Continuous body robot based on six-rod tensegrity structure and control method of continuous body robot

Abstract

The invention discloses a continuum robot based on a six-rod tensegrity structure and a control method of the continuum robot in the technical field of robots, the continuum robot comprises a plurality of unit bodies, connecting pieces and a driving device, the plurality of unit bodies are sequentially connected through the connecting pieces to form a continuum, each unit body comprises a telescopic mechanism, a transmission mechanism and a pair of fixing plates, the telescopic mechanism is installed between the pair of fixing plates, each telescopic mechanism is of a six-rod tensioning integral structure composed of six rod pieces and twenty-four elastic ropes, and the telescopic mechanisms of every two adjacent unit bodies are connected through a connecting piece. The continuum robot provided by the invention has relatively high motion capability and motion flexibility, and can avoid obstacles during advancing.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a continuum robot based on a six-bar tensegrity structure and a control method thereof. Background Art

[0002] Traditional robots are usually designed with rigid structures and discrete motion joints, typically with fixed joints and links. These robots are widely used in the industrial field due to their precise control and strong structure. However, when faced with complex environments, flexible tasks or bio-simulation requirements, such as working in narrow pipes, detecting ruins after earthquakes or simulating the movement of worms, the flexibility of traditional robots is insufficient. Tensegrity is a spatial structural system based on the interaction of tension and pressure. It combines cables and rods to form a unique self-balancing and self-supporting structure. This structure is light, stable and efficient. Among various tensegrity structures, the six-bar tensegrity structure consists of six rods and twenty-four ropes, showing a symmetrical geometry.

[0003] There is currently no robot that can combine the lightweight, high strength, and excellent deformation and load-bearing capacity of a six-bar tensegrity structure with the adaptability and flexibility of a continuum robot. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a continuum robot based on a six-bar tensegrity structure and a control method thereof, wherein the continuum robot has high movement ability and movement flexibility and can avoid obstacles while moving.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] On the one hand, the present invention provides a continuum robot based on a six-bar tensegrity structure, comprising a plurality of unit bodies, a connecting member and a driving device, wherein the plurality of unit bodies are sequentially connected by the connecting member to form a continuum; The unit body includes a telescopic mechanism, a transmission mechanism and a pair of fixed plates, wherein the telescopic mechanism is installed between the pair of fixed plates, and the telescopic mechanism includes six rods and twenty-four elastic ropes, and the ends of any rod are connected to the ends of other rods closest to it through four elastic ropes to form a six-rod tensegrity structure; The transmission mechanism includes a connecting rod transmission mechanism, a crank transmission mechanism and a gear transmission mechanism; The driving device is connected to the telescopic mechanism through a gear transmission mechanism, and drives the telescopic mechanism to perform a contraction action through the gear transmission mechanism; The driving device is connected to the crank transmission mechanism through a gear transmission mechanism, and the crank transmission mechanism is connected to the connecting rod transmission mechanism of two adjacent units through a connecting piece, and the connecting rod transmission mechanism is connected to the telescopic mechanism of the corresponding unit. The driving device drives the crank transmission mechanism to move by driving the gear transmission mechanism, and then drives the connecting rod transmission mechanism to move, and drives the telescopic mechanism of the two adjacent units to perform the extension action through the connecting rod transmission mechanism.

[0007] Further, the gear transmission mechanism includes an internal gear, a first gear, a concave heart gear, a second gear, a third gear, a ratchet, a stop pawl and a first bevel gear; The concave gear, the third gear, the second gear and the first gear are arranged on a side of the fixed plate away from the telescopic mechanism, the center of the concave gear coincides with the center of the fixed plate, the third gear, the second gear and the first gear are meshed and arranged in sequence toward the edge of the fixed plate, and the centers of the concave gear, the third gear, the second gear and the first gear are arranged in a colinear manner; A circular groove is formed at the center of the concave heart gear, the ratchet wheel coincides with the center of the concave heart gear, and is placed in the circular groove of the concave heart gear in a first direction, wherein the first direction is a counterclockwise direction or a clockwise direction; the stop pawl is arranged in the circular groove, and is used to enable the ratchet wheel to rotate only in the first direction along with the concave heart gear; The internal gear is sleeved on the edge of the fixed plate and can rotate around the fixed plate. Gear teeth are distributed on both sides of the internal gear relative to the fixed plate, and the gear teeth on the same side as the first gear are meshed with the first gear. The first bevel gear is connected to one end of the rod member close to the fixed plate, and the gear teeth on the same side of the internal gear as the first bevel gear are meshed with the first bevel gear.

