Soft robot

Abstract

The present invention relates to a flexible robot, and more specifically, to a flexible robot in which the direction of operation is changed by the manipulation of a plurality of wires and deformation or unwinding in the longitudinal direction does not occur. The invention provides a flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body and controlling the operation of the main body; and a shape-maintaining member that prevents unwinding and axial compression of the main body.

Description

Technology Field

[0001] The present invention relates to a flexible robot, and more specifically, to a flexible robot in which the direction of operation is changed by the manipulation of a plurality of wires and deformation or unraveling in the longitudinal direction does not occur. Background Technology

[0002] Minimally invasive surgery is a general term for surgical procedures that minimize the size of the affected area, with laparoscopic surgery being a representative example. Unlike conventional open surgery, minimally invasive surgery involves making a few small incisions and filling the abdomen with gas to create an operating space; subsequently, a laparoscope and surgical manipulators are inserted through these openings to perform the surgery using the manipulators while viewing images.

[0003] Unlike open surgery, laparoscopic surgery has the advantage of a faster recovery time due to the smaller incision size. However, in laparoscopic surgery, the laparoscope and surgical actuators must be inserted into the body through an incision and then operated.

[0004] A specific robot arm is used to easily set the direction of the laparoscope by means of a motor and the driving force of the motor for the operation of the laparoscope.

[0005] However, since a means to transmit the driving force of the motor must be installed in the robot arm, there is a problem in that the size of the robot arm increases and consequently the size of the incision hole also increases.

[0006] In addition, since a means of transmitting driving force must be installed on the robot arm, there is a problem that complex processing is required.

[0007] In addition, there is a problem where deformation is concentrated at a specific point when the robot arm performs a predetermined operation.

[0008] As part of an effort to solve the aforementioned problems, a certain flexible robot was disclosed.

[0009] In "A learning-based tip contact force estimation method for tendon-driven continuum manipulator" published in "Scientific Reports" volume 11 in 2021, a flexible robot (soft robot) wound in a spiral shape was disclosed.

[0010] FIG. 1 is a drawing showing the configuration of a flexible robot according to the prior art, and the configuration of a flexible robot according to the prior art described above is illustrated.

[0011] As shown in FIG. 1, the flexible robot (1) is wound in a spiral shape and is configured to perform robot movements by pushing or pulling a pair of motion wires.

[0012] In the case of the flexible robot mentioned above, when an external force is applied in the longitudinal direction of the flexible robot, the length of the robot is reduced, and there is a problem in that it cannot perform work at the required position.

[0013] In addition, when an external force is applied tangentially to the outer circumference of the flexible robot, the spiral-shaped body twists and fails to perform smooth operation.

[0014] As prior art for the present invention, Korean published patent No. 2012-0131975 can be cited. The problem to be solved

[0015] The present invention aims to solve the aforementioned problems by providing a flexible robot configured to perform a predetermined operation by a motion control unit comprising a motion wire and formed in the shape of a coil wound in a spiral shape.

[0016] In addition, the present invention aims to provide a flexible robot configured so that deformation or loosening in the longitudinal direction does not occur due to external forces applied from the outside.

[0017] In addition, the present invention aims to provide a flexible robot in which a restoring force application unit is placed on the side of a coil-shaped main body so that after performing a predetermined operation, the main body can be restored to its original state by the restoring force provided by the restoring force application unit. means of solving the problem

[0018] To achieve the above-mentioned purpose, the present invention provides a flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body to control the operation of the main body; and a shape maintaining member that prevents unwinding and axial compression of the main body, wherein the main body comprises a first to nth joint that is continuously connected (n is a natural number greater than or equal to 1), and on one side of each of the first to nth joints, an insertion groove is formed having a cross-sectional structure that progresses toward the bottom and decreases in width, and the shape maintaining member comprises a support projection that protrudes from the other side of each of the first to nth joints and is inserted into the insertion groove.

