Magnetic attraction tendon driving variable-structure continuum robot

Abstract

The invention discloses a magnetic attraction tendon driving variable-structure continuum robot, and belongs to the technical field of continuum robots. Comprising a variable-structure assembly, a disc and a central backbone, the central backbone penetrates through a plurality of discs, and a plurality of variable structure assemblies are mounted on the discs; the variable structure assembly comprises an electromagnet, a variable structure rotating component, a rotating telescopic sleeve and a pull rod; the pulling rod is installed between the disc and the variable structure rotating component, and the variable structure rotating component pulls the permanent magnets close to or away from the disc through the pulling rod. The electromagnet is mounted in the variable-structure rotating component; the variable-structure rotating component is hinged to the rotating telescopic sleeve, and the top end of the pulling rod is connected with the rotating telescopic sleeve. According to the fixed-structure continuum robot, the tendon winding radius and the like are discretely adjustable, the contour winding and unwinding are achieved, the segment rigidity is distributed according to needs, the passing ability and the bearing energy efficiency are considered, passive maintenance and power-off safety are provided through magnetic attraction, and the problems that an existing fixed-structure continuum robot is limited in application, high in energy consumption and poor in reliability are effectively solved.

Description

Technical Field

[0001] This invention belongs to the field of continuum robot technology, specifically relating to a magnetically attracted tendon-driven variable structure continuum robot and its working method. Background Technology

[0002] As an advanced type of robot that uses a flexible backbone as a carrier and achieves continuous curvature forming through tendons, pneumatics, or magneto-actuation, continuum robots have shown great application potential in fields such as operation in narrow spaces and exploration in complex environments due to their many advantages, including high redundancy, good compliance, strong environmental adaptability, and safe human-robot contact. They have become one of the current research hotspots in the field of robotics.

[0003] Currently, most existing continuum robots employ a segmented disk structure with a fixed outer contour and fixed tendon paths. However, this traditional fixed-structure continuum robot faces numerous insurmountable limitations in practical task scenarios. First, its fixed outer diameter and disk layout severely limit the minimum pass-through aperture, making it difficult to smoothly enter and perform tasks in confined spaces, significantly restricting its application range. Second, the constant tendon path radius and effective lever arm require a larger tendon force to achieve the same bending moment. This not only makes the actuator prone to saturation but also leads to increased energy consumption, accelerated wear, and exacerbates backlash and thermal drift issues, severely impacting the robot's performance stability. Third, the segment equivalent bending stiffness cannot be adjusted, preventing flexible switching between "high compliance / high compliant" and "high stiffness / high load-bearing" modes according to different task requirements, thus limiting the accuracy of end-effector positioning and the stability of contact operations. Fourth, the fixed tendon path and friction distribution introduce strong nonlinear coupling, significantly reducing the curvature adjustment range. Under load, the robot is prone to sagging and attitude drift, making it difficult to maintain a stable shape for extended periods and affecting operational efficiency. Fifth, when entering narrow areas, the lack of extended support capabilities significantly reduces its resistance to lateral loads and disturbances, making it unable to adapt to complex and changing working conditions. Sixth, maintaining posture often requires continuous high tension or continuous power supply. The lack of passive holding and fail-safe mechanisms means that if the power supply is interrupted or malfunctions, the robot will struggle to maintain its original posture, potentially leading to safety accidents. Summary of the Invention

[0004] To address the limitations of existing continuous robots in complex working conditions due to their fixed outer diameter and disk layout, constant tendon winding radius and effective lever arm, unadjustable segment equivalent bending stiffness, strong nonlinear coupling introduced by fixed tendon paths and friction distribution, lack of extended support capability in narrow areas, and absence of passive holding and fail-safe mechanisms, this invention provides a magnetically engaged tendon-driven variable structure continuous robot. By arranging rotatable components and a magnetic locking mechanism on the outer edge of the disk, it achieves discretely adjustable tendon winding radius and allows for expansion and contraction of the outer contour, as well as on-demand distribution of segment stiffness. This balances passability and load-bearing efficiency, while the magnetic engagement provides passive holding and power failure safety, effectively solving the problems of limited application, high energy consumption, and poor reliability of existing fixed-structure continuous robots.

[0005] To achieve the above objectives, the present invention provides the following technical solution.

[0006] In a first aspect, the present invention provides a magnetically attracted tendon-driven variable structure continuum robot, comprising a variable structure component, a disk, and a central backbone; the central backbone passes through a plurality of the disks, and a plurality of the variable structure components are mounted on the disks; each variable structure component includes an electromagnet, a variable structure rotating member, a rotating telescopic sleeve, and a pulling rod; the pulling rod is installed between the disk and the variable structure rotating member, and the variable structure rotating member pulls a permanent magnet closer to or further away from the disk via the pulling rod; the electromagnet is installed in the variable structure rotating member; the variable structure rotating member is hinged to the rotating telescopic sleeve, and the top end of the pulling rod is connected to the rotating telescopic sleeve; a plurality of tendon holes are arranged on the outer region of the electromagnet; the disk includes an end disk and intermediate disks; the end disk is installed at the end of the central backbone; a plurality of intermediate disks are equally spaced on the central backbone.

