A rope-driven flexible robot

Abstract

The present application relates to the technical field of flexible robot, specifically to a rope-driven flexible robot, which comprises a flexible body module and a rope-driven transmission module; the flexible body module is composed of three sections of motion units, i.e., a first motion unit group, a second motion unit group and a third motion unit group, which are connected in series along the axial direction, and the three sections of units are connected through a first flexible joint adapter block and a second flexible joint adapter block respectively; an inner lining hose is arranged at the axial position of the flexible body module; each section of motion unit group is composed of a plurality of cylindrical flexible structure housings which are connected in series; the flexible body module can easily enter into narrow and winding spaces such as the gap between the blades of an aero-engine, which cannot be reached by traditional robots; the inner lining hose is reserved in the flexible body, which can stably wear an endoscope or a polishing instrument and the like operation module, and the detection and operation functions are integrated. One device can be adapted to detect, repair and clean multiple working conditions, and the device has strong versatility.

Description

Technical Field

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

[0002] In scenarios such as aero-engine maintenance and pipeline inspection, traditional rigid robots suffer from insufficient mobility and poor adaptability to complex environments due to their structural limitations. Especially in the confined spaces and winding passageways inside aero-engines, conventional industrial rigid robotic arms consist of multiple rigid links and rotary joints connected in series. Each link is large, the joint turning radius is large, and the overall minimum bending radius is large. The blade clearance width inside an aero-engine is generally less than 25mm, and the passageways have continuous bending structures. Rigid robotic arms, limited by the link shape and joint rotation, cannot enter narrow gaps or continuously bending cavities.

[0003] In response to the technical shortcomings of traditional rigid robots, this invention proposes a rope-driven flexible robot that is suitable for operations in narrow and tortuous cavities. Summary of the Invention

[0004] The purpose of this invention is to provide a rope-driven flexible robot that can adapt to narrow and tortuous spaces such as inside an aircraft engine, enabling flexible movement and operation, thereby solving the technical problems in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rope-driven flexible robot, comprising a flexible body module and a rope-driven transmission module;

[0006] The flexible body module is composed of three motion units—a first motion unit group, a second motion unit group, and a third motion unit group—connected sequentially along the axial direction. The three motion units are respectively connected to each other through a first flexible joint adapter block and a second flexible joint adapter block.

[0007] An inner-lined flexible hose is inserted along the axis of the flexible body module;

[0008] Each motion unit is composed of multiple cylindrical flexible structural shells connected end to end;

[0009] The flexible structural shell of the first motion unit group has 12 axially penetrating guide channels evenly distributed around its circumference. Twelve steel wire ropes are threaded through the guide channels, with the tail ends of four of the steel wire ropes connected to the first flexible joint transition block. The flexible structural shell of the second motion unit group has eight guide channels, and the remaining eight steel wire ropes are then threaded into the second motion unit group; the tail ends of four of the steel wire ropes are connected to the second flexible joint transition block. The flexible structural shell of the third motion unit group has four guide channels, and the remaining four steel wire ropes are finally threaded into the third motion unit group and fixed at its end.

[0010] Furthermore, a spring is coaxially installed inside each motion unit group, and a flexible inner tube is coaxially inserted inside the spring; the ends of the springs are respectively engaged with the first flexible joint transition block or the second flexible joint transition block.

[0011] Furthermore, both ends of the flexible structure shell are designed with wave-shaped curved surfaces. Two peaks and two troughs are evenly distributed on the wave-shaped curved surfaces. There is a 90° circumferential phase difference between the two ends of the wave-shaped curved surfaces. One peak is directly opposite the other trough, forming a staggered waveform layout. The left end of the first flexible structure shell at the far left of the first motion unit group is a flat plane that fits flatly against the flexible body base.

[0012] Furthermore, the first flexible joint transition block is located between the first and second motion unit groups.

