Rope traction rigidity-variable continuum robot

Abstract

The invention relates to the technical field of robots, in particular to a rope-traction variable-rigidity continuum robot which comprises a traction assembly, a control assembly and a control assembly. A fixing assembly; the deformation assembly comprises a plurality of first connecting pieces and a plurality of first wheel discs which are arranged in a linear array at intervals, and the sides, facing each other, of the adjacent first wheel discs are connected with the two ends of one first connecting piece correspondingly; the two sides of the first connecting piece are bent towards a rope. The rope traction variable stiffness continuum robot can solve the problems that when the continuum robot with high flexibility is subjected to external force different from the expected direction in a narrow environment or a complex environment, the continuum robot is prone to bending in the direction except the expected bending direction; the problem that an existing continuum robot is insufficient in rigidity and low in force transmission efficiency is solved, the continuum robot has high rigidity under the action of external force in the direction different from the expected direction, the force transmission efficiency is high, and the continuum robot is particularly suitable for the complex environment.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a rope-driven variable-rigidity continuum robot. Background Art

[0002] Existing continuum robots are generally composed of multiple identical or similar joints connected in series. In order to make the continuum robot bend so that it can adapt to a small or complex environment, it is generally necessary to set a highly flexible connector between adjacent joints to connect the two in series. When the connector is subjected to pressure in a specific direction, it can bend in the desired bending direction, so that the continuum robot as a whole can bend to adapt to the small or complex environment. However, when a continuum robot with high flexibility is subjected to an external force in a direction different from the desired direction in a small or complex environment, it is easy to bend in a direction other than the desired bending direction, resulting in insufficient rigidity and low force transmission efficiency of the existing continuum robot.

[0003] Therefore, the existing technology needs to be improved and developed. Summary of the invention

[0004] The purpose of the present application is to provide a rope-pulled variable-stiffness continuum robot, which aims to solve the problem that a continuum robot with high flexibility is prone to bend in a direction other than the desired bending direction when subjected to an external force in a confined or complex environment in a direction different from the desired direction, resulting in insufficient stiffness and low force transmission efficiency of existing continuum robots.

[0005] In a first aspect, the present application provides a rope-driven variable-stiffness continuum robot, comprising: a traction assembly including at least one rope; Fixing components; A deformation assembly comprises a plurality of first connecting pieces and a plurality of first wheels arranged in a linear array and spaced apart, wherein the adjacent first wheels are connected to two ends of a first connecting piece on one side facing each other, and the first first wheel in the deformation assembly is connected to the fixed assembly via a first connecting piece; The rope passes through all the first wheels in the fixing assembly and the deformation assembly, one end of the rope is connected to the last first wheel in the deformation assembly, and both sides of the first connecting piece are bent toward the rope.

[0006] The rope-pulled variable-stiffness continuum robot proposed in the present application has a variable stiffness characteristic and has high stiffness when subjected to an external force in a direction different from the expected direction, making it convenient to operate in a narrow and complex environment. Moreover, the deformation component of the present application can be accurately bent in a specific direction by simply pulling the rope. Therefore, the continuum robot of the present application has a high force transmission efficiency, and the present application can set the length of the deformation component based on the number of the first connecting plate and the first wheel disc. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0007] Optionally, there are multiple ropes, the deformation assembly is divided into multiple deformation segments, the number of deformation segments is the same as the number of ropes, and each deformation segment includes a plurality of first connecting pieces and a plurality of first wheels; The two sides of the first connecting piece in different deformation sections are bent toward different ropes, and the two sides of the first connecting piece in the same deformation section are bent toward the same rope. The parts where multiple ropes pass through the same first wheel are arranged in a circular array.