[0007] As a further improvement of this invention, a rotating telescopic fixing frame is provided between the variable structure rotating component and the rotating telescopic sleeve; the rotating telescopic sleeve is supported on the rotating telescopic fixing frame by a pin.

[0008] As a further improvement of this invention, the variable structure rotating component is provided with a variable structure rotating pin hole.

[0009] As a further improvement of this invention, the pull rod includes a central backbone sliding hole, a guide sleeve, a square pull rod, a round pull rod, and an end clamp; the central backbone sliding hole is provided at the center of the guide sleeve, and the central backbone passes through the central backbone sliding hole; the square pull rods are provided at equal intervals on the outer periphery of the guide sleeve; one end of the square pull rod is sleeved and connected to one end of the round pull rod; the other end of the round pull rod is provided with the end clamp; the end clamp is connected to the rotating telescopic sleeve.

[0010] As a further improvement of this invention, a dustproof ring or wave spring is provided between the inner cavity of the guide sleeve and the central backbone.

[0011] As a further improvement of this invention, the end disk includes a first permanent magnet, an end fixing base, and a first drive guide post; one end of the first drive guide post is connected to the end fixing base, and the other end of the first drive guide post is connected to the first permanent magnet; the central backbone passes through the end fixing base and the first drive guide post in sequence, and the first permanent magnet is disposed at the end of the central backbone; the end fixing base includes an end base and a first annular fixing shaft; a first central backbone hole is disposed at the center of the end base for the central backbone to pass through, and the first annular fixing shaft is disposed circumferentially on the side of the end base; the end base is provided with a plurality of pre-reserved cable holes; the first drive guide post is provided with a first drive guide post stroke hole and a first central backbone fixing hole; the guide sleeve is located between the first drive guide post and the central backbone, and one end of the square pull rod is connected to the guide sleeve through the first drive guide post stroke hole; the first central backbone fixing hole is used to lock the end disk to the end of the central backbone.

[0012] As a further improvement of this invention, the intermediate disk includes a second permanent magnet, a second drive guide post, an intermediate fixed base, and a second annular fixed shaft; the second drive guide post is disposed between the second permanent magnet and the intermediate fixed base, and the second annular fixed shaft is disposed on the outer circumference of the intermediate fixed base; a second central backbone hole is disposed at the center of the intermediate fixed base, for the central backbone to pass through the intermediate fixed base, the second drive guide post, and the second permanent magnet in sequence; a second drive guide post stroke hole and a second central backbone fixing hole are provided on the side wall of the second drive guide post; a guide sleeve is located between the second drive guide post and the central backbone, and one end of the square pull rod is connected to the guide sleeve through the second drive guide post stroke hole; the second central backbone fixing hole is used to lock the central backbone to the intermediate disk.

[0013] As a further improvement of this invention, the ratio of the tendon winding radius in the unfolded state to the tendon winding radius in the closed state of the variable structure component is 1.5 to 3.0.

[0014] As a further improvement of this invention, the variable structure rotating component is an arc-shaped winglet.

[0015] Secondly, the present invention provides a method for using a magnetically attracted tendon-driven variable structure continuum robot, comprising: Lock the disc and the pull rod onto the central backbone; When the continuous robot is powered off or reverse-energized by default, the electromagnets in the variable structure components and the permanent magnets of the disk are in a non-attractive state. The rotating telescopic sleeve of the variable structure component pushes the rotating component of the variable structure to its external swing limit. After being guided by the disk, the tendon passes through the tendon hole and winds around to obtain the maximum winding radius. ; During operation, the pulling rod drives the variable structure rotating component to rotate, and the rotating telescopic sleeve provides compliance and vibration absorption, keeping the winding radius r at the maximum winding radius. ; When it is necessary to increase the stiffness of a continuum robot or suppress pose drift, a positive pulse current is applied to the electromagnet, causing the electromagnet to attract the permanent magnet, inverting the variable structure rotating component and retracting the rotating telescopic sleeve to its inner limit, thus switching the winding radius to the minimum winding radius. .

