Continuous body robot with central spine

Abstract

The invention discloses a continuum robot with a central spine, which relates to the technical field of robots and mainly comprises a grooving continuum, a nickel-titanium alloy hyperelastic rod and a rope ring driving box. Firstly, according to the scheme, the flexibility and deformable characteristics of the grooving type continuum are utilized to adapt to dangerous and complex environments, and therefore it is ensured that the robot can complete corresponding operation tasks; secondly, according to the scheme, the nickel-titanium alloy hyperelastic rod is combined with the grooving type continuum, and the axial length change generated when the grooving type continuum is bent is limited through the nickel-titanium alloy hyperelastic rod, so that the problem that the axial length change is generated when an existing continuum is bent is solved, and the control difficulty is greatly reduced; furthermore, after the rope ring driving box is adopted to replace an existing ball screw driving box, the number of driving sources can be reduced, and therefore the size of the driving box is reduced; therefore, the corresponding technical problems in the prior art can be practically solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a continuum robot with a central spine. Background Art

[0002] Due to the limitations of the structural rigidity and motion range of traditional rigid robots, they often cannot work in spaces with limited space and irregular shapes. Continuum robots, with their flexible and deformable characteristics, can adapt to dangerous and complex environments and complete corresponding operation tasks.

[0003] The existing solution "A Telescopic Flexible Continuum and Continuum Surgical Robot" proposes a grooved continuum robot. Multiple staggered V-shaped grooves are opened on the columnar continuum, and wire rope holes are left on the continuum. A ball screw drive device is used to pull the wire rope to achieve large-range bending of the flexible continuum, and at the same time, it has high telescopic performance. However, when the bending angle of the continuum or the end load increases, the tension on the wire rope increases, and the axial length of the continuum will also change accordingly, resulting in difficulty in precisely controlling the continuum robot. At the same time, the volume of the ball screw drive box is large and there are many drive motors.

[0004] Therefore, how to achieve precise control of the continuum robot while reducing the volume and the number of drive motors is a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0005] The purpose of the present invention is to provide a continuum robot with a central spine to achieve precise control of the continuum robot while reducing the volume and the number of drive motors.

[0006] To solve the above technical problems, the present invention provides a continuum robot with a central spine, comprising a grooved continuum, a nickel-titanium alloy superelastic rod, and a rope loop drive box; the grooved continuum is disposed on the rope loop drive box, and along the axial direction of the grooved continuum, a plurality of grooved groups are provided on the grooved continuum, and each of the plurality of grooved groups has a plurality of grooved openings with different orientations, and the grooved openings of adjacent grooved groups have different orientations; the nickel-titanium alloy superelastic rod passes through the grooved continuum, the nickel-titanium alloy superelastic rod is arranged to extend along the axial direction of the grooved continuum, and both ends of the nickel-titanium alloy superelastic rod are respectively connected to both ends of the grooved continuum; the rope loop drive box includes a drive motor, a gear set, a winch, and a drive rope; a plurality of the drive motors are respectively in transmission connection with a plurality of the gear sets, and a plurality of the drive motors are respectively used to drive a plurality of the gear sets to operate; a plurality of the gear sets are respectively in transmission connection with a plurality of the winches, and the operations of a plurality of the gear sets are respectively used to drive a plurality of the winches to rotate; the drive ropes are wound around a plurality of the winches, and the rotations of a plurality of the winches are respectively used to control the retracting and releasing states of both ends of a plurality of the drive ropes; a plurality of the drive ropes are respectively in rope drive connection with the grooved continuum, and the retracting and releasing states of both ends of a plurality of the drive ropes are respectively used to control the grooved continuum to swing in different states.

[0007] In one embodiment, each of the plurality of grooved groups is provided with two of the grooved openings, and within the same grooved group, the orientations of the two grooved openings are opposite to each other.

[0008] In one embodiment, between adjacent grooved groups, the grooved openings of the two grooved groups are perpendicular to each other in orientation.

