Full-degree-of-freedom continuum mechanical arm

Abstract

The invention discloses a full-degree-of-freedom continuum mechanical arm, and belongs to the technical field of mechanical arms. The mechanical arm comprises a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a clamping assembly. One end of the second connecting rod is rotatably connected with the first connecting rod, and the other end of the second connecting rod is connected with the swing assembly. One end of the third connecting rod is connected with the swing assembly, the other end of the third connecting rod is rotationally connected with the fourth connecting rod, and the third connecting rod can swing through the swing assembly. A clamping assembly used for grabbing objects is arranged at the end, away from the third connecting rod, of the fourth connecting rod. According to the mechanical arm, through modular joint design and gear meshing transmission, full-degree-of-freedom continuous movement of the mechanical arm is achieved, and the flexibility and environmental adaptability of the mechanical arm are improved. And meanwhile, the mechanical arm adopts cooperation of motor driving and thread adjustment, friction loss is reduced, and the movement precision and the response speed are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic arms, and in particular relates to a full-freedom continuum robotic arm. Background Art

[0002] With the rapid development of robotics, robotic arms are increasingly being used in industrial automation, medical surgery, hazardous environment operations, and other fields. Traditional robotic arms, which often utilize rigid links and discrete joints, offer high positioning accuracy and load capacity, but suffer from poor flexibility and adaptability in confined spaces or unstructured environments. To address this, the continuum robotic arm, a new type of robotic structure, has emerged. Its biomimetic design mimics the flexibility and continuous motion characteristics of biological organisms, enabling flexible multi-degree-of-freedom manipulation in complex environments.

[0003] However, existing continuum robotic arms still have some technical bottlenecks:

[0004] 1. Limited freedom of movement: Some continuum manipulators have difficulty achieving full-degree-of-freedom spatial movement, especially in the coordinated control of compound movements such as pitch, yaw, and rotation.

[0005] 2. Low drive and transmission efficiency: Traditional designs rely on ropes or pneumatic drives, which are prone to problems such as lag and friction loss, affecting motion accuracy and response speed.

[0006] 3. Insufficient structural rigidity: Flexible structures are prone to deformation under load conditions, resulting in positioning deviation of the end effector, making it difficult to balance flexibility and stability.

[0007] In order to solve the above problems, the present invention proposes a full-freedom continuum robotic arm. Summary of the Invention

[0008] The purpose of the present invention is to provide a full-degree-of-freedom continuum robotic arm, which can achieve high-precision, multi-degree-of-freedom continuous movement of the robotic arm through motor drive, gear meshing transmission and thread adjustment, while enhancing the load capacity and environmental adaptability of the robotic arm.

[0009] To achieve the above object, the present invention provides the following technical solutions:

[0010] A full-freedom continuum robotic arm comprises a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a clamping assembly;

[0011] A first connecting rod is provided on the base;

[0012] One end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is connected to the swing assembly;

[0013] One end of the third connecting rod is connected to the swing assembly, and the other end of the third connecting rod is rotatably connected to the fourth connecting rod, and the third connecting rod can swing through the swing assembly;

[0014] A clamping assembly for grabbing an object is provided at one end of the fourth connecting rod away from the third connecting rod.

[0015] Preferably, the clamping assembly includes a connecting plate, a clamping plate and a first motor;

[0016] The top end of the connecting plate is connected to the fourth connecting rod, and the bottom end of the connecting plate is provided with a first T-shaped sliding groove;

[0017] The first motor is arranged on one side of the connecting plate, the output shaft of the first motor is connected to the bidirectional screw rod, and the two ends of the bidirectional screw rod are rotatably connected to the two sides of the first T-shaped slide groove;

[0018] A first T-shaped slider is provided on each of the opposite threads of the bidirectional screw rod, and each first T-shaped slider is slidably engaged with the first T-shaped slot;

[0019] A clamping plate is provided at the bottom end of each first T-shaped sliding block.