[0016] Compared with the prior art, the present invention has the following beneficial effects: This invention utilizes a magnetic locking mechanism formed by arranging variable structural components on a disk, enabling discrete adjustment of the tendon winding radius and effective lever arm as needed, and allowing for rapid switching between "unfolded" and "closed" states. This allows the robot to exhibit strong adaptability to different working conditions. When entering confined spaces, it can quickly narrow its diameter, easily navigating narrow areas, effectively solving the problem of traditional robots being limited in narrow spaces due to their fixed structure. During operation, stiffness can be increased according to actual needs to maintain a steady state, balancing passability and load-bearing efficiency, greatly expanding the robot's application scenarios. In terms of stiffness distribution and control, the robot achieves on-demand allocation of segment stiffness. The stiffness of each segment can be flexibly adjusted according to specific task requirements, ensuring accurate positioning and stable operation under different loads and operational requirements, improving the robot's operational accuracy and load capacity, and providing reliable assurance for high-precision operations. Furthermore, the robot can maintain a specific posture when continuous power is not required, reducing continuous energy consumption. Meanwhile, in the event of a sudden power outage or other malfunction, the magnetic locking mechanism can ensure the stability of the robot structure, prevent structural loss of control or damage due to power failure, improve the reliability of the robot, and reduce losses and risks caused by malfunctions. Attached Figure Description

[0017] 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 unfolded state structure of a magnetically attracted tendon-driven variable structure continuum robot according to the present invention. Figure 2 This is a schematic diagram of the closed-state structure of a magnetically attracted tendon-driven variable structure continuum robot according to the present invention. Figure 3This is a schematic diagram of the endplate of the continuum robot of the present invention fully deployed; Figure 4 This is a schematic diagram of the unfolding process of the endplate of the continuous robot of the present invention; wherein, (a) is a schematic diagram of the instantaneous unfolding process of the endplate of the continuous robot; and (b) is a schematic diagram of the endplate of the continuous robot in the closed state. Figure 5 This is a detailed partial schematic diagram of the end-effector disk of the continuum robot of the present invention; wherein, (a) is a schematic diagram of the bottom structure of the end-effector disk of the continuum robot viewed from below; and (b) is a schematic diagram of the top structure of the end-effector disk of the continuum robot viewed from above. Figure 6 This is a detailed partial schematic diagram of the intermediate disk of the continuum robot of the present invention; wherein, (a) is a top view of the top structure of the intermediate disk of the continuum robot; (b) is a detailed partial schematic diagram of the top structure of the intermediate disk of the continuum robot. Figure 7 This is a schematic diagram of the rotating disk structure of the continuous robot of the present invention; wherein, (a) is a schematic diagram of the bottom structure of the rotating disk structure of the continuous robot from a bottom view; (b) is a schematic diagram of the top structure of the rotating disk structure of the continuous robot from a top view. Figure 8 This is a schematic diagram of the variable structure drive component for the continuum robot of the present invention.

[0018] In the diagram, 10 is the end disk; 101 is the electromagnet; 102 is the first permanent magnet; 103 is the variable structure rotating component; 1031 is the tendon hole; 1032 is the reserved cable hole; 1033 is the rotating telescopic fixing frame; 1034 is the fixing frame pin hole; 1035 is the variable structure rotating component pin hole; 104 is the rotating telescopic sleeve; 105 is the end fixed chassis; 1051 is the chassis reserved cable hole; 1052 is the end chassis; 1053 is the first central backbone hole; 1054 is the first drive guide column fixing hole; 1055 is the first annular fixing shaft; and 106 is the first drive guide column. ; 1061, First drive guide post stroke hole; 1062, First central backbone fixing hole; 107, Pull rod; 1071, Central backbone sliding hole; 1072, Guide sleeve; 1073, Square pull rod; 1074, Circular pull rod; 1075, End clamp; 20, Middle disc; 201, Second central backbone hole; 202, Second permanent magnet; 203, Second drive guide post; 2031, Second drive guide post stroke hole; 2032, Second central backbone fixing hole; 204, Middle fixing base; 2041, Second annular fixing shaft; 30, Central backbone. Detailed Implementation

[0019] 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.

[0020] 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.

[0021] To address the limitations of existing continuous robots in complex working conditions due to their fixed outer diameter and disk layout, constant tendon winding radius and effective lever arm, unadjustable segment equivalent bending stiffness, strong nonlinear coupling introduced by fixed tendon paths and friction distribution, lack of extended support capability in narrow areas, and absence of passive holding and fail-safe mechanisms, these limitations hinder their ability to meet requirements for maneuverability, load capacity, and positioning accuracy. This invention provides a magnetically actuated tendon-driven variable structure continuous robot, such as… Figure 1 As shown, it includes a variable structure component, a disk, and a central backbone 30.

[0022] The central backbone 30 runs through several discs, on which variable structure components are installed.

[0023] The disk includes an end disk 10 and a middle disk 20.

[0024] The central backbone 30 passes through several intermediate discs 20 in sequence, and the end disc 10 is installed at the end of the central backbone 30.

[0025] like Figure 2 As shown, several intermediate disks 20 are equidistantly arranged around the central backbone 30, and the end disk 10 is located at the very end of the central backbone 30. The end disk 10 and the intermediate disks 20 are provided with several variable structure components equidistantly around the central backbone 30, which are used to switch between the two forms of expansion and closure and change the tendon winding radius and effective lever arm, thereby adjusting the segment compliance, bending stiffness and output posture.

[0026] like Figure 3 As shown, the variable structure assembly includes an electromagnet 101, a variable structure rotating component 103, a rotating telescopic sleeve 104, and a pulling rod 107.

