a schematic diagram of a front plate structure of the tendon tensioning bench; and (b) is a schematic diagram of a back plate structure of the tendon tensioning bench.

[0036] Figure 13 The application provides a schematic diagram of a tendon guide block structure; wherein, (a) is a schematic diagram of a front surface structure of the tendon guide block; and (b) is a schematic diagram of a left surface structure of the tendon guide block.

[0037] Figure 14 The application provides a schematic diagram of a tendon transmission device structure of a structure layout helix tendon continuum robot.

[0038] Figure 15 The application provides a schematic diagram of a step shaft structure of a pulling tendon of a structure layout helix tendon continuum robot.

[0039] Figure 16 The application provides a schematic diagram of a tendon drive transmission device structure of a structure layout helix tendon continuum robot.

[0040] Figure 17 The application provides an application schematic diagram.

[0041] In the figure, 1 is a structural layout spiral muscle tendon continuum robot; 10 is a structural spiral guide muscle tendon interval disc; 101 is an adjustable structural spiral guide muscle tendon interval disc fixing seat; 1011 is a special-shaped pin hole; 1012 is an interval disc fixing seat front face; 1013 is an installation inner face groove; 10131 is a first square groove; 10132 is a second square groove; 10137 is an Nth square groove; 1014 is an open wire passing groove; 102 is a structural guide muscle tendon spiral interval disc; 1021 is an installation hole; 1022 is an inner side face square convex groove; 1023 is an outer side face; 1024 is a muscle tendon guide hole; 1025 is a hexahedron; 20 is a continuum backbone; 201 is a front end shaft shoulder; 202 is a continuum flexible section; 203 is a shaft shoulder; 2031 is a shaft shoulder arc face; 204 is a shaft shoulder plane; 205 is a terminal fixed end; 206 is a continuum terminal interval disc; 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 body; 50 is a muscle tendon adjustable tension device; 501 is a forward plate; 502 is a backward plate; 503 is a through groove; 5031 is a first muscle tendon through groove; 5032 is a second muscle tendon through groove; 5033 is a third muscle tendon through groove; 5034 is a fourth muscle tendon through groove; 504 is a longitudinal sliding groove; 5041 is a first longitudinal sliding groove; 5042 is a second longitudinal sliding groove; 505 is a muscle tendon guide hole; 5051 is a first muscle tendon guide hole; 5052 is a second muscle tendon guide hole; 5053 is a third muscle tendon guide hole; 5054 is a fourth muscle tendon guide hole; 506 is a transverse sliding groove; 5061 is a first transverse sliding groove; 5062 is a second transverse sliding groove; 507 is a muscle tendon guide block; 5071 is a fifth muscle tendon guide hole; 5072 is a guide block fixing hole; 5073 is a sliding T groove; 5074 is a guide block main body; 508 is a nut; 509 is a bolt rod; 60 is a muscle tendon winding transmission module; 601 is a first rotating stepped axle; 6011 is a first main shaft; 6012 is a first shaft shoulder; 6013 is a first muscle tendon fixing wheel; 60131 is a first muscle tendon fixing groove; 60132 is a second muscle tendon fixing groove; 60133 is a third muscle tendon fixing groove; 602 is a second rotating stepped axle; 6021 is a second main shaft; 6022 is a second shaft shoulder; 6023 is a second muscle tendon fixing wheel; 6031 is a first fixing frame; 60311 is a first U-shaped sunken groove; 60312 is a second U-shaped sunken groove; 6032 is a second fixing frame; 60321 is a twenty-first U-shaped sunken groove; 60322 is a twenty-second U-shaped sunken groove; 6041 is a first driving fixing frame; 6042 is a second driving fixing frame; 605 is a fixing nut; 70 is a driving module; 7011 is a first coupling; 7012 is a second coupling; 7021 is a first worm gear reducer; 7022 is a second worm gear reducer; 7031 is a first servo motor; 7032 is a second servo motor; 704 is a worm gear reduction fixing frame. DETAILED DESCRIPTION

[0042] In order to make the person skilled in the art better understand the technical solutions in the present application, the technical solutions in the present application will be clearly and completely described below in combination with the drawings in the present application, and the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without creative labor should belong to the protection scope of the present application.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description herein is for describing specific embodiments only and is not intended to be limiting of the application. The use herein of the terms "and / or" includes any and all combinations of one or more of the associated listed items.

