Continuum arm robot system

Abstract

To provide a continuum arm robot system which is a single redundant robotic system with a second continuum arm robot supporting a first continuum arm robot.SOLUTION: A continuum arm robot system comprises at least a first continuum arm robot and a second continuum arm robot, each continuum arm robot being controlled by its own actuator pack, and each actuator pack being coupled to a single control computer, in which at least the second continuum arm robot comprises a releasable connection mechanism to engage in gripping the first continuum arm robot in a workspace, so as to link at least the two continuum arm robots into a single redundant robotic system with at least the second continuum arm robot providing support for the first continuum arm robot.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This disclosure relates to coupled continuous arm robots. In particular, this disclosure relates to a plurality of joined dual-function continuous arm robots.

Background Art

[0002] Continuous arm robots and snake arm robots have attracted interest in many applications. This is because the robot can be operated in a space where other robot systems and human operators cannot easily access. This is because the body can be operated with a large number of degrees of freedom, so that the end tool can be accurately and easily positioned. This positioning is controlled by an actuator that operates the tendon inside the robot. Thereby, each joint of the arm can be individually controlled with high positional accuracy.

[0003] Many arm robots have six or fewer degrees of freedom. However, in the case of tasks that require higher dexterity, the number of degrees of freedom required increases. In such cases, it is necessary to increase the degrees of freedom. Increasing the number of degrees of freedom means that the arm can be operated in a narrow space, such as for maintenance of complex structures or use in minimally invasive surgery. Continuous arm robots are designed along two main directions. First, there are snake-type robots. A snake-type robot consists of a plurality of rigidly coupled sections connected by rigid R / U / S (Revolute / Universal / Spherical) joints or flexible joints. Each section is composed of one or more segments and is controlled independently of other sections by on-board or remote operation. Second, there are continuous robots. A continuous robot consists of a flexible backbone, and its local and global deformations are controlled by one or more actuators.

[0004] Current robot designs, while functional, possess a high degree of flexibility, but this comes at the cost of a large number of joints required in the robot arm. As a result, the robot arm has less rigidity compared to conventional 6-degree-of-freedom robots. This reduced rigidity leads to decreased load-bearing capacity and less interaction the arm can have with its environment. Recent technologies aim to overcome this by "freezing" the system by locking actuators or by adding reinforcement to the backbone. This may be effective for short robot arms. However, when applied to longer robots, the arm behaves like a long cantilever beam, and the deflection of the beam causes significant problems with positioning and guidance. This can lead to damage to the robot and / or the workpiece, limiting the use of such robots to light tasks. Therefore, improved continuous arm robot systems are needed to overcome these problems. [Overview of the Initiative]

[0005] According to a first aspect of the present disclosure, a continuous arm robot system is provided comprising at least a first continuous arm robot and a second continuous arm robot, wherein each continuous arm robot is controlled by its own actuator pack, and each actuator pack is connected to a single control computer, wherein at least the second continuous arm robot comprises a releasable connection mechanism, the connection mechanism engages with the first continuous arm robot by gripping in the workspace, thereby combining at least two of the continuous arm robots into a single redundant robot system, such that at least the second continuous arm robot provides support to the first continuous arm robot.

[0006] The connection mechanism may be located at the end of the second continuous arm robot.

[0007] The connection mechanism may be arranged along a continuous arm section. The end of the continuous arm section is characterized by a functional head.

[0008] The connection mechanism may be one of the following: hydraulic, pneumatic, mechanical gripping, or electromagnetic.

[0009] Each continuous arm robot may be equipped with multiple sensors. Some of the sensors may be configured to measure the distance and relative position between a first continuous arm and a second continuous arm.

[0010] The clamp may feature an interlock, which, when activated, prevents the robot system from operating.

[0011] The aforementioned second continuous arm robot may feature a functional tool at its tip.

[0012] One of the continuous robots may be equipped with a camera system and / or a lighting system.

[0013] The behavior of the aforementioned connection mechanism can be rigid.

[0014] The aforementioned connection mechanism may be flexible.

[0015] The aforementioned connection can limit the system to fewer than 6 degrees of freedom.

