A pull-push continuum robot

Abstract

This invention discloses a pull-push continuum robot, belonging to the field of continuum robot technology. The robot includes a tendon-pulling module, an intermediate module, and a structural backbone pushing module; the intermediate module is disposed between the tendon-pulling module and the structural backbone pushing module; the tendon-pulling module transmits tendon driving force to the structural backbone pushing module through the intermediate module, completing the structural deformation of the continuum robot. This invention naturally integrates tendon driving and lever driving, enabling complex spatial configurations with a minimum of one motor, while improving tendon driving stiffness and reducing the difficulty of robot control.

Description

Technical Field

[0001] This invention relates to the field of continuum robot technology, and more specifically to a pull-push continuum robot. Background Technology

[0002] The 1970s to 1990s were the golden age of hyperredundant robot development, primarily characterized by combinations of multiple rigid joint segments, i.e., rigid link structures. However, compared to continuum robots, rigid links have many limitations. Towards the end of the 20th century, the concept of continuum robots was formally proposed. Due to their high compliance and continuous bending capabilities, continuum robots have demonstrated unique advantages in operation and adaptability in complex environments, showing broad application prospects, especially in fields such as medicine, rescue, and micromanipulation. However, existing continuum robots still have some technical shortcomings and deficiencies that urgently need to be addressed, mainly in terms of actuation methods, structural stiffness, and control complexity.

[0003] While the compliant adaptability of continuum robots endows them with unique motion capabilities, it also presents challenges in drive control. To achieve precise posture control, a dedicated motor is typically required for each degree of freedom. For example, a single-segment continuum robot usually requires three motors to control its three-dimensional motion; a two-segment continuum robot requires six motors. This high demand for motors not only increases system complexity and cost but also results in bulky drive actuators, impacting the robot's compactness and portability, and hindering its application in confined spaces.

[0004] Tendon-driven continuum robots achieve motion control by pulling flexible cables (tendons). They are simple in structure and lightweight, but suffer from low stiffness and limited load capacity. Due to the flexible nature of tendons, the robot is prone to deformation under external loads or when performing delicate operations, affecting control accuracy and stability. Link-driven continuum robots achieve motion control by pushing or pulling rigid or semi-rigid links, offering higher stiffness and force transmission efficiency. However, link-driven systems are typically more complex, with more components, making assembly and maintenance difficult. Furthermore, the presence of links may limit the robot's flexible deformation capabilities, reducing its adaptability in confined spaces or complex environments.

[0005] Based on the above analysis, the existing continuum robots have the following main problems in terms of driving methods and structural design: (1) 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 size, weight and energy consumption of the system. (2) Low stiffness of tendon drive: The flexibility of tendons leads to insufficient overall stiffness of the robot, affecting load capacity and control accuracy. (3) Complex link drive structure: The link drive method has many components and complex structure, which makes modeling and control challenging. (4) High control complexity: It is difficult to coordinate the control of multiple motors, and the real-time performance and stability of the system are difficult to guarantee. Summary of the Invention

[0006] To address the problems of existing continuum robots, such as a large number of motors, low stiffness of tendon-driven mechanisms, complex link-driven structures, and high control complexity, this invention provides a pull-push continuum robot that naturally integrates tendon-driven and link-driven mechanisms. This allows for complex spatial configurations to be achieved with a minimum of one motor, while also improving tendon-driven stiffness and reducing the difficulty of robot control.

[0007] To achieve the above objectives, the present invention provides the following technical solution.

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

[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 pulling 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 biased pulling and pushing plate and a first support fixing seat; one end of the first structural main bone is installed on one side of the first biased pulling and pushing plate, and one end of the first passive bone is installed on the other side of the first biased pulling and pushing plate; one end of the first pulling tendon is fixed to the other end of the first structural main bone, and the other end of the first pulling tendon is fixed to the first biased pulling and pushing plate; the first biased pulling and pushing plate is installed on the first support fixing seat; one end of the first active bone is installed on the first biased pulling and pushing plate, 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 pulling tendon and a second spiral 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 biased pulling and pushing plate and a second support fixing seat; one end of the second spiral main bone is connected to one end of the second spiral passive bone, and the second biased pulling and pushing plate is disposed at the connection between the second spiral main bone and the second spiral passive bone; one end of the second pulling tendon is fixed to the other end of the second spiral main bone; the other end of the second pulling tendon is fixed to the second biased pulling and pushing plate; the other end of the second biased pulling and pushing 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 biased pulling and pushing plate is mounted on the second support fixing seat.

[0011] As a further improvement of the present invention, the tendon traction module includes a third tendon traction 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 traction module includes a third traction 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 traction-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 traction-pull plate is disposed at the connection between the third structural main bone and the third passive bone; one end of the third traction tendon is fixed to the third structural main bone. On the other end of the bone; the other end of the third pull tendon is fixed to the third biased pull-pull plate; the third biased pull-pull plate is installed on the third support fixing seat; the other end of the third biased pull-pull plate is connected to the third push-pull biased crank shaft in the third active bone; the third passive bone is nested in the third active bone; a plurality of third spiral active bone frames are provided on the third spiral active bone shaft in the third active bone; a plurality of third spiral passive bone frames are provided on the third spiral passive bone shaft in the third passive bone, the third spiral passive bone frames are nested in each of the third spiral active bone frames, and the third spiral active bone shaft and the third spiral passive bone shaft do not overlap.

[0012] As a further improvement of the present invention, the tendon traction module includes a fourth tendon traction module; the structural backbone pushing module includes a fourth structural backbone pushing module; the intermediate module includes a fourth transition module; the fourth tendon traction module includes a fourth pushing bone, a fourth structural main bone, a fourth spacer guide disc, and a fourth proximal spacer guide disc; the fourth structural backbone pushing module includes a fourth central bone spacer plate, a fourth pushing structural backbone, and a fourth distal fixing spacer disc; the fourth transition module includes a fourth anterior transition spacer disc and a fourth posterior transition spacer disc; the centers of a plurality of the fourth spacer guide discs pass through the fourth... The fourth push bone is disposed on the outer circular area of ​​the fourth spacer guide plate; one end of the fourth structural main bone and the fourth push bone is connected to the fourth front end spacer guide plate, and the other end of the fourth structural main bone is connected to the fourth front end transition spacer plate; the other end of the fourth push bone passes through the fourth front end transition spacer plate, reaches the fourth rear end transition spacer plate, and is connected to one end of the fourth push structural backbone; a plurality of fourth central bone spacers are disposed on the fourth push structural backbone, and the other end of the fourth push structural backbone is connected to the fourth rear end fixed spacer plate.

