Penetrating type coaxial nested rotating supporting modular continuum robot

Abstract

The invention belongs to the technical field of continuum robots, and relates to a modular continuum robot of a penetrating type coaxial nested rotating support. Through the nested design of the continuum base fixing module, the modular connecting unit, the modular steering connecting unit and the tail end module connecting unit, a rigid shafting reference penetrating through the whole arm is formed, and span error accumulation is eliminated. The tendon is connected with the modular connecting unit, the modular steering connecting unit and the tail end module connecting unit, motion of each section is independently regulated and controlled by driving the transmission module, and complex track planning and load operation are supported. In addition, the muscle tendons slide and pass through along the coaxial channels, friction of cross-section guide holes is avoided, and low-resistance and high-precision transmission is achieved in cooperation with the guide design of the modular connecting units. The modular connecting unit serves as a standardized interface and supports quick replacement and degree-of-freedom expansion of the mechanical arm sections. The modular steering connection unit is matched with the modular connection unit to decouple bending motion and twisting motion, and the posture of each section is independently controlled.

Description

Technical Field

[0001] This invention belongs to the field of continuum robot technology and relates to a modular continuum robot with a through-type coaxial nested rotating bearing. Background Technology

[0002] Continuum robots, with their compliant deformation, adaptability to narrow, unstructured environments, high degrees of freedom in human-robot interaction, and fault tolerance provided by compliant structures, have attracted widespread attention in scenarios such as minimally invasive surgery, pipeline inspection, aero-engine maintenance, and disaster search and rescue. However, existing mainstream solutions (tendon-driven multi-septum type, concentric tube type, soft pneumatic type, etc.) generally suffer from the following problems: severe bending and torsional coupling, making precise decoupling difficult; friction between the cross-segment guide holes and tendons leads to hysteresis and wear, resulting in decreased positioning and repeatability accuracy; it is difficult to maintain strict coaxiality among the segments, and torque accumulation along the segments causes backlash and attitude drift; multi-septum assembly involves difficulties in axial and circumferential fixation of the intervals, resulting in insufficient kinematic reliability; and the lack of standardized interfaces and load-bearing supports makes it difficult to achieve rapid modular expansion, making it difficult to reconfigure length, degrees of freedom, and load capacity according to the task. With the rapid growth of engineering demands for deep cavity long-distance operations, load-bearing operation, and long-term stable operation, the above bottlenecks are becoming increasingly prominent, urgently requiring a basic structure that can achieve strict coaxial support, low-friction long-distance through wiring, and easy series expansion within a compact shape.

[0003] Continuous robots, with their compliant deformability, high mobility in confined spaces, and intrinsic safety, are key technologies in equipment maintenance, pipeline inspection, and disaster relief. However, for engineering applications requiring "long stroke, heavy load, high precision, and easy reconfiguration," existing structures, represented by tendon-driven multi-septum rings, concentric tubes, and soft pneumatics, still face several major challenges: (1) The lack of a unified coaxial reference for cross-segment guidance and support leads to significant bending and torsional coupling, resulting in attitude drift, backlash, and reduced repeatability; (2) The lack of modular and standardized interfaces makes segment expansion, degree-of-freedom configuration, and function replacement costly and time-consuming, making it difficult to quickly reconfigure according to the task. Summary of the Invention

[0004] The purpose of this invention is to provide a modular continuum robot with a through-type coaxial nested rotary bearing, so as to solve the technical problems of significant bending and torsional coupling and lack of modular and standardized interfaces in continuum robots.

[0005] To achieve the above objectives, the present invention employs the following technical solution: This invention provides a modular continuum robot with a through-type coaxial nested rotary bearing, comprising: Mechanical body; A drive transmission module and a modular continuous robotic arm are arranged on the mechanical body; The modular continuous robotic arm includes multiple modular connection units, as well as a continuous base fixing module, several modular steering connection units, and an end module connection unit arranged in sequence. The continuous base fixing module is fixedly connected to the robotic body. The continuous base fixing module and the modular steering connection unit are connected through several modular connection units. Two adjacent modular steering connection units are connected through several modular connection units. The end module connection unit is connected to the adjacent modular steering connection unit through several modular connection units. Several tendons slide through the interior of the modular continuous robotic arm. The drive transmission module is connected via the tendons to the modular connection unit connected to the base fixing module of the continuous body, the modular connection unit connected to the modular steering connection unit, several modular steering connection units, and the end module connection unit.

[0006] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a mechanical body that serves as an integrated carrier for a drive transmission module and a modular continuous robotic arm. The drive transmission module, via tendons running coaxially, drives the modular continuous robotic arm. Precise tendon tension control enables accurate force feedback and attitude adjustment of the end-load, overcoming the load-bearing capacity limitations of traditional structures. The continuous base fixing module is fixedly connected to the mechanical body. Several modular connecting units can be connected to achieve symmetrical deflection. The modular steering connecting unit employs a nested rotational bearing structure, decoupling bending and torsional motions, independently controlling the attitude of each segment, avoiding backlash and attitude drift caused by torque accumulation, and adjusting the deflection direction of subsequent modular connecting units. The modular connecting units, in conjunction with the modular steering connecting unit, enable multi-attitude adjustments of the continuous robotic arm. Furthermore, the modular connecting units and modular steering connecting units serve as standardized interfaces, achieving precise axial and circumferential docking, supporting rapid disassembly and cascading expansion, significantly reducing the cost and time required for degree-of-freedom configuration and function replacement. Through a nested design of a continuum base fixing module, modular connecting units, modular steering connecting units, and end-effector connecting units, a rigid shaft system reference is formed throughout the entire arm, eliminating cross-segment error accumulation. Tendons connect to the modular connecting units, modular steering connecting units, and end-effector connecting units respectively, and the movement of each segment is independently controlled through a drive transmission module, supporting complex trajectory planning and load operation. Furthermore, the tendons slide along coaxial channels, avoiding cross-segment guide hole friction, and in conjunction with the guiding design of the modular connecting units, achieving low-resistance, high-precision transmission. The modular connecting units of this invention serve as standardized interfaces, supporting rapid replacement and degree-of-freedom expansion of robotic arm segments. The modular steering connecting units of this invention decouple bending and torsional motion, independently controlling the attitude of each segment and avoiding backlash and attitude drift caused by torque accumulation. Tendons connect to the modular connecting units, modular steering connecting units, and end-effector connecting units respectively, and the movement of each segment is independently controlled through a drive transmission module, supporting complex trajectory planning and load operation. Attached Figure Description