[0016] Both of the aforementioned arms may be continuous arm robots.

[0017] One of the arms may be a partially flexible robotic arm.

[0018] A second aspect of the present disclosure provides a method for operating the robot system described above, comprising the steps of: inserting the first continuous arm robot and the second continuous arm robot into a workspace; connecting the first continuous arm robot and the second continuous arm robot to form a robot system; performing a desired task using at least the first continuous arm robot; disconnecting the first continuous arm robot and the second continuous arm robot; and withdrawing the continuous arm robot from the workspace.

[0019] The first continuous robot and the second continuous robot can move toward a predetermined setting and can approach each other by being controlled by relative positioning to connect the first arm and the second arm.

[0020] Those skilled in the art will understand that, unless mutually exclusive, any feature described in relation to any one of the above embodiments may be applied to any other embodiment with modifications. Furthermore, unless mutually exclusive, any feature described herein may be applied to any embodiment and / or combined with any other feature described herein.

[0021] Next, an embodiment that is for illustrative purposes only will be described with reference to the drawings. [Brief explanation of the drawing]

[0022] [Figure 1A] Figure 1a shows an example of prior art in the cross-section of a continuous arm robot. [Figure 1B] Figure 1B shows an example of a joint in a continuous robotic arm. [Figure 2] Figure 2 shows an illustrative diagram of the continuous arm robot system according to this disclosure. [Figure 3] Figure 3 shows a schematic diagram of the operation of the continuous arm robot according to this disclosure. [Figure 4]FIG. 4 shows an example of a control system used for controlling at least two arm continuous arm robot systems according to the present disclosure. [Figure 5] FIG. 5 shows a flowchart of the operation of the articulated continuous arm robot system of the present disclosure. [Figure 6] FIG. 6 shows an example of a three continuous robot system according to the present disclosure. [Figure 7] FIG. 7 shows an example of a clamp mechanism between the second continuous arm robot and the first continuous arm robot shown in FIG. 6.

Embodiments for Carrying Out the Invention

[0023] Aspects and embodiments of the present disclosure will be described with reference to the accompanying drawings. Further aspects and embodiments will be apparent to those skilled in the art.

[0024] Figure 1a shows a prior art example of a cross-section of a continuous arm robot. The prior art continuous arm robot comprises a continuous arm robot section 101. The continuous arm robot section 101 is permanently incorporated into and extends from an actuator pack 102. The actuator pack 102 houses a number of independent actuators 103. These actuators are used to regulate the tension in tendons that pass through the continuous arm 101. The tendons are associated with joints in the arm. Each of these joints is designed to act in response to the tension or relaxation of the tendons associated with the joint. Thus, the tension or relaxation of the tendons causes contraction or extension of the joints, allowing the continuous arm to bend. The actuator pack is shown to be mounted on a rail or support 104 positioned near the part to be inspected. The actuators are also provided with a number of power and signal cables 105 used to supply power to and address the actuators. Individual signals across the range of actuators provide joint control, thereby allowing the continuous arm 101 to be directed. Although not shown in Figure 1, an operator is also required, who will be carrying a computer device coupled to the actuator that controls the movement of the continuous arm and performs the desired task. Since the continuous arm is permanently integrated into the actuator pack, if another tool is needed, a complete continuous arm robot system including the actuator must be used. The computer device connected to the actuator in the prior art may be any suitable computer system, such as a laptop computer, that can control the continuous arm and features the necessary operating software and control inputs such as joysticks for the robot.