[0008] In this embodiment, the present application sets up multiple ropes and a deformation assembly including multiple deformation segments. It only needs to tighten the ropes as needed to control the bending of the corresponding deformation segments while ensuring that other deformation segments do not bend under the influence of the rope tension; and the present application can make different deformation segments bend in different directions, and the present application can set the number of first wheel discs and first connecting pieces in each deformation segment as needed to set the length of each deformation segment, so that the last first wheel disc in the last deformation segment in the deformation assembly can reach the target position based on each bent deformation segment. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0009] Optionally, the first wheel disc has a plurality of through holes arranged in a circumferential array, and a plurality of ropes pass through each first wheel disc through the through holes on each first wheel disc.

[0010] Optionally, both sides of the first wheel disc have plugging grooves, and both ends of the first connecting piece are plugged into the plugging grooves of adjacent first wheel discs facing each other to connect the adjacent first wheel discs.

[0011] Optionally, both sides of the first wheel disc have a plurality of insertion slots arranged in a circumferential array.

[0012] Optionally, the plug-in slot is crescent-shaped, one side of which is in contact with the side of the corresponding first connecting piece away from the axis of the first wheel disc where the plug-in slot is located, and the width of the middle part is greater than the thickness of the corresponding first connecting piece.

[0013] In this embodiment, one side of the plug-in slot of the present application is fitted with the side of the corresponding first connecting piece that is away from the axis of the first wheel where the plug-in slot is located, which can ensure that the first connecting piece is firmly installed on the corresponding plug-in slot, and the width of the middle part of the plug-in slot of the present application is greater than the thickness of the corresponding first connecting piece. When the deformable component is subjected to an external force in a direction different from the expected direction during movement, it can reserve movement space for the first connecting piece to prevent the first connecting piece from being plastically deformed or even broken due to force under a high rigidity state.

[0014] Optionally, all the first wheel disc centers and the fixing component centers have tube holes with the same radius.

[0015] Optionally, the traction assembly further comprises: A rope-winding column, on which the other end of the rope is wound; The driving mechanism is connected to the rope winding column and is used to drive the rope winding column to rotate about its axis to tighten or loosen the rope.

[0016] Optionally, the fixing assembly includes a plurality of second connecting sheets and a plurality of second wheels arranged in a linear array and at intervals, and the sides of adjacent second wheels facing each other are respectively connected to two ends of the plurality of second connecting sheets; The plurality of second connecting pieces between adjacent second wheel discs are arranged in a circumferential array, and both sides of the plurality of second connecting pieces between adjacent second wheel discs are bent toward the axis of any second wheel disc; The rope passes through all the second wheel discs in the fixed assembly and all the first wheel discs in the deformable assembly.

[0017] Optionally, the shape and size of the first connecting piece are respectively the same as the shape and size of the second connecting piece.

[0018] From the above, it can be seen that the present application provides a rope-pulled variable-stiffness continuum robot with variable stiffness characteristics. It has high stiffness when subjected to external forces in directions different from the expected direction, is convenient for operation in narrow and complex environments, and only needs to pull the rope to make the deformation component of the present application accurately bend in a specific direction. Therefore, the continuum robot of the present application has a high force transmission efficiency, and the present application can set the length of the deformation component based on the number of the first connecting plate and the first wheel disc. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0019] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a rope-pulled variable-rigidity continuum robot in a bent state provided in an embodiment of the present application.

[0021] Figure 2 A schematic diagram of the structure of the first roulette wheel provided in an embodiment of the present application.

[0022] Figure 3 A schematic diagram of the structure of a deformation component provided in an embodiment of the present application.

[0023] Figure 4 A schematic diagram of the structure of the fixing assembly provided in an embodiment of the present application.

[0024] Figure 5A schematic structural diagram of a rope-traction variable-rigidity continuum robot provided in an embodiment of the present application when the traction component is not visible.