[0027] An electromagnet 101 is installed inside the cavity of the variable structure rotating component 103. The variable structure rotating component 103 is hinged to the rotating telescopic sleeve 104, and one end of the pulling rod 107 is connected to the rotating telescopic sleeve 104 for transmitting tension and limiting buffering. A permanent magnet is fixed above the chassis and to the mating surface of the adjacent variable structure rotating component 103. The variable structure rotating component 103 is an arc-shaped wing.

[0028] like Figure 4 As shown, a rotating telescopic fixing frame 1033 is provided between the variable structure rotating component 103 and the rotating telescopic sleeve 104. The rotating telescopic sleeve 104 is supported on the rotating telescopic fixing frame 1033 by a pin, allowing the variable structure rotating component 103 to rotate at a small angle and extend and retract slightly radially. When the variable structure assembly is engaged or disengaged, the variable structure rotating component 103 is pulled closer to or away from the permanent magnet by the pull rod 107, while the rotating telescopic sleeve 104 controls the opening or closing of the variable structure rotating component 103. The variable structure assembly is arranged in three or four sets in the circumferential direction to form a disc module.

[0029] The outer arc of the variable structure rotating component 103 is arranged with several tendon holes 1031 to form a multi-level winding radius; the variable structure rotating component 103 has a reserved cable hole 1032 for wire harness isolation and lead-out, and the reserved cable hole 1032 is located on the outer arc of the variable structure rotating component 103 outside the electromagnet 101.

[0030] The unfolded form of the variable structure rotating component 103 is as follows: When the continuous robot is powered off or reverse-energized by default, the electromagnet 101 and the permanent magnet are in a non-attractive state. The rotating telescopic sleeve 104 pushes the variable structure rotating component 103 to its outward swing limit. After being guided by the base of the disc, the tendon passes through the tendon hole 1031 and winds around to obtain the maximum winding radius. During operation, the actuator applies tension T to the continuous robot, pulling rod 107 to drive the variable structure rotating component 103 to rotate at a small angle. The rotating telescopic sleeve 104 provides compliance and vibration absorption, and the winding radius r is maintained at the maximum winding radius. Alternatively, fine adjustments can be made by switching adjacent hole positions; when it is necessary to increase stiffness or suppress pose drift, the controller applies a positive pulse current to the electromagnet 101, the electromagnet 101 attracts the permanent magnet, the variable structure rotating component 103 swings inward and the rotating telescopic sleeve 104 retracts to the inner limit position, and the winding radius switches to the minimum winding radius. This enables a rapid transition from high compliance to high stiffness. Position detection is located at the root of the variable structure rotating component 103, achieving a hybrid open-loop / closed-loop control and positioning criterion; Hall effect or reed switches can be used.

[0031] The permanent magnet includes a first permanent magnet 102 and a second permanent magnet 202, wherein the permanent magnet in the end disk 10 is the first permanent magnet 102, and the permanent magnet in the middle disk 20 is the second permanent magnet 202.

[0032] The chassis includes an end fixed chassis 105 and an intermediate fixed chassis 204. The permanent magnet in the end disc 10 is selected from the end fixed chassis 105, and the permanent magnet in the intermediate disc 20 is selected from the intermediate fixed chassis 204.

[0033] like Figure 5 As shown, the end disk 10 includes a first permanent magnet 102, an end fixed base 105, and a first drive guide post 106.

[0034] One end of the first drive guide post 106 is connected to the end fixed chassis 105, and the other end of the first drive guide post 106 is connected to the first permanent magnet 102.

[0035] The end fixing base 105 is a coaxial disc. The end fixing base 105 includes an end base 1052 and a first annular fixing shaft 1055. The end base 1052 has a first central backbone hole 1053 at its center for the central backbone 30 to pass through. The end base 1052 has a first annular fixing shaft 1055 circumferentially arranged on its side.

[0036] The end-mount chassis 1052 has several pre-drilled cable holes 1051 around its circumference for layered routing of the electromagnet, sensor, and end-mount tool wiring harnesses, avoiding the tendon path. The periphery of the first central backbone hole 1053 is provided with equally spaced first drive guide post fixing holes 1054, on which the first drive guide post 106 is mounted using screws or locating pins. The first drive guide post 106 has a first drive guide post stroke hole 1061. The guide sleeve 1072 of the pull rod 107 is located between the first drive guide post 106 and the central backbone 30. One end of the square pull rod 1073 is connected to the guide sleeve 1072 through the first drive guide post stroke hole 1061. Therefore, the first drive guide post stroke hole 1061, in conjunction with the pull rod 107, forms a mechanical stroke limit. The first drive guide post 106 has a first central backbone fixing hole 1062 on its inner side. It is a radial threaded hole used to press or clamp the end of the central backbone 30, so as to realize the coaxial rigid connection between the end disk 10 and the central backbone 30.

