Pull-push continuum robot

Abstract

The invention discloses a pull-push continuum robot, and belongs to the technical field of continuum robots. The robot comprises a tendon pulling module, a middle module and a structural backbone pushing module. The middle module is arranged between the tendon pulling module and the structural backbone pushing module; the tendon pulling module transmits tendon driving force to the structure backbone pushing module through the middle module, and continuous robot structure deformation is completed. Tendon driving and rod driving are naturally fused, a complex spatial configuration can be achieved through at least one motor, the tendon driving rigidity is improved, and the robot control difficulty is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of continuum robots, and in particular to a pull-push continuum robot. Background Art

[0002] The 1970s to 1990s were the golden age of the development of super-redundant robots, which were mainly based on the combination of multiple rigid joint segments, that is, rigid link structures. However, compared with continuum robots, rigid links have many limitations. At the end of the 20th century, the concept of continuum robots was formally proposed. Due to its high flexibility and continuous bending ability, continuum robots have shown unique advantages in operation and adaptability in complex environments, especially in the fields of medical treatment, rescue and micro-manipulation. However, the existing continuum robots still have some technical defects and deficiencies that need to be solved, mainly in terms of drive mode, structural stiffness and control complexity.

[0003] Although the compliant adaptability of continuum robots gives them unique motion capabilities, it also brings challenges to drive control. In order to achieve precise posture control, it is usually necessary to configure an independent motor for each degree of freedom. Taking a single-segment continuum robot as an example, three motors are usually required to control its three-dimensional motion; for a two-segment continuum robot, six motors are required. This high demand for the number of motors not only increases the complexity and cost of the system, but also results in a bulky drive actuator, which affects the compactness and portability of the robot and is not conducive to its application in confined spaces.

[0004] Tendon-driven continuum robots use the pulling of flexible cables (tendons) to achieve motion control. They have a simple structure and light weight, but they have problems with low stiffness and limited load capacity. Due to the flexible characteristics of tendons, the robot is prone to deformation when subjected to external loads or performing delicate operations, affecting control accuracy and stability. Rod-driven continuum robots achieve motion control by pushing or pulling with rigid or semi-rigid rods, and have high stiffness and force transmission efficiency. However, the structure of the rod-driven method is usually more complex, with a large number of components, and difficult to assemble and maintain. At the same time, the presence of rods may limit the robot's flexible deformation ability and reduce its adaptability in narrow spaces or complex environments.

[0005] Based on the above analysis, the existing continuum robots have the following main problems in terms of drive mode and structural design: (1) A large number of motors: In order to achieve precise control of multiple degrees of freedom, a large number of motors are required, which increases the volume, weight and energy consumption of the system. (2) Low tendon drive stiffness: The flexible characteristics of the tendon lead to insufficient overall stiffness of the robot, affecting the load capacity and control accuracy. (3) Complex rod drive structure: The rod drive method has many components and a complex structure, which makes modeling and control challenging. (4) High control complexity: The coordinated control of multiple motors is difficult, and the real-time and stability of the system are difficult to guarantee. Summary of the invention

[0006] Aiming at the problems of large number of motors, low tendon driving stiffness, complex rod driving structure and high control complexity in driving mode, structural design and control of continuum robots in the prior art, the present invention provides a pull-push continuum robot, which naturally integrates tendon driving and rod driving, can realize complex spatial configuration with at least one motor, improves tendon driving stiffness and reduces the difficulty of robot control.

[0007] In order to achieve the above object, the present invention provides the following technical solutions.

[0008] The present invention provides a pull-push continuum robot comprising a tendon pulling module, an intermediate module and a structural backbone pushing module; the intermediate module is arranged between the tendon pulling module and the structural backbone pushing module; the tendon pulling module transmits the tendon driving force to the structural backbone pushing module through the intermediate module to complete the continuous robot structural deformation.

[0009] As a further improvement of the present invention, the tendon pulling module includes a first tendon pulling module; the structural backbone pushing module includes a first structural backbone pushing module; the intermediate module includes a first intermediate transmission module; the first tendon pulling module includes a first driving tendon and a first structural main bone; the first structural backbone pushing module includes a first active bone and a first passive bone; the first intermediate transmission module includes a first offset pull-push disk and a first support and fixing seat; one end of the first structural main bone is installed on one side of the first offset pull-push disk, and one end of the first passive bone is installed on the other side of the first offset pull-push disk; one end of the first driving tendon is fixed to the other end of the first structural main bone, and the other end of the first driving tendon is fixed to the first offset pull-push disk; the first offset pull-push disk is installed on the first support and fixing seat; one end of the first active bone is installed on the first offset pull-push disk, and the other end of the first active bone is fixed to the other end of the first passive bone.

[0010] As a further improvement of the present invention, the tendon pulling module includes a second tendon pulling module; the structural backbone pushing module includes a second structural backbone pushing module; the intermediate module includes a second intermediate transmission module; the second tendon pulling module includes a second driving tendon and a second spiral structure main bone; the second structural backbone pushing module includes a second active bone and a second spiral passive bone; the second intermediate transmission module includes a second offset pull-push plate and a second support and fixing seat; one end of the second spiral structure main bone is connected to one end of the second spiral passive bone, and the second offset pull-push plate is arranged at the connection between the second spiral structure main bone and the second spiral passive bone; one end of the second driving tendon is fixed to the other end of the second spiral structure main bone; the other end of the second driving tendon is fixed to the second offset pull-push plate; the other end of the second offset pull-push plate is connected to one end of the second active bone; the other end of the second active bone is fixed to the other end of the second spiral passive bone; the second offset pull-push plate is installed on the second support and fixing seat.

[0011] As a further improvement of the present invention, the tendon pulling module includes a third tendon pulling module; the structural backbone pushing module includes a third structural backbone pushing module; the intermediate module includes a third intermediate transmission module; the third tendon pulling module includes a third driving tendon and a third structural main bone; the third structural backbone pushing module includes a third active bone and a third passive bone; the third intermediate transmission module includes a third offset push-pull plate and a third support fixing seat; one end of the third structural main bone is connected to one end of the third passive bone, and the third offset push-pull plate is arranged at the connection between the third structural main bone and the third passive bone; one end of the third driving tendon is fixed to the other end of the third structural main bone on; the other end of the third driving tendon is fixed on the third offset push-pull plate; the third offset push-pull plate is installed on the third supporting fixed seat; the other end of the third offset push-pull plate is connected to the third push-pull offset crook in the third active bone; the third spiral active bone is nested in the third spiral passive bone; a plurality of third spiral active bone frames are arranged on the third spiral active bone in the third active bone; a plurality of third spiral passive bone frames are arranged on the third spiral passive bone in the third passive bone, the third spiral passive bone frame is nested in each of the third spiral active bone frames, and the third spiral active bone does not overlap with the third spiral passive bone.

[0012] As a further improvement of the present invention, the tendon pulling module includes a fourth tendon pulling module; the structural backbone pushing module includes a fourth structural backbone pushing module; the intermediate module includes a fourth transition module; the fourth tendon pulling module includes a fourth pushing bone, a fourth structural main bone, a fourth spacing guide plate and a fourth head end spacing guide plate; the fourth structural backbone pushing module includes a fourth central bone spacing plate, a fourth pushing structural backbone and a fourth end fixed spacing plate; the fourth transition module includes a fourth front end transition spacing plate and a fourth rear end transition spacing plate; the center of a plurality of the fourth spacing guide plates passes through the fourth On the main bone of the structure; the fourth pushing bone is arranged on the outer circular area of ​​the fourth spacing guide plate; one end of the fourth structure main bone and the fourth pushing bone is connected to the fourth head end spacing guide plate, and the other end of the fourth structure main bone is connected to the fourth front end transition spacing plate; the other end of the fourth pushing bone passes through the fourth front end transition spacing plate, reaches the fourth rear end transition spacing plate, and is connected to one end of the fourth pushing structure backbone; a plurality of the fourth central bone spacing plates are arranged on the fourth pushing structure backbone, and the other end of the fourth pushing structure backbone is connected to the fourth end fixed spacing plate.

[0013] As a further improvement of the present invention, the tendon pulling module includes a fifth tendon pulling module; the structural backbone pushing module includes a fifth structural backbone pushing module; the intermediate module includes a fifth transition module; the fifth tendon pulling module includes a fifty-first pushing bone, a fifty-first structural main bone, a fifty-first spacer disc and a fifth head end spacer disc; the fifth structural backbone pushing module includes a fifty-second pushing bone, a fifty-second structural main bone, a fifty-second spacer disc and a fifth end spacer disc; the fifth transition module includes a fifty-third pushing bone, a fifty-third structural active bone, a fifty-third spacer disc, a fifty-third front end spacer disc and a fifty-third rear end spacer disc; the fifty-third structural active bone and a number of the fifty-third pushing bones are arranged on a number of the fifty-third spacer discs, the fifty-third structural active bone is located in the center area of ​​the fifty-third spacer disc, and the fifty-third pushing bone Circularly arranged around the active bone of the fifty-third structure; one end of the fifty-first pushing bone and the fifty-first structure main bone is fixed on the fifth head end spacer plate, and several of the fifty-first spacer plates are arranged on the fifty-first pushing bone and the fifty-first structure main bone, and the other end of the fifty-first structure main bone is fixed on the fifty-third front end spacer plate, and the fifty-first pushing bone passes through the fifty-third front end spacer plate to be connected to the fifty-third pushing bone; one end of the fifty-second pushing bone and the fifty-second structure main bone is fixed on the fifth terminal spacer plate, and several of the fifty-second spacer plates are arranged on the fifty-second pushing bone and the fifty-second structure main bone, and the other end of the fifty-second structure main bone is fixed on the fifty-third rear end spacer plate, and the fifty-second pushing bone passes through the fifty-third rear end spacer plate to be connected to the fifty-third pushing bone.