[0009] In one embodiment, along the axial direction of the grooved continuum, the grooved continuum is provided with a plurality of annular disks, and the grooved groups are formed between adjacent annular disks; and double-arc hinges are connected between adjacent annular disks, and the double-arc hinges are used to allow adjacent annular disks to perform bending activities.

[0010] In one embodiment, the grooved continuum includes a plurality of grooved arm segments connected in sequence, a plurality of the grooved groups are provided between both ends of the grooved arm segment, connection flanges are provided at both ends of the grooved arm segment, and adjacent grooved arm segments are connected through the connection flanges.

[0011] In one embodiment, the grooved arm segment includes a plurality of grooved sections connected in sequence, the grooved sections at the head and tail are respectively connected to the two connection flanges, a plurality of the grooved groups are provided on a plurality of the grooved sections, and positioning holes for the nickel-titanium alloy superelastic rod to pass through are provided on the grooved sections.

[0012] In one embodiment, a plurality of rope threading channels are provided on the grooved continuum. Each of the plurality of rope threading channels includes a plurality of rope threading holes for the driving ropes to pass through. The plurality of rope threading channels are separately arranged around the peripheral wall of the grooved continuum, and the plurality of rope threading channels are all arranged to extend along the axial direction of the grooved continuum. Both ends of each driving rope respectively pass through two independent rope threading channels corresponding thereto, and then are fixedly connected to the end of the grooved continuum.

[0013] In one embodiment, the two rope threading channels corresponding to each driving rope are arranged opposite to each other.

[0014] In one embodiment, the gear set includes a small gear and a large gear that mesh and drive each other. The rotation center of the small gear is connected to the output shaft of the driving motor, and the large gear and the winch are connected to form a synchronous rotation structure with the same rotation center.

[0015] In one embodiment, a concave portion is provided on one side of the winch, and a wire winding groove is provided on the peripheral wall of the winch. The driving rope includes a first rope segment and a second rope segment. One ends of the first rope segment and the second rope segment are both fixed at the position corresponding to the large gear and the concave portion. The other ends of the first rope segment and the second rope segment respectively bypass the wire winding groove and are connected to the grooved continuum.

[0016] The beneficial effects of the present invention are as follows: 1. Since the grooved continuum is provided in the present invention, it ensures that the continuum robot has excellent flexibility and deformable characteristics, can adapt to dangerous and complex environments, and complete corresponding operation tasks. In addition, the present invention also adds a nickel-titanium alloy superelastic rod combined with the grooved continuum. By the nickel-titanium alloy superelastic rod, the axial length change generated when the grooved continuum bends is restricted, thereby solving the problem of axial length change when the existing continuum bends, and greatly reducing the control difficulty. 2. The grooved continuum of the present invention is connected by a plurality of grooved arm segments, and each grooved arm segment is in turn connected by a plurality of grooved joints, thereby realizing the processing and manufacturing of the grooved continuum through a simple and repetitive structure, and greatly reducing the integrated processing cost.

[0017] 3. The present invention uses a rope loop drive box to replace the existing ball screw drive box, which can reduce the number of drive sources, thereby reducing the volume of the drive box. Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the present invention, the accompanying drawings required for the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0019] Figure 1 is the structural schematic diagram provided by the embodiment of the present invention; Figure 2 is Figure 1 the structural schematic diagram of the grooved continuum; Figure 3 is Figure 2 the partial structural schematic diagram of Figure 4 is Figure 3 the partial structural schematic diagram of Figure 5 is Figure 1 the structural schematic diagram of the rope loop drive box of

[0020] The reference signs are as follows: 100, grooved continuum; 110, grooved group; 111, grooved opening; 120, annular disk; 130, double arc hinge; 140, grooved arm segment; 141, grooved section; 142, positioning hole; 150, connecting flange; 160, rope threading channel; 161, rope threading hole; 200, nickel-titanium alloy superelastic rod; 300, rope loop drive box; 310, drive motor; 320, gear set; 321, pinion gear; 322, large gear; 330, winch; 331, recessed part; 332, rope winding groove; 340, drive rope; 341, first rope segment; 342, second rope segment; 350, rope guide sleeve; 400, end effector. Specific embodiments

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] As can be seen from the background technology above, there are two main disadvantages in the prior art. One is the low control accuracy, and the other is the too large volume of the drive structure.

