Joggle joint continuum robot unit and continuum robot

Abstract

The invention discloses a joggle joint continuum robot unit and a continuum robot, and belongs to the technical field of continuum robots. Each joggling continuum robot unit comprises a continuum robot unit, a tendon transition section, a mechanical box body and a unit expansion guide section; one end of the unit expansion guide section is connected with the continuum robot unit, the other end of the unit expansion guide section is connected with one end of the tendon transition section, and the other end of the tendon transition section is connected with the mechanical box body; each continuum robot unit comprises a body bone section and a central bone; the body bone section comprises a disc and a continuous body bone; the continuum bone comprises a skeleton and a tenon joint; the tenon joint is arranged at the end part of the framework; the disc is provided with a joggling groove, a disc positioning hole and a disc tendon via hole; the disc tendon via holes are formed in the disc at equal intervals with the disc positioning hole as the circle center. Local stress concentration can be effectively avoided, structural fatigue damage is reduced, and the reliability and durability of the joggled continuum robot backbone structure are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of continuous robot technology, specifically to a tenon-jointed continuous robot unit and a continuous robot. Background Technology

[0002] In the current era of rapid development in robotics technology, continuum robots have become a hot topic in research and application due to their unique advantages. Continuum robots possess structural continuity, theoretically lack rigid joints, and have potentially unlimited degrees of freedom. These characteristics endow them with excellent compliance and strong environmental adaptability, making them extremely promising for applications in many complex and unstructured environments. In the medical field, minimally invasive surgery requires extremely high flexibility and precision in manipulating instruments. Continuum robots, with their compliance, can penetrate deep into complex cavities of the human body to achieve precise operations and reduce surgical trauma. In post-disaster search and rescue scenarios, the complex and ever-changing environment of ruins makes it difficult for traditional robots to adapt, while continuum robots can flexibly move through narrow spaces and accurately locate survivors. In aerospace maintenance, facing complex aircraft structures, continuum robots can complete delicate maintenance tasks due to their compliance. In the field of bionics, continuum robots mimic the compliant movement of living organisms, providing strong support for the study of biological movement mechanisms and the development of bionic devices.

[0003] Currently, continuum robots typically employ tendon-driven mechanisms, with tendons constrained by discs, which are generally fixed to a central backbone using set screws. However, this seemingly conventional fixing method reveals several serious problems in practical applications. First, stress concentration is a significant issue. The set screws generate substantial localized stress, which, over long-term use, can easily lead to fatigue damage to the backbone, severely impacting the robot's structural integrity and lifespan. Second, positioning reliability is poor. Discs fixed solely by friction are prone to slippage during frequent robot movements, resulting in a significant decrease in motion accuracy and failing to meet the demands of high-precision operations. Third, assembly consistency is difficult to guarantee. Precise control of screw preload is extremely challenging, leading to noticeable differences between batches. This not only affects product quality but also increases the complexity and cost of production management. Fourth, there is significant damage to the backbone materials, especially for thin-walled or flexible central backbones. The installation process of set screws can easily cause permanent damage, weakening the robot's overall performance. Fifth, maintenance is difficult. After long-term use, screws are prone to wear, corrosion or jamming, which increases the difficulty and cost of maintenance and limits the large-scale application and promotion of continuum robots.

[0004] To address the series of problems arising from the set screw fixing method, numerous key challenges and difficulties were encountered during the research and development process. Exploring new fixing methods became the primary task, requiring a balance between avoiding stress concentration and ensuring stability and reliability. This placed extremely high standards on the design of clamping mechanisms or bonding technologies. Improving the positioning accuracy of the disc was also crucial, necessitating the resolution of the contradiction between precise positioning of the tendon guide hole and the machining process. Ensuring consistent assembly processes placed even more stringent requirements on assembly technology, clamping force control, and standardized processes. Balancing the protection and fixing strength of the central backbone required in-depth research in material selection, surface treatment, and structural optimization. Considering ease of maintenance, developing a new connection structure that is easy to assemble and disassemble and provides long-term stability and reliability presented significant challenges to mechanical design and process development. Therefore, solving the scientific problems faced by the set screw fixing method is urgent and has significant theoretical and practical implications for promoting the development of the field of continuum robots. Summary of the Invention

[0005] The existing method of fixing the disk in a continuous robot with set screws suffers from several problems, including potential for localized stress concentration leading to fatigue damage to the backbone, poor positioning reliability, poor assembly consistency, possible damage to the backbone material, and increased maintenance difficulty due to screw wear, corrosion, and jamming after long-term use. This invention provides a tenon-jointed continuous robot unit that effectively avoids localized stress concentration, reduces structural fatigue damage, and significantly improves the reliability and durability of the backbone structure. Furthermore, precise positioning of the disk through mechanical limiting significantly improves the accuracy and stability of the disk's position, thereby enhancing the motion control performance of the tendon drive system. The tenon joint also facilitates standardization and consistency in the assembly process, reducing batch variations during assembly and avoiding direct damage to the backbone surface. Simultaneously, this solution significantly reduces the difficulty of long-term maintenance.

[0006] To achieve the above objectives, the present invention provides the following technical solution.

[0007] In a first aspect, the present invention provides a tenon-jointed continuous robot unit, comprising a continuous robot unit, a tendon transition section, a mechanical housing, and a unit extension guide section; one end of the unit extension guide section is connected to the continuous robot unit, the other end of the unit extension guide section is connected to one end of the tendon transition section, and the other end of the tendon transition section is connected to the mechanical housing; the continuous robot unit includes a body bone segment and a central bone; the body bone segment includes a disc and a continuous bone; the continuous bone includes a skeleton and a tenon joint; the tenon joint is disposed at the end of the skeleton; the disc is provided with a tenon groove, a disc positioning hole, and a disc tendon through hole; the disc tendon through holes are disposed at equal intervals on the disc with the disc positioning hole as the center; the tenon joint of the continuous bone is tenon-jointed to the tenon groove of the disc, one end of the central bone passes through a plurality of discs and the skeleton in sequence, and the other end of the central bone is connected to one end of the unit extension guide section.