[0020] Preferably, each of the clamping plates is composed of a first clamping plate, a second clamping plate, a second motor and a movable plate;

[0021] The top of the first clamping plate is connected to a first T-shaped slider, and an L-shaped fixing plate is provided on the front and rear sides of the bottom of the first clamping plate, and each L-shaped fixing plate has a fixing plate hole;

[0022] A first rotating shaft is provided on each of the front and rear sides of the top end of the second clamping plate, each first rotating shaft extends into a fixing plate hole on the corresponding side, and each first rotating shaft can rotate relative to the L-shaped fixing plate on the corresponding side;

[0023] The second motor is arranged outside the first clamping plate, and a threaded rod is arranged on the output shaft of the second motor; a threaded groove is provided on the top of the movable plate, and the threaded rod extends into the threaded groove and is connected to the threaded groove by a thread;

[0024] A rack is arranged on one side of the movable plate close to the second clamping plate, a first half gear is arranged on the top end of the second clamping plate, and the rack is meshed with the first half gear.

[0025] Preferably, a second T-shaped slot is provided on the outer side of the first clamping plate;

[0026] A second T-shaped sliding block is provided on the top end of one side of the movable plate close to the second clamping plate, and the second T-shaped sliding block is slidably matched with the second T-shaped sliding groove.

[0027] Preferably, anti-slip grooves are provided on the inner side of the first clamping plate and the inner side of the second clamping plate.

[0028] Preferably, a first mounting groove is formed at one end of the first connecting rod close to the second connecting rod;

[0029] A third motor is arranged inside the first mounting slot, an output shaft of the third motor is fixedly connected to the first rotating rod, and an end of the first rotating rod away from the third motor is connected to the second connecting rod.

[0030] Preferably, a first annular groove is formed at one end of the second connecting rod close to the first connecting rod;

[0031] A first slip ring is provided at one end of the first connecting rod close to the second connecting rod, and the first slip ring is slidably connected to the first annular groove.

[0032] Preferably, the swing assembly includes a fixed frame, a fourth motor and a gear;

[0033] The fixing frame is arranged on the second connecting rod;

[0034] The fourth motor is arranged outside the side wall of the fixed frame, the output shaft of the fourth motor is connected to the second rotating rod, the second rotating rod extends into the interior of the fixed frame, and the two ends of the second rotating rod are respectively rotatably connected to the side walls of the corresponding sides of the fixed frame;

[0035] A gear is provided on the second rotating rod located in the fixed frame;

[0036] A second rotating shaft is provided at one end of the third connecting rod close to the fixed frame, and the second rotating shaft is rotatably connected to the side wall of the fixed frame;

[0037] A second half gear is provided on the top of one end of the third connecting rod close to the fixed frame, and the second half gear is meshed with the gear.

[0038] Preferably, a second mounting groove is formed at one end of the third connecting rod close to the fourth connecting rod;

[0039] A fifth motor is arranged inside the second mounting groove, an output shaft of the fifth motor is fixedly connected to the third rotating rod, and an end of the third rotating rod away from the fifth motor is connected to the fourth connecting rod.

[0040] Preferably, a second annular groove is formed at one end of the fourth connecting rod close to the third connecting rod;

[0041] A second slip ring is provided at one end of the third connecting rod close to the fourth connecting rod, and the second slip ring is slidably connected to the second annular groove.

[0042] Compared with the prior art, the present invention has the following beneficial effects:

[0043] 1. The present invention realizes full-freedom continuous movement of the robotic arm through modular joint design and gear meshing transmission, thereby improving the flexibility and environmental adaptability of the robotic arm.

[0044] 2. The present invention adopts the combination of motor drive and thread adjustment to reduce friction loss and improve movement accuracy and response speed.

[0045] 3. The present invention enhances the load capacity through the bidirectional screw rod and T-shaped slider structure, and the bending angle design of the first clamping plate and the second clamping plate takes into account the requirements of flexibility and rigidity. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments.