[0013] The first flexible joint transition block is a hollow cylindrical body with stepped inner holes at both ends. Both axial end faces of the first flexible joint transition block are wavy curved surfaces: two sets of wave peaks and troughs are evenly distributed along the circumference. There is a 30° circumferential phase difference between the wavy curved surfaces at both ends. The wave peaks at both ends abut against the wave peaks of the adjacent flexible structure shell, and the wave troughs reserve rotation gaps to allow the adjacent motion units to deflect and adjust their postures.

[0014] The first flexible joint adapter block has radial windows on its sidewall for fixing part of the wire rope end; the first flexible joint adapter block has 12 guide channels evenly divided around its circumference at one end near the first motion unit group, and 8 guide channels at the other end.

[0015] The second flexible joint transition block is located between the second and third motion unit groups. Its overall structure is similar to that of the first flexible joint transition block. The difference is that the second flexible joint transition block has 8 axial guide channels at one end near the second motion unit group and 4 axial guide channels at the other end.

[0016] Furthermore, the rope drive module includes a device housing, a flexible body base, and 12 sets of power actuators arranged in a circular array along the circumference; the flexible body base is fixed to the right end of the device housing, and a perforated plate is set at the center of the flexible body base. The perforated plate has 12 through holes evenly spaced around its circumference. The 12 steel wire ropes pass through the perforated plate and enter the flexible body module. The right end face of the perforated plate abuts against the left end of the flexible body module.

[0017] Furthermore, a single power actuator includes a steel wire rope, an electric push-pull rod, two guide rollers, and a tension sensor;

[0018] One end of the steel wire rope passes through the corresponding guide channel on each flexible structure shell and is fixed in three groups to the end of the flexible structure shell at the end of the first flexible joint transition block window, the second flexible joint transition block window, and the end of the third motion unit group, respectively. The other end of the steel wire rope passes through the perforated plate, goes around two guide rollers to change the transmission direction, and is connected to one end of the tension sensor. The other end of the tension sensor is connected to the output end of the corresponding electric push-pull rod. The electric push-pull rod pulls the steel wire rope, thereby driving the motion of each motion unit.

[0019] Furthermore, the electric push-pull rod includes a fixed bracket, a servo motor, an encoder, two couplings, a ball screw, and a linear guide rail;

[0020] The fixed bracket is fixed to the equipment housing; the servo motor, encoder, and linear guide are all assembled on the fixed bracket; the servo motor is located at the left end of the ball screw, and the output shaft is connected to the left end of the ball screw through a coupling to input the rotational torque of the servo motor into the screw; the encoder is coaxially connected to the right end of the ball screw through a second coupling to collect the rotation of the servo motor;

[0021] The ball screw is equipped with a nut seat, which is fixedly connected to the slider of the linear guide rail. The linear guide rail and the ball screw are arranged parallel to each other. A connecting component is set on the upper part of the nut seat, and a connecting rope is used to connect the connecting component to the left end of the tension sensor. The right end of the tension sensor is connected to the initial end of the wire rope.

[0022] Furthermore, the end of the wire rope closest to the tension sensor is connected to the tension sensor via a rope locking mechanism; the rope locking mechanism is a clamping iron plate structure.

[0023] Beneficial effects

[0024] The maximum bending angle of a single motion unit group of the flexible body module (1) of the present invention is 60°, and the maximum bending angle of the whole after the three motion unit groups are superimposed is 180°; it can easily enter narrow and tortuous spaces that traditional robots cannot reach, such as the gap between aero-engine blades.

[0025] With symmetrical arrangement and coordinated control of 12 steel wire ropes, each steel wire rope is independently equipped with a tension sensor to monitor the tension in real time. By controlling the pretension of each steel wire rope, the robot's end effector posture can be controlled, which can meet the needs of contact operations such as grinding.