[0044] In view of the single tendon layout, difficult tendon tension adjustment and complex structure adjustment of the tendon continuum robot in the prior art, which limits the flexibility and control accuracy of the tendon continuum robot in complex tasks, the present application provides a structural layout spiral tendon continuum robot.

[0045] As shown in Figure 1 The structural layout spiral tendon continuum robot of the present application comprises a structural spiral guide tendon spacing disc 10, a continuum backbone 20, a continuum guide bone 30, a robot structure box 40, a tendon adjustable tension device 50, a tendon winding transmission module 60 and a driving module 70.

[0046] The structural spiral guide tendon spacing disc 10 is installed on the continuum backbone 20 to form an 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 structure box 40 to constitute the overall appearance of the structural layout spiral tendon continuum robot 1. The tendon adjustable tension device 50, the tendon winding transmission module 60 and the driving module 70 are placed inside the robot structure box 40. The driving module 70 is used to drive the tendon winding transmission module 60 to move.

[0047] As shown in Figure 2 The tendon adjustable tension device 50 is placed in the internal 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 internal area of the robot structure box 40 away from the continuum guide bone 30.

[0048] As shown in Figure 3As shown, the continuum backbone 20, the continuum guide bone 30, the tendon adjustable tension device 50 and the tendon winding transmission module 60 are located on the same center line.

[0049] The tendon is installed on the structural layout spiral tendon continuum robot 1, and sequentially passes through the structural spiral guide tendon interval disc 10, the continuum guide bone 30, the robot structural box 40, the tendon adjustable tension device 50, and finally is 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 tension device 50, the robot structural box 40 and the continuum guide bone 30. Through the structural spiral guide tendon interval disc 10 with different layouts, the force is transmitted to the continuum backbone 20, so that different configurations are realized in specific tasks.

[0050] When the structural layout spiral tendon continuum robot 1 performs a complex task, the tendon may be relaxed due to long-time work, so it is necessary to detect the tension of the tendon or tension the tendon through the tendon adjustable tension device 50 during the execution of a new task or a task.

[0051] Therefore, the structural layout spiral tendon continuum robot can perform deep cavity operation tasks, such as minimally invasive surgery and detection in a narrow and congested unstructured environment. Since the tendon tension device is improved, the stability of the tendon is ensured, the movement ability of the continuum robot in a complex spatial environment is enhanced, and the control precision is improved.

[0052] The structural spiral guide tendon interval disc 10 of the present application can realize the spiral layout of the tendon of the structural layout spiral tendon continuum robot 1 without disassembling the tendon. Figure 4 As shown, the structural spiral guide tendon interval disc 10 comprises an adjustable structural spiral guide tendon interval disc fixing seat 101 and a structural guide tendon spiral interval disc 102.

[0053] The adjustable structural spiral guide tendon interval disc fixing seat 101 comprises a special-shaped pin hole 1011, an interval disc fixing seat front surface 1012, an installation inner surface groove 1013 and an open wire groove 1014.

[0054] The structural guide tendon spiral interval disc 102 is installed on the adjustable structural spiral guide tendon interval disc fixing seat 101, and the special-shaped pin hole 1011 of the adjustable structural spiral guide tendon interval disc fixing seat 101 and the installation hole 1021 of the structural guide tendon spiral interval disc 102 are located on the same center axis.

[0055] As shown, Figure 5As shown, the adjustable structural spiral guide tendon interval disc fixing seat 101 is circular, and a plurality of same-direction equidistant open wire grooves 1014 are arranged in the peripheral area of the circle. The center area of the adjustable structural spiral guide tendon interval disc fixing seat 101 is provided with a special-shaped pin hole 1011, and the front surface 1012 of the interval disc fixing seat is a horizontal smooth surface. The back surface of the interval disc fixing seat opposite to the front surface 1012 is provided with a mounting inner surface groove 1013, and the center point of the mounting inner surface groove 1013 and the special-shaped pin hole 1011 are located on the same center axis. The mounting inner surface groove 1013 includes a first square groove 10131 and a second square groove 10132.

[0056] The first square groove 10131 and the second square groove 10132 are arranged in the back surface of the interval disc fixing seat in mutual superposition. The first square groove 10131 and the second square groove 10132 are consistent in size, and the center points thereof and the special-shaped pin hole 1011 are located on the same center axis.

[0057] As shown, Figure 6 The structural guide tendon spiral interval disc 102 includes a mounting hole 1021, a tendon guide hole 1024 and a hexahedron 1025.

