Single-motor worm and gear rope-driven continuum robot

Abstract

The invention discloses a single-motor worm and gear rope-driven continuum robot. The continuum robot comprises a worm and gear transmission inhaul cable module, a tensioning pulley module, an adjustable pulley module, a continuum execution body, a tail end clamp and a mechanical body. The worm and gear transmission module is composed of a driving worm and three driving worm gears, the worm is meshed with the driving worm gears with the upper side and the lower side adjustable and fixed at the same time, and a multi-rope synchronous driving system is formed. And the driving rope passes through the tensioning pulley, the fixed pulley block and the adjustable pulley module and then is fixed in a rope outlet hole of each driving worm wheel, so that preset space deformation and self-locking of the continuum execution body are realized. And the tension pulley module is adjusted through a knob, so that the length adjustment and self-locking of the rope can be realized. And the adjustable pulley module automatically adjusts the position when being laterally stressed, so that the energy loss and the rope interference are reduced. Accurate control and self-locking of the multi-degree-of-freedom continuum robot by the single motor are realized, the structure is compact, and the complexity and the cost of the system are effectively reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of continuum robots, and in particular relates to a single-motor worm gear rope-driven continuum robot. Background Art

[0002] As a highly flexible and reconfigurable robot form, continuum robots have attracted widespread attention in the fields of medical treatment, rescue, and detection due to their ability to operate in confined spaces and adapt to complex environments. However, traditional continuum robots usually require three motors to control a single segment. In theory, a single-segment continuum robot has infinite redundancy in space, but in reality, only two degrees of freedom can be controlled using three motors. This means that in order to obtain the two controllable degrees of freedom of the end effector, three motors are required to drive the bottom, which increases the complexity, weight, and cost of the system, and is not conducive to improving the overall performance of the robot.

[0003] Using fewer motors can simplify the mechanical structure and reduce manufacturing and maintenance costs. Secondly, reducing the number of motors can reduce the weight of the robot and improve energy efficiency. In addition, the single-motor control system is simpler and easy to achieve real-time and precise control, which is conducive to improving the reliability and stability of the robot.

[0004] The existing technology still has the following problems that need to be solved: (1) Complexity of the drive mechanism: How to design an efficient transmission mechanism based on a single motor drive while maintaining the flexibility of the continuum robot is still a technical challenge. (2) Energy loss and efficiency: The traditional rope and pulley transmission method may cause large energy loss, reducing the overall efficiency of the system. (3) Lateral stress effect: The lateral stress generated by the rope during the transmission process can cause component wear and performance degradation, and an effective mechanism is needed to eliminate or reduce this effect.

[0005] To solve the above problems, the following challenges and difficulties were faced during the research and development process: (1) Innovative drive mechanism design: It is necessary to design a transmission mechanism that can effectively convert the rotational motion of a single motor into the multi-degree-of-freedom motion of a continuum robot, while ensuring a compact structure and transmission efficiency. (2) Lateral stress elimination technology: Develop a pulley module that can automatically adjust to eliminate the lateral stress of the rope, reduce mechanical wear, and extend the life of the equipment. (3) Precise control strategy: Develop an algorithm and control system suitable for single-motor multi-degree-of-freedom control to achieve precise control of the robot's motion. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a single-motor-worm gear rope-driven continuum robot from the perspective of disassembling the robot drive control structure. The proposed single-motor-worm gear rope-driven continuum bronchial surgery robot only needs one motor to achieve the predetermined spatial deformation, and the rope length can be adjusted and self-locked by adjusting the tensioning pulley module through the knob. The adjustable pulley module automatically adjusts the position when subjected to lateral force, reducing energy loss and rope interference. The precise control and self-locking of the multi-degree-of-freedom continuum robot by a single motor can be achieved, and the tasks in specific unstructured scenarios can be achieved by controlling the end clamp to clamp foreign objects.

[0007] The present invention is achieved through the following technical solutions.