[0025] Figure 1B shows an example of a joint in a continuous arm robot. The arm has multiple joints, and at least two cables are required for each joint. For example, a system with three joints, each with four tendons, requires 12 actuators for operation. To increase the number of joints, it is necessary to increase the number of actuators or decrease the number of tendons per joint. The highlighted joints 106, 107, and 108 can be operated to move in three dimensions. The joints are configured as follows: Joints 106 and 108 are flexible in the same plane relative to the center of the arm. On the other hand, the plane in which joint 107 can move is offset by 90° relative to joints 106 and 108. In this way, by alternating the angles of the joints, each operates in a different orthogonal plane, and the arm can be operated in three dimensions. Each joint in the arm has a limit to the amount it can bend. This is determined by the design of the arm and the materials used. The bending limit at each joint sets characteristics such as the minimum bending radius and the torque conditions required to bring about change in the joint. The presence of space within the joints allows for joint movement and the ease of joint mobility that results in lower stiffness of the arm compared to other robot arms of the same length. This is because the structural behavior of a snake-type robot manipulator can be likened to a loaded cantilever beam. This is because the system is fixed at one end to a base with an actuation pack, and the remaining arm is used to be guided through the surrounding environment without any other contact points. In this state, the load, including the self-weight of the snake-type robot's body and / or tip, forces it to bend significantly from its ideal posture. The end of the arm is fitted with a tool or probe designed to perform one or more functions after the continuous arm has been positioned in place. The head of a continuous arm robot is usually equipped with an optical system. This allows the operator to see the head inserted into a part and to control it as it performs its task. The optical system is also often connected to an illumination system.The control cables for the tools, the power connectors to the lighting system, and the optical cables can typically run through the center of the joints within the continuous arm. This offers the advantage of protecting the cables from potential damage. All of these components, as well as the entire arm structure, are permanently connected to the actuator. This means that if the arm fails or malfunctions, the entire continuous arm robot needs to be replaced.

[0026] Figure 2 shows a conceptual diagram of a continuous arm robot system according to the present disclosure. The continuous arm robots may be of the same size. Alternatively, the continuous arm robots may have different lengths and / or thicknesses. The continuous arm robot system features a first continuous arm robot 201 and a second continuous arm robot 202. Although described as a continuous arm robot, one of the arms may be a partially flexible robotic arm robot. These continuous arm robots are controlled by their own respective actuator packs coupled to a single computer and program. The first continuous arm robot is mounted on an actuator pack that performs a desired task that the robot system is to perform. The second continuous arm robot features a coupling mechanism 203 located along the continuous arm robot section (shown at the end of the arm in Figure 2). This coupling mechanism is configured to grasp and support the first continuous arm robot in a suitable location while the first continuous arm robot performs its desired task. Thus, the second continuous arm robot is movable to a suitable position to support the first continuous arm robot, and the system is able to compensate for loads across multiple channels. Therefore, the continuous arm robot system does not suffer the large deflections that would occur in a single continuous arm robot system. By using two continuous arm robots linked together so as to be fixed to each other, the static and dynamic behavior of the system can be improved. Since both continuous arm robots are movable, the operator can move the gripping position of the first continuous arm robot to any suitable position to perform its task. For example, the suitable position may be near the tip of the first continuous arm robot, or it may be at many joint sections away from the tip. The presence of the second robot arm brings further advantages to the system, as it can bring additional tools into the area that could not be brought in through the channel by a single snake arm robot. Tool feeding can be done through the core of the joint section of the continuous arm robot.This system allows for the supply of multiple substances, such as air or various gases, to a desired area in a single operation. Similarly, using multiple sequential robotic arms within the system allows for additional sensors that would not be possible with a single robotic arm. The length of the robots can be any appropriate length. In one embodiment, the connection between the two sequential robotic arms occurs after the first 6DoF from the end. This results in optimal performance improvement.

[0027] The head of a continuous arm robot may be equipped with sensors such as ultrasonic, camera, or depth sensor. Alternatively, it may be equipped with mechanical tools such as grinding or milling tools, or electrical tools such as lasers, or gas-powered cutting equipment. By using multiple continuous arm robots, some of the sensors on the second "holding" continuous arm robot can be moved while the first continuous arm robot has a free end effector dedicated to operation. This may enable more operations or reduce the overall diameter of both robots. Depending on the robot connection configuration, the connected robots may also be used to supply compressed air / liquid, gas, or electricity to the tools at the ends of the continuous arms. The purpose of using coupled continuous arm robots is to increase rigidity and / or load capacity by connecting them to each other. Further advantages of coupling continuous arms include the possibility of improving the range of motion / precision by "driving / pulling" the main continuous arm with the others, and the possibility of supplying more tools than a single robot would allow through a single access passage.

