A cable-driven continuum robot with variable stiffness

Abstract

This application relates to the field of robot technology. Specifically, it relates to a cable-driven variable stiffness continuum robot, which includes: a traction assembly, which includes at least one cable; a fixing assembly; a deformation assembly, which includes a plurality of first connecting pieces and a plurality of first discs arranged in a linear array and spaced apart. One side of adjacent first discs facing each other is respectively connected to both ends of a first connecting piece; both sides of the first connecting piece are bent towards a cable. The cable-driven variable stiffness continuum robot of this application can solve the problem that when a continuum robot with high compliance is subjected to an external force in a narrow or complex environment with a direction different from the desired direction, it is prone to bend in a direction other than the desired bending direction, resulting in insufficient stiffness and low force transmission efficiency of the existing continuum robot. It has high stiffness when subjected to an external force with a direction different from the desired direction, and has a relatively high force transmission efficiency, and is particularly suitable for complex environments.

Description

Technical Field

[0001] This application relates to the technical field of robots, and more particularly, to a cable-driven variable stiffness continuum robot. Background Art

[0002] Existing continuum robots are generally formed by connecting multiple identical or similar joints in series. To enable the continuum robot to bend to adapt to a narrow or complex environment, a highly compliant connecting member for connecting the two in series is generally provided between adjacent joints. When the connecting member is subjected to a pressure in a specific direction, it can bend in the desired bending direction, causing the entire continuum robot to bend to adapt to the narrow or complex environment. However, when a highly compliant continuum robot is subjected to an external force in a direction different from the desired direction in a narrow or complex environment, it is prone to bending in a direction other than the desired bending direction, resulting in insufficient stiffness and low force transmission efficiency of existing continuum robots.

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

[0004] The purpose of this application is to provide a cable-driven variable stiffness continuum robot, aiming to solve the problem that when a highly compliant continuum robot is subjected to an external force in a direction different from the desired direction in a narrow or complex environment, it is prone to bending in a direction other than the desired bending direction, resulting in insufficient stiffness and low force transmission efficiency of existing continuum robots.

[0005] In a first aspect, this application provides a cable-driven variable stiffness continuum robot, including:

[0006] A traction assembly, which includes at least one cable;

[0007] A fixing assembly;

[0008] A deformation assembly, including a plurality of first connecting pieces and a plurality of first discs arranged in a linear array and spaced apart. The sides of adjacent first discs facing each other are respectively connected to two ends of a first connecting piece. The first disc at the beginning of the deformation assembly is connected to the fixing assembly through a first connecting piece;

[0009] The cable passes through the fixing assembly and all the first discs in the deformation assembly. One end of the cable is connected to the last first disc in the deformation assembly, and both sides of the first connecting piece bend towards a cable.

[0010] 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.

[0011] 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;

[0012] 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] Optionally, both sides of the first wheel disc have a plurality of insertion slots arranged in a circumferential array.

[0017] 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.

[0018] In this embodiment, one side of the insertion slot of the present application is attached to the side of the corresponding first connecting piece facing away from the axis of the first disc where the insertion slot is located, which can ensure the stable installation of the first connecting piece on the corresponding insertion slot. Moreover, the width of the middle part of the insertion slot of the present application is greater than the thickness of the corresponding first connecting piece. When the deformation component is subjected to an external force in a direction different from the expected direction during movement, it can leave a moving space for the first connecting piece to prevent the first connecting piece from undergoing plastic deformation or even fracture due to the force in a high-rigidity state.

[0019] Optionally, all the first disc centers and the fixed component centers have tube holes with the same radius.

[0020] Optionally, the traction assembly further includes:

[0021] A rope winding post, with the other end of the rope wound around the rope winding post;

[0022] A driving mechanism, connected to the rope winding post, for driving the rope winding post to rotate about its axis to tighten or loosen the rope.

[0023] Optionally, the fixed component includes a plurality of second connecting pieces and a plurality of second discs arranged in a linear array and spaced apart. One side of adjacent second discs facing each other is respectively connected to both ends of the plurality of second connecting pieces;

[0024] The plurality of second connecting pieces between adjacent second discs are arranged in a circular array, and both sides of the plurality of second connecting pieces between adjacent second discs are bent towards the axis of any one of the second discs;

[0025] The rope passes through all the second discs in the fixed component and all the first discs in the deformation component.

[0026] Optionally, the shape and size of the first connecting piece are respectively the same as those of the second connecting piece.