[0019] It may further include a first connector positioned at the front end of the main body and a second connector positioned at the rear end of the main body.

[0020] In the above main body, first and second wire placement holes may be formed in each of the first to n nodes, facing each other with respect to the center.

[0021] The above operation control unit may include first and second operation wires arranged to be able to advance and retract through the first and second wire placement holes of the first to nth nodes.

[0022] The above first to nth nodes may be formed in the shape of a circular spring washer.

[0023] delete

[0024] To achieve the above objective, the present invention provides a flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body to control the operation of the main body; and a compression prevention member that limits axial compression of the main body, wherein the main body comprises a first to nth node that is continuously connected (n is a natural number greater than or equal to 1), and a plurality of wire placement holes formed in each of the first to nth nodes to which a motion wire is disposed, and the compression prevention member comprises a first bead insertion wire disposed through a wire placement hole formed in a spacing member disposed between each node and the second unit wire placement hole of each of the first to nth nodes to maintain the spacing of the nodes, and a second bead insertion wire disposed through a wire placement hole formed in a spacing member disposed between each node and the fourth unit wire placement hole of each of the first to nth nodes to maintain the spacing of the nodes.

[0025] It may further include a first connector positioned at the front end of the main body and a second connector positioned at the rear end of the main body.

[0026] delete

[0027] The above first to nth nodes may be formed in the shape of a circular spring washer.

[0028] delete

[0029] To achieve the above-mentioned purpose, the present invention provides a flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body and controlling the operation of the main body; and a pair of restoring force application units disposed on both sides of the main body and applying a restoring force to the main body when the main body is operated by the motion control unit.

[0030] The above main body includes a first to nth node that are continuously connected (n is a natural number greater than or equal to 1), and in each of the first to nth nodes, a first and second wire placement hole may be formed facing each other with respect to the center.

[0031] The above operation control unit may include first and second operation wires arranged to be able to advance and retract through the first and second wire placement holes of the first to nth nodes.

[0032] The first operating wire and the second operating wire can operate in opposite directions.

[0033] The above first to nth nodes may be formed in the shape of a circular spring washer.

[0034] The above-mentioned main body proceeds from one end to the other, and on both sides, a restoring force application member insertion groove is formed into which the restoring force application member is inserted. The restoring force application member may include a first and second restoring force application member main body disposed in the restoring force application member insertion groove formed with a length corresponding to the length of the main body, and a fixing projection that protrudes a certain length from one side of the first and second restoring force application member main body and is inserted into the space between the segments.

[0035] The first restoring force application body may be adjacent to the first operating wire, and the second restoring force application body may be adjacent to the second operating wire.

[0036] The material of the above-mentioned restoring force application part may have higher elasticity than the material forming the above-mentioned main body. Effects of the invention

[0037] The present invention as described above can perform a predetermined operation by an operation control unit comprising an operation wire and formed in the shape of a coil wound in a spiral shape.

[0038] In addition, the present invention prevents the coil-shaped main body from being deformed or unraveled in the longitudinal direction by external force applied from the outside.

[0039] In addition, the present invention arranges a restoring force application unit on the side of a coil-shaped main body so that after performing a predetermined operation, the main body can be easily restored to its original state by the restoring force provided by the restoring force application unit. Brief explanation of the drawing

[0040] FIG. 1 is a diagram showing the configuration of a flexible robot according to the prior art. FIG. 2 is a perspective view showing the configuration of a flexible robot according to one embodiment of the present invention. FIG. 3 is a perspective view showing the configuration of an example of a first segment used in a flexible robot according to an embodiment of the present invention. Figure 4 is a detailed drawing of part A of Figure 2. Figure 5 is a diagram showing an example of the operation of the flexible robot illustrated in Figure 2. FIG. 6 is a perspective view showing the configuration of a flexible robot according to another embodiment of the present invention. FIG. 7 is an exploded perspective view showing the configuration of the flexible robot illustrated in FIG. 6. FIG. 8 is a perspective view showing the configuration of an example of a first segment used in the flexible robot illustrated in FIG. 6. Figures 9 and 10 are detailed drawings of part B of Figure 6. FIG. 11 is a perspective view showing the configuration of a flexible robot according to another embodiment of the present invention. FIG. 12 is an exploded perspective view showing the configuration of the flexible robot illustrated in FIG. 11. FIG. 13 is a perspective view showing the configuration of an example of a first segment used in the flexible robot illustrated in FIG. 11. Figure 14 is a cross-sectional view along the CC line of Figure 11. Specific details for implementing the invention

