Integrated intra-articular force and actuation tension sensing monitoring for wire-driven continuum robots

Abstract

The utility model discloses a kind of integrated intra-articular force and drive tension sensing monitoring's line drive continuum robot, it is related to continuum robot field, comprising: continuum, including multiple segments, four first through holes are on each segment, all segments are worn into a string by drive rope;Driving force monitoring unit, including multiple drive motors and tension sensors;Intra-articular force monitoring unit, including multiple film pressure sensors, sensor is respectively arranged between adjacent two segments, sensor and adjacent segment are attached;Perception signal processing unit, including host computer, host computer and tension sensor and film pressure sensor communication connection;The continuum robot is through respectively collected tension and internal force information, and carries out multi-source fusion perception analysis, in the case where external sensor is not introduced, improve the continuum robot to the perception ability of self form and external force, for realizing accurate, robust motion control provides key support.

Description

Technical Field

[0001] This utility model belongs to the field of continuum robots, and more specifically, relates to a line-driven continuum robot that integrates joint internal force and driving tension sensing and monitoring. Background Technology

[0002] Continuum robots, with their flexible structure and continuous deformation capabilities, exhibit significant advantages in narrow, curved, and unstructured spaces, becoming core technological equipment for scenarios such as minimally invasive surgery (e.g., laparoscopy, cardiovascular intervention), extreme industrial environments (e.g., pipeline inspection, chemical plant maintenance), and disaster relief. Compared to traditional rigid robots, their flexible bodies can adapt to complex spatial structures, reducing operational damage and improving task adaptability.

[0003] However, the continuous deformation characteristics of flexible structures lead to two major technical bottlenecks: 1. Traditional discrete joint models are difficult to accurately describe their kinematic behavior; 2. The lack of real-time perception of the interaction between the robot's internal configuration and the environment limits the control accuracy.

[0004] Current sensing solutions have several drawbacks: external sensing solutions (such as surface-mount sensors) increase the robot's overall dimensions, hindering its ability to pass through confined environments; and embedded sensing solutions (such as fiber Bragg grating arrays) are severely affected by temperature drift and lack reliability in variable industrial environments. Utility Model Content

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a line-driven continuum robot that integrates joint internal force and driving tension sensing and monitoring. This continuum robot collects information on the tension of the driving rope and the internal force between adjacent segments, and performs multi-source fusion sensing analysis. It is expected to improve the continuum robot's ability to perceive its own shape and external forces without introducing additional external sensors, thus providing key support for achieving precise and robust motion control.

[0006] To achieve the above objectives, this utility model provides a linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring, comprising:

[0007] A continuous body includes multiple segments, each segment having four first through holes along the circumferential direction. When the segments are arranged sequentially along the opening direction of the first through holes, a drive rope is inserted through the first through hole with the same position on each segment.

[0008] The driving force monitoring unit includes four drive motors and four tension sensors. Each drive motor is connected to one end of a drive rope, and the middle of the drive rope is wound around the tension sensor.

[0009] The joint force monitoring unit includes multiple thin-film pressure sensors, which are respectively disposed between two adjacent segments, with both sides of the thin-film pressure sensors respectively attached to the segments;

[0010] The sensing signal processing unit includes a host computer, which is communicatively connected to the tension sensor and the thin-film pressure sensor.

[0011] Preferably, the driving force monitoring unit includes:

[0012] A profile support is provided, with its top surface connected to one end of the continuous body. The top surface of the profile support has four second through holes, through which the drive rope passes.

[0013] The tension sensor and the drive motor are respectively connected to the four columns of the profile bracket. The detection end of the tension sensor and the output end of the drive motor are both located inside the profile bracket. The drive motor is located below the tension sensor. One end of the drive rope is connected to the output end of the drive motor.

[0014] Preferably, the detection end of the tension sensor is a cylindrical wheel, and the drive rope is attached to the outer circumferential surface of the wheel.

[0015] Preferably, the thin-film pressure sensor includes a sensor head and a flexible transmission line. The sensor head is semi-circular, and one end of the flexible transmission line is connected to the center of the sensor head. The sensor head has three pressure sensing areas arranged circumferentially, with adjacent pressure sensing areas spaced at 90° intervals. Each pressure sensing area has a third through hole for the drive rope to pass through, and the center of the body segment has a fourth through hole for the flexible transmission line to pass through.