[0058] The center area of the structural guide tendon spiral interval disc 102 is the hexahedron 1025, a plurality of same-direction equidistant tendon guide holes 1024 are arranged on the four sides of the hexahedron 1025, and the mounting hole 1021 is arranged in the center area of the hexahedron 1025. As shown, Figure 6 (a), the outer side surface 1023 of the structural guide tendon spiral interval disc 102 is a plane, and the same bottom surface of the hexahedron 1025 and the tendon guide hole 1024 is located in the same horizontal plane; as shown, Figure 6 (b), the inner side surface of the structural guide tendon spiral interval disc 102, the hexahedron 1025 is higher than the tendon guide hole 1024, forming an inner side surface square convex groove 1022.

[0059] As shown, Figure 7 The structural guide tendon spiral interval disc 102 is mounted on the adjustable structural spiral guide tendon interval disc fixing seat 101, the special-shaped pin hole 1011 and the mounting hole 1021 are aligned, and the inner side surface square convex groove 1022 in the structural guide tendon spiral interval disc 102 is mounted in the square groove of the adjustable structural spiral guide tendon interval disc fixing seat 101.

[0060] When the first square groove 10131 of the mounting inner surface groove 1013 is selected, at this time, the special-shaped pin hole 1011 of the adjustable structural spiral guide tendon interval disc fixing seat 101 and the mounting hole 1021 of the structural guide tendon spiral interval disc 102 in the structural spiral guide tendon interval disc 10 are aligned, forming a circular hole.

[0061] When the second square slot 10132 of the installation inner surface groove 1013 is selected, at this time, the special-shaped pin hole 1011 of the adjustable special-shaped spiral guide tendon interval disc fixing seat 101 and the installation hole 1021 of the special-shaped guide tendon spiral interval disc 102 in the special-shaped spiral guide tendon interval disc 10 are aligned to form a long slot.

[0062] As shown in Figure 8 In order to perform more complex space tasks, the number of square slots in the installation inner surface groove 1013 can be increased until the Nth square slot 10137, and when the state of the tendon winding needs to be adjusted, the special-shaped guide tendon spiral interval disc 102 is installed in different sub-square slots in the installation inner surface groove 1013 to form the required hole under the set condition. By alternately installing the special-shaped guide tendon spiral interval disc 102 in different square slots, various spiral changes of the tendon path can be achieved.

[0063] A plurality of special-shaped spiral guide tendon interval discs 10 are installed on the continuum backbone 20, and the tendon in a spiral layout can make the continuum backbone 20 realize complex spatial bending deformation.

[0064] It should be clear that the shapes of the square slots and the corresponding inner square protruding grooves in the present application correspond, and are not limited to square shapes. A plurality of special-shaped spiral guide tendon interval discs 10 are installed on the continuum backbone 20, and the special-shaped spiral guide tendon interval disc 10 can be installed in different sub-square slots in the installation inner surface groove 1013, or can be installed in the same sub-square slot in the installation inner surface groove 1013, according to actual needs.

[0065] Therefore, when the special-shaped spiral guide tendon interval disc 10 of the present application is installed on the continuum backbone 20, the continuum actuator of the special-shaped layout spiral tendon continuum robot 1 can be constructed.

[0066] As shown in Figure 9 The continuum backbone 20 includes a front end shaft shoulder 201, a continuum flexible section 202, a shaft shoulder 203, a terminal fixed end 205, and a continuum terminal interval disc 206.

[0067] A plurality of continuum flexible segments 202 are arranged between the front end shoulder 201 and the end fixed end 205. The front end of the first continuum flexible segment 202 is connected with the front end shoulder 201, the end of the first continuum flexible segment 202 is connected with the front end of the second continuum flexible segment 202, the end of the second continuum flexible segment 202 is connected with 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 with the front end of the Nth continuum flexible segment 202, and the end of the Nth continuum flexible segment 202 is connected with the end fixed end 205. The shaft shoulder 203 is arranged between two continuum flexible segments 202.

[0068] As shown in Figure 9 (a) and Figure 9 (b), the shaft shoulder 203 comprises a shaft shoulder curved surface 2031 and a shaft shoulder flat surface 204.

[0069] As shown in Figure 10 The continuum end interval disc 206 is installed on the front end shoulder 201, and the structural spiral guide tendon interval disc 10 is installed on the shaft shoulder 203. The structural spiral guide tendon interval disc 10 is installed on the continuum backbone 20, and a front-end continuum execution mechanism is constructed.