[0041] Preferred embodiments according to the present invention will be described in detail below with reference to the attached drawings.

[0042] FIG. 2 is a perspective view showing the configuration of a flexible robot according to one embodiment of the present invention.

[0043] Referring to FIG. 2, a flexible robot (100) according to one embodiment of the present invention includes a main body (110), a motion control unit (130), and a shape maintaining unit (140).

[0044] The main body (110) is formed in the shape of a coil spring having a predetermined length and diameter. In this embodiment, the main body (110) is formed in the shape of a circular coil spring, but it may also be formed in the shape of a square coil spring depending on the user's needs.

[0045] Here, the main body (110) can be formed by winding a wire with a square cross-section into a spiral shape.

[0046] In addition, the main body (110) can be manufactured using a 3D printing method.

[0047] The main body (110) is made of a material having a certain elasticity so that it can be easily bent. Here, as long as the material has a certain elasticity, various materials such as metal or plastic, such as spring steel, can be used depending on the user's needs.

[0048] A first connector (120A) is disposed at the tip of the main body (110) in a cylindrical shape having a predetermined diameter and length. An endoscope (not shown) or a surgical tool (not shown) according to the user's needs may be connected to the first connector (120A).

[0049] A second connector (120B) is disposed at the rear end of the main body (110) in a cylindrical shape having a predetermined diameter and length. The second connector (120B) is connected to a predetermined mount disposed externally, so that the operation of the flexible robot (100) according to the present invention can be performed smoothly.

[0050] Here, for the purpose of describing each part of the main body (110), each part formed each time the wire is wound once is referred to as the first to the nth part.

[0051] Referring to FIG. 2, it can be seen that the main body (110) has 15 nodes connected in succession. In this embodiment, the main body (110) includes 15 nodes, but the number of nodes can be varied according to the user's needs.

[0052] In this embodiment, the main body (110) includes a first node (112N1) to a fifth node (112N15) that are continuously connected.

[0053] FIG. 3 is a perspective view showing the configuration of an example of a first node used in one embodiment of the present invention.

[0054] Referring to FIG. 3, it can be seen that the first segment (112N1) is formed in the shape of a spring washer having a predetermined diameter.

[0055] First and second wire placement holes (114A, 114B) are formed with a predetermined diameter at positions facing each other based on the center point of the first node (112N1).

[0056] The second segment (112N2) to the fifteenth segment (112N15) are in the form of a spring washer having a predetermined diameter and are made of the same shape and size as the first segment (112N1). In addition, in each of the second segment (112N2) to the fifteenth segment (112N15), first and second wire placement holes (114A, 114B) are formed, in which the operation wire described later is arranged at regular intervals based on the center point of each segment.

[0057] Here, the first and second wire placement holes (114A, 114B) formed in each node can be positioned in a straight line on the main body (110).

[0058] Therefore, it can be seen that when the first node (112N1) to the 15th node (112N15) are connected to each other in succession, the main body (110) is formed in the shape of a coil.

[0059] Here, it is preferable that components corresponding to the first and second wire placement holes (114A, 114B) are also formed in the first connector (120A) and the second connector (120B).

[0060] The first and second operating wires (130A, 130B), described later, are respectively placed in the first and second wire placement holes (114A, 114B).

[0061] The operation control unit (130) is operated by a user to cause the flexible robot (100) according to the present invention to perform a predetermined operation.