[0037] During assembly, the first central backbone hole 1053 is inserted into the inner cavity of the first drive guide column 106, and after the axial position is adjusted, it is locked by the clamping screw of the first central backbone fixing hole 1062; the first drive guide column 106 is reliably positioned with the end plate 1052 and prevented from rotating by means of the first drive guide column fixing hole 1054; the cable passes through the reserved cable hole 1051 on the plate and connects to the adjacent intermediate disc 20 or the end effector. To avoid interference with the tendon cable, the reserved cable hole 1051 on the plate is arranged in sections and chamfered; the stroke hole 1061 of the first drive guide column cooperates with the limiting pin on the first drive guide column 106 to limit the allowable displacement and attitude change of the pull rod 107 relative to the end plate 1052.

[0038] like Figure 6 As shown, the intermediate disk 20 includes a second permanent magnet 202, a second drive guide column 203, an intermediate fixed base 204, and a second annular fixed shaft 2041.

[0039] The second drive guide column 203 is disposed between the second permanent magnet 202 and the intermediate fixed chassis 204, and the second annular fixed shaft 2041 is disposed on the outer circumference of the intermediate fixed chassis 204.

[0040] The intermediate fixed base 204 is a coaxial ring component. A second central backbone hole 201 is provided at the center of the intermediate fixed base 204 for the central backbone 30 to pass through and be coaxially positioned with the intermediate fixed base 204. The outer edge of the intermediate fixed base 204 integrally forms a second annular fixed shaft 2041, used for interference or clearance fit with adjacent intermediate discs 20 or guide bushings to achieve segmented equidistant and anti-eccentric load support. Mounting positions for the second drive guide posts 203 are arranged at equal angles on the intermediate fixed base 204. The bottom of the second drive guide posts 203 is connected to the intermediate fixed base 204 via countersunk screws or locating pins. A second central backbone fixing hole 2032 is opened on the side wall of the second drive guide posts 203. Radial inner set screws or clamping blocks are used to lock the end of the central backbone 30, ensuring that force flows from the tendon path to the second drive guide post 203, thus achieving the closure of the intermediate disc 20.

[0041] The second drive guide post 203 has a second drive guide post stroke hole 2031 on its side wall. The guide sleeve 1072 of the pull rod 107 is located between the second drive guide post 203 and the central backbone 30. One end of the square pull rod 1073 is connected to the guide sleeve 1072 through the second drive guide post stroke hole 2031. The pull rod 107 that cooperates with the second drive guide post stroke hole 2031 constitutes a mechanical stroke limit, which is used to constrain the allowable displacement and attitude change of the variable structure rotating component 103 or the end effector relative to the intermediate disk, and avoid over-stroke impact. The upper surface of the intermediate fixed chassis 204 is embedded with a second permanent magnet 202, which serves as a magnetic attraction docking surface with the adjacent disk variable structure rotating component 103 or electromagnet. The second permanent magnet 202 can be a ring or several fan-shaped pieces, arranged axially in the magnetization direction, to provide locking force when switching to the closed state, and to release the attraction by a control strategy, namely electromagnetic reverse excitation or mechanical release, when in the unfolded state. The aforementioned magnetic surface is physically isolated from the tendons and wire bundles to prevent the adsorption and wear of magnetic particles.

[0042] like Figure 7 As shown, the variable structure rotating component 103 includes: a tendon hole 1031, a reserved cable hole 1032, a rotating telescopic fixing frame 1033, a fixing frame pin hole 1034, and a variable structure rotating component pin hole 1035.

[0043] The variable structure rotating component 103 is an arc-shaped variable structure rotating component. The outer arc of the variable structure rotating component 103 has several tendon holes 1031 for setting the tendon's bypass radius. The several tendon holes 1031 are arranged in a row with equidistant, gradually changing arrangement, with preferred hole diameter and spacing, and chamfered openings to reduce wear. The inner arc has reserved cable holes 1032, allowing the electromagnet and sensor cables to be routed separately from the tendon path, preventing interference. The inner side of the variable structure rotating component 103 integrally forms a rotating telescopic fixing frame 1033, serving as a load-bearing connecting rib with the rotating telescopic sleeve, improving root rigidity and providing an assembly reference.

[0044] During assembly, the rotating telescopic fixing bracket 1033 is connected to the rotating telescopic sleeve via its fixing bracket pin hole 1034 using a pin or rivet, and is equipped with a thin-walled bushing to achieve a small-clearance rotatable fit, and a stop surface is provided to limit the limit swing angle. The variable structure rotating component pin hole 1035 at the end of the variable structure rotating component 103 is used to hinge with the corresponding trunnion / limiting component on the chassis side or to install a miniature damper to form a secondary constraint to suppress the impact and vibration during switching. The tendon passes through the selected tendon hole 1031 according to the task, and the cable is led out through the reserved cable hole 1032 and mates with the chassis guide groove. All sharp edges are rounded and equipped with insulating bushings.