[0008] One aspect of the present invention provides a single-motor worm gear cable-driven continuum robot, comprising:

[0009] The worm gear transmission cable module is arranged in the machine body. The worm gear meshes with three worm wheels at the same time, and the rope is wound or released as the worm wheels rotate.

[0010] The tensioning pulley module is arranged at the front of the mechanical body and is used to realize the rope tensioning by cooperating with the actuator joint through three rope tensioning mechanisms distributed on the top plate;

[0011] The adjustable pulley module is located in front of the worm gear drive cable module and is used to pass the rope around the pulley to eliminate the lateral stress of the rope;

[0012] The continuum actuator is fixed to the front end of the mechanical body, and the deformation of the continuum actuator is achieved by driving the rope through the joint of the continuum actuator and pulling or releasing the rope;

[0013] End grippers, mounted on the end of the continuum actuator, are used to perform robotic surgery or grasping and assembly operations;

[0014] The driving rope passes through the tensioning pulley of the tensioning pulley module, the fixed pulley group of the tensioning pulley module and the adjustable pulley module, and is fixed to the cable outlet holes of each driving worm gear to achieve the predetermined spatial deformation and self-locking of the continuum actuator.

[0015] Preferably, the worm gear transmission cable module includes a driving worm module fixed at the bottom of the mechanical body, the driving worm module is meshed with a lower adjustable driving worm gear module rotatably connected thereto; is meshed with a fixed driving worm gear module fixed on the side wall of the mechanical body; and is meshed with an upper adjustable driving worm gear module at the front of the driving worm module.

[0016] Preferably, a fixed guide pulley is provided on the fixed drive worm gear module; a cable outlet hole is provided on the worm gear shaft of each worm gear module, and the rope winding directions are not exactly the same, and the rope is pulled or released by rotating the worm gear.

[0017] Preferably, the tensioning pulley module includes a fixed pulley block arranged at the front end of the upper adjustable driving worm gear module and a pulley tensioning device on the inner side wall of the front end of the mechanical body, and each fixed pulley block includes a fixed pulley frame and a fixed pulley.

[0018] Preferably, the pulley tensioning device includes a fixed mounting frame, a movable mounting frame and a knob; the fixed mounting frame is provided with a guide pulley, and a tensioning worm and a tensioning turbine that mesh with each other, and the tensioning turbine is fixedly connected to the tensioning gear; the movable mounting frame is provided with a rack and a tensioning pulley.

[0019] Preferably, the knob is placed outside the chassis and connected to the tensioning worm. Rotating the knob causes the tensioning worm to rotate, driving the tensioning turbine and the tensioning gear to rotate. The tensioning gear drives the rack to move in the slide groove, extending the rope length between the guide pulley, the tensioning pulley and the fixed pulley, and self-locking in the adjustment position to achieve tensioning.

[0020] Preferably, the adjustable pulley module includes a fixed mounting frame, a pulley mounting frame, a bearing, a first pulley and a second pulley, the fixed mounting frame is equipped with a bearing, the pulley mounting frame is installed on a fixed plate through the fixed mounting frame, and the first pulley and the second pulley are respectively fixed on the pulley mounting frame.

[0021] Preferably, the actuator body includes a skeleton, actuator joints, drive ropes, an outer wrapping skin and a mounting frame. The continuum actuator joints are fixed on the continuum actuator skeleton. The drive rope passes through the continuum actuator joints and is fixed at the top joint cable hole. The deformation of the continuum actuator is achieved by pulling or releasing the rope.

