Joint lockable rope-driven continuum robot

Abstract

The application relates to the technical field of continuum robots, and particularly relates to a joint-lockable rope-driven continuum robot, which comprises a continuum robot driving mechanism, a plurality of continuum robot body mechanisms, a camera module and a continuum robot driving rope, the continuum robot driving mechanism is provided with the plurality of continuum robot body mechanisms, and the continuum robot body mechanism far from the continuum robot driving mechanism is provided with the camera module; each joint module is configured with an independent locking mechanism, so that the robot can actively lock the joint segment which has completed positioning, the robot can keep the configuration stable in the subsequent movement process, the movement coupling and force interference between the locked segment and the unlocked segment are effectively isolated, the calculation complexity of multi-degree-of-freedom coordinated control is obviously reduced, and the positioning accuracy and operation stability of an end effector in the local adjustment process are improved.

Description

Technical Field

[0001] This invention relates to the field of continuum robot technology, and specifically to a joint-lockable rope-driven continuum robot. Background Technology

[0002] Due to their high flexibility and continuous deformation capabilities, continuum robots have broad application prospects in the fields of medicine, exploration and manipulation. At present, their structures have evolved from early purely flexible configurations to various forms such as modular series, rigid-flexible hybrid and tensioned integral. The driving methods mainly include rope drive, pneumatic and smart material drive, and a series of research results have been achieved at home and abroad.

[0003] However, with the increasing demands for freedom and dexterity, existing technologies face significant challenges: increasing the number of segments and degrees of freedom usually leads to a sharp increase in the number of actuators, transmission links, and control variables, resulting in problems such as system complexity, large size, and enhanced coupling. In particular, in the wire-driven mode, configuring an independent drive for each segment severely restricts its miniaturization and lightweight potential. Although existing studies have optimized it through modularization, differential transmission, or variable stiffness design, it still generally suffers from shortcomings such as large structural size, unstable locking, or complex driving relationships. To address this, a joint-lockable rope-driven continuum robot is proposed. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the present invention provides a joint-lockable rope-driven continuum robot.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a joint lockable rope-driven continuum robot, comprising a continuum robot drive mechanism and a plurality of continuum robot body mechanisms;

[0006] Each of the continuous robot body mechanisms includes a control joint module and an end effector chassis. The control joint module includes a joint chassis, an end face ratchet guide mechanism, a rotating shaft mechanism, a locking mechanism, an SMA spring, a conductive copper sheet, a left end face ratchet, a right end face ratchet, and a linkage. The left and right end face ratchets are arranged opposite each other on the joint chassis. Each left and right end face ratchet is connected to the joint chassis through the end face ratchet guide mechanism, the rotating shaft mechanism, the SMA spring, and the conductive copper sheet. Each set of two locking mechanisms is respectively located at the bottom of the left and right end face ratchets to actively lock the positioned joint segments. The bottom joint chassis is connected to the continuous robot drive mechanism. The linkage is located between the left and right end face ratchets and is connected to the joint chassis or end effector chassis above it.

[0007] Preferably, it also includes a camera module and a continuous robot drive rope. The camera module is mounted on the end chassis, one end of the continuous robot drive rope is connected to the continuous robot drive mechanism, and the other end of the continuous robot drive rope is connected to the continuous robot body mechanism.

[0008] Preferably, the continuous robot drive mechanism includes an upper support plate, a drive base plate, support columns, drive motors, mounting plates, and winding reels. The bottom joint chassis is fixed on the upper support plate. The upper support plate and the drive base plate below it are fixedly connected by support columns at four corners. All four drive motors are mounted on the drive base plate via mounting plates. Each winding reel is mounted on the output end of the drive motor. One end of the continuous robot drive rope passes through the upper support plate and is fixed on the winding reel.

[0009] Preferably, the control joint modules are stacked vertically, with adjacent layers of control joint modules offset at 90°, and the continuous robot drive rope passes through all the joint chassis and is fixed to the bottom surface of the end chassis.