[0007] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 This is an assembly diagram of the mechanical body and drive transmission module according to an embodiment of the present invention; Figure 3a This is a schematic diagram of the modular continuum robotic arm according to an embodiment of the present invention; Figure 3b Embodiments of the present invention Figure 3a Enlarged view of a specific area; Figure 4a This is a schematic diagram of the structure of the continuum base fixing module according to an embodiment of the present invention; Figure 4b This is a schematic diagram of the continuum base fixing module from another perspective according to an embodiment of the present invention; Figure 5a This is a schematic diagram of the modular connection unit according to an embodiment of the present invention; Figure 5b This is a schematic diagram of the modular connection unit from another perspective according to an embodiment of the present invention; Figure 6a This is a schematic diagram of the modular steering connection unit according to an embodiment of the present invention; Figure 6b This is a schematic diagram of the modular steering connection unit from another perspective according to an embodiment of the present invention; Figure 7a This is a schematic diagram of the structure of the end module connection unit according to an embodiment of the present invention; Figure 7b This is a schematic diagram of the end module connection unit from another perspective according to an embodiment of the present invention.

[0008] The components include: 10. Modular continuous robotic arm; 20. Mechanical body; 30. Control system; 40. Power supply; 50. Power inlet module; 60. Drive transmission module; 70. Mobile chassis; 101. Continuous base fixing module; 102. Modular connection unit; 103. Modular steering connection unit; 104. End module connection unit; 1011. Base hinge joint housing; 1012. Hinge joint bearing assembly; 1013. Positioning through hole; 1014. Base cylinder; 1015. First tendon guide hole; 1021. Connector housing; 1022. Connector bearing assembly; 1023. First middle bearing frame; 1024. First lateral guide port; 1025. First end face connecting flange; 1026. Second center positioning through hole; 1027. First bottom positioning mounting... 1028. Second tendon guide hole; 1031. Steering head housing; 1032. Steering head bearing assembly; 1033. Third center positioning through hole; 1034. Second lateral guide port; 1035. Second end face connecting flange; 1036. Third tendon guide hole; 1037. Second bottom positioning mounting groove; 1038. Second middle bearing frame; 1041. Mounting plate; 1042. Fastening hole array; 1043. Bearing column; 1044. Third lateral guide port; 1045. Third bottom positioning mounting groove; 1046. Third end face connecting flange; 1047. Tendon fixing hole; 201. Front top fixing plate; 202. End fixing plate; 203. Fixing base; 601. Servo drive motor; 602. Reducer; 603. Coupling; 604. Screw nut. Detailed Implementation

[0009] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0010] It should be noted that the terms "first," "second," etc., in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0011] The present invention will now be described in further detail with reference to the accompanying drawings: Example 1: Existing continuum robots, with their compliant deformability, high maneuverability in confined spaces, and intrinsic safety, have made significant strides in key technologies for equipment maintenance, pipeline inspection, and disaster relief. However, for engineering applications requiring "long stroke, heavy load, high precision, and easy reconfiguration," existing structures, represented by tendon-driven multi-septate rings, concentric tubes, and soft pneumatics, still face four main challenges: 1. Lack of a unified coaxial reference for segmental guidance and support, resulting in significant bending and torsional coupling, leading to attitude drift, backlash, and reduced repeatability; 2. Tendons often travel in a dispersed manner across segments, causing significant hysteresis and wear due to long-distance distributed friction and bending springback, resulting in insufficient reliability and maintainability; 3. Lack of modular and standardized interfaces, leading to high costs and long cycles for segment expansion, degree-of-freedom configuration, and functional replacement, making rapid task-specific reconfiguration difficult; 4. Insufficient load-bearing capacity, limiting dynamic response and load-bearing capacity. Therefore, there is an urgent need to achieve structural decoupling and standardization in geometric reference, rotating bearings, and through-wiring methods to form cascadeable, maintainable, and low-hysteresis continuum basic units. This invention addresses the aforementioned bottlenecks by proposing a modular continuum robot with a through-type coaxial nested rotary support, providing a new structural approach and engineering solution for high-precision and high-reliability operations in complex and confined spaces.

[0012] Looking further, the essence of the above challenges stems from four deep-seated problems: First, the segmental errors of slender flexible bodies are easily accumulated and amplified in the absence of a unified axis system, causing the structure to lose its coaxiality and stiffness benchmark from the source; Second, the guidance and wiring are both in the "porous spacer-sleeve-tendon" system, generating distributed uncertain friction and memory effects, resulting in strong nonlinearity in both modeling and control; Third, the lack of a modular design paradigm centered on "through-reference channel + standard docking interface" means that manufacturing, assembly, and subsequent maintenance lack common dimensional and functional benchmarks, making it difficult to achieve on-demand cascading and rapid replacement; Fourth, the torque transmission chain of traditional continuous robots suffers from elastic torsion and gap accumulation, limiting end-rotation and force control performance.