[0022] Another aspect of the present invention provides a single-motor worm gear rope driving method for the robot, comprising:

[0023] The driving rope is led out from the cable holes on the first driving worm gear, the second driving worm gear and the fixed worm gear respectively, and passes around the first pulley, the second pulley, the fixed guide pulley and the adjustable pulley module respectively;

[0024] The driving rope passes through the cable hole, bypasses the fixed pulley block and the guide pulley and tension pulley on the tension pulley device, and enters the interior of the continuum actuator;

[0025] The driving rope passes through the actuator joint and is fixed at the cable hole of the top joint;

[0026] Before working, the intelligent terminal rotates the knob to make the driving rope reach the initial tension state;

[0027] The control motor rotates forward / reverse as expected, driving the drive fixedly connected to the control motor to rotate, and the driving worm drives the first driving worm gear, the second driving worm gear, and the fixed worm gear to rotate, respectively pulling or releasing the cable, and the continuum actuator moves as planned.

[0028] The present invention adopts the above technical solution, which has the following beneficial effects:

[0029] 1. The single-motor-worm gear cable-driven continuum robot provided by the present invention realizes the operation of the cable-driven robot by using only one motor to drive the driving mechanism, thereby reducing the number of driving-end motors and significantly reducing the manufacturing and operating costs of the continuum robot.

[0030] 2. The adjustable pulley module provided by the present invention can automatically adjust its position when subjected to lateral force, thus overcoming the energy loss and rope interference caused by lateral force, and realizing the precise control and self-locking of a multi-degree-of-freedom continuum robot by a single motor.

[0031] 3. The present invention can adjust the length of the rope and achieve self-locking through the knob control of the tensioning pulley module, which can overcome the problem of insufficient tensioning force caused by long-term use of the machine.

[0032] 4. The robot of the present invention can be widely used in medical surgery and industrial automated assembly. It also improves the reliability and energy efficiency of the robot, and has a positive effect on extending the service life of the equipment and improving working performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute an improper limitation of the present invention. In the drawings:

[0034] Figure 1 The embodiment of the present invention provides a schematic diagram of the overall structure of a single motor-worm gear rope driven continuum robot;

[0035] Figure 2 The embodiment of the present invention provides a schematic structural diagram of a single motor-worm gear rope driven continuous robot with the housing removed;

[0036] Figure 3 The embodiment of the present invention provides a schematic diagram of the overall structure of the continuum robot drive control;

[0037] Figure 4 The embodiment of the present invention provides a structural schematic diagram of a worm gear transmission cable module of a continuum robot;

[0038] Figure 5 The embodiment of the present invention provides a schematic diagram of the installation structure of a continuum robot driving a worm;

[0039] Figure 6 The embodiment of the present invention provides a schematic diagram of a driving worm gear structure in which the upper end of a driving worm of a continuum robot can be flexibly moved;

[0040] Figure 7 The embodiment of the present invention provides a schematic diagram of a structure in which the lower end of a continuum robot driving a worm can flexibly move to drive a worm wheel;

[0041] Figure 8 The embodiment of the present invention provides a schematic diagram of a fixed drive worm gear structure of a continuum robot;

[0042] Fig. 9 The embodiment of the present invention provides a structural schematic diagram of a tensioning pulley module of a continuum robot;

[0043] Fig.10 The embodiment of the present invention provides a structural schematic diagram of a tensioning pulley device of a continuum robot;

[0044] Fig.11 The embodiment of the present invention provides a structural schematic diagram of an adjustable pulley module of a continuum robot;

[0045] Fig.12 The embodiment of the present invention provides a schematic structural diagram of a device for eliminating side stress of a continuum robot;

[0046] Fig.13 The embodiment of the present invention provides a schematic diagram of the structure of a continuum robot actuator module. DETAILED DESCRIPTION

[0047] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0048] like Figure 1-3 As shown, the single-motor-worm gear rope-driven continuum robot provided in an embodiment of the present invention includes a worm gear transmission cable module 10, a tensioning pulley module 20, an adjustable pulley module 30, a continuum actuator 40, an end clamp 50 and a mechanical body 60.