[0027] As can be seen from the above, the present application provides a rope-traction variable-stiffness continuum robot, which has variable-stiffness characteristics, has high stiffness when subjected to an external force in a direction different from the expected direction, is convenient for operating in a narrow and complex environment, and only needs to pull the rope to make the deformation component of the present application bend accurately in a specific direction. Therefore, the force transmission efficiency of the continuum robot of the present application is relatively high, and the present application can set the length of the deformation component based on the number of the first connecting pieces and the first discs. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0028] Other features and advantages of the present application will be described in the subsequent specification, and part of them will become obvious from the specification or be understood by implementing the present application. The objectives and other advantages of the present application can be achieved and obtained through the structures specifically pointed out in the written specification and the drawings. Description of the Drawings

[0029] Figure 1 This is a schematic structural diagram of a cable-driven variable stiffness continuum robot in a bent state provided by an embodiment of the present application.

[0030] Figure 2 This is a schematic structural diagram of the first disk provided by an embodiment of the present application.

[0031] Figure 3 This is a schematic structural diagram of the deformation component provided by an embodiment of the present application.

[0032] Figure 4 This is a schematic structural diagram of the fixing component provided by an embodiment of the present application.

[0033] Figure 5 This is a schematic structural diagram of a cable-driven variable stiffness continuum robot provided by an embodiment of the present application when the traction component is not visible.

[0034] Reference numeral description: 1. Traction component; 11. Rope; 12. Rope winding column; 13. Driving mechanism; 2. Fixing component; 21. Second connecting piece; 22. Second disk; 3. Deformation component; 31. First connecting piece; 32. First disk; 321. Through hole; 322. Insertion slot; 323. Pipe hole. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying 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 the embodiments. Usually, the components of the embodiments of the present application described and shown in the accompanying 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 accompanying drawings is not intended to limit the scope of the present application to be protected, but only 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 creative efforts belong to the scope of protection of the present application.

[0036] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, 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 the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0037] In the first aspect, as Figure 1 and Figure 5 shown, the present application provides a cable-driven variable stiffness continuum robot, including:

[0038] The traction assembly 1, which includes at least one rope 11;

[0039] The fixing assembly 2;

[0040] The deformation assembly 3, including a plurality of first connecting pieces 31 and a plurality of first discs 32 arranged in a linear array and spaced apart, with one side of adjacent first discs 32 facing each other connected to both ends of a first connecting piece 31 respectively, and the first first disc 32 in the deformation assembly 3 connected to the fixing assembly 2 through a first connecting piece 31;

[0041] The rope 11 passes through the fixing assembly 2 and all the first discs 32 in the deformation assembly 3, one end of the rope 11 is connected to the last first disc 32 in the deformation assembly 3, and both sides of the first connecting piece 31 bend towards a rope 11.

[0042] Specifically, the structure of the deformation assembly 3 when in a bent state is as Figure 1 shown, and the structure of the deformation assembly 3 when in a normal state is as Figure 5 shown.

[0043] More specifically, in an embodiment where the traction assembly includes one rope, since the rope 11 passes through the fixing assembly 2 and all the first discs 32 in the deformation assembly 3, and one end of the rope 11 is connected to the last first disc 32 in the deformation assembly 3, by simply tightening the rope 11, the end of the last first disc 32 in the deformation assembly 3 connected to the rope 11 can be swung towards the fixing assembly 2, so that the ends of the other first discs 32 in the deformation assembly 3 through which the rope 11 passes swing towards the fixing assembly 2 in sequence according to the order from far away from the fixing assembly 2 to close to the fixing assembly 2. At this time, the middle parts of the first connecting pieces 31 will bend to cooperate with the inclined first discs 32 to realize the overall bending of the deformation assembly 3. Correspondingly, by simply relaxing the rope 11, the constraint of the rope 11 on the first discs 32 in the deformation assembly 3 can be released, so that the deformation assembly 3 is restored.

[0044] More specifically, since both sides of the first connecting piece 31 bend towards the rope 11, when the deformation assembly 3 is subjected to external forces with directions 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 assembly 3 will not bend. Therefore, the deformation assembly 3 of the present application will not bend when subjected to external forces with directions different from the expected direction during the movement process. Therefore, the continuum robot of the present application has high stiffness when subjected to external forces with directions different from the expected direction, which is convenient for working in narrow and complex environments; and since the deformation assembly 3 of the present application will not bend when subjected to external forces with directions different from the expected direction during the movement process, by simply pulling the rope 11, the deformation assembly 3 can be accurately bent in a specific direction. Therefore, the continuum robot of the present application has a high force transmission efficiency.