[0013] As a further improvement of the present invention, the tendon traction module includes a fifth tendon traction module; the structural backbone pushing module includes a fifth structural backbone pushing module; the intermediate module includes a fifth transition module; the fifth tendon traction module includes a fifty-first pushing bone, a fifty-first structural main bone, a fifty-first spacer disc, and a fifth proximal 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 distal 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 anterior spacer disc, and a fifty-third posterior spacer disc; the fifty-third structural active bone and several fifty-third pushing bones are disposed on several fifty-third spacer discs, the fifty-third structural active bone is located in the central region of the fifty-third spacer disc, and the fifty-third pushing bone... The 51st trochlear bone and the 51st main bone are arranged circumferentially around the 53rd structural active bone; one end of the 51st trochlear bone and the 51st structural main bone are fixed on the 5th acromial spacer, and several 51st spacers are arranged on the 51st trochlear bone and the 51st structural main bone. The other end of the 51st structural main bone is fixed on the 53rd acromial spacer, and the 51st trochlear bone passes through the 53rd acromial spacer and connects to the 53rd trochlear bone; one end of the 52nd trochlear bone and the 52nd structural main bone are fixed on the 5th posterior spacer, and several 52nd spacers are arranged on the 52nd trochlear bone and the 52nd structural main bone. The other end of the 52nd structural main bone is fixed on the 53rd posterior spacer, and the 52nd trochlear bone passes through the 53rd posterior spacer and connects to the 53rd trochlear 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 proximal spacer; the sixth tendon pulling module includes a sixth tendon, a sixth main structural bone, a sixth pulling segment spacer, and a sixth distal spacer; the sixth transmission transition module includes a sixth anterior transition spacer and a sixth posterior transition spacer; a plurality of the sixth active bones are arranged circumferentially between the sixth proximal spacer and the sixth distal spacer; the sixth passive bones are arranged in a plurality of The sixth active bone is located at the center of the circle it surrounds. One end of the sixth passive bone is fixed to the sixth proximal spacer, and the other end of the sixth passive bone is fixed to one side of the sixth anterior transition spacer. Several sixth pushing spacers are arranged on the sixth passive bone and the sixth active bone. The sixth posterior transition spacer is located on the other side of the sixth anterior transition spacer. Several sixth tendons are arranged circumferentially between the sixth posterior transition spacer and the sixth distal spacer. The sixth structural main bone is located at the center of the circle it surrounds. Several sixth pulling spacers are arranged on the sixth structural 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 proximal spacer; the seventh structural backbone pushing module includes a seventh active bone, a seventh passive bone, a seventh pushing segment spacer, and a seventh distal spacer; the seventh transmission transition module includes a seventh anterior transition spacer and a seventh posterior transition spacer; the seventh structural main bone is disposed between the seventh proximal spacer and the seventh anterior transition spacer, and the seventh spiral tendon is wrapped around the seventh structural main bone; a plurality of seventh active bones are circumferentially arranged around the seventh structural main bone, and a plurality of seventh pulling segment spacers are disposed on the seventh... Between the first end spacer and one side of the seventh anterior transition spacer, the seventh structural main bone is located at the center of the seventh pulling segment spacer, the seventh active bone is circumferentially arranged on the seventh structural main bone, and the seventh spiral tendon is located between the seventh structural main bone and the seventh active bone; one end of the seventh active bone is fixed to the seventh first end spacer, and the other end of the seventh active bone is fixed to the seventh posterior spacer; the seventh posterior transition spacer is located on the other side of the seventh anterior transition spacer, one end of the seventh passive bone is fixed to the seventh posterior transition spacer, and the other end of the seventh passive bone is fixed to the seventh posterior spacer; several seventh pushing segment spacers are located between the seventh posterior transition spacer and the seventh posterior spacer, and the seventh passive bone passes through the central region of the seventh pushing segment spacer.

[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 is an eighth intermediate transmission module; the eighth structural backbone pushing module includes an eighth active bone, an eighth pulling segment spacer, an eighth structural main bone, and an eighth proximal spacer; the eighth tendon pulling module includes an eighth tendon, an eighth pulling segment structural main bone, an eighth pulling segment posterior spacer, and an eighth posterior spacer; the eighth intermediate transmission module includes an eighth anterior transition spacer and an eighth posterior transition spacer; a plurality of the eighth active bones are fixed between the eighth proximal spacer and the eighth posterior spacer; the eighth structural main bone is located at the center of the circumferential arrangement of the plurality of eighth active bones, one end of the eighth structural main bone is fixed to the eighth proximal spacer, and the other end of the eighth structural main bone is fixed to... On one side of the eighth anterior transition spacer, several eighth pulling segment spacers are disposed between the eighth proximal spacer and the eighth anterior transition spacer; the eighth structural main bone is disposed in the central region of the eighth pulling segment spacer, and several eighth active bones are circumferentially arranged on the eighth pulling segment spacer; the eighth posterior transition spacer is disposed on the other side of the eighth anterior transition spacer, the eighth tendon is disposed between the eighth posterior transition spacer and the eighth distal spacer, the eighth pulling segment structural main bone is disposed in the central region between the eighth posterior transition spacer and the eighth distal spacer, and the eighth tendon is located in the region between the eighth posterior transition spacer and the eighth distal spacer; several eighth pulling segment posterior spacers are disposed between the eighth posterior transition spacer and the eighth distal spacer.

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

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The pull-push continuum robot proposed in this invention combines a tendon-pulling module with a structural backbone pushing module, and designs an intermediate module as a bridge for driving force transmission. This not only significantly reduces the number of motors required and simplifies the system architecture, but also enables complex spatial configurations to be achieved with a single motor drive. Firstly, in terms of the driving mechanism, it integrates the high compliance of tendon-driven systems and the high stiffness of lever-driven systems. This not only solves the problem of insufficient stiffness in traditional tendon-driven systems but also retains their excellent flexibility and adaptability. Simultaneously, by utilizing the stability of lever-driven systems, the robot maintains high flexibility while possessing stronger load-bearing capacity and higher motion accuracy. This fusion of dual-mode driving provides a solid foundation for the robot to perform tasks such as fine manipulation, complex environment exploration, and human-robot interaction, significantly improving operational efficiency and safety. Secondly, at the structural design level, this invention, through a simplified mechanical structure design, significantly reduces the complexity and size of the system, reduces material usage and manufacturing costs, and improves overall compactness and portability. The introduction of the intermediate module, acting as a hub for the conversion between tendon-driven force and structural backbone propulsion, not only effectively transmits power but also provides structural support and deformation adjustment, making the robot's morphological changes smoother and more efficient. Furthermore, the application of a modular design concept allows the robot to be flexibly combined and customized to meet the needs of different application scenarios. From simple linear motion to complex three-dimensional spatial posture adjustments, all can be achieved by adjusting the module configuration, greatly enhancing the system's scalability and application flexibility. In terms of the control system, the invention achieves coordinated control between tendons and rods through the precise design of the mechanical transmission mechanism. This 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 integration at the mechanical level reduces the burden on the electronic control system, enabling even the control of a single motor to precisely drive the robot to complete complex and varied tasks, reducing control costs and improving the overall performance and stability of the system.

[0020] Furthermore, this invention provides a wide range of options for the practical application of robots. These configurations not only cover various motion modes from simple to complex, but also take into account specific needs in different working environments, such as working in confined spaces, exploring complex terrains, and high-precision assembly. The modular design allows users to quickly respond to market changes or specific task requirements, rapidly constructing the robot configuration best suited for the current application scenario by replacing or adjusting modules, greatly shortening product development and deployment cycles and improving market competitiveness. Attached Figure Description

[0021] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. In the drawings: In the drawings:

[0022] Figure 1 This is a schematic diagram of the basic configuration of a pull-push continuum robot according to the present invention; wherein, (a) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-biased collinear structure; (b) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-biased helical structure; (c) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-biased irregular helical structure; (d) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-integrated unilateral structure; (e) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-integrated bilateral structure; (f) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-parallel external iso-cross-section structure; (g) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-spiral external iso-cross-section structure; and (h) is a schematic diagram of the basic configuration of a pull-push continuum robot with a tendon-external variable cross-section structure.

[0023] Figure 2 This is a schematic diagram of the tendon-biased pull-pull continuous robot structure in a pull-pull continuous robot of the present invention; wherein, (a) is a schematic diagram of the main bone pull-pull continuous robot with tendon bias collinear structure; (b) is a schematic diagram of the main bone pull-pull continuous robot with tendon bias helical structure; and (c) is a schematic diagram of the main bone pull-pull continuous robot with tendon bias irregular helical structure.

[0024] Figure 3 This is a schematic diagram of the main bone pull-pull continuum robot with tendon offset collinear structure in the present invention; 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 structural backbone pushing module; and (c) is a schematic diagram of the overall structure of the main bone pull-pull continuum robot with tendon offset collinear structure.

[0025] Figure 4 This is a schematic diagram of the main bone of the tendon-biased spiral structure pull-pull continuum robot in the present invention; wherein, (a) is a schematic diagram of the specific structure of the second structural backbone pushing module; (b) is a schematic diagram of the specific structure of the second tendon pulling module; and (c) is a schematic diagram of the overall structure of the tendon-biased spiral structure main bone pull-pull continuum robot.

[0026] Figure 5 This is a schematic diagram of the main bone structure of a pull-pull continuum robot with tendon bias and irregular spiral structure in the present invention; 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; and (d) is an overall schematic diagram of the main bone pull-pull continuum robot with tendon bias and irregular spiral structure.

[0027] Figure 6This is a schematic diagram of a tendon-embedded pull-pull continuous robot structure in a pull-pull continuous robot of the present invention; wherein, (a) is a schematic diagram of a tendon-embedded unilateral main bone pull-pull continuous robot structure; (b) is a schematic diagram of a tendon-embedded bilateral main bone pull-pull continuous robot structure.

[0028] Figure 7 This is a schematic diagram of the structure of a tendon-embedded unilateral structure main bone pull-pull continuum robot according to the present invention; wherein, (a) is a schematic diagram of the specific structure of the fourth structural backbone pushing module; (b) is a schematic diagram of the specific structure of the fourth tendon pulling module; and (c) is a schematic diagram of the overall structure of the tendon-embedded unilateral structure main bone pull-pull continuum robot.