[0013] See Figure 1 This embodiment discloses a modular continuous robot with a through-type coaxial nested rotary bearing, including a modular continuous robotic arm 10, a mechanical body 20, and a drive transmission module 60. The drive transmission module 60 and the modular continuous robotic arm 10 are arranged on the mechanical body 20. The mechanical body 20 serves as the integrated carrier of the drive transmission module 60 and the modular continuous robotic arm 10. The drive transmission module 60 is used to drive the modular continuous robotic arm 10 by tendons passing through a coaxial channel. Through precise tendon tension control, accurate force feedback and posture adjustment of the end-load are achieved, breaking through the load-bearing capacity limitations of traditional structures.

[0014] The modular continuous robotic arm 10 includes multiple modular connecting units 102, and a continuous base fixing module 101, several modular steering connecting units 103, and an end-effector connecting unit 104 arranged sequentially. The continuous base fixing module 101 is fixedly connected to the robotic body 20. The continuous base fixing module 101 and the modular steering connecting units 103 are connected through several modular connecting units 102. Adjacent modular steering connecting units 103 are connected through several modular connecting units 102. The end-effector connecting unit 104 is connected to adjacent modular steering connecting units 103 through several modular connecting units 102. The connection of several modular connecting units 102 enables symmetrical deflection. The modular steering connecting unit 103 adopts a nested rotational bearing structure to decouple bending and torsional motion, independently control the attitude of each section, avoid backlash and attitude drift caused by torque accumulation, and is used to adjust the deflection direction of subsequent modular connecting units 102. The modular connecting units 102, in conjunction with the modular steering connecting units 103, enable multi-attitude adjustment of the continuous robotic arm. In addition, the modular connection unit 102 and the modular steering connection unit 103 serve as standardized interfaces to achieve precise axial and circumferential docking, support rapid disassembly and assembly and cascading expansion, and significantly reduce the cost and cycle of degree of freedom configuration and function replacement.

[0015] Through the nested design of the continuous base fixing module 101, modular connection unit 102, modular steering connection unit 103 and end module connection unit 104, a rigid shaft system reference is formed that runs through the entire arm, eliminating the accumulation of cross-section errors.

[0016] Several tendons slide through the interior of the modular continuous robotic arm 10. The drive transmission module 60 connects to the modular connection unit 102 (connected to the continuous base fixing module 101), the modular connection unit 102 (connected to the modular steering connection unit 103), several modular steering connection units 103, and the end-effector module connection unit 104 via these tendons. The tendons connect the modular connection unit 102, the modular steering connection unit 103, and the end-effector module connection unit 104, allowing independent control of the movement of each segment via the drive transmission module 60, supporting complex trajectory planning and load operation. Furthermore, the tendons slide along a coaxial channel, avoiding friction across the guide holes, and, in conjunction with the guiding design of the modular connection unit 102, achieving low-resistance, high-precision transmission.

[0017] The modular connection unit 102 of this invention serves as a standardized interface, supporting rapid replacement and degree-of-freedom expansion of robotic arm segments. The modular steering connection unit 103 decouples bending and torsional motions, independently controlling the posture of each segment and avoiding backlash and posture drift caused by torque accumulation. Tendons connect the modular connection unit 102, the modular steering connection unit 103, and the end effector module connection unit 104, respectively, and independently control the movement of each segment via the drive transmission module 60, supporting complex trajectory planning and load operation.

[0018] See Figure 4a and Figure 4b In this embodiment of the invention, the continuous body base fixing module 101 includes a base hinge joint housing 1011 and a base cylinder 1014 fixedly connected. The base hinge joint housing 1011 has a columnar structure. The base cylinder 1014 is fixedly connected to the mechanical body 20. The base cylinder 1014 has several first tendon guide holes 1015, and several tendons pass through the first tendon guide holes 1015. The base hinge joint housing 1011 is rotatably connected to the adjacent modular connection unit 102. (See also...) Figure 3a and Figure 3b .

[0019] See Figure 5a and Figure 5bThe modular connection unit 102 includes a fixedly connected connector housing 1021 and a first end face connecting flange 1025. The first end face connecting flange 1025 has several second tendon guide holes 1028, through which the tendon passes. The connector housing 1021 has a columnar structure. The base hinge housing 1011 is rotatably connected to the first end face connecting flange 1025 of the adjacent modular connection unit 102. The axis of the base hinge housing 1011 is parallel to the axis of the adjacent connector housing 1021. The connector housing 1021 is rotatably connected to the first end face connecting flange 1025 of the adjacent modular connection unit 102. The end module connection unit 104 is rotatably connected to the connector housing 1021 of the adjacent modular connection unit 102. (See also...) Figure 3a and Figure 3b .

[0020] See Figure 6a and Figure 6b The modular steering connection unit 103 includes a steering head housing 1031 and a second end face connecting flange 1035 that are fixedly connected. The steering head housing 1031 has a columnar structure. The second end face connecting flange 1035 has a plurality of third tendon guide holes 1036, and the tendon passes through the third tendon guide holes 1036. The connector housing 1021 is rotatably connected to the second end face connecting flange 1035 of the adjacent modular steering connection unit 103. The axis of the connector housing 1021 is perpendicular to the axis of the steering head housing 1031 of the adjacent modular steering connection unit 103. Figure 5a and Figure 5b .

[0021] The continuous body base fixing module 101, modular connection unit 102, modular steering connection unit 103 and end module connection unit 104 of the present invention are all hinged through a columnar shell, which helps to ensure the axial and circumferential consistency between adjacent units and avoids circumferential torsion during bending and rotation of adjacent units.