[0014] As a further improvement of the present invention, the structural backbone pushing module includes a sixth structural backbone module; the tendon pulling module includes a sixth tendon pulling module; the intermediate module is a sixth transmission transition module; the sixth structural backbone module includes a sixth active bone, a sixth passive bone, a sixth pushing segment spacer and a sixth head end spacer; the sixth tendon pulling module includes a sixth tendon, a sixth structural main bone, a sixth pulling segment spacer and a sixth end spacer; the sixth transmission transition module includes a sixth front end transition spacer and a sixth rear end transition spacer; a plurality of the sixth active bones are arranged in a circumferential manner between the sixth head end spacer and the sixth end spacer; the sixth passive bones are arranged in a plurality of At the center position of the circle surrounded by the sixth active bone, one end of the sixth passive bone is fixed to the sixth head end spacer disk, the other end of the sixth passive bone is fixed to one side of the sixth front end transition spacer disk, and several sixth pushing segment spacer disks are arranged on the sixth passive bone and the sixth active bone; the sixth rear end transition spacer disk is arranged on the other side of the sixth front end transition spacer disk, and several sixth tendons are arranged in a circular arrangement between the sixth rear end transition spacer disk and the sixth end spacer disk; the sixth structure main bone is arranged at the center position of the circle surrounded by several sixth tendons, and several sixth pulling segment spacer disks are arranged on the sixth structure main bone and the sixth tendon.

[0015] As a further improvement of the present invention, the tendon pulling module includes a seventh tendon pulling module; the structural backbone pushing module includes a seventh structural backbone pushing module; the intermediate module is a seventh transmission transition module; the seventh tendon pulling module includes a seventh spiral tendon, a seventh structural bone, a seventh pulling segment spacer and a seventh head end spacer; the seventh structural backbone pushing module includes a seventh active bone, a seventh passive bone, a seventh pushing segment spacer and a seventh end spacer; the seventh transmission transition module includes a seventh front end transition spacer and a seventh rear end transition spacer; the seventh structural main bone is arranged between the seventh head end spacer and the seventh front end transition spacer, and the seventh spiral tendon is wrapped around the seventh structural main bone; a number of the seventh active bones are circumferentially arranged around the seventh structural main bone, and a number of the seventh pulling segment spacers are arranged on the seventh Between the head end spacer disk and one side of the seventh front end transition spacer disk, the seventh structure main bone is located at the center of the seventh pulling segment spacer disk, the seventh active bone is circumferentially arranged on the seventh structure main bone, and the seventh spiral tendon is located between the seventh structure main bone and the seventh active bone; one end of the seventh active bone is fixed to the seventh head end spacer disk, and the other end of the seventh active bone is fixed to the seventh terminal spacer disk; the seventh rear end transition spacer disk is arranged on the other side of the seventh front end transition spacer disk, one end of the seventh passive bone is fixed to the seventh rear end transition spacer disk, and the other end of the seventh passive bone is fixed to the seventh terminal spacer disk, a plurality of the seventh pushing segment spacer disks are arranged between the seventh rear end transition spacer disk and the seventh terminal spacer disk, and the seventh passive bone passes through the central area of ​​the seventh pushing segment spacer disk.

[0016] As a further improvement of the present invention, the structural backbone pushing module includes an eighth structural backbone pushing module; the tendon pulling module includes an eighth tendon pulling module; the intermediate module includes an eighth intermediate transmission module; the eighth structural backbone pushing module includes an eighth active bone, an eighth pulling section spacer, an eighth structural main bone and an eighth head end spacer; the eighth tendon pulling module includes an eighth tendon, an eighth pulling section structural main bone, an eighth pulling section spacer and an eighth end spacer; the eighth intermediate transmission module includes an eighth front end transition spacer and an eighth rear end transition spacer; a number of the eighth active bones are fixed between the eighth head end spacer and the eighth end spacer; the eighth structural main bone is arranged at the center position of a number of the eighth active bones arranged circumferentially, one end of the eighth structural main bone is fixed to the eighth head end spacer, and the other end of the eighth structural main bone is fixed On one side of the eighth front end transition spacer disk, a plurality of the eighth pulling section spacer disks are arranged between the eighth head end spacer disk and the eighth front end transition spacer disk; the eighth structural main bone is arranged in the central area of ​​the eighth pulling section spacer disk, and a plurality of the eighth active bone bearings are circumferentially arranged on the eighth pulling section spacer disk; the eighth rear end transition spacer disk is arranged on the other side of the eighth front end transition spacer disk, the eighth tendon is arranged between the eighth rear end transition spacer disk and the eighth terminal spacer disk, the eighth pulling section structural main bone is arranged in the central area between the eighth rear end transition spacer disk and the eighth terminal spacer disk, and the eighth tendon is located in the area between the eighth rear end transition spacer disk and the eighth terminal spacer disk; a plurality of the eighth pulling section spacer disks are arranged between the eighth rear end transition spacer disk and the eighth terminal spacer disk.

[0017] As a further improvement of the present invention, the eighth pulling section spacer plate, the eighth rear end transition spacer plate and the eighth end spacer plate are equal in size; the eighth pulling section spacer plate, the eighth head end spacer plate and the eighth front end transition spacer plate are equal in size.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The pull-push continuum robot proposed in the present invention combines the tendon pulling module with the structural backbone pushing module, and designs the intermediate module as a bridge for driving force transmission, which not only greatly reduces the number of required motors and simplifies the system architecture, but also realizes that complex spatial configurations can be achieved with a single motor drive. First, in terms of the driving mechanism, it combines the high flexibility of tendon driving and the high rigidity of rod driving, which not only solves the problem of insufficient rigidity under the traditional tendon driving method, but also retains its excellent flexibility and adaptability. At the same time, by utilizing the stability of rod driving, the robot has a stronger load capacity and higher motion accuracy while maintaining high flexibility. This fusion of dual-mode driving provides a solid foundation for the robot to perform tasks such as fine operations, complex environment exploration and human-computer interaction, and significantly improves the operating efficiency and safety. Secondly, at the structural design level, the present invention greatly reduces the complexity and volume of the system through a streamlined mechanical structure design, reduces material usage and manufacturing costs, and improves the overall compactness and portability. The introduction of the intermediate module, as a conversion hub between the tendon driving force and the structural backbone driving force, not only effectively transmits power, but also plays a role in structural support and deformation regulation, making the robot more smooth and efficient in morphological changes. In addition, the application of the modular design concept allows the robot of the present invention to flexibly combine and customize different configurations according to the needs of different application scenarios. From simple linear motion to complex three-dimensional spatial posture adjustment, all can be achieved by adjusting the module configuration, which greatly enhances the scalability and application flexibility of the system. In terms of the control system, the present invention realizes the coordinated control between the tendon and the rod through the precise design of the mechanical transmission mechanism, which not only simplifies the control logic and reduces the complexity of the control algorithm, but also significantly improves the accuracy and reliability of motion control. This natural fusion at the mechanical level reduces the burden on the electronic control system, so that even the control of a single motor can accurately drive the robot to complete complex and changeable tasks, reducing the control cost and improving the overall performance and stability of the system.