[0029] Figure 8 This is a schematic diagram of the structure of a tendon-external pull-pull continuum robot according to the present invention; 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, 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; and (d) is a schematic diagram of the overall structure of the tendon-integrated bilateral structural main bone pull-pull continuum robot.

[0030] Figure 9 This is a schematic diagram of a pull-pull continuum robot with tendon-integrated bilateral main bone structure in the present invention; wherein, (a) is a schematic diagram of a pull-pull continuum robot with tendon parallel external constant cross-section structure; (b) is a schematic diagram of a pull-pull continuum robot with tendon spiral external constant cross-section structure; and (c) is a schematic diagram of a pull-pull continuum robot with tendon external variable cross-section structure.

[0031] Figure 10 This is a schematic diagram of the structure of a pull-pull continuum robot with a main bone structure of parallel external tendon and equal cross-section in the present invention; wherein, (a) is a schematic diagram of the specific structure of the sixth tendon pulling module; (b) is a schematic diagram of the specific structure of the sixth structural backbone module; and (c) is a schematic diagram of the overall structure of the pull-pull continuum robot with a main bone structure of parallel external tendon and equal cross-section.

[0032] Figure 11 This is a schematic diagram of the structure of a pull-pull continuum robot with an externally spiral tendon and an equal cross-section main bone; wherein, (a) is a schematic diagram of the specific structure of the seventh structural backbone pushing module; (b) is a schematic diagram of the specific structure of the seventh tendon pulling module; and (c) is a schematic diagram of the overall structure of the pull-pull continuum robot with an externally spiral tendon and an equal cross-section main bone.

[0033] Figure 12This is a schematic diagram of the structure of a pull-push continuum robot with an external tendon variable cross-section main bone in the present invention; wherein, (a) is a schematic diagram of the specific structure of the eighth tendon pulling module; (b) is a schematic diagram of the partial details of the eighth structural backbone pushing module; (c) is a schematic diagram of the specific structure of the eighth structural backbone pushing module; and (d) is a schematic diagram of the overall structure of the pull-push continuum robot with an external tendon variable cross-section main bone.

[0034] In the figure, 10 is a continuous robot with a tendon-biased collinear structure for pulling and pushing the main bone; 101 is the first tendon pulling module; 1011 is the first driving tendon; 1012 is the first structural main bone; 102 is the first structural bone shaft propulsion module; 1021 is the first active bone; 1022 is the first passive bone; 103 is the first intermediate transmission module; 1031 is the first biased pulling and pushing plate; 1032 is the first support and fixing seat; 20 is a continuous robot with a tendon-biased helical structure for pulling and pushing the main bone; 201 is the second tendon pulling module; 2011 is the second driving tendon; 2012 is the second helical structure main bone; 202 is the second structural bone shaft propulsion module; 2021 is the second active bone; 2022 is the second helical passive bone; 203 is the second intermediate transmission module. Module 1; 2031 is the second offset pull-push plate; 2032 is the second support fixing seat; 30 is the tendon-biased irregular spiral structure main bone pull-push continuum robot; 301 is the third tendon pulling module; 3011 is the third driving pull tendon; 3012 is the third structural main bone; 302 is the third structural bone shaft pushing module; 3021 is the third active bone; 30211 is the third spiral active bone shaft; 30212 is the third spiral active bone shaft frame; 30213 is the third push-pull offset crank shaft; 3022 is the third passive bone; 30221 is the third spiral passive bone shaft; 30222 is the third spiral passive bone shaft frame; 303 is the third intermediate transmission module; 3031 is the third offset pull-push plate; 3032 is the third support fixing seat; 40 is the muscle... Tendon-embedded unilateral main bone traction and pushing continuum robot; 401 is the fourth tendon traction module; 4011 is the fourth pushing bone; 4012 is the fourth structural main bone; 4013 is the fourth spacer guide disc; 4014 is the fourth proximal spacer guide disc; 402 is the fourth structural bone shaft pushing module; 4021 is the fourth central bone septum; 4022 is the fourth pushing structural bone shaft; 4023 is the fourth distal fixed spacer disc; 403 is the fourth transition module; 4031 is the fourth anterior transition spacer disc; 4032 is the fourth posterior transition spacer disc; 50 is a tendon-embedded bilateral main bone traction and pushing continuum robot; 501 is the fifth tendon traction module; 5011 is the fifty-first pushing bone; 5012 is the fifty-first structural main bone; 5013 5014 is the 5th abutment spacer; 502 is the 5th structural backbone propulsion module; 5021 is the 52nd propulsion bone; 5022 is the 52nd structural main bone; 5023 is the 52nd spacer spacer; 5024 is the 5th end spacer spacer; 503 is the 5th transition module; 5031 is the 53rd propulsion bone; 5032 is the 53rd structural active bone; 5033 is the 53rd spacer spacer; 50301 is the 53rd anterior spacer spacer; 50302 is the 53rd posterior spacer spacer; 60 is a tendon-parallel external isochronous structure main bone pull-pull continuum robot; 601 is the 6th structural backbone module; 6011 is the 6th active bone; 6012 is the 6th passive bone; 6013 is the 6th propulsion segment spacer 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 end spacer; 603 is the sixth transmission transition module; 6031 is the sixth front transition spacer; 6032 is the sixth rear transition spacer; 70 is a tendon spiral external isosectional structure main bone pulling and pushing continuous 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. Discs; 7024 is the seventh end spacer disc; 703 is the seventh transmission transition module; 7031 is the seventh front transition spacer disc; 7032 is the seventh rear transition spacer disc; 80 is a tendon-external variable cross-section structure main bone pull-pull continuous robot; 801 is the eighth structural backbone propulsion module; 8011 is the eighth active bone; 8012 is the eighth pulling segment spacer disc; 8013 is the eighth structural main bone; 8014 is the eighth head end spacer disc; 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 rear end spacer disc; 8024 is the eighth end spacer disc; 803 is the eighth intermediate transmission module; 8031 ​​is the eighth front transition spacer disc; 8032 is the eighth rear transition spacer disc. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0036] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0037] To address the problems of existing continuum robots, such as a large number of motors, low stiffness of tendon-driven mechanisms, complex rod-driven structures, and high control complexity, this invention provides a pull-push continuum robot, comprising a tendon-pulling module, an intermediate module, and a structural backbone pushing module.

[0038] The intermediate module is positioned between the tendon traction module and the structural backbone propulsion module.

[0039] The tendon-pulling module transmits the tendon driving force to the structural skeleton pushing module through an intermediate module, enabling the continuous robot to pull and generate propulsion, thus completing the complex structural deformation of the continuous robot. The tendon in the tendon-driven module can be a stimulus-responsive contractile material, or it can be pulled by an external motor to achieve structural skeleton deformation of the tendon-driven module.

[0040] like Figure 1 As shown, a pull-push continuum robot includes three different types of tendon bias: tendon biased pull-push continuum robot, tendon-integrated pull-push continuum robot, and tendon-external pull-push continuum robot.

[0041] like Figure 1 (a) Figure 1 (b) and Figure 1 As shown in (c), the tendon-biased pull-pull continuum robot includes three types: tendon-biased collinear structure main bone pull-pull continuum robot 10, tendon-biased spiral structure main bone pull-pull continuum robot 20, and tendon-biased irregular spiral structure main bone pull-pull continuum robot 30.

[0042] like Figure 1 (d) and Figure 1 As shown in (e), the tendon-embedded traction-pull continuum robot includes a tendon-embedded unilateral structure main bone traction-pull continuum robot 40 and a tendon-embedded bilateral structure main bone traction-pull continuum robot 50.

[0043] like Figure 1 (f) Figure 1 (g) and Figure 1 As shown in (h), the tendon external pulling and pushing continuum robot includes a tendon parallel external constant cross-section main bone pulling and pushing continuum robot 60, a tendon spiral external constant cross-section main bone pulling and pushing continuum robot 70, and a tendon external variable cross-section main bone pulling and pushing continuum robot 80.

[0044] like Figure 2 As shown in (a), the tendon-biased collinear structure main bone pulling continuum robot 10 includes a first tendon pulling module 101, a first structural backbone pushing module 102 and a first intermediate transmission module 103.

[0045] The first intermediate transmission module 103 is located between the first tendon pulling module 101 and the first structural backbone pushing module 102.