[0047] Figure 1 Schematic diagram of the structure of a full-freedom continuum manipulator in this embodiment;

[0048] Figure 2 Schematic diagram of the cross-sectional structure of the first connecting rod and the second connecting rod in this embodiment;

[0049] Figure 3 Schematic diagram of the cross-sectional structure of the first slip ring and the second connecting rod in this embodiment;

[0050] Figure 4 Schematic diagram of the structure of the connection between the swing assembly and the third connecting rod in this embodiment;

[0051] Figure 5 Schematic diagram of the cross-sectional structure of the third connecting rod and the fourth connecting rod in this embodiment;

[0052] Figure 6 for Figure 5 A partial enlarged view of point A in the middle;

[0053] Figure 7 Schematic diagram of the structure of the fourth connecting rod and the clamping assembly in this embodiment;

[0054] Figure 8 is a schematic cross-sectional structural diagram of the clamping assembly in this embodiment;

[0055] Figure 9 This is a schematic cross-sectional view of one of the clamping plates in this embodiment.

[0056] In the figure: 1, base; 2, first connecting rod; 3, second connecting rod; 4, fixed frame; 5, third connecting rod; 6, fourth connecting rod; 7, connecting plate; 8, first clamping plate; 9, second clamping plate; 10, L-shaped fixing plate; 11, first rotating shaft; 12, movable plate; 13, rack; 14, first half gear; 15, second motor; 16, threaded rod; 17, threaded groove; 18, second T-shaped slide; 19, second T-shaped slider; 20, first T-shaped slide; 21, First T-shaped slider; 22. Bidirectional screw rod; 23. First motor; 24. Anti-slip groove; 25. First mounting groove; 26. Third motor; 27. First rotating rod; 28. First annular groove; 29. ​​First slip ring; 30. Second rotating shaft; 31. Second rotating rod; 32. Gear; 33. Fourth motor; 34. Second half gear; 35. Second mounting groove; 36. Fifth motor; 37. Third rotating rod; 38. Second annular groove; 39. Second slip ring; 40. Bearing seat. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0058] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of the present invention.

[0059] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0060] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0061] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0063] Example 1

[0064] like Figure 1 As shown, this embodiment describes a full-freedom continuum robotic arm, which includes a base 1, a first connecting rod 2, a second connecting rod 3, a third connecting rod 5, a fourth connecting rod 6, and a clamping assembly.

[0065] A first connecting rod 2 is fixedly connected to the base 1. A second connecting rod 3 is pivotally connected to the first connecting rod 2 at one end, and fixedly connected to a swing assembly at the other end. A third connecting rod 5 is connected to the swing assembly at one end and pivotally connected to a fourth connecting rod 6 at the other end, allowing the third connecting rod 5 to swing through the swing assembly. A gripping assembly for grasping objects is provided at the end of the fourth connecting rod 6 remote from the third connecting rod 5.

[0066] like Figure 8 As shown, the clamping assembly includes a connecting plate 7, a clamping plate and a first motor 23. The top end of the connecting plate 7 is connected to the fourth connecting rod 6, and the bottom end of the connecting plate 7 is provided with a first T-shaped slot 20. The first motor 23 is arranged on one side of the connecting plate 7, and the output shaft of the first motor 23 is fixedly connected to the bidirectional screw rod 22, and the two ends of the bidirectional screw rod 22 are rotatably connected to the two sides of the first T-shaped slot 20. A first T-shaped slider 21 is provided on each of the opposite threads of the bidirectional screw rod 22, and each first T-shaped slider 21 is slidably engaged with the first T-shaped slot 20; a clamping plate is fixedly provided at the bottom end of each first T-shaped slider 21.

[0067] The ends of the bidirectional screw rod 22 pass through the two first T-shaped sliders 21 and are rotatably connected to the two sides of the first T-shaped chute 20. The bidirectional screw rod 22 and the two first T-shaped sliders 21 are connected by threads with opposite threads. When grasping an object, the output shaft of the first motor 23 drives the bidirectional screw rod 22 to rotate. This rotation of the bidirectional screw rod 22 drives the two first T-shaped sliders 21 to slide along the first T-shaped chute 20. The first T-shaped sliders 21 drive the two clamping plates to open and close synchronously to grasp the object.