[0019] Furthermore, the present invention provides a rich selection space for the practical application of robots. These configurations not only cover various motion modes from simple to complex, but also take into account the specific needs of different working environments, such as narrow space operations, complex terrain exploration, high-precision assembly, etc. The modular design allows users to quickly respond to market changes or specific task requirements. By replacing or adjusting modules, they can quickly build the robot configuration that best suits the current application scenario, greatly shortening the product development and deployment cycle and improving market competitiveness. 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: In the drawings: Figure 1 It is a schematic diagram of the basic configuration of a pull-push continuum robot of the present invention; wherein, (a) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon offset collinear structure; (b) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon offset spiral structure; (c) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon offset special-shaped spiral structure; (d) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon built-in unilateral structure; (e) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon built-in bilateral structure; (f) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon parallel external uniform cross-section structure; (g) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon spiral external uniform cross-section structure; (h) is a schematic diagram of the basic configuration of a main bone pull-push continuum robot with a tendon external variable cross-section structure; Figure 2 The present invention is a schematic diagram of the structure of a tendon-biased pull-push continuum robot in a pull-push continuum robot; wherein (a) is a schematic diagram of the structure of a tendon-biased collinear structure main bone pull-push continuum robot; (b) is a schematic diagram of the structure of a tendon-biased spiral structure main bone pull-push continuum robot; (c) is a schematic diagram of the structure of a tendon-biased special-shaped spiral structure main bone pull-push continuum robot; Figure 3 The present invention is a schematic diagram of the structure of a tendon-biased collinear structure main bone pull-push continuum robot; wherein (a) is a schematic diagram of the specific structure of the first tendon pulling module; (b) is a schematic diagram of the specific structure of the first structure backbone pushing module; (c) is a schematic diagram of the overall structure of the tendon-biased collinear structure main bone pull-push continuum robot; Figure 4 The present invention is a schematic diagram of the structure of a tendon-biased spiral structure main bone pull-push continuum robot; wherein (a) is a schematic diagram of the specific structure of the second structure backbone pushing module; (b) is a schematic diagram of the specific structure of the second tendon pulling module; (c) is a schematic diagram of the overall structure of the tendon-biased spiral structure main bone pull-push continuum robot; Figure 5 The present invention is a schematic diagram of the structure of a pull-push continuum robot with a tendon-biased special-shaped spiral structure and a main bone; wherein (a) is a schematic diagram of the specific structure of the third active bone; (b) is a schematic diagram of the specific structure of the third passive bone; (c) is a schematic diagram of the specific structure of the third tendon pulling module; (d) is an overall schematic diagram of the pull-push continuum robot with a tendon-biased special-shaped spiral structure and a main bone; Figure 6The present invention is a schematic diagram of the structure of a tendon-embedded pull-push continuum robot in a pull-push continuum robot; wherein (a) is a schematic diagram of the structure of a tendon-embedded unilateral main bone pull-push continuum robot; (b) is a schematic diagram of the structure of a tendon-embedded bilateral main bone pull-push continuum robot; Figure 7 It is a structural schematic diagram of a tendon-built-in unilateral main bone pulling and pushing continuum robot in a pulling and pushing continuum robot of the present invention; wherein (a) is a specific structural schematic diagram of the fourth structural backbone pushing module; (b) is a specific structural schematic diagram of the fourth tendon pulling module; (c) is an overall structural schematic diagram of the tendon-built-in unilateral main bone pulling and pushing continuum robot; Figure 8 The present invention is a schematic diagram of the structure of a pull-push continuum robot with external tendons in a pull-push continuum robot; wherein (a) is a schematic diagram of the structure of the fifth transition module; (b) is a schematic diagram of the connection between the fifth transition module and the fifth tendon pulling module and the fifth structural backbone pushing module; (c) is a schematic diagram of the structure of the fifth tendon pulling module; (d) is a schematic diagram of the overall structure of a tendon-internal bilateral main bone pull-push continuum robot; Fig. 9 The present invention is a schematic diagram of a main bone pulling and pushing continuum robot with a tendon-built-in bilateral structure; wherein (a) is a schematic diagram of a main bone pulling and pushing continuum robot with a tendon-built-in parallel and uniform cross-section structure; (b) is a schematic diagram of a main bone pulling and pushing continuum robot with a tendon-built-in spiral and uniform cross-section structure; (c) is a schematic diagram of a main bone pulling and pushing continuum robot with a tendon-built-in variable cross-section structure; Fig.10 It is a structural schematic diagram of a main bone pulling and pushing continuum robot with tendons arranged in parallel and with a uniform cross-sectional structure in a pulling and pushing continuum robot of the present invention; wherein (a) is a specific structural schematic diagram of the sixth tendon pulling module; (b) is a specific structural schematic diagram of the sixth structural backbone module; (c) is an overall structural schematic diagram of a main bone pulling and pushing continuum robot with tendons arranged in parallel and with a uniform cross-sectional structure; Fig.11 It is a structural schematic diagram of a main bone pulling and pushing continuum robot with a tendon spiral external and equal cross-sectional structure in a pulling and pushing continuum robot of the present invention; wherein (a) is a specific structural schematic diagram of the seventh structural backbone pushing module; (b) is a specific structural schematic diagram of the seventh tendon pulling module; (c) is an overall structural schematic diagram of a main bone pulling and pushing continuum robot with a tendon spiral external and equal cross-sectional structure; Fig.12It is a structural schematic diagram of a pull-push continuum robot with a main bone pull-push continuum structure and a variable cross-section structure with external tendons in the pull-push continuum robot of the present invention; wherein, (a) is a specific structural schematic diagram of the eighth tendon pulling module; (b) is a local detail schematic diagram of the eighth structure backbone pushing module; (c) is a specific structural schematic diagram of the eighth structure backbone pushing module; (d) is an overall structural schematic diagram of the pull-push continuum robot with a main bone pull-push continuum structure and a variable cross-section structure with external tendons.

[0021] In the figure, 10 is a tendon-biased colinear structure main bone pull-push continuum robot; 101 is a first tendon pulling module; 1011 is a first driving tendon; 1012 is a first structure main bone; 102 is a first structure backbone pushing module; 1021 is a first active bone; 1022 is a first passive bone; 103 is a first intermediate transmission module; 1031 is a first offset pull-push plate; 1032 is a first support and fixing seat; 20 is a tendon-biased spiral structure main bone pull-push continuum robot; 201 is a second tendon pulling module; 2011 is a second driving tendon; 2012 is a second spiral structure main bone; 202 is a second structure backbone pushing module; 2021 is a second active bone; 2022 is a second spiral passive bone; 203 is a second intermediate transmission module 2031 is the second offset push-pull plate; 2032 is the second support and fixing seat; 30 is the tendon offset special-shaped spiral structure main bone push-pull continuum robot; 301 is the third tendon pulling module; 3011 is the third driving tendon; 3012 is the third structure main bone; 302 is the third structure backbone pushing module; 3021 is the third active bone; 30211 is the third spiral active backbone; 30212 is the third spiral active backbone frame; 30213 is the third push-pull offset turning shaft; 3022 is the third passive bone; 30221 is the third spiral passive backbone; 30222 is the third spiral passive backbone frame; 303 is the third intermediate transmission module; 3031 is the third offset push-pull plate; 3032 is the third support and fixing seat; 40 is the tendon Tendon built-in unilateral main bone pulling and pushing continuum robot; 401 is the fourth tendon pulling module; 4011 is the fourth pushing bone; 4012 is the fourth main bone of the structure; 4013 is the fourth spacing guide plate; 4014 is the fourth head spacing guide plate; 402 is the fourth structure trunk pushing module; 4021 is the fourth center bone spacing plate; 4022 is the fourth pushing structure backbone; 4023 is the fourth terminal fixed spacing plate; 403 is the fourth transition module; 4031 is the fourth front end transition spacing plate; 4032 is the fourth rear end transition spacing plate; 50 is a tendon built-in bilateral main bone pulling and pushing continuum robot; 501 is the fifth tendon pulling module; 5011 is the fifty-first pushing bone; 5012 is the fifty-first main bone of the structure; 5013 ...1 is the fourth center bone spacing plate; 4022 is the fourth pushing structure backbone; 4023 is the fourth terminal fixed spacing plate; 403 is the fourth transition module; 4031 is the fourth front end transition spacing plate; 4032 is the fourth rear end transition spacing plate; 50 is a tendon built-in bilateral main bone pulling and pushing continuum robot; 501 is the fifth tendon pulling module; 5011 is the fifty-first pushing bone; 501 5014 is the fifth head-end spacer; 502 is the fifth structural backbone push module; 5021 is the fifty-second push bone; 5022 is the fifty-second structural main bone; 5023 is the fifty-second spacer; 5024 is the fifth terminal spacer; 503 is the fifth transition module; 5031 is the fifty-third push bone; 5032 is the fifty-third structural active bone; 5033 is the fifty-third spacer; 50301 is the fifty-third front-end spacer; 50302 is the fifty-third rear-end spacer; 60 is a tendon parallel external equal-section structure main bone pull-push continuum robot; 601 is the sixth structural backbone module; 6011 is the sixth active bone; 6012 is the sixth passive bone; 6013 is the sixth push segment spacer;6014 is the sixth head end spacer; 602 is the sixth tendon pulling module; 6021 is the sixth tendon; 6022 is the sixth structural main bone; 6023 is the sixth pulling segment spacer; 6024 is the sixth terminal spacer; 603 is the sixth transmission transition module; 6031 is the sixth front end transition spacer; 6032 is the sixth rear end transition spacer; 70 is a tendon spiral external uniform cross-section structure main bone pulling and pushing continuum robot; 701 is the seventh tendon pulling module; 7011 is the seventh spiral tendon; 7012 is the seventh structural main bone; 7013 is the seventh pulling segment spacer; 7014 is the seventh head end spacer; 702 is the seventh structural backbone pushing module; 7021 is the seventh active bone; 7022 is the seventh passive bone; 7023 is the seventh pushing segment spacer 7024 is the seventh terminal spacer; 703 is the seventh transmission transition module; 7031 is the seventh front transition spacer; 7032 is the seventh rear transition spacer; 80 is a tendon external variable cross-section structure main bone pull-push continuum robot; 801 is the eighth structure backbone push module; 8011 is the eighth active bone; 8012 is the eighth pulling segment spacer; 8013 is the eighth structure main bone; 8014 is the eighth head end spacer; 802 is the eighth tendon pulling module; 8021 is the eighth tendon; 8022 is the eighth pulling segment structure main bone; 8023 is the eighth pulling segment spacer; 8024 is the eighth terminal spacer; 803 is the eighth intermediate transmission module; 8031 ​​is the eighth front transition spacer; 8032 is the eighth rear transition spacer. ; 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 of large number of motors, low tendon driving stiffness, complex rod driving structure and high control complexity in driving mode, structural design and control of continuum robots in the prior art, the present invention provides a pull-push continuum robot, comprising a tendon pulling module, an intermediate module and a structural backbone pushing module.