[0062] In the present invention, the operation control unit (130) includes first and second operation wires (130A, 130B).

[0063] Here, the first and second operating wires (130A, 130B) are wires having a predetermined length and are made using a metal or synthetic resin having flexible properties.

[0064] The first operating wire (130A) is positioned through a first wire placement hole (114A) formed in each of the first node (112N1) to the 15th node (112N15). At this time, one end of the first operating wire (130A) is connected to the first connector (120A), and the other end extends outside the main body (110) through the second connector (120B).

[0065] The first operating wire (130A) is positioned to be able to move forward and backward by user operation.

[0066] The second operating wire (130B) is positioned through a second wire placement hole (114B) formed in each of the first node (112N1) to the 15th node (112N15). At this time, one end of the second operating wire (130B) is connected to the first connector (120A), and the other end extends outside the main body (110) through the second connector (120B).

[0067] The second operating wire (130B) is positioned to be able to move forward and backward by user operation.

[0068] At this time, the first operating wire (130A) and the second operating wire (130B) operate in opposite directions. That is, when the first operating wire (130A) moves forward, the second operating wire (130B) moves backward, and when the first operating wire (130A) moves backward, the second operating wire (130B) moves forward.

[0069] FIG. 4 is a detailed drawing of part A of FIG. 2, showing the configuration of the shape-maintaining member used in the present invention.

[0070] Referring to FIG. 4, the configuration of the shape-maintaining member (140) will be explained.

[0071] The shape-maintaining member (140) prevents the main body (110) from shrinking and deforming in the longitudinal direction or rotating and deforming in the tangential direction due to an external force applied in the longitudinal direction of the main body (110), thereby maintaining the shape of the main body (110).

[0072] The shape retainer (140) includes a predetermined support projection.

[0073] First, a predetermined insertion groove (116) is formed in each segment. Using the first segment (112N1) as an example, the insertion groove (116) will be described.

[0074] Referring again to FIG. 3, the first node (112N1) is shown in a perspective view.

[0075] A predetermined insertion groove (116) is formed on one side of the first segment (112N1). Additionally, it can be seen that a support projection (142) protrudes at a predetermined height from the other side of the first segment (112N1).

[0076] The insertion groove (116) is formed in the shape of an inverted triangle that decreases in width as it progresses from the surface of the segment to the bottom, and the support projection (142) is formed in the shape of an isosceles triangle having a predetermined height. The width of the support projection (142) is formed to be narrower than the width of the insertion groove (116).

[0077] Here, the support projection (142) is formed at a position directly above the insertion groove (116).

[0078] Let us refer again to Fig. 4.

[0079] The insertion groove (116) is formed to a predetermined depth on one side of each of the first segment (112N1) to the 15th segment (112N15) included in the main body (110), and the support projection (142) protrudes to a predetermined height on the other side of each of the first segment (112N1) to the 15th segment (112N15) included in the main body (110).

[0080] Then, the support projection (142) is inserted into the insertion groove (116) formed in the adjacent segment. At this time, the height of the support projection (142) is set to correspond to the sum of the depth of the insertion groove (116) and the spacing between each segment, so that even if an external force is applied in the longitudinal direction of the main body (110), the main body (110) is prevented from deforming and shrinking in the longitudinal direction, and thus the length of the main body (110) is not reduced.

[0081] At this time, the end of the support projection (142) is inserted into the inner side of the insertion groove (116), so that even if an external force is applied in the tangential direction of the main body (110), the main body (110) can be prevented from rotating and deforming in the tangential direction.

[0082] Let us examine the operation of a flexible robot (100) according to one embodiment of the present invention.

[0083] The flexible robot (100) according to the present invention maintains a straight shape as shown in FIG. 2 during normal operation.

[0084] Figure 5 is a diagram showing an example of the operation of the flexible robot illustrated in Figure 2.