[0046] 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 bone pushing module 102 includes a first active bone 1021 and a first passive bone 1022; the first intermediate transmission module 103 includes a first biased pulling and pushing plate 1031 and a first support fixing seat 1032.

[0047] One end of the first structural main bone 1012 is connected to one end of the first passive bone 1022, and the first biased pull-pull plate 1031 is disposed at the connection between the first structural main bone 1012 and the first passive bone 1022.

[0048] One end of the first pull-up tendon 1011 is fixed to the other end of the first main bone 1012; the other end of the first pull-up tendon 1011 is fixed to the first biased pull-pull plate 1031; the first biased pull-pull plate 1031 is mounted on the first support and fixation seat 1032; one end of the first active bone 1021 is mounted on the first biased pull-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.

[0049] Under external stimulation, the first pull tendon 1011 will shorten relatively. Due to the biased layout of the first pull tendon 1011 and the first main bone 1012, when the first pull tendon 1011 shortens, it will pull the first biased pull-pull plate 1031 to one side. At this time, the other side of the first biased pull-pull plate 1031 will tilt in the opposite direction, which will provide a pushing force for the first active bone 1021, causing the first passive bone 1022 to deform.

[0050] The tendon-biased collinear structure main bone pulling and pushing continuum robot 10 is composed of a first tendon pulling module 101 and a first structural backbone pushing module 102 in an anti-symmetrical layout; a complex S-shaped configuration can be achieved by only one first driving tendon 1011; the configuration has a large driving interval, which makes the structure highly flexible, and this configuration is mainly used for biomimetic robots.

[0051] like Figure 2 As shown in (b), the tendon-biased spiral structure main bone pulling continuum robot 20 includes a second tendon pulling module 201, a second structural backbone pushing module 202, and a second intermediate transmission module 203.

[0052] The second intermediate transmission module 203 is located between the second tendon pulling module 201 and the second structural backbone pushing module 202.

[0053] like Figure 4As shown, the second tendon pulling module 201 includes a second driving tendon 2011 and a second spiral main bone 2012; the second structural bone 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 biased pulling and pushing plate 2031 and a second support fixing seat 2032.

[0054] One end of the second spiral main bone 2012 is connected to one end of the second spiral passive bone 2022, and the second biased pull-pull plate 2031 is disposed at the connection between the second spiral main bone 2012 and the second spiral passive bone 2022.

[0055] One end of the second pull tendon 2011 is fixed to the other end of the second spiral main bone 2012; the other end of the second pull tendon 2011 is fixed to the second biased pull-pull plate 2031; the second biased pull-pull plate 2031 is installed on the second support fixation seat 2032; the other end of the second biased pull-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.

[0056] Under external stimulation, the second pull tendon 2011 will shorten relatively. Due to the biased layout of the second pull tendon 2011 and the main bone 2012 of the second spiral structure, when the second pull tendon 2011 shortens, it will pull the second biased pull-pull plate 2031 to one side. At this time, the other side of the second biased pull-pull plate 2031 tilts in the opposite direction, which will provide a pushing force for the second active bone 2021, causing the second spiral passive bone 2022 to deform.

[0057] The tendon-biased helical structure main bone pull-pull continuum robot 20 adopts an anti-symmetrical configuration of tendon pulling and rod pushing segments, achieving complex S-shaped deformations through a single tendon pull. This configuration features a large driving interval, giving the structure high flexibility and making it suitable for the field of biomimetic robotics.

[0058] like Figure 2 As shown in (c), the tendon-biased heteromorphic spiral structure main bone pulling continuum robot 30 includes a third tendon pulling module 301, a third structural backbone pushing module 302 and a third intermediate transmission module 303.

[0059] The third intermediate transmission module 303 is located between the third tendon pulling module 301 and the third structural backbone pushing module 302.

[0060] like Figure 5As shown, the third tendon pulling module 301 includes a third pulling tendon 3011 and a third structural main bone 3012; the third structural bone 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 bone 30221 and a third spiral passive bone frame 30222; the third intermediate transmission module 303 includes a third biased pulling and pushing plate 3031 and a third support fixing seat 3032.

[0061] One end of the third structural main bone 3012 is connected to one end of the third passive bone 3022, and the third offset pull-pull plate 3031 is set at the connection between the third structural main bone 3012 and the third passive bone 3022.

[0062] One end of the third pull tendon 3011 is fixed to the other end of the third structural main bone 3012; the other end of the third pull tendon 3011 is fixed to the third biased pull-push plate 3031; the third biased pull-push plate 3031 is installed on the third support fixation seat 3032; the other end of the third biased pull-push plate 3031 is connected to the third push-pull biased crank 30213 in the third active bone 3021; ​​the third passive bone 3022 is nested in the third active bone 3021. The third active bone 3021 has a plurality of third spiral active bone frames 30212 on its third spiral active bone trunk 30211; the third passive bone 3022 has a plurality of third spiral passive bone frames 30222 on its third spiral passive bone trunk 30221, the third spiral passive bone frames 30222 are nested in each of the third spiral active bone frames 30212, and the third spiral active bone trunk 30212 and the third spiral passive bone trunk 30221 do not overlap.

[0063] Under external stimulation, the third pull tendon 3011 will shorten relatively. Due to the biased layout of the third pull tendon 3011 and the third structural main bone 3012, when the third pull tendon 3011 shortens, it will pull the third biased pull-push plate 3031 to one side. At this time, the other side of the third biased pull-push plate 3031 tilts in the opposite direction, providing a driving force for the third push-pull biased crank 30213, causing the third spiral passive bone 30221 to deform.

[0064] The tendon-biased irregular spiral structure main bone pulling and pushing continuum robot 30, with its third tendon pulling module 301 and third structural backbone pushing module 302 having different stiffness characteristics, can be used in application scenarios that require variable stiffness.

[0065] like Figure 6 As shown in (a), the tendon-embedded unilateral structural main bone pulling continuum robot 40 includes a fourth tendon pulling module 401, a fourth structural bone pushing module 402, and a fourth transition module 403.

[0066] The fourth transition module 403 is located between the fourth tendon pulling module 401 and the fourth structural backbone pushing module 402.

[0067] 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 disc 4013, and a fourth head spacer guide disc 4014; the fourth structural bone pushing module 402 includes a fourth central bone spacer plate 4021, a fourth pushing structural bone 4022, and a fourth head spacer fixation disc 4023; the fourth transition module 403 includes a fourth front transition spacer disc 4031 and a fourth rear transition spacer disc 4032.

[0068] The fourth structural main bone 4012 is provided with several fourth spacer guide discs 4013. Around the fourth structural main bone 4012 as the center, several fourth push bones 4011 are arranged in a circular arrangement. The fourth push bones 4011 are located on the outer periphery of the fourth spacer guide discs 4013. One end of the fourth structural main bone 4012 and the fourth push bones 4011 are connected to the fourth front end spacer guide disc 4014. The other end of the fourth structural main bone 4012 is connected to the fourth front end transition spacer disc 4031. The other end of the fourth push bone 4011 passes through the fourth front end transition spacer disc 4031, reaches the fourth rear end transition spacer disc 4032, and connects to one end of the fourth push structure backbone 4022. The number of fourth push bones 4011 connected to the number of fourth push structure backbones 4022 are equal.

[0069] The fourth propulsion structure backbone 4022 is provided with several fourth central bone septa 4021, and the other end of the fourth propulsion structure backbone 4022 is connected to the fourth end fixed spacer 4023.

[0070] The distance between each fourth spacer guide plate 4013 and the number of fourth spacer guide plates 4013, as well as the distance between each fourth central bone septum plate 4021 and the number of fourth central bone septum plates 4021, are set according to the usage scenario.

[0071] Under external stimulus input, the fourth structural main bone 4012 contracts in response, and several fourth propulsive bones 4011 begin to bend and deform. Transmitted by the fourth transition module 403, the fourth propulsive structural backbone 4022 begins to bend and deform symmetrically, thereby enabling the tendon-embedded unilateral structural main bone pull-pull continuum robot 40 to perform specific target tasks. The tendon-embedded unilateral structural main bone pull-pull continuum robot 40 deforms due to stimulation of the fourth structural main bone 4012, utilizing several fourth propulsive bones 4011 to push and pull the fourth propulsive structural backbone 4022, causing it to bend and deform. The advantage of this scheme lies in the effect of multiple fourth propulsive bones 4011, giving the continuum robot superior structural stiffness, thus enabling it to handle high-load tasks in complex, unstructured environments.