[0008] As a further improvement of the present invention, the mechanical housing includes a transmission system and a drive system; one end of the transmission system is connected to the tendon transition section; the other end of the transmission system is connected to the drive system.

[0009] As a further improvement of the present invention, the transmission system includes a coupling and a tendon fixing seat; the drive system includes a servo motor and a planetary reducer; a lead screw nut is installed at one end of the coupling; a tendon fixing seat is provided on the lead screw nut; the tendon is disposed on the tendon fixing seat; the other end of the coupling is connected to the planetary reducer; the planetary reducer is connected to the servo motor.

[0010] As a further improvement of the present invention, the tendon transition segment includes a retractable disc and a fixation bone; the retractable disc includes a first retractable disc, a second retractable disc, and a third retractable disc; the first retractable disc, the second retractable disc, and the third retractable disc pass sequentially through the fixation bone; the first retractable disc is disposed in the fixation bone region near the unit expansion guide segment, and the third retractable disc is installed between the first retractable disc and the third retractable disc; the third retractable disc is disposed in the fixation bone region near the mechanical housing.

[0011] As a further improvement of the present invention, the continuous bone includes a square continuous bone; the square continuous bone includes a square frame and a tenon joint; the tenon joint is disposed at the end of the square frame; the tenon joint of the square continuous bone is tenon-jointed to the tenon groove of the disc, and one end of the central bone passes through several discs and the square frame in sequence.

[0012] As a further improvement of the present invention, the continuous bone includes an interlaced continuous bone; the interlaced continuous bone includes a square frame and a tenon joint; the tenon joint is disposed at the end of the interlaced frame; the tenon joint of the interlaced continuous bone is tenon-jointed with the tenon groove of the disc, and one end of the central bone passes through several discs and the interlaced frame in sequence.

[0013] As a further improvement of the present invention, the continuous bone includes a foldable continuous bone; the foldable continuous bone includes a foldable skeleton and a tenon joint; the tenon joint is disposed at the end of the foldable skeleton; the tenon joint of the foldable continuous bone is tenon-jointed with the tenon groove of the disc, and one end of the central bone passes through several discs and the foldable skeleton in sequence.

[0014] As a further improvement of the present invention, the continuous bone includes an interlaced continuous bone and a foldable continuous bone; the tenon joint at one end of the interlaced continuous bone is connected to a plurality of interlaced continuous bones via a disc; the tenon joint at the other end of the interlaced continuous bone is tenoned to a tenon groove on one side of the disc, and the tenon joint on one side of the foldable continuous bone is tenoned to a tenon groove on the other side of the disc; the tenon joint on the other side of the foldable continuous bone is connected to a plurality of foldable continuous bones via a disc; one end of the central bone passes through a plurality of discs, interlaced continuous bones, and foldable continuous bones.

[0015] As a further improvement of the present invention, the continuous bone includes a square continuous bone, an interlaced continuous bone, and a foldable continuous bone; the square continuous bone, the interlaced continuous bone, and the foldable continuous bone are connected by a disc tenon joint; one end of the central bone passes through a plurality of discs, square continuous bones, interlaced continuous bones, and foldable continuous bones.

[0016] Secondly, the present invention provides a continuum robot, including the aforementioned tenon-jointed continuum robot unit.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The tenon-jointed continuous robot unit proposed in this invention demonstrates significant and multifaceted advantages in addressing numerous problems associated with existing set screw fixing methods. Firstly, regarding structural reliability and durability, the tenon-joint design of this invention, through the tight fit between the tenon joint and the tenon groove, evenly distributes stress across the tenon structure, effectively avoiding localized stress concentration and significantly reducing structural fatigue damage. This significantly improves the reliability and durability of the backbone structure, ensuring stable performance of the continuous robot during long-term, high-frequency use and extending the overall service life of the robot. Secondly, this invention employs a mechanical limiting method, utilizing the precise fit of the tenon structure to achieve accurate positioning of the disk. This precise positioning not only improves the stability of the disk's position and reduces motion errors caused by positioning deviations but also significantly improves the motion control performance of the tendon drive system. During the complex movements of the continuous robot, the tendon drive system can respond to control commands more accurately, achieving smoother and more precise movements, thereby improving the overall operational accuracy and work efficiency of the robot and meeting the needs of high-precision operation scenarios. Furthermore, the tenon-joint connection method of this invention provides strong support for the standardization and consistency of assembly processes. The mortise and tenon joint design simplifies and standardizes the assembly process. Operators only need to assemble according to the predetermined mortise and tenon joint method to ensure accurate installation of each component, effectively reducing batch variations during assembly and improving the overall quality stability of the product. Simultaneously, the mortise and tenon joint process eliminates the need for drilling or other operations on the backbone surface, avoiding direct damage to the backbone material and ensuring the integrity and strength of the backbone structure. Finally, the mortise and tenon joint structure of this invention, lacking easily worn parts such as screws, and with the mortise and tenon joints typically made of wear-resistant and corrosion-resistant materials or undergoing special treatment, significantly reduces the incidence of problems caused by wear and corrosion. When maintenance is required, only simple cleaning and inspection of the mortise and tenon joints are needed, with component replacement as necessary. The maintenance process is simpler and faster, greatly reducing the difficulty and cost of long-term maintenance and improving the maintainability and economy of the robot. In summary, the mortise and tenon joint continuous robot unit of this invention has significant advantages in multiple aspects such as structure, positioning, assembly, and maintenance, providing a more reliable and efficient technical solution for the development and application of continuous robots. Attached Figure Description