[0070] The continuum end interval disc 206 comprises a first outer diameter hole 2061 and a second outer diameter hole 2062.

[0071] The first outer diameter hole 2061 is arranged in a circular ring area close to the edge of the continuum end interval disc 206, and the second outer diameter hole 2062 is arranged in a circular ring area close to the edge of the continuum end interval disc 206 close to the continuum backbone 20.

[0072] The tendon passes through the first outer diameter hole 2061 and the second outer diameter hole 2062 to reach the structural spiral guide tendon interval disc 10.

[0073] The continuum end interval disc 206 is installed on the continuum guide bone 30, and the connection between the continuum backbone 20 and the continuum guide bone 30 is completed, and a continuum execution mechanism capable of performing more complex tasks is constructed.

[0074] As shown in Figure 11 The tendon adjustable tensioning device 50 comprises a front plate 501, a rear plate 502, a through slot 503, a longitudinal sliding slot 504, a tendon guide hole 505, a transverse sliding slot 506, a tendon guide block 507, a nut 508, and a bolt rod 509.

[0075] The through-slots 503 include a first tendon through-slot 5031, a second tendon through-slot 5032, a third tendon through-slot 5033, and a fourth tendon through-slot 5034. The longitudinal sliding grooves 504 include a first longitudinal sliding groove 5041 and a second longitudinal sliding groove 5042. The transverse sliding grooves 506 include a first transverse sliding groove 5061 and a second transverse sliding groove 5062. The tendon guide holes 505 include 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.

[0076] As shown in Figure 12 The first tendon through-slot 5031, the second tendon through-slot 5032, the third tendon through-slot 5033, and the fourth tendon through-slot 5034 are arranged at equal intervals with the center of the tendon adjustable tensioning device 50 as the center. The first tendon through-slot 5031, the second tendon through-slot 5032, the third tendon through-slot 5033, and the fourth tendon through-slot 5034 are provided with 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 in the same direction, as shown in Figure 12 As shown in (b), one side of the first tendon through-slot 5031 is provided with the first tendon guide hole 5051; one side of the second tendon through-slot 5032 is provided with the second tendon guide hole 5052; one side of the third tendon through-slot 5033 is provided with the third tendon guide hole 5053; and one side of the fourth tendon through-slot 5034 is provided with the fourth tendon guide hole 5054. As shown in Figure 12 As shown in (a), the other side of the first tendon through-slot 5031 is provided with the first longitudinal sliding groove 5041; the other side of the second tendon through-slot 5032 is provided with the second transverse sliding groove 5062; the other side of the third tendon through-slot 5033 is provided with the second longitudinal sliding groove 5042; and the other side of the fourth tendon through-slot 5034 is provided with the first transverse sliding groove 5061. The first tendon through-slot 5031, the first tendon guide hole 5051, and the first longitudinal sliding groove 5041 are parallel to each other; the second tendon through-slot 5032, the second tendon guide hole 5052, and the second transverse sliding groove 5062 are parallel to each other; the third tendon through-slot 5033, the third tendon guide hole 5053, and the second longitudinal sliding groove 5042 are parallel to each other; and the fourth tendon through-slot 5034, the fourth tendon guide hole 5054, and the first transverse sliding groove 5061 are parallel to each other.

[0077] 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 provided on the forward plate 501 and do not penetrate the rearward plate 502.

[0078] As shown in Figure 13 The tendon guide block 507 includes a fifth tendon guide hole 5071, a guide block fixing hole 5072, a sliding T-shaped groove 5073, and a guide block main body 5074.

[0079] The fifth tendon guide hole 5071 is arranged at the top region of the guide block body 5074, and the guide block fixing hole 5072 is arranged at the middle region of the guide block body 5074; the sliding T groove 5073 is installed at the lower region of the guide block body 5074, and the included angle between the sliding T groove 5073 and the guide block body 5074 is 90°.

[0080] The tendon guide block 507 slides into the transverse sliding groove 506 or the longitudinal sliding groove 504 through the sliding T groove 5073 thereof. The bolt rod 509 passes through the guide block fixing hole 5072 to the tendon through groove 503, and the tendon guide block 507 is fixed on the tendon adjustable tensioning device 50 through the nut 508. The tendon passes through the fifth tendon guide hole 5071 into the continuum guide bone 30, and reaches the structural formula spiral guide tendon interval disc 10 through the outer diameter hole of the continuum stem.