[0016] Preferably, silicone sheets are provided on both sides of the thin-film pressure sensor, and through holes corresponding to the third through hole are provided on the silicone sheets. A circular protrusion is provided on the outer periphery of the through hole facing the thin-film pressure sensor.

[0017] Preferably, all the sensor heads are arranged in an alternating pattern between the body segments.

[0018] Preferably, the top surface of the profile bracket is provided with a fifth through hole, through which all the flexible transmission lines pass, and the other end of the flexible transmission line is connected to the host computer.

[0019] Preferably, the other end of the drive rope is provided with a snap-fit ​​block, which engages with the first through hole located on the end segment of the body.

[0020] This invention provides a linearly driven continuum robot that integrates joint internal force and driving tension sensing and monitoring, and its advantages are as follows:

[0021] 1. The continuum robot arranges membrane pressure sensors in the gaps between body segments, passes each drive rope through the membrane pressure measuring points arranged between body segments to collect joint internal force data, and arranges the internal force measuring points in multiple body segments in an alternating manner to realize the force detection of the continuum robot in all directions.

[0022] 2. The continuous robot uses a thin-film pressure sensor for measurement coupling. A soft silicone sheet is inserted between the body segments to sandwich the thin-film pressure probe in the pressure sensing area. The resistance of the pressure probe will decrease as the pressure increases, thereby changing the voltage division between the sensor and the fixed resistor in the measurement circuit, and determining the force between the body segments in the continuous robot.

[0023] 3. The continuous robot uses a tension sensor in the system for measurement coupling. When the drive motor pulls the drive rope across the transverse wheel, the continuous robot moves. The magnitude of the tension in the drive line is reflected by the lateral force on the wheel. In this way, the force posture of the continuous robot can be determined without increasing the robot's outer dimensions.

[0024] 4. The sensing signal processing unit of this continuum robot can perform collaborative correlation readings and analysis of the tension of each driving rope and the corresponding thin film measuring point by sensing the temporal fusion of joint internal force and driving tension.

[0025] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0027] Figure 1 A schematic diagram of a linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to an embodiment of the present invention is shown.

[0028] Figure 2 A schematic diagram of the structure of a segment according to an embodiment of the present invention is shown.

[0029] Figure 3 It shows Figure 2 A diagram of the back of the structure.

[0030] Figure 4A schematic diagram of the structure of a profile bracket according to an embodiment of the present invention is shown.

[0031] Figure 5 A schematic diagram of the structure of a support plate according to an embodiment of the present invention is shown.

[0032] Figure 6 A schematic diagram showing the connection between a tension sensor and a drive rope according to an embodiment of the present invention is shown.

[0033] Figure 7 A schematic diagram of a thin-film pressure sensor according to an embodiment of the present invention is shown.

[0034] Figure 8 A schematic diagram showing the positional relationship between a silicone sheet and a thin-film pressure sensor between adjacent segments according to an embodiment of the present invention is shown.

[0035] Figure 9 A schematic diagram showing the positional relationship between a segment and a thin-film pressure sensor according to an embodiment of the present invention is provided.

[0036] Figure 10 A schematic diagram of the structure of a silicone sheet according to an embodiment of the present invention is shown.

[0037] Figure 11 It shows Figure 10 A diagram of the back of the structure.

[0038] Figure 12 A schematic diagram of the arrangement of multiple sensor heads in a continuum according to an embodiment of the present invention is shown.

[0039] Figure 13 A schematic diagram of the sensing network nodes of a linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to an embodiment of the present invention is shown.

[0040] Figure 14 A flowchart illustrating the sensing signal processing of a linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to an embodiment of the present invention is shown.

[0041] Explanation of reference numerals in the attached figures:

[0042] 1. Continuous body; 2. Body segment; 3. First through hole; 4. Drive rope; 5. Drive motor; 6. Tension sensor; 7. Thin-film pressure sensor; 8. Support plate; 9. Profile bracket; 10. Second through hole; 11. Wheel; 12. Sensor head; 13. Flexible transmission line; 14. Pressure sensing area; 15. Third through hole; 16. Fourth through hole; 17. Fifth through hole; 18. Silicone sheet; 19. Circular protrusion; 20. Pull wire winch; 21. Through hole. Detailed Implementation

[0043] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0044] like Figures 1 to 3 As shown, this utility model provides a linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring, comprising:

[0045] The continuous body 1 includes multiple body segments 2. Each body segment 2 is provided with four first through holes 3 along the circumferential direction. When the body segments 2 are arranged sequentially along the opening direction of the first through holes 3, a drive rope 4 is provided through the first through hole 3 with the same position on each body segment 2.