[0025] Explanation of reference numerals: 1. traction assembly; 11. rope; 12. rope winding column; 13. driving mechanism; 2. fixing assembly; 21. second connecting plate; 22. second pulley; 3. deformation assembly; 31. first connecting plate; 32. first pulley; 321. through hole; 322. plug-in slot; 323. pipe hole. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0027] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0028] First, as Figure 1 and Figure 5 As shown, the present application provides a rope-driven variable-stiffness continuum robot, comprising: A traction assembly 1 comprising at least one rope 11; Fixing component 2; The deformation component 3 includes a plurality of first connecting pieces 31 and a plurality of first wheels 32 arranged in a linear array and at intervals, wherein the adjacent first wheels 32 are connected to two ends of a first connecting piece 31 on one side facing each other, and the first first wheel 32 in the deformation component 3 is connected to the fixing component 2 via a first connecting piece 31; The rope 11 passes through all the first wheels 32 in the fixing assembly 2 and the deformation assembly 3 , one end of the rope 11 is connected to the last first wheel 32 in the deformation assembly 3 , and both sides of the first connecting piece 31 are bent toward the rope 11 .

[0029] Specifically, the structure of the deformation component 3 when it is in a bent state is as follows: Figure 1 As shown, the structure of the deformation component 3 in the normal state is as follows Figure 5 shown.

[0030] More specifically, in the embodiment where the traction assembly includes a rope, since the rope 11 passes through all the first wheels 32 in the fixed assembly 2 and the deformation assembly 3, and one end of the rope 11 is connected to the last first wheel 32 in the deformation assembly 3, the rope 11 only needs to be tightened to make the end of the last first wheel 32 in the deformation assembly 3 connected with the rope 11 swing toward the fixed assembly 2, so that the other first wheels 32 in the deformation assembly 3 pass through the end of the rope 11 and swing toward the fixed assembly 2 in the order of being away from the fixed assembly 2 to being close to the fixed assembly 2, and at this time, the middle part of each first connecting piece 31 will bend to cooperate with each inclined first wheel 32 to realize the overall bending of the deformation assembly 3. Accordingly, the rope 11 only needs to be loosened to release the constraint of the rope 11 on the first wheel 32 in the deformation assembly 3, so that the deformation assembly 3 is restored.

[0031] More specifically, since the two sides of the first connecting piece 31 bend toward the rope 11, when the deformation component 3 is subjected to an external force in a direction different from the pulling direction of the rope 11, the middle part of the first connecting piece 31 will not bend under the influence of these forces. In this case, the deformation component 3 will not bend. Therefore, the deformation component 3 of the present application will not bend when subjected to an external force in a direction different from the expected direction during movement. Therefore, the continuum robot of the present application has high rigidity when subjected to an external force in a direction different from the expected direction, and is convenient for operation in a narrow and complex environment; and since the deformation component 3 of the present application will not bend when subjected to an external force in a direction different from the expected direction during movement, the deformation component 3 can be accurately bent in a specific direction by pulling the rope 11. Therefore, the continuum robot of the present application has high force transmission efficiency.

[0032] More specifically, in the embodiment where the traction assembly includes multiple ropes, when a rope 11 is tightened, the middle part of the first connecting pieces 31 on both sides of the deformation assembly 3 that bend toward the rope 11 will bend, and the first wheel 32 connected to these first connecting pieces 31 passing through the end of the rope 11 will swing toward the fixed assembly 2, thereby realizing the bending of the deformation assembly 3, while the other first connecting pieces 31 in the deformation assembly 3 do not bend. Therefore, the first connecting pieces 31 of the present application will not bend when subjected to an external force in a direction different from the desired direction, so that the continuum robot can be accurately deformed to the desired posture, and the continuum robot can maintain the posture in a small and complex environment.

[0033] In addition, the length of the deformation component 3 can be set by simply setting the number of first connecting plates 31 and first wheel discs 32 as needed, so that the last first wheel disc 32 in the deformation component 3 reaches the target position after bending. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0034] A rope-pulled variable-stiffness continuum robot of the present application has a variable stiffness characteristic and has high stiffness when subjected to an external force in a direction different from the expected direction, making it easy to operate in a narrow and complex environment, and only by pulling the rope 11 can the deformation component 3 of the present application be accurately bent in a specific direction. Therefore, the continuum robot of the present application has a high force transmission efficiency, and the present application can set the length of the deformation component 3 based on the number of the first connecting plate 31 and the first wheel 32, so the continuum robot of the present application is particularly suitable for complex environments. Preferably, the first connecting piece 31 is an arc-shaped piece.