[0018] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of the invention in any way. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a tenon-jointed continuous robot unit according to the present invention; Figure 2 This is a structural schematic diagram of a tenon-jointed continuous robot unit according to the present invention; Figure 3This is a schematic diagram of the transmission system and drive system structure of a tenon-jointed continuum robot unit according to the present invention; Figure 4 This is a schematic diagram of the tendon transition section structure of a tenon-jointed continuum robot unit according to the present invention; Figure 5 This is a schematic diagram of the mechanical frame structure of the drive system in a tenon-jointed continuum robot unit according to the present invention; Figure 6 This is a schematic diagram showing the structural details of the drive and transmission system of a tenon-jointed continuum robot unit according to the present invention; Figure 7 This is a schematic diagram of the T-slot tenon joint continuous robot unit structure of the square continuous bone of the present invention; wherein, (a) is a front view of the T-slot tenon joint continuous robot unit structure of the square continuous bone; (b) is a rear view of the T-slot tenon joint continuous robot unit structure of the square continuous bone; (c) is a schematic diagram of the square continuous bone; and (d) is a schematic diagram of the first disk. Figure 8 This is a schematic diagram of the T-slot tenon joint continuous robot unit structure of the interlaced continuous bone of the present invention; wherein, (a) is a front view of the T-slot tenon joint continuous robot unit structure of the interlaced continuous bone; (b) is a rear view of the T-slot tenon joint continuous robot unit structure of the interlaced continuous bone; (c) is a schematic diagram of the interlaced continuous bone; (d1) is a schematic diagram of the first type of circular hole distribution shown in the twenty-second disk; (d2) is a schematic diagram of the twenty-first disk; (d3) is a schematic diagram of the second type of circular hole distribution shown in the twenty-second disk; Figure 9 This is a schematic diagram of the T-slot tenon joint continuous robot unit structure of the foldable continuous bone of the present invention; wherein, (a) is a front view of the T-slot tenon joint continuous robot unit structure of the foldable continuous bone; (b) is a rear view of the T-slot tenon joint continuous robot unit structure of the foldable continuous bone; (c) is a schematic diagram of the foldable continuous bone; (d1) is a schematic diagram of the first type of circular hole distribution on the thirty-second disk; (d2) is a schematic diagram of the thirty-first disk; (d2) is a schematic diagram of the second type of circular hole distribution on the thirty-second disk; Figure 10This is a schematic diagram of the T-slot tenon joint continuous robot unit structure of the present invention, which combines interlaced and foldable continuous bones; wherein, (a) is a front view of the T-slot tenon joint continuous robot unit of the interlaced and foldable continuous bones; (b) is a top view of the T-slot tenon joint continuous robot unit of the interlaced and foldable continuous bones; (c) is a schematic diagram of the fourth interlaced continuous bone structure in the T-slot tenon joint continuous robot unit of the interlaced and foldable continuous bones; (d) is a schematic diagram of the fourth foldable continuous bone structure in the T-slot tenon joint continuous robot unit of the interlaced and foldable continuous bones; and (e) is a schematic diagram of the fourth disk structure in the T-slot tenon joint continuous robot unit of the interlaced and foldable continuous bones. Figure 11 This is a schematic diagram of the T-slot tenon joint continuous robot unit structure of the present invention, which is composed of square, staggered, and foldable continuous bone assemblies; wherein, (a) is a front view of the T-slot tenon joint continuous robot unit composed of square, staggered, and foldable continuous bone assemblies; (b) is a top view of the T-slot tenon joint continuous robot unit composed of square, staggered, and foldable continuous bone assemblies; (c) is a schematic diagram of the fifth staggered continuous bone structure in the T-slot tenon joint continuous robot unit composed of square, staggered, and foldable continuous bone assemblies; (d) is a schematic diagram of the fifth foldable continuous bone structure in the T-slot tenon joint continuous robot unit composed of square, staggered, and foldable continuous bone assemblies; (e) is a schematic diagram of the square continuous bone structure in the T-slot tenon joint continuous robot unit composed of square, staggered, and foldable continuous bone assemblies; and (f) is a schematic diagram of the fifth disk structure in the T-slot tenon joint continuous robot unit composed of square, staggered, and foldable continuous bone assemblies. Figure 12 This is a partial view of the tenon-joint continuum robot unit in the tenon-joint continuum robot of the present invention.