[0023] For the first drawback, the main reason for its occurrence lies in the stretching and deformation of the rope. For example, when technicians design a cable-driven robotic arm, they generally design the control scheme based on the original length of the rope. Therefore, when the rope becomes longer due to the bending and stretching of the robotic arm, the original designed control scheme naturally cannot accurately adapt to the rope at this time. Although technicians can make corrections, compensations, etc. in the design, the amount of deformation of the rope under different circumstances is uncontrollable. Therefore, the above-mentioned correction and compensation design methods can achieve very limited effects.

[0024] For the second drawback, its cause is due to the existing cable-driven control method. For example, in the existing technology, if it is necessary to control the robotic arm to swing left and right, generally two ropes are required to connect the left and right ends of the robotic arm, and two ball screw drive structures are used to control the winding and unwinding of the two ropes respectively. Therefore, once it is desired to control the robotic arm in multiple dimensions, a large number of ball screw drive structures need to be set up, resulting in an overly large volume of the drive structure.

[0025] Therefore, to solve the above technical problems, the present invention provides a continuum robot with a central spine, and its embodiments are as Figure 1 and Figure 3 shown, which mainly includes a grooved continuum 100, a nickel-titanium alloy superelastic rod 200, and a cable loop drive box 300.

[0026] Regarding the aforementioned grooved continuum 100, as Figures 1 to 4 shown, the grooved continuum 100 is a cylindrical robotic arm structure. The grooved continuum 100 is connected and fixed to the cable loop drive box 300 through one of its ends, so that the grooved continuum 100 can be disposed on the cable loop drive box 300.

[0027] For the grooved continuum 100, its main function is to achieve continuous deformation to adapt to the usage requirements in different scenarios. Therefore, to achieve this purpose, in this embodiment, along the axial direction of the grooved continuum 100, a plurality of grooved groups 110 are provided on the grooved continuum 100. As long as it is ensured that each of the plurality of grooved groups 110 has a plurality of grooved openings 111 with different orientations, and the orientations of the grooved openings 111 of adjacent grooved groups 110 are different from each other, then it is possible for different parts of the grooved continuum 100 to bend and swing in multiple angles.

[0028] For example, in this embodiment, it is set that each of the plurality of grooved groups 110 has two grooved openings 111. Within the same grooved group 110, the orientations of the two grooved openings 111 are opposite to each other; in order to Figure 4Taking the shown example, if a cutting slot opening 111 of a cutting slot group 110 is arranged to face left at this time, then the other cutting slot opening 111 will be arranged to face right; similarly, if a cutting slot opening 111 of a cutting slot group 110 is arranged to face outward at this time, then the other cutting slot opening 111 will be arranged to face inward.

[0029] Moreover, in order to reduce the design and control difficulties, in this embodiment, two cutting slot openings 111 of two adjacent cutting slot groups 110 are specifically arranged to be perpendicular to each other. Therefore, when a cutting slot opening 111 of a cutting slot group 110 is arranged to face left and the other cutting slot opening 111 is arranged to face right, a cutting slot opening 111 of its adjacent cutting slot group 110 will be arranged to face outward and the other cutting slot opening 111 will be arranged to face inward.

[0030] Obviously, at the part where the cutting slot opening 111 is provided, space for bending and swinging can be provided for the grooved continuum 100, that is, the coverage range of the cutting slot opening 111 will directly affect the bendable and swingable range of the grooved continuum 100; therefore, after adopting the above setting method, it is equivalent to expanding the coverage range of the cutting slot opening 111 at each part of the grooved continuum 100, so that the coverage range where the grooved continuum 100 can be bent and swung is wider.

[0031] Among them, in order to realize the setting of structures such as the cutting slot group 110 and the cutting slot opening 111, as Figure 1 and Figure 4 shown, along the axial direction of the grooved continuum 100 in this embodiment, a plurality of annular disks 120 are provided on the grooved continuum 100, so that a cutting slot group 110 is formed between adjacent annular disks 120; moreover, double-arc hinges 130 are connected between adjacent annular disks 120. At this time, the double-arc hinges 130 can not only be used for the bending movement between adjacent annular disks 120, but can also act as a separating structure by themselves to separate and form two cutting slot openings 111 with different orientations in the cutting slot group 110.