[0025] The middle module is arranged between the tendon pulling module and the structural backbone pushing module.

[0026] The tendon pulling module transmits the tendon driving force to the structural backbone pushing module through the intermediate module, realizing the derivation of the continuous robot pulling and completing the complex structural deformation of the continuous robot. The tendon in the tendon driving module can be a contractile material that responds to stimulation, or the tendon can be pulled by an external motor to achieve structural bone deformation of the tendon driving module.

[0027] like Figure 1 As shown, a pull-push continuum robot includes three different tendon bias types, namely a tendon biased pull-push continuum robot, a tendon-internal pull-push continuum robot and a tendon-external pull-push continuum robot.

[0028] like Figure 1 (a) Figure 1 (b) and Figure 1 As shown in (c), the tendon-biased pull-push continuum robot includes three types, namely, the tendon-biased colinear structure main bone pull-push continuum robot 10, the tendon-biased spiral structure main bone pull-push continuum robot 20, and the tendon-biased special-shaped spiral structure main bone pull-push continuum robot 30.

[0029] like Figure 1 (d) and Figure 1 As shown in (e), the tendon-embedded pull-push continuum robot includes a tendon-embedded unilateral main bone pull-push continuum robot 40 and a tendon-embedded bilateral main bone pull-push continuum robot 50.

[0030] like Figure 1 (f) Figure 1 (g) and Figure 1 As shown in (h), the tendon-external pulling-pushing continuum robot includes a main bone pulling-pushing continuum robot 60 with a uniform cross-sectional structure and tendons installed in parallel, a main bone pulling-pushing continuum robot 70 with a uniform cross-sectional structure and tendons installed in spirals, and a main bone pulling-pushing continuum robot 80 with a variable cross-sectional structure and tendons installed in externals.

[0031] like Figure 2 As shown in (a), the tendon offset colinear structure main bone pulling and pushing continuum robot 10 includes a first tendon pulling module 101, a first structural backbone pushing module 102 and a first intermediate transmission module 103.

[0032] The first intermediate transmission module 103 is disposed between the first tendon pulling module 101 and the first structural backbone pushing module 102 .

[0033] like Figure 3As shown, the first tendon pulling module 101 includes a first driving tendon 1011 and a first structural main bone 1012; the first structural backbone pushing module 102 includes a first active bone 1021 and a first passive bone 1022; the first intermediate transmission module 103 includes a first offset pull-push plate 1031 and a first supporting fixed seat 1032.

[0034] One end of the first structure main bone 1012 is connected to one end of the first passive bone 1022 , and the first offset push-pull plate 1031 is arranged at the connection between the first structure main bone 1012 and the first passive bone 1022 .

[0035] One end of the first driving and pulling tendon 1011 is fixed to the other end of the first structural main bone 1012; the other end of the first driving and pulling tendon 1011 is fixed to the first offset push-pull plate 1031; the first offset push-pull plate 1031 is installed on the first supporting fixed seat 1032; one end of the first active bone 1021 is installed on the first offset push-pull plate 1031, and the other end of the first active bone 1021 is fixed to the other end of the first passive bone 1022.

[0036] Under external excitation, the first driving tendon 1011 will be relatively shortened. Due to the offset layout of the first driving tendon 1011 and the first structural main bone 1012, when the first driving tendon 1011 is shortened, it will pull the first offset push-pull plate 1031 to tilt to one side. At this time, the other side of the first offset push-pull plate 1031 is oppositely tilted, which will provide a driving force for the first active bone 1021, causing the first passive bone 1022 to deform.

[0037] The tendon-biased colinear structure main bone pull-push continuum robot 10 is composed of an antisymmetric layout of a first tendon pulling module 101 and a first structural backbone pushing module 102; a complex S configuration can be achieved through only one first driving tendon 1011; this configuration sets a larger driving interval spacing, so that the structure has high flexibility, and this configuration is mainly used in bionic robots.

[0038] like Figure 2 As shown in (b), the tendon-biased spiral structure main bone pulling and pushing continuum robot 20 includes a second tendon pulling module 201 , a second structural backbone pushing module 202 and a second intermediate transmission module 203 .

[0039] The second intermediate transmission module 203 is arranged between the second tendon pulling module 201 and the second structural backbone pushing module 202 .

[0040] like Figure 4As shown, the second tendon pulling module 201 includes a second driving tendon 2011 and a second spiral structure main bone 2012; the second structural backbone pushing module 202 includes a second active bone 2021 and a second spiral passive bone 2022; the second intermediate transmission module 203 includes a second offset pull-push plate 2031 and a second support fixing seat 2032.

[0041] One end of the second spiral structure main bone 2012 is connected to one end of the second spiral passive bone 2022 , and the second offset push-pull plate 2031 is arranged at the connection between the second spiral structure main bone 2012 and the second spiral passive bone 2022 .

[0042] One end of the second driving tendon 2011 is fixed to the other end of the second spiral structure main bone 2012; the other end of the second driving tendon 2011 is fixed to the second offset push-pull plate 2031; the second offset push-pull plate 2031 is installed on the second supporting fixed seat 2032; the other end of the second offset push-pull plate 2031 is connected to one end of the second active bone 2021; the other end of the second active bone 2021 is fixed to the other end of the second spiral passive bone 2022.

[0043] Under external stimulation, the second driving tendon 2011 will be relatively shortened. Due to the offset layout of the second driving tendon 2011 and the second spiral structure main bone 2012, when the second driving tendon 2011 is shortened, it will pull the second offset push-pull plate 2031 to tilt to one side. At this time, the other side of the second offset push-pull plate 2031 is oppositely tilted, which will provide a driving force for the second active bone 2021, causing the second spiral passive bone 2022 to deform.

[0044] The tendon-biased helical structure main bone pull-push continuum robot 20 adopts a configuration of anti-symmetric layout of tendon pulling and rod pushing segments, and can achieve complex S-shaped deformation through single tendon pulling. This configuration is designed with a large drive interval, making the structure highly flexible and suitable for the field of bionic robots.

[0045] like Figure 2 As shown in (c), the tendon-biased special-shaped spiral structure main bone pulling and pushing continuum robot 30 includes a third tendon pulling module 301, a third structural backbone pushing module 302 and a third intermediate transmission module 303.

[0046] The third intermediate transmission module 303 is arranged between the third tendon pulling module 301 and the third structural backbone pushing module 302 .

[0047] like Figure 5As shown, the third tendon pulling module 301 includes a third driving tendon 3011 and a third structural main bone 3012; the third structural backbone pushing module 302 includes a third active bone 3021 and a third passive bone 3022; the third passive bone 3022 includes a third spiral passive backbone 30221 and a third spiral passive backbone frame 30222; the third intermediate transmission module 303 includes a third offset pull-push plate 3031 and a third support fixing seat 3032.

[0048] One end of the third structure main bone 3012 is connected to one end of the third passive bone 3022 , and the third offset push-pull plate 3031 is arranged at the connection between the third structure main bone 3012 and the third passive bone 3022 .

[0049] One end of the third driving and pulling tendon 3011 is fixed to the other end of the third structural main bone 3012; the other end of the third driving and pulling tendon 3011 is fixed to the third offset push-pull plate 3031; the third offset push-pull plate 3031 is installed on the third supporting fixed seat 3032; the other end of the third offset push-pull plate 3031 is connected to the third push-pull offset crook 30213 in the third active bone 3021; ​​the third spiral passive bone 3022 is nested in the third spiral active backbone 30211. A plurality of third spiral active backbone frames 30212 are arranged on the third spiral active backbone 30211 in the third active bone 3021; ​​a plurality of third spiral passive backbone frames 30222 are arranged on the third spiral passive backbone 30221 in the third passive bone 3022, the third spiral passive backbone frames 30222 are nested in the third spiral active backbone frames 30212, and the third spiral active backbone 30211 and the third spiral passive backbone 30221 do not overlap.

[0050] Under external excitation, the third driving and pulling tendon 3011 will be relatively shortened. Due to the offset layout of the third driving and pulling tendon 3011 and the third structural main bone 3012, when the third driving and pulling tendon 3011 is shortened, it will pull the third offset push-pull plate 3031 to tilt to one side. At this time, the other side of the third offset push-pull plate 3031 is oppositely tilted, providing a driving force for the third push-pull offset crook 30213, causing the third spiral passive bone 30221 to deform.

[0051] The tendon-biased special-shaped spiral structure main bone pulling and pushing continuum robot 30, the third tendon pulling module 301 and the third structure backbone pushing module 302 have different stiffness characteristics and can be used in application scenarios that require variable stiffness.

[0052] like Figure 6 As shown in (a), the tendon-embedded unilateral structure main bone pulling and pushing continuum robot 40 includes a fourth tendon pulling module 401, a fourth structure backbone pushing module 402 and a fourth transition module 403.

[0053] The fourth transition module 403 is disposed between the fourth tendon pulling module 401 and the fourth structural backbone pushing module 402 .

[0054] like Figure 7 As shown, the fourth tendon pulling module 401 includes a fourth pushing bone 4011, a fourth structural main bone 4012, a fourth spacer guide plate 4013 and a fourth head end spacer guide plate 4014; the fourth structural backbone pushing module 402 includes a fourth central bone spacer plate 4021, a fourth pushing structural backbone 4022 and a fourth end fixed spacer plate 4023; the fourth transition module 403 includes a fourth front end transition spacer plate 4031 and a fourth rear end transition spacer plate 4032.