[0046] The driving force monitoring unit includes four drive motors 5 and four tension sensors 6. Each drive motor 5 is connected to one end of a drive rope 4, and the middle of the drive rope 4 is wrapped around the tension sensor 6.

[0047] The joint force monitoring unit includes multiple thin-film pressure sensors 7, which are respectively disposed between two adjacent segments 2, and the two sides of the thin-film pressure sensors 7 are respectively attached to the segments 2.

[0048] The sensing signal processing unit includes a host computer, which is communicatively connected to the tension sensor 6 and the thin-film pressure sensor 7.

[0049] Specifically, this continuum robot connects multiple structurally identical segments 2 together via four drive ropes 4. Each segment 2 is saddle-shaped and has four first through holes 3. When all segments 2 are stacked, the first through holes 3 connect to form four channels through which the drive ropes 4 pass. By passing the drive ropes 4 through these four channels, all segments 2 are connected in series. One end of the connected continuum 1 is then fixed to a profile support 9. The drive ropes 4 pass through the profile support 9 and connect to a driving force monitoring unit inside the support 9. The drive motor 5, by pulling two opposing drive ropes 4, achieves complete control of the continuum 1. The middle of each drive rope 4 is also in contact with a tension sensor 6, allowing the tension sensor 6 to monitor the force on the drive ropes 4. Tension sensor 6 transmits force data to the host computer. Without increasing the external dimensions of the continuous body 1, a joint force monitoring unit is added. A fourth through hole 16 is opened at the center of each segment 2, and a thin film pressure sensor 7 is added between two adjacent segments 2. The sensing end of the thin film pressure sensor 7 contacts the segment 2. When the continuous body 1 bends and deforms, the sensing end obtains the compressive force generated between the segments 2 in a certain direction, and then sends it to the host computer through the flexible transmission line 13 passing through the fourth through hole 16. Finally, the host computer receives the data signals from the driving force monitoring unit and the joint force monitoring unit at the same time. By fusing these two types of body sensing signals (i.e., driving tension and joint force), the shape control parameters and environmental contact force can be calculated simultaneously, breaking through the limitations of the spatial adaptability and environmental robustness of the existing sensing scheme.

[0050] However, this continuum robot does not add embedded sensing structures to the contourless surface of continuum 1, thus avoiding any restrictions on its operation in extreme industrial environments such as pipelines. The driving force monitoring unit of this continuum robot is located at the control end of continuum 1, so it does not need to enter extreme industrial environments such as pipelines. Therefore, the driving force monitoring unit does not need to have temperature and electromagnetic interference resistance characteristics. Although the joint force monitoring unit is located between adjacent segments, both the sensor head 12 and the flexible transmission line 13 have temperature and electromagnetic interference resistance characteristics, so this continuum robot has good environmental adaptability. This continuum robot receives tension and pressure data signals through a sensing signal processing unit and correlates the data signals with bending posture. By recording multiple sets of correlated information, the temporal neural network of the continuum robot is trained. When the sensing signal processing unit receives the same data signal during operation, it can accurately determine the posture of the continuum, thereby realizing the joint kinematics-force perception solution capability.

[0051] It is worth noting that this continuum robot retains the drive rope 4 method. The tension of the drive rope 4 is not only directly related to the robot's motion state, but also shows significant changes when it comes into contact with external forces, thus containing comprehensive information about posture and external forces. At the same time, the internal force state between the robot's segments also changes with posture changes and the application of external forces.