[0072] like Figure 6 As shown in (b), the tendon-embedded bilateral structural main bone pulling continuum robot 50 includes a fifth tendon pulling module 501, a fifth structural bone pushing module 502, and a fifth transition module 503.

[0073] The fifth transition module 503 is located between the fifth structural backbone pushing module 502 and the fifth tendon pulling module 501.

[0074] like Figure 8 As shown, the fifth tendon traction module 501 includes the fifty-first motive bone 5011, the fifty-first structural main bone 5012, the fifty-first spacer disc 5013, and the fifth anterior spacer disc 5014; the fifth structural bone traction module 502 includes the fifty-second motive bone 5021, the fifty-second structural main bone 5022, the fifty-second spacer disc 5023, and the fifth posterior spacer disc 5024; the fifth transition module 503 includes the fifty-third motive bone 5031, the fifty-third structural active bone 5032, the fifty-third spacer disc 5033, the fifty-third anterior spacer disc 50301, and the fifty-third posterior spacer disc 50302.

[0075] Centered on the 53rd structural active bone 5032, 53rd propelling bones 5031 are arranged around its circumference. The 53rd structural active bone 5032 and 53rd propelling bones 5031 are arranged on several 53rd spacer discs 5033, with the 53rd structural active bone 5032 located in the central region of the 53rd spacer disc 5033. Centered on the 51st structural main bone 5012, 51st propelling bones 5011 are arranged around its circumference. One end of the 51st propelling bone 5011 and the 51st structural main bone 5012 is fixed to the 5th frontal spacer disc 5014. Several 51st spacer discs 5013 are arranged on the 51st propelling bone 5011 and the 51st structural main bone 5012. The other end of the 51st structural main bone 5012 is fixed to the 53rd frontal spacer disc 50301. The 51st propelling bone 5011 passes through the 53rd frontal spacer disc 50301 and connects with the 53rd propelling bone 5031. With the 52nd structural main bone 5022 as the center, the 52nd catalytic bone 5021 is arranged around its circumference. One end of the 52nd catalytic bone 5021 and the 52nd structural main bone 5022 is fixed to the 5th end spacer 5024. Several 52nd spacers 5023 are provided on the 52nd catalytic bone 5021 and the 52nd structural main bone 5022. The other end of the 52nd structural main bone 5022 is fixed to the 53rd rear end spacer 50302. The 52nd catalytic bone 5021 passes through the 53rd rear end spacer 50302 and connects with the 53rd catalytic bone 5031.

[0076] Under the input of external stimulation, the 53rd active bone 5032 responds and contracts, driving the 53rd push bone 5031 to move. The 53rd push bone 5031 drives the 51st push bone 5011 and the 52nd push bone 5021, realizing that the 51st main bone 5012 and the 52nd main bone 5022 begin to bend and deform symmetrically, thereby enabling the tendon-embedded bilateral main bone pull-pull continuum robot 50 to perform specific target tasks.

[0077] The tendon-embedded bilateral structural main bone pull-pull continuum robot 50 achieves a complex double S-shaped configuration through the contraction of the main bone. The structure is simple and flexible, and is suitable for biomimetic snake robots and medical soft robots for drug delivery and controlled release.

[0078] like Figure 9 As shown in (a), the tendon parallel external equal cross-section structure main bone pull-pull continuum robot 60 includes a sixth structural backbone module 601, a sixth tendon pulling module 602 and a sixth transmission transition module 603.

[0079] The sixth transmission transition module 603 is located between the sixth structural backbone module 601 and the sixth tendon pulling module 602.

[0080] like Figure 10 As shown, the sixth structural backbone module 601 includes 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 includes a sixth tendon 6021, a sixth structural main bone 6022, a sixth pulling segment spacer 6023, and a sixth tail end spacer 6024; the sixth transmission transition module 603 includes a sixth front end transition spacer 6031 and a sixth rear end transition spacer 6032.

[0081] Several sixth active bones 6011 are arranged in a circular pattern between the sixth head spacer 6014 and the sixth tail spacer 6024; a sixth passive bone 6012 is located at the center of the circle surrounded by the several sixth active bones 6011, one end of the sixth passive bone 6012 is fixed to the sixth head spacer 6014, and the other end of the sixth passive bone 6012 is fixed to one side of the sixth front transition spacer 6031. Several sixth push section spacers 6013 are arranged at the horizontal position of the sixth passive bone 6012 and the several sixth active bones 6011.

[0082] The sixth rear transition spacer 6032 is located on the other side of the sixth front transition spacer 6031. Several sixth tendons 6021 are arranged in a circle between the sixth rear transition spacer 6032 and the sixth end spacer 6024. The sixth structural main bone 6022 is located at the center of the circle surrounded by several sixth tendons 6021. Several sixth pulling segment spacers 6023 are arranged at the horizontal position of the sixth structural main bone 6022 and several sixth tendons 6021.

[0083] When the sixth tendon 6021 is pulled, the sixth main bone 6022 bends and deforms, which drives 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 cross section structure main bone pull-pull continuum robot 60, and then performing specific target tasks.

[0084] The tendon-parallel, externally positioned, uniform cross-section main bone pull-pull continuum robot 60 can achieve complex configurations of two continuum robots by pulling with the sixth tendon 6021. This robot features a simple structural design, flexible control, and is particularly suitable for robot-assisted minimally invasive surgery.

[0085] like Figure 9 As shown in (b), the tendon spiral external equal cross-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.

[0086] The seventh transmission transition module 703 is located between the seventh tendon pulling module 701 and the seventh structural backbone pushing module 702.

[0087] like Figure 11 As shown, the seventh tendon pulling module 701 includes a seventh spiral tendon 7011, a seventh structural main bone 7012, a seventh pulling segment spacer 7013, and a seventh proximal spacer 7014; the seventh structural backbone pushing module 702 includes a seventh active bone 7021, a seventh passive bone 7022, a seventh pushing segment spacer 7023, and a seventh distal spacer 7024; the seventh transmission transition module 703 includes a seventh anterior transition spacer 7031 and a seventh posterior transition spacer 7032.

[0088] The seventh structural main bone 7012 is located between the seventh head end spacer 7014 and the seventh front transition spacer 7031, and the seventh spiral tendon 7011 is wrapped around the seventh structural main bone 7012.

[0089] With the seventh structural main bone 7012 as the center, several seventh active bones 7021 are arranged around the circumference. Several seventh pulling segment spacers 7013 are set between the seventh proximal spacer 7014 and the seventh anterior transition spacer 7031. The seventh structural main bone 7012 is located at the center of the seventh pulling segment spacer 7013. The seventh active bones 7021 are arranged around the seventh structural main bone 7012. The seventh spiral tendon 7011 is wrapped around the seventh structural main bone 7012 and located between the seventh structural main bone 7012 and the seventh active bones 7021. One end of the seventh active bone 7021 is fixed to the seventh proximal spacer 7014, and the other end of the seventh active bone 7021 is fixed to the seventh posterior spacer 7024.

[0090] The seventh rear transition spacer 7032 is located on the other side of the seventh front transition spacer 7031. The seventh passive bone 7022 is located at the center of a circular arrangement of several seventh active bones 7021. One end of the seventh passive bone 7022 is fixed to the seventh rear transition spacer 7032, and the other end of the seventh passive bone 7022 is fixed to the seventh end spacer 7024. Several seventh pushing segment spacers 7023 are arranged between the seventh rear transition spacer 7032 and the seventh end spacer 7024. The seventh passive bone 7022 passes through the central area of ​​the seventh pushing segment spacer 7023.

[0091] When the seventh spiral tendon 7011 is pulled, the seventh main bone 7012 bends and deforms, and the seventh passive bone 7022 is pushed to deform by the seventh active bone 7021 and the seventh transmission transition module 703; thus, the tendon spiral external equal cross section structure main bone pull-pull continuum robot 70 achieves complex deformation, and then performs specific target tasks.

[0092] The tendon-spiral external constant cross-section main bone pull-pull continuum robot 70 can be realized with a single motor, while traditional two-segment continuum robots require a configuration driven by six motors. This configuration is simple in structure, easy to miniaturize, and particularly suitable for low-load applications, such as surgical robots for in vivo examinations or laser treatments.

