A hybrid flexible robot system suitable for complex confined spaces

Abstract

This application proposes a hybrid flexible robot system suitable for complex and confined spaces, belonging to the field of robotics technology. It includes a detection module, a hybrid continuous robot body, and a drive module. The detection module includes at least one sensing unit for acquiring detection information within the space to be detected. The hybrid continuous robot body adopts a rigid-flexible hybrid configuration for continuous bending and posture adjustment. The drive module employs a composite drive method combining shape memory alloy drive and traction ropes to enable the hybrid continuous robot body to generate continuous bending and axial rotational movements. Through its rigid-flexible hybrid configuration design, this system improves overall structural stability and torsional resistance while ensuring the compliance of the hybrid continuous robot body, thus enhancing the robot's operational reliability in complex and confined spaces.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically relating to a hybrid flexible robot system suitable for complex and confined spaces. Background Technology

[0002] As human activities and operational needs continue to expand, more and more work scenarios are characterized by narrow spaces, complex structures, winding paths, and limited environmental conditions. In these complex and confined spaces, traditional tools or manual methods are often unable to intervene directly. Conventional rigid robots, due to limitations in structural size, degree of freedom configuration, and motion modes, are unable to meet the operational needs in narrow passages and complex geometric environments. Therefore, there is an urgent need for robotic systems with special motion capabilities and good environmental adaptability to complete relevant detection and operation tasks.

[0003] Continuum robots, as a type of robot with a flexible structure capable of continuous bending and deformation, can achieve continuous curvature changes to adapt to narrow, tortuous, and irregular passage structures, offering potential advantages in complex and confined space operations. Therefore, continuum robots are widely considered an important technological approach for complex and confined space operations.

[0004] However, existing continuum robots mostly rely on a single flexible structure, which still faces a series of technical challenges in practical applications. For example, in narrow cavities and complex paths, while maintaining compliance, continuum robots often suffer from insufficient torsional stiffness and poor posture stability. Furthermore, their motion patterns are easily affected by structural coupling and drive path constraints under high curvature bending conditions, making it difficult to balance operational accuracy and reliability. These problems are particularly prominent in complex and confined space scenarios, severely restricting further improvements in the operational performance of continuum robots.

[0005] Therefore, how to improve the motion controllability, structural stability and operational adaptability of continuum robots in complex and confined spaces while ensuring their compliance and environmental adaptability has become a key technical problem that urgently needs to be solved in this field. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a hybrid flexible robot system suitable for complex and confined spaces, comprising:

[0007] The system includes a detection module, a hybrid continuous robot body, and a drive module. The detection module is connected to one end of the hybrid continuous robot body, and the other end of the hybrid continuous robot body is connected to the drive module.

[0008] The detection module includes at least one sensing unit for acquiring detection information within the space to be detected;

[0009] The hybrid continuous robot body adopts a rigid-flexible hybrid configuration to achieve continuous bending and posture adjustment;

[0010] The drive module employs a composite drive method combining shape memory alloy drive and traction rope to enable the hybrid continuous robot body to generate continuous bending motion and axial rotation motion.

[0011] The rigid-flexible hybrid configuration includes: multiple rigid segments and flexible segments arranged sequentially along the axial direction, and the rigid segments and flexible segments are alternately connected along the axial direction.

[0012] The flexible segment includes: an orthogonal anti-torsion flexible segment and an offset skeleton large bending flexible segment. The orthogonal anti-torsion flexible segment includes multiple disc structures connected by orthogonally arranged anti-torsion hinges. The offset skeleton large bending flexible segment is adjacent to the orthogonal anti-torsion flexible segment and engages with an offset joint to form an offset continuous structure with unidirectional large bending capability, wherein large bending refers to a bending angle greater than 90 degrees.