[0045] When the variable-structure rotating component 103 rotates around the pin hole 1034 of the fixed frame, the tendon switches between different tendon holes 1031, resulting in a discretely adjustable winding radius r, thereby changing the equivalent force arm and segment stiffness. The pin hole 1035 of the variable-structure rotating component provides a stable hinge point and additional limit, ensuring motion repeatability and durability. The ratio of the tendon winding radius in the unfolded state to the tendon winding radius in the closed state of the variable-structure rotating component 103 is 1.5 to 3.0, thereby achieving a multiple change in bending moment under constant tension conditions.

[0046] like Figure 8 As shown, the pull rod 107 includes a central backbone sliding hole 1071, a guide sleeve 1072, a square pull rod 1073, a round pull rod 1074, and an end clip 1075.

[0047] The guide sleeve 1072 is a coaxial cylindrical body. A central core sliding hole 1071 is provided at the center of the guide sleeve 1072, allowing the central core 30 to pass through and enabling relative axial sliding. A friction-reducing material bushing can be embedded in the inner wall of the sliding hole to reduce friction. The outer periphery of the guide sleeve 1072 is provided with a positioning surface for the base of the disc or variable structure rotating component 103, and is fixed by screws or pins to achieve coaxial constraint and load transmission between the pull rod 107 and the disc. A dustproof ring or wave spring is provided between the inner cavity of the guide sleeve 1072 and the central core 30 to suppress axial clearance. The pull rod 107 is connected to the variable structure rotating component 103 and to the tendon force point, allowing the variable structure component to switch between unfolded and closed states to change the winding radius of the tendon at the tendon hole 1031 and adjust the overall flexibility and bending stiffness.

[0048] The pull rod 107 adopts a two-stage telescopic structure of "square-round". The inner layer is a square pull rod 1073, which forms an anti-rotation fit with the guide surface of the guide sleeve 1072 to ensure the stability of the force direction; the outer layer is a round pull rod 1074, which slides and fits with the square pull rod 1073 to form a telescopic pair with adjustable stroke. The fit clearance is small, and a solid lubricating coating can be sprayed on the contact surface. The end clamp 1075 is connected to the rotating telescopic sleeve 104. The end clamp 1075 can also be directly connected to the rotating telescopic fixing frame 1033 of the variable structure rotating component 103 by a pin or ball joint. The end clamp 1075 is provided with a limiting shoulder and an open retaining spring for easy quick installation and removal and to prevent it from falling off; if necessary, a micro damping pad is built into the end clamp 1075 to buffer the switching impact.

[0049] The tendon tension drives the circular pull rod 1074 to move via the end cap 1075. The circular pull rod 1074 extends and retracts into the square pull rod 1073. The square pull rod 1073 transmits the tension to the guide sleeve 1072, causing the root of the variable structure rotating component 103 to generate a set angle. The "square-circle" extension absorbs the local radial relative displacement of the disc, avoiding lateral loading on the central backbone 30 and the tendon.

[0050] The tendons pass through and wrap around the tendon holes of each intermediate disk 20 and the end disk 10. The cables of the electromagnet 101 and the permanent magnet are arranged in layers through the reserved cable holes and the reserved cable holes of the chassis, and the two do not interfere with each other. The permanent magnet provides locking and holding when the electromagnet 101 is de-energized to achieve power loss safety.

[0051] In summary, this application employs a rotatable component and a magnetic locking mechanism on the outer edge of the disk, allowing for discrete adjustment of the tendon winding radius and effective lever arm as needed, and rapid switching between "unfolded / closed" states. This enables the outer contour to expand and contract and the segment stiffness to be allocated as required. When entering a confined passage, the diameter is reduced for passage, and stiffness is increased to achieve a stable state during the operation phase, balancing passability, load-bearing capacity, and energy efficiency. The magnetic locking provides passive holding and power failure safety, reducing continuous energy consumption and improving reliability. This provides a technological foundation for the reconfigurable structure, programmable stiffness, and highly stable attitude control of continuum robots.

[0052] Secondly, the present invention provides a method for using a magnetically attracted tendon-driven variable structure continuum robot, comprising: The disk and the pull rod 107 are locked onto the central backbone 30; when the continuous robot is powered off by default or reversed, the electromagnet 101 in the variable structure component and the permanent magnet of the disk are in a non-attractive state. The rotating telescopic sleeve 104 of the variable structure component pushes the variable structure rotating member 103 to its outward swing limit. After being guided by the disk, the tendon passes through the tendon hole 1031 and winds around to obtain the maximum winding radius. ; During operation, the pull rod 107 drives the variable structure rotating component 103 to rotate, and the rotating telescopic sleeve 104 provides compliance and vibration absorption, keeping the winding radius r at the maximum winding radius. ; When it is necessary to increase the stiffness of the continuum robot or suppress pose drift, a positive pulse current is applied to the electromagnet 101, causing the electromagnet 101 to attract the permanent magnet, which insulates the variable structure rotating component 103 and retracts the rotating telescopic sleeve 104 to its inner limit position, thus switching the winding radius to the minimum winding radius. .