[0019] In the diagram, 10 is a continuum robot unit; 101 is a square continuum bone segment; 102 is a foldable continuum bone segment; 103 is an interlaced continuum bone segment; 20 is a transmission system; 201 is a coupling; 202 is a lead screw and nut; 203 is a nut seat; 204 is a tendon fixation seat; 205 is a tendon; 30 is a drive system; 301 is a servo motor; 302 is a planetary reducer; 40 is a tendon transition segment; 401 is a first retractable disk; 402 is a second retractable disk; 403 is a third retractable disk; 404 is a fixed bone; 50 is a mechanical fixation plate; 501 is a movable top plate; 5011 is a first tendon through hole; 502 is a first lead screw fixing top plate; 5021 is a first lead screw fixing hole; 5022 is a second tendon through hole. 503. Second lead screw fixing top plate; 5031. Second lead screw fixing hole; 504. Reducer fixing plate; 5041. Reducer shaft hole; 5042. Reducer fixing hole; 60. Support beam; 601. First fixing column; 602. Second fixing column; 603. Third fixing column; 604. Fourth fixing column; 70. Mechanical housing; 80. Unit expansion guide section; 1011. First square continuous skeleton segment; 1012. Second square continuous skeleton segment; 1013. First central skeleton; 1014. Square continuous skeleton; 10141. Square skeleton positioning hole; 10142. Square skeleton; 101431. First square tenon joint; 101432. Second square tenon joint; 10111. First disc; 101 111. First mortise groove; 101112. First disc positioning hole; 101113. First disc tendon through hole; 1021. First interlocking continuous bone segment; 1022. Second interlocking continuous bone segment; 10221. Twenty-first disc; 102211. Twenty-first mortise groove; 102212. Twenty-first mortise groove; 10222. Twenty-second disc; 102221. Twenty-second disc tendon through hole; 102222. Twenty-second mortise groove; 102223. Twenty-second disc tendon through three holes; 1023. Interlocking continuous bone; 102311. Twenty-first square mortise joint; 102312. Twenty-second square mortise joint; 10232. Interlocking skeleton; 10233. Interlocking bone Frame positioning hole; 1031, First foldable continuous bone segment; 1032, Second foldable continuous bone segment; 1033, Third central bone; 10321, Thirty-first disc; 103211, Thirty-first tenon joint groove; 103212, Thirty-first tenon joint groove; 10322, Thirty-second disc; 103221, Thirty-second tenon joint groove; 103222, Thirty-second disc tendon through one hole; 103223, Thirty-second disc tendon through three holes; 1034, Foldable continuous bone; 103411, Thirty-first square tenon joint; 103412, Thirty-second square tenon joint; 10342, Foldable skeleton positioning hole; 10343, Foldable skeleton; 1041, Fourth interlaced continuous bone segment;1042. Fourth foldable continuous bone segment; 1043. Fourth central bone; 10411. Fourth disc; 104111. Fourth tenon joint; 104112. Fourth disc tendon through-hole; 1044. Fourth interlocking continuous bone; 104411. Forty-first square tenon joint; 104412. Forty-second square tenon joint; 10442. Fourth interlocking skeleton; 10443. Fourth interlocking skeleton positioning hole; 1045. Fourth foldable continuous bone; 10452. Fourth foldable skeleton; 104511. Forty-first square tenon joint; 104512. Forty-second square tenon joint; 1051. Fifth interlocking continuous bone segment; 1052. Fifth foldable continuous bone segment; 1053. Fifth square continuous bone segment; 1054. Fifth central bone; 105 5. Fifth interlocking continuous skeleton; 105511. Fifty-first square tenon joint; 105512. Fifty-second square tenon joint; 10552. Fifth interlocking skeleton; 10553. Fifth interlocking skeleton positioning hole; 1056. Fifth foldable continuous skeleton; 105611. Sixty-first square tenon joint; 105612. Sixty-second square tenon joint; 10652. Fifth foldable skeleton positioning hole; 10653. Fifth foldable skeleton; 1057. Fifth square continuous skeleton; 105711. Seventy-first square tenon joint; 105712. Seventy-second square tenon joint; 10572. Fifth square skeleton positioning hole; 10573. Fifth square skeleton; 1058. Fifth disc; 10581. Fifth tenon groove; 10582. Fifth disc tendon through hole. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0022] The existing method of fixing the disk of a continuous robot with set screws suffers from several problems, including easy local stress concentration leading to fatigue damage to the core structure, poor positioning reliability, poor assembly consistency, potential damage to the core material, and easy wear, corrosion, and jamming of the screws after long-term use, increasing maintenance difficulty. This invention provides a tenon-jointed continuous robot unit and a continuous robot, such as... Figure 1 As shown, it includes a continuum robot unit 10, a tendon transition section 40, a mechanical housing 70, and a unit extension guide section 80.

[0023] One end of the unit extension guide section 80 is connected to the continuous robot unit 10, and the other end of the unit extension guide section 80 is connected to one end of the tendon transition section 40. The other end of the tendon transition section 40 is connected to the mechanical housing 70.

[0024] like Figure 2 As shown, the mechanical housing 70 includes a transmission system 20, a drive system 30, a mechanical fixing plate 50, and a support beam 60.

[0025] The continuum robot unit 10 includes a body bone segment, and several body bone segments are connected sequentially. The tail end of the body bone segment is connected to one end of the unit extension guide segment 80, and the other end of the unit extension guide segment 80 is connected to one end of the tendon transition segment 40. The other end of the tendon transition segment 40 is connected to one end of the transmission system 20, and the other end of the transmission system 20 is connected to the drive system 30. The drive system 30 drives the transmission system 20. Then, the transmission system 20 drives the movement of several body bone segments in the continuum robot unit 10 through the tendon transition segment 40.

[0026] Several individual bone segments are connected in sequence, one end of the central bone passes through several individual bone segments, and the other end of the central bone is connected to the unit extension guide segment 80.

[0027] The bone segment comprises a disc and a continuous bone structure. The continuous bone structure includes skeletal positioning holes, a skeleton, and tenon joints. The disc is equipped with tenon grooves, disc positioning holes, and disc tendon passage holes. The disc tendon passage holes are evenly spaced on the disc, centered on the disc positioning holes. The number of disc tendon passage holes can be increased or decreased according to operational needs.

[0028] The tenon joints of the continuous skeleton are connected to the tenon grooves of the discs. One end of the central skeleton passes through several positioning holes in the discs and the skeleton in sequence. The orientation of the tenon grooves on the discs is adjusted according to different operational requirements, resulting in several installation configurations for the continuous skeleton segments. The tenon grooves are T-shaped.

[0029] The body skeleton can be installed in three configurations: a square continuous skeleton segment 101, a foldable continuous skeleton segment 102, and an interlaced continuous skeleton segment 103. For example, the first segment might be a square continuous skeleton segment 101, the second a foldable continuous skeleton segment 102, and the third an interlaced continuous skeleton segment 103. Each segment serves a different function, and the skeletons of each segment cannot be arbitrarily interchanged; selection must be based on actual application requirements. Typically, the root region experiences greater stress, so the square continuous skeleton segment 101 is placed proximally. The middle section generally does not require high load-bearing capacity, therefore the foldable continuous skeleton segment 102 is used to increase the working space. The distal end requires both rigidity and a certain degree of bending flexibility, therefore the interlaced continuous skeleton segment 103 is used. Depending on the application scenario, body skeleton segments can also be replaced, added, or removed.