[0013] The plurality of disc structures include: a plurality of orthogonal anti-torsion flexible segment top discs, a plurality of orthogonal anti-torsion flexible segment discs, an orthogonal anti-torsion flexible segment base disc, and orthogonal anti-torsion flexible segment guide through holes. The orthogonal anti-torsion flexible segment top discs and the orthogonal anti-torsion flexible segment discs are arranged orthogonally to form an anti-torsion hinge unit. The plurality of anti-torsion hinge units are connected to the orthogonal anti-torsion flexible segment base disc. The orthogonal anti-torsion flexible segment guide through holes penetrate the orthogonal anti-torsion flexible segment top discs, the orthogonal anti-torsion flexible segment discs, and the orthogonal anti-torsion flexible segment base disc.

[0014] The offset frame large bending flexible segment includes: a top plate of the offset frame large bending flexible segment, multiple offset frame large bending flexible segment plates, a base plate of the offset frame large bending flexible segment, and a guide through hole of the offset frame flexible segment. One end of the top plate of the offset frame large bending flexible segment is connected to one end of the offset frame large bending flexible segment plate, and the other end of the top plate of the offset frame large bending flexible segment is connected to the other end of the orthogonal anti-torsion flexible segment. The other end of the offset frame large bending flexible segment plate is connected to one end of another offset frame large bending flexible segment plate. The multiple offset frame large bending flexible segment plates are engaged by offset joints. The last offset frame large bending flexible segment plate is connected to one end of the base plate of the orthogonal anti-torsion flexible segment. The guide through hole of the offset frame flexible segment penetrates the top plate of the offset frame large bending flexible segment, the offset frame large bending flexible segment plates, and the offset frame large bending flexible segment base plate.

[0015] The drive module includes a drive component, which comprises a nickel-titanium shape memory alloy drive wire and a steel wire rope. The nickel-titanium shape memory alloy drive wire and the steel wire rope work together to apply traction force to the hybrid continuous robot body to achieve continuous bending motion.

[0016] The drive components are arranged along the axial direction of the hybrid continuous robot body and are respectively inserted into guide holes provided inside each rigid segment and / or flexible segment.

[0017] The rigid section includes a bidirectional bending sleeve, which is used to confine the driving component inside the sleeve. The bidirectional bending sleeve is hinged and has a slider-type mechanical limiting structure at the connection point to limit the bending angle of the bidirectional bending sleeve. At least one section of the hybrid continuous robot body is fitted with an inflatable balloon. The balloon expands and contracts radially through the inflation and deflation of a fluid medium, and is used for attitude stabilization, spatial support, or local attachment of the hybrid continuous robot body.

[0018] The sensing unit is at least one of a visual sensing unit, an eddy current detection unit, or a laser ultrasonic detection unit.

[0019] The drive module applies axial rotation drive to the hybrid continuous robot body while the robot body remains in a bent state, so as to adjust the end posture of the hybrid continuous robot body.

[0020] The drive module uses multiple drive components located at different circumferential positions on the hybrid continuous robot body to perform differential traction, thereby enabling continuous bending and attitude adjustment of the hybrid continuous robot body.

[0021] Beneficial effects:

[0022] 1. Through the rigid-flexible hybrid configuration design, while ensuring the compliance of the hybrid continuous robot body, the overall structural stability and torsional resistance are improved, enhancing the reliability of the robot in complex and confined spaces.

[0023] 2. By adopting a composite drive method and a rationally arranged drive path, the large curvature continuous bending and overall rotation of the hybrid continuous robot body are coordinated, which improves the robot's motion controllability and posture adjustment capability in narrow and tortuous channels.

[0024] 3. The integrated design of the detection module and the hybrid continuous robot body enables the system to adapt to various complex and confined space operation requirements, and has strong versatility and adaptability.