[0032] From Figure 1 and Figure 4 it can be seen that both the left and right sides of the double-arc hinge 130 have concave arc structures. After the double-arc hinge 130 adopts this setting method, the bendability of both the left and right sides of the double-arc hinge 130 will be stronger. Therefore, through the setting of the double-arc hinge 130, the control of the bendable direction of the grooved continuum 100 is also realized.

[0033] In addition, in order to reduce the processing difficulty of the grooved continuum 100, this embodiment adopts segmented processing to replace the integrated processing of the prior art, as Figure 1 、 Figure 2 and Figure 4As shown, the grooved continuum 100 at this time includes a plurality of successively connected grooved arm segments 140. A plurality of grooved groups 110 are provided between the two ends of the grooved arm segment 140. Connecting flanges 150 are provided at both ends of the grooved arm segment 140. Adjacent grooved arm segments 140 are connected through the connecting flanges 150.

[0034] Specifically, there are two grooved arm segments 140 at this time. Connecting flanges 150 are provided at both ends of the two grooved arm segments 140. Therefore, one grooved arm segment 140 can be connected to the rope loop drive box 300 through the connecting flange 150 at one end thereof, and connected to the connecting flange 150 of another grooved arm segment 140 through the connecting flange 150 at the other end thereof. The connecting flange 150 at the other end of the other grooved arm segment 140 can be used to continue connecting a new grooved arm segment 140, or in the Figure 1 way shown, install the required end tool 400 thereon.

[0035] It should be noted that in order to realize the connection and fixation with various components, the connecting flange 150 can be provided with structures such as light holes and threaded holes at corresponding positions. Subsequently, only by passing screws through the corresponding holes, the quick and stable installation between the connecting flange 150 and various components can be realized.

[0036] Furthermore, in order to further reduce the processing difficulty of the grooved continuum 100, this embodiment also performs a split processing on the grooved arm segment 140. As Figures 2 to 4 shown, the grooved arm segment 140 at this time includes a plurality of successively connected grooved sections 141. The grooved sections 141 at the head and the tail are respectively connected to the two connecting flanges 150. A plurality of grooved groups 110 are provided on each of the plurality of grooved sections 141, and positioning holes 142 for the nickel-titanium alloy superelastic rod 200 to pass through are provided on the grooved sections 141.

[0037] Specifically, the grooved section 141 is actually composed of a plurality of annular disks 120 and a plurality of double-arc hinges 130, and is a basic independent unit with a plurality of grooved groups 110. Therefore, when conducting production design, the selected number of grooved sections 141 determines the overall length of the grooved arm segment 140 and the grooved continuum 100. Technicians can select according to actual needs.

[0038] At this time, in order to realize the connection and fixation between adjacent grooved sections 141 and the connection and fixation between the grooved section 141 and the connecting flange 150, structures such as light holes and threaded holes can also be provided at the corresponding connection positions of the grooved section 141. Subsequently, only by passing screws through the corresponding holes, the connection and fixation between adjacent grooved sections 141 and the connection and fixation between the grooved section 141 and the connecting flange 150 can be realized.

[0039] Furthermore, in this embodiment, the positioning hole 142 is arranged at the geometric center of the slot section 141, so when the nickel-titanium alloy superelastic rod 200 passes through all the positioning holes 142, the nickel-titanium alloy superelastic rod 200 can be limited to be placed on the central axis of the slotted continuum 100; and in order to fix the starting position of the nickel-titanium alloy superelastic rod 200, it is only necessary to fix the two ends of the nickel-titanium alloy superelastic rod 200 to the two connecting flanges 150 at the starting position.