[0055] A plurality of fourth spacing guide plates 4013 are arranged on the fourth structure main bone 4012. With the fourth structure main bone 4012 as the center, a plurality of fourth pushing bones 4011 are arranged in a circle. The fourth pushing bones 4011 are arranged on the peripheral area of ​​the fourth spacing guide plate 4013. One end of the fourth structure main bone 4012 and the fourth pushing bone 4011 is connected to the fourth head end spacing guide plate 4014, and the other end of the fourth structure main bone 4012 is connected to the fourth front end transition spacing plate 4031. The other end of the fourth pushing bone 4011 passes through the fourth front end transition spacing plate 4031, reaches the fourth rear end transition spacing plate 4032, and is connected to one end of the fourth pushing structure backbone 4022. The number of fourth pushing bones 4011 connected to the fourth pushing structure backbone 4022 is equal.

[0056] A plurality of fourth central bone spacer plates 4021 are disposed on the fourth pushing structure backbone 4022 , and the other end of the fourth pushing structure backbone 4022 is connected to a fourth terminal fixed spacer plate 4023 .

[0057] The distance between each fourth spacing guide plate 4013 and the number of the fourth spacing guide plates 4013, the distance between each fourth central bone spacing plate 4021 and the number of the fourth central bone spacing plates 4021 are set according to the usage scenario.

[0058] Under the input of external excitation, the fourth structure main bone 4012 responds to contraction, and several fourth push bones 4011 begin to bend and deform. Under the transmission of the fourth transition module 403, the fourth push structure backbone 4022 begins to bend and deform symmetrically, thereby realizing the tendon-built-in unilateral structure main bone pulling and pushing continuum robot 40 to perform specific target tasks. The tendon-built-in unilateral structure main bone pulling and pushing continuum robot 40 is stimulated to deform through the fourth structure main bone 4012, and several fourth push bones 4011 are used to push and pull the fourth push structure backbone 4022 to achieve bending deformation. The advantage of this solution lies in the role of multiple fourth push bones 4011, which gives the continuum robot better structural rigidity, so that it can be competent for high-load tasks in complex and unstructured environments.

[0059] like Figure 6 As shown in (b), the tendon-embedded bilateral structure main bone pulling and pushing continuum robot 50 includes a fifth tendon pulling module 501 , a fifth structure backbone pushing module 502 and a fifth transition module 503 .

[0060] The fifth transition module 503 is disposed between the fifth structural backbone pushing module 502 and the fifth tendon pulling module 501 .

[0061] like Figure 8 As shown, the fifth tendon pulling module 501 includes the fifty-first pushing bone 5011, the fifty-first structural main bone 5012, the fifty-first spacer disc 5013 and the fifth head end spacer disc 5014; the fifth structural backbone pushing module 502 includes the fifty-second pushing bone 5021, the fifty-second structural main bone 5022, the fifty-second spacer disc 5023 and the fifth end spacer disc 5024; the fifth transition module 503 includes the fifty-third pushing bone 5031, the fifty-third structural active bone 5032, the fifty-third spacer disc 5033, the fifty-third front end spacer disc 50301 and the fifty-third rear end spacer disc 50302.

[0062] Taking the active bone 5032 of the fifty-third structure as the center of the circle, the fifty-third pushing bone 5031 is arranged on the circumference thereof, the active bone 5032 of the fifty-third structure and the fifty-third pushing bone 5031 are arranged on a plurality of fifty-third spacing plates 5033, and the active bone 5032 of the fifty-third structure is located in the center area of ​​the fifty-third spacing plates 5033. Taking the main bone 5012 of the fifty-first structure as the center of the circle, the fifty-first pushing bone 5011 is arranged on the circumference thereof, one end of the fifty-first pushing bone 5011 and the main bone 5012 of the fifty-first structure is fixed on the fifth head end spacing plate 5014, a plurality of fifty-first spacing plates 5013 are arranged on the fifty-first pushing bone 5011 and the main bone 5012 of the fifty-first structure, the other end of the main bone 5012 of the fifty-first structure is fixed on the fifty-third front end spacing plate 50301, and the fifty-first pushing bone 5011 passes through the fifty-third front end spacing plate 50301 to be connected with the fifty-third pushing bone 5031. With the fifty-second structural main bone 5022 as the center of the circle, the fifty-second pushing bone 5021 is arranged on the circumference, one end of the fifty-second pushing bone 5021 and the fifty-second structural main bone 5022 are fixed on the fifth end spacer plate 5024, a plurality of fifty-second spacer plates 5023 are arranged on the fifty-second pushing bone 5021 and the fifty-second structural main bone 5022, the other end of the fifty-second structural main bone 5022 is fixed on the fifty-third rear end spacer plate 50302, and the fifty-second pushing bone 5021 passes through the fifty-third rear end spacer plate 50302 to be connected with the fifty-third pushing bone 5031.

[0063] Under the input of external excitation, the active bone 5032 of the fifty-third structure responds and contracts, driving the fifty-third pushing bone 5031 to move, and the fifty-third pushing bone 5031 drives the fifty-first pushing bone 5011 and the fifty-second pushing bone 5021, so that the fifty-first structure main bone 5012 and the fifty-second structure main bone 5022 begin to bend and deform symmetrically, thereby realizing the tendon-built-in bilateral structure main bone pulling and pushing continuum robot 50 to perform specific target tasks.

[0064] The tendon-embedded bilateral structural main bone pull-push continuum robot 50 achieves a complex double S-shaped configuration through the contraction of the structural main bones. The structure is simple and flexible, and is suitable for bionic snake-like robots and medical soft robots for drug delivery and controlled release.

[0065] like Fig. 9 As shown in (a), the tendon parallel external equal cross-section structure main bone pulling and pushing continuum robot 60 includes a sixth structural backbone module 601, a sixth tendon pulling module 602 and a sixth transmission transition module 603.

[0066] The sixth transmission transition module 603 is arranged between the sixth structural backbone module 601 and the sixth tendon pulling module 602 .

[0067] like Fig.10 As shown, the sixth structural backbone module 601 includes the sixth active bone 6011, the sixth passive bone 6012, the sixth pushing segment spacer disk 6013 and the sixth head end spacer disk 6014; the sixth tendon pulling module 602 includes the sixth tendon 6021, the sixth structural main bone 6022, the sixth pulling segment spacer disk 6023 and the sixth end spacer disk 6024; the sixth transmission transition module 603 includes the sixth front end transition spacer disk 6031 and the sixth rear end transition spacer disk 6032.

[0068] A plurality of sixth active bones 6011 are arranged in a circular pattern between the sixth head end spacer disk 6014 and the sixth terminal spacer disk 6024; the sixth passive bone 6012 is arranged at the center of the circle surrounded by the plurality of sixth active bones 6011, one end of the sixth passive bone 6012 is fixed to the sixth head end spacer disk 6014, and the other end of the sixth passive bone 6012 is fixed to one side of the sixth front end transition spacer disk 6031, and a plurality of sixth pushing segment spacer disks 6013 are arranged at the horizontal position of the sixth passive bone 6012 and the plurality of sixth active bones 6011.

[0069] The sixth rear end transition spacer disk 6032 is arranged on the other side of the sixth front end transition spacer disk 6031, and a plurality of sixth tendons 6021 are arranged in a circular arrangement between the sixth rear end transition spacer disk 6032 and the sixth end spacer disk 6024. The sixth structure main bone 6022 is arranged at the center of the circle surrounded by the plurality of sixth tendons 6021, and a plurality of sixth pulling section spacer disks 6023 are arranged at the horizontal position of the sixth structure main bone 6022 and the plurality of sixth tendons 6021.

[0070] When the sixth tendon 6021 is in the pulling state, the sixth structural main bone 6022 bends and deforms, driving the sixth active bone 6011 and the sixth transmission transition module 603 to push the sixth passive bone 6012 to deform; thereby realizing the complex deformation of the tendon parallel external equal-section main bone pulling and pushing continuum robot 60, and then executing specific target tasks.

[0071] The tendon parallel external equal cross-section structure main bone pull-push continuum robot 60 can realize the complex configuration of two-segment continuum robots by pulling the sixth tendon 6021. The robot has a simple structural design and flexible control, and is particularly suitable for robot-assisted minimally invasive surgery.

[0072] like Fig. 9 As shown in (b), the tendon spiral external equal-section structure main bone pulling and pushing continuum robot 70 includes a seventh tendon pulling module 701, a seventh structural backbone pushing module 702 and a seventh transmission transition module 703.

[0073] The seventh transmission transition module 703 is arranged between the seventh tendon pulling module 701 and the seventh structural backbone pushing module 702 .

[0074] like Fig.11 As shown, the seventh tendon pulling module 701 includes the seventh spiral tendon 7011, the seventh structural main bone 7012, the seventh pulling segment spacer disk 7013 and the seventh head end spacer disk 7014; the seventh structural backbone pushing module 702 includes the seventh active bone 7021, the seventh passive bone 7022, the seventh pushing segment spacer disk 7023 and the seventh end spacer disk 7024; the seventh transmission transition module 703 includes the seventh front end transition spacer disk 7031 and the seventh rear end transition spacer disk 7032.