[0035] like Figure 3 As shown, in some preferred embodiments, there are multiple ropes 11, and the deformation assembly 3 is divided into multiple deformation segments, the number of the deformation segments is the same as the number of the ropes 11, and each deformation segment includes a plurality of first connecting pieces 31 and a plurality of first wheels 32; The first connecting pieces 31 in different deformation sections are bent toward different ropes 11 on both sides, and the first connecting pieces 31 in the same deformation section are bent toward the same rope 11 on both sides. The parts where multiple ropes 11 pass through the same first wheel 32 are arranged in a circular array.

[0036] Specifically, the first connecting piece 31 connected to two adjacent first wheel discs 32 from different deformation sections may belong to any one of the two deformation sections.

[0037] More specifically, when a rope 11 is tightened, only the middle part of the first connecting piece 31 with both sides bent toward the rope 11 will bend. Since the middle parts of the first connecting pieces 31 in different deformation sections are bent toward different ropes 11, and the parts of multiple ropes 11 passing through the same first wheel disc 32 are arranged in a circular array, it can be seen that the bending directions of the two sides of the first connecting pieces 31 in different deformation sections are different. Since the middle parts of the first connecting pieces 31 in the same deformation section are bent toward the same rope 11, the first connecting pieces 31 with the bent middle parts are all located in the same deformation section. At this time, the first wheel disc 32 in the deformation section through which the end of the rope 11 passes will swing toward the fixed component 2 in sequence from away from the fixed component 2 to close to the fixed component 2, so the deformation section bends as a whole; the middle parts of the first connecting pieces 31 in other deformation sections will not bend under the influence of the tension of the rope 11, so other deformation sections will not bend under the influence of the tension of the rope 11. Therefore, when a rope 11 is tightened, only the deformation section of the deformation component 3 where the first connecting piece 31 is located and whose two sides are bent toward the rope 11 will bend under the influence of the tension of the rope 11 .

[0038] More specifically, in Figure 5In the illustrated embodiment, a, b, and c are three deformation segments sequentially arranged from far away from the fixed component 2 to close to the fixed component 2, and d is the fixed component. Since the parts where multiple ropes 11 pass through the same first pulley 32 are arranged in a circular array, the deformation segments a, b, and c can bend in three different directions and can present a variety of different postures, so that they can flexibly enter complex environments.

[0039] In this embodiment, the present application sets up multiple ropes 11 and a deformation component 3 including multiple deformation segments. It only needs to tighten the ropes 11 as needed to control the bending of the corresponding deformation segment while ensuring that other deformation segments do not bend under the influence of the tension of the ropes 11; and the present application can make different deformation segments bend in different directions, and the present application can set the number of first wheel discs 32 and first connecting plates 31 in each deformation segment as needed to set the length of each deformation segment, so that the last first wheel disc 32 in the last deformation segment in the deformation component 3 can reach the target position based on each bent deformation segment. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0040] like Figure 2 As shown, in some preferred embodiments, the first wheel disc 32 has a plurality of through holes 321 arranged in a circumferential array, and a plurality of ropes 11 pass through each first wheel disc 32 through the through holes 321 on each first wheel disc 32 .

[0041] In this embodiment, after determining multiple positions on the first discs 32 of all areas on each first disc 32 for passing the rope 11 based on the bending direction of the middle part of the first connecting piece 31 in each deformation segment, each rope 11 only needs to pass through the through holes 321 on each first disc 32 at these positions so that each rope 11 can correctly control the bending of its corresponding deformation segment, thereby assembling the continuum robot. Furthermore, since each first disc 32 has multiple through holes 321 corresponding to different ropes 11, the first discs 32 between different deformation segments can be used interchangeably, which can save design and production costs.

