US 12,459,112 B2
Rigid-flexible coupled continuum robot unit and continuum robot
Laihao Yang, Shaanxi (CN); Yinchong Peng, Shaanxi (CN); Yu Sun, Shaanxi (CN); and Xuefeng Chen, Shaanxi (CN)
Assigned to XI'AN JIAOTONG UNIVERSITY, Xi'an (CN)
Filed by XI'AN JIAOTONG UNIVERSITY, Shaanxi (CN)
Filed on Sep. 27, 2024, as Appl. No. 18/899,084.
Claims priority of application No. 202410342541.6 (CN), filed on Mar. 25, 2024.
Prior Publication US 2025/0296225 A1, Sep. 25, 2025
Int. Cl. B25J 9/06 (2006.01); B25J 9/00 (2006.01); B25J 15/00 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/065 (2013.01) [B25J 9/0015 (2013.01); B25J 15/0019 (2013.01); B25J 19/023 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A rigid-flexible coupled continuum robot unit, comprising:
a plurality of structural unit blocks, connected in series to constitute a manipulator, and each structural unit block comprising:
a first unit body, comprising a first central operating hole penetrating along a first central axis and a first flexible rod hole slot and a first drive wire through hole arranged in a first periphery,
a first limiting clamping jaw, extending downwards from a first lower surface of the first unit body,
a first limiting boss, extending upwards from an upper surface of the unit body, and clamped to the first limiting clamping jaw of a second unit body of another adjacent upper structural unit block in a first limiting mode,
a plurality of first side slots, recessed inwards from a side surface of the first unit body in a direction perpendicular to the first central axis, and
a plurality of first set threaded holes, arranged on the side surface of the first unit body and communicating with the first flexible rod hole slot, and staggered with the first side slots;
a front-end unit block, arranged at a foremost end of the manipulator, and comprising:
a third unit body, comprising a central threaded hole penetrating along a second central axis and a second flexible rod hole slot and a second drive wire through hole arranged in a second periphery,
a second limiting clamping jaw, extending downwards from a second lower surface of the third unit body of the front-end unit block, and clamped to a second limiting boss of an adjacent lower structural unit block in a second limiting mode,
a plurality of second side slots, recessed inwards from a side surface of the third unit body of the front-end unit block in a direction perpendicular to the second central axis, and
a plurality of second set threaded holes, arranged on the side surface of the third unit body of the front-end unit block, communicating with the second flexible rod hole slot, and staggered with the second side slots, and a first flexible nickel-titanium rod being arranged in the second flexible rod hole slot of the front-end unit block in a penetrating mode and connected via set screws in the second plurality of the set threaded holes;
a rear-end unit block, arranged at a rearmost end of the manipulator, and comprising:
a fourth unit body, comprising a second central operating hole penetrating along a third central axis and a third flexible rod hole slot and a third drive wire through hole arranged in a third periphery,
a third limiting boss, extending upwards from an upper surface of the fourth unit body of the rear-end unit block, and clamped to a third limiting clamping jaw of the another adjacent upper structural unit block in a third limiting mode,
a plurality of third side slots, recessed inwards from a side surface of the fourth unit body of the rear-end unit block in a direction perpendicular to the third central axis,
a plurality of third set threaded holes, arranged on the side surface of the fourth unit body of the rear-end unit block, communicating with the third flexible rod hole slot, and staggered with the third side slots, and
a connecting chassis, arranged at the bottom of the fourth unit body of the rear-end unit block, and a plurality of fourth set threaded holes being distributed on the periphery of the connecting chassis;
a second flexible nickel-titanium rods, arranged in the flexible rod hole slot of the fourth unit body in a penetrating mode and connected via set screws in the fourth set threaded holes; and
the first limiting clamping jaw is clamped to a square slot of the first limiting boss, and in two adjacent structural unit blocks, an inner side arc surface of the first limiting clamping jaw is in a clearance fit with an outer side arc surface of the first limiting boss correspondingly and tangentially.