[0052] In this continuum robot, the tension of the driving rope 4 implicitly contains dual information about the robot's position and the contact force with the environment, while the distribution of internal forces between body segments 2 directly maps the deformation configuration and the interaction state with external forces. By adding a tension sensor 6 before the driving motor 5 at the rear of the continuum robot and by inserting the measuring points of the thin-film pressure sensor 7 between the body segments 2, a mesh-like monitoring of the driving force and joint internal forces of the continuum structure is achieved. This design is inspired by the proprioceptive sensing system of biological organisms, similar to the monitoring of the tension borne by muscles by the Golgi tendon organ in the human body, transforming internal force signals into limb posture and external force signals. By fusing these two types of proprioceptive signals (i.e., driving tension and joint internal forces), shape control parameters and environmental contact forces can be calculated simultaneously, overcoming the limitations of existing sensing schemes in terms of spatial adaptability and environmental robustness.

[0053] like Figures 4 to 6 As shown, the driving force monitoring unit includes:

[0054] The top surface of the profile bracket 9 is connected to one end of the continuous body 1. The top surface of the profile bracket 9 is provided with four second through holes 10, and the drive rope 4 passes through the second through holes 10 respectively.

[0055] Tension sensor 6 and drive motor 5 are respectively connected to the four columns of profile bracket 9. The detection end of tension sensor 6 and the output end of drive motor 5 are both located inside profile bracket 9. Drive motor 5 is located below tension sensor 6. One end of drive rope 4 is connected to the output end of drive motor 5.

[0056] Preferably, the detection end of the tension sensor 6 is a cylindrical wheel 11, and the drive rope 4 is attached to the outer circumferential surface of the wheel 11.

[0057] Specifically, the profile support 9 in the driving force monitoring unit is a frame structure. The top of the profile support 9 is completely sealed by a support plate 8. The support plate 8 has through holes for the drive rope 4 and the flexible transmission line 13 to pass through. After one end of the continuous body 1 is connected and fixed to the support plate 8, the continuous body 1 can only bend and deform through the other end. The end of the drive rope 4 located inside the profile support 9 passes around the wheel 11 of the tension sensor 6 and is finally connected to the output end of the drive motor 5. In this way, the drive motor 5 can control the extension and retraction of the drive rope 4. The tension sensor 6 can monitor the lateral compressive force applied by the drive rope 4 to the wheel 11. The tension value, combined with the angle between the drive rope 4 and the wheel 11, can be used to calculate the tension of the drive rope 4. The tension sensor 6 can then transmit the tension data to the host computer in real time.

[0058] like Figure 7 As shown, the thin-film pressure sensor 7 includes a sensor head 12 and a flexible transmission line 13. The sensor head 12 is semi-circular, and one end of the flexible transmission line 13 is connected to the center of the sensor head 12. The sensor head 12 is provided with three pressure sensing areas 14 along the circumference. The adjacent pressure sensing areas 14 are spaced at an angle of 90°. Each pressure sensing area 14 is provided with a third through hole 15 for the drive rope 4 to pass through. The center of the body segment 2 is provided with a fourth through hole 16 for the flexible transmission line 13 to pass through.

[0059] Preferably, the top surface of the profile bracket 9 is also provided with a fifth through hole 17, and all the flexible transmission lines 13 are passed through the fifth through hole 17. The other end of the flexible transmission line 13 is connected to the host computer.

[0060] Specifically, in the thin-film pressure sensor 7, the sensor head 12 is connected to the flexible transmission line 13. The sensor head 12 is positioned between two adjacent segments 2. The sensor head 12 has three pressure sensing areas 14 evenly arranged on its semi-circular structure. Each pressure sensing area 14 corresponds to a first through hole 3. In this way, the three pressure sensing areas 14 on the sensor head 12 can cover the area where the two adjacent segments 2 are pressed and contacted when the continuous body 1 is bent. The sensor head 12 can then obtain the internal pressure of the continuous body 1. The four drive ropes 4 in the continuous body 1 are paired to form an antagonistic structure. When one drive rope 4 is tightened, the other drive rope 4 will be relaxed, which can drive the continuous body 1 to bend in the corresponding direction. The coordinated control of the two pairs of antagonistic drives enables the top of the continuous body 1 to achieve combined bending in the front-back and left-right directions, thereby covering all directions of the circumferential working space of the continuous body 1. When the drive rope 4 drives the continuous body 1 to bend, the thin-film pressure sensor 7 can monitor the internal pressure of the continuous body 1 and then transmit the pressure signal to the host computer through the flexible transmission line 13.