[0093] like Figure 9 As shown in (c), the tendon-external variable cross-section main bone pulling continuum robot 80 includes an eighth structural backbone pushing module 801, an eighth tendon pulling module 802, and an eighth intermediate transmission module 803.

[0094] The eighth intermediate transmission module 803 is located between the eighth structural backbone pushing module 801 and the eighth tendon pulling module 802.

[0095] like Figure 12As shown, the eighth structural backbone propulsion module 801 includes an eighth active bone 8011, an eighth pulling segment spacer 8012, an eighth structural main bone 8013, and an eighth head spacer 8014; the eighth tendon pulling module 802 includes an eighth tendon 8021, an eighth pulling segment structural main bone 8022, an eighth pulling segment rear end spacer 8023, and an eighth tail end spacer 8024; the eighth intermediate transmission module 803 includes an eighth front end transition spacer 8031 ​​and an eighth rear end transition spacer 8032.

[0096] Several eighth active bones 8011 are fixed between the eighth initial spacer 8014 and the eighth final spacer 8024, and are arranged circumferentially. An eighth structural main bone 8013 is positioned at the center of the circumferential arrangement of the eighth active bones 8011. One end of the eighth structural main bone 8013 is fixed to the eighth initial spacer 8014, and the other end is fixed to one side of the eighth final transition spacer 8031. Several eighth pulling segment spacers 8012 are arranged between the eighth initial spacer 8014 and the eighth final transition spacer 8031. The eighth structural main bone 8013 is located in the central region of the eighth pulling segment spacer 8012, and several eighth active bones 8011 are arranged circumferentially on the eighth pulling segment spacer 8012.

[0097] The eighth posterior transition spacer 8032 is located on the other side of the eighth anterior transition spacer 8031. The eighth tendon 8021 is located between the eighth posterior transition spacer 8032 and the eighth distal spacer 8024. The eighth traction segment main bone 8022 is located in the central region between the eighth posterior transition spacer 8032 and the eighth distal spacer 8024. The eighth tendon 8021 is located in the region between the eighth posterior transition spacer 8032 and the eighth distal spacer 8024, lateral to the eighth traction segment main bone 8022 and the eighth aortic bone 8011. Several eighth traction segment posterior spacers 8023 are arranged between the eighth posterior transition spacer 8032 and the eighth distal spacer 8024.

[0098] The eighth pulling section rear end 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 beginning end spacer 8014 and the eighth beginning transition spacer 8031 ​​are of equal size.

[0099] When the eighth tendon 8021 is pulled, the main bone 8022 of the eighth pulling segment structure bends and deforms. The eighth active bone 8011 pushes the main bone 8013 of the eighth structure to deform, thereby realizing the complex deformation of the tendon external variable cross-section structure main bone pull-pull continuum robot 80, and then performing specific target tasks.

[0100] The tendon-external variable cross-section main bone traction and pushing continuum robot 80 can achieve spatial deformation of two continuum segments using only two or three motors, exhibiting high stiffness and compact size, especially in the distal segment. This unique performance makes it a potential candidate for applications in minimally invasive laparoscopic surgery and non-invasive surgery.

[0101] The pull-push continuum robot of the present invention relates to the core part of the continuum robot performing tasks, and also needs to be combined with the drive and control parts to form a continuum robot that meets different application functions.

[0102] Current continuum robots face significant challenges in achieving precise multi-degree-of-freedom control while reducing the number of motors. Reducing motors may lead to increased coupling between drive mechanisms, increasing the complexity of control algorithms and requiring breakthroughs in mechanical design and control theory. Improving the stiffness of tendon-driven robots must balance compliance, presenting trade-offs in material and structural design. Simplifying the structure of lever-driven robots requires redesigning the mechanical layout to ensure performance is maintained while reducing components. Solving these problems involves mechanical design, materials science, and advanced control algorithms, presenting significant technical challenges. This invention addresses these shortcomings, contributing to improved practicality and performance of continuum robots. Reducing the number of motors lowers system size, weight, and cost, enhancing the robot's adaptability and portability in confined spaces. Increased stiffness and load-bearing capacity expand the robot's application range in medical, industrial, and other fields.

[0103] The present invention relates to a structure in which the tendon is offset relative to the main bone, including a tendon-offline collinear structure main bone pull-pull continuum robot 10, a tendon-offline helical structure main bone pull-pull continuum robot 20, and a tendon-offline irregular helical structure main bone pull-pull 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, and when the tendon is pulled or contracted, it generates an asymmetrical torque, causing the main bone to bend and deform. By designing a mirror-driven structure, the continuum robot can bend in different directions, enhancing its flexibility and adaptability.

[0104] This invention relates to a structure in which tendons are embedded within the main bone, including a unilateral tendon-embedded main bone pull-pull continuum robot 40 and a bilateral tendon-embedded main bone pull-pull continuum robot 50. In this configuration, the tendons are embedded within the main bone. By rationally arranging the tendons within the main bone, the main bone undergoes uniform bending deformation when the tendons are pulled. The embedded tendon layout allows the driving force to act directly on the main bone, improving force transmission efficiency and structural rigidity, and enhancing the robot's load-bearing capacity.

[0105] The present invention relates to a structure in which tendons are externally positioned on the main bone, including a main bone traction and push continuum robot 60 with a parallel external tendon and uniform cross-section, a main bone traction and push continuum robot 70 with a spiral external tendon and uniform cross-section, and a main bone traction and push continuum robot 80 with an external tendon and variable cross-section. In this type of configuration, the tendons are arranged on the outside of the main bone. The externally positioned tendons act on the outer surface of the main bone through pulling or contraction, causing bending deformation of the main bone. The external placement of the tendons facilitates adjustment of the path and length to adapt to different motion requirements, while also driving the movement of the rods to achieve complex spatial configurations.

[0106] This invention achieves a fusion of tendon-driven and rod-driven motion through innovative structural design, rather than a simple combination. The pulling or contracting of the tendon not only causes 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 allows the robot to maintain high compliance while possessing high stiffness and load-bearing capacity.

[0107] Under external excitation, the first pull tendon 1011 of the tendon-biased collinear main bone pull-pull continuum robot 10 is relatively shortened. Due to the biased layout of the first pull tendon 1011 and the first structural main bone 1012, when the first pull tendon 1011 shortens, it pulls the first biased pull-pull plate 1031 to one side. At this time, the other side of the first biased pull-pull plate 1031 tilts in the opposite direction, providing a pushing force to the first active bone 1021, causing the first passive bone 1022 to deform.

[0108] Under external excitation, the second pull tendon 2011 of the tendon-biased helical main bone pull-pull continuum robot 20 shortens relatively. Due to the biased layout of the second pull tendon 2011 and the second helical main bone 2012, the shortening of the second pull tendon 2011 pulls the second biased pull-pull plate 2031 to one side. At the same time, the other side of the second biased pull-pull plate 2031 tilts in the opposite direction, providing a pushing force to the second active bone 2021, causing the second helical passive bone 2022 to deform.

[0109] Under external excitation, the third pull tendon 3011 of the tendon-biased heteromorphic spiral structure main bone pull-push continuum robot 30 shortens relatively. Due to the biased layout of the third pull tendon 3011 and the third structural main bone 3012, when the third pull tendon 3011 shortens, it pulls the third biased pull-push plate 3031 to one side. At the same time, the other side of the third biased pull-push plate 3031 tilts in the opposite direction, and the third active bone 3021 provides a pushing force through the third push-pull biased crank 30213, causing the third passive bone 3022 to deform.

[0110] Under external excitation input, the tendon-embedded unilateral main bone pull-pull continuum robot 40, with its fourth main bone 4012 contracting in response to the excitation input, causes multiple fourth push bones 4011 to begin bending and deforming. Through the fourth transition module 403, the fourth push structure bones 4022 begin to bend and deform symmetrically, thereby enabling the tendon-embedded unilateral main bone pull-pull continuum robot 40 to perform specific target tasks.

[0111] Under external excitation input, the 53rd active bone 5032 of the tendon-embedded bilateral main bone pull-pull continuum robot 50 contracts in response to the tendon-embedded bilateral main bone pull-pull continuum robot 50. Transmitted through the fifth transition module 503, the two sides, including the 51st and 52nd motive bones 5011 and 5021, begin symmetrical bending deformation, thereby enabling the tendon-embedded bilateral main bone pull-pull continuum robot 50 to perform specific target tasks.

