CN111941410B - Avoid lax formula silk drive robot - Google Patents

Abstract

A loose-prevention type wire-driven robot is characterized in that a wire sleeve is arranged below the uppermost spacer disc, a wire sleeve is arranged above the lowermost spacer disc, the wire sleeves are arranged above the rest spacer discs, and the distance between the wire sleeve below the upper spacer disc and the wire sleeve above the lower spacer disc is defined as h; when the spacer disc is in an initial unbent state, the first traction wire and the fourth traction wire are centrosymmetric relative to the spacer disc, and the distance between the first traction wire and the fourth traction wire is defined as a; in the bending state, the rotating angle of the upper spacing disc relative to the lower spacing disc between every two spacing discs is theta.

Description

Avoid lax formula silk drive robot

Technical Field

The invention relates to the field of robots, in particular to a slack-avoiding type wire-driven robot.

Background

The S-shaped arm robot can flexibly move in a restricted environment due to the fact that multi-degree-of-freedom bending movement can be achieved, and the S-shaped arm robot is widely applied to the fields of maintenance detection, medical treatment and the like. The drive mode of snakelike arm robot mainly includes silk drive, pneumatic muscle drive and shape memory alloy drive, because silk drive mode can make snakelike arm robot occupation space little, low inertia of motion etc. show the advantage, by wide application in snakelike arm robot design.

In recent years, researchers at home and abroad successively propose a plurality of wire-driven serpentine arm robots with different configurations, which generally consist of a driving device and a plurality of identical rotating joints. The existing rotary joints are divided into single-degree-of-freedom rotary joints (rigid hinge joints, flexible plates and cylindrical rolling joints) and two-degree-of-freedom rotary joints (spherical hinge joints or universal joints, flexible central rods and spherical rolling joints) according to the number of degrees of freedom.

The prior art wire-driven serpentine arm robot has the following disadvantages:

1. the wire-driven snakelike arm robot in the prior art does not have enough space to set up a hollow channel due to complicated structure, and realizes fluid transportation.

2. The prior art wire-driven serpentine arm robot has a joint rotation center usually at a symmetrical position of the joint, which causes the wire-driven serpentine arm robot to loose in bending motion or when the driving position is unchanged and external transverse force is applied to the wire.

3. The long-distance spraying structure in the prior art has single spraying direction or complex driving structure, and the vicinity of the spraying head does not have enough space and support for arranging a complex spraying head direction adjusting device.

4. The prior art spray structure can only realize the spray with one degree of freedom, such as the directional spray of a parallel spray head or the rotary spray, but can not realize the spray with two degrees of freedom.

5. The combination of the rotating disks in the prior art can only realize the relative motion of the two, but can not realize the combined motion of the two.

6. In the prior art, for the spraying structure matched with the mechanical arm, due to the limited space, an additional driving structure is difficult to be arranged to realize more complex functions.

7. The prior art is easy to loosen in the process of extension and retraction of the traction wire in the wire driving process, and no good solution is provided.

Disclosure of Invention

In order to overcome the above problems, the present invention proposes a solution to solve the above problems simultaneously.

The technical scheme adopted by the invention for solving the technical problem is as follows: an slack-avoidance wire drive robot comprising: the device comprises a first gear motor, a second gear motor, a third gear motor, a fourth gear motor, a driving block shell, a spacing disc, a space connecting rod, a spring device, a first traction wire, a second traction wire, a third traction wire, a fourth traction wire, a valve, a rotating motor, a driving wheel, a driving belt, a driven ring, an inner traction wire, a swing rod, a rotating disc, a fixed disc, a hose and a camera; the spray head is arranged on the fixed disc, the spray head is arranged on the rotating disc, a connecting column is arranged below the rotating disc, a connecting disc is arranged below the connecting column, a cylinder is arranged below the rotating disc, a limiting semi-ring is arranged on the lower wall of the cavity, the cylinder and the connecting disc are positioned in the cavity, and the central line of the cylinder is not overlapped with the central line of the rotating disc; the space connecting rod comprises a main body and hanging lugs on the upper portion and the lower portion of the main body, and a wire sleeve is arranged on the spacing disc;