[0025] 4. The introduction of a balloon structure effectively improves the posture stability and operational accuracy of the hybrid continuum robot in narrow cavities, tortuous channels, and complex spatial environments, thereby enhancing the overall system's adaptability and reliability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the three-dimensional structure of the hybrid large bending flexible robot of the present invention;

[0027] Figure 2 This is a schematic diagram of the three-dimensional structure of the detection module of the present invention;

[0028] Figure 3 This is a schematic diagram of the three-dimensional structure of the hybrid continuous robot body of the present invention;

[0029] Figure 4 This is a schematic diagram of the three-dimensional structure of the orthogonal anti-torsional flexible segment of the present invention;

[0030] Figure 5 This is a schematic diagram of the three-dimensional structure of the offset skeleton large bending flexible segment of the present invention;

[0031] Figure 6 This is a three-dimensional structural diagram of the rigid section of the bidirectional bending sleeve of the present invention;

[0032] Figure 7 This is a three-dimensional structural diagram of the driving module of the present invention;

[0033] Figure 8 This is a three-dimensional structural diagram of the balloon operation mode of the present invention;

[0034] Among them, 1-detection module, 11-eddy current detection unit, 12-visual sensing unit, 13-data cable, 2-hybrid continuous robot body, 21-orthogonal anti-torsion flexible segment, 2101-top plate of orthogonal anti-torsion flexible segment, 2102-plate of orthogonal anti-torsion flexible segment, 2103-base plate of orthogonal anti-torsion flexible segment, 2104-guide hole of orthogonal anti-torsion flexible segment, 22-offset skeleton large bending flexible segment, 2201-top plate of offset skeleton large bending flexible segment, 2202-plate of offset skeleton large bending flexible segment, 2203-base plate of offset skeleton large bending flexible segment, 22 04-Offset skeleton flexible section guide through hole, 23-Bidirectional bending sleeve rigid section, 2301-First bidirectional bending sleeve, 2302-Second bidirectional bending sleeve, 2303-Bending sleeve guide through hole, 3-Drive module, 3001-Axial rotation mechanism, 3002-Drive motor assembly, 3003 Rotary drive bracket, 3004-Limiting plate, 3005-Drive module base, 3006-Push-pull screw, 3007-Robot support frame, 3008-Rotary bearing support frame, 3009-Slider limiting groove, 3010-Push-pull slider, 3011-Coupling, 4-Balloon. Detailed Implementation

[0035] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0036] Example 1:

[0037] A hybrid flexible robot system suitable for complex and confined spaces, such as Figure 1 As shown, it includes: a hybrid continuous robot body 2, a drive module 3, and a detection module 1. The detection module 1 is connected to one end of the hybrid continuous robot body 2, and the other end of the hybrid continuous robot body 2 is connected to the drive module 3, wherein:

[0038] (1) Hybrid Continuous Robot Body 2:

[0039] The hybrid continuous robot body 2 includes multiple rigid and flexible segments arranged sequentially and alternately along the axial direction, forming a hybrid configuration that combines structural stability and flexible deformation capability. The rigid segments provide axial support and structural stability, while the flexible segments enable continuous large bending deformation to adapt to narrow cavities and tortuous paths.

[0040] The hybrid continuous robot body includes: multiple rigid segments and flexible segments arranged sequentially along the axial direction, and the rigid segments and flexible segments are alternately connected along the axial direction.

[0041] The flexible segment includes: a hinged continuum configuration with discrete redundant degrees of freedom and an offset joint continuum segment. The continuum configuration includes multiple disk structures connected by orthogonally arranged anti-torsional hinges. The offset joint continuum segment is adjacent to the continuum configuration and engages with the offset joint to form an offset continuum structure with unidirectional large bending capability.

[0042] Specifically: the flexible segment, such as Figure 3As shown, it includes: an orthogonal anti-torsion flexible segment 21 and an offset skeleton large bending flexible segment 22. One end of the orthogonal anti-torsion flexible segment 21 is connected to the detection module 1, and the other end of the orthogonal anti-torsion flexible segment 21 is connected to one end of the offset skeleton large bending flexible segment 22. The other end of the offset skeleton large bending flexible segment 22 is connected to one end of the bidirectional bending sleeve rigid segment 23. The orthogonal anti-torsion flexible segment 21 can be regarded as a hinge-type continuum configuration with discrete redundant degrees of freedom, and the offset skeleton large bending flexible segment 22 can be regarded as an offset joint continuum segment. The orthogonal anti-torsion flexible segment 21 includes multiple disc structures, which are connected by orthogonally arranged anti-torsion hinges. The offset skeleton large bending flexible segment 22 is adjacent to the orthogonal anti-torsion flexible segment 21 and is engaged by an offset joint to form an offset continuum structure with unidirectional large bending capability, where large bending refers to a bending angle greater than 90 degrees.