[0030] The transmission system 20 includes a coupling 201, a lead screw nut 202, a nut seat 203, a tendon fixation seat 204, and a tendon 205; the drive system 30 includes a servo motor 301 and a planetary reducer 302; the tendon transition section 40 includes a retractable disc and a fixation bone 404; the retractable disc includes a first retractable disc 401, a second retractable disc 402, and a third retractable disc 403; the mechanical fixing plate 50 includes a movable upper top plate 501, a first lead screw fixing top plate 502, a second lead screw fixing top plate 503, and a reducer fixing plate 504; the support beam 60 includes fixing columns, which include a first fixing column 601, a second fixing column 602, a third fixing column 603, and a fourth fixing column 604.

[0031] like Figure 3 As shown, the continuum robot unit 10 is mounted on the fixed bone 404 via the unit extension guide section 80. The fixed bone 404 is fixed to the movable top plate 501 and connected to the transmission system 20; as Figure 4 As shown, a first retractable disc 401, a second retractable disc 402, and a third retractable disc 403 are sequentially mounted on the fixation bone 404. The first retractable disc 401 is installed in the region of the fixation bone 404 near the unit expansion guide section 80, and the third retractable disc 403 is installed on the fixation bone 404 in the region between the first retractable disc 401 and the third retractable disc 403. The first retractable disc 401 is a small retractable disc, the second retractable disc 402 is a medium retractable disc, and the third retractable disc 403 is a large retractable disc.

[0032] like Figure 5 As shown, the movable top plate 501, the first lead screw fixing top plate 502, the second lead screw fixing top plate 503, and the reducer fixing plate 504 are fixed by the fixing columns in the support beam 60, together forming the main frame of the mechanical housing 70; the transmission system 20 between the first lead screw fixing top plate 502 and the second lead screw fixing top plate 503, and the planetary reducer with a motor installed on the reducer fixing plate 504, construct a complete continuous robot system.

[0033] The fixing posts include a first fixing post 601, a second fixing post 602, a third fixing post 603, and a fourth fixing post 604.

[0034] The first fixed post 601, the second fixed post 602, the third fixed post 603, and the fourth fixed post 604 pass through the four corner areas of the movable top plate 501, the first lead screw fixed top plate 502, the second lead screw fixed top plate 503, and the reducer fixed plate 504, respectively.

[0035] The top plate 501 of the device has several first tendon through holes 5011, and the first lead screw fixing top plate 502 has several first lead screw fixing holes 5021 and second tendon through holes 5022. The first tendon through holes 5011 and second tendon through holes 5022 are positioned opposite each other. The second lead screw fixing top plate 503 has several second lead screw fixing holes 5031; the reducer fixing plate 504 has several reducer shaft holes 5041 and reducer fixing holes 5042.

[0036] like Figure 6 As shown, the servo motor 301 is connected to the planetary reducer 302. The planetary reducer 302 is fixed to the reducer fixing plate 504 through the reducer fixing hole 5042. One end of the planetary reducer 302 is connected to one side of the coupling 201 through the reducer shaft hole 5041. The coupling 201 is located between the reducer fixing plate 504 and the second lead screw fixing top plate 503. The coupling 201 is connected to one end of the lead screw nut 202. The lead screw nut 202 is set between the second lead screw fixing top plate 503 and the first lead screw fixing top plate 502. The lead screw nut 202 is provided with a nut seat 203. The tendon fixing seat 204 is fixed on the nut seat 203. One end of the tendon 205 is connected to the tendon fixing seat 204. The other end of the tendon 205 passes through the second tendon through hole 5022 and the first tendon through hole 5011 in sequence. The tendon transition section 40, the unit extension guide section 80, and finally connect to the continuous robot unit 10.

[0037] The motion of the tenon-jointed continuum robot of this invention is achieved by sending digital signals from a programmable host computer to a drive system 30. The drive system 30 then transmits these signals to a servo motor 301, causing the servo motor 301 to rotate at high speed. To achieve precise control, a planetary reducer 302 slows down the high-speed motion of the servo motor 301 to match the required speed. The planetary reducer 302 then transmits the rotational motion to a lead screw and nut 202 via a coupling 201. The lead screw and nut 202 further precisely converts the rotational motion to ensure the movement of the tendon 205.

[0038] One end of the lead screw nut 202 is installed on the first lead screw fixing plate 502, and the other end of the lead screw nut 202 is installed on the second lead screw fixing plate 503. The coupling 201 is set between the second lead screw fixing plate 503 and the reducer fixing plate 504. The planetary reducer 302 has a nut seat 203 installed on the lead screw nut 202, providing effective installation space for the installation and fixing of the tendon 205.

[0039] The bone segments can have various configurations, including square continuous bone segments 101, foldable continuous bone segments 102, and staggered continuous bone segments 103. Each configuration can be assembled according to operational needs.

[0040] In summary, this invention uses tenon joints instead of traditional set screws for fixing, which fundamentally avoids the problem of local stress concentration, significantly reduces structural fatigue damage, and significantly improves the reliability and durability of the robot's backbone structure, providing a more solid structural guarantee for the long-term stable operation of the equipment. Secondly, relying on mechanical limit design to achieve precise positioning of the disk, this invention not only significantly improves the accuracy and stability of disk installation, but also directly optimizes the motion control response speed and control accuracy of the tendon drive system, further enhancing the overall motion performance of the robot. Finally, the standardized characteristics of the tenon joints in this invention help promote the standardization and consistency of assembly processes, effectively reducing batch differences in assembly, while avoiding direct damage to the backbone surface during assembly. From a long-term operation and maintenance perspective, this significantly reduces maintenance costs and operational difficulty, improving the economic benefits throughout the equipment's life cycle.