[0040] Regarding the nickel-titanium alloy superelastic rod 200, Figure 1 and Figure 3 As shown, in this embodiment, a nickel-titanium alloy superelastic rod 200 is arranged to pass through the slotted continuum 100. The nickel-titanium alloy superelastic rod 200 is arranged to extend along the axial direction of the slotted continuum 100, and the two ends of the nickel-titanium alloy superelastic rod 200 are respectively connected to the two ends of the slotted continuum 100.

[0041] After adopting this setting method, once the slotted continuum 100 produces a bending deformation, the nickel-titanium alloy superelastic rod 200 will also bend synchronously; however, since the material properties of the nickel-titanium alloy superelastic rod 200 itself are different from those of ordinary ropes, the nickel-titanium alloy superelastic rod 200 will not produce the problem of axial length change when bending. Therefore, when the nickel-titanium alloy superelastic rod 200 is connected and fixed to the two ends of the slotted continuum 100, this characteristic of the nickel-titanium alloy superelastic rod 200 will also prevent the slotted continuum 100 from producing axial length changes, thereby effectively solving the problem of axial length change when the existing continuum is bent, and greatly reducing the control difficulty.

[0042] Regarding the rope ring drive box 300, as Figure 1 and Figure 5 As shown, this embodiment provides a rope ring drive box 300 including a drive motor 310, a gear set 320, a winch 330 and a drive rope 340; multiple drive motors 310 are respectively connected to the multiple gear sets 320 for transmission, and the multiple drive motors 310 are respectively used to drive the multiple gear sets 320 to operate; multiple gear sets 320 are respectively connected to the multiple winches 330 for transmission, and the operation of the multiple gear sets 320 is respectively used to drive the multiple winches 330 to rotate; multiple winches 330 are all wound with drive ropes 340, and the rotation of the multiple winches 330 is respectively used to control the retraction and extension states of the two ends of the multiple drive ropes 340; the multiple drive ropes 340 are all connected to the grooved continuum 100 for rope driving, and the retraction and extension states of the two ends of the multiple drive ropes 340 are respectively used to control the grooved continuum 100 to swing in different states.

[0043] After adopting the above setting method, the basic control of the grooving continuum 100 can be realized. For example, after the driving motor 310 is started, the output shaft of the driving motor 310 can provide power for the gear set 320, and drive the gear set 320 to operate. The operation of the gear set 320 will drive the winch 330 to rotate. The rotation of the winch 330 can control the winding and unwinding of the driving rope 340. Therefore, by controlling the different winding and unwinding states of multiple driving ropes 340, the grooving continuum 100 can be controlled to bend and swing to the required state, so as to complete various task operations.

[0044] Specifically, since the rope loop drive box 300 uses the driving rope 340 to realize the rope drive control of the grooving continuum 100, it is particularly important to control the winding and unwinding of the driving rope 340 and how to connect the driving rope 340 to the grooving continuum 100.

[0045] To realize the control of the winding and unwinding of the driving rope 340, it is necessary to solve the power acquisition of the driving rope 340 and the adapter installation of the driving rope 340 and the winch 330. Therefore, to realize the power acquisition of the driving rope 340, as Figure 5 shown, in this embodiment, the gear set 320 is provided with a pinion 321 and a large gear 322 that mesh and drive each other. The rotation center of the pinion 321 is connected to the output shaft of the driving motor 310, and the large gear 322 is connected to the winch 330 to form a synchronous rotation structure with the same rotation center.

[0046] After adopting this setting method, once the driving motor 310 starts to work, the driving motor 310 can use its output shaft to control the pinion 321 to rotate. The rotation of the pinion 321 will drive the large gear 322 to rotate, and finally the large gear 322 will drive the winch 330 to rotate synchronously, thus achieving the purpose of providing power for the driving rope 340.

[0047] To realize the adapter installation of the driving rope 340 and the winch 330, as Figure 1 and Figure 5 shown, in this embodiment, a concave portion 331 is provided on one side of the winch 330, and a wire groove 332 is provided on the peripheral wall of the winch 330. At this time, the driving rope 340 includes a first rope segment 341 and a second rope segment 342. One ends of the first rope segment 341 and the second rope segment 342 are both fixed at the corresponding position of the large gear 322 and the concave portion 331. The other ends of the first rope segment 341 and the second rope segment 342 respectively bypass the wire groove 332 and are connected to the end of the grooving continuum 100.

