Coupled joint module based on a pulley block mechanism and continuum robot

Abstract

The application provides a coupling joint module based on a pulley block mechanism and a continuum robot, and relates to the field of robots.The coupling joint module comprises a joint module, a connecting framework, a pulley block mechanism and a rope module.The joint module comprises 2N+1 joint pieces, a first edge joint and a second edge joint.The connecting framework is embedded in two adjacent ones among the first edge joint, the 2N+1 joint pieces and the second edge joint.The pulley block mechanism comprises a plurality of pulley blocks assembled on the joint module.The rope module is connected to the plurality of pulley blocks to apply a pulling force through the pulleys to bend the joint module.The application applies a pulling force through the pulleys to bend the joint module.Under the action of the pulley block, the pulling force applied to the rope module can pull double loads to move.The coupling joint module has the characteristics of high load, variable curvature, variable stiffness and large bending angle, and can meet the use requirements of the continuum robot in various scenes.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a coupling joint module based on a pulley mechanism and a continuum robot. Background Art

[0002] In single-port or natural orifice surgery, the freedom, flexibility, rigidity, and stability of surgical instruments are crucial. Ordinary single-port surgical instruments lose rigidity and load when bent. In minimally invasive surgery, where the instrument's size, operating space, and bending radius are all constrained, it is a challenging task to ensure that the instrument possesses both high flexibility and high rigidity.

[0003] In the related art, variable stiffness devices can solve the trade-off between device flexibility and rigidity to a certain extent. Some variable stiffness devices adjust the stiffness of the device by setting a spring slider drive system in the motor drive part, and use a slider spring system to adjust the stiffness of the device. However, this design requires each motor to be equipped with a spring slider system to adjust the stiffness individually, making it difficult to expand to scenarios with long continuous bending; at the same time, the working space of the device is small, and it is difficult to apply to scenarios with large bending angles.

[0004] Another class of variable-stiffness devices modulates stiffness by controlling the magnetorheological fluid surrounding the actuator. However, these variable-stiffness robots are typically large, with joint diameters exceeding 60 mm, making them difficult to apply to a wide range of channels. Furthermore, they lack the structural characteristics of variable curvature, limiting their use cases. Therefore, there is an urgent need to propose a coupled joint module based on a pulley mechanism and a continuum robot for use in various scenarios with high requirements for load, stiffness, and curvature. Summary of the Invention

[0005] In response to the shortcomings of the existing technology, the present application provides a coupling joint module and a continuum robot based on a pulley mechanism, which solves the problem that ordinary continuum robots are difficult to meet the usage requirements of scenarios with high requirements such as load, stiffness, and curvature.

[0006] To achieve the above objectives, this application is implemented through the following technical solutions:

[0007] In a first aspect, the embodiments of the present application provide a coupling joint module based on a pulley block mechanism, which comprises a joint module, a connecting framework, a pulley block mechanism and a rope module; the joint module comprises 2N+1 joint pieces arranged in sequence, a first side joint and a second side joint, the first side joint and the second side joint are respectively located on the two sides of the 2N+1 joint pieces; any two adjacent ones of the first side joint, the 2N+1 joint pieces and the second side joint enclose an engagement part providing a bending space, the two engagement surfaces of the engagement part are elliptical arc surfaces, the opening directions of the two adjacent engagement parts are staggered, and the space sizes of the plurality of engagement parts arranged in the first direction are gradiently reduced; wherein N is a positive integer.

[0008] Specifically, the connecting framework is embedded in any two adjacent ones of the first side joint, the 2N+1 joint pieces and the second side joint to support the engagement part and constrain the offset direction in the bending of the joint module. The pulley block mechanism comprises a plurality of pulley blocks assembled on the joint module, the plurality of pulley blocks are arranged at intervals around the circumference of the joint module, and the plurality of pulleys in each pulley block are located on the joint pieces, the first side joint and the second side joint. The rope module is connected to the plurality of pulley blocks to apply a force through the pulleys to link the joint module to bend.

[0009] According to the first aspect of the embodiments of the present application, the 2N+1 joint piece adjacent to the second side joint is connected to the second side joint and encloses an engagement part; the number of pulley blocks is four, and four pulleys are uniformly and interval distributed on the side of any one of the first side joint, the joint pieces and the second side joint.