the driving block comprises a driving block shell, wherein first to fourth speed reducing motors are arranged in the driving block shell, the first to fourth speed reducing motors are connected with wire discs, the four wire discs are correspondingly connected with first to fourth traction wires, a plurality of spacing discs are connected above the driving block shell, two space connecting rods are arranged between every two spacing discs, the two space connecting rods are divided into a first space connecting rod and a second space connecting rod, each hanging lug is provided with a round hole, a hanging ring is arranged below the uppermost spacing disc, a hanging ring is arranged above the lowermost spacing disc, hanging rings are arranged above and below the rest spacing discs, the first space connecting rod is aligned with the round hole center line of a hanging lug above the second space connecting rod, the first space connecting rod is aligned with the round hole center line of a hanging lug below the second space connecting rod, and the hanging rings are connected with the round holes through pivots; the first to fourth drawing wires penetrate through the wire sleeve, and the upper ends of the first to fourth drawing wires are connected in the wire sleeve of the uppermost spacing disc; the camera is arranged above the uppermost spacing disc; on the spacing disc, the height of the wire sleeve is consistent with the height from the central line of the hanging ring circular hole to the edge of the spacing disc;

the valve is further arranged in the driving block shell, the driven ring is arranged at the upper end of the valve shell in a surrounding mode, the driven ring and the driving wheel are in transmission through the transmission belt, the driving wheel is driven by the rotating motor, a wire coil is arranged on the driven ring, the inner traction wire is wound on the wire coil, a central hole is formed in each partition disc, the hose penetrates through the central hole and extends along the stacking direction of the partition discs, the fixed disc is arranged at the upper end of the hose and is rotatably connected to the upper surface of the uppermost partition disc, and the rotating disc is arranged above the fixed disc;

the swing rod is arranged at the outer edge of the rotating disc, the inner traction wire is connected to the swing rod, the distances between the centers of the injection channel and the spraying channel and the center of the rotating disc are the same, when the rotating disc rotates relative to the fixed disc, the inflow channel is sequentially communicated with the injection channel and the spraying channel, the cylinder is abutted against the lower surface of the cavity, and the cylinder can be slidably abutted against or separated from the limit semi-ring; the spraying channel penetrates through the rotating disc, and the spraying channel does not penetrate through the rotating disc;

the wire sleeve is arranged below the uppermost spacing disc, the wire sleeve is arranged above the lowermost spacing disc, the wire sleeves are arranged above the rest spacing discs, and the height difference between the lower surface of the wire sleeve below the upper spacing disc and the upper surface of the wire sleeve above the lower spacing disc between every two spacing discs at the initial unbent position is defined as h; when the spacer disc is in an initial unbent state, the first traction wire and the fourth traction wire are in central symmetry relative to the spacer disc, and the distance between the first traction wire and the fourth traction wire is defined as a; when the device is in a bending state, the rotating angle of the upper spacing disc relative to the lower spacing disc between every two spacing discs is theta; the intersection point of the fourth traction wire and the upper surface of the upper wire sleeve of the lower spacing disc is defined as a point D, and the intersection point of the central line of the spacing disc and the lower surface of the lower wire sleeve of the upper spacing disc is defined as a point O _i+1 The point of intersection of the center line of the spacer and the upper surface of the upper wire sleeve of the lower spacer is defined as O _i Point;

the length change amount delta l of the left first traction wire in the bending state _l And the length change delta l of the fourth drawing wire on the right _r The following conditions are satisfied:

wherein < DO _i+1 O _i = arctan (a/2 h), θ is chosen to be 20 degrees when a gives a value, h is chosen to satisfy the following condition: Δ l _r +Δl _l ＞0。

Furthermore, the upper end of the hose is connected with the fixed disc through a joint.