[0022] The drive transmission module 60 is connected via the tendon to the first end face connecting flange 1025 adjacent to the continuum base fixing module 101, the first end face connecting flange 1025 adjacent to the modular steering connecting unit 103, and the second end face connecting flange 1035.

[0023] See Figure 5a and Figure 5bIn this embodiment of the invention, the connector housing 1021 and the first end face connecting flange 1025 are connected by a first central support frame 1023. A first bottom positioning mounting groove 1027 is provided at the connection between the first end face connecting flange 1025 and the first central support frame 1023. The base hinge housing 1011 is embedded in the first bottom positioning mounting groove 1027 of the adjacent modular connecting unit 102, and the connector housing 1021 is embedded in the adjacent first bottom positioning mounting groove 1027. This further ensures circumferential consistency between adjacent units and avoids circumferential torsion during bending and rotation of adjacent units.

[0024] See Figure 5a and Figure 5b In this embodiment of the invention, a first central positioning through hole 1013 is provided on the base hinge joint housing 1011, a first hinge shaft is provided inside the first central positioning through hole 1013, and a hinge joint bearing assembly 1012 is provided between the first hinge shaft and the base hinge joint housing 1011, which helps to reduce the frictional force during the rotation process between adjacent units and ensure the smoothness of the posture adjustment of the continuous robot.

[0025] A first lateral guide opening 1024 is provided at the connection between the first end face connecting flange 1025 and the first middle bearing frame 1023. The first lateral guide opening 1024 communicates with and is perpendicular to the first bottom positioning mounting groove 1027. The first hinge shaft passes through the first lateral guide opening 1024 of the adjacent modular connecting unit 102. The connection between two adjacent units via the hinge shaft helps to ensure the axial consistency between the two adjacent units and avoids circumferential runout of adjacent units during attitude adjustment.

[0026] See Figure 6a and Figure 6b In this embodiment of the invention, the steering head housing 1031 is connected to the second end face connecting flange 1035 via a second central support frame 1038. A second bottom positioning mounting groove 1037 is provided between the second end face connecting flange 1035 and the second central support frame 1038. The connecting head housing 1021, located near the second end face connecting flange 1035, is embedded in the second bottom positioning mounting groove 1037, while the steering head housing 1031 is embedded in the first bottom positioning mounting groove 1027, located away from the second end face connecting flange 1035. The modular connecting unit 102 and the modular steering connecting unit 103 are connected by a columnar head housing and mounting groove for limiting, further ensuring circumferential consistency between adjacent units and preventing circumferential torsion during bending and rotation of adjacent units.

[0027] See Figure 6aand Figure 6b In this embodiment of the invention, a second central positioning through hole 1026 is provided on the connector housing 1021, a second hinge shaft is provided in the second central positioning through hole 1026, and a connector bearing assembly 1022 is provided between the second hinge shaft and the connector housing 1021, which helps to reduce the friction force during the rotation process between adjacent units and ensure the smoothness of the posture adjustment of the continuous robot.

[0028] A second lateral guide port 1034 is provided at the connection between the second end face connecting flange 1035 and the second middle bearing frame 1038. The second lateral guide port 1034 communicates with and is perpendicular to the second bottom positioning mounting groove 1037. The second hinge shaft passes through the first lateral guide port 1024 of the adjacent modular connecting unit 102 or the second lateral guide port 1034 of the adjacent modular steering connecting unit 103. The connection between two adjacent units via a hinge shaft helps to ensure axial consistency between the two adjacent units and avoids circumferential runout of adjacent units during attitude adjustment.

[0029] See Figure 6a and Figure 6b In this embodiment of the invention, a third central positioning through hole 1033 is provided on the steering head housing 1031, and a third hinge shaft is provided within the third central positioning through hole 1033. A steering head bearing assembly 1032 is provided between the third hinge shaft and the steering head housing 1031, and the third hinge shaft passes through the first lateral guide opening 1024 of the adjacent modular connecting unit 102. This helps to reduce the frictional force during the rotation process between adjacent units and ensures the smoothness of the continuous robot's posture adjustment.

[0030] See Figure 7a and Figure 7b In this embodiment of the invention, the end module connection unit 104 includes a mounting plate 1041 and a third end face connection flange 1046. The mounting plate 1041 is connected to the third end face connection flange 1046 via a supporting column 1043. The mounting plate 1041 has a fastening hole array 1042, and the third end face connection flange 1046 has a plurality of tendon fixing holes 1047. The drive transmission module 60 is connected to the tendon fixing holes 1047 via the tendons. A third lateral guide port 1044 and a third bottom positioning mounting groove 1045 are provided between the supporting column 1043 and the third end face connection flange 1046. The connector housing 1021 of the modular connection unit 102 adjacent to the end module connection unit 104 is embedded in the third bottom positioning mounting groove 1045. A second hinge shaft passes through the third lateral guide port 1044, and the second hinge shaft is fixedly connected to the connector housing 1021.

[0031] See Figure 1 and Figure 2 In this embodiment of the invention, the drive transmission module 60 includes a plurality of servo drive motors 601 and a plurality of lead screws and nuts 604. The output end of the lead screw and nut 604 is connected to a tendon. The output end of the servo drive motor 601 drives the lead screw and nut 604 through a reducer 602 and a coupling 603. The lead screw and nut 604 pulls the tendon to control the posture of the modular continuous robotic arm 10.