[0112] In a continuous robot 60 with a tendon-parallel external isosectional structure, the sixth main bone 6022 of the tendon-parallel external isosectional structure undergoes bending deformation when the sixth tendon 6021 is in a pulling state. Through the sixth main bone 6022 and the sixth transmission transition module 603, the sixth passive bone 6012 is pushed to deform, thereby enabling the tendon-parallel external isosectional structure of the continuous robot 60 to achieve complex deformation and perform specific target tasks.

[0113] In the pull-pull continuum robot 70 with a tendon-spiral external constant cross-section structure, the seventh main structural bone 7012 undergoes bending deformation under the pulling state of the seventh spiral tendon 7011. Through the seventh active bone 7021 and the seventh transmission transition module 703, the seventh passive bone 7022 is pushed to deform, thereby enabling the tendon-spiral external constant cross-section structure main bone pull-pull continuum robot 70 to achieve complex deformation and thus perform specific target tasks.

[0114] In the tendon-external variable cross-section main bone pull-pull continuum robot 80, when the eighth tendon 8021 is in a pulling state, the eighth pulling segment main bone 8022 undergoes bending deformation. Through the eighth structural main bone 8013 and the eighth intermediate transmission module 803, the eighth active bone 8011 is pushed to deform, thereby enabling the tendon-external variable cross-section main bone pull-pull continuum robot 80 to achieve complex deformation and thus perform specific target tasks.

[0115] In summary, this invention, based on the aforementioned pull-push continuous robot, combines a drive control unit and a mechanical body to construct a pull-push continuous robot that meets various application functions. The number of drive motors is reduced, simplifying the system: through the natural fusion of tendon-driven and lever-driven mechanisms, only one motor is needed to control the robot, achieving complex multi-degree-of-freedom motion, reducing system complexity, size, and cost, and improving compactness and portability. By combining the high compliance of tendon-driven mechanisms and the high stiffness of lever-driven mechanisms, the robot can adapt to complex and changing environments while possessing high stability and accuracy, meeting the needs of fine manipulation. The innovative structural design simplifies the control system and reduces control difficulty. Through a mechanical transmission mechanism, coordinated control of tendons and levers is achieved, improving the accuracy and reliability of motion control. The eight configurations proposed in this invention can be combined and customized according to actual application needs. The modular design facilitates the design, manufacturing, assembly, and maintenance of the robot, enhancing the system's scalability.

[0116] Many embodiments and applications beyond the examples provided will be apparent to those skilled in the art upon reading the foregoing description. Therefore, the scope of this teaching should not be determined by reference to the foregoing description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

[0117] The above content provides a further detailed description of the present invention. It should not be construed that the specific embodiments of the present invention are limited to this. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection of the present invention as defined by the submitted claims.

Claims

1. A pull-push continuum robot, characterized by, The tendon pulling module, the intermediate module and the structural backbone pushing module are included. The intermediate module is arranged between the tendon pulling module and the structural backbone pushing module. The tendon pulling module transmits tendon driving force to the structural backbone pushing module through the intermediate module to complete continuous robot structure deformation. The tendon pulling module includes a first tendon pulling module (101), the structural backbone pushing module includes a first structural backbone pushing module (102), and the intermediate module includes a first intermediate transmission module (103). 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 driving bone (1021) and a first passive bone (1022), and the first intermediate transmission module (103) includes a first biasing pull-push disc (1031) and a first support fixed seat (1032). One end of the first structural main bone (1012) is arranged on one side of the first biasing pull-push disc (1031), and one end of the first passive bone (1022) is arranged on the other side of the first biasing pull-push disc (1031). One end of the first driving tendon (1011) is fixed on the other end of the first structural main bone (1012), and the other end of the first driving tendon (1011) is fixed on the first biasing pull-push disc (1031); the first biasing pull-push disc (1031) is arranged on the first support fixed seat (1032); one end of the first driving bone (1021) is arranged on the first biasing pull-push disc (1031), and the other end of the first driving bone (1021) is fixed on the other end of the first passive bone (1022). The tendon pulling module includes a second tendon pulling module (201), the structural backbone pushing module includes a second structural backbone pushing module (202), and the intermediate module includes a second intermediate transmission module (203). The second tendon pulling module (201) includes a second driving tendon (2011) and a second spiral structural main bone (2012), the second structural backbone pushing module (202) includes a second driving bone (2021) and a second spiral passive bone (2022), and the second intermediate transmission module (203) includes a second biasing pull-push disc (2031) and a second support fixed seat (2032). One end of the second spiral structural main bone (2012) is connected with one end of the second spiral passive bone (2022), and the second biasing pull-push disc (2031) is arranged at the connection position of the second spiral structural main bone (2012) and the second spiral passive bone (2022). One end of the second driving and pulling tendon (2011) is fixed on the other end of the second spiral structure main bone (2012); the other end of the second driving and pulling tendon (2011) is fixed on the second biasing pulling and pushing disc (2031); the other end of the second biasing pulling and pushing disc (2031) is connected with one end of the second main driving bone (2021); the other end of the second main driving bone (2021) is fixed on the other end of the second spiral passive bone (2022); The second biasing pulling and pushing disc (2031) is installed on the second support fixing seat (2032).

2. The pull-push continuum robot of claim 1, wherein, The tendon pulling module comprises a third tendon pulling module (301); the structure bone pushing module comprises a third structure bone pushing module (302); and the intermediate module comprises a third intermediate transmission module (303); The third tendon pulling module (301) comprises a third driving and pulling tendon (3011) and a third structure main bone (3012); the third structure bone pushing module (302) comprises a third main driving bone (3021) and a third passive bone (3022); and the third intermediate transmission module (303) comprises a third biasing pulling and pushing disc (3031) and a third support fixing seat (3032); One end of the third structure main bone (3012) is connected with one end of the third passive bone (3022), and the third biasing pulling and pushing disc (3031) is arranged at the connection position of the third structure main bone (3012) and the third passive bone (3022); One end of the third driving and pulling tendon (3011) is fixed on the other end of the third structure main bone (3012); the other end of the third driving and pulling tendon (3011) is fixed on the third biasing pulling and pushing disc (3031); the third biasing pulling and pushing disc (3031) is installed on the third support fixing seat (3032); the other end of the third biasing pulling and pushing disc (3031) is connected with a third pulling and pushing biasing crank shaft (30213) in the third main driving bone (3021); the third passive bone (3022) is nested in the third main driving bone (3021); a plurality of third spiral main driving bone frames (30212) are arranged on a third spiral main driving bone (30211) in the third main driving bone (3021); a plurality of third spiral passive bone frames (30222) are arranged on a third spiral passive bone (30221) in the third passive bone (3022), the third spiral passive bone frames (30222) are nested in the third spiral main driving bone frames (30212), and the third spiral main driving bone (30211) and the third spiral passive bone (30221) are not overlapped.

3. The pull-push continuum robot of claim 1, wherein, The tendon pulling module comprises a fourth tendon pulling module (401); the structure bone pushing module comprises a fourth structure bone pushing module (402); and the intermediate module comprises a fourth transition module (403). The fourth tendon pulling module (401) comprises a fourth pushing bone (4011), a fourth main structure bone (4012), a fourth interval guide disc (4013) and a fourth first-end interval guide disc (4014); the fourth structure backbone pushing module (402) comprises a fourth center bone interval plate (4021), a fourth pushing structure backbone (4022) and a fourth end fixed interval disc (4023); the fourth transition module (403) comprises a fourth front-end transition interval disc (4031) and a fourth rear-end transition interval disc (4032); The center of the fourth interval guide disc (4013) passes through the fourth main structure bone (4012); the fourth pushing bone (4011) is arranged on the outer circle area of the fourth interval guide disc (4013); one end of the fourth main structure bone (4012) and the fourth pushing bone (4011) is connected with the fourth first-end interval guide disc (4014), and the other end of the fourth main structure bone (4012) is connected with the fourth front-end transition interval disc (4031); the other end of the fourth pushing bone (4011) passes through the fourth front-end transition interval disc (4031), reaches the fourth rear-end transition interval disc (4032) and is connected with one end of the fourth pushing structure backbone (4022); a plurality of fourth center bone interval plates (4021) are arranged on the fourth pushing structure backbone (4022), and the other end of the fourth pushing structure backbone (4022) is connected with the fourth end fixed interval disc (4023).