[0026] The flexible body has a pre-installed through-lined flexible tube, which can stably install working modules such as endoscopes or polishing tools, integrating inspection and operation functions into one unit. One device can be used for various working conditions such as inspection, repair, and cleaning. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0028] Figure 1 This is a schematic diagram of the overall structure of the rope-driven flexible robot of the present invention;

[0029] Figure 2 This is a schematic diagram of the rope drive module of the present invention;

[0030] Figure 3 This is a schematic diagram of the flexible body module of the present invention;

[0031] Figure 4 This is a schematic diagram of the internal structure of the flexible body module of the present invention;

[0032] Figure 5 This is a schematic diagram of the rope drive module and electric push-pull rod of the present invention;

[0033] Figure 6 This is a schematic diagram of the structure of the electric push-pull rod of the present invention;

[0034] Figure 7 This is a schematic diagram of the front and back structures of the first flexible joint adapter block of the present invention;

[0035] Figure 8 This is a schematic diagram of the front and back structures of the second flexible joint adapter block of the present invention;

[0036] Figure 9 This is a schematic diagram of the flexible structure shell in the first motion unit group of the present invention.

[0037] In the picture:

[0038] 1. Flexible body module; 101. Flexible structural shell; 102. Spring; 103. First flexible joint adapter block; 104. Inner flexible hose; 105. Second flexible joint adapter block; 2. Rope drive module; 201. Electric push-pull rod; 202. Steel wire rope; 203. Guide roller; 204. Tension sensor; 205. Servo motor; 206. Encoder; 207. Coupling; 208. Linear slide rail; 209. Ball screw; 210. Rope locking mechanism; 3. First motion unit group; 4. Second motion unit group; 5. Third motion unit group; 6. Flexible body base; 7. Perforated plate. Detailed Implementation

[0039] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0040] To achieve the above objectives, the present invention provides the following technical solutions, such as... Figure 1-9 As shown, a rope-driven flexible robot includes a flexible body module 1 and a rope-driven transmission module 2.

[0041] The flexible body module 1 is composed of three motion units connected in series along the axial direction: the first motion unit group 3, the second motion unit group 4, and the third motion unit group 5. The three units are connected to each other through the first flexible joint adapter block 103 and the second flexible joint adapter block 105, respectively.

[0042] The flexible body module 1 is slender and cylindrical in shape, with a maximum outer diameter of no more than 20 mm and a total length of 850 mm. The length of a single motion unit group is 283 mm, and the total length of the whole is no less than 800 mm. The flexible body module 1 has an inner lining hose 104 running through its axis. The inner diameter of the inner lining hose 104 is no less than 8 mm. The inner lining hose 104 can be fitted with endoscopes, miniature polishers, foreign object pickers and other operating modules.

[0043] Furthermore, each motion unit is composed of multiple 20mm long cylindrical flexible structural shells 101 connected end to end; the flexible structural shell 101 is a cylindrical component made of nylon PA6 material, and is formed by injection molding or machining; multiple axially penetrating guide channels are evenly opened around the circumference of the flexible structural shell 101, the inner wall of the guide channel is polished, and the inner diameter of the channel is slightly larger than the outer diameter of the steel wire rope 202.

[0044] Each flexible structural shell 101 of the first motion unit group 3 has 12 axially penetrating guide channels evenly distributed around its circumference, through which 12 steel wire ropes 202 are threaded. Four of the steel wire ropes 202 are connected to the window position of the first flexible joint transition block 103, and the remaining eight steel wire ropes 202 are threaded into the second motion unit group 4. The flexible structural shell 101 of the second motion unit group 4 has eight guide channels, through which four steel wire ropes 202 are connected to the second flexible joint transition block 105. Finally, the remaining four steel wire ropes 202 are threaded into the third motion unit group 5. The flexible structural shell 101 of the third motion unit group 5 has four guide channels and is fixed at the end of the third motion unit group 5. These four steel wire ropes 202 are spaced 90 degrees apart.