[0075] The seventh structural main bone 7012 is arranged between the seventh head end spacer disk 7014 and the seventh front end transition spacer disk 7031 , and the seventh spiral tendon 7011 is wound around the seventh structural main bone 7012 .

[0076] With the seventh structure main bone 7012 as the center, several seventh active bones 7021 are arranged circumferentially, several seventh pulling section spacer disks 7013 are arranged between the seventh head end spacer disk 7014 and one side of the seventh front end transition spacer disk 7031, the seventh structure main bone 7012 is located at the center of the seventh pulling section spacer disk 7013, the seventh active bones 7021 are arranged circumferentially on the seventh structure main bone 7012, the seventh spiral tendon 7011 is wrapped around the seventh structure main bone 7012, and is located between the seventh structure main bone 7012 and the seventh active bone 7021; one end of the seventh active bone 7021 is fixed to the seventh head end spacer disk 7014, and the other end of the seventh active bone 7021 is fixed to the seventh end spacer disk 7024.

[0077] The seventh rear end transition spacer 7032 is arranged on the other side of the seventh front end transition spacer 7031, the seventh passive bone 7022 is arranged at the center position of several seventh active bones 7021 arranged circumferentially, one end of the seventh passive bone 7022 is fixed to the seventh rear end transition spacer 7032, the other end of the seventh passive bone 7022 is fixed to the seventh terminal spacer 7024, and several seventh pushing segment spacer plates 7023 are arranged between the seventh rear end transition spacer 7032 and the seventh terminal spacer 7024, and the seventh passive bone 7022 passes through the central area of ​​the seventh pushing segment spacer 7023.

[0078] When the seventh spiral tendon 7011 is pulling, the seventh structural main bone 7012 bends and deforms, and the seventh active bone 7021 and the seventh transmission transition module 703 push the seventh passive bone 7022 to deform; thereby realizing the complex deformation of the tendon spiral external equal-section structure main bone pulling and pushing continuum robot 70, and then executing specific target tasks.

[0079] The tendon spiral external equal cross-section structure main bone pull-push continuum robot 70 can be realized by one motor, but the traditional two-segment continuum robot needs six motors to drive the configuration. This configuration is simple in structure and easy to miniaturize, and is particularly suitable for low-load application scenarios, such as surgical robots for in vivo inspection or laser treatment.

[0080] like Fig. 9 As shown in (c), the tendon-external variable-section structure main bone pulling-pushing continuum robot 80 includes an eighth structural backbone pushing module 801 , an eighth tendon pulling module 802 and an eighth intermediate transmission module 803 .

[0081] The eighth intermediate transmission module 803 is arranged between the eighth structural backbone pushing module 801 and the eighth tendon pulling module 802.

[0082] like Fig.12As shown, the eighth structural backbone pushing module 801 includes the eighth active bone 8011, the eighth pulling section spacer plate 8012, the eighth structural main bone 8013 and the eighth head end spacer plate 8014; the eighth tendon pulling module 802 includes the eighth tendon 8021, the eighth pulling section structural main bone 8022, the eighth pulling section spacer plate 8023 and the eighth end spacer plate 8024; the eighth intermediate transmission module 803 includes the eighth front end transition spacer plate 8031 ​​and the eighth rear end transition spacer plate 8032.

[0083] A plurality of eighth active bones 8011 are fixed between the eighth head end spacer 8014 and the eighth end spacer 8024, and the plurality of eighth active bones 8011 are arranged circumferentially; the eighth structural main bone 8013 is arranged at the center of the plurality of eighth active bones 8011 arranged circumferentially, one end of the eighth structural main bone 8013 is fixed to the eighth head end spacer 8014, the other end of the eighth structural main bone 8013 is fixed to one side of the eighth front end transition spacer 8031, and a plurality of eighth pulling section spacer 8012 are arranged between the eighth head end spacer 8014 and the eighth front end transition spacer 8031. The eighth structural main bone 8013 is arranged in the center area of ​​the eighth pulling section spacer 8012, and the plurality of eighth active bones 8011 are arranged circumferentially on the eighth pulling section spacer 8012.

[0084] The eighth rear transition spacer 8032 is arranged on the other side of the eighth front transition spacer 8031, the eighth tendon 8021 is arranged between the eighth rear transition spacer 8032 and the eighth terminal spacer 8024, the eighth pulling section structure main bone 8022 is arranged in the central area between the eighth rear transition spacer 8032 and the eighth terminal spacer 8024, and the eighth tendon 8021 is located in the area between the eighth rear transition spacer 8032 and the eighth terminal spacer 8024 on the outside of the eighth pulling section structure main bone 8022 and the eighth active bone 8011. A plurality of eighth pulling section spacers 8023 are arranged between the eighth rear transition spacer 8032 and the eighth terminal spacer 8024.

[0085] The eighth pulling section spacer 8023, the eighth rear end transition spacer 8032 and the eighth end spacer 8024 are of equal size, and the eighth pulling section spacer 8012, the eighth head end spacer 8014 and the eighth front end transition spacer 8031 ​​are of equal size.

[0086] When the eighth tendon 8021 is pulling, the eighth pulling section structure main bone 8022 bends and deforms, and pushes the eighth structure main bone 8013 to deform through the eighth active bone 8011 and the eighth active bone 8011, thereby realizing the complex deformation of the tendon external variable-section structure main bone pulling and pushing continuum robot 80, and then performing specific target tasks.

[0087] The tendon external variable cross-section structure main bone push-pull continuum robot 80 can achieve spatial deformation of two-section continuum by using only two or three motors, especially having high rigidity and compact size configuration at the end section. This unique performance makes it potentially useful in medical applications such as minimally invasive laparoscopic surgery and non-invasive surgery.

[0088] The pull-push continuum robot of the present invention relates to the core part of the continuum robot for executing tasks, and also needs to be combined with the driving and control parts to form a continuum robot that meets different application functions.

[0089] Existing continuum robots face huge challenges in achieving precise control of multiple degrees of freedom while reducing the number of motors. Reducing the number of motors may lead to increased coupling between drive mechanisms and increase the complexity of control algorithms, requiring breakthroughs in mechanical design and control theory. Improving the stiffness of tendon-driven robots must balance compliance, and there are trade-offs in material and structural design. Simplifying the structure of rod-driven robots requires redesigning the mechanical layout to ensure that performance is maintained while reducing components. Solving these problems involves mechanical design, material science, and advanced control algorithms, and has high technical difficulty. The present invention solves the above-mentioned defects and will help improve the practicality and performance of continuum robots. Reducing the number of motors can reduce system volume, weight, and cost, and enhance the adaptability and portability of robots in confined spaces. Improving stiffness and load capacity will expand the application range of robots in medical, industrial and other fields.

[0090] The structure of the tendon offset relative to the main bone in the present invention includes a tendon offset collinear structure main bone pull-push continuum robot 10, a tendon offset spiral structure main bone pull-push continuum robot 20 and a tendon offset special-shaped spiral structure main bone pull-push continuum robot 30. In this type of configuration, the tendon is offset relative to the main bone. The tendon is offset along a specific path. When the tendon is pulled or contracted, an asymmetric torque is generated, causing the main bone to bend and deform. By designing a mirror push structure, the continuum robot can bend in different directions, enhancing the flexibility and adaptability of movement.

[0091] The structure of the tendon built into the main bone in the present invention includes a main bone pull-push continuum robot 40 with a unilateral structure of the tendon built into the main bone and a main bone pull-push continuum robot 50 with a bilateral structure of the tendon built into the main bone. In this type of configuration, the tendon is built into the main bone. By reasonably arranging the tendon inside the main bone, when the tendon is pulled, the main bone generates uniform bending deformation inside. The layout of the built-in tendon allows the driving force to act directly on the main bone, improves the force transmission efficiency and structural rigidity, and enhances the load capacity of the robot.

[0092] The structure of tendons externally placed on the main bone in the present invention includes a main bone pull-push continuum robot 60 with tendons externally placed in parallel and with equal cross-section structure, a main bone pull-push continuum robot 70 with tendons externally placed in spiral and with equal cross-section structure, and a main bone pull-push continuum robot 80 with tendons external and with variable cross-section structure. In this type of configuration, the tendons are arranged outside the main bone. The external tendons act on the outer side of the main bone by pulling or contracting, causing the main bone to bend and deform. The external layout of the tendons facilitates the adjustment of the path and length to meet different movement requirements, while driving the movement of the rod to achieve a complex spatial configuration.

[0093] The present invention realizes the fusion of tendon drive and rod drive through innovative structural design, rather than a simple combination. The pulling or contraction of the tendon not only causes the bending deformation of the main bone, but also naturally drives the pushing or pulling action of the rod, forming a pull-push motion mechanism. This innovative structural layout enables the robot to have high rigidity and load capacity while maintaining high flexibility.

[0094] Under the external excitation, the first driving tendon 1011 of the tendon-biased colinear structure main bone push-pull continuum robot 10 is relatively shortened. Due to the offset layout of the first driving tendon 1011 and the first structure main bone 1012, when the first driving tendon 1011 is shortened, it pulls the first offset push-pull plate 1031 to tilt to one side. At this time, the other side of the first offset push-pull plate 1031 tilts in the opposite direction, providing a driving force for the first active bone 1021, causing the first passive bone 1022 to deform.