[0085] As shown in the drawing, when the first operating wire (130A) is retracted and the second operating wire (130B) is advanced by user operation, the flexible robot (100) is bent to the left.

[0086] When the user advances the first operating wire (130A) and retracts the second operating wire (130B), the flexible robot (100) can be bent to the right.

[0087] If a surgical tool such as an endoscope is placed at the tip of the flexible robot (100), the endoscope can be directed in a predetermined direction according to the user's operation.

[0088] FIG. 6 is a perspective view showing the configuration of a flexible robot according to another embodiment of the present invention, and FIG. 8 and FIG. 9 are detailed drawings of part B of FIG. 6.

[0089] Referring to FIGS. 6 to 9, a flexible robot (200) according to another embodiment of the present invention includes a main body (210), a motion control unit (230), and a compression prevention device (240).

[0090] Detailed descriptions of configurations identical to the previous embodiments will be omitted.

[0091] Referring to FIG. 6, it can be seen that the main body (210) has 17 nodes connected in succession. In this embodiment, the main body (110) includes 17 nodes, but the number of nodes can be varied according to the user's needs.

[0092] In this embodiment, the main body (210) includes a first node (212N1) to a seventh node (212N17) that are continuously connected.

[0093] FIG. 8 is a perspective view showing the configuration of an example of a first segment used in a flexible robot according to another embodiment of the present invention.

[0094] Referring to FIG. 8, the first segment (212N1) is formed in the shape of a spring washer having a predetermined diameter.

[0095] Here, in the first node (212N1), first to fourth unit wire placement holes (214A, 214B, 214C, 214D) are formed with an angular spacing of 90 degrees with respect to the center point of the node.

[0096] The second node (212N2) to the seventh node (212N17) are made of the same size and shape as the first node (212N1).

[0097] Accordingly, first to fourth unit wire placement holes (214A, 214B, 214C, 214D) are formed in each of the first to seventh nodes (212N1) included in the flexible robot (200).

[0098] A first operating wire (230A) and a second operating wire (230B) are arranged in each of the first unit wire placement holes (214A) and the third unit wire placement holes (213C) facing each other.

[0099] The compression prevention device (240) prevents the length of the main body (210) from changing due to an external force applied in the axial direction to the main body (210).

[0100] The compression prevention device (240) has first and second bead insertion wires (240A, 240B) placed thereon.

[0101] The first bead insertion wire (240A) is placed through the second unit wire placement hole (214B) formed in the first node (212N1) to the 17th node (212N17), and the second bead insertion wire (240B) is placed through the fourth unit wire placement hole (214D) formed in the first node (212N1) to the 17th node (212N17).

[0102] Here, the second bead insertion wire (240B) is obscured by a plurality of nodes and is not visible, but should be recognized as being positioned opposite to the first bead insertion wire (240A).

[0103] Each of the first and second bead insertion wires (240A, 240B) is placed through the second unit wire placement hole (214B) and the fourth unit wire placement hole (214D), and both ends can be connected to the first connector (120A) and the second connector (120B).

[0104] Figures 9 and 10 are detailed drawings of part B of Figure 6.

[0105] Referring to FIG. 9 and FIG. 10, it can be seen that when the first bead insertion wire (240A) and the second bead insertion wire (240B) are arranged, a spacing bead (242) of a predetermined diameter with a wire placement hole formed on the central axis is arranged between each node.

[0106] The spacing maintaining bead (242) is formed in a predetermined spherical shape, so that the length of the main body (210) is prevented from decreasing even when an external force is applied in the axial direction of the main body (210).

[0107] The operation of the flexible robot (200) by the operation control unit (230) is the same as in the previous embodiment, so a detailed description thereof will be omitted.

[0108] FIG. 11 is a perspective view showing the configuration of a flexible robot according to another embodiment of the present invention, and FIG. 12 is a perspective view showing the configuration of a flexible robot according to another embodiment of the present invention.