[0045] Furthermore, each motion unit group has a cylindrical helical spring 102 coaxially arranged inside, and the three units are equipped with a total of three springs 102; the spring 102 passes through the entire flexible structure shell 101 of the corresponding unit along the axial direction, and the inner lining hose 104 is coaxially inserted inside the spring 102; the two ends of the spring 102 are respectively engaged with the first flexible joint transition block 103 or the second flexible joint transition block 105 to achieve axial limiting and fixing; the spring 102 provides axial elastic restoring force when the flexible body undergoes bending deformation, and drives the flexible body to automatically reset after unloading the tension of the wire rope 202; at the same time, it provides axial support stiffness under contact operation conditions such as grinding and scraping, suppresses irregular shaking deformation of the body, and ensures the accuracy of the end operation.

[0046] Furthermore, both axial end faces of the flexible structure shell 101 are designed with wavy curved surfaces. Two peaks and two troughs are evenly distributed on the wavy curved surfaces. There is a 90° circumferential phase difference between the wavy curved surfaces at both ends of the flexible structure shell 101, with one peak facing the other trough, forming a staggered waveform layout. When the robot is horizontally extended, the peaks of adjacent flexible structure shells 101 abut against each other for limitation, and the gap between the troughs serves as a relative rotation avoidance space to ensure that the axial length is constant and that radial bending is achieved only along the gap between the troughs. The left end face of the first flexible structure shell 101 at the leftmost end of the first motion unit group 3 is a plane, which fits flatly against the flexible body base 6, facilitating contact with the flexible body base 6.

[0047] Furthermore, the first flexible joint adapter block 103 is disposed between the first motion unit group 3 and the second motion unit group 4.

[0048] The first flexible joint adapter block 103 is a hollow cylindrical body with stepped inner holes at both ends for engaging the ends of the springs 102 on both sides. Both axial end faces of the first flexible joint adapter block 103 are wavy curved surfaces: two sets of wave peaks and troughs are evenly distributed along the circumference, and there is a 30° circumferential phase difference between the wavy curved surfaces at both ends. The wave peaks at both ends abut against the wave peaks of the adjacent flexible structure shell 101, and the troughs reserve a rotation gap to allow the adjacent motion units to deflect and adjust their posture relative to each other.

[0049] The first flexible joint adapter block 103 has radial windows on its sidewall for fixing part of the ends of the steel wire ropes 202; the first flexible joint adapter block 103 has different numbers of axially penetrating guide channels at its two ends: 12 guide channels are evenly distributed around the end near the first motion unit group 3, and all 12 steel wire ropes 202 pass through the channel at this end; 8 guide channels are opened at the end near the second motion unit group 4, 4 steel wire ropes 202 pass through the guide channels and are fixed at the window position, and the remaining 8 steel wire ropes 202 pass through the 8 guide channels and enter the second motion unit group 4.

[0050] The second flexible joint transition block 105 is located between the second and third motion unit groups 5. Its overall structure is similar to that of the first flexible joint transition block 103, except for the configuration of the number of guide channels: the second flexible joint transition block 105 has 8 axial guide channels at one end near the second motion unit group 4, and 4 steel wire ropes 202 are fixed to the windows on the side wall of the second flexible joint transition block 105. The remaining 4 steel wire ropes 202 pass through the 4 guide channels at the other end and enter the third motion unit group 5. The entire flexible structure shell 101 of the third motion unit group 5 has only 4 guide channels around its circumference, and the tails of the 4 through steel wire ropes 202 are finally fixed to the end of the last flexible structure shell 101 of the third unit.

[0051] Furthermore, the rope drive module 2 includes a housing, a flexible body base 6, and 12 sets of power actuators arranged in a circular array along the circumference. The 12 sets of power actuators are evenly distributed along the circumference of the flexible body axis, with each set having a 30° phase difference. The flexible body base 6 is fixed to the right end of the housing. A perforated plate 7 is provided at the center of the flexible body base 6. The perforated plate 7 has 12 through holes evenly spaced around its circumference. The 12 steel wire ropes 202 pass through the perforated plate 7 and enter the flexible body module 1. The right end face of the perforated plate 7 abuts against the left end of the flexible body module 1.