4. The pull-push continuum robot of claim 1, wherein, The tendon pulling module comprises a fifth tendon pulling module (501); the structure backbone pushing module comprises a fifth structure backbone pushing module (502); and the intermediate module comprises a fifth transition module (503); The fifth tendon pulling module (501) comprises a fifth fifty-first pushing bone (5011), a fifth fifty-first main structure bone (5012), a fifth fifty-first interval disc (5013) and a fifth first-end interval disc (5014); the fifth structure backbone pushing module (502) comprises a fifth fifty-second pushing bone (5021), a fifth fifty-second main structure bone (5022), a fifth fifty-second interval disc (5023) and a fifth end interval disc (5024); and the fifth transition module (503) comprises a fifth fifty-third pushing bone (5031), a fifth fifty-third main structure bone (5032), a fifth fifty-third interval disc (5033), a fifth fifty-third front-end interval disc (50301) and a fifth fifty-third rear-end interval disc (50302); The fifth fifty-third main structure bone (5032) and a plurality of fifth fifty-third pushing bones (5031) are arranged on a plurality of fifth fifty-third interval discs (5033), the fifth fifty-third main structure bone (5032) is located in the center area of the fifth fifty-third interval disc (5033), and the fifth fifty-third pushing bones (5031) are arranged in the circumferential direction around the fifth fifty-third main structure bone (5032); One end of the 51st pushing bone (5011) and the 51st structure main bone (5012) is fixed on the 51st front end interval disc (5014), a plurality of 51st interval discs (5013) are arranged on the 51st pushing bone (5011) and the 51st structure main bone (5012), the other end of the 51st structure main bone (5012) is fixed on the 53rd front end interval disc (50301), the 51st pushing bone (5011) is connected with the 53rd pushing bone (5031) through the 53rd front end interval disc (50301); one end of the 52nd pushing bone (5021) and the 52nd structure main bone (5022) is fixed on the 52nd end interval disc (5024), a plurality of 52nd interval discs (5023) are arranged on the 52nd pushing bone (5021) and the 52nd structure main bone (5022), the other end of the 52nd structure main bone (5022) is fixed on the 53rd rear end interval disc (50302), the 52nd pushing bone (5021) is connected with the 53rd pushing bone (5031) through the 53rd rear end interval disc (50302).

5. The pull-push continuum robot of claim 1, wherein, The structure backbone pushing module comprises a sixth structure backbone module (601); the tendon pulling module comprises a sixth tendon pulling module (602); the intermediate module is a sixth transmission transition module (603); The sixth structure backbone module (601) comprises a sixth driving bone (6011), a sixth driven bone (6012), a sixth pushing section interval disc (6013) and a sixth front end interval disc (6014); the sixth tendon pulling module (602) comprises a sixth tendon (6021), a sixth structure main bone (6022), a sixth pulling section interval disc (6023) and a sixth end interval disc (6024); the sixth transmission transition module (603) comprises a sixth front end transition interval disc (6031) and a sixth rear end transition interval disc (6032); A plurality of the sixth active bones (6011) are arranged in a circle between the sixth head interval disc (6014) and the sixth tail interval disc (6024); the sixth passive bone (6012) is arranged at the center of the circle surrounded by the plurality of the sixth active bones (6011), one end of the sixth passive bone (6012) is fixed on the sixth head interval disc (6014), the other end of the sixth passive bone (6012) is fixed on one side of the sixth front transition interval disc (6031), a plurality of the sixth pushing interval discs (6013) are arranged on the sixth passive bone (6012) and the sixth active bone (6011); the sixth rear transition interval disc (6032) is arranged on the other side of the sixth front transition interval disc (6031), a plurality of the sixth tendons (6021) are arranged in a circle between the sixth rear transition interval disc (6032) and the sixth tail interval disc (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 interval discs (6023) are arranged on the sixth structure main bone (6022) and the sixth tendon (6021).

6. The pull-push continuum robot of claim 1, wherein, The tendon pulling module comprises a seventh tendon pulling module (701); the structure backbone pushing module comprises a seventh structure backbone pushing module (702); and the intermediate module comprises a seventh transmission transition module (703). The seventh tendon pulling module (701) comprises a seventh spiral tendon (7011), a seventh structure main bone (7012), a seventh pulling interval disc (7013), and a seventh head interval disc (7014); the seventh structure backbone pushing module (702) comprises a seventh active bone (7021), a seventh passive bone (7022), a seventh pushing interval disc (7023), and a seventh tail interval disc (7024); and the seventh transmission transition module (703) comprises a seventh front transition interval disc (7031) and a seventh rear transition interval disc (7032). The seventh structure main bone (7012) is arranged between the seventh head end interval disc (7014) and the seventh front end transition interval disc (7031), and the seventh spiral tendon (7011) is wound on the seventh structure main bone (7012); a plurality of seventh driving bones (7021) are circumferentially arranged around the seventh structure main bone (7012), a plurality of seventh pulling section interval discs (7013) are arranged between the seventh head end interval disc (7014) and one side of the seventh front end transition interval disc (7031), the seventh structure main bone (7012) is located at the center position of the seventh pulling section interval disc (7013), the seventh driving bone (7021) is circumferentially arranged 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 driving bone (7021); one end of the seventh driving bone (7021) is fixed to the seventh head end interval disc (7014), and the other end of the seventh driving bone (7021) is fixed to the seventh tail end interval disc (7024); the seventh rear end transition interval disc (7032) is arranged on the other side of the seventh front end transition interval disc (7031), one end of the seventh passive bone (7022) is fixed to the seventh rear end transition interval disc (7032), the other end of the seventh passive bone (7022) is fixed to the seventh tail end interval disc (7024), a plurality of seventh pushing section interval discs (7023) are arranged between the seventh rear end transition interval disc (7032) and the seventh tail end interval disc (7024), and the seventh passive bone (7022) passes through the center area of the seventh pushing section interval disc (7023).

7. The pull-push continuum robot of claim 1, wherein, The structure backbone pushing module comprises an eighth structure backbone pushing module (801), the tendon pulling module comprises an eighth tendon pulling module (802), and the intermediate module comprises an eighth intermediate transmission module (803); The eighth structure backbone pushing module (801) comprises an eighth driving bone (8011), an eighth pulling section interval disc (8012), an eighth structure main bone (8013) and an eighth head end interval disc (8014); the eighth tendon pulling module (802) comprises an eighth tendon (8021), an eighth pulling section structure main bone (8022), an eighth pulling section rear end interval disc (8023) and an eighth tail end interval disc (8024); and the eighth intermediate transmission module (803) comprises an eighth front end transition interval disc (8031) and an eighth rear end transition interval disc (8032). A plurality of the eighth active bones (8011) are fixed between the eighth leading end spacer disc (8014) and the eighth trailing end spacer disc (8024); the eighth structural main bone (8013) is arranged at the center of the circumferential arrangement of a plurality of the eighth active bones (8011), one end of the eighth structural main bone (8013) is fixed to the eighth leading end spacer disc (8014), the other end of the eighth structural main bone (8013) is fixed to one side of the eighth front end transition spacer disc (8031), and a plurality of the eighth pulling section spacer discs (8012) are arranged between the eighth leading end spacer disc (8014) and the eighth front end transition spacer disc (8031); the eighth structural main bone (8013) is arranged in the central region of the eighth pulling section spacer disc (8012), and a plurality of the eighth active bones (8011) are circumferentially arranged on the eighth pulling section spacer disc (8012); the eighth rear end transition spacer disc (8032) is arranged on the other side of the eighth front end transition spacer disc (8031), the eighth tendon (8021) is arranged between the eighth rear end transition spacer disc (8032) and the eighth trailing end spacer disc (8024), the eighth pulling section structural main bone (8022) is arranged in the central region between the eighth rear end transition spacer disc (8032) and the eighth trailing end spacer disc (8024), and the eighth tendon (8021) is located in the region between the eighth rear end transition spacer disc (8032) and the eighth trailing end spacer disc (8024); a plurality of the eighth pulling section rear end spacer discs (8023) are arranged between the eighth rear end transition spacer disc (8032) and the eighth trailing end spacer disc (8024).

8. A pull-push continuum robot according to claim 7, wherein, The eighth pulling section rear end spacer disc (8023), the eighth rear end transition spacer disc (8032), and the eighth trailing end spacer disc (8024) are equal in size; The eighth pulling section spacer disc (8012), the eighth leading end spacer disc (8014), and the eighth front end transition spacer disc (8031) are equal in size.

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