[0010] According to the first aspect of the embodiments of the present application, the rope module comprises four ropes, the joint module is provided with a channel extending in the first direction for the rope module to pass through, each rope corresponds to a pulley block, and is wound on the outer surface of the plurality of pulleys arranged in the first direction.

[0011] According to the first aspect of the embodiments of the present application, the pulley block mechanism further comprises recesses formed on the side of the joint pieces, the first side joint and the second side joint, the recesses correspond to the pulleys one by one, and the recesses provide a central shaft to accommodate the pulleys.

[0012] According to the first aspect of the embodiments of the present application, the engagement part comprises two pairs of arc-shaped grooves arranged at intervals in the second direction, the two arc-shaped grooves in the same pair are located on any two adjacent ones of the 2N+1 joint pieces, the first side joint and the second side joint; the arc-shaped grooves on the two sides of the joint piece extend in the second direction and the third direction, respectively.

[0013] According to the first aspect of the embodiments of the present application, the connecting framework comprises a plurality of connecting rods and a plurality of pins, the connecting rods are slidably embedded in the arc-shaped grooves arranged in pairs through the pins; the joint pieces, the first side joint and the second side joint are all provided with pin holes to accommodate the pins.

[0014] In the second aspect, an embodiment of the present application provides a continuum robot, which includes a coupling joint module and a drive module, the coupling joint module is a coupling joint module based on a pulley mechanism according to any one of the first aspects mentioned above; the drive module includes a rope subassembly, a spring tensioning member, a rope end tensioning member and a drive motor; wherein, the first end of each rope in the coupling joint module is fixed to a side of the rope subassembly adjacent to the coupling joint module, and the second end of each rope extends toward the distal end away from the coupling joint module and is connected to the spring tensioning member.

[0015] According to the second aspect of the embodiment of the present application, the continuum robot also includes an operating table, which is formed with a plurality of recessed holes extending along the second direction; the rope subassembly includes a horizontal plate, a vertical plate, a plurality of first rods extending along the third direction, and a plurality of second rods extending along the second direction, and the outer peripheral surfaces of the first rods and the second rods are slidably connected to a plurality of first winding reels; the horizontal plate and the first rods are both fixedly connected to the vertical plate, and the horizontal plate is provided with through holes corresponding to the recessed holes for passing the second rods.

[0016] According to the second aspect of the embodiment of the present application, the spring tensioning member includes a screw rod, a slider, a round rod, a linear bearing and a sleeve, and the slider is slidably installed on the screw rod; the linear bearing is fixed to the slider and to the first end of the sleeve, and the round rod is passed through the linear bearing and extends to the interior of the sleeve.

[0017] According to the second aspect of the embodiment of the present application, the first hook and the second hook are respectively connected to the inner and outer sides of the second end of the sleeve, and a spring connected to the first hook is provided inside the sleeve; the two ends of the round rod are respectively connected to the third hook and the fourth hook, the third hook is connected to the spring, and the fourth hook is connected to the second end of the rope.

[0018] According to the second aspect of the embodiment of the present application, the number of spring tensioning members is four, and the rope end tensioning member corresponds to the four spring tensioning members and includes two second winding drums, two winding shafts and four rope branches. The rope branch segments are connected to the second hook and wound on the second winding drum and the winding shaft. The winding shaft is connected to the output shaft of the drive motor.

[0019] This application provides a coupling joint module and a continuum robot based on a pulley mechanism. Compared with the existing technology, it has the following advantages:

[0020] The present application provides a coupling joint module based on a pulley assembly mechanism, wherein the coupling joint module provides multiple bendable meshing parts through a first side joint, 2N+1 joint parts, and a second side joint; the opening directions of two adjacent meshing parts are staggered, and the multiple meshing parts can be bent in different directions. During the bending process of the meshing parts, the offset direction of the bending is constrained by the connecting skeleton. The present application is provided with a rope module to connect the pulley assembly, and the pulley applies a force to involve the joint module in bending. Under the action of the pulley assembly, the traction force applied to the rope module can involve double the load for movement. By adjusting the major and minor axis parameters of the elliptical arc surface corresponding to the meshing surface, the effect of variable curvature can be achieved; the variable stiffness of the coupling joint module can be achieved by using rope modules with different rigidities; different bending angles can be achieved by adjusting the number of joint parts and the amplitude of the gradual reduction of the size of the multiple meshing parts; therefore, the coupling joint module of the present application has the characteristics of high load, variable curvature, variable stiffness, and large bending angle, which can meet the use requirements of continuum robots in various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 This is a schematic structural diagram of a continuum robot provided in an embodiment of the present application;