[0028] Figure 3 shows a schematic diagram of the operation of connected continuous robot arms. In this figure, the first continuous robot arm 301 is inserted through an access passage 305. After the first continuous robot arm is positioned, or simultaneously with its insertion, the second continuous robot arm 302 may be supplied through a second access passage 306. This ensures that both continuous robot arms are located within the same workspace 307. The second continuous robot arm is directed toward the first continuous robot arm. Thus, the second continuous robot arm can be clamped or connected to the first continuous robot arm by a connecting mechanism 303. With the first and second continuous robot arm arms connected, the actuator head of the first continuous robot arm can use its tool or gripping part to process the object 304. In addition to typical continuous robot tasks, collaborative use improves certain machinability and operational tasks. Collaboration can also be used for inspection tasks that require force interaction with the surrounding environment (e.g., ultrasonic inspection). Combining the first and second continuous arm robots means that during workpiece machining, the first continuous arm robot is supported, resulting in less deformation than when it operates alone. To remove the first and second continuous arm robots, the clamps between them are released. This allows the first and second continuous arm robots to be removed along their respective access paths. While the diagram shows the use of two access ports, these could be, for example, borescope holes in a gas turbine engine or other complex systems. However, the robot arms can also be used with any suitable access port into the system. Furthermore, the two robot arms do not need to use different access paths; they can be inserted into the system adjacent to each other. Using a combined continuous arm robot means that access to the work area can be less than 50 mm. The only size requirement is that the continuous arm can pass through. This means that combined continuous robots can be used in areas inaccessible to larger industrial robots.Therefore, this system can be used in the fields of aerospace, nuclear, oil and gas, and communications, where access by robots and human engineers is problematic. Those skilled in the art will understand that this is a non-exclusive list and that the technology can be extended to use in any appropriate place.

[0029] A camera system may be employed in the first and / or second continuous arm robot to guide the second continuous arm robot toward the first continuous arm robot. This allows the operator to orient the head of the second continuous arm robot toward the first continuous arm robot. Alternatively or additionally, positioning sensors that provide relative position information back to the operator may be employed in both continuous arm robots. This allows the operator to manipulate the robots relative to each other so that they can establish a proper coupling. Suitable sensors may be guidance cameras or depth sensors, which can be used individually or in combination. Magnetic sensors can also be incorporated. Additionally or alternatively, optical fibers can be used for shape detection. This can be achieved by coupling sensors to each of the first and / or second continuous arm robots. This allows the robots to provide the operator with accurate position data regarding their positions. Relative position control is available when the two robot arms are close to each other. Before coupling, the two robot arms can move independently of each other. However, after coupling, they are controlled as a single system. Once connected, the robot system is controlled via synchronous / synchronized control. Independent movement is possible because they have their own actuators. This allows for precise positioning of the second continuous arm robot. This is necessary because the connection point between the first and second continuous arm robots determines the system's rigidity. Furthermore, control of the level of motion possible for the head of the first continuous arm robot is also available. Motion control is achieved by connecting the second continuous arm robot closer to the end of the first continuous arm robot and limiting the movement between the connection point and the end. Thus, when the operator connects the second robot closer to the head of the first continuous arm robot, the degrees of freedom of motion possible for the first continuous arm robot are reduced, but the system's deflection is also reduced.This means greater positional control over the head, allowing it to move heavier objects or be used in processes where the head generates a reaction force, such as media spraying. Thus, the system can work in confined spaces where contact between the head and the side of an object could damage it. Alternatively, this process can be used to lock the degrees of freedom, controlling the head to move only in a single plane (similar to a painter clenching their wrist to create a straight line). However, connecting the first continuous arm separately from the head increases the resulting flexibility and degrees of freedom. This allows the continuous arm robot system to work with greater control in areas requiring greater dexterity. As mentioned above, the arms can be connected "hands-to-hand," thereby strengthening the support for the task-performing arm. This allows a continuous arm robot of the same size to perform heavier and stronger tasks that would not be possible without it. Having such a system allows the head to be supported during tasks where forces are applied to the arm's head during task execution, such as spraying. In such cases, the auxiliary arm acts as a support. By using such a system, it is possible to prevent the robot head from causing damage to the surrounding area while performing such tasks.