[0049] The worm gear transmission cable module 10 is arranged in the mechanical body 60, the tensioning pulley module 20 is set at the front of the mechanical body 60, the adjustable pulley module 30 is located in the front of the worm gear transmission cable module 10 in the mechanical body 60, the continuum actuator 40 is fixed to the front end of the mechanical body 60, and the end clamp 50 is installed at the end of the continuum actuator 40.

[0050] The driving rope 403 on the continuum actuator 40 passes through the tensioning pulley device 201 of the tensioning pulley module 20, the fixed pulley block 202 to the adjustable pulley module 30, and is fixed to the cable outlet hole of the driving worm gear module of the worm gear transmission cable module 10, performs the driving task according to the predetermined length, realizes the spatial deformation of the continuum actuator 40, and self-locks in the set position. The servo motor of the worm gear transmission cable module 10 rotates in the reverse direction to realize the reverse movement of the actuator 40.

[0051] For the worm gear transmission cable module 10, the present invention considers that when a worm wheel with different numbers of teeth is used in conjunction with a worm wheel shaft with the same shaft diameter to achieve a predetermined motion, if the speed ratio is too large or too small, problems with the number of teeth distribution and size limitation may occur. When a worm wheel with the same number of teeth is used in conjunction with a worm wheel shaft with different shaft diameters to achieve a predetermined motion, the distribution is simple, the manufacturing is convenient, and the cost is low, but when the speed ratio is too large or too small, the strength of the thin shaft and the size of the thick shaft may become a problem. When the number of teeth and the shaft diameter of the worm wheel are adjusted at the same time, although the manufacturing is complicated and the cost is high, the strength and size problems can be effectively solved to meet specific speed ratio requirements.

[0052] The worm gear transmission cable module 10 can flexibly adjust the position and direction of the worm wheel and the pulley thereon according to the internal space and functional requirements, and can also pre-set the position of the pulley according to the requirements of the worm gear shaft for winding or releasing the rope.

[0053] like Figure 2-4 As shown, the worm gear transmission cable module 10 includes three worm gears with different numbers of teeth and an adjustable position device, including a driving worm module 101, an upper adjustable driving worm gear module 102, a lower adjustable driving worm gear module 103 and a fixed driving worm gear module 104. Among them, the driving worm module 101 is fixed to the bottom of the mechanical body 60, the lower adjustable driving worm gear module 103 includes a bottom fixed rod and a turbine connected to the fixed rod, the bottom fixed rod is rotatably connected to the worm shaft of the driving worm module 101, and the upper turbine is meshed with the worm of the driving worm module 101; the bottom of the fixed driving worm gear module 104 is connected to the inner wall of the mechanical body 60, and the front part is meshed with the worm of the driving worm module 101; the front end of the worm of the driving worm module 101 is meshed with the upper adjustable driving worm gear module 102, and the front part of the upper adjustable driving worm gear module 102 is provided with a tensioning pulley module 20 and an adjustable pulley module 30. A cable outlet hole is arranged on each worm gear shaft, and the cable winding directions are not exactly the same. The cable can be pulled or released by rotating the worm gear.

[0054] like Figure 5As shown, the driving worm module 101 includes a worm 101-1, a servo motor 101-2, a motor mounting frame 101-3 and a worm mounting frame 101-4. The worm 101-1 is connected to the servo motor 101-2 through a coupling and is mounted on the motor mounting frame 101-3. The other end of the worm 101-1 is fixed to the worm mounting frame 101-4 through a bearing.

[0055] like Figure 6 As shown, the upper adjustable driving worm gear module 102 includes a first worm gear mounting module 102 - 1 and a first pulley mounting module 102 - 2 , and the first worm gear mounting module 102 - 1 and the first pulley mounting module 102 - 2 are connected in parallel with each other.

[0056] The first worm gear mounting module 102-1 includes a first driving worm gear 1021-1, a first sliding mounting frame 1021-2, a first rotating mounting frame 1021-3 and a first locking bolt a 1021-4. The first driving worm gear 1021-1 is fixed to the first sliding mounting frame 1021-2 through a bearing, and the first sliding mounting frame 1021-2 is fixed to the first rotating mounting frame 1021-3 and locked by the first locking bolt a 1021-4 after adjusting the position.