[0023] Figure 2 1 is a structural diagram of a coupling joint module based on a pulley mechanism provided in an embodiment of the present application;

[0024] Figure 3 is a structural diagram of a first side joint and part of a joint component provided in an embodiment of the present application;

[0025] Figure 4 is an exploded view of the assembly of two joint components provided in an embodiment of the present application;

[0026] Figure 5 Schematic diagram of the structure of the drive module provided in the embodiment of the present application;

[0027] Figure 6 is a schematic structural diagram of a rope subassembly provided in an embodiment of the present application;

[0028] Figure 7 This is a partial structural diagram of the spring tensioning member provided in an embodiment of the present application.

[0029] Figure numerals: joint 1; first side joint 2; second side joint 3; pulley 4; central axis 41; rope 5; connecting rod 6; rope subassembly 7; horizontal plate 71; vertical plate 72; first rod 73; second rod 74; first winding drum 75; spring tensioner 8; screw rod 81; slider 82; round rod 83; linear bearing 84; sleeve 85; spring 86; first hook 851; second hook 852; third hook 831; fourth hook 832; rope end tensioner 9; second winding drum 91; winding shaft 92; drive motor 10; meshing portion A; meshing surface B; recessed portion C; arc-shaped groove D; pin hole E; operating table F; recessed hole G; through hole H; reserved hole I; rope hole J; first direction X1; second direction X2; third direction X3. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0031] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0032] The embodiments of the present application solve the problem that ordinary continuum robots are difficult to meet the usage requirements of scenarios with high requirements on load, stiffness, curvature, etc. by providing a coupling joint module and a continuum robot based on a pulley mechanism.

[0033] The technical solution in the embodiments of the present application is to solve the above technical problems, and the overall idea is as follows:

[0034] In single-port or natural orifice surgery, the freedom, flexibility, rigidity, and stability of surgical instruments are crucial. Ordinary single-port surgical instruments lose rigidity and load when bent. In minimally invasive surgery, where the instrument's size, operating space, and bending radius are all constrained, it is a challenging task to ensure that the instrument possesses both high flexibility and high rigidity.

[0035] Since the stiffness and load of ordinary continuum robots will weaken when bent, and the greater the bending amplitude, the more obvious the stiffness loss, most robots do not have the characteristic of variable curvature; therefore, it is difficult to meet specific needs in some application scenarios, such as the requirements for instrument flexibility and rigidity in minimally invasive surgery scenarios, and the requirements for the bending curvature of the robot arm in object grasping scenarios.

[0036] In the related art, variable stiffness devices can solve the trade-off between device flexibility and rigidity to a certain extent. Some variable stiffness devices adjust the stiffness of the device by setting a spring slider drive system in the motor drive part, and use a slider spring system to adjust the stiffness of the device. However, this design requires each motor to be equipped with a spring slider system to adjust the stiffness individually, making it difficult to expand to scenarios with long continuous bending; at the same time, the working space of the device is small, and it is difficult to apply to scenarios with large bending angles.

[0037] Another class of variable-stiffness devices modulates stiffness by controlling the magnetorheological fluid surrounding the actuator. However, these variable-stiffness robots are typically large, with joint diameters exceeding 60 mm, making them difficult to apply to a wide range of channels. Furthermore, they lack the structural characteristics of variable curvature, limiting their use cases. Therefore, there is an urgent need to propose a coupled joint module based on a pulley mechanism and a continuum robot for use in various scenarios with high requirements for load, stiffness, and curvature.

[0038] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0039] The following first introduces a coupling joint module based on a pulley mechanism provided in an embodiment of the present application.

[0040] The embodiment of the present application provides a coupling joint module based on a pulley mechanism, such as Figure 2 As shown, the coupling joint module includes a joint module, a connecting skeleton, a pulley mechanism and a rope module; the joint module includes 2N+1 joint parts 1, a first side joint 2 and a second side joint 3 arranged in sequence, and the first side joint 2 and the second side joint 3 are respectively located on both sides of the 2N+1 joint parts 1.