[0052] Furthermore, each set of power actuators is equipped with a steel wire rope 202, an electric push-pull rod 201, two guide rollers 203, and a tension sensor 204; the 12 sets of power actuators are evenly and symmetrically arranged along the circumference of the flexible body module 1. One end of the steel wire rope 202 passes through the corresponding guide channel on each flexible structure shell 101 and is fixed in three groups to the windows of the first flexible joint transition block 103, the second flexible joint transition block 105, and the end of the flexible structure shell 101 at the end of the third motion unit group 5, respectively; the other end of the steel wire rope 202 passes through the perforated plate 7 and passes around the two guide rollers 203 to change the transmission direction and connects to one end of the tension sensor 204. The guide rollers 203 are made of stainless steel and have arc-shaped guide grooves on their outer circumferences. The radius of the guide grooves matches the radius of the steel wire rope 202. The other end of the tension sensor 204 is connected to the output end of the corresponding electric push-pull rod 201; the electric push-pull rod 201 pulls the wire rope 202, thereby driving the movement of each motion unit, and the differential tension controls the independent bending of each flexible unit.

[0053] Furthermore, the electric push-pull rod 201 includes a fixed bracket, a servo motor 205, an encoder 206, two couplings 207, a ball screw 209, and a linear guide rail 208;

[0054] The fixed bracket is fixed to the equipment housing; the servo motor 205, encoder 206, and linear guide rail 208 are all assembled on the fixed bracket; the servo motor 205 is located at the left end of the ball screw 209, and the output shaft is connected to the left end of the ball screw 209 through a coupling 207 to input the rotational torque of the servo motor 205 into the screw; the encoder 206 is coaxially connected to the right end of the ball screw 209 through a second coupling 207 to collect the rotation of the servo motor 205 in real time;

[0055] The ball screw 209 is equipped with a nut seat, which is fixedly connected to the slider of the linear slide rail 208. The linear slide rail 208 and the ball screw 209 are arranged in parallel to ensure the linear movement of the nut seat. A connecting component is provided on the upper part of the nut seat, and a connecting rope is used to connect the connecting component to the left end of the tension sensor 204. The right end of the tension sensor 204 is connected to the initial end of the wire rope 202.

[0056] Tension sensor 204 is used to detect the tension of wire rope 202 in real time; through the above structure, electric push-pull rod 201 converts the rotational motion of servo motor 205 into linear displacement of nut seat of ball screw 209, thereby pulling wire rope 202; linear slide rail 208 ensures the straightness of motion and resistance to lateral forces.

[0057] Tension sensor 204 converts the tension signal into an electrical signal and feeds it back to the central control system. Based on the deviation between the preset desired tension value and the real-time feedback value, the control system dynamically adjusts the rotation of the corresponding servo motor 205 using PID and other control algorithms, achieving closed-loop control of the wire rope 202 tension. Servo motor 205 drives the nut seat, and position encoder 206 provides real-time feedback on the linear displacement of the nut seat. Through the coordinated operation of encoder 206 and tension sensor 204, the system can simultaneously monitor the displacement of the nut seat and the tension of the wire rope 202, accurately compensating for the bending angle and end position of the flexible body, effectively eliminating control errors caused by nonlinear factors such as rope length changes, elastic deformation, and friction.

[0058] Furthermore, the end of the wire rope 202 closest to the tension sensor 204 is connected to the tension sensor 204 via a rope locking mechanism 210; the rope locking mechanism 210 is a clamping iron sheet clamping structure.

[0059] During installation, pass the end of the wire rope 202 through the pressure plate, fold it back, and then use crimping pliers to apply pressure to the pressure plate to cause plastic deformation and tighten the wire rope 202.