[0081] By sliding the tendon guide block 507 and adjusting the position thereof, the structural formula layout spiral tendon continuum robot 1 can realize the tension control of the tendon within a certain range.

[0082] As shown in Figure 14 , one side of the tendon winding transmission module 60 is provided with a driving module 70.

[0083] The tendon winding transmission module 60 comprises a rotating stepped shaft and a fixing frame.

[0084] The rotating stepped shaft comprises a first rotating stepped shaft 601 and a second rotating stepped shaft 602; and the fixing frame comprises a first fixing frame 6031 and a second fixing frame 6032.

[0085] The first fixing frame 6031 is provided with a first U-shaped recess 60311 and a second U-shaped recess 60312; and the second fixing frame 6032 is provided with a twenty-first U-shaped recess 60321 and a twenty-second U-shaped recess 60322.

[0086] The first U-shaped recess 60311 and the second U-shaped recess 60312 are the same in size as the twenty-first U-shaped recess 60321 and the twenty-second U-shaped recess 60322, the first U-shaped recess 60311 is arranged in parallel with the twenty-first U-shaped recess 60321, and the second U-shaped recess 60312 is arranged in parallel with the twenty-second U-shaped recess 60322.

[0087] The first rotating stepped shaft 601 is placed on the second U-shaped recess 60312 and the twenty-second U-shaped recess 60322, and the second rotating stepped shaft 602 is placed on the first U-shaped recess 60311 and the twenty-first U-shaped recess 60321.

[0088] A first drive bracket 6041 is provided on the outer side of the first fixing bracket 6031, and the first fixing bracket 6031 and the first drive bracket 6041 are fixed together by a fixing nut 605. A second drive bracket 6042 is provided on the outer side of the second fixing bracket 6032, and the second fixing bracket 6032 and the second drive bracket 6042 are fixed together by a fixing nut 605.

[0089] The first rotating stepped wheel axle 601 and the second rotating stepped wheel axle 602 are placed between the first fixed frame 6031 and the second fixed frame 6032.

[0090] The first rotating stepped wheel axle 601 includes a first main shaft 6011, a first shoulder 6012, and a first tendon-fixing wheel 6013. For example... Figure 15 As shown, the first tendon fixing wheel 6013 is provided with a first tendon fixing groove 60131, a second tendon fixing groove 60132, and a third tendon fixing groove 60133. The tendon is pulled through the tendon fixing grooves. The driving force is transmitted to the continuous bone shaft 20 through the structurally arranged spiral guide tendon spacer 10, which achieves precise bending deformation.

[0091] The first tendon fixing wheel 6013 is disposed in the middle region 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 rotating stepped wheel shaft 601, to prevent the first rotating stepped wheel shaft 601 from falling out of the second U-shaped groove 60312 and the twenty-second U-shaped groove 60322; a shoulder may also be provided on the first main shaft 6011 near the inner side of the second fixing frame 6032.

[0092] The second rotating stepped wheel axle 602 includes a second main shaft 6021, a second shoulder 6022, and a second tendon fixing wheel 6023. The second tendon fixing wheel 6023 is provided with a twenty-first tendon fixing groove, a twenty-second tendon fixing groove, and a twenty-third tendon fixing groove.

[0093] The second tendon fixing wheel 6023 is located in the middle area of ​​the second main shaft 6021. 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 stepped wheel shaft 602, to prevent the second rotating stepped wheel shaft 602 from falling out of the first U-shaped groove 60311 and the twenty-first U-shaped groove 60321. The shoulder can also be provided on the second main shaft 6021 near the inner side of the second fixing frame 6032.

[0094] The retaining grooves on the side or top of the tendon retaining rollers serve as guide ports for the tendons. Their function is to guide the tendons in and out of the retaining rollers and ensure smooth movement. This reduces friction and wear between tendons and prevents them from becoming tangled or stuck when moving in and out of the retaining rollers.

[0095] As shown in Figure 16 The driving module 70 is installed on the first driving fixed frame 6041 for driving the first rotating stepped wheel shaft 601 and the second rotating stepped wheel shaft 602 to move.

[0096] The driving module 70 includes a shaft coupling, a worm gear reducer, a servo motor and a worm gear reduction fixed frame 704.

[0097] The worm gear reduction fixed frame 704 is used for fixing the worm gear reducer.

[0098] The shaft coupling includes a first shaft coupling 7011 and a second shaft 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.