[0041] The present invention will be further explained and illustrated below with reference to specific embodiments.

[0042] Example 1 like Figure 7 As shown, the present invention provides a structure of a T-slot tenon joint continuous robot unit of a square continuous bone, the T-slot tenon joint continuous robot unit of the square continuous bone includes a first square continuous bone segment 1011, a second square continuous bone segment 1012 and a first central bone 1013.

[0043] like Figure 7 As shown in (a), one end of the first square continuous bone segment 1011 is connected to one end of the second square continuous bone segment 1012, one end of the first central bone 1013 passes through the first square continuous bone segment 1011 and the second square continuous bone segment 1012, and the other end of the first central bone 1013 is connected to the unit extension guide segment 80.

[0044] like Figure 7 As shown in (b), the square continuum bone segment includes a first disk 10111 and a square continuum bone 1014, as follows: Figure 7As shown in (c), the square continuous skeleton 1014 includes a square skeleton positioning hole 10141, a square skeleton 10142, a first square tenon joint 101431, and a second square tenon joint 101432. Figure 7 As shown in (d), the first disk 10111 is provided with a first tenon groove 101111, a first disk positioning hole 101112 and a first disk tendon through hole 101113.

[0045] The square tenon joint of the square continuous skeleton 1014 is tenoned to the first tenon groove 101111 of the first disc 10111. Depending on the operational requirements, the orientation of the first tenon groove 101111 of the first disc 10111 can be adjusted to form, for example, the installation states of the first square continuous skeleton segment 1011 and the second square continuous skeleton segment 1012, or other square continuous skeleton segments 101 with different installation specifications. The first central skeleton 1013 passes sequentially through several first disc positioning holes 101112 and square skeleton positioning holes 10141.

[0046] Example 2 like Figure 8 As shown, the present invention provides a structure of a T-slot tenon joint continuous robot unit of interlaced continuous bone, the T-slot tenon joint continuous robot unit of interlaced continuous bone includes a first interlaced continuous bone segment 1021, a second interlaced continuous bone segment 1022 and a second central bone.

[0047] like Figure 8 As shown in (a), one end of the first interlaced continuous bone segment 1021 is connected to one end of the second interlaced continuous bone segment 1022, one end of the second central bone passes through the first interlaced continuous bone segment 1021 and the second interlaced continuous bone segment 1022 in sequence, and the other end of the second central bone is connected to the unit extension guide segment 80.

[0048] like Figure 8 As shown in (b), when one end of the first interlaced continuous bone segment 1021 is connected to one end of the second interlaced continuous bone segment 1022, the interlaced continuous bone 1023 needs to be rotated. In this case, the connection is made through the twenty-first disk 10221; when the interlaced continuous bone 1023 faces the same direction as the previous interlaced continuous bone 1023, the connection is made through the twenty-second disk 10222. Figure 8 As shown in (c), the interlaced continuous skeleton 1023 includes interlaced skeleton positioning holes 10233, interlaced skeleton 10232, a twenty-first square tenon joint 102311, and a twenty-second square tenon joint 102312. Figure 8 As shown in (d2), the 21st tenon joint groove 102211 and the 21st tenon joint groove 102212 in the 21st disc 10221 are not in the same orientation. Figure 8 (d1) and Figure 8As shown in (d3), the 22nd tenon grooves 102222 on both sides of the 22nd disc 10222 are located in the same direction. The disc tendon through holes of the 22nd disc 10222 are set with the disc positioning hole as the center, and the disc tendon through holes are not set in the 22nd tenon grooves 102222, such as the state where the 22nd disc tendon through hole 102221 is set. The disc tendon through holes can also be set in the 22nd tenon grooves 102222, such as the state where the 22nd disc tendon through hole 102223 is set. Different tendon through holes are selected according to the needs of the operation.

[0049] When the second central bone passes through the staggered skeleton positioning hole 10233 and is inserted into the through holes of each disk, precise positioning and connection between the segments can be achieved. Through the folding structure design of the staggered continuous bone 1023, each continuous unit can perform telescoping and folding movements in the axial direction, thereby enabling the continuous robot to move flexibly and adapt to various spatial environments. Therefore, in this embodiment, the staggered continuous bone design is ingenious, with a simple yet high-strength and stable structure, convenient installation and disassembly, and precise guiding and positioning functions. It effectively improves the adaptability and control accuracy of the continuous robot in complex spatial environments, and is widely applicable to high-end application fields such as precision operation, medical devices, and rescue detection.

[0050] Example 3 like Figure 9 As shown, the present invention provides a structure of a T-slot tenon joint continuous robot unit with foldable continuous bone. The T-slot tenon joint continuous robot unit with interlaced continuous bone includes a first foldable continuous bone segment 1031, a second foldable continuous bone segment 1032 and a third central bone 1033.

[0051] like Figure 9 As shown in (a), one end of the first foldable continuous bone segment 1031 is connected to one end of the second foldable continuous bone segment 1032, one end of the third central bone 1033 passes through the first foldable continuous bone segment 1031 and the second foldable continuous bone segment 1032 in sequence, and the other end of the third central bone 1033 is connected to the unit extension guide segment 80.