[0041] Any two adjacent ones of the first side joint 2, 2N+1 joint parts 1 and the second side joint 3 form a meshing portion A that provides a bending space, the two meshing surfaces B of the meshing portion A are elliptical arc surfaces, the opening directions of the two adjacent meshing portions A are staggered, and the spatial dimensions of the multiple meshing portions A arranged along the first direction X1 gradually decrease; wherein N is a positive integer.

[0042] Specifically, the connecting skeleton is interlocked with two adjacent joints among the first side joint 2, the 2N+1 joint components 1, and the second side joint 3, supporting the meshing portion A and constraining the joint module's deflection during bending. The pulley mechanism includes multiple pulley blocks assembled to the joint module. These pulley blocks are spaced apart around the joint module's circumference, with multiple pulleys 4 in each pulley block located on the joint component 1, the first side joint 2, and the second side joint 3. A rope module is connected to the multiple pulley blocks to apply force through the pulleys 4, causing the joint module to bend.

[0043] In the embodiment of the present application, it can be understood that the coupling joint module provides multiple bendable meshing parts A through the first side joint 2, 2N+1 joint parts 1 and the second side joint 3; the opening directions of two adjacent meshing parts A are staggered, and multiple meshing parts A can be bent in different directions. During the bending process of the meshing part A, the offset direction of the bending can be constrained by connecting the skeleton.

[0044] Furthermore, the present application is provided with a rope module to connect the pulley assembly, and exerts a force through the pulley 4 to involve the joint module in bending. Under the action of the pulley assembly, the traction force applied to the rope module can involve double the load for movement. By adjusting the major and minor axis parameters of the elliptical arc surface corresponding to the meshing surface B, the effect of variable curvature can be achieved. The variable stiffness of the coupled joint module can be achieved through rope modules with different rigidities. Different bending angles can be achieved by adjusting the number of joint parts 1 and the amplitude of the gradual reduction of the size of multiple meshing parts A. Therefore, the coupled joint module of the present application has the characteristics of high load, variable curvature, variable stiffness and large bending angle, which can meet the use requirements of the continuum robot in various scenarios.

[0045] It should be emphasized that the internal hollow design of the joint part 1, the first side joint 2 and the second side joint 3 can be used as a rope channel, so that a variety of structures can be integrated on the side of the coupling joint module facing the first side joint 2 to meet the usage requirements in different scenarios.

[0046] In some embodiments, the 2N+1th joint component 1 adjacent to the second edge joint 3 is connected to the second edge joint 3 and forms a meshing portion A.

[0047] In the embodiment of the present application, it can be understood that the joint parts 1 are arranged in an odd number, the number of joints in the coupling joint module including the first side joint 2 and the second side joint 3 is an odd number, and the joint in the coupling joint module is specifically one of the aforementioned joint parts 1, the first side joint 2 and the second side joint 3, and an engaging portion A is formed between two adjacent joints in the coupling joint module.

[0048] It should be noted that the first side of the first side joint 2 is used to connect to the adjacent joint component 1, and the second side of the first side joint 2 is used to connect to the load component. In other words, the first side joint 2 only needs its first side to provide a meshing surface B for coupling with the adjacent joint component 1. Correspondingly, the second side joint 3 is used to provide a medium for connecting the coupling joint module and the drive module. The second side joint 3 only needs to provide a meshing surface B for coupling with the adjacent joint component 1. The aforementioned 2N+1th joint component 1 is the joint component 1 adjacent to the second side joint 3.

[0049] In some embodiments, there are four pulley sets, with four pulleys 4 evenly spaced apart on the sides of any one of the first side joint 2, the joint component 1, and the second side joint 3. The rope module includes four ropes 5. The joint module defines a passage extending along the first direction X1 for the rope module to pass through. Each rope 5 corresponds to a pulley set and is wound around the outer surfaces of the multiple pulleys 4 arranged along the first direction X1.

[0050] In the examples of this application, please refer to Figure 4 The joint part 1 is provided with a through rope hole J along the axial direction. The rope holes J of multiple joint parts 1 constitute a channel for the rope to pass through. Each rope 5 passes through multiple rope holes J and is wound around multiple pulleys 4 in a pulley set. The two ends of the rope 5 are on the same side. It can be understood that when one end of the rope 5 is fixed, by applying traction to the other end of the rope 5, under the action of the pulley set, the coupling joint module can drive a load twice the traction force, and the pulley 4 plays the role of a movable pulley.