[0053] In summary, this invention proposes a magnetically actuated tendon-driven variable-structure continuum robot to achieve a programmable trade-off between mobility, load-bearing capacity, and positioning accuracy. The device consists of an end-effector disk, several intermediate disks, and a central through-body structure. Each disk is circumferentially arranged with several variable-structure components, which can switch between extended and closed states, thereby changing the tendon winding radius and effective lever arm, enabling rapid adjustment of the outer contour's expansion and contraction, segmented compliance, bending stiffness, and output posture.

[0054] The variable structure assembly includes an electromagnet, a variable structure rotating component, a rotating telescopic sleeve, a fixed chassis, and a pulling rod. The variable structure rotating component uses arc-shaped winglets, with discrete hole arrays on the outer arc of the winglets to form multi-level winding radii. The chassis and guide posts provide coaxial positioning, mechanical limiting, and force flow closure for the central backbone. The cables and tendons use layered guidance to avoid interference. The system defaults to the deployed state, where the reset component pushes the winglets outward to achieve the maximum winding radius. When increased stiffness or suppression of attitude drift is required, the controller pulses the electromagnet to engage with the permanent magnet, causing the winglets to swing inward, the telescopic sleeve to retract, the winding radius to a minimum, and a stable lock-up. Status sensors are used for positioning criteria and closed-loop control. The end and middle discs are preferably equipped with stroke limits and annular supports to improve lateral load resistance and assembly consistency. The pulling rod uses a square-round two-stage telescopic pair to absorb local relative displacement and reduce impact. This application allows for the selective deployment or closure of different disk groups according to the task, achieving a distribution that enhances rigidity near the base and flexibility at the distal end; tendon pathways can be shared or segmented independently; the drive employs a pulse-hold strategy to reduce energy consumption, and permanent magnet holding is used to ensure power-off safety when necessary. Through the joint design of parameters such as hole row position, magnetic holding force, reset stiffness, and stroke limit, a large curvature coverage and stable mechanical response are achieved; the modular structure facilitates scaling and rapid task-level reconfiguration.

[0055] Therefore, the variable structure component of this application is retractable and can take the minimum winding radius when entering a restricted area. To achieve the reduced diameter passage, the maximum winding radius is taken during the operation phase. Alternatively, segmented combinations improve maneuverability and task adaptability; the switchable winding radius and effective lever arm allow for multiple changes in bending moment under constant tension conditions, significantly expanding the adjustment range of curvature and stiffness, effectively reducing actuator saturation and energy consumption; the magnetic attraction mechanism provides passive holding and power failure safety, maintaining posture without continuous power supply, greatly improving reliability and safety; the compliant / buffered design of the rotating telescopic sleeve and pulling rod effectively suppresses impact and wear during switching, enhancing posture stability and extending service life; mechanical constraints such as stroke holes and annular fixed shafts on the end and middle discs close the force flow, enhancing resistance to lateral loads and thus improving positioning accuracy; the layered arrangement of tendon holes and cable holes avoids mutual interference and magnetic debris adsorption problems, ensuring good maintainability; the modular discs can be serially expanded, supporting segmented stiffness programming and rapid reconfiguration under multiple working conditions. In summary, this invention achieves a synergistic improvement in maneuverability, load-bearing capacity, energy efficiency, and reliability compared to traditional fixed-structure continuous robots.

[0056] 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.

[0057] 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 magnetically attracted tendon-driven variable structure continuum robot, characterized in that, Includes variable structure components, disks and central backbone (30); The central backbone (30) passes through several disks, and several variable structure components are installed on the disks; The variable structure component includes an electromagnet (101), a variable structure rotating component (103), a rotating telescopic sleeve (104), and a pulling rod (107). The pull rod (107) is installed between the disk and the variable structure rotating component (103), and the variable structure rotating component (103) pulls the permanent magnet closer to or further away from the disk through the pull rod (107); The electromagnet (101) is installed in the variable structure rotating component (103); The variable structure rotating component (103) is hinged to the rotating telescopic sleeve (104), and the top end of the pulling rod (107) is connected to the rotating telescopic sleeve (104); The electromagnet (101) has several tendon holes (1031) arranged in the outer region of the electromagnet (101). The disk includes an end disk (10) and a middle disk (20). The end disk (10) is installed at the end of the central backbone (30); Several intermediate disks (20) are equally spaced on the central backbone (30).

2. The magnetically attracted tendon-driven variable structure continuum robot according to claim 1, characterized in that, A rotating telescopic fixing frame (1033) is provided between the variable structure rotating component (103) and the rotating telescopic sleeve (104). The rotating telescopic sleeve (104) is supported on the rotating telescopic fixed frame (1033) by means of a pin.

3. The magnetically attracted tendon-driven variable structure continuum robot according to claim 1, characterized in that, The variable structure rotating component (103) is provided with a variable structure rotating component pin hole (1035).