[0052] like Figure 9 As shown in (b), when one end of the first foldable continuous bone segment 1031 is connected to one end of the second foldable continuous bone segment 1032, the foldable continuous bone 1034 needs to be rotated. In this case, the connection is made via the thirty-first disc 10321; when the foldable continuous bone 1034 is aligned with the orientation of the previous foldable continuous bone 1034, the connection is made via the thirty-second disc 10322. Figure 9As shown in (c), the foldable continuous skeleton 1034 includes a foldable skeleton positioning hole 10342, a foldable skeleton 10343, a thirty-first square tenon joint 103411, and a thirty-second square tenon joint 103412. Figure 9 As shown in (d2), the 31st tenon joint groove 103211 and the 31st tenon joint groove 103212 in the 31st disc 10321 are not in the same orientation. Figure 9 (d1) and Figure 9 As shown in (d3), the 32nd tenon grooves 103221 on both sides of the 32nd disc 10322 are located in the same direction. The disc tendon through-hole of the 32nd disc 10322 is set with its disc positioning hole as the center, and the disc tendon through-hole is not set in the 32nd tenon groove 103221, such as when the 32nd disc tendon is set with one through-hole 103222. The disc tendon through-hole can also be not set in the 32nd tenon groove 103221, such as when the 32nd disc tendon is set with three through-holes 103223. Different tendon through-holes are selected according to the needs of the operation.

[0053] When the third central bone 1033 passes through the foldable skeleton positioning hole 10342 and is inserted into the through holes of each disk, precise positioning and connection between the segments can be achieved. Through the folding structure design of the foldable continuous bone 1034, each continuous unit can perform telescoping and folding movements in the axial direction, thereby realizing the flexible movement of the continuous robot and adapting to various spatial environments.

[0054] Example 4 like Figure 10 As shown, the present invention provides a structure of a T-shaped groove tenon joint continuous robot unit with an alternating and foldable continuous bone combination. The T-shaped groove tenon joint continuous robot unit with an alternating and foldable continuous bone combination includes a fourth alternating continuous bone segment 1041, a fourth foldable continuous bone segment 1042 and a fourth central bone 1043.

[0055] like Figure 10 (a) and Figure 10 As shown in (b), one end of the fourth interlaced continuous bone segment 1041 is connected to one end of the fourth foldable continuous bone segment 1042, one end of the fourth central bone 1043 passes through the fourth interlaced continuous bone segment 1041 and the fourth foldable continuous bone segment 1042 in sequence, and the other end of the fourth central bone 1043 is connected to the unit extension guide segment 80.

[0056] like Figure 10 As shown in (c), the fourth interlaced continuous skeleton 1044 includes a forty-first square tenon joint 104411, a forty-second square tenon joint 1044112, a fourth interlaced skeleton 10442, and a fourth interlaced skeleton positioning hole 10443. Figure 10As shown in (d), the fourth foldable continuous skeleton 1045 includes a fourth foldable frame 10452, a forty-first square tenon joint 104511, a forty-second square tenon joint 104512, and a fourth foldable frame positioning hole. Figure 10 As shown in (e), both sides of the fourth disk 10411 are provided with a fourth tenon groove 104111. The center of the fourth disk 10411 is provided with a fourth disk positioning hole. With the fourth disk positioning hole as the origin, a number of fourth disk tendon through holes 104112 are provided at equal intervals around its circumference.

[0057] When the fourth central bone 1043 passes through the fourth interlaced continuous bone segment 1041 and the fourth foldable continuous bone segment 1042 and is inserted into the positioning holes of each disk, precise positioning and connection between the segments can be achieved. Each continuous unit can perform telescoping and folding movements in the axial direction, thereby enabling the continuous robot to move flexibly and adapt to various spatial environments.

[0058] In this embodiment, by combining the characteristics of staggered continuous skeleton and foldable continuous skeleton, the robot unit achieves a better balance between structural rigidity and flexible folding, effectively expanding the application range of continuous robots, and is particularly suitable for work scenarios with limited space but requiring strong rigidity and flexibility.

[0059] Example 5 like Figure 11 As shown, the present invention provides a T-slot tenon joint continuous robot unit structure composed of square, staggered, and foldable continuous bone segments. In this embodiment, the square continuous bone segment 101, foldable continuous bone segment 102, and staggered continuous bone segment 103 in the continuous robot unit are combined to achieve comprehensive optimization of function and structure.

[0060] The T-groove continuous robot unit, which combines square, interlaced, and foldable continuous bones, includes a fifth interlaced continuous bone segment 1051, a fifth foldable continuous bone segment 1052, a fifth square continuous bone segment 1053, and a fifth central bone 1054.

[0061] like Figure 11 (a) and Figure 11 As shown in (b), the fifth interlaced continuous bone segment 1051, the fifth foldable continuous bone segment 1052 and the fifth square continuous bone segment 1053 are connected in sequence. One end of the fifth central bone 1054 passes through the fifth interlaced continuous bone segment 1051, the fifth foldable continuous bone segment 1052 and the fifth square continuous bone segment 1053 in sequence to fix them. The other end of the fifth central bone 1054 is connected to the unit expansion guide segment 80.

[0062] Figure 11As shown in (c), the fifth interlaced continuous skeleton 1055 includes a fifty-first square tenon joint 105511, a fifty-second square tenon joint 105512, a fifth interlaced frame 10552, and a fifth interlaced frame positioning hole 10553. Figure 10 As shown in (d), the fifth foldable continuous skeleton 1056 includes a sixty-first square tenon joint 105611, a sixty-second square tenon joint 105612, a fifth foldable skeleton positioning hole 10652, and a fifth foldable skeleton 10653. Figure 11 As shown in (e), the fifth square continuous skeleton 1057 includes a seventy-first square tenon joint 105711, a seventy-second square tenon joint 105712, a fifth square skeleton positioning hole 10572, and a fifth square skeleton 10573. Figure 11 As shown in (f), both sides of the fifth disk 1058 are provided with a fifth tenon groove 10581. The center of the fifth disk 1058 is provided with a fifth disk positioning hole. With the fifth disk positioning hole as the origin, a number of fifth disk tendon through holes 10582 are provided at equal intervals around its circumference.

[0063] When the fifth central bone 1054 passes through the fifth interlaced continuous bone segment 1051, the fifth foldable continuous bone segment 1052, and the fifth square continuous bone segment 1053, and is inserted into the positioning holes of each disk, precise positioning and connection between the segments can be achieved. Each continuous unit can perform telescoping and folding movements in the axial direction, thereby enabling the continuous robot to move flexibly and adapt to various spatial environments.