[0061] In one embodiment, when a segment 2 of the continuous body 1 is subjected to an external force, the continuous body 1 bends. The bending angle of the continuous body 1 gradually decreases from the segment 2 where the force originates towards the adjacent segments 2. This results in the sensor heads 12 on both sides of the segment 2 where the force originates detecting the maximum internal pressure. Subsequently, the internal pressure detected by the sensor heads 12 on the sides of adjacent segments 2 gradually decreases until the internal pressure detected by the sensor head 12 on the side of the most distant segment 2 where the bend occurs is almost zero (i.e., the most distant segment, due to its small bending angle, exerts almost no pressure on the pressure sensing area of ​​the sensor head). In summary, by analyzing the pressure data detected by the sensor heads 12 across all segments 2 of the continuous body 1, it is possible to determine which segment 2 is subjected to the external force and thus identify the segment where the bending angle is maximum.

[0062] like Figures 8 to 12 As shown, silicone sheets 18 are respectively provided on both sides of the thin film pressure sensor 7. A through hole 21 corresponding to the third through hole 15 is provided on the silicone sheet 18. A circular protrusion 19 is provided on the outer periphery of the through hole 21 facing the thin film pressure sensor 7.

[0063] Preferably, all sensor heads 12 are staggered between body segments 2.

[0064] Specifically, in addition to setting a thin-film pressure sensor 7 between the segments 2, a silicone sheet 18 is also set between the upper or lower side of the thin-film pressure sensor 7 and the segment 2. This forms a structure in which two silicone sheets 18 sandwich a thin-film pressure sensor 7. The silicone sheet 18 is provided with a through hole 21 for the drive rope 4 to pass through, and a ring of annular protrusions is provided around the through hole 21, which faces the pressure sensing area 14, thereby enhancing the pressure response. When the internal force between the segments 2 changes, the resistance value of each pressure sensing area 14 will decrease to varying degrees. This is reflected as a voltage change through an external voltage divider circuit. The host computer will determine the bending posture of the continuous body 1 based on the voltage changes of the pressure sensing areas 14 in four directions between a certain segment 2. In addition, since the sensor head 12 monitors a segment 2 simultaneously through three pressure sensing areas 14, and the three pressure sensing areas 14 can monitor the internal forces in three driving directions, and the three internal forces are different, by arranging all the sensor heads 12 in the continuous body 1 in an interlaced manner, the joint internal force monitoring unit can fully perceive the joint internal forces in each driving direction of the continuous body 1.

[0065] Preferably, the other end of the drive rope 4 is provided with a snap-fit ​​block, which engages with the first through hole 3 on the end segment 2.

[0066] Specifically, in addition to one end of the drive rope 4 being installed inside the profile bracket 9, the other end of the drive rope 4 is equipped with a snap-fit ​​block. The snap-fit ​​block is snapped into the first through hole 3 on the end section 2. In this way, when the drive motor 5 drives the drive rope 4, the bending posture of the continuous body 1 can be adjusted.

[0067] The operation process of this linearly driven continuum robot, which integrates joint internal force and driving tension sensing and monitoring, includes:

[0068] The driving force monitoring unit and the intra-joint force monitoring unit send the sensing data of each segment 2 to the sensing signal processing unit;

[0069] The sensing signal processing unit constructs actual data from the sensing data of each segment 2 in the order of arrangement, and corresponds it to the attitude of the continuum 1 under the action of the external force value and direction at that time.

[0070] Collect actual data of continuous body 1 under the action of external forces of different magnitudes and directions, and establish the correspondence between sensor network data and the attitude of continuous body 1.

[0071] Specifically, the continuum robot uses multiple thin-film pressure sensors 7 and tension sensors 6 on the drive ropes 4 to form a body perception network. By knowing the arrangement of each sensor in different segments 2 of the continuum 1 and the corresponding series connection of the drive ropes 4, a perception network node with spatial mapping characteristics is constructed. The sensing data from each node is transmitted back to the host computer in real time. Through the introduction of external force sensor touch experiments and optical tracking of key nodes, the attitude changes of the continuum 1 under external forces of different magnitudes and directions are collected. This establishes a correspondence between the sensing network data and the state and external forces of the continuum 1, thereby achieving a joint estimation of the structural state and stress conditions of the continuum 1. Thus, when the sensing signal processing unit acquires the sensing data, it can infer the real-time attitude of the continuum 1.