Further, the inner traction wire is connected with the wire coil through a coil spring.

Further, the cross section of the main body is an arc surface.

Furthermore, the outer surface of the hanging lug comprises a circular arc surface.

Further, the spring device is arranged between every two spacing discs.

Furthermore, the number of the spring devices between every two spacing discs is two.

Further, the first to fourth reduction motors are uniformly distributed along the circumference.

Further, the driving block shell is cubic.

Furthermore, the axis of the round hole above each space connecting rod is perpendicular to the vertical plane where the axis of the round hole below is located.

The invention has the beneficial effects that: each rotary joint can realize two-degree-of-freedom rotation, the rotation center is no longer in the symmetrical position of the joint, and the axes of the two rotary pairs are always kept in the non-coplanar vertical state in the rotation process. The snakelike arm robot can ensure that the traction wire can not be loosened when the robot is in bending motion or is under the action of external transverse force. In addition, the invention can be used as a module for superposition, so that the module has more freedom degrees and more convenience for flexible movement in a complex limited environment, and the invention has a hollow channel structure so as to be convenient for transporting tools such as detection, spraying and the like.

Drawings

The invention is further illustrated by the following examples in conjunction with the drawings.

FIG. 1 is a schematic view of a linear configuration of the present invention

FIG. 2 is a schematic view of the structure of the present invention in a bent configuration in any direction

FIG. 3 is a side view of a single revolute joint arrangement of the invention

FIG. 4 is a side view of the shaft of the connecting rod structure of the present invention

FIG. 5 is an overall perspective view of the present invention

FIG. 6 is a schematic view of a spray structure of the present invention

FIG. 7 is a schematic view of a rotary disk structure of the present invention

FIG. 8 is a schematic view of the structure of the fixing plate of the present invention

FIG. 9 is a schematic diagram of the principle of the invention for avoiding wire relaxation during rotational bending

In the figures, the reference numerals are as follows:

101-first gear motor, 102-second gear motor, 103-third gear motor, 104-fourth gear motor, 1-driving block shell, 2-spacing disc, 3-space connecting rod, 4-spring device, 5-first traction wire, 6-second traction wire, 7-third traction wire, 8-fourth traction wire, 9-valve, 10-rotating motor, 11-driving wheel, 12-driving belt, 13-driven ring, 14-inner traction wire, 15-swing rod, 16-rotating disc, 17-fixed disc, 18-inflow channel, 19-injection channel, 20-injection channel, 21-spraying opening, 22-spraying head, 23-connecting column, 24-connecting disc, 25-cylinder, 26-cavity, 27-limiting semi-ring, 28-hanging ring, 29-wire sleeve, 30-hanging lug, 31-main body, 32-hose

Detailed Description

The invention has the following advantages:

1. aiming at the 1 st point of the background technology, a hollow channel is reserved through the shape trend of the two space connecting rods 3, and fluid conveying is realized.

2. Aiming at the 2 nd point of the background technology, the position angle transformation between the spacing discs 2 can be realized more flexibly through the positions of the hangers 30 of the two space connecting rods 3, and more flexible deformation is realized.

3. Aiming at the 3 rd point of the background technology, the inner traction wire 14 pulls the swing rod 15 to rotate, and multi-directional spraying is realized.

4. In the 4 th point of the background art, two working modes of directional spraying or rotary spraying of the parallel spraying head are switched through the relative motion between the two rotating discs.

5. Aiming at the 5 th point of the background technology, the working mode switching of relative rotation and integral rotation is realized through the combination and separation of the limiting half ring 27 and the cylinder 25.

6. Aiming at the 6 th point of the background technology, a driving structure that a driving wheel 11 and a driven ring 13 are matched with a traction wire is designed, and multifunctional and more flexible movement is realized by one motor.