[0109] Referring to FIGS. 11 and 12, a flexible robot (300) according to another embodiment of the present invention includes a main body (310), a motion control unit (330), and a restoring force application unit (340).

[0110] Detailed descriptions of configurations identical to the previous embodiment will be omitted, and explanations will be provided for the parts that differ.

[0111] The main body (310) includes a first segment (312N1) to a seventh segment (312N17) in the form of a spring washer.

[0112] FIG. 13 is a perspective view showing the configuration of a first segment used in a flexible robot according to another embodiment of the present invention.

[0113] Referring to FIG. 13, the first segment (312N1) is formed in the shape of a spring washer, and first and second wire placement holes (314A, 314B) are formed at positions facing each other with respect to the center point.

[0114] And, first and second wire placement holes (314A, 314B) are also formed in the second node (312N2) to the 17th node (312N17).

[0115] Accordingly, the first segment (312N1) to the seventh segment (312N17) are manufactured with the same shape and size.

[0116] And, the first and second operation wires (330A, 330B) included in the operation control unit (330) are respectively placed in the first and second wire placement holes (314A, 314B).

[0117] The restoring force application unit (340) is positioned on both sides of the main body (310) so that after the main body (310) performs a predetermined operation by the operation control unit (320), it can be easily restored to its original form.

[0118] The restoring force application part (340) includes the first and second restoring force application part bodies (342A, 342B) and the fixing projection (344).

[0119] The first and second restoring force application body (342A, 342B) are formed with a predetermined length and are respectively placed on both sides of the body (310).

[0120] FIG. 14 is a cross-sectional view along the CC line of FIG. 11, showing the arrangement of the first and second restoring force application body.

[0121] The first and second restoring force application body (342A, 342B) are positioned opposite each other on the side of the main body (310) with respect to the central axis of the main body (310). At this time, it is preferable that the positioning of the first and second restoring force application body (342A, 342B) be formed with an angular spacing of 90° from the first and second wire placement holes (314A, 314B).

[0122] Meanwhile, to facilitate the placement of the first and second restoring force application body (342A, 342B), a restoring force application insertion groove (316) into which the first and second restoring force application body (342A, 342B) are inserted is formed on both sides of the body (310).

[0123] The fixed projection (344) protrudes for a predetermined length from one side of each of the first and second restoring force application body parts (342A, 342B). The fixed projection (344) is positioned between a plurality of segments included in the body part (310) to prevent the body part (310) from being compressed in the axial direction.

[0124] When the first and second operating wires (330A, 330B) are operated by a user and the main body (310) faces a predetermined direction, the restoring force application unit (340), which includes the first and second restoring force application unit main body (342A, 342B), can provide a restoring force so that the main body (310) is restored to its original position.

[0125] Additionally, when an external force is applied in a predetermined direction on the outside of the main body (310), that is, in a direction from the first wire placement hole (314A) toward the second wire placement hole (314B) or from the second wire placement hole (314B) toward the first wire placement hole (314A), the restoring force application unit (340), which includes the first and second restoring force application unit main body (342A, 342B), can apply a predetermined restoring force in response to the external force applied to the main body (310) so that the main body (310) can be restored to its original position without operation of the first and second operating wires (330A, 330B).

[0126] To this end, it is preferable that the restoring force application part (340) be made using a material with greater elasticity than the material used to make the main body (310).

[0127] The present invention, configured as described above, can perform a predetermined operation by means of an operation control unit comprising a coil wound in a spiral shape and an operation wire, and prevents the coil-shaped main body from being deformed or unraveled in the longitudinal direction by an external force applied from the outside, and places a restoring force application unit on the side of the coil-shaped main body so that after performing a predetermined operation, the main body can be easily restored to its original state by the restoring force provided by the restoring force application unit.