[0048] After adopting this setting method, no matter which direction the winch 330 rotates, the first rope segment 341 and the second rope segment 342 can always be in the opposite winding and unwinding states. For example, from Figure 5As can be seen, when the winch 330 rotates counterclockwise, it will pull back the first rope segment 341 and release the second rope segment 342. Similarly, when the winch 330 rotates clockwise, it will pull back the second rope segment 342 and release the first rope segment 341. That is, the retraction and release control of the drive rope 340 can be achieved by the rotation of a single winch 330.

[0049] Obviously, in the prior art, if it is necessary to control the retraction and release of a rope segment, an independent ball screw structure needs to be set up. Therefore, if it is necessary to obtain the effect of controlling the retraction and release of two rope segments, two ball screw structures need to be set up. Therefore, after adopting the above setting method in this embodiment, the rope loop drive box 300 replaces the existing ball screw drive box, which can not only reduce the number of drive sources, but also reduce the volume of the drive box.

[0050] To realize the connection between the drive rope 340 and the grooved continuum 100, as Figure 3 shown, in this embodiment, a plurality of rope threading channels 160 are provided on the grooved continuum 100. The plurality of rope threading channels 160 each include a plurality of rope threading holes 161 for the drive rope 340 to pass through. The plurality of rope threading channels 160 are separately arranged around the circumferential wall of the grooved continuum 100, and the plurality of rope threading channels 160 are all arranged along the axial direction of the grooved continuum 100, so as to facilitate both ends of each drive rope 340 to respectively pass through two independently corresponding rope threading channels 160 and then be fixedly connected to the grooved continuum 100.

[0051] After adopting the above setting method, each drive rope 340 can control the bending and swinging of the grooved continuum 100 in one dimension. For example, in this embodiment, the two rope threading channels 160 corresponding to each drive rope 340 are arranged opposite to each other. Therefore, at this time, the first rope segment 341 of a drive rope 340 can pass through one of the rope threading channels 160, and its second rope segment 342 can pass through the other rope threading channel 160, thus forming a structure similar to a rope loop. Therefore, once the drive rope 340 undergoes retraction and release changes, the grooved continuum 100 will bend towards the side where the rope segment contracts, thereby completing the control of the bending and swinging of the grooved continuum 100.

[0052] Therefore, if it is necessary to use a plurality of drive ropes 340 to achieve the control of the grooved continuum 100 in multiple dimensions, it is only necessary to use the plurality of drive ropes 340 to pass through two rope threading channels 160 in different dimensions and be fixedly connected to the grooved continuum 100.

[0053] However, it should be noted that the driving ropes 340 do not necessarily have to pass completely through the rope-passing channels 160, and the connection and fixation positions of each driving rope 340 can be selected as required; for example, if some driving ropes 340 are needed to control the bending of the end of the grooved continuum 100, these driving ropes 340 can be passed through the rope-passing channels 160 until they reach the end of the grooved continuum 100 (i.e., the rope-passing holes 161 at that location) and then be connected and fixed; if some driving ropes 340 are needed to control the bending of the middle of the grooved continuum 100, these driving ropes 340 can be passed through the rope-passing channels 160 until they reach the middle of the grooved continuum 100 (i.e., the rope-passing holes 161 at that location) and then be connected and fixed.

[0054] Therefore, by connecting and fixing different driving ropes 340 to different parts of the grooved continuum 100, comprehensive control of different parts and different dimensions of the grooved continuum 100 can be achieved, so that the grooved continuum 100 can meet the control requirements in more different scenarios.

[0055] It should also be noted that, for the convenience of guiding the driving ropes 340 from the rope loop driving box 300 to the grooved continuum 100, as Figure 1 and Figure 5 shown, in this embodiment, a rope guiding sleeve 350 is also provided on the rope loop driving box 300. After the driving ropes 340 pass through the rope guiding sleeve 350, they can pass through the path defined by the rope guiding sleeve 350 and accurately reach the position where the driving ropes 340 are introduced into the grooved continuum 100.