[0008] Furthermore, the connecting rod transmission mechanism includes twelve symmetrical bent rods, each having a bending angle of °. The bent rods are grouped in pairs, and the two bent rods in the same group are hinged to each other at the bending point. The angle areas of the two bent rods in the same group have overlapping parts, and the two adjacent groups of bent rods are hinged to each other at their close ends to form six inner bending points and six outer bending points.

[0009] Furthermore, the connecting member includes three bow-shaped connecting rods, the fixed plate is provided with six sliding grooves along the radial direction, and the angle between adjacent sliding grooves is 60°. The three bow-shaped connecting rods pass through three sliding grooves on the fixed plate that are not adjacent to each other, and pass through three sliding grooves at corresponding positions on the fixed plate of adjacent units. The three ends of the three bow-shaped connecting rods on the same side are connected to the ends of three adjacent rods in the adjacent units, and connect three mutually spaced inner inflection points among the six inner inflection points in the adjacent units.

[0010] Furthermore, the crank transmission mechanism includes a first connecting rod and a second connecting rod; one end of the first connecting rod is fixedly connected to the center of the ratchet, and the other end is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to an inner inflection point in the connecting rod transmission mechanism that is not connected to the connecting piece through a slide groove on the fixed plate.

[0011] Furthermore, the continuum robot further comprises a rope pulling device, which is arranged at both ends of the continuum, and comprises a rope winding drive motor, a reel and a rope pulling device; A through hole is provided on the fixed plate, one end of the pull rope is wound around the reel, and the other end passes through the fixed plates of at least two unit bodies and is fixed on the fixed plate farthest from the reel, and the output end of the rope winding drive motor is transmission-connected to the reel.

[0012] Furthermore, the driving device includes a driving motor, a second bevel gear and a third bevel gear. The driving motor is arranged outside the unit body and installed on a fixed plate. The second bevel gear is connected to the output end of the driving motor. The third bevel gear is vertically meshed with the second bevel gear. The third bevel gear is coaxially connected to the first gear, so that the first gear and the third bevel gear rotate synchronously.

[0013] Furthermore, the continuum robot further comprises a visual module, which is arranged at the front end of the continuum robot and is used to obtain image information in front of the continuum robot; The continuum robot also includes a tactile module, which includes a first sensor, a second sensor and a spring, wherein the spring is connected between the first sensor and the second sensor, and the first sensor is mounted on a fixed plate of a unit body at the front end of the continuum robot. When the first sensor and the second sensor are in contact, the first sensor feeds back a signal.

[0014] Furthermore, the continuum robot also includes a flexible skin, and the flexible skin is wrapped around the outer surface of the continuum robot.

[0015] On the other hand, the present invention provides a control method of the continuum robot based on the six-bar tensegrity structure, comprising: Taking the moving direction of the continuum robot as the front, controlling the telescopic mechanisms of a plurality of continuous unit bodies of the continuum robot to contract in sequence from front to back; After the multiple continuous unit bodies have been contracted from front to back in sequence, the telescopic mechanisms of the multiple continuous unit bodies of the continuum robot are controlled to extend from back to front in sequence to complete one creeping motion; The continuum robot is made to repeatedly perform creeping motions and is controlled to move forward.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The continuum robot based on the six-bar tensegrity structure provided by the present invention utilizes the characteristic that when the positions of the rods of the six-bar tensegrity structure change, the overall body length can be extended and retracted under the joint action of the rods and elastic ropes. A telescopic mechanism is constructed based on the six-bar tensegrity structure, and a gear transmission mechanism, a connecting rod transmission mechanism, a crank transmission mechanism and a connecting piece are provided. The driving device is connected to the telescopic mechanism through the gear transmission mechanism, and under the transmission action of the gear transmission mechanism, the driving device can drive the telescopic mechanism to perform a contraction action; the driving device is connected to the crank transmission mechanism through the gear transmission mechanism, and the crank transmission mechanism is connected to the connecting rod transmission mechanisms of two adjacent unit bodies through a connecting piece, the connecting rod transmission mechanism is connected to the telescopic mechanism of the corresponding unit body, and the driving device can drive the gear transmission mechanism to move The gear transmission mechanism drives the crank transmission mechanism to move, and then drives the connecting rod transmission mechanism of the two adjacent unit bodies to move, and finally drives the telescopic mechanism of the two adjacent unit bodies to perform the extension action. Under the joint constraint of the gear transmission mechanism, the connecting rod transmission mechanism, the crank transmission mechanism and the connecting member, the rods of the six-bar tensegrity structure move along a fixed motion trajectory, so that the contraction and extension actions of the unit body are performed alternately, so that the position of the rods of the six-bar tensegrity structure of the unit body changes. Under the joint action of the rods and the elastic rope, the unit body achieves the function of contraction and extension, so that the continuum robot can achieve the creeping function under the control of the motor, thereby improving the movement ability of the continuum robot. The continuum robot combines the lightweight, high strength and excellent deformation ability and load-bearing capacity of the six-bar tensegrity structure.