[0042] In some preferred embodiments, both sides of the first wheel disc 32 have insertion grooves 322 , and both ends of the first connecting piece 31 are inserted into the insertion grooves 322 of adjacent first wheel discs 32 facing each other to connect the adjacent first wheel discs 32 .

[0043] In this embodiment, the rope-driven variable-rigidity continuum robot of the present application is provided with a plug-in slot 322, which can ensure that the middle part of the first connecting piece 31 remains bent, thereby ensuring that the deformation section bends only when subjected to an external force in a desired direction, and facilitating the disassembly and assembly of the first wheel 32 and the first connecting piece 31.

[0044] Preferably, the insertion slots 322 are located on the inner side of the first wheel disc 32 relative to the through holes 321 on the first wheel disc 32. In some preferred embodiments, both sides of the first wheel disc 32 have a plurality of insertion slots 322 arranged in a circumferential array.

[0045] In this embodiment, after determining the middle bending direction of the first connecting piece 31 between adjacent first wheel discs 32, it is only necessary to install the first connecting piece 31 in the insertion groove 322 of the adjacent first wheel discs 32 facing each other and corresponding to the bending direction, so that the corresponding rope 11 can correctly control the bending of the middle part of the first connecting piece 31; and since each first wheel disc 32 has a plurality of insertion grooves 322 that can respectively correspond to the bending directions of different first connecting pieces 31, in an embodiment in which the deformation component 3 includes a plurality of deformation segments, the first connecting pieces 31 between different deformation segments can be used interchangeably, which can save design and production costs.

[0046] In some preferred embodiments, the insertion slot 322 is crescent-shaped, one side of which is in contact with the side of the first connecting piece 31 away from the axis of the first wheel disc 32 , and the width of the middle part is greater than the thickness of the first connecting piece 31 .

[0047] Specifically, the middle width of the inserting slot 322 refers to the distance between two sides of the inserting slot 322 corresponding to two sides of the bending of the first connecting piece 31 .

[0048] In this embodiment, one side of the plug-in slot 322 of the present application is fitted with the side of the corresponding first connecting piece 31 that is away from the axis of the first wheel 32 where the plug-in slot 322 is located, which can ensure that the first connecting piece 31 is firmly installed on the corresponding plug-in slot 322, and the width of the middle part of the plug-in slot 322 of the present application is greater than the thickness of the corresponding first connecting piece 31, which can reserve movement space for the first connecting piece 31 when the deformation component 3 is subjected to an external force in a direction different from the expected direction during movement, thereby preventing the first connecting piece 31 from being plastically deformed or even broken due to the force under a high rigidity state.

[0049] In some preferred embodiments, the centers of all first disks 32 and the centers of the fixing components 2 have tube holes 323 with the same radius.

[0050] In this embodiment, the rope-driven variable-rigidity continuum robot of the present application has a tube hole 323 at the center of the first wheel disc 32 and the center of the fixed component 2, so as to connect the fixed component 2 and the deformable component 3 through the tube hole 323 of each first wheel disc 32 and the tube hole 323 of the fixed component 2 based on the same pipeline, so as to transport items to be transported, such as medicines, from the environment of the fixed component 2 to the environment of the deformable component 3 through the pipeline.

[0051] In some preferred embodiments, the traction assembly 1 further comprises: A rope winding column 12, on which the other end of the rope 11 is wound; The driving mechanism 13 is connected to the rope winding column 12 and is used to drive the rope winding column 12 to rotate about its axis to tighten or loosen the rope 11.

[0052] In this embodiment, the rope-pulling variable-rigidity continuum robot of the present application is provided with a rope winding column 12 and a driving mechanism 13 , and can drive the rope winding column 12 to rotate based on the driving mechanism 13 to simply tighten or loosen the rope 11 .