[0051] In some other optional embodiments, please refer to Figure 4 The joint component 1 is provided with a through reserved hole I along the axial direction. The reserved holes I of multiple joint components 1 can form a reserved channel. The stiffness of the coupling joint module can be improved by passing a titanium alloy wire through the reserved channel.

[0052] In an example, please refer to Figure 2 、 Figure 3 and Figure 4 The pulley assembly mechanism also includes a recessed portion C formed on the side of the joint 1, the first side joint 2 and the second side joint 3. The recessed portion C corresponds one-to-one with the pulley 4, and the recessed portion C provides a central axis 41 for sleeved pulley 4.

[0053] In the embodiments of the present application, it can be understood that each joint member 1, the first edge joint 2 and the second edge joint 3 of the present application are formed with four recesses C and are provided with four corresponding pulleys; in other words, in any one of the plurality of joint members 1, the first edge joint 2 and the second edge joint 3, there are two pulleys 4 opposite along the third direction X3, and there are two pulleys 4 opposite along the second direction X2, which can drive the corresponding engagement part A to bend and shift during the process of selectively applying traction force through the rope 5.

[0054] It should be noted that the two engagement surfaces B of the engagement part A are elliptical arc surfaces, and the maximum engagement angle of a single engagement part A is adjusted by adjusting the length of the major and minor axes of the elliptical arc surface to achieve the effect of variable curvature; by controlling the stiffness of the rope 4 in different sections, the variable stiffness of the coupling joint module can be achieved; by adjusting the number of joint members 1, different bending angles can be achieved. Therefore, the coupling joint module provided by the present application has the characteristics of high load, variable curvature, variable stiffness and large bending angle.

[0055] It should also be noted that please refer to Figure 2 Since the spatial size of the plurality of engagement parts A arranged along the first direction X1 is gradually tapered; the bendable range of each engagement part A of the entire coupling joint module gradually changes, and the maximum bending angle can be flexibly adjusted according to the number of joint members 1 in series.

[0056] It should be emphasized that since the spatial size of the plurality of engagement parts A is gradually tapered, the elliptical surface parameters of the engagement surfaces B on both sides of each joint member 1 are different. The engagement angle of all engagement parts A can be flexibly adjusted according to the actual application scene, so that a coupling joint module with multiple bending angles, multiple variable curvatures and multiple postures can be combined to assemble a continuum robot.

[0057] In some embodiments, please refer to Figure 3 and Figure 4 The engagement part A includes two pairs of arc-shaped grooves D spaced along the second direction X2, and the two arc-shaped grooves D in the same pair are located in two adjacent ones of the 2N+1 joint members 1, the first edge joint 2 and the second edge joint 3; the arc-shaped grooves D on both sides of the joint member 1 extend along the second direction X2 and the third direction X3, respectively.

[0058] In the embodiments of the present application, it can be understood that the extension directions of the arc-shaped grooves D opened on both sides of each joint member 1 are different, so that the bendable and shiftable directions of the two adjacent engagement parts A are different.

[0059] In some embodiments, please refer to Figure 3 and Figure 4The connecting skeleton includes multiple connecting rods 6 and multiple pins. The connecting rods 6 are slidably engaged with the paired arc-shaped grooves D through the pins; the joint part 1, the first side joint 2 and the second side joint 3 are all provided with pin holes E to accommodate the pins.

[0060] In the embodiment of the present application, it can be understood that the connecting rod 6 plays the role of constraining the posture, preventing the longitudinal separation and lateral displacement between the joints when the joint 1, the first side joint 2 and the second side joint 3 are subjected to large pulling force; the connecting rod 6 is hinged in the pin hole E through a pin.

[0061] Please refer to Figure 3 and Figure 4 , the selection of the position of the pin hole E is crucial. The pin hole E is located at the two focal positions of the elliptical surface corresponding to the meshing surface B. At this position, no matter how the elliptical sections mesh when the coupling joint module rotates, the length of the connecting rod 6 always remains unchanged. The present application determines the rotation position of the end point of the connecting rod 6 by the focus of the elliptical surface, ensuring the stability and reliability of the coupling joint module when under tension, so that it can be applied to various scenarios with high requirements for stability and safety. At the same time, the parameters of the elliptical arc surface are adjustable. Through parameter adjustment and multi-joint series connection, the robot is given a larger bending angle and variable curvature adjustment capabilities, which greatly expands the application scenarios.