[0095] Under the external excitation, the second driving tendon 2011 of the tendon-biased spiral structure main bone push-pull continuum robot 20 is relatively shortened. Due to the offset layout of the second driving tendon 2011 and the second spiral structure main bone 2012, when the second driving tendon 2011 is shortened, it pulls the second offset push-pull plate 2031 to tilt to one side. At the same time, the other side of the second offset push-pull plate 2031 tilts in the opposite direction, providing a driving force for the second active bone 2021, causing the second spiral passive bone 2022 to deform.

[0096] Under the external excitation, the third driving tendon 3011 of the tendon-biased special-shaped spiral structure main bone push-pull continuum robot 30 is relatively shortened. Due to the offset layout of the third driving tendon 3011 and the third structure main bone 3012, when the third driving tendon 3011 is shortened, it pulls the third offset push-pull plate 3031 to tilt to one side. At the same time, the other side of the third offset push-pull plate 3031 tilts in the opposite direction, and the third active bone 3021 provides a driving force through the third push-pull offset crank shaft 30213, so that the third passive bone 3022 is deformed.

[0097] Under external excitation input, the tendon-built-in unilateral main bone pulling and pushing continuum robot 40 responds to the contraction of the fourth structure main bone 4012, and the plurality of fourth pushing bones 4011 begin to bend and deform. Through the transmission of the fourth transition module 403, the fourth pushing structure backbone 4022 begins to bend and deform symmetrically, thereby enabling the tendon-built-in unilateral main bone pulling and pushing continuum robot 40 to perform specific target tasks.

[0098] Under external excitation input, the fifty-third active bone 5032 of the tendon-built-in bilateral structure main bone pulling and pushing continuum robot 50 responds to contraction. Through the fifth transition module 503, the fifty-first pushing bone 5011 and the fifty-second pushing bone 5021 on both sides begin to bend and deform symmetrically, thereby realizing the tendon-built-in bilateral structure main bone pulling and pushing continuum robot 50 to perform specific target tasks.

[0099] When the sixth tendon 6021 is pulling, the sixth structure main bone 6022 of the tendon parallel external equal cross-section structure pull-push continuum robot 60 bends and deforms. The sixth structure main bone 6022 and the sixth transmission transition module 603 push the sixth passive bone 6012 to deform, so that the tendon parallel external equal cross-section structure main bone pull-push continuum robot 60 can achieve complex deformation and perform specific target tasks.

[0100] When the seventh spiral tendon 7011 is pulling, the seventh structure main bone 7012 is bent and deformed. The seventh active bone 7021 and the seventh transmission transition module 703 push the seventh passive bone 7022 to deform, so that the tendon spiral external equal cross-section main bone pulling and pushing continuum robot 70 can achieve complex deformation and perform specific target tasks.

[0101] When the eighth tendon 8021 is pulling, the eighth pulling section structure main bone 8022 is bent and deformed. The eighth structure main bone 8013 and the eighth intermediate transmission module 803 push the eighth active bone 8011 to deform, so that the tendon external variable cross-section structure main bone pulling and pushing continuum robot 80 can achieve complex deformation and perform specific target tasks.

[0102] In summary, the present invention is based on the above-mentioned pull-push continuum robot, combined with a drive control part and a mechanical body part, to form a pull-push continuum robot that meets different application functions. The number of drive motors is small and the system is simplified: through the natural fusion of tendon drive and rod drive, only one motor is needed to control the robot, and complex movements with multiple degrees of freedom are realized, which reduces the complexity, volume and cost of the system and improves compactness and portability. Combining the high flexibility of tendon drive and the high rigidity of rod drive, the robot can adapt to complex and changing environments, and has high stability and accuracy to meet the needs of fine operations. The innovative structural design simplifies the control system and reduces the control difficulty. Through the mechanical transmission mechanism, coordinated control of the tendons and rods is achieved, and the accuracy and reliability of motion control are improved. The eight configurations proposed in the present invention can be combined and customized according to actual application requirements. The modular design facilitates the design, manufacture, assembly and maintenance of the robot and improves the scalability of the system.

[0103] 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.

[0104] 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 pull-push continuum robot, characterized in that: It includes tendon pulling module, middle module and structural backbone pushing module; The intermediate module is arranged between the tendon pulling module and the structural backbone pushing module; The tendon pulling module transmits the tendon driving force to the structural backbone pushing module through the intermediate module to complete the continuous robot structure deformation.

2. A pull-push continuum robot according to claim 1, characterized in that: The tendon pulling module comprises a first tendon pulling module (101); the structural backbone pushing module comprises a first structural backbone pushing module (102); and the intermediate module comprises a first intermediate transmission module (103); The first tendon pulling module (101) comprises a first driving tendon (1011) and a first structural main bone (1012); the first structural backbone pushing module (102) comprises a first active bone (1021) and a first passive bone (1022); the first intermediate transmission module (103) comprises a first offset pulling and pushing disk (1031) and a first supporting fixing seat (1032); One end of the first structural main bone (1012) is installed on one side of the first offset push-pull disk (1031), and one end of the first passive bone (1022) is installed on the other side of the first offset push-pull disk (1031); One end of the first driving tendon (1011) is fixed to the other end of the first structural main bone (1012), and the other end of the first driving tendon (1011) is fixed to the first offset push-pull plate (1031); the first offset push-pull plate (1031) is installed on the first supporting fixed seat (1032); one end of the first active bone (1021) is installed on the first offset push-pull plate (1031), and the other end of the first active bone (1021) is fixed to the other end of the first passive bone (1022).

3. The pull-push continuum robot according to claim 1, characterized in that: The tendon pulling module comprises a second tendon pulling module (201); the structural backbone pushing module comprises a second structural backbone pushing module (202); and the intermediate module comprises a second intermediate transmission module (203); The second tendon pulling module (202) comprises a second driving tendon (2011) and a second spiral structure main bone (2012); the second structure backbone pushing module (202) comprises a second active bone (2021) and a second spiral passive bone (2022); the second intermediate transmission module (203) comprises a second offset pulling and pushing disk (2031) and a second supporting fixing seat (2032); One end of the second spiral structure main bone (2012) is connected to one end of the second spiral passive bone (2022), and the second offset push-pull plate (2031) is arranged at the connection between the second spiral structure main bone (2012) and the second spiral passive bone (2022); One end of the second driving tendon (2011) is fixed to the other end of the second spiral structure main bone (2012); the other end of the second driving tendon (2011) is fixed to the second offset pull-push plate (2031); the other end of the second offset pull-push plate (2031) is connected to one end of the second active bone (2021); the other end of the second active bone (2021) is fixed to the other end of the second spiral passive bone (2022); The second offset push-pull plate (2031) is mounted on the second supporting fixing seat (2032).

4. The pull-push continuum robot according to claim 1, characterized in that: The tendon pulling module includes a third tendon pulling module (301); the structural backbone pushing module includes a third structural backbone pushing module (302); and the intermediate module includes a third intermediate transmission module (303); The third tendon pulling module (301) comprises a third driving tendon (3011) and a third structural main bone (3012); the third structural backbone pushing module (302) comprises a third active bone (3021) and a third passive bone (3022); the third intermediate transmission module (303) comprises a third offset pulling and pushing disk (3031) and a third supporting fixing seat (3032); One end of the third structure main bone (3012) is connected to one end of the third passive bone (3022), and the third offset push-pull plate (3031) is arranged at the connection between the third structure main bone (3012) and the third passive bone (3022); One end of the third driving and pulling tendon (3011) is fixed to the other end of the third structural main bone (3012); the other end of the third driving and pulling tendon (3011) is fixed to the third offset push-pull plate (3031); the third offset push-pull plate (3031) is installed on the third supporting and fixing seat (3032); the other end of the third offset push-pull plate (3031) is connected to the third push-pull offset axle (30213) in the third active bone (3021); the third spiral active bone (30211) is nested in the third spiral passive bone (30 22); a plurality of third spiral active backbone frames (30212) are arranged on the third spiral active backbone (30211) in the third active bone (3021); a plurality of third spiral passive backbone frames (30222) are arranged on the third spiral passive backbone (30221) in the third passive bone (3022), the third spiral passive backbone frames (30222) are nested in the third spiral active backbone frames (30212), and the third spiral active backbone (30212) does not overlap with the third spiral passive backbone (30221).

5. The pull-push continuum robot according to claim 1, characterized in that: The tendon pulling module includes a fourth tendon pulling module (401); the structural backbone pushing module includes a fourth structural backbone pushing module (402); and the intermediate module includes a fourth transition module (403); The fourth tendon pulling module (401) comprises a fourth pushing bone (4011), a fourth structural main bone (4012), a fourth spacing guide plate (4013) and a fourth head end spacing guide plate (4014); the fourth structural backbone pushing module (402) comprises a fourth central bone spacing plate (4021), a fourth pushing structural backbone (4022) and a fourth end fixing spacing plate (4023); the fourth transition module (403) comprises a fourth front end transition spacing plate (4031) and a fourth rear end transition spacing plate (4032); The centers of a plurality of the fourth spacing guide plates (4013) pass through the fourth structure main bone (4012); the fourth pushing bone (4011) is arranged on the outer circle area of ​​the fourth spacing guide plate (4013); one end of the fourth structure main bone (4012) and the fourth pushing bone (4011) is connected to the fourth head end spacing guide plate (4014), and the other end of the fourth structure main bone (4012) is connected to the fourth front end transition spacing plate (4031); the other end of the fourth pushing bone (4011) passes through the fourth front end transition spacing plate (4031), reaches the fourth rear end transition spacing plate (4032), and is connected to one end of the fourth pushing structure backbone (4022); a plurality of the fourth central bone spacing plates (4021) are arranged on the fourth pushing structure backbone (4022), and the other end of the fourth pushing structure backbone (4022) is connected to the fourth end fixed spacing plate (4023).