[0043] The multiple disk structures, such as Figure 4 As shown, it includes: multiple orthogonal anti-torsion flexible segment top discs 2101, multiple orthogonal anti-torsion flexible segment discs 2102, an orthogonal anti-torsion flexible segment base disc 2103, and orthogonal anti-torsion flexible segment guide through holes 2104. The orthogonal anti-torsion flexible segment top discs 2101 and the orthogonal anti-torsion flexible segment discs 2102 are arranged orthogonally to form an anti-torsion hinge unit. The multiple anti-torsion hinge units are connected to the orthogonal anti-torsion flexible segment base disc 2103. The orthogonal anti-torsion flexible segment guide through holes 2104 penetrate the orthogonal anti-torsion flexible segment top discs 2101, orthogonal anti-torsion flexible segment discs 2102, and orthogonal anti-torsion flexible segment base discs 2103.

[0044] The offset skeleton large bending flexible segment 22, such as Figure 5 As shown, it includes: a top disc 2201 of a biased skeleton large bending flexible segment, multiple biased skeleton large bending flexible segment discs 2202, a base disc 2203 of a biased skeleton large bending flexible segment, and a guide through hole 2204 for the biased skeleton flexible segment. One end of the top disc 2201 is connected to one end of the biased skeleton large bending flexible segment disc 2202, and the other end of the top disc 2201 is connected to the other end of the orthogonal anti-torsional flexible segment 21. The other end of body 2202 is connected to one end of another offset skeleton large bending flexible segment disc 2202. Multiple offset skeleton large bending flexible segment discs 2202 are engaged through offset joints. The last offset skeleton large bending flexible segment disc 2202 is connected to one end of an orthogonal anti-torsion flexible segment base disc 2103. The offset skeleton flexible segment guide through hole 2204 penetrates the offset skeleton large bending flexible segment top disc 2201, the offset skeleton large bending flexible segment disc 2202, and the offset skeleton large bending flexible segment base disc 2203.

[0045] The rigid section includes a bidirectional bending sleeve, which is used to confine the driving component inside the sleeve. The bidirectional bending sleeve is connected by a hinge, and a slider-type mechanical limiting structure is provided at the connection point to limit the bending angle of the bidirectional bending sleeve.

[0046] The rigid section is a bidirectional bending sleeve rigid section 23, such as Figure 6 As shown, it includes: a first bidirectional bending sleeve 2301 with a second bidirectional bending sleeve 2302 and a bending sleeve guide through hole 2303, the bending sleeve guide through hole 2303 penetrating the first bidirectional bending sleeve 2301 and the second bidirectional bending sleeve 2302, the first bidirectional bending sleeve 2301 and the second bidirectional bending sleeve 2302 being connected by a hinge, and a slider-type mechanical limiting structure being provided at the connection point to limit the bending angle between the first bidirectional bending sleeve 2301 and the second bidirectional bending sleeve 2302.

[0047] In summary, in this embodiment, the flexible segment of the hybrid continuum robot body 2 adopts an offset joint continuum configuration. This offset joint, through an asymmetric hinge joint, creates an offset at the connection point of adjacent disks, thereby enabling a greater range of spatial bending operations within a finite length and improving the robot's dexterity and obstacle avoidance capabilities in complex spaces. The flexible segment of the hybrid continuum robot body 2 also employs a hinge-type continuum configuration with discrete redundant degrees of freedom. Its continuum skeleton consists of multiple disk structures connected by orthogonal anti-torsional hinge structures, thus significantly improving torsional stiffness while ensuring continuous bending capability and enhancing end-effector attitude control accuracy.