[0010] Preferably, each of the end face ratchet guide rail mechanisms includes two sets of mating screws and a first mating nut. Each set of first mating nuts passes through one side of the joint chassis and is threadedly connected to the mating screw passing through the other side of the joint chassis. The left end face ratchet and the right end face ratchet are slidably sleeved on the first mating nut between the two sides of the joint chassis.

[0011] Preferably, each of the rotating shaft mechanisms includes a second mating nut, a compression spring, a double-ended stud, and a bearing. Two sets of second mating nuts are inserted into the joint base between the mating screw and the first mating nut. The opposite ends of the two second mating nuts are connected to the double-ended stud. The bearing is sleeved on the double-ended stud. The compression spring is sleeved on the second mating nuts on the outer side of the left end face ratchet and the right end face ratchet. Both ends of each compression spring abut against the outer side of the left end face ratchet or the right end face ratchet and the inner side of the joint base, respectively.

[0012] Preferably, the locking mechanism includes a locking connecting plate, a hook connector, a locking hook, and a hook spring. Each set of two locking connecting plates is rotatably connected to the bottom of the left end face ratchet and the right end face ratchet, respectively. The bottom of each locking connecting plate is connected to one end of the hook connector. Each locking hook is slidably sleeved inside the hook connector. Each locking hook extends to the outside through the other end of the hook connector. Each hook spring is disposed inside the hook connector and between it and the locking hook. Each joint base has a hook locking groove on its top surface. The end of each locking hook extending to the outside is inserted into the hook locking groove.

[0013] Preferably, each hook locking groove includes four position points connected in sequence to form a closed loop and three guide slopes. The four position points are position one, position two, position three and position four. The first guide slope is formed between position one and position two, the second guide slope is formed between position two and position three, and the third guide slope is formed between position three and position four. A height difference is provided at the junction of adjacent guide slopes.

[0014] Preferably, the conductive copper sheet is disposed on the outside of the ratchet on the left end face and the ratchet on the right end face, and each end of the SMA spring is respectively connected between the conductive copper sheet on both sides of the first mating nut and the joint base.

[0015] One end of the SMA spring is connected to the positive terminal of the power supply, and the other end is connected to one end of another SMA spring on the same side through a conductive copper sheet. The other end of the other SMA spring is connected to the corresponding SMA spring on the other side through a lead wire, and finally connected back to the negative terminal of the power supply, forming a drive circuit with series power supply and parallel operation.

[0016] Preferably, the linkage includes a linkage ratchet and a clearance groove. The linkage ratchet is rotatably sleeved on the double-ended stud via a bearing. The clearance groove is symmetrically opened inside the linkage ratchet. Each clearance groove is configured as a sector shape that mates with the first mating nut and is concentric with the double-ended stud.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. This invention enables the robot to actively lock the joint segments that have been positioned by configuring independent locking mechanisms for each joint module, ensuring that the robot maintains configuration stability during subsequent movements. This effectively isolates the motion coupling and force interference between locked and unlocked segments, significantly reduces the computational complexity of multi-degree-of-freedom coordinated control, and improves the positioning accuracy and operational stability of the end effector during local adjustments.

[0019] 2. This invention utilizes a cooperative drive and locking control strategy based on fewer drivers. By using a limited number of drive motors, the bending motion and locking state adjustment of multiple joint modules can be achieved through timing combination control. This fundamentally reduces the number of core components such as drivers and reducers required by the system, thereby reducing the weight, size and manufacturing cost of the whole machine, while improving the integration and reliability of the electromechanical system.

[0020] 3. Through modular joint design and independent locking capability, the robot can be dynamically reconfigured during the task. The operator can flexibly lock some joints as rigid support segments while maintaining the flexible movement capability of the remaining joints. This enables the on-demand switching between "rigid support mode" and "flexible continuous operation mode" on a single hardware platform, greatly enhancing the robot's adaptability and task execution diversity in complex environments such as obstacle avoidance or fixed-point support.