[0018] The continuum robot based on the six-bar tensegrity structure provided by the present invention shortens the length of the pull rope on the same side and lengthens the length of the pull rope on the other side by setting a pull rope device, so that the continuum can realize a primary bending function to one side, or shortens the pull rope on one side of the two unit bodies at the front end, lengthens the pull rope on the same side of the two unit bodies at the rear end, lengthens the pull rope on the other side of the two unit bodies at the front end, and shortens the pull rope on the other side of the two unit bodies at the rear end, so that the continuum can realize a secondary bending function, thereby improving the flexibility of the continuum robot;

[0019] The continuum robot based on a six-bar tensegrity structure provided by the present invention provides visual and tactile feedback by setting a visual module and a tactile module, thereby helping the continuum robot to perceive the surrounding environment, such as measuring the path ahead and detecting the pressure during contact, so as to perform path planning and obstacle avoidance, thereby improving the environmental adaptability of the continuum robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1A schematic structural diagram of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the side view structure of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0022] Figure 3 For the present invention Figure 2 The embodiment shown is a schematic side section view of the continuum robot based on a six-bar tensegrity structure, taken along the AA direction;

[0023] Figure 4 For the present invention Figure 2 The embodiment shown is a schematic side cross-sectional view of the continuum robot based on a six-bar tensegrity structure in a non-stretched state, taken along the BB axis;

[0024] Figure 5 For the present invention Figure 2 The embodiment shown is a schematic side section view of the BB direction of a continuum robot based on a six-bar tensegrity structure in an extended state;

[0025] Figure 6 A schematic structural diagram of the end face of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0026] Figure 7 A schematic diagram of the creeping state of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0027] Figure 8 A schematic diagram of a first angle of a primary bending state of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0028] Fig. 9 A schematic diagram of a second angle of a primary bending state of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0029] Fig.10 A schematic diagram of a first angle of a secondary bending state of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0030] Fig.11 A schematic diagram of a second angle of a secondary bending state of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0031] Fig.12 A schematic structural diagram of a first angle of a six-bar tensegrity structure of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0032] Fig.13 A schematic structural diagram of a second angle of a six-bar tensegrity structure of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0033] Fig.14 A schematic structural diagram of a group of connecting parts of a continuum robot based on a six-bar tensegrity structure provided by an embodiment of the present invention;

[0034] Fig.15 A schematic diagram of the structure of a driving device of a continuum robot based on a six-bar tensegrity structure and a first gear at a first angle provided by an embodiment of the present invention;

[0035] Fig.16 A schematic diagram of the structure of a driving device of a continuum robot based on a six-bar tensegrity structure and a second angle of the first gear provided by an embodiment of the present invention;

[0036] Fig.17 A schematic structural diagram of a vision module, a tactile module and a flexible skin of a continuum robot based on a six-bar tensegrity structure provided in an embodiment of the present invention.

[0037] In the figure: 1. drive motor; 2. second bevel gear; 3. third bevel gear; 4. first gear; 5. second gear; 6. third gear; 7. concave heart gear; 8. ratchet; 9. locking pawl; 10. internal gear; 11. fixing plate; 12. first connecting rod; 13. second connecting rod; 14. connecting rod transmission mechanism; 15. rod; 16. elastic rope; 17. first bevel gear; 18. connecting piece; 19. rope pulling device; 20. rope pulling; 21. rope winding driving motor; 22. reel; 23. visual module; 24. flexible skin; 25. first sensor; 26. second sensor; 27. spring. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0039] Example 1

[0040] This embodiment provides a continuum robot based on a six-bar tensegrity structure. Figure 1 and Figure 2 As shown, it includes five unit bodies, a connecting member 18 and a driving device, and the five unit bodies are connected in sequence through the connecting member 18 to form a continuous body.