[0062] In some embodiments, the present application also provides a continuum robot, such as Figure 1 As shown, the continuum robot includes a coupling joint module and a driving module, the coupling joint module is a coupling joint module based on a pulley mechanism according to any one of the first aspects mentioned above; the driving module includes a rope subassembly 7, a spring tensioning member 8, a rope end tensioning member 9 and a driving motor 10; wherein, the first end of each rope 5 in the coupling joint module is fixed to a side of the rope subassembly 7 adjacent to the coupling joint module, and the second end of each rope 5 extends toward the distal end away from the coupling joint module and is connected to the spring tensioning member 8.

[0063] In the embodiment of the present application, it is understood that the second end of the rope 5 continues to extend away from the coupling joint module, and is adjusted in height, position, and posture through the rope subassembly 7, and is further connected to the spring tension member 8. In the process of pulling the rope 5 to bend the coupling joint module, by selectively applying traction to one of the paired ropes 5, the two ropes 5 in the same pair are in different stress states. By providing the spring tension member 8, the two ropes 5 in the same pair are constrained and adjusted so that both ropes 5 in the same pair are in a taut state.

[0064] In some embodiments, please refer to Figure 1 、 Figure 5 and Figure 6The continuum robot also includes an operating table F, which is formed with a plurality of recessed holes G extending along the second direction X2; the rope subassembly 7 includes a horizontal plate 71, a vertical plate 72, a plurality of first rods 73 extending along the third direction X3, and a plurality of second rods 74 extending along the second direction X2, and the outer circumferences of the first rods 73 and the second rods 74 are slidably connected to a plurality of first winding drums 75; the horizontal plate 71 and the first rods 73 are both fixedly connected to the vertical plate 72, and the horizontal plate 71 is provided with through holes H corresponding to the recessed holes G for passing the second rods 74.

[0065] In the embodiment of the present application, it can be understood that the adjacent sections of the second ends of the four ropes 5 are wound around the first winding drum 75 on the first rod 73 and the second rod 74 to adjust the height, position, and posture to ensure that each rope 5 corresponds to the position of the spring tensioning member 8 to reduce the additional force on the rope 5.

[0066] In addition, the concave hole G and the through hole H correspond along the second direction X2, and the second rod member 74 is passed through the concave hole G and the through hole H for positioning. Different concave holes G and through holes H can be selected as needed to install the second rod member 74, thereby adjusting the position of the second rod member 74.

[0067] In some embodiments, the spring tensioning member 8 includes a screw 81, a slider 82, a round rod 83, a linear bearing 84, and a sleeve 85. The slider 82 is slidably mounted on the screw 81; the linear bearing 84 is fixed to the slider 82 and to the first end of the sleeve 85. The round rod 83 is inserted into the linear bearing 84 and extends into the interior of the sleeve 85. The second end of the sleeve 85 is connected to the inner and outer sides thereof with a first hook 851 and a second hook 852, respectively. The interior of the sleeve 85 is provided with a spring 86 connected to the first hook 851. The ends of the round rod 83 are connected to a third hook 831 and a fourth hook 832, respectively. The third hook 831 is connected to the spring 86, and the fourth hook 832 is connected to the second end of the rope 5.

[0068] In the embodiment of the present application, it can be understood that the screw rod 81 is a micro precision screw rod, and the linear bearing 84 is connected to the screw rod 81 through the slider 82, so that the linear bearing 84 can move within the lead of the screw rod 81.

[0069] Furthermore, the second end of the rope 5 extends and is connected to the fourth hook 832, and the fourth hook 832 is indirectly connected to the spring 86 through the round rod 83 and the third hook 831; after the posture of each rope 5 is adjusted by the rope subassembly 7, it is on the same axis as the spring 86 of the spring tensioning member 8, thereby reducing the additional force on the rope 5.