[0030] In the example shown in Figure 3, the connection is made at the head of the second continuous arm robot, but the connection can be made at any suitable point along the length of the second and first continuous arms. The connection point can be determined before inserting the device. Alternatively, the operator may determine the connection point while positioning the continuous arm robot in the workspace. This allows the coupled continuous arm robot to have a separately functioning head with higher rigidity than the coupled arm. Connections along the arms can be implemented, for example, by having an electromagnetic clamp along the continuous arm robot. This allows, for example, one head to perform repair tasks such as spraying, while the second head provides a lighting system and a camera system. Alternatively, the two heads may provide complementary functions such as cleaning and repair. The presence of two continuous arms in the system increases the supply to the work area because fluid can be piped along the center or periphery of the arms. Similarly, optical systems such as lighting systems and camera systems can be supplied to the work area. Therefore, by further connecting the arms downward from the head, the two heads can be controlled independently within the system. Therefore, they maintain the full functionality of the end of the continuous arm from the moment the two arms are joined. The functionality of the robot system is improved by having two heads that can perform different tasks within the same system. This also means that multiple processes can be performed simultaneously. This can reduce downtime, as maintenance time for complex equipment may be reduced.

[0031] The robot arms can be connected by many different options. The connection system can be achieved by magnetically or adhesively bonding the continuous arms together. Alternatively or additionally, the connection system can be achieved by mechanical, pneumatic, or hydraulic clamping systems. The control unit of the connection system is coupled to a connection control unit on the actuator pack. Upon signal from the control computer program, the actuator pack is activated to initiate the process of connecting the second continuous arm robot to the first continuous arm robot. For example, in hydraulic and pneumatic connection systems, the connection control unit controls the fluid supply to the clamp to close the clamp around the first continuous arm robot. In an alternative example utilizing electromagnetic coupling, the connection control unit supplies the necessary current to the electromagnetic clamp to engage it.

[0032] A control system is required to control at least two-arm continuous arm robot systems, as shown in Figure 4. The control system features a computer 401 having a processor and memory suitable for executing appropriate control programs. The computer also has means for user input, which may be a USB port connected to a joystick that the operator moves to control the robot's movements. Further functionality of the computer is desirable. This may include a second user input device such as a keyboard, or through commands entered via a touchscreen device. Further functionality such as a mouse may also be used. The computer also needs means for connecting to actuator packs associated with different continuous arm robots. This connection can be a physical connection using cables or wirelessly.

[0033] The first continuous arm robot 402 and the second continuous arm robot 403 are controlled by a computer program used to control the actuator packs of each continuous arm robot. This computer program is installed in the computer of the continuous arm system. The computer operates a motion model of the motion of a single continuous arm and the coupled continuous arm system after coupling in order to control the motion of the continuous arm robots. The computer program can treat one continuous arm as a master and the other continuous arm robot as a slave. Alternatively, the computer program can treat them as a pair. The computer control program needs to be adapted to the motion model it models for multiple manipulators in the system, as well as for continuous arm robots that do not have coupling. This is because when an arm is grasped, this changes the control and position of the arm. For example, when the first continuous robot is grasped by the second continuous robot, there is less associated deflection of the work head when performing the associated task. Therefore, the program's motion modeling needs to be adapted to the changes in the stiffness of the robot system. Accurate camera systems and / or position sensors may be employed to improve their control when the continuous arms perform desired tasks. This provides the computer program and operator with precise time information regarding the positions of at least the first and second continuous arm robots. Output from the computer program is used to control actuators connected to the tendons that control each of the robot arms. The computer program can also control signals supplied to the connection system. The computer program may take signals from sensors that may be placed on the arms to determine the movement and operation of the connection system. The computer program may also receive signals from the connection system to ensure that sufficient pressure is applied to the connection system and to provide the operator with information that the connection is properly engaged. Additionally and / or alternatively, the robot system may be provided with connection interlocks.As a result, if a signal from the connection point is lost, the system will stop with the task until the connection signal is restored. By coupling a computer program to user input, the operator can control the continuous arm robot. The program can be coupled to imaging devices if one or more continuous arm robots have them. For example, this may result in one or more arms having fiber optic cameras, and their outputs being supplied to a decoder. The decoder's signals are provided to the computer and the program, allowing the operator to view the operation of the continuous arm robot in real time, and from this real-time display, the operator can maneuver the robot to a predetermined position. The computer program also has inputs that allow the connection system to be operated as desired. The computer program can operate each continuous robot individually, or it may be possible to operate two or more continuous robots simultaneously. The output from the computer program is then sent to the actuators to control the output of the continuous robots.