[0060] The working principle and process are as follows:

[0061] This robot operates based on the differential rope drive principle. The control system calculates the target bending angle and direction of each motion unit group through inverse kinematics based on the preset end-effector pose (e.g., the end-effector needs to reach a certain point in space), and then calculates the target displacement and target tension value required for each wire rope 202.

[0062] In use, the tension sensor 204 collects the real-time tension value of the corresponding wire rope 202, converts the mechanical tension into a standard electrical signal, and transmits it to the central control system in real time; the encoder 206 provides real-time feedback on the screw displacement, and the tension sensor 204 provides real-time feedback on the tension of the wire rope 202; the control system inputs the target end pose, calculates the target bending angle of the three motion units through inverse kinematics, and converts the target extension and retraction displacement and target pretension of each wire rope 202; compares the displacement feedback of the encoder 206, the tension feedback of the tension sensor 204, and the theoretical target value, and adjusts the speed and direction of the servo motor 205 in real time through the PID algorithm to dynamically correct the extension and retraction of the wire rope 202 and balance the tension of each wire rope 202.

[0063] Layered transmission logic of steel wire rope 202: 12 steel wire ropes 202 are uniformly output from the rear electric push-pull rod 201, pass through the perforated plate 7 and enter the first motion unit group 3; among them, 4 steel wire ropes 202 are fixed to the first flexible joint adapter block 103, the remaining 8 enter the second motion unit group 4, of which 4 are fixed to the second flexible joint adapter block 105; the last 4 pass through the third motion unit group 5 and are finally fixed to the end of the flexible structure shell 101 at the very end of the third unit group 5;

[0064] The first motion unit group 3 is affected by all 12 steel wire ropes 202; the second motion unit group 4 is affected by the remaining 8 steel wire ropes 202; the third motion unit group 5 is driven independently by the last 4 steel wire ropes 202; the maximum bending angle of a single unit is 60°, and the maximum bending angle of the three units combined can reach 180°, which is suitable for passage through narrow and winding passages.

[0065] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A rope-driven flexible robot, characterized in that, It includes a flexible body module (1) and a rope-driven transmission module (2); The flexible body module (1) is composed of three motion units connected in series along the axial direction: the first motion unit group (3), the second motion unit group (4), and the third motion unit group (5). The three units are connected to each other through the first flexible joint adapter block (103) and the second flexible joint adapter block (105), respectively. The flexible body module (1) is provided with an inner lining hose (104) at the axial position; Each motion unit is composed of multiple cylindrical flexible structural shells (101) connected end to end; The flexible structural shells (101) of the first motion unit group (3) are evenly provided with 12 axially penetrating guide channels in the circumference. 12 steel wire ropes (202) are inserted into the guide channels. The tail ends of 4 steel wire ropes (202) are connected to the first flexible joint transition block (103). The flexible structural shells (101) of the second motion unit group (4) have 8 guide channels. The remaining 8 steel wire ropes (202) are then inserted into the second motion unit group (4). The tail ends of 4 steel wire ropes (202) are connected to the second flexible joint transition block (105). The flexible structural shells (101) of the third motion unit group (5) have 4 guide channels. Finally, the remaining 4 steel wire ropes (202) are inserted into the third motion unit group (5) and fixed at the end of the third motion unit group (5).

2. The rope-driven flexible robot according to claim 1, characterized in that, Each motion unit group has a spring (102) coaxially installed inside, and an inner flexible tube (104) coaxially passes through the inside of the spring (102); the ends of the spring (102) are respectively engaged with the first flexible joint adapter block (103) or the second flexible joint adapter block (105).

3. The rope-driven flexible robot according to claim 1, characterized in that, The flexible structure shell (101) has wave-shaped curved surfaces on both ends. Two peaks and two troughs are evenly distributed on the wave-shaped curved surfaces. There is a 90° circumferential phase difference between the two ends of the wave-shaped curved surfaces. One peak is directly opposite the other trough, forming a staggered waveform layout. The left end of the first flexible structure shell (101) of the first motion unit group (3) is a plane, which is flat and fits the flexible body base (6).