7. Aiming at the 7 th point of the background technology, the height of the spacing disc 2 is set by a series of methods, so that the situation that the traction wire is loosened when the snake-shaped arm robot bends and deforms or is acted by external transverse force is avoided.

Note: the above designs are not sequential and each makes a distinct and significant advance of the present invention over the prior art.

The specific scheme is as follows:

as shown in the figure: an slack-avoidance wire drive robot comprising: the device comprises a first gear motor 101, a second gear motor 102, a third gear motor 103, a fourth gear motor 104, a driving block shell 1, a spacing disc 2, a space connecting rod 3, a spring device 4, a first traction wire 5, a second traction wire 6, a third traction wire 7, a fourth traction wire 8, a valve 9, a rotating motor 10, a driving wheel 11, a transmission belt 12, a driven ring 13, an inner traction wire 14, a swing rod 15, a rotating disc 16, a fixed disc 17, a hose 32 and a camera; the fixed disc 17 is internally provided with an inflow channel 18 and a cavity 26, the rotating disc 16 is internally provided with an injection channel 19, a spraying channel 20 and a spraying opening 21, the spraying channel 20 is communicated with the spraying opening 21, the rotating disc 16 is provided with a spray head 22, a connecting column 23 is arranged below the rotating disc 16, a connecting disc 24 is arranged below the connecting column 23, a cylinder 25 is arranged below the rotating disc 16, the lower wall of the cavity 26 is provided with a limit semi-ring 27, the cylinder 25 and the connecting disc 24 are positioned in the cavity 26, and the central line of the cylinder 25 is not coincident with the central line of the rotating disc 16; the space connecting rod 3 comprises a main body 31 and lugs 30 arranged above and below the main body, and a wire sleeve 29 is arranged on the spacing disc 2;

the driving block comprises a driving block shell 1, wherein first to fourth speed reducing motors are arranged in the driving block shell 1, the first to fourth speed reducing motors are connected with wire discs, the four wire discs are correspondingly connected with first to fourth traction wires, a plurality of partition discs 2 are connected above the driving block shell 1, two space connecting rods 3 are arranged between every two partition discs 2, the two space connecting rods 3 are divided into a first space connecting rod and a second space connecting rod, each hanging lug 30 is provided with a circular hole, a hanging ring 28 is arranged below the uppermost partition disc 2, a hanging ring 28 is arranged above the lowermost partition disc 2, hanging rings 28 are arranged above and below the rest partition discs 2, the first space connecting rod is aligned with the circular hole center line of the hanging lug 30 above the second space connecting rod, the first space connecting rod is aligned with the circular hole center line of the hanging lug 30 below the second space connecting rod, and the hanging rings 28 are connected with the circular holes through pivots; the first to fourth traction wires pass through the wire sleeve 29, and the upper ends of the first to fourth traction wires are connected in the wire sleeve 29 of the uppermost spacing disc 2; the camera is arranged above the uppermost spacing disc 2; on the spacing disc 2, the height of the wire sleeve 29 is consistent with the height of the center line of the circular hole of the hanging ring 28 from the edge of the spacing disc 2;

the valve 9 is further arranged in the driving block shell 1, the driven ring 13 is arranged at the upper end of the shell of the valve 9 in a surrounding mode, the driven ring 13 and the driving wheel 11 are driven through the transmission belt 12, the driving wheel 11 is driven by the rotating motor 10, a wire coil is arranged on the driven ring 13, the inner traction wire 14 is wound on the wire coil, a central hole is formed in each partition plate 2, the hose 32 penetrates through the central hole, the hose 32 extends along the stacking direction of the partition plates 2, the fixed plate 17 is arranged at the upper end of the hose 32, the fixed plate 17 is rotatably connected to the upper surface of the uppermost partition plate 2, and the rotating plate 16 is arranged above the fixed plate 17;