[0021] 4. In this invention, the locking mechanism enables the robot to have non-self-locking or self-holding characteristics. Once driven to the locking position, the locking force can be stably maintained by the mechanical properties of the locking mechanism itself, such as friction, deformation, or passing the center dead point, without continuous energy input. This not only ensures the joint's posture maintenance ability under load and improves the rigidity of the overall structure, but also avoids ineffective energy consumption in the locking state, enhancing the safety and reliability of the system under special conditions such as long-term operation or power outage. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the continuum robot of the present invention;

[0023] Figure 2 This is a schematic diagram of the continuous robot drive mechanism, drive base plate, and support column of the present invention.

[0024] Figure 3 This is a schematic diagram of the drive motor, mounting plate, and winding wheel of the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of the lowest-level joint module of the present invention;

[0026] Figure 5 This is an exploded view of the lowest-level joint module of the present invention.

[0027] Figure 6 This is a schematic diagram of the structure of the remaining joint modules of the present invention;

[0028] Figure 7 This is an exploded view of the remaining joint modules of the present invention;

[0029] Figure 8 This is a schematic diagram of the base joint of the present invention in the unlocked state (a) and the locked state (b);

[0030] Figure 9 This is a schematic diagram showing the outline trajectory of the left locking hook in the inner hook locking groove of the present invention;

[0031] Figure 10 This is a schematic diagram of the forces acting on the joint in the unlocked and locked states of the present invention;

[0032] Figure 11 This is a partial cross-sectional structural diagram of the locking hook and hook spring of the present invention;

[0033] Figure 12 This is a schematic diagram of the end chassis and linkage of the present invention;

[0034] Figure 13 This is a schematic diagram of the joint chassis and linkage of the present invention;

[0035] Figure 14 This is a schematic diagram of the joint chassis, linkage ratchet, and clearance groove of the present invention.

[0036] Figure 15 This is a schematic diagram of the structure of the end chassis of the present invention when it is in motion.

[0037] The numbers in the diagram represent:

[0038] 1. Continuous robot drive mechanism; 11. Upper support plate; 12. Drive base plate; 13. Support column; 14. Drive motor; 15. Mounting plate; 16. Winding reel; 2. Continuous robot body mechanism; 21. Control joint module; 211. Joint chassis; 212. End face ratchet guide mechanism; 2121. Connecting screw; 2122. First connecting nut; 213. Rotating shaft mechanism; 2131. Second connecting nut; 2132. Compression spring; 213 3. Double-ended stud; 2134. Bearing; 214. Locking mechanism; 2141. Locking connecting plate; 2142. Hook connector; 2143. Locking hook; 2144. Hook spring; 215. SMA spring; 216. Conductive copper sheet; 217. Left end face ratchet; 218. Right end face ratchet; 219. Linkage joint; 2191. Linkage ratchet; 2192. Clearance groove; 22. End plate; 3. Camera module; 4. Continuous robot drive rope. Detailed Implementation

[0039] The present invention will be further described below with reference to the accompanying drawings and embodiments, which illustrate the above and other technical features and advantages of the present invention. However, the following embodiments are merely preferred embodiments of the present invention and are not exhaustive.

[0040] Example:

[0041] like Figure 1-15As shown, the present invention provides a joint lockable rope-driven continuum robot, including a continuum robot drive mechanism 1, a plurality of continuum robot body mechanisms 2 and a continuum robot drive rope 4. The plurality of continuum robot body mechanisms 2 are stacked vertically on the continuum robot drive mechanism 1. One end of the continuum robot drive rope 4 is connected to the continuum robot drive mechanism 1, and the other end of the continuum robot drive rope 4 is connected to the continuum robot body mechanism 2.