[0034] The actuator packs associated with the first continuous arm robot 404 and the actuator pack associated with the second continuous arm robot 405 feature inputs that can be coupled to a computer. This may be the presence of cable jacks for inserting network cables, or the presence of wireless transmission cards, or both. These are coupled to a processor within the actuator pack. The processor is coupled to encoders used to control the operation of the actuators. The actuators in the actuator bank of the actuator pack may be paired. The actuators must be capable of generating precisely controlled motion and sufficient torque to actuate the joints in the continuous arm by moving tendons. The actuators may be brushless servo motors. Such servo motors offer the advantage of being lightweight while providing the torque and precision of the dynamic control required for the accurate positioning of the continuous arm robots. Alternatively, the actuators may be any other suitable actuators that are obvious to those skilled in the art. The actuators may be mounted on a frame that allows the actuators to be coupled to a bank. The bank may be coupled with another pair of actuators in the frame to form an actuator pack. The drive electronics of the actuators are coupled to the actuators to control the operation of the actuators. The pair of actuators may also be provided with load cells. The load cell measures the load on the actuator and can feed back the associated load signal to the servo drive unit used to control the individual actuator. Therefore, precise control of the actuator can be achieved. The operation of the actuator sets the tension within the tendons in the arm. Controlling the tension results in movement of each joint in the arm, causing the arm to bend from a straight position. This allows the robot and head to be moved to the appropriate position. The second continuous arm robot also features a connection controller mechanism that allows it to be connected to the first continuous arm robot; therefore, the second continuous arm robot and its actuators differ from those of the first continuous arm actuator.Furthermore, continuous arm robots may feature positioning sensors. This allows the operator to determine the distance and position of the two snakes relative to each other, enabling proper guidance of the two snakes. These sensors feed signals back to the actuators. The actuators relay the signals to the computer program that controls them. It is important that the control of both the actuators and the control computer program is synchronized to a common clock to enable coordinated operation of the continuous arm robots. While the example described is for cable-operated continuous arm robots, it is also possible to use non-cable-driven systems, such as continuous arm robots controlled by pneumatic, hydraulic, or electric motors.

[0035] Once the arm is locked, the operator can control the serial arm robot performing the task at this point. If the second robot arm is connected at the head, the second serial arm requires little to no control until the two robots are disengaged. However, if the second serial arm has a functional tool at its end, the second serial arm robot may be controlled simultaneously with or separately from the first serial arm robot. After the task is completed, the operator can provide a command to disengage the connection system, and the two robots can be disengaged. The two serial arm robots can then be controlled separately and removed from the workspace without damaging themselves or any equipment in the workspace.