the swing rod 15 is arranged on the outer edge of the rotating disc 16, the internal traction wire 14 is connected to the swing rod 15, the distances between the centers of the injection channel 19 and the spraying channel 20 and the center of the rotating disc 16 are the same, when the rotating disc 16 rotates relative to the fixed disc 17, the inflow channel 18 is sequentially communicated with the injection channel 19 and the spraying channel 20, the cylinder 25 is abutted against the lower surface of the cavity 26, and the cylinder 25 can be slidably abutted against or separated from the limit half ring 27; the spray channels 19 extend through the rotary disc 16, and the spray channels 20 do not extend through the rotary disc 16;

the wire sleeve 29 is arranged below the uppermost spacer 2, the wire sleeve 29 is arranged above the lowermost spacer 2, the wire sleeves 29 are arranged above the rest spacers 2, and the height difference between the lower surface of the wire sleeve 29 below the upper spacer and the upper surface of the wire sleeve 29 above the lower spacer between every two spacers 2 at the initial unbent position is defined as h; when the spacer disc is in an initial unbent state, the first traction wire 5 and the fourth traction wire 8 are centrosymmetric relative to the spacer disc 2, and the distance between the first traction wire 5 and the fourth traction wire 8 is defined as a; in the bent state, the angle of rotation of the upper spacer relative to the lower spacer between each two spacers 2The degree is theta; the intersection of the fourth traction wire 8 with the upper surface of the lower spacer disk upper wire sleeve 29 is defined as point D, and the intersection of the spacer disk 2 centerline with the lower surface of the upper spacer disk lower wire sleeve 29 is defined as point O _i+1 The point at which the center line of the spacer disk 2 intersects the upper surface of the upper wire jacket 29 of the lower spacer disk is defined as O _i Point;

the length of the left first traction wire 5 is changed by delta l in the bending state _l The length change amount delta l of the fourth traction wire 8 on the right side _r The following conditions are satisfied:

wherein < DO _i+1 O _i = arctan (a/2 h), when a is given a value, θ is chosen to be 20 degrees, and h is chosen to satisfy the following condition: Δ l _r +Δl _l ＞0。

As shown in the figure: the upper end of the hose 32 is connected with the fixed disc 17 through a joint. The inner pull wire 14 is attached to the spool by a coil spring. The cross section of the main body 31 is a cambered surface. The outer surface of the hanging lug 30 comprises a circular arc surface. The spring means 4 are arranged between every two spacer discs 2. The number of spring devices 4 between each two spacer discs 2 is two. The first to fourth reduction motors are uniformly distributed along the circumference. The driving block shell 1 is cubic. The axis of the round hole above each space connecting rod 3 is vertical to the vertical plane where the axis of the round hole below is located.

The working principle of the invention is as follows: the control system controls the rotary motor 10 to work, and the driving wheel 11, the driving belt 12 and the driven ring 13 drive the wire coil to rotate, so that the inner traction wire 14 is driven to rotate, the swing rod 15 is driven to rotate, and the swing rod 15 drives the rotary disc 16 to rotate; the injection position is reached when the inflow channel 18 communicates with the injection channel 19; when the inflow channel 18 is communicated with the spraying channel 20, the cylinder 25 abuts against the stop half ring 27, the rotating disc 16 is continuously rotated along the current rotating direction, and the rotating disc 16 and the fixed disc 17 rotate together, so that rotary spraying is realized.

The method for avoiding the relaxation of the bending deformation comprises the following steps: the invention can still ensure that the traction wire does not loose when being subjected to the action of external transverse force during bending deformation or when the driving position is unchanged, and the specific principle is analyzed as follows. As shown in FIG. 9, it is assumed that the diameter of the distribution circle of the filament holes is

△CDO _i+1 Is an isosceles triangle, DO _i+1 ＝CO _i+1 And is < DO _i+1 O _i ＝∠CO _i+1 O _i = arctan (a/2 h). In the initial state, the length of the wires on the left side and the right side is equal to the space height of the axis of the connecting rod: l. the _r ＝l _l H. In the bending state, the upper spacing disc rotates relative to the lower spacing disc, the bending direction is an X-Z plane, and the bending angle is theta. Then, according to the geometry: angle of erection (BO) _i+1 D＝90°-arctan(a/2h)-θ；∠AO _i+1 C =90 ° -arctan (a/2 h) + θ. According to the cosine theorem, it can be known that: the lengths of the wires on both left and right sides in the bent state can be expressed by formula (1).