[0099] Through the first shaft coupling 7011, the first main shaft 6011 is connected to the first worm gear reducer 7021, and the first worm gear reducer 7021 is connected to the first servo motor 7031. Through the second shaft coupling 7012, the second main shaft 6021 is connected to the second worm gear reducer 7022, and the second worm gear reducer 7022 is connected to the second servo motor 7032. Thus, the connection between the tendon winding drive module 60 and the driving module 70 is realized.

[0100] 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 drive module 60 through the shaft coupling. The tendon winding drive module 60 pulls the tendon, and the tendon passes through the tendon adjustable tensioning device 50, then reaches the continuum guide bone 30, and finally transmits the driving force to the continuum bone shaft 20 through the structural spiral guide tendon spacing disc 10, so that the continuum bone shaft 20 is bent and deformed.

[0101] As shown in Figure 17 The structural layout spiral tendon continuum robot provided by the application overcomes the limitations of traditional tendon continuum robots in layout, tension adjustment and structure adjustment through a series of innovative designs and improvements, and achieves remarkable results in improving the flexibility of the robot, enhancing the stability of the motion, and improving the control accuracy. This breakthrough not only opens up new ways for the application of robot technology in complex space environments, but also brings unprecedented development opportunities for intelligent manufacturing, aerospace, medical rehabilitation and other fields, indicating that future robot technology will develop towards more intelligent, efficient and precise directions.

[0102] The application discloses a novel structural layout spiral tendon continuum robot, and the core of the application is to realize spiral path layout and tension control of the tendon, and enhance the spatial bending capacity and operation precision of the robot through unique structural design.

[0103] The structural spiral guide tendon interval disc 10 is installed on the continuum backbone 20 to form a continuum actuator. The structural spiral guide tendon interval disc 10 adopts an adjustable structural design, has a plurality of sub-square grooves, and can be installed with a structural guide tendon spiral interval disc 102; the spiral path of the tendon can be adjusted in multiple ways by adjusting the installation position of the structural guide tendon spiral interval disc 102 without disassembling the tendon. The design enables the tendon to be arranged in a spiral form, improves the bending capacity of the continuum backbone 20, and meets the requirements of complex space tasks.

[0104] The continuum backbone 20 is installed on the continuum guide bone 30, so that the robot has higher flexibility and can operate in a deep cavity, a narrow space and other complex environments. 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 sequentially passes through the structural spiral guide tendon interval disc 10, the continuum guide bone 30, the robot structural box 40 and the tendon adjustable tensioning device 50, and is finally connected to the tendon winding transmission module 60.

[0105] The tendon adjustable tensioning device 50 realizes accurate control of the tension degree of the tendon through sliding adjustment of the tendon guide block 507. The tendon guide block 507 can slide in the longitudinal sliding groove 504 and the transverse sliding groove 506, and is fixed through the nut 508 and the bolt rod 509, so that the adjustment process is simple and efficient. The device effectively solves the problem that the tendon may be relaxed after long-time work, and ensures that the robot is always in the best state during execution of a new task or a task.

[0106] The output motion of the servo motor in the driving module 70 is transmitted to the tendon winding transmission module 60 through a worm gear reducer and a shaft coupling. The rotating stepped shaft in the tendon winding transmission module 60 is provided with a plurality of tendon fixing grooves, and the tendon is pulled through the tendon fixing grooves. The driving force is transmitted to the continuum backbone 20 through the structural spiral guide tendon interval disc 10 with different layouts, so that the continuum backbone 20 realizes accurate bending deformation.

[0107] In summary, the application has high flexibility, and the adjustable structure type spiral guide tendon interval disc 10 realizes various spiral layouts of the tendon path, and enhances the space bending capability of the continuum robot. Secondly, the application has accurate tension control, and the tendon adjustable tension device 50 allows accurate adjustment of the tension degree of the tendon without disassembling the tendon, and ensures the performance stability of the robot after long time work. The adaptability of the robot is improved, the robot structure design is more compact, and the robot can adapt to complex tasks such as deep cavity operation, minimally invasive surgery and narrow space unstructured environment detection. And the maintenance is convenient, the modules in the application adopt modular design, and the installation and maintenance are convenient, the downtime of the robot is reduced, and the work efficiency is improved. Finally, the application adopts the combination of the servo motor and the worm gear reducer, and provides high-precision driving control to meet the demand of fine operation.