[0045] More specifically, in an embodiment where the traction assembly includes multiple ropes, when one rope 11 is tightened, the middle of the first connecting pieces 31 on both sides of the deformation assembly 3 that bend towards the rope 11 will bend, and one end of the first pulley 32 connected to these first connecting pieces 31 through which the rope 11 passes will swing towards the fixing 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 piece 31 of the present application will not bend when subjected to an external force in a direction different from the desired direction, enabling the continuum robot to accurately deform to the desired posture and enabling the continuum robot to maintain its posture in a narrow and complex environment.

[0046] In addition, the length of the deformation assembly 3 can be set by simply setting the number of the first connecting pieces 31 and the first pulleys 32 as required, so that the last first pulley 32 in the bent deformation assembly 3 reaches the target position. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0047] The rope-traction variable-stiffness continuum robot of the present application has variable-stiffness characteristics, has high stiffness when subjected to an external force in a direction different from the desired direction, is convenient for operating in a narrow and complex environment, and only needs to pull the rope 11 to make the deformation assembly 3 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 assembly 3 based on the number of the first connecting pieces 31 and the first pulleys 32. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0048] Preferably, the first connecting piece 31 is an arc-shaped piece.

[0049] As Figure 3 shown, in some preferred embodiments, the number of ropes 11 is multiple, the deformation assembly 3 is divided into multiple deformation segments, the number of deformation segments is the same as the number of ropes 11, and each deformation segment includes several first connecting pieces 31 and multiple first pulleys 32;

[0050] The first connecting pieces 31 on both sides in different deformation segments bend towards different ropes 11, the first connecting pieces 31 on both sides in the same deformation segment bend towards the same rope 11, and the parts of the multiple ropes 11 passing through the same first pulley 32 are arranged in a circumferential array.

[0051] Specifically, the first connecting piece 31 connecting two first pulleys 32 that are adjacent and from different deformation segments can belong to any one of the two deformation segments.

[0052] More specifically, when a rope 11 is tightened, only the middle part of the first connecting piece 31 whose two sides are bent towards the rope 11 will be bent. Since the middle parts of the first connecting pieces 31 in different deformation segments are bent towards different ropes 11, and the parts of multiple ropes 11 passing through the same first pulley 32 are arranged in a circumferential array, it can be known that the bending directions of the two sides of the first connecting piece 31 in different deformation segments are different. And because the middle parts of the first connecting pieces 31 in the same deformation segment are bent towards the same rope 11, the first connecting pieces 31 with bent middle parts are all located in the same deformation segment. At this time, one end of the first pulley 32 in this deformation segment through which the rope 11 passes will swing towards the fixing component 2 in turn in the order from far away from the fixing component 2 to close to the fixing component 2. Therefore, the whole deformation segment is bent; the middle parts of the first connecting pieces 31 in other deformation segments will not be bent under the influence of the tension of this rope 11, so other deformation segments will not be bent under the influence of the tension of this rope 11. Therefore, when a rope 11 is tightened, only the deformation segment where the first connecting piece 31 whose two sides are bent towards the rope 11 is located in the deformation component 3 will be bent under the influence of the tension of this rope 11.

[0053] More specifically, in the embodiment as Figure 5 shown, a, b, and c are three deformation segments arranged in turn from far away from the fixing component 2 to close to the fixing component 2, and d is the fixing component. Since the parts of multiple ropes 11 passing through the same first pulley 32 are arranged in a circumferential array, the deformation segments a, b, and c can be bent in three different directions and can present a variety of different postures, so as to flexibly enter a complex environment.

[0054] In this embodiment, the present application provides multiple ropes 11 and a deformation component 3 including multiple deformation segments. Just tighten the ropes 11 as needed, and while controlling the bending of the corresponding deformation segments, it can be ensured that other deformation segments are not bent under the influence of the tension of this rope 11; and the present application can make different deformation segments bend in different directions, and the present application can set the number of the first pulleys 32 and the first connecting pieces 31 in each deformation segment as needed to set the length of each deformation segment, so that the last first pulley 32 in the last deformation segment of 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.

[0055] As Figure 2 shown, in some preferred embodiments, the first pulley 32 has a plurality of through holes 321 arranged in a circumferential array, and multiple ropes 11 pass through each first pulley 32 through the through holes 321 on each first pulley 32.