[0068] like Figure 2 As shown, the first connecting rod 2 has a first mounting groove 25 at one end thereof close to the second connecting rod 3. A third motor 26 is fixedly mounted inside the first mounting groove 25, and the output shaft of the third motor 26 is fixedly connected to a first rotating rod 27. The end of the first rotating rod 27 away from the third motor 26 is fixedly connected to the second connecting rod 3.

[0069] like Figure 3 As shown, a first annular groove 28 is opened at one end of the second connecting rod 3 close to the first connecting rod 2, and a first slip ring 29 is provided at one end of the first connecting rod 2 close to the second connecting rod 3. The first slip ring 29 is arranged inside the first annular groove 28, and the first slip ring 29 is slidably connected to the first annular groove 28.

[0070] The base 1 is fixed to the work platform. When the output shaft of the third motor 26 drives the first rotating rod 27 to rotate, it can drive the second connecting rod 3 to rotate. When the third motor 26 drives the second connecting rod 3 to rotate, the first slip ring 29 slides in the first annular groove 28.

[0071] like Figure 4 As shown, the swing assembly includes a fixed frame 4, a fourth motor 33 and a gear 32. The fixed frame 4 is fixedly arranged on the second connecting rod 3. The fourth motor 33 is fixedly arranged on the outside of the side wall of the fixed frame 4, and the output shaft of the fourth motor 33 is fixedly connected to the second rotating rod 31. The second rotating rod 31 extends into the interior of the fixed frame 4, and the two ends of the second rotating rod 31 are respectively rotatably connected to the side walls of the corresponding sides of the fixed frame 4. A second rotating shaft 30 is provided at one end of the third connecting rod 5 close to the fixed frame 4. There are two second rotating shafts 30, which are respectively provided on both sides of one end of the third connecting rod 5 close to the fixed frame 4, and each second rotating shaft 30 is rotatably connected to a side wall of the fixed frame 4. A gear 32 is provided on the second rotating rod 31 located in the fixed frame 4, and a second half gear 34 is fixedly provided at the top of one end of the third connecting rod 5 close to the fixed frame 4, and the second half gear 34 is engaged with the gear 32.

[0072] When the output shaft of the fourth motor 33 drives the second rotating rod 31 to rotate, the third connecting rod 5 can achieve pitch motion through the engagement of the gear 32 in the fixed frame 4 with the second half gear 34, that is, the third connecting rod 5 can swing up and down relative to the second rotating shaft 30.

[0073] In this embodiment, a full-degree-of-freedom continuum robotic arm drives the second connecting rod 3 to rotate through the third motor 26, and at the same time realizes the swing of the third connecting rod 5 through the swing component, so that the clamping component reaches the position of the object to be grasped, and then grasps the object through the clamping component.

[0074] This embodiment achieves full-degree-of-freedom continuous motion of the robotic arm through modular joint design and gear meshing transmission, improving its flexibility and environmental adaptability. Furthermore, the use of motor drive and thread adjustment can reduce friction loss and improve motion accuracy and response speed.

[0075] Example 2

[0076] This embodiment 2 also describes a full-freedom continuum robotic arm. Except for the following technical features that are different from the above embodiment 1, the rest of the technical features of this robotic arm can refer to the above embodiment 1.

[0077] like Figure 7 、 Figure 8 and Figure 9 As shown, in this embodiment, each clamping plate is composed of a first clamping plate 8, a second clamping plate 9, a second motor 15, and a movable plate 12. The top of the first clamping plate 8 is fixedly connected to the bottom of a first T-shaped slider 21. An L-shaped fixing plate 10 is provided on the front and rear sides of the bottom of the first clamping plate 8, and each L-shaped fixing plate 10 has a fixing plate hole. A first rotating shaft 11 is provided on the front and rear sides of the top of the second clamping plate 9, and each first rotating shaft 11 extends into a fixing plate hole on the corresponding side and can rotate relative to the L-shaped fixing plate 10 on the corresponding side.