[0048] The rigid section of the hybrid continuous robot body 2 adopts a bidirectional bending sleeve structure. The sleeve is connected by a hinge structure, and the maximum bending angle is limited by a slider-type mechanical limiting structure at the connection point. At the same time, the sleeve is provided with a smooth hole wall for the drive wire to pass through, so as to reduce frictional resistance and improve drive efficiency.

[0049] (2) Detection module 1:

[0050] Detection module 1 is installed at the front end or inside the body 2 of the hybrid continuous robot, such as... Figure 2 As shown, the sensors include, but are not limited to: a visual sensing unit 12, an eddy current detection unit 11, and a laser ultrasonic detection unit. These various sensors can be combined and configured according to task requirements to achieve multimodal detection of surface defects, structural damage, or internal conditions of a target area.

[0051] In this embodiment, the detection module 1 includes a visual sensing unit 12, an eddy current detection unit 11, and a data cable 13. The visual sensing unit 12 and the eddy current detection unit 11 are used to detect surface defects and structural damage in the target area.

[0052] In this embodiment, the detection module 1 can integrate at least one sensing unit to detect the internal environment of a complex and confined space and obtain corresponding detection information.

[0053] (3) Driver module 3:

[0054] Drive module 3 employs a composite drive method combining nickel-titanium wire and steel wire rope. Multiple drive wires are arranged along the internal channels of the robot body to provide traction drive for the hybrid continuous robot body, enabling bending deformation of the flexible sections and overall posture adjustment. Specifically, the nickel-titanium wire provides shape memory drive or flexible traction capability; the steel wire rope provides high-strength traction and stable force transmission.

[0055] The drive module, while the hybrid continuous robot body remains in a bent state, applies axial rotation drive to the hybrid continuous robot body through the coordinated movement of the drive motor module 3002 and the belt pulley transmission mechanism, so as to adjust the end posture of the hybrid continuous robot body.

[0056] The drive module is driven by multiple drive components positioned at different circumferential positions on the hybrid continuous robot body to achieve continuous bending and attitude adjustment of the robot body. The drive components are connected to the push-pull slider 3010, and the drive motor assembly 3002 drives the push-pull screw 3006 to move in opposite directions to achieve a differential traction effect.

[0057] Specifically, the drive module 3 includes a drive component comprising a nickel-titanium shape memory alloy drive wire and a steel wire rope. The nickel-titanium shape memory alloy drive wire and the steel wire rope work together to apply traction force to the hybrid continuous robot body to achieve continuous bending motion. The drive component is arranged along the axial direction of the hybrid continuous robot body and passes through guide holes respectively provided inside each rigid segment and / or flexible segment.

[0058] In this embodiment, the driving module 3, as shown in the example... Figure 7 As shown, it includes: axial rotation mechanism 3001, drive motor assembly 3002, rotary drive bracket 3003, limit plate 3004, drive module base 3005, push-pull screw 3006, robot support frame 3007, rotary bearing support frame 3008, slider limit groove 3009, push-pull slider 3010, and coupling 3011.

[0059] The axial rotation mechanism 3001 is connected to the drive motor assembly 3002. The rotary drive bracket 3003 is fixed on the drive module base 3005 and located directly below the limiting plate 3004. The push-pull screw 3006 passes through the push-pull slider 3010 and the limiting plate 3004. One end of the push-pull screw 3006 is connected to the coupling 3011, and the other end of the push-pull screw 3006 is connected to the rotary bearing support frame 3008. The push-pull slider 3010 is located in the slider limiting groove 3009. The rotary bearing support frame 3008 is fixedly connected to the robot support frame 3007.