[0042] Each continuum robot body mechanism 2 includes a control joint module 21 and an end effector chassis 22. The control joint modules 21 are stacked vertically, with adjacent layers of control joint modules 21 offset at 90°. Each control joint module 21 includes a joint chassis 211, an end face ratchet guide mechanism 212, a pivot mechanism 213, a locking mechanism 214, an SMA spring 215, a conductive copper sheet 216, a left end face ratchet 217, a right end face ratchet 218, and a linkage ratchet 219. Each joint chassis 211 has a left end face ratchet 217 and a right end face ratchet 218 facing each other. Each left end face ratchet 217 and right end face ratchet 218 are connected by the end face ratchet guide mechanism 212. The pivot mechanism 213, SMA spring 215, and conductive copper sheet 216 are connected to the joint chassis 211. Two locking mechanisms 214 are respectively located at the bottom of the left end face ratchet 217 and the right end face ratchet 218, which are used to actively lock the joint segments that have been positioned. The bottom joint chassis 211 is connected to the continuous robot drive mechanism 1. The linkage 219 is located between the left end face ratchet 217 and the right end face ratchet 218. The linkage 219 is connected to the upper joint chassis 211 or the end chassis 22. The end chassis 22 is equipped with a camera module 3, which is used to collect real-time images of the front of the robot or the working area and transmit the image data to the host computer for display.

[0043] In this embodiment, each joint chassis 211 has a rope hole at its corner that cooperates with the continuous robot drive rope 4. The rope holes are evenly arranged circumferentially. After the continuous robot drive rope 4 passes through all the joint chassis 211, it is fixed to the bottom surface of the end chassis 22.

[0044] In this embodiment, the continuous robot drive mechanism 1 includes an upper support plate 11, a drive base plate 12, a support column 13, a drive motor 14, a mounting plate 15, and a winding wheel 16. The bottom joint chassis 211 is fixed on the upper support plate 11. The upper support plate 11 and the drive base plate 12 below it are fixedly connected by the support columns 13 at the four corners. The four drive motors 14 are all mounted on the drive base plate 12 through the mounting plate 15. The four drive motors 14 are evenly distributed at 90° intervals along the circumference. Each winding wheel 16 is mounted on the output end of the drive motor 14. One end of the continuous robot drive rope 4 passes through the upper support plate 11 and is fixed on the winding wheel 16.

[0045] In this embodiment, each end face ratchet guide mechanism 212 includes two sets of mating screws 2121 and a first mating nut 2122. Each set of first mating nuts 2122 passes through one side of the joint base 211 and is threadedly connected to the mating screws 2121 passing through the other side of the joint base 211 to achieve locking and fixing. The left end face ratchet 217 and the right end face ratchet 218 are slidably sleeved on the first mating nut 2122 between the two sides of the joint base 211.

[0046] In this embodiment, each rotating shaft mechanism 213 includes a second docking nut 2131, a compression spring 2132, a double-ended stud 2133, and a bearing 2134. The second docking nut 2131 is inserted into the joint base 211 between the two sets of docking screws 2121 and the first docking nut 2122. The opposite ends of the two second docking nuts 2131 are connected to the double-ended stud 2133. The bearings 2134 are all sleeved on the double-ended stud 2133. The compression spring 2132 is sleeved on the second docking nut 2131 outside the left end face ratchet 217 and the right end face ratchet 218. The two ends of each compression spring 2132 abut against the outside of the left end face ratchet 217 or the right end face ratchet 218 and the inside of the joint base 211, respectively.

[0047] In this embodiment, the locking mechanism 214 includes a locking connecting plate 2141, a hook connector 2142, a locking hook 2143, and a hook spring 2144. Each set of two locking connecting plates 2141 are rotatably connected to the bottom of the left end face ratchet 217 and the right end face ratchet 218, respectively. The bottom of each locking connecting plate 2141 is connected to one end of the hook connector 2142. Each locking hook 2143 is slidably sleeved inside the hook connector 2142, and all locking hooks 2143 extend to the outside through the other end of the hook connector 2142. Each hook spring 2144 is disposed inside the hook connector 2142 and between it and the locking hook 2143. Figure 11 As shown, the two ends of the hook spring 2144 are fixed to the top surface inside the hook connector 2142 and the top surface of the locking hook 2143, respectively. Each joint base 211 has a hook locking groove on its top surface. One end of each locking hook 2143 extends to the outside and is inserted into the hook locking groove, moving along the contour of the hook locking groove.