[0070] It should also be noted that the third hook 831 hooks one end of the spring 86, the other end of the spring 86 is connected to the first hook 851, and the second hook 852 is connected to the rope end tensioner 9; the structural design of this part is to achieve the effect of variable stiffness through the stretching action of the spring 86. When the coupling joint module bends, the spring 86 is deformed by the tension of the rope 5, thereby generating a restraining force on the coupling joint module, and the greater the bending angle of the coupling joint module, the greater the restraining force of the spring 5, thereby increasing the stiffness of the robot at a large bending angle. In addition, the specifications of the spring 5 can be replaced, and the coupling joint module can also have different spring restraining forces when bent at the same angle, further achieving the effect of variable stiffness, thereby meeting the requirements for robot rigidity in different scenarios.

[0071] In some embodiments, please refer to Figure 1 、 Figure 5 and Figure 7 There are four spring tensioning members 8, and the rope end tensioning member 9 corresponds to the four spring tensioning members 8 and includes two second winding drums 91, two winding shafts 92 and four rope branches. The rope branches are connected to the second hook 852 and wound on the second winding drum 91 and the winding shaft 92. The winding shaft 92 is connected to the output shaft of the drive motor 10.

[0072] In the embodiment of the present application, it can be understood that the four spring tensioning members 8 are respectively connected to the second ends of the four ropes 5. Since the second ends of the ropes 5 only extend to the spring tensioning members 8, in order to apply traction to the ropes 5 through the drive motor 10, the present application sets a rope end tensioning member 9 between the drive motor 10 and the spring tensioning member 8; each second winding drum 91 is wound around two rope branches connected to the spring tensioning member 8 (not shown in the figure), and the two rope branches are respectively controlled by the drive motor 10 at the bottom of the winding shaft 92 to achieve the effect of retracting and releasing.

[0073] In summary, compared with the prior art, this application has the following beneficial effects:

[0074] 1. The coupling joint module of the present application provides multiple bendable meshing parts A through the first side joint 2, 2N+1 joint parts 1 and the second side joint 3; the opening directions of two adjacent meshing parts A are staggered, and the multiple meshing parts A can be bent in different directions. During the bending process of the meshing part A, the offset direction of the bending can be constrained by connecting the skeleton.

[0075] 2. The present application is provided with a rope module to connect the pulley group, and applies a force through the pulley 4 to involve the joint module in bending. Under the action of the pulley group, the traction force applied to the rope module can involve double the load for movement. The coupled joint module of the present application has the characteristics of high load; the variable stiffness of the robot can also be achieved through rope modules with different rigidity and springs 86 with different stiffness; different bending angles can be achieved by adjusting the number of joint parts 1 and the amplitude of the gradual reduction of the size of multiple meshing parts A.

[0076] 3. This application combines a pulley mechanism, a spring tensioner, and a continuum robot to achieve excellent performance. While ensuring high load and variable stiffness, the focus of the elliptical arc surface determines the rotational position of the end point of the connecting rod 6, ensuring the stability and reliability of the coupled joint module under tension. This makes it suitable for various scenarios with high requirements for stability and safety. At the same time, the parameters of the elliptical arc surface are adjustable. Through parameter adjustment and the serial connection of multiple joints, the robot is given a larger bending angle and variable curvature adjustment capabilities, greatly expanding its application scenarios.

[0077] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A coupling joint module based on a pulley mechanism, characterized in that: include: A joint module comprises 2N+1 joint parts (1), a first side joint (2) and a second side joint (3) arranged in sequence, wherein the first side joint (2) and the second side joint (3) are respectively located on both sides of the 2N+1 joint parts (1); any two adjacent ones of the first side joint (2), the 2N+1 joint parts (1) and the second side joint (3) form a meshing portion (A) providing a bending space, the two meshing surfaces (B) of the meshing portion (A) are elliptical arc surfaces, the opening directions of two adjacent meshing portions (A) are staggered, and the spatial dimensions of the multiple meshing portions (A) arranged along the first direction are gradually reduced; wherein N is a positive integer; A connecting skeleton is embedded in the first side joint (2), the 2N+1 joint parts (1) and two adjacent ones of the second side joint (3) to support the meshing portion (A) and constrain the offset direction of the joint module during bending; A pulley assembly mechanism, comprising a plurality of pulley assemblies assembled on the joint module, the plurality of pulley assemblies being arranged at intervals around the circumference of the joint module, the plurality of pulleys (4) in each pulley assembly being located on the joint member (1), the first side joint (2) and the second side joint (3); and The rope module is connected to the plurality of pulley groups so as to apply a force through the pulleys (4) to cause the joint module to bend.