[0057] The first pulley mounting module 102-2 includes a first pulley 1022-1, a first vertical sliding mounting frame 1022-2, a first distance-adjusting sliding mounting frame 1022-3, a first parallel pulley mounting frame 1022-4 and a first locking bolt b 1022-5. The first pulley 1022-1 is mounted on the first vertical sliding mounting frame 1022-2 and is locked by the first locking bolt b 1022-5 after adjusting the position; the first vertical sliding mounting frame 1022-2 is mounted on the first distance-adjusting sliding mounting frame 1022-3, and is then fixed to the first rotating frame 1021-3 by the first parallel pulley mounting frame 1022-4.

[0058] like Figure 7 As shown, the structure of the lower adjustable driving worm gear module 103 is similar to that of the upper driving worm gear module 102, and is composed of a second worm gear mounting module 103-1 and a second pulley mounting module 103-2.

[0059] The second worm gear mounting module 103-1 includes a second driving worm gear 1031-1, a second sliding mounting frame 1031-2, a second rotating mounting frame 1031-3 and a second locking bolt a 1031-4. The second driving worm gear 1031-1 is fixed to the second sliding mounting frame 1031-2 through a bearing and is locked by the second locking bolt a 1031-4 after adjusting the position. The second sliding mounting frame 1031-2 is fixed to the second rotating mounting frame 1031-3.

[0060] The second pulley mounting module 103-2 includes a second pulley 1032-1, a second vertical sliding mounting frame 1032-2, a second pitch-adjustable sliding mounting frame 1032-3, a second parallel pulley mounting frame 1032-4 and a second locking bolt b 1032-5. The second pulley 1032-1 is mounted on the second vertical sliding mounting frame 1032-2 and is fixed using the second locking bolt b 1032-5 after the position is adjusted; the second vertical sliding mounting frame 1032-2 is mounted on the second pitch-adjustable sliding mounting frame 1032-3 and is then fixed to the second rotating frame 1031-3 via the second parallel pulley mounting frame 1032-4.

[0061] like Figure 8 As shown, the fixed drive worm gear module 104 includes a fixed worm gear 104-1, a worm gear shaft 104-2, a bearing seat 104-3, bolts 104-4 and a fixed guide pulley 104-5. The fixed worm gear 104-1 and the worm gear shaft 104-2 are connected by a wedge key, the worm gear shaft 104-2 is connected to the bearing seat 104-3, the bearing seat 104-3 is fixed to the machine body by bolts 104-4, and the fixed guide pulley 104-5 is fixed to the machine body.

[0062] The worm and three worm wheels mesh at the same time to form a drive module, realizing efficient transmission driven by a single motor. The motor drives the worm to rotate, driving the meshing worm wheel to rotate. There is a cable outlet hole on the worm wheel shaft, and the rope is wound or released as the worm wheel rotates. The required rope length and speed ratio can be achieved by adjusting the number of teeth and shaft diameter of the worm wheel; the meshing position of the worm wheel and the worm and the angle between the worm wheels can be flexibly adjusted to optimize the force and reduce wear and energy loss.

[0063] like Fig. 9 As shown, the tension pulley module 20 includes a fixed pulley block 202 arranged at the front end of the upper adjustable drive worm gear module 102 and a pulley tensioning device 201 on the inner side wall of the front end of the mechanical body 60. The fixed pulley block 202 is fixed on a fixed plate, and there are four fixed pulley blocks 202, each of which includes a fixed pulley frame 202-1 and a fixed pulley 202-2. A plurality of adjustable pulley modules 30 are arranged on the opposite side of the fixed plate.