[0048] In this embodiment, each hook locking groove includes four position points connected in sequence to form a closed loop and three guide inclined surfaces. The four position points are position one, position two, position three and position four (corresponding to Figure 10 (a), (b), (c), and (d) show the locations of locking hook 2143, where position one and position two form the first guide ramp, position two and position three form the second guide ramp, and position three and position four form the third guide ramp, as shown. Figure 10As shown, a height difference is provided at the junction of adjacent guide ramps.

[0049] In this embodiment, the conductive copper sheet 216 is disposed on the outside of the left end face ratchet 217 and the right end face ratchet 218. Both ends of each SMA spring 215 are respectively connected between the conductive copper sheet 216 on both sides of the first mating nut 2122 and the joint base 211.

[0050] In this embodiment, one end of the SMA spring 215 is connected to the positive terminal of the power supply, and the other end is connected to one end of another SMA spring 215 on the same side through a conductive copper sheet 216. The other end of the other SMA spring 215 is connected to the corresponding SMA spring 215 on the other side through a lead wire, and finally connected back to the negative terminal of the power supply, forming a drive circuit with series power supply and parallel operation.

[0051] In this embodiment, the linkage 219 includes a linkage ratchet 2191 and a clearance groove 2192. The linkage ratchet 2191 is rotatably sleeved on the double-ended stud 2133 through the bearing 2134. The clearance groove 2192 is symmetrically opened inside the linkage ratchet 2191. Each clearance groove 2192 is set as a sector shape that cooperates with the first mating nut 2122 and is concentric with the double-ended stud 2133.

[0052] Working principle: The continuous robot is initially in position one, as shown in (a) of (10). At this time, the continuous robot is in a locked state. When the main body mechanism 2 of the continuous robot moves, it needs to be unlocked first. When unlocking, the SMA spring 215 is energized, and its own resistance generates Joule heat. As the energizing time increases, the temperature of the spring body rises. When the internal metallographic structure reaches the phase transformation temperature, the internal structure of the spring body changes from martensite to austenite, and it contracts to generate a contraction force. At this time, the force state is the contraction force generated by the heating of the SMA spring 215. Exceeding the elastic force of compression spring 2132 and SMA spring 215 And the friction of the bottom surface of the locking hook 2143 (Hook spring 2144 applies pressure to locking hook 2143) The frictional force generated between the bottom surface of the locking hook 2143 and the bottom surface of the hook locking groove. This causes the left end ratchet 217 and the right end ratchet 218 to move away from the linkage ratchet 2191, and at the same time causes the locking hook 2143 to move from position one to position two (e.g. Figure 9As shown in (a)-(b)), after reaching position two, the current to SMA spring 215 is cut off, the temperature of SMA spring 215 decreases, and the contraction force decreases. At this time, under the action of the restoring force of compression spring 2132, the compressed SMA spring 215 is stretched, causing the internal twinned martensite to transform into stress-induced martensite, increasing its length. At the same time, it pushes the left end face ratchet 217 and the right end face ratchet 218 to move towards each other, pushing the locking hook 2143 to slide along the second guide slope from position two to position three (as shown in (a)-(b)). Figure 9 As shown in (b)-(c), at this time, the left end face ratchet 217 and the right end face ratchet 218 move away from the linkage ratchet 2191, completing the separation, and the joint enters the unlocked state, allowing free movement;

[0053] After all joints are in the unlocked state, the initial pose setting of the robot is completed. Then, the winding wheel 16 can be driven by the four drive motors 14 to rotate independently to control the winding and unwinding of the four drive ropes 4, so as to realize the continuous drive of the robot's overall configuration. When the drive rope 4 in one direction is wound up and the drive rope 4 on the opposite side is released, the joint bends in the direction of the winding of the drive rope 4. By coordinating the winding and unwinding ratio and timing of multiple drive ropes 4, the robot can be controlled to bend in a directional manner and adjust its posture in a two-dimensional plane or space. According to the density of the teeth on the linkage ratchet 2191, the joint movement angle is controlled to ensure that when the joint is locked after subsequent rotation, the left end ratchet 217 and the right end ratchet 218 can mesh with the linkage ratchet 2191. When the continuous robot body mechanism 2 moves, the joint chassis 211 drives the linkage ratchet 2191 to rotate on the double-headed stud 2133. At the same time, the first docking nut 2122 moves inside the clearance groove 2192.