4. The rope-driven flexible robot according to claim 3, characterized in that, The first flexible joint adapter block (103) is located between the first motion unit group (3) and the second motion unit group (4); The first flexible joint transition block (103) is a hollow cylindrical body with stepped inner holes at both ends. The two axial end faces of the first flexible joint transition block (103) are both wavy curved surfaces with two sets of wave peaks and valleys evenly distributed along the circumference. There is a 30° circumferential phase difference between the wavy curved surfaces at both ends. The wave peaks at both ends abut against the wave peaks of the adjacent flexible structure shell (101) respectively, and the valleys reserve rotation gaps to allow the adjacent motion units to deflect and adjust their postures. The first flexible joint adapter block (103) has radial windows on its side wall for fixing part of the end of the wire rope (202); the first flexible joint adapter block (103) has 12 guide channels evenly divided around one end near the first motion unit group (3), and 8 guide channels opened at the other end. The second flexible joint transition block (105) is located between the second and third motion unit groups (5). Its overall structure is similar to that of the first flexible joint transition block (103). The difference is that the second flexible joint transition block (105) has 8 axial guide channels at one end near the second motion unit group (4) and 4 axial guide channels at the other end.

5. The rope-driven flexible robot according to claim 1, characterized in that, The rope drive module (2) includes a housing, a flexible body base (6), and 12 sets of power actuators arranged in a circular array along the circumference. The flexible body base (6) is fixed to the right end of the housing. A perforated plate (7) is set in the center of the flexible body base (6). The perforated plate (7) has 12 through holes evenly spaced around its circumference. The 12 steel wire ropes (202) pass through the perforated plate (7) and enter the flexible body module (1). The right end face of the perforated plate (7) abuts against the left end of the flexible body module (1).

6. The rope-driven flexible robot according to claim 1, characterized in that, A single power actuator includes a wire rope (202), an electric push-pull rod (201), two guide rollers (203), and a tension sensor (204); After one end of the wire rope (202) passes through the corresponding guide channel on each flexible structure shell (101), the 12 wire ropes (202) are fixed in three groups to the end of the flexible structure shell (101) at the window of the first flexible joint transition block (103), the window of the second flexible joint transition block (105), and the end of the flexible structure shell (101) at the end of the third motion unit group (5). The other end of the wire rope (202) passes through the perforated plate (7) and passes around two guide rollers (203) to change the transmission direction and is connected to one end of the tension sensor (204). The other end of the tension sensor (204) is connected to the output end of the corresponding electric push-pull rod (201). The electric push-pull rod (201) pulls the wire rope (202) to drive each motion unit to move.

7. The rope-driven flexible robot according to claim 6, characterized in that, The electric push-pull rod (201) includes a fixed bracket, a servo motor (205), an encoder (206), two couplings (207), a linear slide rail (208), and a ball screw (209); The fixed bracket is fixed to the equipment housing; the servo motor (205), encoder (206), and linear guide (208) are all assembled on the fixed bracket; the servo motor (205) is located at the left end of the ball screw (209), and the output shaft is connected to the left end of the ball screw (209) through a coupling (207) to input the rotational torque of the servo motor (205) into the screw; the encoder (206) is coaxially connected to the right end of the ball screw (209) through a second coupling (207) to collect the rotation of the servo motor (205); The ball screw (209) is equipped with a nut seat, which is fixedly connected to the slider of the linear slide rail (208). The linear slide rail (208) and the ball screw (209) are arranged in parallel. A connecting component is provided on the upper part of the nut seat, and a connecting rope is used to connect the connecting component to the left end of the tension sensor (204). The right end of the tension sensor (204) is connected to the initial end of the wire rope (202).

8. The rope-driven flexible robot according to claim 7, characterized in that, The end of the wire rope (202) near the tension sensor (204) is connected to the tension sensor (204) through a rope locking mechanism (210); the rope locking mechanism (210) is a clamping iron plate clamping structure.

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