Comparing the amount of change in the wire in the initial state and the bent state, it can be seen that the amount of change in the length of the wire before and after bending can be represented by equation (2).

As can be seen from equation (2): when the diameter of the distribution circle of the filament is given, a reasonable space height h is ensured to enable delta l _r +Δl _l Greater than 0, such that the tendency of the pull wire to stretch taut is greater than the tendency to retract slack; therefore, the wire-driven snake-shaped arm robot can avoid the loosening of the wire when being bent and deformed or when being subjected to external transverse force.

The above detailed description is directed to a specific example of a possible embodiment of the present invention, which is not intended to limit the scope of the invention, but rather the scope of the invention is intended to include all equivalent implementations or modifications without departing from the scope of the invention.

Claims (5)

1. An slack-avoidance wire drive robot, comprising: the device comprises a first gear motor (101), a second gear motor (102), a third gear motor (103), a fourth gear motor (104), a driving block shell (1), a spacing disc (2), a space connecting rod (3), a spring device (4), a first traction wire (5), a second traction wire (6), a third traction wire (7), a fourth traction wire (8), a valve (9), a rotating motor (10), a driving wheel (11), a driving belt (12), a driven ring (13), an inner traction wire (14), a swing rod (15), a rotating disc (16), a fixed disc (17), a hose (32) and a camera; an inflow channel (18) and a cavity (26) are arranged in the fixed disc (17), a spraying channel (19), a spraying channel (20) and a spraying opening (21) are arranged in the rotating disc (16), the spraying channel (20) is communicated with the spraying opening (21), a spray head (22) is arranged on the rotating disc (16), a connecting column (23) is arranged below the rotating disc (16), a connecting disc (24) is arranged below the connecting column (23), a cylinder (25) is arranged below the rotating disc (16), a limiting half ring (27) is arranged on the lower wall of the cavity (26), the cylinder (25) and the connecting disc (24) are located in the cavity (26), and the central line of the cylinder (25) is not coincident with the central line of the rotating disc (16); the space connecting rod (3) comprises a main body (31) and hanging lugs (30) arranged above and below the main body, and a wire sleeve (29) is arranged on the spacing disc (2);

the novel wire drawing machine is characterized in that first to fourth speed reducing motors are arranged in a driving block shell (1), the first to fourth speed reducing motors are connected with wire discs, the four wire discs are correspondingly connected with first to fourth drawing wires, a plurality of spacing discs (2) are connected above the driving block shell (1), two space connecting rods (3) are arranged between every two spacing discs (2), the two space connecting rods (3) are divided into a first space connecting rod and a second space connecting rod, a round hole is formed in each hanging lug (30), a hanging ring (28) is arranged below the uppermost spacing disc (2), a hanging ring (28) is arranged above the lowermost spacing disc (2), hanging rings (28) are arranged above and below the rest spacing discs (2), the central lines of the round holes of the hanging lugs (30) above the first space connecting rod and the second space connecting rod are aligned, the central lines of the round holes of the hanging lugs (30) below the first space connecting rod and the second space connecting rod are aligned, and the hanging rings (28) are connected with the round holes through pivots; the first traction wire, the second traction wire, the third traction wire, the fourth traction wire and the fourth traction wire penetrate through the wire sleeve (29), and the upper ends of the first traction wire, the second traction wire and the fourth traction wire are connected in the wire sleeve (29) of the uppermost spacing disc; the camera is arranged above the uppermost spacing disc (2);