[0036] Figure 5 shows a flowchart of the operation of linked continuous arm robots. In step 1, multiple separate continuous arm robots enter the workspace through one or more access areas. The access areas may be access ports such as borescopes in gas turbine engines, or other access areas in confined spaces. Two or more continuous arm robots may be inserted separately or simultaneously. After the robots enter the workspace, one or more operators orient them toward the workpiece. This orientation ensures that the two or more snake arm robots are in the same proximity within the workspace. In step 2, the two or more continuous arm robots connect to each other. The two or more continuous arm robots move in a predetermined configuration, covering the final distance between them. They are controlled by the relative positioning of the arms. By using proximity sensors, positioning sensors, and / or optical systems, operators can observe the status. After the continuous arm robots are positioned, operators can engage the connection system, which mechanically connects the continuous arms to each other. The connection system may be equipped with sensors such as pressure sensors. This allows the operator to confirm a complete connection between two or more continuous arm robots. This lets the operator know that they can proceed with the required task. This system can be coupled with an interlock system. This would cause the interlock system to stop the operation of the first continuous arm robot until a sufficient connection is re-established, if it is determined that the first continuous arm robot is no longer gripping. Step 3 is the execution of the desired task. In this step, the first continuous arm robot and, if possible, another continuous arm robot are moved to their designated positions in the workspace so that they are correctly positioned to perform the desired task. With the continuous arms in place, they can be operated to perform the required task, such as debris removal or repair tasks.When multiple sequential robots are used for a task, it may be necessary to be able to detach the first sequential robot arm before first positioning it to perform its task, and then moving the second sequential robot arm to its designated position to perform its associated task. Alternatively, if the systems are complementary, both may be moved to their designated positions before the task is performed. After the task is performed, the multiple sequential arms may be moved to desired safe positions. After they are positioned in the desired safe positions, step 4 may be performed. This involves disengaging at least the first and second sequential robot arms. When three or more sequential robot arms are used, there may be a preferred sequence for disengaging the sequential robot arms so that the first sequential robot arm still receives maximum support. Disengaging the sequential robot arms may involve releasing the connection system and further involve moving the sequential robot arms to a safe distance from the first sequential robot arm. Once the sequential robot arms are disengaged, the operator may reposition them within the work area. This allows them to be used in different sections of the part as needed. In this case, the process is repeated as described above. Step 6 is to remove at least the first and second sequential arm robots from the access port. This may be done one sequential arm robot at a time, or simultaneously.

[0037] Figure 6 shows an example of a three-part continuous robot system. In this figure, the first continuous arm robot 601 extends from its actuator pack, located outside the workspace, to the end-effector 604 necessary to perform the required tasks of the robot system. The second continuous arm robot 602 extends from a different access port. Similarly, its actuator pack is located outside the workspace, and the continuous arm robot extends into the workspace at its end-effector. The second continuous arm robot has the form of a two-part clamping clamp 605 used to engage with the body of the first continuous robot and clamp it in place. In this example, a third continuous arm robot 603 is also present. The presence of the third continuous arm robot provides further support to the first continuous arm robot. This allows the first continuous arm robot to support larger loads that would not be possible on its own or with the second continuous arm robot alone. Similar to the first and second continuous arm robots, the actuator pack of the third continuous arm robot is located outside the workspace. The third continuous arm robot is shown extending to the first continuous arm robot in a position where it clamps / gripping the first continuous arm robot using an electromagnetic clamping mechanism 606 that engages with the magnetic section of the first continuous arm robot 607. Thus, the tip of the first continuous arm robot is free to perform the required work tasks within the workspace. An alternative example of the third robot system is that the first and third continuous arm robots have functional heads that can be used for certain purposes, while the second continuous arm robot can engage with the first and third continuous arm robots by featuring two clamps. Thus, the second continuous arm robot acts as a support for the first and third continuous arm robots.

[0038] Figure 7 shows an example of a clamping mechanism between the second continuous arm robot and the first continuous arm robot shown in Figure 6. The clamping mechanism 703 is located at the end of the second continuous arm robot 702. While the second continuous arm robot moves towards the first continuous arm robot 701, the operator ensures that the connection system is in a released state. This ensures that the connection system can be positioned relative to the first continuous arm robot without damaging it. This also means that the connection system is already in place to connect to the first continuous arm robot. After the connection system is positioned around the first continuous arm robot, the operator can activate a signal to close the connection system so that the first continuous arm robot is held by the second continuous arm robot. Sensors such as pressure sensors may be applied to the connection system to inform the operator that there is contact at one or more points on the connection system and that the connection system can be safely closed. To release, the operator issues a command to release the connection system. This causes the second continuous arm robot to release the first continuous arm robot. The behavior of the connection system can be rigid. In this case, a connection with high rigidity can be achieved. Alternatively, the connection system may be flexible. This reduces rigidity but provides high flexibility, resulting in elastic behavior. Furthermore, the connection is limited to fewer than six degrees of freedom, allowing for one or more relative motion modes between robots. In this case, the connection does not behave as a fixed fixture but can be equivalent to a rotary joint, a sphere joint, a ball joint, a prism joint, or other joint. As mentioned above, one of the continuous arm robots may be a partially flexible robotic arm rather than a fully flexible robot. Even in this case, it can be associated with its own actuator pack and can behave similarly to a continuous arm system, except that it has less control over its own positioning and motion.