[0060] In this embodiment, the drive module 3 is connected to the hybrid continuous robot body 2, and adopts a composite drive method combining shape memory alloy drive components and traction ropes. The drive components are arranged along the axial direction of the continuous robot body, and differential traction is applied to the flexible segments through drive paths set at different circumferential positions, thereby realizing continuous bending, posture adjustment, and overall rotational movement of the continuous robot body. Specifically, the drive module 3 achieves overall rotation through the axial rotation mechanism 3001, wherein the torque is transmitted by a pulley mechanism. The push-pull slider 3010 achieves axial linear movement along the push-pull screw 3006 under the power transmission of the drive motor set 3002 and the coupling 3011. The slider limiting groove 3009 constrains the circumferential degree of freedom of the push-pull slider 3010 through the groove structure, thereby preventing it from rotating axially; at the same time, the limiting plate 3004 is used to realize the mechanical limit of the stroke of the push-pull slider 3010. In addition, the axial rotation of the hybrid robot is supported by the rotary drive bracket 3003, while the robot body is supported and rotated by the support frame 3007.

[0061] (4) Balloon 4:

[0062] Furthermore, to improve the attitude stability and operational reliability of the hybrid continuous robot body 2 under large curvature bending conditions in complex and confined spaces, this embodiment provides an inflatable balloon 4 on at least one outer section of the hybrid continuous robot body 2, such as... Figure 8 As shown. The balloon 4 is made of a flexible and deformable material. By filling or releasing a fluid medium into the balloon 4, radial expansion and contraction can be achieved. When the balloon 4 is inflated, its outer surface can adhere to or contact the inner wall of the complex confined space, thereby providing radial support or damping constraints for the hybrid continuum robot body and suppressing the shaking, twisting, or attitude drift of the continuum under large bending or external disturbance conditions.

[0063] In this embodiment, one end of the balloon 4 is connected to the rigid section 23 of the bidirectional bending sleeve, and the other end of the balloon 4 is connected to the drive module.

[0064] This embodiment proposes a hybrid flexible robot system suitable for complex and confined spaces. To address the problems of insufficient bending ability, difficulty in balancing torsional stiffness and compliance, poor posture control stability, and limited detection or operation capabilities of existing continuum robots in narrow cavities, long tortuous paths, and complex spatial environments, this embodiment proposes a hybrid flexible robot system. Through a hybrid configuration design of rigid and flexible segments, combined with a discrete redundant degree-of-freedom continuum skeleton, an offset joint continuum structure, and a composite drive and detection module, the robot achieves a balance between high compliance, large bending ability, and high posture stability in complex and confined spaces, significantly improving its adaptability and reliability in detection, operation, and manipulation tasks.

[0065] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0066] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of equivalent technology of this disclosure, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A hybrid flexible robot system suitable for complex and confined spaces, characterized in that, include: The system includes a detection module, a hybrid continuous robot body, and a drive module. The detection module is connected to one end of the hybrid continuous robot body, and the other end of the hybrid continuous robot body is connected to the drive module. The detection module includes at least one sensing unit for acquiring detection information within the space to be detected; The hybrid continuous robot body adopts a rigid-flexible hybrid configuration to achieve continuous bending and posture adjustment; The drive module employs a composite drive method combining shape memory alloy drive and traction rope, which enables the hybrid continuous robot body to generate continuous bending motion and axial rotation motion.

2. The hybrid flexible robot system suitable for complex and confined spaces according to claim 1, characterized in that, The rigid-flexible hybrid configuration includes: multiple rigid segments and flexible segments arranged sequentially along the axial direction, and the rigid segments and flexible segments are alternately connected along the axial direction.

3. A hybrid flexible robot system suitable for complex and confined spaces according to claim 2, characterized in that, The flexible segment includes: an orthogonal anti-torsion flexible segment (21) and an offset skeleton large bending flexible segment (22). The orthogonal anti-torsion flexible segment (21) includes multiple disc structures, which are connected by orthogonally arranged anti-torsion hinges. The offset skeleton large bending flexible segment (22) is adjacent to the orthogonal anti-torsion flexible segment (21) and engages with an offset joint to form an offset continuous structure with unidirectional large bending capability, wherein large bending refers to a bending angle greater than 90 degrees.