[0054] When the joint needs to be relocked, the SMA spring 215 is energized again. The SMA spring 215 contracts due to heat, driving the left end ratchet 217 and right end ratchet 218 to move in opposite directions, pushing the locking hook 2143 from position three to position four (e.g., ...). Figure 9 (as shown in (c)-(d)); after reaching position four, the current to SMA spring 215 is cut off. Under the restoring force of the compressed spring, the locking hook slides back from position four to position one along the third guide ramp (as shown in (c)-(d)). Figure 9 As shown in (d)-(a) in the diagram), and mechanical self-locking is achieved at this position, and the joint returns to a stable locked state;

[0055] During movement, the locking hook 2143, due to the rotatable design of the locking connecting plate 2141, always moves along the guide slope. Furthermore, under the pushing action of the hook spring 2144, the bottom surface of the locking hook 2143 always adheres to the bottom surface of the hook locking groove. This, combined with the height difference at the junction of adjacent guide slope sections within the hook locking groove, ensures that... Figure 9As shown, the locking hook 2143 can only move in a unidirectional cycle along position one - position two - position three - position four, and then back to position one, thereby ensuring that the locking hook 2143 can maintain sufficient stability when locking and unlocking.

[0056] The above description is merely a preferred embodiment of the present invention and is illustrative rather than restrictive. Those skilled in the art will understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, all of which will fall within the protection scope of the present invention.

Claims

1. A joint-lockable rope-driven continuum robot, characterized in that, It includes a continuous robot drive mechanism (1) and several continuous robot body mechanisms (2). Each of the continuous robot body mechanisms (2) includes a control joint module (21) and an end face chassis (22). The control joint module (21) includes a joint chassis (211), an end face ratchet guide mechanism (212), a pivot mechanism (213), a locking mechanism (214), an SMA spring (215), a conductive copper sheet (216), a left end face ratchet (217), a right end face ratchet (218), and a linkage (219). The left end face ratchet (217) and the right end face ratchet (218) are arranged opposite to each other on the joint chassis (211). Each of the left end face ratchet (217) and the right end face ratchet (218) is connected by an end face ratchet. The guide rail mechanism (212), the rotating shaft mechanism (213), the SMA spring (215) and the conductive copper sheet (216) are connected to the joint chassis (211). Each set of two locking mechanisms (214) are respectively set at the bottom of the left end face ratchet (217) and the right end face ratchet (218) to actively lock the joint segment that has been positioned. The bottom joint chassis (211) is connected to the continuous robot drive mechanism (1). The linkage (219) is set between the left end face ratchet (217) and the right end face ratchet (218). The linkage (219) is connected to the joint chassis (211) above it or the end chassis (22).

2. The articulated lockable rope-driven continuum robot as described in claim 1, characterized in that, It also includes a camera module (3) and a continuous robot drive rope (4). The camera module (3) is mounted on the end chassis (22). One end of the continuous robot drive rope (4) is connected to the continuous robot drive mechanism (1), and the other end of the continuous robot drive rope (4) is connected to the continuous robot body mechanism (2).

3. The articulated lockable rope-driven continuum robot as described in claim 2, characterized in that, The continuous robot drive mechanism (1) includes an upper support plate (11), a drive base plate (12), a support column (13), a drive motor (14), a mounting plate (15), and a winding wheel (16). The bottom joint chassis (211) is fixed on the upper support plate (11). The upper support plate (11) and the drive base plate (12) below it are fixedly connected by the support columns (13) at the four corners. The four drive motors (14) are all mounted on the drive base plate (12) through the mounting plate (15). Each winding wheel (16) is mounted on the output end of the drive motor (14). One end of the continuous robot drive rope (4) passes through the upper support plate (11) and is fixed on the winding wheel (16).