[0056] 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.

[0057] 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 .

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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 .

[0062] 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 .

[0063] In this embodiment, one side of the insertion slot 322 of the present application is in contact with the side of the corresponding first connecting piece 31 facing away from the axis of the first turntable 32 where the insertion slot 322 is located, which can ensure the stable installation of the first connecting piece 31 on the corresponding insertion slot 322. Moreover, the width of the middle part of the insertion slot 322 of the present application is greater than the thickness of the corresponding first connecting piece 31. When the deformation assembly 3 is subjected to an external force in a direction different from the expected direction during movement, it can leave a movement space for the first connecting piece 31, preventing the first connecting piece 31 from undergoing plastic deformation or even fracture due to stress in a high-rigidity state.

[0064] In some preferred embodiments, the centers of all the first turntables 32 and the center of the fixed assembly 2 have pipe holes 323 with the same radius.

[0065] In this embodiment, the cable-driven variable stiffness continuum robot of the present application has pipe holes 323 opened at the centers of the first turntables 32 and the center of the fixed assembly 2, which facilitates connecting the fixed assembly 2 and the deformation assembly 3 through the pipe holes 323 of each first turntable 32 and the pipe holes 323 of the fixed assembly 2 based on the same pipeline, and facilitates transporting items such as drugs that need to be transported from the environment where the fixed assembly 2 is located to the environment where the deformation assembly 3 is located through the pipeline.

[0066] In some preferred embodiments, the traction assembly 1 further includes:

[0067] A rope winding post 12, with the other end of the rope 11 wound around the rope winding post 12;

[0068] A driving mechanism 13, connected to the rope winding post 12, for driving the rope winding post 12 to rotate about its axis to tighten or loosen the rope 11.

[0069] In this embodiment, the cable-driven variable stiffness continuum robot of the present application is provided with a rope winding post 12 and a driving mechanism 13, and can simply tighten or loosen the rope 11 based on the driving mechanism 13 driving the rope winding post 12 to rotate.

[0070] As Figure 4 shown, in some preferred embodiments, the fixed assembly 2 includes a plurality of second connecting pieces 21 and a plurality of second turntables 22 arranged linearly and at intervals. One side of adjacent second turntables 22 facing each other is respectively connected to both ends of the plurality of second connecting pieces 21;

[0071] The plurality of second connecting pieces 21 between adjacent second turntables 22 are arranged in a circumferential array, and both sides of the plurality of second connecting pieces 21 between adjacent second turntables 22 are bent towards the axis of any one of the second turntables 22;

[0072] The rope 11 passes through all the second turntables 22 in the fixed assembly 2 and all the first turntables 32 in the deformation assembly 3.

[0073] 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 .

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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 .

[0078] 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.

[0079] Preferably, the size of the first turntable 32 is the same as that of the second turntable 22.

[0080] In this embodiment, the sizes of the first turntable 32 and the second turntable 22 in the cable-driven variable stiffness continuum robot of the present application are the same, which can save the design and production costs.

[0081] As can be seen from the above, the present application provides a cable-driven variable stiffness continuum robot, which has variable stiffness characteristics, has high stiffness when subjected to external forces in directions different from the desired direction, is convenient for operating in narrow and complex environments, and only needs to pull the cable 11 to make the deformation component 3 of the present application bend accurately in a specific direction. Therefore, the force transmission efficiency of the continuum robot of the present application is relatively high, and the present application can set the length of the deformation component 3 based on the number of the first connecting piece 31 and the first turntable 32. Therefore, the continuum robot of the present application is particularly suitable for complex environments.

[0082] In the embodiments provided by the present application, it should be understood that the disclosed device can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces, and the indirect coupling or communication connection of the device or unit can be in an electrical, mechanical or other form.

[0083] In addition, the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0084] Furthermore, in each embodiment of the present application, the various functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0085] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0086] The above are only embodiments of the present application and are not intended to limit the protection scope of the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within 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 assembly (2) and all the first wheel discs (32) in the deformation assembly (3); one end of the rope (11) is connected to the last first wheel disc (32) in the deformation assembly (3); and both sides of the first connecting piece (31) are bent toward a rope (11); 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); 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).

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 a plurality of insertion slots (322) arranged in a circumferential array.

5. The rope-driven variable-stiffness 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.

6. The rope-driven variable-rigidity 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).

7. The rope-driven variable-rigidity 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).

8. The rope-driven variable-rigidity continuum robot according to claim 7, 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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