[0056] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A continuum robot with a central spine, characterized in that it includes a grooved continuum, a nickel-titanium alloy superelastic rod, and a cable loop drive box; The grooved continuum is arranged on the cable loop drive box. Along the axial direction of the grooved continuum, a plurality of grooved groups are provided on the grooved continuum. Each of the plurality of grooved groups has a plurality of grooved openings with different orientations, and the grooved openings of adjacent grooved groups have different orientations; The nickel-titanium alloy superelastic rod passes through the grooved continuum. The nickel-titanium alloy superelastic rod extends along the axial direction of the grooved continuum, and both ends of the nickel-titanium alloy superelastic rod are connected to both ends of the grooved continuum respectively; The cable loop drive box includes drive motors, gear sets, winches, and drive cables; a plurality of the drive motors are respectively in transmission connection with a plurality of the gear sets, and a plurality of the drive motors are respectively used to drive a plurality of the gear sets to operate; A plurality of the gear sets are respectively in transmission connection with a plurality of the winches, and the operation of a plurality of the gear sets is respectively used to drive a plurality of the winches to rotate; the drive cables are wound on a plurality of the winches respectively, and the rotation of a plurality of the winches is respectively used to control the winding and unwinding states of both ends of a plurality of the drive cables; a plurality of the drive cables are respectively connected to the grooved continuum by cable drive, and the winding and unwinding states of both ends of a plurality of the drive cables are respectively used to control the grooved continuum to swing in different states.

2. The continuum robot according to claim 1, characterized in that each of the plurality of grooved groups is provided with two of the grooved openings, and within the same grooved group, the orientations of the two grooved openings are opposite to each other.

3. The continuum robot according to claim 2, characterized in that between adjacent grooved groups, the grooved openings of the two grooved groups are perpendicular to each other.

4. The continuum robot according to claim 2, characterized in that along the axial direction of the grooved continuum, the grooved continuum is provided with a plurality of annular discs, and the grooved groups are formed between adjacent annular discs; and double-arc hinges are connected between adjacent annular discs, and the double-arc hinges are used to allow adjacent annular discs to bend.

5. The continuum robot according to claim 1, characterized in that the grooved continuum includes a plurality of grooved arm segments connected in sequence. A plurality of the grooved groups are provided between both ends of the grooved arm segment. Connection flanges are provided at both ends of the grooved arm segment, and adjacent grooved arm segments are connected by the connection flanges.

6. The continuum robot according to claim 5, characterized in that the grooved arm segment includes a plurality of grooved sections connected in sequence. The grooved sections at the head and tail are respectively connected to the two connection flanges. A plurality of the grooved groups are provided on a plurality of the grooved sections, and positioning holes for the nickel-titanium alloy superelastic rod to pass through are provided on the grooved sections.

7. The continuum robot according to claim 1, characterized in that The grooved continuum is provided with a plurality of rope threading channels, and each of the plurality of rope threading channels includes a plurality of rope threading holes for the driving ropes to pass through. The plurality of rope threading channels are arranged separately around the peripheral wall of the grooved continuum, and each of the plurality of rope threading channels extends along the axial direction of the grooved continuum; Both ends of each driving rope respectively pass through two independent rope threading channels corresponding thereto, and then are fixedly connected to the end of the grooved continuum.

8. The continuum robot according to claim 7, wherein The two rope threading channels corresponding to each driving rope are arranged opposite to each other.

9. The continuum robot according to claim 1, wherein The gear set includes a pinion gear and a large gear that mesh with each other. The rotation center of the pinion gear is connected to the output shaft of the drive motor, and the large gear and the winch are connected to form a synchronous rotation structure with the same rotation center.

10. The continuum robot according to claim 9, wherein A concave portion is provided on one side of the winch, and a wire winding groove is provided on the peripheral wall of the winch; The driving rope includes a first rope segment and a second rope segment. One ends of the first rope segment and the second rope segment are both fixed at the position corresponding to the large gear and the concave portion. The other ends of the first rope segment and the second rope segment respectively bypass the wire winding groove and are connected to the grooved continuum.

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