[0041] The unit body includes a telescopic mechanism, a transmission mechanism and a pair of fixed plates 11, wherein the telescopic mechanism is installed between the pair of fixed plates 11. Fig.12 and Fig.13As shown, the telescopic mechanism includes six rods 15 and twenty-four elastic ropes 16. Both ends of each rod 15 are connected to the end points of the rod 15 closest to it through four elastic ropes 16 to form a six-rod tensegrity structure. The six-rod tensegrity structure is a regular icosahedron, each face of which is an equilateral triangle. The telescopic mechanisms of two adjacent unit bodies are connected by a connecting member 18.

[0042] The transmission mechanism includes a connecting rod transmission mechanism 14, a crank transmission mechanism and a gear transmission mechanism. The driving device is connected to the telescopic mechanism through the gear transmission mechanism. Under the transmission action of the gear transmission mechanism, the driving device can drive the telescopic mechanism to perform a contraction action.

[0043] The driving device is connected to the crank transmission mechanism through a gear transmission mechanism, and the crank transmission mechanism is connected to the connecting rod transmission mechanism 14 of two adjacent units through a connecting piece 18, and the connecting rod transmission mechanism 14 is connected to the telescopic mechanism of the corresponding unit. The driving device can drive the gear transmission mechanism to move, and drive the crank transmission mechanism to move, and then drive the connecting rod transmission mechanism 14 of the two adjacent units to move, and finally drive the telescopic mechanism of the two adjacent units to perform an extension action.

[0044] like Figure 3 As shown, the gear transmission mechanism includes an internal gear 10, a first gear 4, a concave heart gear 7, a second gear 5, a third gear 6, a ratchet 8, three locking claws 9 and a first bevel gear 17; wherein the concave heart gear 7, the third gear 6, the second gear 5 and the first gear 4 are arranged on a side of the fixed plate 11 away from the telescopic mechanism, the center of the concave heart gear 7 coincides with the center of the fixed plate 11, the third gear 6, the second gear 5 and the first gear 4 are meshed and arranged in sequence toward the edge of the fixed plate 11, and the centers of the concave heart gear 7, the third gear 6, the second gear 5 and the first gear 4 are arranged in a colinear manner.

[0045] The ratchet 8 coincides with the center of the concave heart gear 7 and is placed in the circular groove of the concave heart gear 7 in a first direction, wherein the first direction is counterclockwise or clockwise. The stopping pawl 9 is also arranged in the circular groove of the concave heart gear 7. Three stopping pawls 9 are evenly distributed around the ratchet 8. The three stopping pawls 9 embrace the central ratchet 8 in the first direction, so that the ratchet 8 can only rotate in the first direction along with the concave heart gear 7.

[0046] The internal gear 10 is sleeved on the edge of the fixing plate 11 and can rotate around the fixing plate 11 . Gear teeth are distributed on both sides of the internal gear 10 relative to the fixing plate 11 , and the gear teeth on the same side as the first gear 4 mesh with the first gear 4 .

[0047] The first bevel gear 17 is connected to one end of the rod 15 close to the fixing plate 11 , and the gear teeth on the same side of the internal gear 10 as the first bevel gear 17 are meshed with the first bevel gear 17 .

[0048] like Fig.15 and Fig.16 As shown, in this embodiment, the driving device includes a driving motor 1, a second bevel gear 2 and a third bevel gear 3. The driving motor 1 is arranged outside the unit body and installed on a fixed plate 11. The second bevel gear 2 is connected to the output end of the driving motor 1. The third bevel gear 3 is vertically meshed with the second bevel gear 2. The third bevel gear 3 is coaxially connected to the first gear 4, so that the first gear 4 and the third bevel gear 3 rotate synchronously.

[0049] When the driving motor 1 is working, the first gear 4 can be driven to rotate through the transmission action of the vertically meshing second bevel gear 2 and the third bevel gear 3. The rotation of the first gear 4 will drive the internal gear 10 and the concave heart gear 7 to rotate. At this time, the ratchet 8 will rotate under the action of the locking pawl 9.