[0032] See Figure 1 and Figure 2 In this embodiment of the invention, the mechanical body 20 includes a front top fixing plate 201, an end fixing plate 202, and a fixing base 203. The front top fixing plate 201 is fixedly connected to the end fixing plate 202. The front top fixing plate 201 is connected to the modular continuous robotic arm 10 through the fixing base 203. The fixing base 203 has segmented slides. The front top fixing plate 201 has a plurality of tendon through holes. The tendons pass through the tendon through holes and the segmented slides. The fixed base 203 is equipped with a control system 30, a power supply 40, a power inlet module 50, and a drive transmission module 60. A movable chassis 70 is fixedly connected to the fixed base 203. The power supply 40 is electrically connected to the control system 30. The power supply 40 is connected to the drive transmission module 60 and the movable chassis 70 through the power inlet module 50. The control system 30 is connected to the power inlet module 50, the drive transmission module 60, and the movable chassis 70.

[0033] This invention establishes a central through-channel as a shared geometric and functional benchmark; introduces a coaxially nested, pre-tightened, low-friction rotary bearing to decouple bending-torsion and suppress hysteresis; constructs standardized cascaded units and quick-connect interfaces to achieve on-demand reconfiguration of length / degrees of freedom / function; and provides a regular and orderly through-path for the tendon to improve load-bearing capacity, precision, dynamics, and reliability. The modular continuum structure of the "through-channel coaxially nested rotary bearing" proposed in this invention offers an engineering solution to the aforementioned problems.

[0034] Example 2: This embodiment discloses a modular continuum robot with a through-type coaxial nested rotary bearing. Figure 1This is a schematic diagram of the overall structure of the robot of the present invention. The diagram includes: a modular continuous robotic arm 10, a mechanical body 20, a control system 30, a power supply 40, a power input module 50, a drive transmission module 60, and a mobile chassis 70. The drive transmission module 60 uses multiple tendons to adjust the tension of various paths to generate bending, extension, and torsion. The power supply 40 simultaneously provides power for the drive and control of both the continuous robot and the mobile chassis 70.

[0035] After power-on, the power input module 50 first closes the main power and completes overcurrent and electromagnetic interference suppression, distributing the DC bus into two paths: one supplying the power stage of the drive transmission module 60, and the other, after voltage regulation, supplying the control system 30, while simultaneously outputting the required voltage to the walking and steering control of the mobile chassis 70. The control system 30 initiates a self-test, sequentially completing power health, communication link, and sensor zero-point checks, and then instructs each actuation channel to return to zero and applies basic pre-tension to the tendons, confirming that the transmission gap and guiding resistance between the mechanical body 20 and the modular continuous robotic arm 10 are within the allowable range.

[0036] During operation, the control system 30 periodically reads angle, tension, and attitude information, and issues displacement or tension targets to the drive transmission module 60 according to the task mode. The servo motors of the drive transmission module 60 synchronously extend and retract the tendons. The tendons are guided and force-transmitted through the base of the mechanical body 20, achieving differential coordination between segments: unilateral tightening produces directional bending, contralateral coordination forms spatial steering, and multi-sided coordination enables appropriate axial extension and retraction and fine-tuning of the end-effector attitude. The modular continuous robotic arm 10 thus completes actions such as unfolding, probing, picking up and placing, and tool operation according to instructions, with the upper computer or remote control terminal driving and controlling it via the control system 30.

[0037] During operation, the control system 30 synchronously manages the start, stop, speed limit, and parking brake of the mobile chassis 70: when approaching the work position, it stops at low speed and engages the brakes; after coming to a complete stop, it deploys the modular continuous robotic arm 10. When it needs to move while operating, the speed of the mobile chassis 70 and the continuous body movement are prioritized to avoid abnormal stress on the wiring harness and tendons. The entire process is equipped with tension upper limit, travel soft limit, and power threshold. Once overload, jamming, communication interruption, or power supply 40 power falling below the threshold is detected, the system immediately reduces power, unloads the tendons, and retracts the continuous body. If necessary, the main power is cut off through the power input module 50 while maintaining mechanical braking to ensure safe, repeatable, and maintainable operation of the entire machine.

[0038] like Figure 2As shown, the continuous robot's motion drive system consists of a frame and execution units. The front top fixed plate 201 and the end fixed plate 202 of the mechanical body form a rigid load-bearing skeleton. The continuous robot's fixed base 203 is positioned at the front end of the front top fixed plate 201 via a flange for docking with the modular continuous robot arm 10. The control system 30 is located in the electrical control cabin on the upper part of the frame, where the drivers, encoder interfaces, and tension / stroke acquisition circuits are centrally located. The power supply 40 and the power input module 50 are located on the rear side of the cabin. The power input module 50 is responsible for power-on, protection, and power distribution: providing a DC bus to the servo power stage, providing a voltage regulator branch to the control system 30 and sensors, and simultaneously powering the walking and steering systems of the mobile chassis 70.

[0039] The execution unit is a multi-channel linear actuator array. Each channel consists of a servo drive motor 601, a planetary reducer 602, a coupling 603, a lead screw, and a lead screw nut 604 connected in series. The servo drive motor 601 rotates under the command of the control system 30. After the torque is amplified by the reducer 602, it drives the lead screw to rotate through the coupling 603, and the lead screw nut 604 achieves high-rigidity linear reciprocating motion. The moving end of the nut is connected to the corresponding tendon through a tensioning clamp. The tendon enters the mechanical body through the guide assembly on the front top fixing plate 201, and then passes through the segment slides to converge at the continuous robot fixed base 203. When the nut of a certain channel moves forward, the connecting tendon is tightened, and the opposite segment bends in a directional manner; when it moves backward, the tension is released, the segment resets, or the bending is dominated by the opposite channel. The multi-channel cooperation can realize the bending, steering, and moderate axial extension and contraction of the modular continuous body.