4. A hybrid flexible robot system suitable for complex and confined spaces according to claim 3, characterized in that, The plurality of disc structures include: a plurality of orthogonal anti-torsion flexible segment top discs (2101), a plurality of orthogonal anti-torsion flexible segment discs (2102), an orthogonal anti-torsion flexible segment base disc (2103), and an orthogonal anti-torsion flexible segment guide through hole (2104). The orthogonal anti-torsion flexible segment top discs (2101) and the orthogonal anti-torsion flexible segment discs (2102) are arranged orthogonally to form an anti-torsion hinge unit. The plurality of anti-torsion hinge units are connected to the orthogonal anti-torsion flexible segment base disc (2103). The orthogonal anti-torsion flexible segment guide through hole (2104) penetrates the orthogonal anti-torsion flexible segment top disc (2101), the orthogonal anti-torsion flexible segment discs (2102), and the orthogonal anti-torsion flexible segment base disc (2103).

5. A hybrid flexible robot system suitable for complex and confined spaces according to claim 3, characterized in that, The offset skeleton large bending flexible segment (22) includes: a top plate (2201) of the offset skeleton large bending flexible segment, multiple plates (2202) of the offset skeleton large bending flexible segment, a base plate (2203) of the offset skeleton large bending flexible segment, and a guide through hole (2204) of the offset skeleton flexible segment. One end of the top plate (2201) of the offset skeleton large bending flexible segment is connected to one end of the plate (2202) of the offset skeleton large bending flexible segment, and the other end of the top plate (2201) of the offset skeleton large bending flexible segment is connected to the other end of the orthogonal anti-torsion flexible segment (21). The other end of the large bending flexible segment disc (2202) is connected to one end of another offset skeleton large bending flexible segment disc (2202). Multiple offset skeleton large bending flexible segment discs 2202 are engaged through offset joints. The last offset skeleton large bending flexible segment disc (2202) is connected to one end of an orthogonal anti-torsion flexible segment base disc (2103). The offset skeleton flexible segment guide through hole (2204) passes through the offset skeleton large bending flexible segment top disc (2201), the offset skeleton large bending flexible segment disc (2202), and the offset skeleton large bending flexible segment base disc (2203).

6. A hybrid flexible robot system suitable for complex and confined spaces according to claim 1, characterized in that, The drive module includes a drive component, which comprises a nickel-titanium shape memory alloy drive wire and a steel wire rope. The nickel-titanium shape memory alloy drive wire and the steel wire rope work together to apply traction force to the hybrid continuous robot body to achieve continuous bending motion.

7. A hybrid flexible robot system suitable for complex and confined spaces according to claim 1, characterized in that, The drive components are arranged along the axial direction of the hybrid continuous robot body and are respectively inserted into guide holes provided inside each rigid segment and / or flexible segment.

8. A hybrid flexible robot system suitable for complex and confined spaces according to claim 2, characterized in that, The rigid section includes a bidirectional bending sleeve, which is used to confine the driving component inside the sleeve. The bidirectional bending sleeve is connected by a hinge, and a slider-type mechanical limiting structure is provided at the connection point to limit the bending angle of the bidirectional bending sleeve.

9. A hybrid flexible robot system suitable for complex and confined spaces according to claim 1, characterized in that, At least one section of the body of the hybrid continuous robot is fitted with an inflatable balloon (4). The balloon (4) expands and contracts radially by inflating and deflating the fluid medium, and is used to stabilize the posture of the hybrid continuous robot body, provide spatial support or local attachment.

10. A hybrid flexible robot system suitable for complex and confined spaces according to claim 1, characterized in that, The drive module applies axial rotation drive to the hybrid continuous robot body while the body remains in a bent state, so as to adjust the end posture of the hybrid continuous robot body. The drive module uses multiple drive components located at different circumferential positions on the hybrid continuous robot body to perform differential traction, thereby enabling continuous bending and attitude adjustment of the hybrid continuous robot body.

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