4. The magnetically attracted tendon-driven variable structure continuum robot according to claim 1, characterized in that, The pull rod (107) includes a central backbone sliding hole (1071), a guide sleeve (1072), a square pull rod (1073), a round pull rod (1074), and an end clip (1075). The guide sleeve (1072) has a central skeleton sliding hole (1071) at its center, and the central skeleton (30) passes through the central skeleton sliding hole (1071). The square tie rods (1073) are evenly spaced around the outer periphery of the guide sleeve (1072). The square pull rod (1073) is sleeved and connected to one end of the round pull rod (1074); The other end of the circular pull rod (1074) is provided with the end clip (1075); The end clip (1075) is connected to the rotating telescopic sleeve (104).

5. A magnetically attracted tendon-driven variable structure continuum robot according to claim 4, characterized in that, A dustproof ring or wave spring is provided between the inner cavity of the guide sleeve (1072) and the central backbone (30).

6. A magnetically attracted tendon-driven variable structure continuum robot according to claim 5, characterized in that, The end disk (10) includes a first permanent magnet (102), an end fixed base (105), and a first drive lead column (106). One end of the first drive lead post (106) is connected to the end fixed chassis (105), and the other end of the first drive lead post (106) is connected to the first permanent magnet (102). The central backbone (30) passes through the interior of the end fixed chassis (105) and the first drive lead column (106) in sequence, and the end of the central backbone (30) is provided with the first permanent magnet (102). The end fixing chassis (105) includes an end chassis (1052) and a first annular fixing shaft (1055). The end plate (1052) is provided with a first central backbone hole (1053) at the center for the central backbone (30) to pass through, and the end plate (1052) is provided with a first annular fixing shaft (1055) in the circumferential direction on the side. The end chassis (1052) is provided with a plurality of pre-reserved cable holes (1051). The first drive guide post (106) is provided with a first drive guide post stroke hole (1061) and a first central backbone fixing hole (1062). The guide sleeve (1072) is located between the first drive guide post (106) and the central backbone (30), and one end of the square pull rod (1073) is connected to the guide sleeve (1072) through the stroke hole (1061) of the first drive guide post; The first central backbone fixing hole (1062) is used to lock the end disc (10) to the end of the central backbone (30).

7. A magnetically attracted tendon-driven variable structure continuum robot according to claim 5, characterized in that, The intermediate disk (20) includes a second permanent magnet (202), a second drive lead column (203), an intermediate fixed base (204), and a second annular fixed shaft (2041). The second drive lead column (203) is disposed between the second permanent magnet (202) and the intermediate fixed chassis (204), and the second annular fixed shaft (2041) is disposed on the outer circumference of the intermediate fixed chassis (204). The intermediate fixed chassis (204) is provided with a second central backbone hole (201) for the central backbone (30) to pass through the intermediate fixed chassis (204), the second drive lead column (203) and the second permanent magnet (202) in sequence. The second drive guide post (203) has a second drive guide post stroke hole (2031) and a second central backbone fixation hole (2032) on its side wall. The guide sleeve (1072) is located between the second drive guide post (203) and the central backbone (30), and one end of the square pull rod (1073) is connected to the guide sleeve (1072) through the stroke hole (2031) of the second drive guide post; The second central skeleton fixing hole (2032) is used to lock the central skeleton (30) to the intermediate disc (20).

8. A magnetically attracted tendon-driven variable structure continuum robot according to claim 1, characterized in that, The ratio of the tendon winding radius in the unfolded state to the tendon winding radius in the closed state of the variable structure component is 1.5 to 3.

0.

9. A magnetically attracted tendon-driven variable structure continuum robot according to claim 1, characterized in that, The variable structure rotating component (103) is an arc-shaped wing.

10. A method for operating a magnetically attracted tendon-driven variable structure continuum robot, based on the magnetically attracted tendon-driven variable structure continuum robot according to any one of claims 1-9, characterized in that, include: Lock the disc and the pull rod (107) onto the central backbone (30); When the continuous robot is powered off by default or reverse-excited, the electromagnet (101) in the variable structure component and the permanent magnet of the disk are in a non-attractive state. The rotating telescopic sleeve (104) of the variable structure component pushes the variable structure rotating member (103) to the outer swing limit. After being guided by the disk, the tendon passes through the tendon hole (1031) and winds around to obtain the maximum winding radius. ; During operation, the pull rod (107) drives the variable structure rotating component (103) to rotate, and the rotating telescopic sleeve (104) provides compliance and vibration absorption, keeping the winding radius r at the maximum winding radius. ; When it is necessary to increase the stiffness of the continuum robot or suppress pose drift, a positive pulse current is applied to the electromagnet (101), the electromagnet (101) attracts the permanent magnet, the variable structure rotating component (103) is swung inward and the rotating telescopic sleeve (104) is retracted to the inner limit, and the winding radius is switched to the minimum winding radius. .

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