2. The coupling joint module based on the pulley mechanism according to claim 1, characterized in that: The 2N+1th joint component (1) adjacent to the second side joint (3) is connected to the second side joint (3) and forms a meshing portion (A); The number of the pulley groups is four, and four pulleys (4) are evenly spaced and distributed on the side of any one of the first side joint (2), the joint component (1) and the second side joint (3).

3. The coupling joint module based on the pulley mechanism according to claim 1 or 2, characterized in that: The rope module comprises four ropes (5), the joint module is provided with a channel extending along the first direction for the rope module to pass through, each rope (5) corresponds to one pulley group and is wound around the outer surface of a plurality of pulleys (4) arranged along the first direction.

4. The coupling joint module based on the pulley mechanism according to claim 1 or 2, characterized in that: The pulley assembly mechanism further includes a recessed portion (C) formed on the side of the joint component (1), the first side joint (2) and the second side joint (3), wherein the recessed portion (C) corresponds one-to-one with the pulley (4), and the recessed portion (C) provides a central axis (41) for sleeve-mounting the pulley (4).

5. The coupling joint module based on the pulley mechanism according to claim 1 or 2, characterized in that: The meshing portion (A) comprises two pairs of arcuate grooves (D) spaced apart along the second direction, and the two arcuate grooves (D) in the same pair are located at two adjacent ones of the 2N+1 joint parts (1), the first side joints (2) and the second side joints (3); The arc-shaped grooves (D) on both sides of the joint component (1) extend along the second direction and the third direction respectively.

6. The coupling joint module based on the pulley mechanism according to claim 5, characterized in that: The connecting skeleton comprises a plurality of connecting rods (6) and a plurality of pins, wherein the connecting rods (6) are slidably engaged with the arc-shaped grooves (D) arranged in pairs through the pins; the joint component (1), the first side joint (2) and the second side joint (3) are all provided with pin holes (E) to accommodate the pins.

7. A continuum robot, characterized in that: include: The coupling joint module is a coupling joint module based on a pulley mechanism according to any one of claims 1 to 6; and A drive module comprising a rope subassembly (7), a spring tensioning member (8), a rope end tensioning member (9), and a drive motor (10); The first end of each rope (5) in the coupling joint module is fixed to a side of the rope subassembly (7) adjacent to the coupling joint module, and the second end of each rope (5) extends toward the distal end away from the coupling joint module and is connected to the spring tension member (8).

8. The continuum robot according to claim 7, wherein: It also includes an operating table (F), wherein the operating table (F) is formed with a plurality of recessed holes (G) extending along the second direction; The rope subassembly (7) comprises a transverse plate (71), a vertical plate (72), a plurality of first rods (73) extending along a third direction, and a plurality of second rods (74) extending along the second direction, wherein the outer circumferences of the first rods (73) and the second rods (74) are slidably connected to a plurality of first winding drums (75); The transverse plate (71) and the first rod (73) are both fixedly connected to the vertical plate (72); the transverse plate (71) is provided with a through hole (H) corresponding to the concave hole (G) for passing the second rod (74).

9. The continuum robot according to claim 7, wherein: The spring tensioning member (8) includes a screw (81), a slider (82), a round rod (83), a linear bearing (84) and a sleeve (85), wherein the slider (82) is slidably mounted on the screw (81); the linear bearing (84) is fixed to the slider (82) and to the first end of the sleeve (85); the round rod (83) is passed through the linear bearing (84) and extends to the interior of the sleeve (85); The first hook (851) and the second hook (852) are connected to the inner and outer sides of the second end of the sleeve (85), respectively. A spring (86) connected to the first hook (851) is provided inside the sleeve (85); the two ends of the round rod (83) are connected to the third hook (831) and the fourth hook (832), respectively. The third hook (831) is connected to the spring (86), and the fourth hook (832) is connected to the second end of the rope (5).

10. The continuum robot according to claim 9, wherein: The number of the spring tensioning members (8) is four, and the rope end tensioning member (9) corresponds to the four spring tensioning members (8) and includes two second winding drums (91), two winding shafts (92), and four rope branches. The rope branches are connected to the second hooks (852) and wound around the second winding drums (91) and the winding shafts (92). The winding shafts (92) are connected to the output shaft of the drive motor (10).

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