the valve (9) is further arranged in the driving block shell (1), the driven ring (13) is arranged at the upper end of the shell of the valve (9) in a surrounding mode, the driven ring (13) and the driving wheel (11) are driven through the driving belt (12), the driving wheel (11) is driven by the rotating motor (10), a wire coil is arranged on the driven ring (13), the internal traction wire (14) is wound on the wire coil, a central hole is formed in each partition disc (2), the hose (32) penetrates through the central hole, the hose (32) extends along the stacking direction of the partition discs (2), the fixed disc (17) is arranged at the upper end of the hose (32), the fixed disc (17) is rotatably connected to the upper surface of the uppermost partition disc (2), and the rotating disc (16) is arranged above the fixed disc (17);

the swing rod (15) is arranged on the outer edge of the rotating disc (16), the internal traction wire (14) is connected to the swing rod (15), the distances between the centers of the spraying channel (19) and the spraying channel (20) and the center of the rotating disc (16) are the same, when the rotating disc (16) rotates relative to the fixed disc (17), the inflow channel (18), the spraying channel (19) and the spraying channel (20) are sequentially communicated, the cylinder (25) is abutted to the lower surface of the cavity (26), and the cylinder (25) can be slidably abutted to or separated from the limit half ring (27); the spray channels (19) extend through the rotary disc (16), the spray channels (20) not extending through the rotary disc (16);

the wire sleeve (29) is arranged below the uppermost spacing disc (2), the wire sleeve (29) is arranged above the lowermost spacing disc (2), the wire sleeves (29) are arranged above and below the rest spacing discs (2), and the height difference between the lower surface of the wire sleeve (29) below the upper spacing disc and the upper surface of the wire sleeve (29) above the lower spacing disc between every two spacing discs (2) at the initial unbent position is defined as h; in the initial unbent state, the first tractionThe leading wire (5) and the fourth traction wire (8) are centrosymmetric relative to the spacing disc (2), and the distance between the first traction wire (5) and the fourth traction wire (8) is defined as a; when in a bending state, the rotating angle of the upper spacing disc relative to the lower spacing disc between every two spacing discs (2) is theta; the intersection point of the fourth traction wire (8) and the upper surface of the upper wire sleeve (29) of the lower spacing disc is defined as a point D, and the intersection point of the central line of the spacing disc (2) and the lower surface of the lower wire sleeve (29) of the upper spacing disc is defined as a point O _i+1 The intersection point of the center line of the spacing disc (2) and the upper surface of the upper line sleeve (29) of the lower spacing disc is defined as O _i Point;

the length change delta l of the left first traction wire (5) in the bending state _l The length change delta l of the fourth traction wire (8) on the right side _r The following conditions are satisfied:

wherein < DO _i+1 O _i = arctan (a/2 h), when a is given a value, θ is chosen to be 20 degrees, and h is chosen to satisfy the following condition: Δ l _r +Δl _l Is greater than 0; the spring device (4) is arranged between every two spacing discs (2); the number of the spring devices (4) between every two spacing discs (2) is two; the first to fourth speed reducing motors are uniformly distributed along the circumference; the driving block shell (1) is cubic; the axis of the round hole above each space connecting rod (3) is vertical to the vertical surface of the round hole below.

2. A slack-avoiding wire drive robot as claimed in claim 1, wherein: the upper end of the hose (32) is connected with the fixed disc (17) through a joint.

3. A slack-avoidance wire drive robot as claimed in claim 1, wherein: the inner traction wire (14) is connected with the wire coil through a coil spring.

4. A slack-avoiding wire drive robot as claimed in claim 1, wherein: the cross section of the main body (31) is an arc surface.

5. A slack-avoidance wire drive robot as claimed in claim 1, wherein: the outer surface of the hanging lug (30) comprises a circular arc surface.

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