[0064] like Fig.10As shown, the pulley tensioning device 201 includes a fixed mounting frame 201-1, a movable mounting frame 201-2 and a knob 201-3. The knob is placed outside the chassis and fixedly connected to the worm. The fixed mounting frame 201-1 includes a first mounting frame support 2011-1, a tensioning worm 2011-2, a tensioning worm gear 2011-3, a tensioning gear 2011-4 and a guide pulley 2011-5, and the tensioning worm 2011-2, the tensioning worm gear 2011-3, the tensioning gear 2011-4 and the guide pulley 2011-5 are all installed on the first mounting frame support 2011-1, wherein the tensioning worm gear 2011-3 is meshed with the tensioning worm 2011-2 and fixedly connected to the tensioning gear 2011-4. The knob 201-3 is fixedly connected to the tensioning worm 2011-2. The knob 201-3 is rotated to rotate the tensioning worm 2011-2, thereby driving the tensioning turbine 2011-3 and the tensioning gear 2011-4 to rotate.

[0065] The movable mounting frame 201-2 includes a second mounting frame support 2012-1, a rack 2012-2 and a tensioning pulley 2012-3. The second mounting frame support 2012-1 is fixedly connected to the rack 2012-2 and is placed in the slide groove of the second mounting frame support 2011-1.

[0066] By rotating the knob 201-3, the tensioning worm 2011-2 rotates, which drives the tensioning turbine 2011-3 and the tensioning gear 2011-4 to rotate, and the tensioning gear drives the rack 2012-2 to move in the slide groove, thereby extending the rope length between the guide pulley 2011-5, the tensioning pulley 2012-3 and the fixed pulley 202-2, and self-locking in the adjustment position to achieve the tensioning function.

[0067] By rotating the knob, the worm drives the worm wheel, gear and rack to adjust the position of the pulley on the movable mounting frame, extend the rope path and realize the tensioning function. It can be operated without disassembling the machine body. The self-locking effect of the worm wheel ensures stable tensioning and does not fail due to force.

[0068] The three rope tensioning mechanisms of the tensioning pulley module are evenly distributed on the top plate, cooperating with the wiring of the actuator joints to reduce the impact of internal lateral tension and improve the stability of the robot's operation.

[0069] like Fig.11 As shown, the adjustable pulley module 30 includes a fixed mounting frame 301, a pulley mounting frame 302, a bearing 303, a first pulley 304 and a second pulley 305. The fixed mounting frame 301 is mounted with the bearing 303, the pulley mounting frame 302 is mounted on the fixed plate through the fixed mounting frame 301, and the first pulley 304 and the second pulley 305 are respectively fixed on the pulley mounting frame 302.

[0070] like Fig.11 ,12 As shown, the fixed mounting frame 301 is installed at the cable hole of the second layer of the machine body, and the rope passes through the fixed mounting frame 301, bypasses the first pulley 304 and the second pulley 305, and then bypasses the first pulley mounting module 102-2, the second pulley mounting module 103-2 and the fixed guide pulley 104-5, and is finally fixed at the cable outlet hole of the worm gear. When the rope is subjected to lateral tension, the pulley mounting frame 302 rotates freely to the position where the lateral force is the smallest, thereby significantly reducing the lateral force, reducing energy loss and interference with the lateral force of the rope.

[0071] The rope is led out from the cable hole of the second layer board, passes through the fixed mounting frame, bypasses the pulley on the rotatable pulley mounting frame, and then bypasses the adjustable pulley on the worm gear mounting frame, and finally winds around the worm gear shaft. The rotatable pulley mounting frame automatically adjusts its position under the action of lateral force, and cooperates with the adjustable pulley below to greatly eliminate lateral stress, reduce rope wear and energy loss.

[0072] like Fig.13 As shown, the continuum actuator includes an actuator body 40 and an end clamp 50 .