[0040] The system operation process is as follows: After the power input module 50 is switched on, it supplies power to each channel and the control system 30; the control system completes self-test, zero-position reproduction and foundation pre-tightening, and then collects the nut position, current and temperature rise of each channel at millisecond intervals, and sends displacement or tension control commands to the servo drive motor 601. To ensure accuracy and reliability, the reducer 602 and coupling 603 are assembled with positioning pins and coaxiality verification, the lead screw nut 604 is equipped with dustproof and lubrication channels, and wear-resistant bushings are added to the edge of the guide hole; the tension upper limit, stroke soft limit and emergency stop are dually constrained by the control system 30 and the power input module 50. Once overload, jamming or insufficient power is detected, the system immediately unloads the tension of each channel and commands the continuous body to retract, and can also retreat from the working area through the mobile chassis 70, realizing safe and maintainable continuous body drive and motion control.

[0041] like Figure 3a and Figure 3bAs shown, the modular continuous robotic arm 10 is composed of a continuous base fixing module 101, a modular connecting unit 102, a modular steering connecting unit 103, and an end module connecting unit 104 connected in series. The continuous base fixing module 101 is connected to the fixed base 203 via a flange and a positioning pin. It has built-in tendon inlet holes, guide rollers, and tension clamps to complete the introduction and distribution of multiple tendons and signal harnesses from the drive end. It also provides an electrical quick-connect interface for easy assembly, disassembly, and maintenance of the entire section.

[0042] Modular connection unit 102 is a standardized neutral segment, employing an annular guide plate-central support structure. Tendon channels and tool / sensor wiring channels are arranged circumferentially at equal intervals. The end faces utilize quick-change snaps or threaded springs to achieve gapless connection. Adjacent modular connection units 102 ensure coaxiality and torque transmission through a self-centering conical pair and anti-rotation structure. The number of sections can be freely increased or decreased according to task requirements to change the effective length and flexibility. Each unit can be made of aluminum alloy or engineering plastic and equipped with low-friction bushings. Wear-resistant inserts are added to critical hole edges to reduce long-term wear.

[0043] The modular steering connection unit 103 is a functional segment that integrates offset guidance and articulation geometry to amplify bending efficiency, while simultaneously being compatible with tendon wrapping paths and minimum bending radius constraints. An angle sensor or miniature IMU can be optionally equipped for attitude estimation and health monitoring. The end module connection unit 104 features standardized mechanical and electrical interfaces, supporting rapid replacement of end tools such as cameras, clamps, nozzles, and force / torque sensors; it also reserves a central channel for media transport or lighting arrangement. During operation, the drive end pulls the tendon through the continuum base fixing module 101, transmits force along the channel between the modular connection unit 102 and the modular steering connection unit 103, and closes and anchors at the end module connection unit 104. Multiple tensions are distributed segmentally, enabling controllable bending, torsion, and slight axial expansion and contraction of the continuum to meet the exploration and operation needs of different scenarios.

[0044] like Figure 4a and Figure 4b As shown, the continuum base fixing module 101 consists of a base hinge joint housing 1011, a hinge joint bearing assembly 1012, a positioning through hole 1013, a base cylinder 1014, and a first tendon guide hole 1015. The base hinge joint housing 1011 and the base cylinder 1014 form a rigid integral structure, with flanges and positioning surfaces on the outer periphery for docking with the fixed base; the hinge joint bearing assembly 1012 is installed inside the base hinge joint housing 1011, providing low-friction support for the hinge joint and absorbing radial loads and minor oscillations from the continuum; the positioning through hole 1013 is used to install a positioning pin; the first tendon guide hole 1015 is arranged in a ring, with a chamfer or wear-resistant bushing at the opening to limit the minimum bending radius and reduce long-term wear.

[0045] During assembly, the base cylinder 1014 is connected to the front flange of the machine body and its coaxiality is corrected. Then, each tendon is sequentially passed through the first tendon guide hole 1015 and anchored in the downstream segment according to its number. The hinge bearing assembly 1012 ensures that the hinge joint maintains smooth guidance under tension changes, reducing the transmission of lateral force to the base. After power is applied, the drive end changes the tension of each tendon. The force is transmitted to the continuum through the first tendon guide hole 1015 and the hinge joint. The positioning through hole 1013 provides a stable reference and threading channel, achieving a highly reliable and low-wear base fixation and tension guidance function as a whole.

[0046] like Figure 5a and Figure 5b As shown, the modular connection unit 102 mainly comprises: a connector housing 1021, a connector bearing assembly 1022, a first central support frame 1023, a first lateral guide port 1024, a first end face connecting flange 1025, a second central positioning through hole 1026, and a first bottom positioning mounting groove 1027. The connector housing 1021 and the first central support frame 1023 form an integrated support skeleton, with the connector bearing assembly 1022 embedded inside to provide low-friction support for the upstream hinge shaft and absorb radial loads; the second central positioning through hole 1026 serves as a coaxial positioning reference for the hinge shaft. The first end face connecting flange 1025 is an annular flange with circumferentially distributed fastening holes for quick-connect docking with adjacent units; the first bottom positioning mounting groove 1027 is equipped with a positioning step and flatness control to ensure the posture accuracy and torque transmission capability after module assembly.

[0047] Operation and Assembly: After being introduced from the preceding unit, each tendon continuously transmits force to the next unit via the second tendon guide hole 1028; the guide opening is chamfered or bushed to reduce long-term wear and limit the minimum bending radius. During assembly, center alignment is achieved using the second center positioning through hole 1026, followed by connection to the adjacent unit flange via the first end face connecting flange 1025, and final positioning and fastening are performed at the first bottom positioning mounting groove 1027. This structure achieves modularity, quick replacement, and stable force transmission path, ensuring controllable shape and consistent stiffness of the continuous body under bending, torsion, and small-range axial expansion and contraction conditions.