[0039] In the example above, the system was shown to have two connected continuous arms, but it is possible for the system to have three or more connected continuous arms. By increasing the number of arms in the system, the system can have more advanced functionality.

[0040] The present invention is not limited to the embodiments described above, and it will be understood that various modifications and improvements can be made without departing from the concepts described herein. Unless mutually exclusive, any of the features may be employed individually or in combination with other features. This disclosure extends to and includes all combinations and subcombinations of one or more features described herein.

Claims

1. 1. A continuous arm robot system comprising at least a first continuous arm robot and a second continuous arm robot, each continuous arm robot controlled by its own actuator pack, comprising: at least the first continuous arm robot has a head configured to receive a tool; at least the second continuous arm robot includes a releasable connection mechanism; the connecting mechanism engages the first continuous arm robot by grasping in a workspace to combine the at least two continuous arm robots into a single redundant robot system, with at least the second continuous arm robot providing support to the first continuous arm robot; an end of the first continuous arm robot and an end of the second continuous arm robot have different structures; a processor configured to control the first continuous arm robot and the second continuous arm robot, the second continuous arm robot configured to releasably and directly engage the first continuous arm robot at a distance from the head of the first continuous arm robot, each actuator pack coupled to a single control processor; Continuous arm robot system.

2. the connection mechanism is disposed at an end of the second continuous arm robot; The continuous arm robot system of claim 1 .

3. The connection mechanism is disposed along a continuous arm section; the end of the continuous arm section is characterized by a functional head; The continuous arm robot system of claim 1 .

4. A continuous arm robot system as described in claim 3, wherein the second continuous arm robot is characterized by a functional tool at its tip.

5. the connecting mechanism is one of a hydraulic gripper type, a pneumatic gripper type, a mechanical gripper type, or an electromagnetic gripper type; The continuous arm robot system of claim 1 .

6. A continuous arm robot system as described in claim 5, wherein the connection mechanism is an electromagnetic gripping type.

7. Each continuous arm robot comprises a plurality of sensors; The continuous arm robot system of claim 1 .

8. A continuous arm robot system as described in claim 7, wherein some of the sensors are configured to measure the distance and relative position between the first continuous arm robot and the second continuous arm robot.

9. the clamp features an interlock that, when activated, prevents operation of the robotic system; The continuous arm robot system of claim 1 .

10. One of the continuous arm robots is equipped with a camera system and / or a lighting system. The continuous arm robot system of claim 1 .

11. The continuous arm robot system of claim 1, wherein the connection mechanism is rigid.

12. The continuous arm robot system of claim 1, wherein the connection mechanism is flexible.

13. The continuous arm robot system of claim 1, wherein the connection mechanism limits the single redundant robot system to less than six degrees of freedom.

14. 10. A method of operating a continuous-arm robotic system according to claim 1, comprising: inserting the first continuous arm robot and the second continuous arm robot into the workspace; combining the first continuous arm robot and the second continuous arm robot to form the single redundant robot system by connecting the first continuous arm robot and the second continuous arm robot, the second continuous arm robot releasably and directly engaging the first continuous arm robot at a distance from the head of the first continuous arm robot; performing a desired task using at least the first continuous arm robot; disconnecting the first continuous arm robot from the second continuous arm robot; withdrawing the first continuous arm robot and the second continuous arm robot from the workspace; A method for providing

15. A method as described in claim 14, wherein the first continuous arm robot and the second continuous arm robot move towards a predetermined setting and approach each other controlled by relative positioning to connect the first continuous arm robot and the second continuous arm robot.

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