[0073] The actuator body 40 includes a frame 401, an actuator joint 402, a driving rope 403, an outer skin 404, a mounting frame 405 and a fixing bolt 406. The continuum actuator joint 402 is fixed to the continuum actuator frame 401, and the driving rope 403 passes through the actuator joint 402 and is fixed at the top joint cable hole. The deformation of the continuum actuator can be achieved by pulling or releasing the rope. A layer of skin 404 is wrapped on the outside to prevent scratches. The continuum actuator is installed on the mechanical body through the mounting frame 405 and the fixing bolt 406.

[0074] The working principle of the present invention is that the driving rope 403 is led out from the rope holes on the first driving worm gear 1021-1, the second driving worm gear 1031-1 and the fixed worm gear 104-1 respectively, bypasses the first pulley 1022-1, the second pulley 1032-1, the fixed guide pulley 104-5 and the adjustable pulley module 30 respectively, passes through the rope hole and bypasses the fixed pulley group 202 and the guide pulley 2011-5 and the tensioning pulley 2012-3 on the tensioning pulley device 201 to enter the interior of the actuator body 40, and the driving rope 403 passes through the continuum actuator joint 402 and is fixed at the top joint rope hole. Before work, the rope 403 is first tensioned to the initial state by rotating the knob 201-3, the predetermined position is determined by the intelligent terminal, and the motor 1012 is controlled to rotate forward / reverse as expected, driving the driving worm 101-1 fixedly connected thereto to rotate, and the driving worm drives the first driving worm gear 1021-1, the second driving worm gear 1031-1, and the fixed worm gear 104-1 to rotate respectively. Because they have different winding directions, the rope can be pulled or released respectively, so that the continuum actuator can achieve the predetermined movement.

[0075] Application Example 1: The single-motor-worm gear cable-driven continuum robot of the present invention is applied in medical surgery. The end of the continuum actuator is equipped with a minimally invasive clamp, and the spatial form of the actuator is controlled by a single motor driving rope, so that it can flexibly enter the inside of the human lung bronchi. Due to the self-locking characteristics of the worm gear, the clamp can stably maintain a predetermined position and is used to clamp or remove foreign objects or diseased tissues in the bronchi, thereby improving the safety and accuracy of the operation. Compared with traditional surgical robots, the present invention reduces the complexity of the system while ensuring the flexibility and stability of surgical operations, and is suitable for complex and narrow surgical scenarios.

[0076] Application Example 2: Continuum robot for industrial flexible assembly The continuum robot of the present invention is used in industrial automated assembly. The end of the continuum actuator is equipped with a clamp with a grasping function. The robot is driven by a single motor to achieve flexible spatial deformation, so that the clamp can accurately reach narrow or complex-shaped areas in the industrial production line to complete the grasping and assembly tasks of parts. Due to the self-locking effect of the drive rope system, the actuator can be stabilized in complex positions to ensure the accuracy of industrial operations. The low-cost, high-reliability design of the present invention is suitable for flexible production and assembly tasks in industrial environments, and helps to improve the level of industrial automation and production efficiency.

[0077] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A single-motor worm gear rope-driven continuum robot, characterized in that: include: The worm gear transmission cable module is arranged in the machine body. The worm gear meshes with three worm wheels at the same time, and the rope is wound or released as the worm wheels rotate. The tensioning pulley module is arranged at the front of the mechanical body and is used to realize the rope tensioning by cooperating with the actuator joint through three rope tensioning mechanisms distributed on the top plate; The adjustable pulley module is located in front of the worm gear drive cable module and is used to pass the rope around the pulley to eliminate the lateral stress of the rope; The continuum actuator is fixed to the front end of the mechanical body, and the deformation of the continuum actuator is achieved by driving the rope through the joint of the continuum actuator and pulling or releasing the rope; End grippers, mounted on the end of the continuum actuator, are used to perform robotic surgery or grasping and assembly operations; The driving rope passes through the tensioning pulley of the tensioning pulley module, the fixed pulley group of the tensioning pulley module and the adjustable pulley module, and is fixed to the cable outlet holes of each driving worm gear to achieve the predetermined spatial deformation and self-locking of the continuum actuator.