4. The articulated lockable rope-driven continuum robot as described in claim 2, characterized in that, The control joint modules (21) are stacked vertically, and the control joint modules (21) of adjacent layers are offset by 90°. The continuous robot drive rope (4) passes through all the joint chassis (211) and is fixed to the bottom surface of the end chassis (22).

5. The articulated lockable rope-driven continuum robot as described in claim 1, characterized in that, Each of the said end face ratchet guide mechanisms (212) includes two sets of mating screws (2121) and a first mating nut (2122). Each set of the first mating nuts (2122) passes through one side of the joint base (211) and is threadedly connected to the mating screws (2121) passing through the other side of the joint base (211). The left end face ratchet (217) and the right end face ratchet (218) are slidably sleeved on the first mating nut (2122) between the two sides of the joint base (211).

6. The articulated lockable rope-driven continuum robot as described in claim 5, characterized in that, Each of the aforementioned pivot mechanisms (213) includes a second mating nut (2131), a compression spring (2132), a double-ended stud (2133), and a bearing (2134). Two sets of second mating nuts (2131) are inserted into the joint base (211) between the mating screw (2121) and the first mating nut (2122). The opposite ends of the two second mating nuts (2131) are connected to the double-ended stud (2133). The bearing (2134) is sleeved on the double-ended stud (2133). The compression spring (2132) is sleeved on the second mating nuts (2131) outside the left end face ratchet (217) and the right end face ratchet (218). The two ends of each compression spring (2132) respectively abut against the outside of the left end face ratchet (217) or the right end face ratchet (218) and the inside of the joint base (211).

7. The articulated lockable rope-driven continuum robot as described in claim 1, characterized in that, The locking mechanism (214) includes a locking connecting plate (2141), a hook connector (2142), a locking hook (2143), and a hook spring (2144). Each set of two locking connecting plates (2141) is rotatably connected to the bottom of the left end ratchet (217) and the right end ratchet (218), respectively. The bottom of each locking connecting plate (2141) is connected to one end of the hook connector (2142), and each locking hook (2143) slides... The locking hooks (2143) are all connected inside the hook connector (2142), and each hook spring (2144) is disposed inside the hook connector (2142) and between the locking hook (2143). Each joint base (211) has a hook locking groove on its top surface, and one end of each locking hook (2143) extending to the outside is inserted into the hook locking groove.

8. The articulated lockable rope-driven continuum robot as described in claim 7, characterized in that, Each hook locking groove includes four position points connected in sequence to form a closed loop and three guide slopes. The four position points are position one, position two, position three and position four. The first guide slope is formed between position one and position two, the second guide slope is formed between position two and position three, and the third guide slope is formed between position three and position four. A height difference is provided at the junction of adjacent guide slopes.

9. A joint-lockable rope-driven continuum robot as described in claim 5, characterized in that, The conductive copper sheet (216) is disposed on the outside of the left end face ratchet (217) and the right end face ratchet (218). Each SMA spring (215) is connected at both ends to the conductive copper sheet (216) on both sides of the first mating nut (2122) and the joint base plate (211). One end of the SMA spring (215) is connected to the positive terminal of the power supply, and the other end is connected to one end of another SMA spring (215) on the same side through a conductive copper sheet (216). The other end of the other SMA spring (215) is connected to the corresponding SMA spring (215) on the other side through a lead wire, and finally connected back to the negative terminal of the power supply to form a drive circuit with series power supply and parallel operation.

10. A joint-lockable rope-driven continuum robot as described in claim 6, characterized in that, The linkage (219) includes a linkage ratchet (2191) and a clearance groove (2192). The linkage ratchet (2191) is rotatably sleeved on the double-ended stud (2133) through a bearing (2134). The clearance groove (2192) is symmetrically opened inside the linkage ratchet (2191). Each clearance groove (2192) is configured as a sector that cooperates with the first mating nut (2122) and is concentric with the double-ended stud (2133).

Images