[0050] like Figure 4 As shown, the connecting rod transmission mechanism 14 includes twelve symmetrical curved rods, the bending angle of the curved rods is 120°, the curved rods are grouped in pairs, the two curved rods in the same group are hinged to each other at the bending point, and the angle area of ​​the two curved rods in the same group has an overlapping part, and the two ends of the curved rods in two adjacent groups are hinged to each other to form six inner bending points and six outer bending points. The shape of the connecting rod transmission mechanism 14 can be switched between the diastolic state and the contracted state, as shown in FIG. Figure 4 is a cross-sectional schematic diagram of the continuum robot in a non-stretched state, at which time the connecting rod transmission mechanism 14 is in a relaxed state; Figure 5 It is a cross-sectional schematic diagram of the continuum robot in an extended state, at which time the connecting rod transmission mechanism 14 is in a contracted state.

[0051] like Fig.14 As shown, the connecting member 18 includes three bow-shaped connecting rods, which are composed of three horizontal rods and two vertical rods. The horizontal rods are connected to the vertical rods alternately, and the two vertical rods point to the same direction relative to the horizontal rod in the middle. The connecting member 18 composed of three bow-shaped connecting rods can play a transmission role while ensuring that there is enough space between the two unit bodies to set up other transmission mechanisms, so that the operation of each transmission mechanism does not conflict. Six slide grooves are opened on the fixed plate 11 along the radial direction, and the angle between adjacent slide grooves is 60°. The three bow-shaped connecting rods pass through three non-adjacent slide grooves on the fixed plate 11, and pass through three slide grooves at corresponding positions on the fixed plate 11 of adjacent unit bodies, as shown in FIG. Figure 7As shown, the three ends of the three bow-shaped connecting rods on the same side are connected to the ends of three adjacent rods 15 in adjacent unit bodies, and are connected to three mutually spaced inner inflection points of the six inner inflection points in the connecting rod transmission mechanism 14 of the adjacent unit bodies, and the three end points on the other side of the three bow-shaped connecting rods are connected similarly.

[0052] When the three bow-shaped connecting rods slide along the three slide grooves toward the centrifugal or centrifugal direction, the connected connecting rod transmission mechanism 14 is also driven to switch between the relaxation state and the contraction state, and the three rods 15 in the adjacent unit body are driven to tilt toward the fixed plate 11, or stand up in the direction away from the fixed plate 11; the three rods 15 connected to the same connecting member 18 in the six-bar tensegrity structure are divided into a group, and when two groups of rods 15 in the six-bar tensegrity structure in the unit body tilt toward the fixed plate 11 at the same time, the unit body completes the contraction action, and vice versa.

[0053] like Figure 3 As shown, the crank transmission mechanism includes a first connecting rod 12 and a second connecting rod 13; one end of the first connecting rod 12 is fixedly connected to the center of the ratchet 8, and the other end is hinged to one end of the second connecting rod 13, and the other end of the second connecting rod 13 is hinged to an inner inflection point in the connecting rod transmission mechanism 14 that is not connected to the connecting member 18 through a sliding groove on the fixed plate 11.

[0054] The rotation of the ratchet wheel 8 drives the first connecting rod 12 to rotate, and then drives the second connecting rod 13 to reciprocate along the slide groove, and finally drives the connecting rod transmission mechanism 14 to switch between the expansion state and the contraction state.

[0055] The working principle of the continuum robot based on the six-bar tensegrity structure provided in this embodiment is:

[0056] (1) Contracting the unit body: The driving motor 1 starts to work, and the first gear 4 rotates in the first direction through the transmission of the second bevel gear 2 and the third bevel gear 3 which are meshed vertically, and drives the internal gear 10 to rotate in the first direction. Since the gear teeth on the other side of the internal gear 10 mesh with the first bevel gear 17 at the end of the rod 15 of the six-bar tensegrity structure, the internal gear 10 drives the first bevel gear 17 to rotate, so that the three rods 15 of the six-bar tensegrity structure tilt toward the fixed plate 11. When the six rods 15 of the six-bar tensegrity structure of a unit body all tilt toward the fixed plate 11, the first bevel gear 17 rotates in the first direction. When the fixed plate 11 that is close to the fixed plate 11 tilts in the direction of being tilted, under the action of the twenty-four elastic ropes 16, the two fixed plates 11 on both sides of the six-rod tensioned integral structure in the unit body are brought closer to each other, and the unit body completes its contraction. At the same time, the first gear 4 rotates in the first direction, and is transmitted to the concave heart gear 7 through the second gear 5 and the third gear 6, driving the concave heart gear 7 to rotate in the second direction. At this time, since the three locking claws 9 in the central circular groove of the concave heart gear 7 are distributed around the ratchet 8 and are engaged in the first direction, the ratchet 8 cannot be driven to rotate when the concave heart gear 7 rotates in the second direction.