2. The single-motor worm gear cable-driven continuum robot according to claim 1, characterized in that: The worm gear transmission cable module includes a driving worm module fixed at the bottom of the mechanical body, the driving worm module is meshed with a lower adjustable driving worm gear module rotatably connected thereto; is meshed with a fixed driving worm gear module fixed on the side wall of the mechanical body; and is meshed with an upper adjustable driving worm gear module at the front of the driving worm module.

3. The single-motor worm gear cable-driven continuum robot according to claim 2, characterized in that: A fixed guide pulley is arranged on the fixed driving worm gear module; a cable outlet hole is arranged on the worm gear shaft of each worm gear module, and the directions of the rope winding are not completely the same, and the rope is pulled or released by rotating the worm gear.

4. The single-motor worm gear cable-driven continuum robot according to claim 1, characterized in that: The tensioning pulley module includes a fixed pulley block arranged at the front end of the upper adjustable driving worm gear module and a pulley tensioning device on the inner side wall of the front end of the mechanical body, and each fixed pulley block includes a fixed pulley frame and a fixed pulley.

5. The single-motor worm gear cable-driven continuum robot according to claim 4, characterized in that: The pulley tensioning device comprises a fixed mounting frame, a movable mounting frame and a knob; the fixed mounting frame is provided with a guide pulley, and a tensioning worm and a tensioning turbine meshing with each other, and the tensioning turbine is fixedly connected to the tensioning gear; the movable mounting frame is provided with a rack and a tensioning pulley.

6. The single-motor worm gear cable-driven continuum robot according to claim 5, characterized in that: The knob is placed outside the chassis and connected to the tensioning worm. Rotating the knob causes the tensioning worm to rotate, driving the tensioning turbine and the tensioning gear to rotate. The tensioning gear drives the rack to move in the slide groove, extending the rope length between the guide pulley, the tensioning pulley and the fixed pulley, and self-locking in the adjustment position to achieve tensioning.

7. The single-motor worm gear cable-driven continuum robot according to claim 1, characterized in that: The adjustable pulley module includes a fixed mounting frame, a pulley mounting frame, a bearing, a first pulley and a second pulley. The fixed mounting frame is equipped with a bearing. The pulley mounting frame is installed on a fixed plate through the fixed mounting frame. The first pulley and the second pulley are respectively fixed on the pulley mounting frame.

8. The single-motor worm gear cable-driven continuum robot according to claim 1, characterized in that: The actuator body includes a skeleton, actuator joints, driving ropes, an outer wrapping skin and a mounting frame. The continuum actuator joints are fixed on the continuum actuator skeleton. The driving rope passes through the continuum actuator joints and is fixed at the top joint cable hole. The deformation of the continuum actuator is achieved by pulling or releasing the rope.

9. A single motor worm gear rope driving method for a robot as claimed in any one of claims 1 to 8, characterized in that: include: The driving rope is led out from the cable holes on the first driving worm gear, the second driving worm gear and the fixed worm gear respectively, and passes around the first pulley, the second pulley, the fixed guide pulley and the adjustable pulley module respectively; The driving rope passes through the cable hole, bypasses the fixed pulley block and the guide pulley and tension pulley on the tension pulley device, and enters the interior of the continuum actuator; The driving rope passes through the actuator joint and is fixed at the cable hole of the top joint; Before working, the intelligent terminal rotates the knob to make the driving rope reach the initial tension state; The control motor rotates forward / reverse as expected, driving the drive fixedly connected to the control motor to rotate, and the driving worm drives the first driving worm gear, the second driving worm gear, and the fixed worm gear to rotate, respectively pulling or releasing the cable, and the continuum actuator moves as planned.

10. Application of a single-motor worm gear cable-driven continuum robot as claimed in any one of claims 1 to 8 in medical surgery and industrial automation assembly.

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