[0064] In this embodiment, by combining the characteristics of square, staggered, and foldable continuous skeletons, a better balance is achieved between structural rigidity and flexible folding of the robot unit, effectively expanding the application range of continuous robots. It is particularly suitable for work scenarios with limited space but requiring high rigidity and flexibility. In summary, this example has a reasonable structural layout, fully combining the advantages of each continuous skeleton segment, possessing high rigidity, high load-bearing capacity, good spatial adaptability, and precise positioning capabilities, significantly improving the overall performance and reliability of the continuous robot.

[0065] like Figure 12 As shown, the second objective of this invention is to provide a continuum robot, which is provided with the tenon-joint continuum robot unit described in this invention.

[0066] Many embodiments and applications beyond the examples provided will be apparent to those skilled in the art upon reading the foregoing description. Therefore, the scope of this teaching should not be determined by reference to the foregoing description, but rather by reference to the foregoing claims and the full scope of their equivalents. For purposes of completeness, all articles and references, including patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended as a waiver of that subject matter, nor should it be construed as an indication that the applicant has not considered that subject matter as part of the disclosed inventive subject matter.

[0067] The above content provides a further detailed description of the present invention. It should not be construed that the specific embodiments of the present invention are limited to this. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection of the present invention as defined by the submitted claims.

Claims

1. A tenon-and-mortise continuous robot unit, characterized in that, It includes a continuum robot unit (10), a tendon transition section (40), a mechanical housing (70), and a unit extension guide section (80). One end of the unit extended guide section (80) is connected to the continuum robot unit (10), the other end of the unit extended guide section (80) is connected to one end of the tendon transition section (40), and the other end of the tendon transition section (40) is connected to the mechanical housing (70). The continuum robot unit (10) includes a body bone segment and a central bone; The bone segment includes a disc and a continuous bone structure; The continuous skeleton includes a frame and tenon joints; the tenon joints are located at the ends of the frame. The disc is provided with a tenon groove, a disc positioning hole and a disc tendon through hole. The disc tendon through holes are arranged at equal intervals on the disc with the disc positioning hole as the center. The tenon joint of the continuous bone is tenoned to the tenon groove of the disc. One end of the central bone passes through several discs and the skeleton in sequence, and the other end of the central bone is connected to one end of the unit extension guide section (80).

2. The tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The mechanical housing (70) includes a transmission system (20) and a drive system (30); One end of the transmission system (20) is connected to the tendon transition section (40); the other end of the transmission system (20) is connected to the drive system (30).

3. The tenon-and-mortise continuous robot unit according to claim 2, characterized in that, The transmission system (20) includes a coupling (201) and a tendon fixation seat (204). The drive system (30) includes a servo motor (301) and a planetary reducer (302). A lead screw nut (202) is installed at one end of the coupling (201); A tendon fixing seat (204) is provided on the lead screw nut (202); the tendon (205) is provided on the tendon fixing seat (204); The other end of the coupling (201) is connected to the planetary reducer (302); The planetary reducer (302) is connected to the servo motor (301).

4. The tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The tendon transition segment (40) includes a retractable disc and a fixed bone (404). The retractable disk includes a first retractable disk (401), a second retractable disk (402), and a third retractable disk (403). The first retractable disc (401), the second retractable disc (402) and the third retractable disc (403) pass through the fixed bone (404) in sequence. The first retractable disc (401) is disposed in the region of the fixed bone (404) near the unit expansion guide section (80), and the second retractable disc (402) is installed between the first retractable disc (401) and the third retractable disc (403); The third retractable disc (403) is located in the region of the fixed bone (404) near the mechanical housing (70).

5. A tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The continuous bone includes a square continuous bone; The square continuous skeleton includes a square frame and tenon joints; the tenon joints are located at the ends of the square frame. The tenon joint of the square continuous bone is connected to the tenon groove of the disc, and one end of the central bone passes through several discs and the square skeleton in sequence.

6. The tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The continuous bone includes staggered continuous bone; The interlaced continuous skeleton includes a square frame and tenon joints; the tenon joints are located at the ends of the interlaced frame. The tenon joints of the interlaced continuous skeleton are connected to the tenon grooves of the discs, and one end of the central skeleton passes through several discs and the interlaced skeleton in sequence.

7. A tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The continuous bone includes a foldable continuous bone; The foldable continuous skeleton includes a foldable frame and tenon joints; the tenon joints are located at the ends of the foldable frame. The tenon joint of the foldable continuous skeleton is tenon-jointed with the tenon groove of the disc, and one end of the central skeleton passes through several discs and the foldable skeleton in sequence.

8. A tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The continuous bone includes interlaced continuous bone and foldable continuous bone; The tenon joint at one end of the interlaced continuous bone is connected to several interlaced continuous bones via a disc; the tenon joint at the other end of the interlaced continuous bone is tenoned to a tenon groove on one side of the disc, and the tenon joint on one side of the foldable continuous bone is tenoned to a tenon groove on the other side of the disc. The tenon joint on the other side of the foldable continuous bone is connected to several foldable continuous bones via a disc; One end of the central bone passes through several discs, interlaced continuous bones, and foldable continuous bones.

9. A tenon-and-mortise continuous robot unit according to claim 1, characterized in that, The continuous bone includes square continuous bone, staggered continuous bone, and foldable continuous bone; The square continuous bone, the staggered continuous bone, and the foldable continuous bone are connected by a disc tenon joint. One end of the central bone passes through several discs, square continuous bones, interlaced continuous bones, and foldable continuous bones.

10. A continuum robot, characterized in that, Includes a tenon-joint continuum robot unit as described in any one of claims 1-9.

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