[0057] (2) Extending the unit body: Start the driving motor 1, and through the transmission of the vertically meshing second bevel gear 2 and the third bevel gear 3, the first gear 4 rotates in the second direction. Similar to the case of contraction of the unit body, the rotation of the first gear 4 in the second direction will drive the internal gear 10 to rotate in the second direction, and drive the concave heart gear 7 to rotate in the first direction. At this time, under the action of the stop pawl 9, the ratchet 8 will rotate in the first direction, driving the first connecting rod 12 to rotate. Under the transmission action of the second connecting rod 13, the six inner inflection points of the connecting rod transmission mechanism 14 will simultaneously move toward the fixed plate 11 along the slide groove on the fixed plate 11. The center of the plate 11 moves, and drives the connecting member 18 to move toward the center of the fixed plate 11. Since the connecting member 18 is connected to the three rods 15 of the six-rod tensegrity structure, the ends of the three rods 15 with the first bevel gears 17 will move toward the center of the fixed plate 11 at the same time, and the meshing of the three first bevel gears 17 and the internal gear 10 will be disconnected. When the six rods 15 of the six-rod tensegrity structure all move toward the center of the fixed plate 11, under the action of the twenty-four elastic ropes 16, the two fixed plates 11 on both sides of the six-rod tensegrity structure in the unit body move away from each other, and the unit body completes the extension.

[0058] It should be noted that the first direction shown is a counterclockwise direction or a clockwise direction, and the second direction is a direction opposite to the first direction.

[0059] Under the joint restraint of the gear transmission mechanism, the connecting rod transmission mechanism 14, the crank transmission mechanism and the connecting member 18, the rod 15 of the six-bar tensegrity structure moves along a fixed motion trajectory, so that the contraction and extension actions of the unit body are performed alternately, and the continuum robot can realize the creeping function, such as Figure 7This is a schematic diagram of the creeping state of the continuum robot. At this time, the two unit bodies at one end of the continuum robot are in an extended state, the two unit bodies at the other end are in a contracted state, and the unit body in the middle is in an initial state.

[0060] Example 2

[0061] This embodiment provides a continuum robot based on a six-bar tensegrity structure. Different from the embodiment 1, in this embodiment, the continuum robot based on a six-bar tensegrity structure further includes twelve pull rope devices 19, such as Figure 1 and Figure 6 As shown, twelve rope-pulling devices 19 are arranged at the head and tail ends of the continuum, with six rope-pulling devices 19 being arranged at each end. The six rope-pulling devices 19 are installed on the fixed plates 11 located at the head and tail, and are distributed in a regular hexagon. The rope-pulling device 19 includes a rope winding drive motor 21, a reel 22 and a rope pull 20.

[0062] Each fixed plate 11 is provided with 6 through holes, which are also distributed in a regular hexagon. One end of the pull rope 20 of each pull rope device 19 is wound around the reel 22, and the other end passes through the 5 fixed plates 11 from the corresponding through hole and is fixed on the fixed plate 11 farthest from the pull rope device 19. The output end of the rope winding drive motor 21 is connected to the reel 22.

[0063] When the five units of the continuum robot are all extended, the winding shaft 22 is driven by the winding drive motor 21 to rotate, shorten the length of the pull rope 20 on the same side of the continuum robot, and lengthen the length of the pull rope 20 on the other side, so that the continuum realizes the primary bending function, such as Figure 8 and Fig. 9 shown.

[0064] Or shorten the pull rope 20 on one side of the two unit bodies at one end of the continuum robot and lengthen the other side, and bend the two unit bodies at the other end of the continuum robot in the opposite direction, so that the continuum realizes the secondary bending function, such as Fig.10 and Fig.11 shown.

[0065] Example 3

[0066] This embodiment provides a continuum robot based on a six-bar tensegrity structure. Different from Embodiment 1, in this embodiment, the continuum robot further includes a tactile module, the tactile module includes a first sensor 25, a second sensor 26 and a spring 27, the spring 27 is connected between the first sensor 25 and the second sensor 26, the first sensor 25 is mounted on the fixing plate 11 of the unit body at the front end of the continuum robot, as shown in FIG. Fig.17As shown, the continuum robot provided in this embodiment is provided with a total of six groups of tactile modules, which are arranged around the front end of the continuum robot.