[0053] like Figure 4 As shown, in some preferred embodiments, the fixing assembly 2 includes a plurality of second connecting pieces 21 and a plurality of second wheels 22 arranged in a linear array and at intervals, and the sides of the adjacent second wheels 22 facing each other are respectively connected to the two ends of the plurality of second connecting pieces 21; The plurality of second connecting pieces 21 between the adjacent second wheel discs 22 are arranged in a circumferential array, and both sides of the plurality of second connecting pieces 21 between the adjacent second wheel discs 22 are bent toward the axis of any second wheel disc 22; The rope 11 passes through all the second pulleys 22 in the fixing assembly 2 and all the first pulleys 32 in the deformation assembly 3 .

[0054] Specifically, in the present application, the second wheel disc 22 in the fixing component 2 connected to the first first wheel disc 32 in the deformation component 3 through a first connecting piece 31 is the first second wheel disc 22 in the fixing component 2 .

[0055] More specifically, when a rope 11 is tightened, the middle part of the first connecting piece 31 bent toward the rope 11 on both sides will bend to bend the deformation component 3, so that the first first wheel disc 32 in the deformation component 3 passes through the end with the rope 11 and swings toward the direction close to the fixed component 2. When the first first wheel disc 32 in the deformation component 3 passes through the end with the rope 11 and swings to contact the first second wheel disc 22 in the fixed component 2, the fixed component 2 will be subjected to pressure from the deformation component 3; but because the multiple second connecting pieces 21 between adjacent second wheels 22 are arranged in a circular array, and the two sides of the multiple second connecting pieces 21 between adjacent second wheels 22 are bent toward the axis of any second wheel disc 22, the fixed component 2 is not easy to bend in any direction. Therefore, no matter where the first first wheel disc 32 in the deformation component 3 passes through the end with the rope 11 on the first wheel disc 32, when the first wheel disc 32 passes through the end with the rope 11 and contacts the first second wheel disc 22 in the fixed component 2, the fixed component 2 will not be deformed under the pressure of the deformation component 3. Therefore, in the present embodiment, the fixing component 2 of the present application has high rigidity and can remain unbent when the deformation component 3 bends.

[0056] More specifically, the number of the second connecting plates 21 and the second wheel discs 22 can be set as needed to set the length of the fixed component 2, so as to cooperate with the bent deformation component 3 to make the last first wheel disc 32 in the deformation component 3 reach the target position. Therefore, in this embodiment, the continuum robot of the present application is suitable for complex environments.

[0057] In this embodiment, the fixed component 2 of the rope-pulled variable-stiffness continuum robot of the present application has high rigidity and can remain unbent when the deformation component 3 is bent, and the present application can set the number of second connecting plates 21 and second wheel discs 22 as needed to set the length of the fixed component 2, so as to cooperate with the bent deformation component 3 to make the last first wheel disc 32 in the deformation component 3 reach the target position. Therefore, in this embodiment, the continuum robot of the present application is suitable for complex environments.

[0058] In some preferred embodiments, the shape and size of the first connecting piece 31 are respectively the same as the shape and size of the second connecting piece 21 .

[0059] In this embodiment, the first connecting piece 31 and the second connecting piece 21 in the rope-driven variable-rigidity continuum robot of the present application can be used interchangeably, which can save design and production costs.

[0060] Preferably, the size of the first wheel disc 32 is the same as the size of the second wheel disc 22 .

[0061] In this embodiment, the size of the first wheel disc 32 and the size of the second wheel disc 22 in the rope-driven variable-rigidity continuum robot of the present application are the same, which can save design and production costs.

[0062] From the above, it can be seen that the present application provides a rope-pulled variable-stiffness continuum robot with variable stiffness characteristics. It has high stiffness when subjected to external forces in directions different from the expected direction, and is convenient for operation in narrow and complex environments. Moreover, the deformation component 3 of the present application can be accurately bent in a specific direction by simply pulling the rope 11. Therefore, the continuum robot of the present application has a high force transmission efficiency, and the present application can set the length of the deformation component 3 based on the number of the first connecting plate 31 and the first wheel 32. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0063] In the embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interface, the indirect coupling or communication connection of the device or unit can be electrical, mechanical or other forms.