[0108] The second object of the application is to provide a use method of the structure type layout spiral tendon continuum robot, comprising:

[0109] When the structure type layout spiral tendon continuum robot 1 starts to work, the tendon winding transmission module 60 starts to pull the tendon under the action of the driving module 70, and the tendon sequentially passes through the tendon adjustable tension device 50, the robot structure box 40 and the continuum guide bone 30, passes through the structure type spiral guide tendon interval disc 10 in various layouts, controls the continuum backbone 20, and performs action. When performing complex tasks, the tendon is relaxed due to long time work, and the tendon is tensioned through the tendon adjustable tension device 50.

[0110] Many embodiments and many applications other than the examples provided will be apparent to those skilled in the art from this description. The scope of the present teachings should therefore not be determined with reference to the above description alone, but instead should be determined with reference to the appended claims along with their full scope of equivalents. The disclosures of all articles and references, including patent applications and publications, are incorporated by reference for all purposes. The omission of any aspect of the subject matter disclosed herein from any particular claim does not preclude that aspect from being claimed in another claim, or in a new claim later added to the present application.

[0111] The above is a further detailed description of the application, and the specific embodiments of the application cannot be limited to this. For ordinary skilled in the art to which the application belongs, some simple deductions or replacements can be made without departing from the concept of the application, and all of them should be regarded as belonging to the application determined by the submitted claims.

Claims

1. A structured formula layout spiral muscle tendon continuum robot, characterized in that, It comprises structural formula spiral guide tendon interval disc (10), continuum backbone (20), continuum guide bone (30), tendon adjustable tension device (50) and tendon winding transmission module (60); A plurality of structural formula spiral guide tendon interval disc (10) is installed on the continuum backbone (20); the 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 arranged in front of the tendon adjustable tension device (50); the tendon winding transmission module (60) is arranged behind the tendon adjustable tension device (50); The tendon passes through the structural formula spiral guide tendon interval disc (10), the continuum guide bone (30) and the tendon adjustable tension device (50) in sequence, and is connected to the tendon winding transmission module (60); The structural formula spiral guide tendon interval disc (10) comprises adjustable structural formula spiral guide tendon interval disc fixing seat (101) and structural formula guide tendon spiral interval disc (102); The structural formula guide tendon spiral interval disc (102) is installed on the adjustable structural formula spiral guide tendon interval disc fixing seat (101), and the special-shaped pin hole (1011) of the adjustable structural formula spiral guide tendon interval disc fixing seat (101) and the mounting hole (1021) of the structural formula guide tendon spiral interval disc (102) are located on the same central axis; The continuum backbone (20) passes through the special-shaped pin hole (1011) of the adjustable structural formula spiral guide tendon interval disc fixing seat (101) and the mounting hole (1021) of the structural formula guide tendon spiral interval disc (102); The adjustable structural formula spiral guide tendon interval disc fixing seat (101) further comprises interval disc fixing seat front face (1012), mounting inner face groove (1013) and open wire passing groove (1014); A plurality of open wire passing grooves (1014) in the same direction and at equal intervals are arranged in the peripheral region of the adjustable structural formula spiral guide tendon interval disc fixing seat (101); The central region of the adjustable structural formula spiral guide tendon interval disc fixing seat (101) is provided with the special-shaped pin hole (1011); the interval disc fixing seat back face opposite to the interval disc fixing seat front face (1012) is provided with the mounting inner face groove (1013); The structural formula guide tendon spiral interval disc (102) comprises tendon guide hole (1024) and hexahedron (1025); The hexahedron (1025) is arranged in the central region of the structural formula guide tendon spiral interval disc (102); the side edge of the hexahedron (1025) is provided with a plurality of tendon guide holes (1024) in the same direction and at equal intervals; and the mounting hole (1021) is arranged in the central region of the hexahedron (1025); The outer side face (1023) of the structural formula guide tendon spiral interval disc (102) is a plane, and the same bottom face of the hexahedron (1025) and the tendon guide hole (1024) is located in the same horizontal plane. The structure formula guide tendon helical interval disc (102) is guided by the inside of the structure formula, the hexahedron (1025) is higher than the tendon guide hole (1024), and an inside square convex slot (1022) is formed; The inside square convex slot (1022) is installed in the installation inner surface groove (1013) of the adjustable structure formula helical guide tendon interval disc fixing seat (101); The structure formula guide tendon helical interval disc (102) is installed in different sub-square grooves in the installation inner surface groove (1013).

2. A structured light spiral tendon continuum robot according to claim 1, wherein, Further comprising a transmission module (70); The transmission module (70) is connected with the tendon winding transmission module (60).