[0067] The continuum robot further comprises a visual module 23, which is arranged at the front end of the continuum robot and is used to obtain image information in front of the continuum robot.

[0068] When the tactile module of the continuum robot hits an obstacle, the spring 27 will contract, so that the first sensor 25 of some groups of tactile modules will contact the second sensor 26 and feedback signals. When the tactile module, feedback signal or visual module 23 determines that there is an obstacle ahead, the pull rope device 19 is controlled to work, so that the continuum robot can achieve the function of turning and avoiding obstacles.

[0069] In this embodiment, the continuum robot further includes a flexible skin 24, such as Fig.17 As shown, the flexible skin 24 is wrapped around the outer surface of the continuum robot to protect the internal mechanism.

[0070] Example 4

[0071] This embodiment provides a control method for a continuum robot based on a six-bar tensegrity structure as described in Embodiment 1, Embodiment 2, or Embodiment 3, including: Taking the moving direction of the continuum robot as the front, controlling the telescopic mechanisms of a plurality of continuous unit bodies of the continuum robot to contract in sequence from front to back; After the multiple continuous unit bodies have been contracted from front to back in sequence, the telescopic mechanisms of the multiple continuous unit bodies of the continuum robot are controlled to extend from back to front in sequence to complete one creeping motion; The continuum robot is made to repeatedly perform creeping motions and is controlled to move forward.

[0072] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only used to explain the relative positional relationship, movement, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0073] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0074] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A continuum robot based on a six-bar tensegrity structure, characterized in that: It comprises a plurality of unit bodies, a connecting member (18) and a driving device, wherein the plurality of unit bodies are connected in sequence through the connecting member (18) to form a continuous body; The unit body comprises a telescopic mechanism, a transmission mechanism and a pair of fixed plates (11), wherein the telescopic mechanism is installed between the pair of fixed plates (11), the telescopic mechanism comprises six rods (15) and twenty-four elastic ropes (16), and the end of any rod (15) is connected to the end of the nearest other rod (15) through four elastic ropes (16), so as to form a six-rod tensegrity structure; The transmission mechanism comprises a connecting rod transmission mechanism (14), a crank transmission mechanism and a gear transmission mechanism; The driving device is connected to the telescopic mechanism through a gear transmission mechanism, and drives the telescopic mechanism to perform a contraction action through the gear transmission mechanism; The driving device is connected to the crank transmission mechanism via a gear transmission mechanism, and the crank transmission mechanism is connected to the connecting rod transmission mechanism (14) of two adjacent unit bodies via a connecting piece (18), and the connecting rod transmission mechanism (14) is connected to the telescopic mechanism of the corresponding unit body. The driving device drives the crank transmission mechanism to move by driving the gear transmission mechanism, thereby driving the connecting rod transmission mechanism (14) to move, and drives the telescopic mechanism of the two adjacent unit bodies to perform an extension action via the connecting rod transmission mechanism (14).

2. The continuum robot based on a six-bar tensegrity structure according to claim 1, characterized in that: The gear transmission mechanism comprises an internal gear (10), a first gear (4), a concave heart gear (7), a second gear (5), a third gear (6), a ratchet (8), a locking pawl (9) and a first bevel gear (17); The concave gear (7), the third gear (6), the second gear (5) and the first gear (4) are arranged on a side of the fixed plate (11) away from the telescopic mechanism, the center of the concave gear (7) coincides with the center of the fixed plate (11), the third gear (6), the second gear (5) and the first gear (4) are arranged in a meshing manner in a direction toward the edge of the fixed plate (11), and the centers of the concave gear (7), the third gear (6), the second gear (5) and the first gear (4) are arranged in a colinear manner; A circular groove is formed at the center of the concave heart gear (7); the ratchet (8) coincides with the center of the concave heart gear (7) and is placed in the circular groove of the concave heart gear (7) in a first direction, wherein the first direction is a counterclockwise direction or a clockwise direction; the stop pawl (9) is arranged in the circular groove and is used to enable the ratchet (8) to rotate only in the first direction along with the concave heart gear (7); The internal gear (10) is sleeved on the edge of the fixed plate (11) and can rotate around the fixed plate (11); gear teeth are distributed on both sides of the internal gear (10) relative to the fixed plate (11), and the gear teeth on the same side as the first gear (4) are meshed with the first gear (4); The first bevel gear (17) is connected to one end of the rod (15) close to the fixed plate (11), and the gear teeth on the internal gear (10) on the same side as the first bevel gear (17) are meshed with the first bevel gear (17).