[0048] like Figure 6a and Figure 6bAs shown, the modular steering connection unit 103 mainly includes: a steering head housing 1031, a steering head bearing assembly 1032, a third center positioning through hole 1033, a second lateral guide port 1034, a second end face connecting flange 1035, and a third tendon guide hole 1036. The steering head housing 1031 and the internal reinforcing ribs form a rigid shell. The steering head bearing assembly 1032 provides low-friction support for the upstream hinge shaft and absorbs radial loads and small-angle sway. The third center positioning through hole 1033 serves as a geometric reference for positioning pins or center routing. The second end face connecting flange 1035 has circumferentially distributed fastening holes to achieve quick flange docking with adjacent units. The third tendon guide hole 1036 is an array of evenly distributed guide holes with chamfered or bushed openings to reduce wear. The second lateral guide port 1034 has an offset inlet to optimize the tendon incident angle and control the minimum bending radius.

[0049] Assembly and Operation: During assembly, coaxial alignment is achieved using the third center positioning through-hole 1033. Then, the steering head bearing assembly 1032 is fastened to the front and rear units via the second end face connecting flange 1035, and the preload and smooth rotation of the steering head bearing assembly 1032 are checked. Each tendon is introduced from upstream, enters the internal channel through the second lateral guide port 1034 and the third tendon guide hole 1036, and continuously transmits force to the next level. During operation, the drive end adjusts multiple tensions, which, under the support of the steering head housing 1031 and the steering head bearing assembly 1032, are converted into directional bending and spatial steering of that segment. If necessary, it cooperates with adjacent segments to achieve small-range axial extension and retraction and end-effector attitude fine-tuning, ensuring efficient and repeatable steering performance and force transmission stability within a confined space.

[0050] like Figure 7a and Figure 7b As shown, the end-module connection unit 104 mainly comprises: a mounting plate 1041, a fastening hole array 1042, a support column 1043, a third lateral guide port 1044, and a third bottom positioning mounting groove 1045. The mounting plate 1041 is a standardized mechanical interface. The fastening hole array 1042 is circumferentially distributed for fastening to the flanges of end tools such as cameras, clamps, and nozzles, and for transmitting axial loads and torque. The support column 1043 is integrally machined with the upper and lower flanges to form a rigid force transmission path. The third bottom positioning mounting groove 1045 serves as a quick-change mating surface, integrating the positioning surface with the electrical / telecommunications / medium mating position to ensure mechanical and electrical connections are completed in one insertion. The third lateral guide port 1044 is equipped with a chamfer or wear-resistant bushing to guide tendons or cables into and out of the end, limiting the minimum bending radius and reducing wear.

[0051] Assembly and Operation: During assembly, alignment and insertion are completed using the third bottom positioning mounting slot 1045. Then, the end tool is secured to the mounting plate 1041 via the fastening hole array 1042, and coaxiality is checked. The upstream tendon or cable enters the end via the third lateral guide port 1044 and the internal channel, enabling continuous transmission of tension, signal, or medium. During operation, the supporting column 1043 closes the tension from the continuum and external working reaction force to the main structure. The third bottom positioning mounting slot 1045 ensures quick replacement and maintenance efficiency. In case of overload or replacement requirements, the end can be quickly replaced simply by unlocking the fasteners of the fastening hole array 1042, ensuring on-site adaptability and reliability.

[0052] The above content is only for illustrating the technical concept of the present invention and should not be construed as limiting the scope of protection of the present invention. Any modifications made to the technical solution based on the technical concept proposed in this invention shall fall within the scope of protection of this invention.

Claims

1. A modular continuum robot with a through-type coaxial nested rotary bearing, characterized in that, include: Mechanical body (20); The drive transmission module (60) and the modular continuous robotic arm (10) are arranged on the mechanical body (20). The modular continuous robotic arm (10) includes multiple modular connection units (102), as well as a continuous base fixing module (101), several modular steering connection units (103), and an end module connection unit (104) arranged in sequence. The continuous base fixing module (101) is fixedly connected to the mechanical body (20). The continuous base fixing module (101) and the modular steering connection unit (103) are connected through several modular connection units (102). Two adjacent modular steering connection units (103) are connected through several modular connection units (102). The end module connection unit (104) is connected to the adjacent modular steering connection unit (103) through several modular connection units (102). Several tendons slide through the interior of the modular continuous robotic arm (10). The drive transmission module (60) is connected to the modular connection unit (102) connected to the continuous base fixing module (101), the modular connection unit (102) connected to the modular steering connection unit (103), several modular steering connection units (103) and the end module connection unit (104) respectively through the tendons.

2. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 1, characterized in that, The continuous body base fixing module (101) includes a base hinge joint shell (1011) and a base cylinder (1014) that are fixedly connected. The base hinge joint shell (1011) is a columnar structure. The base cylinder (1014) is fixedly connected to the mechanical body (20). The base cylinder (1014) has a plurality of first tendon guide holes (1015) and a plurality of tendons pass through the first tendon guide holes (1015). The base hinge joint shell (1011) is rotatably connected to the adjacent modular connection unit (102). The modular connection unit (102) includes a fixedly connected connector housing (1021) and a first end face connecting flange (1025). The first end face connecting flange (1025) has a plurality of second tendon guide holes (1028) and the tendon passes through the second tendon guide holes (1028). The connector housing (1021) is a columnar structure. The base hinge housing (1011) is rotatably connected to the first end face connecting flange (1025) of the adjacent modular connection unit (102). The axis of the base hinge housing (1011) is parallel to the axis of the adjacent connector housing (1021). The connector housing (1021) is rotatably connected to the first end face connecting flange (1025) of the adjacent modular connection unit (102). The end module connection unit (104) is rotatably connected to the connector housing (1021) of the adjacent modular connection unit (102). The modular steering connection unit (103) includes a fixedly connected steering head housing (1031) and a second end face connecting flange (1035). The steering head housing (1031) has a columnar structure. The second end face connecting flange (1035) has a plurality of third tendon guide holes (1036). The tendon passes through the third tendon guide holes (1036). The connector housing (1021) is rotatably connected to the second end face connecting flange (1035) of the adjacent modular steering connection unit (103). The axis of the connector housing (1021) is perpendicular to the axis of the steering head housing (1031) of the adjacent modular steering connection unit (103). The drive transmission module (60) is connected via the tendon to the first end face connecting flange (1025) adjacent to the continuum base fixing module (101), the first end face connecting flange (1025) adjacent to the modular steering connecting unit (103), and the second end face connecting flange (1035).

3. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 2, characterized in that, The connector housing (1021) and the first end face connecting flange (1025) are connected by a first middle support frame (1023). A first bottom positioning mounting groove (1027) is provided at the connection between the first end face connecting flange (1025) and the first middle support frame (1023). The base hinge housing (1011) is embedded in the first bottom positioning mounting groove (1027) of the adjacent modular connection unit (102), and the connector housing (1021) is embedded in the adjacent first bottom positioning mounting groove (1027).

4. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 3, characterized in that, The base hinge housing (1011) is provided with a first central positioning through hole (1013), a first hinge shaft is provided in the first central positioning through hole (1013), and a hinge bearing assembly (1012) is provided between the first hinge shaft and the base hinge housing (1011). A first lateral guide port (1024) is provided at the connection between the first end face connecting flange (1025) and the first middle bearing frame (1023). The first lateral guide port (1024) is connected to and perpendicular to the first bottom positioning mounting groove (1027). The first hinge shaft passes through the first lateral guide port (1024) of the adjacent modular connecting unit (102).

5. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 3, characterized in that, The steering head housing (1031) is connected to the second end face connecting flange (1035) through the second middle support frame (1038). A second bottom positioning mounting groove (1037) is provided between the second end face connecting flange (1035) and the second middle support frame (1038). The connecting head housing (1021) on the side closer to the second end face connecting flange (1035) is embedded in the second bottom positioning mounting groove (1037). The steering head housing (1031) is embedded in the first bottom positioning mounting groove (1027) on the side away from the second end face connecting flange (1035).

6. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 5, characterized in that, The connector housing (1021) is provided with a second central positioning through hole (1026), a second hinge shaft is provided in the second central positioning through hole (1026), and a connector bearing assembly (1022) is provided between the second hinge shaft and the connector housing (1021). A second lateral guide port (1034) is provided at the connection between the second end face connecting flange (1035) and the second middle bearing frame (1038). The second lateral guide port (1034) is connected to and perpendicular to the second bottom positioning mounting groove (1037). The second hinge shaft passes through the first lateral guide port (1024) of the adjacent modular connecting unit (102) or the second lateral guide port (1034) of the adjacent modular steering connecting unit (103).

7. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 5, characterized in that, The steering head housing (1031) is provided with a third center positioning through hole (1033), and a third hinge shaft is provided in the third center positioning through hole (1033). A steering head bearing assembly (1032) is provided between the third hinge shaft and the steering head housing (1031). The third hinge shaft passes through the first lateral guide port (1024) of the adjacent modular connection unit (102).

8. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 2, characterized in that, The end module connection unit (104) includes a mounting plate (1041) and a third end face connection flange (1046). The mounting plate (1041) is connected to the third end face connection flange (1046) through a support column (1043). The mounting plate (1041) has an array of fastening holes (1042), and the third end face connection flange (1046) has a plurality of tendon fixing holes (1047). The drive transmission module (60) is connected to the tendon fixing holes (1047) through the tendon. A third lateral guide port (1044) and a third bottom positioning mounting groove (1045) are provided between the column (1043) and the third end face connecting flange (1046). The connector housing (1021) of the modular connecting unit (102) adjacent to the end module connecting unit (104) is embedded in the third bottom positioning mounting groove (1045). A second hinge shaft is provided in the third lateral guide port (1044), and the second hinge shaft is fixedly connected to the connector housing (1021).

9. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 1, characterized in that, The drive transmission module (60) includes several servo drive motors (601) and several lead screw nuts (604). The output end of the lead screw nut (604) is connected to a tendon. The output end of the servo drive motor (601) drives the lead screw nut (604) through a reducer (602) and a coupling (603). The lead screw nut (604) pulls the tendon to control the posture of the modular continuous robotic arm (10).

10. The modular continuum robot with a through-type coaxial nested rotary bearing according to claim 1, characterized in that, The mechanical body (20) includes a front top fixing plate (201), an end fixing plate (202), and a fixed base (203). The front top fixing plate (201) is fixedly connected to the end fixing plate (202). The front top fixing plate (201) is connected to the modular continuous robotic arm (10) through the fixed base (203). The fixed base (203) has segmented slides. The front top fixing plate (201) has several tendon through holes. The tendons pass through the tendon through holes and the segmented slides. The fixed base (203) is provided with a control system (30), a power supply (40), a power inlet module (50) and a drive transmission module (60). A mobile chassis (70) is fixedly connected to the fixed base (203). The power supply (40) is electrically connected to the control system (30). The power supply (40) is connected to the drive transmission module (60) and the mobile chassis (70) through the power inlet module (50). The control system (30) is connected to the power inlet module (50), the drive transmission module (60) and the mobile chassis (70).

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