[0078] A second motor 15 is fixedly mounted on the outside of the first clamping plate 8, and the top end of the second motor 15 is fixedly connected to the bottom end of the first T-shaped slider 21. A threaded rod 16 is mounted on the output shaft of the second motor 15, and the threaded rod 16 is rotatably connected to the outside of the first clamping plate 8 via a bearing seat 40. A threaded groove 17 is defined at the top of the movable plate 12, and the threaded rod 16 extends into the threaded groove 17 and is threadedly connected to the threaded groove 17. A rack 13 is mounted on the side of the movable plate 12 near the second clamping plate 9, and a first half gear 14 is mounted on the top of the second clamping plate 9, with the rack 13 meshing with the first half gear 14.

[0079] A second T-shaped slot 18 is defined on the outside of the first clamping plate 8. A second T-shaped slider 19 is positioned at the top of the movable plate 12, near the second clamping plate 9. The second T-shaped slider 19 is positioned atop the rack 13 and slidably engages with the second T-shaped slot 18. Multiple anti-slip grooves 24 are defined on the insides of both the first and second clamping plates 8, 9, ensuring a secure grip on objects.

[0080] In this embodiment, the second motor 15, via the threaded rod 16, drives the movable plate 12 up and down. The rack 13 meshes with the first half gear 14. The up and down movement of the rack 13 drives the first half gear 14 to rotate, thereby adjusting the angles of the first clamping plate 8 and the second clamping plate 9. The bending angle design of the first clamping plate 8 and the second clamping plate 9 in this embodiment takes into account the requirements of flexibility and rigidity.

[0081] Example 3

[0082] This embodiment 3 also describes a full-freedom continuum robotic arm. Except for the following technical features that are different from the above embodiment 1, the rest of the technical features of this robotic arm can refer to the above embodiment 1.

[0083] like Figure 5 and Figure 6 As shown, in this example, a second mounting groove 35 is defined within the third connecting rod 5 at one end thereof adjacent to the fourth connecting rod 6. A fifth motor 36 is fixedly disposed within the second mounting groove 35, the output shaft of the fifth motor 36 being fixedly connected to a third rotating rod 37, and the end of the third rotating rod 37 away from the fifth motor 36 being fixedly connected to the fourth connecting rod 6.

[0084] like Figure 7 As shown, the fourth connecting rod 6 has a second annular groove 38 formed on one end thereof close to the third connecting rod 5. Figure 6 As shown, a second slip ring 39 is provided at one end of the third connecting rod 5 close to the fourth connecting rod 6 . The second slip ring 39 is provided outside the second mounting groove 35 and inside the second annular groove 38 . The second slip ring 39 is slidably connected to the second annular groove 38 .

[0085] When the output shaft of the fifth motor 36 drives the third rotating rod 37 to rotate, it can also drive the fourth connecting rod 6 to rotate. When the fifth motor 36 drives the fourth connecting rod 6 to rotate, the second slip ring 39 slides within the second annular groove 38. This embodiment further enhances the flexibility and environmental adaptability of the robotic arm.

[0086] The embodiments of the present invention are only used to illustrate the technical solutions of the present invention rather than to limit the present invention. Those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A full-freedom continuum robotic arm, characterized in that: It includes a base, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a clamping assembly; A first connecting rod is provided on the base; One end of the second connecting rod is rotatably connected to the first connecting rod, and the other end of the second connecting rod is connected to the swing assembly; One end of the third connecting rod is connected to the swing assembly, and the other end of the third connecting rod is rotatably connected to the fourth connecting rod, and the third connecting rod can swing through the swing assembly; A clamping assembly for grabbing an object is provided at one end of the fourth connecting rod away from the third connecting rod.