3. The continuum robot based on a six-bar tensegrity structure according to claim 1, characterized in that: The connecting rod transmission mechanism (14) comprises twelve symmetrical bent rods, each having a bending angle of 120°. The bent rods are arranged in groups of two, and the two bent rods in the same group are hinged to each other at a bending point. The angle regions of the two bent rods in the same group have overlapping portions, and the two ends of two adjacent groups of bent rods are hinged to each other to form six inner bending points and six outer bending points.

4. The continuum robot based on a six-bar tensegrity structure according to claim 3, characterized in that: The connecting member (18) comprises three bow-shaped connecting rods, the fixed plate (11) is provided with six slide grooves along the radial direction, the angle between adjacent slide grooves is 60 degrees, the three bow-shaped connecting rods pass through three slide grooves on the fixed plate (11) that are not adjacent to each other, and pass through three slide grooves at corresponding positions on the fixed plate (11) of adjacent units, and the three ends of the three bow-shaped connecting rods located on the same side are connected to the ends of three adjacent rods (15) in the adjacent units, and are connected to three mutually spaced inner inflection points among the six inner inflection points in the adjacent units.

5. The continuum robot based on a six-bar tensegrity structure according to claim 4, characterized in that: The crank transmission mechanism comprises a first connecting rod (12) and a second connecting rod (13); one end of the first connecting rod (12) is fixedly connected to the center of the ratchet wheel (8), and the other end is hinged to one end of the second connecting rod (13); the other end of the second connecting rod (13) is hinged to an inner folding point in the connecting rod transmission mechanism (14) that is not connected to the connecting member (18) through a sliding groove on the fixing plate (11).

6. The continuum robot based on a six-bar tensegrity structure according to claim 1, characterized in that: It also includes a rope pulling device (19), the rope pulling device (19) being arranged at both ends of the continuum, the rope pulling device (19) comprising a rope winding drive motor (21), a winding shaft (22) and a rope pulling device (20); A through hole is provided on the fixed plate (11); one end of the pull rope (20) is wound around the reel (22); the other end passes through the fixed plates (11) of at least two unit bodies and is fixed on the fixed plate (11) farthest from the reel (22); and the output end of the rope winding drive motor (21) is drivingly connected to the reel (22).

7. The continuum robot based on a six-bar tensegrity structure according to claim 2, characterized in that: The driving device comprises a driving motor (1), a second bevel gear (2) and a third bevel gear (3); the driving motor (1) is arranged outside the unit body and mounted on a fixing plate (11); the second bevel gear (2) is connected to the output end of the driving motor (1); the third bevel gear (3) is vertically meshed with the second bevel gear (2); the third bevel gear (3) is coaxially connected to the first gear (4), so that the first gear (4) and the third bevel gear (3) rotate synchronously.

8. The continuum robot based on a six-bar tensegrity structure according to claim 1, characterized in that: It also includes a visual module (23) disposed at the front end of the continuum robot and used to obtain image information in front of the continuum robot; The invention also comprises a tactile module, the tactile module comprising a first sensor (25), a second sensor (26) and a spring (27), the spring (27) being connected between the first sensor (25) and the second sensor (26), the first sensor (25) being mounted on a fixing plate (11) of a unit body at the front end of the continuum robot, and when the first sensor (25) and the second sensor (26) are in contact, the first sensor (25) feeds back a signal.

9. The continuum robot based on a six-bar tensegrity structure according to claim 1, characterized in that: It also includes a flexible skin (24), which is wrapped around the outer surface of the continuum robot.

10. A control method for a continuum robot based on a six-bar tensegrity structure according to any one of claims 1 to 9, characterized in that: include: Taking the moving direction of the continuum robot as the front, controlling the telescopic mechanisms of a plurality of continuous unit bodies of the continuum robot to contract in sequence from front to back; After the plurality of continuous unit bodies have been contracted successively from front to back, the telescopic mechanisms of the plurality of continuous unit bodies of the continuum robot are controlled to extend successively from back to front to complete one creeping motion; The continuum robot is made to repeatedly perform creeping motions and is controlled to move forward.

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