[0128] The present invention has been described with reference to the embodiments illustrated in the drawings, but this is merely illustrative, and those skilled in the art will understand that various modifications and equivalent alternative embodiments are possible therefrom. Accordingly, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. Explanation of the symbols

[0129] 100, 200, 300: Flexible robot 110, 210, 310: Main unit 130, 230, 330: Operation control unit 140: Shape retainer 240: Compression guard 340: Resilience authorization part

Claims

Claim 1 A flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body and controlling the operation of the main body; and a shape maintaining member that prevents unwinding and axial compression of the main body, wherein the main body comprises a first to nth joint that is continuously connected (n is a natural number greater than or equal to 1), and on one side of each of the first to nth joints, an insertion groove is formed having a cross-sectional structure that progresses toward the bottom and decreases in width, and the shape maintaining member comprises a support projection that protrudes from the other side of each of the first to nth joints and is inserted into the insertion groove. Claim 2 A flexible robot according to claim 1, further comprising a first connector disposed at the front end of the main body and a second connector disposed at the rear end of the main body. Claim 3 In paragraph 2, the main body is a flexible robot in which first and second wire placement holes are formed opposite each other with respect to the center in each of the first to n nodes. Claim 4 In paragraph 3, the motion control unit comprises a flexible robot including first and second motion wires arranged to be able to move forward and backward through first and second wire placement holes of the first to n nodes. Claim 5 In paragraph 3, the first to nth segments are formed in the shape of a circular spring washer, forming a flexible robot. Claim 6 delete Claim 7 A flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body and controlling the operation of the main body; and a compression prevention member that limits axial compression of the main body, wherein the main body comprises a first to nth node that is continuously connected (n is a natural number greater than or equal to 1), and a plurality of wire placement holes formed in each of the first to nth nodes for which a motion wire is disposed, and the compression prevention member comprises a first bead insertion wire disposed through a wire placement hole formed in a spacing member disposed between each of the first to nth nodes and a second unit wire placement hole and a spacing member that maintains the spacing of the nodes, and a second bead insertion wire disposed through a wire placement hole formed in a spacing member disposed between each of the first to nth nodes and a fourth unit wire placement hole and a spacing member that maintains the spacing of the nodes. Claim 8 A flexible robot according to claim 7, further comprising a first connector positioned at the front end of the main body and a second connector positioned at the rear end of the main body. Claim 9 delete Claim 10 In claim 7, the first to nth segments are formed in the shape of a circular spring washer, forming a flexible robot. Claim 11 delete Claim 12 A flexible robot comprising: a main body formed in the shape of a coil; a motion control unit disposed on the main body and controlling the operation of the main body; and a pair of restoring force application units disposed on both sides of the main body and applying a restoring force to the main body when the main body is operated by the motion control unit. Claim 13 In claim 12, the main body comprises a first to nth node that are continuously connected (n is a natural number greater than or equal to 1), and a flexible robot having first and second wire placement holes formed in each of the first to nth nodes that are opposite to each other with respect to the center. Claim 14 In claim 13, the motion control unit comprises a flexible robot including first and second motion wires arranged to be able to move forward and backward through first and second wire placement holes of the first to n nodes. Claim 15 In claim 14, the first motion wire and the second motion wire are flexible robots that operate in opposite directions. Claim 16 In claim 14, the first to nth segments are formed in the shape of a circular spring washer, forming a flexible robot. Claim 17 A flexible robot according to claim 14, wherein a pair of insertion grooves for restoring force applying members are formed facing each other on both sides of the main body, and the restoring force applying member is inserted therein, and the restoring force applying member comprises a first and second restoring force applying member main body that is respectively disposed in the pair of insertion grooves for restoring force applying members formed with a length corresponding to the length of the main body, and a fixed projection that protrudes a certain length from one side of the first and second restoring force applying member main body and is inserted into the space between the segments. Claim 18 In claim 17, the position of the insertion groove of the restoring force application part is a flexible robot having an angular spacing of 90° with the first and second wire placement holes. Claim 19 In claim 17, the material of the above-mentioned restoring force application part is a flexible robot having higher elasticity than the material forming the above-mentioned main body.

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