[0072] like Figure 13As shown, after the continuous body 1 of the continuous robot is subjected to an external force F, there are four thin-film pressure sensors 7 between the free end of the continuous body 1 and the position where the external force is applied (the thin-film pressure sensor closest to the position where the external force is applied is the first thin-film pressure sensor, and the thin-film pressure sensors arranged towards the free end of the continuous body are the second, third, and fourth thin-film pressure sensors in sequence). The sensor heads 12 of these four thin-film pressure sensors 7 are arranged in a staggered manner. The three pressure sensing areas on the first thin-film pressure sensor detect pressure values ​​P1, P2, and P3, respectively; the three pressure sensing areas on the second thin-film pressure sensor detect pressure values ​​P4, P5, and P6, respectively; the three pressure sensing areas on the third thin-film pressure sensor detect pressure values ​​P7, P8, and P9, respectively; and the three pressure sensing areas on the fourth thin-film pressure sensor detect pressure values ​​P1, P2, and P3, respectively. 10 Pressure P 11 and pressure P 12 Among them, pressure P1, pressure P9 and pressure P 11 All three pressures are in the first direction of the continuum 1, where the driving rope 4 is simultaneously monitored by the tension sensor 6 for tension T4. The sensing signal processing unit fuses these two sensing signals to determine that the driving direction of the driving rope 4 corresponding to this sensing signal data is upward. Additionally, pressures P3, P5, and P7 are all in the second direction of the continuum 1, where the driving rope 4 is simultaneously monitored by the tension sensor 6 for tension T2. ​​The sensing signal processing unit fuses these two sensing signals to determine that the driving direction of the driving rope 4 corresponding to this sensing signal data is downward. The driving ropes 4 in the first and second directions are antagonistic directions, and the coordinated control of these antagonistic drives causes the continuum to bend. Furthermore, pressures P2, P4, and P7... 12 All are in a third direction on the continuum 1. In this direction, the drive rope 4 is simultaneously monitored by the tension sensor 6 for tension T3. Thus, the sensing signal processing unit fuses the two sensing signals from the body and finally obtains that the driving direction of the drive rope 4 corresponding to this sensing signal data is to the right. In addition, pressure P6, pressure P8 and pressure P 10In the fourth direction of the continuum 1, the driving rope 4 in this direction is simultaneously monitored by the tension sensor 6 for tension T1. The sensing signal processing unit then fuses the two body sensing signals to obtain the driving direction of the driving rope 4 corresponding to the sensing signal data, which is leftward. The driving ropes 4 in the third and fourth directions are also mutually antagonistic, and these antagonistic directions are perpendicular to the first and second directions. Through the coordinated control of the antagonistic drive, the continuum can also bend in the planes of the third and fourth directions. Thus, the bending deformation posture of the continuum robot when subjected to external force F corresponds to the sensing signal obtained by the sensing signal processing unit. When the continuum robot is running in the pipe (blind zone), if the above sensing signal is received, the posture of the continuum robot at that time can be accurately determined.

[0073] like Figure 14 As shown, the operation process of the continuum robot also includes: when the continuum exhibits a first bending posture, the driving force monitoring unit and the joint force monitoring unit simultaneously send tension data signals of the driving rope 4 and pressure data signals between the body segments 2 to the sensing signal processing unit. The sensing signal processing unit constructs a first sequence relationship from the received tension data signals and pressure data signals, and associates the first sequence relationship with the first bending posture of the continuum; then, when the continuum changes to a second bending posture, the sensing signal processing unit constructs a second sequence relationship from the received tension data signals and pressure data signals, and associates the second sequence relationship with the second bending posture of the continuum; repeating the above work of constructing sequence relationships and associating sequence relationships with postures, data acquisition and learning are performed on the bending postures of other continuums, and finally the temporal neural network training of the continuum robot is completed. When the continuum robot is working in a blind spot such as a pipe, the sensing signal processing unit can determine the posture of the continuum after receiving a set of tension and pressure data signals. In other words, it can clearly determine which segment of the continuum begins to bend (i.e., the location of the force point) and the bending angle of the continuum (i.e., the magnitude of the external force).