6. The pull-push continuum robot according to claim 1, characterized in that: The tendon pulling module includes a fifth tendon pulling module (501); the structural backbone pushing module includes a fifth structural backbone pushing module (502); and the intermediate module includes a fifth transition module (503); The fifth tendon pulling module (501) comprises a fifty-first pushing bone (5011), a fifty-first structural main bone (5012), a fifty-first spacer disc (5013) and a fifth head end spacer disc (5014); the fifth structural trunk pushing module (502) comprises a fifty-second pushing bone (5021), a fifty-second structural main bone (5022), a fifty-second spacer disc (5023) and a fifth end spacer disc (5024); the fifth transition module (503) comprises a fifty-third pushing bone (5031), a fifty-third structural active bone (5032), a fifty-third spacer disc (5033), a fifty-third front end spacer disc (50301) and a fifty-third back end spacer disc (50302); The fifty-third structure active bone (5032) and a plurality of the fifty-third pushing bones (5031) are arranged on a plurality of the fifty-third spacing plates (5033), the fifty-third structure active bone (5032) is located in the center area of ​​the fifty-third spacing plate (5033), and the fifty-third pushing bones (5031) are arranged circumferentially around the fifty-third structure active bone (5032); One end of the fifty-first push bone (5011) and the fifty-first structural main bone (5012) is fixed to the fifth head end spacer disk (5014), the plurality of fifty-first spacer disks (5013) are arranged on the fifty-first push bone (5011) and the fifty-first structural main bone (5012), the other end of the fifty-first structural main bone (5012) is fixed to the fifty-third front end spacer disk (50301), and the fifty-first push bone (5011) passes through the fifty-third front end spacer disk (50301) and is connected to the fifty-third push bone (5031); One end of the fifty-second pushing bone (5021) and the fifty-second structural main bone (5022) is fixed on the fifth end spacer plate (5024), a plurality of the fifty-second spacer plates (5023) are arranged on the fifty-second pushing bone (5021) and the fifty-second structural main bone (5022), the other end of the fifty-second structural main bone (5022) is fixed on the fifty-third rear end spacer plate (50302), and the fifty-second pushing bone (5021) passes through the fifty-third rear end spacer plate (50302) to be connected with the fifty-third pushing bone (5031).

7. The pull-push continuum robot according to claim 1, characterized in that: The structural backbone pushing module includes a sixth structural backbone module (601); the tendon pulling module includes a sixth tendon pulling module (602); and the intermediate module includes a sixth transmission transition module (603); The sixth structural backbone module (601) comprises a sixth active bone (6011), a sixth passive bone (6012), a sixth pushing segment spacer (6013) and a sixth head end spacer (6014); the sixth tendon pulling module (602) comprises a sixth tendon (6021), a sixth structural main bone (6022), a sixth pulling segment spacer (6023) and a sixth end spacer (6024); the sixth transmission transition module (603) comprises a sixth front end transition spacer (6031) and a sixth rear end transition spacer (6032); A plurality of the sixth active bones (6011) are arranged in a circumferential manner between the sixth head end spacer disk (6014) and the sixth end spacer disk (6024); the sixth passive bone (6012) is arranged at the center of a circle surrounded by the plurality of the sixth active bones (6011); one end of the sixth passive bone (6012) is fixed to the sixth head end spacer disk (6014); the other end of the sixth passive bone (6012) is fixed to one side of the sixth front end transition spacer disk (6031); and a plurality of the sixth push segment spacer disks (6013) are arranged on the sixth passive bone (6012). and the sixth active bone (6011); the sixth rear end transition spacer (6032) is arranged on the other side of the sixth front end transition spacer (6031), a plurality of the sixth tendons (6021) are arranged in a circular arrangement between the sixth rear end transition spacer (6032) and the sixth end spacer (6024), the sixth structure main bone (6022) is arranged at the center of the circle surrounded by the plurality of the sixth tendons (6021), and a plurality of the sixth pulling section spacers (6023) are arranged on the sixth structure main bone (6022) and the sixth tendon (6021).

8. The pull-push continuum robot according to claim 1, characterized in that: The tendon pulling module includes a seventh tendon pulling module (701); the structural backbone pushing module includes a seventh structural backbone pushing module (702); the intermediate module includes a seventh transmission transition module (703); The seventh tendon pulling module (701) comprises a seventh spiral tendon (7011), a seventh structural bone (7012), a seventh pulling segment spacer (7013) and a seventh head end spacer (7014); the seventh structural backbone pushing module (702) comprises a seventh active bone (7021), a seventh passive bone (7022), a seventh pushing segment spacer (7023) and a seventh end spacer (7024); the seventh transmission transition module (703) comprises a seventh front end transition spacer (7031) and a seventh rear end transition spacer (7032); The seventh structure main bone (7012) is arranged between the seventh head end spacer disk (7014) and the seventh front end transition spacer disk (7031), and the seventh spiral tendon (7011) is wound around the seventh structure main bone (7012); a plurality of the seventh active bones (7021) are arranged circumferentially around the seventh structure main bone (7012), a plurality of the seventh pulling section spacer disks (7013) are arranged between the seventh head end spacer disk (7014) and one side of the seventh front end transition spacer disk (7031), the seventh structure main bone (7012) is located at the center of the seventh pulling section spacer disk (7013), the seventh active bones (7021) are arranged circumferentially on the seventh structure main bone (7012), and the seventh spiral tendon (7011) is located between the seventh structure main bone (7012) and the seventh The seventh active bone (7021) is provided between the active bones (7021); one end of the seventh active bone (7021) is fixed to the seventh head end spacer (7014), and the other end of the seventh active bone (7021) is fixed to the seventh terminal spacer (7024); the seventh rear end transition spacer (7032) is arranged on the other side of the seventh front end transition spacer (7031), one end of the seventh passive bone (7022) is fixed to the seventh rear end transition spacer (7032), and the other end of the seventh passive bone (7022) is fixed to the seventh terminal spacer (7024); a plurality of seventh push segment spacer plates (7026) are arranged between the seventh rear end transition spacer plate (7032) and the seventh terminal spacer plate (7024), and the seventh passive bone (7022) passes through the central area of ​​the seventh push segment spacer plate (7023).

9. The pull-push continuum robot according to claim 1, characterized in that: The structural backbone pushing module includes an eighth structural backbone pushing module (801); the tendon pulling module includes an eighth tendon pulling module (802); and the intermediate module includes an eighth intermediate transmission module (803); The eighth structural backbone pushing module (801) comprises an eighth active bone (8011), an eighth pulling section spacer disk (8012), an eighth structural main bone (8013) and an eighth head end spacer disk (8014); the eighth tendon pulling module (802) comprises an eighth tendon (8021), an eighth pulling section structural main bone (8022), an eighth pulling section spacer disk (8023) and an eighth end spacer disk (8024); the eighth intermediate transmission module (803) comprises an eighth front end transition spacer disk (8031) and an eighth rear end transition spacer disk (8032); A plurality of the eighth active bones (8011) are fixed between the eighth head end spacer disk (8014) and the eighth end spacer disk (8024); the eighth structural main bone (8013) is arranged at the center position of the plurality of the eighth active bones (8011) arranged in a circle, one end of the eighth structural main bone (8013) is fixed to the eighth head end spacer disk (8014), the other end of the eighth structural main bone (8013) is fixed to one side of the eighth front end transition spacer disk (8031), and a plurality of the eighth pulling section spacer disks (8012) are arranged between the eighth head end spacer disk (8014) and the eighth front end transition spacer disk (8031); the eighth structural main bone (8013) is arranged in the central area of ​​the eighth pulling section spacer disk (8012), and a plurality of the eighth active bones (8011) support the eighth active bones (8011). The eighth pulling section spacer disk (8012) is arranged circumferentially; the eighth rear end transition spacer disk (8032) is arranged on the other side of the eighth front end transition spacer disk (8031); the eighth tendon (8021) is arranged between the eighth rear end transition spacer disk (8032) and the eighth end spacer disk (8024); the eighth pulling section structure main bone (8022) is arranged in the central area between the eighth rear end transition spacer disk (8032) and the eighth end spacer disk (8024); the eighth tendon (8021) is located in the area between the eighth rear end transition spacer disk (8032) and the eighth end spacer disk (8024); a plurality of the eighth pulling section spacer disks (8023) are arranged between the eighth rear end transition spacer disk (8032) and the eighth end spacer disk (8024).

10. The pull-push continuum robot according to claim 9, characterized in that: The eighth pulling section spacer (8023), the eighth rear end transition spacer (8032) and the eighth terminal spacer (8024) are of equal size; The eighth pulling section spacer (8012), the eighth head end spacer (8014) and the eighth front end transition spacer (8031) are of equal size.

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