3. A structured light spiral tendon continuum robot according to claim 2, wherein, Further comprising a robot structure box (40); The continuum guide bone (30) penetrates through the side wall of the robot structure box (40) and extends into the robot structure box (40); The tendon adjustable tension device (50), the tendon winding transmission module (60) and the transmission module (70) are arranged inside the robot structure box (40).

4. The structured layout spiral tendon continuum robot of claim 1, wherein, 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 interval disc (206); A plurality of continuum flexible sections (202) are arranged between the front end shaft shoulder (201) and the terminal fixed end (205); The front end of a first continuum flexible section (202) is connected with the front end shaft shoulder (201), the terminal end of the first continuum flexible section (202) is connected with the front end of a second continuum flexible section (202), the terminal end of the second continuum flexible section (202) is connected with the front end of a third continuum flexible section (202), and so on, until the terminal end of an N-1th continuum flexible section (202) is connected with the front end of an Nth continuum flexible section (202), and the terminal end of the Nth continuum flexible section (202) is connected with the terminal fixed end (205); the shaft shoulder (203) is arranged between every two continuum flexible sections (202). The structure formula helical guide tendon interval disc (10) is installed on the shaft shoulder (203).

5. The structured layout spiral tendon continuum robot of claim 1, wherein, The tendon adjustable tension device (50) comprises a front plate (501), a rear plate (502), a through slot (503), a longitudinal sliding groove (504), a tendon guide hole (505), a transverse sliding groove (506), a tendon guide block (507), a nut (508) and a bolt rod (509); The through slot (503) comprises a first tendon through slot (5031), a second tendon through slot (5032), a third tendon through slot (5033) and a fourth tendon through slot (5034); The longitudinal sliding groove (504) comprises a first longitudinal sliding groove (5041) and a second longitudinal sliding groove (5042); The transverse sliding groove (506) comprises a first transverse sliding groove (5061) and a second transverse sliding groove (5062); The tendon guide holes (505) include 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 through slot (5031), the second tendon through slot (5032), the third tendon through slot (5033), and the fourth tendon through slot (5034) are arranged at equal intervals with the center of the tendon adjustable tension device (50) as the center; One side of the first tendon through slot (5031) is provided with the first tendon guide hole (5051); one side of the second tendon through slot (5032) is provided with the second tendon guide hole (5052); one side of the third tendon through slot (5033) is provided with the third tendon guide hole (5053); and one side of the fourth tendon through slot (5034) is provided with the fourth tendon guide hole (5054); The other side of the first tendon through slot (5031) is provided with the first longitudinal sliding groove (5041); the other side of the second tendon through slot (5032) is provided with the second transverse sliding groove (5062); the other side of the third tendon through slot (5033) is provided with the second longitudinal sliding groove (5042); and the other side of the fourth tendon through slot (5034) is provided with the first transverse sliding groove (5061); 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 front plate (501) and do not penetrate the rear plate (502); The tendon guide block (507) includes a fifth tendon guide hole (5071), a guide block fixing hole (5072), a sliding T-shaped groove (5073), and a guide block main body (5074); The fifth tendon guide hole (5071) is arranged at the top region of the guide block main body (5074), the guide block fixing hole (5072) is arranged at the middle region of the guide block main body (5074), and the sliding T-shaped groove (5073) is arranged at the lower region of the guide block main body (5074); The tendon guide block (507) is slid into the transverse sliding groove (506) or the longitudinal sliding groove (504) through the sliding T-shaped groove (5073); the bolt rod (509) passes through the guide block fixing hole (5072) to reach the tendon through slot (503), and the tendon guide block (507) is fixed on the tendon adjustable tension device (50) through the nut (508).

6. A structured light spiral tendon continuum robot according to claim 1, wherein, The continuum backbone (20), the continuum guide bone (30), the tendon adjustable tension device (50), and the tendon winding transmission module (60) are located on the same center line.

7. A method of using a structured formula layout spiral muscle tendon continuum robot, characterized in that, A structural layout spiral tendon continuum robot based on any one of claims 1 to 6, comprising: After starting 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), the continuum guide bone (30) in turn, passes through a plurality of layout structure type spiral guide tendon interval discs (10), controls the continuum backbone (20), and moves; If a complex task is performed, the tendon is relaxed due to long-time work, and the tendon is tensioned through the tendon adjustable tensioning device (50).

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