[0074] The continuum robot protected by this invention can achieve two effects: sensing the robot's own state and sensing the external forces acting on the robot. Regarding sensing its own state, the following could be added:

[0075] 1. Establish a kinematic model that maps robot driving parameters to the workspace, and output the state results of its own position and attitude by calculating the changes in driving quantity. This solves the problem that it is difficult to accurately model the kinematics of a continuum robot due to the large difference between the actual working environment and the theoretical ideal state.

[0076] 2. An optical tracking sensor is attached to the surface, and the relative position of the segments of the continuous body under test is reconstructed based on the relative position of the probe captured by the stereo camera. However, this method limits the flexibility of robot movement and restricts the working environment. Optical sensing can only be used when working in a wide space.

[0077] 3. Embedded sensing structures, such as fiber Bragg grating arrays (FBG), can also be added. However, additional coupling space between the sensor and the body segment needs to be fabricated in the continuous structure. This can cause the optical fiber to be severely affected by temperature drift, resulting in insufficient reliability in the variable industrial environment.

[0078] Further improvements could be made to the ability to sense external forces:

[0079] 1. Adding external sensing structures (such as surface-mount force sensors) will increase the robot's overall dimensions, but it will hinder its ability to pass through narrow environments. At the same time, the monitoring point is singular and the sensing range is limited.

[0080] 2. Add a program to infer external forces from its own state. By using embedded optical fibers or other sensors to sense its own state and collect data redundantly, it can perceive the differences in external forces under the same state and use data to drive the analysis of external forces.

[0081] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring, characterized in that, include: A continuous body includes multiple segments, each segment having four first through holes along the circumferential direction. When the segments are arranged sequentially along the opening direction of the first through holes, a drive rope is inserted through the first through hole with the same position on each segment. The driving force monitoring unit includes four drive motors and four tension sensors. Each drive motor is connected to one end of a drive rope, and the middle of the drive rope is wound around the tension sensor. The joint force monitoring unit includes multiple thin-film pressure sensors, which are respectively disposed between two adjacent segments, with both sides of the thin-film pressure sensors respectively attached to the segments; The sensing signal processing unit includes a host computer, which is communicatively connected to the tension sensor and the thin-film pressure sensor.

2. The linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to claim 1, characterized in that, The driving force monitoring unit includes: A profile support is provided, with its top surface connected to one end of the continuous body. The top surface of the profile support has four second through holes, through which the drive rope passes. The tension sensor and the drive motor are respectively connected to the four columns of the profile bracket. The detection end of the tension sensor and the output end of the drive motor are both located inside the profile bracket. The drive motor is located below the tension sensor. One end of the drive rope is connected to the output end of the drive motor.

3. The linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to claim 2, characterized in that, The detection end of the tension sensor is a cylindrical wheel, and the drive rope is attached to the outer circumferential surface of the wheel.

4. The linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to claim 2, characterized in that, The thin-film pressure sensor includes a sensor head and a flexible transmission line. The sensor head is semi-circular, and one end of the flexible transmission line is connected to the center of the sensor head. The sensor head has three pressure sensing areas arranged circumferentially, with adjacent pressure sensing areas spaced at an angle of 90°. Each pressure sensing area has a third through hole for the drive rope to pass through, and the center of the body segment has a fourth through hole for the flexible transmission line to pass through.

5. The linearly driven continuum robot with integrated joint internal force and driving tension sensing and monitoring according to claim 4, characterized in that, Silicone sheets are respectively provided on both sides of the thin-film pressure sensor. A through hole corresponding to the third through hole is opened on the silicone sheet. A circular protrusion is provided on the outer periphery of the through hole facing the thin-film pressure sensor.

6. The linearly driven continuum robot integrating joint internal force and driving tension sensing and monitoring according to claim 4, characterized in that, All of the sensor heads are arranged in an alternating pattern between the body segments.

7. The linearly driven continuum robot with integrated joint internal force and driving tension sensing and monitoring according to claim 4, characterized in that, The top surface of the profile bracket is also provided with a fifth through hole, through which all the flexible transmission lines pass. The other end of the flexible transmission line is connected to the host computer.

8. The linearly driven continuum robot with integrated joint internal force and driving tension sensing and monitoring according to claim 1, characterized in that, The other end of the drive rope is provided with a snap-fit ​​block, which engages with the first through hole located on the end segment of the body.

Images