[0064] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

[0066] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0067] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rope-driven variable-stiffness continuum robot, characterized in that: include: A traction assembly (1) comprising at least one rope (11); Fixing components (2); A deformation component (3) comprising a plurality of first connecting pieces (31) and a plurality of first wheel discs (32) arranged in a linear array and spaced apart, wherein the adjacent first wheel discs (32) are connected to two ends of a first connecting piece (31) on one side facing each other, and the first first wheel disc (32) in the deformation component (3) is connected to the fixed component (2) via a first connecting piece (31); The rope (11) passes through the fixing component (2) and all the first wheel discs (32) in the deformation component (3); one end of the rope (11) is connected to the last first wheel disc (32) in the deformation component (3); and both sides of the first connecting piece (31) are bent toward the rope (11).

2. The rope-driven variable-stiffness continuum robot according to claim 1, characterized in that: The number of the ropes (11) is plural, the deformation assembly (3) is divided into a plurality of deformation segments, the number of the deformation segments is the same as the number of the ropes (11), and each deformation segment comprises a plurality of first connecting pieces (31) and a plurality of first wheel discs (32); The two sides of the first connecting piece (31) in different deformation sections are bent towards different ropes (11), and the two sides of the first connecting piece (31) in the same deformation section are bent towards the same rope (11), and the parts of the plurality of ropes (11) passing through the same first wheel disc (32) are arranged in a circular array.

3. The rope-driven variable-stiffness continuum robot according to claim 2, characterized in that: The first wheel disc (32) has a plurality of through holes (321) arranged in a circumferential array, and the plurality of ropes (11) pass through each first wheel disc (32) through the through holes (321) on each first wheel disc (32).

4. The rope-driven variable-stiffness continuum robot according to claim 1, characterized in that: Both sides of the first wheel disc (32) are provided with insertion grooves (322), and the two ends of the first connecting piece (31) are inserted into the insertion grooves (322) of adjacent first wheel discs (32) facing each other to connect the adjacent first wheel discs (32).

5. The rope-driven variable-stiffness continuum robot according to claim 4, characterized in that: Both sides of the first wheel disc (32) are provided with a plurality of insertion slots (322) arranged in a circumferential array.

6. The rope-driven variable-rigidity continuum robot according to claim 4, characterized in that: The plugging slot (322) is crescent-shaped, one side of which is in contact with the side of the corresponding first connecting piece (31) that is away from the axis of the first wheel disc (32) where the plugging slot (322) is located, and the width of the middle part is greater than the thickness of the corresponding first connecting piece (31).

7. The rope-driven variable-rigidity continuum robot according to claim 1, characterized in that: The centers of all the first wheel disks (32) and the center of the fixing assembly (2) have tube holes (323) with the same radius.

8. The rope-driven variable-stiffness continuum robot according to claim 1, characterized in that: The traction assembly (1) further comprises: A rope winding column (12), on which the other end of the rope (11) is wound; A driving mechanism (13) is connected to the rope winding column (12) and is used to drive the rope winding column (12) to rotate about its axis so as to tighten or loosen the rope (11).

9. The rope-driven variable-stiffness continuum robot according to claim 1, characterized in that: The fixing assembly (2) comprises a plurality of second connecting pieces (21) and a plurality of second wheel discs (22) arranged in a linear array and spaced apart, and the sides of adjacent second wheel discs (22) facing each other are respectively connected to two ends of the plurality of second connecting pieces (21); The plurality of second connecting pieces (21) between adjacent second wheel discs (22) are arranged in a circular array, and both sides of the plurality of second connecting pieces (21) between adjacent second wheel discs (22) are bent towards the axis of any second wheel disc (22); The rope (11) passes through all the second wheel discs (22) in the fixing assembly (2) and all the first wheel discs (32) in the deformation assembly (3).

10. The rope-driven variable-rigidity continuum robot according to claim 9, characterized in that: The shape and size of the first connecting piece (31) are respectively the same as the shape and size of the second connecting piece (21).

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