2. A full-freedom continuum robotic arm according to claim 1, characterized in that: The clamping assembly includes a connecting plate, a clamping plate and a first motor; The top end of the connecting plate is connected to the fourth connecting rod, and the bottom end of the connecting plate is provided with a first T-shaped sliding groove; The first motor is arranged on one side of the connecting plate, the output shaft of the first motor is connected to the bidirectional screw rod, and the two ends of the bidirectional screw rod are rotatably connected to the two sides of the first T-shaped slide groove; A first T-shaped slider is provided on each of the opposite threads of the bidirectional screw rod, and each first T-shaped slider is slidably engaged with the first T-shaped slot; A clamping plate is provided at the bottom end of each first T-shaped sliding block.

3. A full-freedom continuum robotic arm according to claim 2, characterized in that: Each of the clamping plates is composed of a first clamping plate, a second clamping plate, a second motor and a movable plate; The top of the first clamping plate is connected to a first T-shaped slider, and an L-shaped fixing plate is provided on the front and rear sides of the bottom of the first clamping plate, and each L-shaped fixing plate has a fixing plate hole; A first rotating shaft is provided on each of the front and rear sides of the top end of the second clamping plate, each first rotating shaft extends into a fixing plate hole on the corresponding side, and each first rotating shaft can rotate relative to the L-shaped fixing plate on the corresponding side; The second motor is arranged outside the first clamping plate, and a threaded rod is arranged on the output shaft of the second motor; a threaded groove is provided on the top of the movable plate, and the threaded rod extends into the threaded groove and is connected to the threaded groove by a thread; A rack is arranged on one side of the movable plate close to the second clamping plate, a first half gear is arranged on the top end of the second clamping plate, and the rack is meshed with the first half gear.

4. A full-freedom continuum robotic arm according to claim 3, characterized in that: A second T-shaped sliding groove is provided on the outer side of the first clamping plate; A second T-shaped sliding block is provided on the top end of one side of the movable plate close to the second clamping plate, and the second T-shaped sliding block is slidably matched with the second T-shaped sliding groove.

5. The full-freedom continuum robotic arm according to claim 3, characterized in that: Anti-slip grooves are provided on the inner side of the first clamping plate and the inner side of the second clamping plate.

6. The full-freedom continuum robotic arm according to claim 1, characterized in that: A first mounting groove is formed at one end of the first connecting rod close to the second connecting rod; A third motor is arranged inside the first mounting slot, an output shaft of the third motor is fixedly connected to the first rotating rod, and an end of the first rotating rod away from the third motor is connected to the second connecting rod.

7. The full-freedom continuum robotic arm according to claim 6, characterized in that: A first annular groove is formed on one end of the second connecting rod close to the first connecting rod; A first slip ring is provided at one end of the first connecting rod close to the second connecting rod, and the first slip ring is slidably connected to the first annular groove.

8. The full-freedom continuum robotic arm according to claim 1, characterized in that: The swing assembly includes a fixed frame, a fourth motor and a gear; The fixing frame is arranged on the second connecting rod; The fourth motor is arranged outside the side wall of the fixed frame, the output shaft of the fourth motor is connected to the second rotating rod, the second rotating rod extends into the interior of the fixed frame, and the two ends of the second rotating rod are respectively rotatably connected to the side walls of the corresponding sides of the fixed frame; A gear is provided on the second rotating rod located in the fixed frame; A second rotating shaft is provided at one end of the third connecting rod close to the fixed frame, and the second rotating shaft is rotatably connected to the side wall of the fixed frame; A second half gear is provided on the top of one end of the third connecting rod close to the fixed frame, and the second half gear is meshed with the gear.

9. The full-freedom continuum robotic arm according to claim 1, characterized in that: A second mounting groove is formed on one end of the third connecting rod close to the fourth connecting rod; A fifth motor is arranged inside the second mounting groove, an output shaft of the fifth motor is fixedly connected to the third rotating rod, and an end of the third rotating rod away from the fifth motor is connected to the fourth connecting rod.

10. The full-freedom continuum robotic arm according to claim 9, characterized in that: A second annular groove is formed on one end of the fourth connecting rod close to the third connecting rod; A second slip ring is provided at one end of the third connecting rod close to the fourth connecting rod, and the second slip ring is slidably connected to the second annular groove.

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