CN116442268A - Self-telescopic rope-driven continuous robot - Google Patents

Abstract

The invention relates to a self-telescopic rope-driven continuous robot, which solves the problems that most of the existing continuous robots cannot be self-telescopic, the torsion resistance is poor, the joint motion has strong coupling property, the control difficulty of the pneumatic driven continuous robot is high, the control precision is low, and the torsion resistance is limited; comprises a driving device, N continuous bodies and N connecting rope groups; the N continuous bodies are connected to form a continuous mechanical arm; the lower end of the continuous mechanical arm is arranged on the driving device; the continuous body comprises a plurality of corrugated elastic sheets and cross section supporting sheets which are coaxially connected, and at least one cross section supporting sheet is positioned at the uppermost end; i groups of wiring hole groups are formed in the cross section supporting piece along the circumferential direction, and each group comprises Q wiring holes distributed along the circumferential direction; each group of connecting rope group comprises Q connecting ropes, the uniform ends of the connecting ropes are arranged at the upper ends of the corresponding continuous bodies, and the other ends of the connecting ropes penetrate through corresponding wiring holes of the continuous bodies below the connecting ropes and are connected with the driving device.

Description

Self-telescopic rope-driven continuous robot

Technical Field

The invention relates to a robot, in particular to a self-telescopic rope-driven continuous robot.

Background

Robots are widely used in nuclear industry, automobile charging, medical robots and other aspects, and become an indispensable important component in the development of human civilization. At present, many robots adopt discrete rigid connecting rods as bodies and are connected through discrete kinematic pairs, and the space requirement of the robot in the movement process is high due to the influence of the sizes of the rigid connecting rods.

Therefore, in order to meet more complex and narrow use environments, there is a need for a continuous robot that can be deformed according to the environments and has a certain flexibility, fundamentally eliminating the limitations of rigid links to the application of the robot.

However, most continuous robots are difficult to integrate multiple functions and characteristics of body expansion (non-feeding), high-precision motion, light weight, low cost, torsion resistance, hollowness and the like, so that a plurality of continuous robots can only obtain outstanding performance on part of performances, and good comprehensive performance is difficult to obtain; if the continuous robot adopting the nickel-titanium alloy rod as the spinal rod does not have the body telescoping function; the scroll spring is easy to deform under the action of load, and the torsion resistance is poor; the articulation has stronger coupling (for example, the tail end of the rope drive joint can not be independently controlled, and the rope pulling force can be exerted on the whole arm); at present, the pneumatic-driven continuous robot has the defects of high control difficulty, low control precision and limited torsion resistance.

Disclosure of Invention

The invention aims to solve the technical problems that most of the existing continuous robots cannot self-stretch, the torsion resistance is poor, the joint motion has strong coupling property, the control difficulty of the pneumatic driven continuous robots is high, the control precision is low, and the torsion resistance is limited, and provides the self-stretch rope-driven continuous robot.

The technical scheme adopted by the invention is as follows:

the utility model provides a continuous robot is driven to self-stretching rope which characterized in that:

comprises a driving device, N continuous bodies and N groups of connecting rope groups corresponding to the N continuous bodies one by one, wherein N is more than or equal to 1;

the N continuous bodies are sequentially and coaxially connected from top to bottom to form a continuous mechanical arm; the lower end of the continuous mechanical arm is arranged on the driving device, and the upper end of the continuous mechanical arm is connected with an external load;

the continuous body comprises a plurality of corrugated elastic sheets and a plurality of section supporting sheets, and the plurality of corrugated elastic sheets and the plurality of section supporting sheets are coaxially connected, wherein at least one section supporting sheet is positioned at the uppermost end of the continuous body;

each section supporting piece is provided with I groups of wiring hole groups which are vertically communicated along the circumferential direction of the section supporting piece, each group comprises Q wiring holes which are uniformly distributed along the circumferential direction, the outer side edges of the wiring holes are smaller than or equal to the inner diameter of the corrugated elastic sheet, or the inner side edges of the wiring holes are larger than or equal to the outer diameter of the corrugated elastic sheet; the value of I is the same as the sequence I of the corresponding continuous body on the continuous mechanical arm, the sequence is counted from top to bottom, I is more than or equal to 1 and less than or equal to N, and Q is more than or equal to 3;

the number of connecting ropes in each connecting rope group is the same as the number of wiring holes in each wiring hole group and corresponds to the number of wiring holes in each wiring hole group one by one, one end of each connecting rope is arranged at the upper end of the corresponding continuous body, the other end of each connecting rope penetrates through the corresponding wiring hole of each continuous body below the corresponding connecting rope and then is connected with a driving device, and the driving device is used for driving the connecting ropes to be wound and unwound.

Further, a plurality of the corrugated elastic sheets and a plurality of section supporting sheets are connected in a staggered manner;

the flexible sleeve is sleeved outside the connecting ropes, one end of the flexible sleeve is connected with the lower end of the corresponding continuous body, and the other end of the flexible sleeve sequentially penetrates through the continuous body positioned below and then is connected with the driving device;

or the device also comprises N groups of sleeve pipes which are in one-to-one correspondence with the N continuous bodies, the number of the flexible sleeve pipes in each group of sleeve pipes is the same as that of the connecting rope groups in each group of connecting rope groups, the flexible sleeve pipes are sleeved outside the connecting ropes, one ends of the flexible sleeve pipes are connected with the lower ends of the corresponding continuous bodies, and the other ends of the flexible sleeve pipes sequentially penetrate through the continuous bodies positioned below and then are connected with the driving device.

Further, the device also comprises rope recovery structures which are the same as the connecting ropes in number and in one-to-one correspondence, one end of each rope recovery structure is arranged on the driving device, and the other end of each rope recovery structure is connected with the lower end of the corresponding connecting rope.

Further, the connecting rope is installed at the wiring hole of the uppermost section supporting piece of the corresponding continuous body through the steel wire locker, a limit sleeve is arranged at the position of each other section supporting piece of the corresponding continuous body corresponding to the wiring hole, and a through hole for the connecting rope to pass through is formed in the limit sleeve.

Further, the driving device comprises a base and linear motors, wherein the number of the linear motors is the same as that of the connecting ropes;

the linear motor is arranged in the base; the other end of the connecting rope passes through the wiring hole corresponding to each section supporting piece below the connecting rope and then is connected with the moving end of the linear motor;

the lower end of the continuous mechanical arm is arranged on the base; one end of the rope recovery structure is arranged on the base; one end of the flexible sleeve is connected with the lower end of the corresponding continuous body, and the other end of the flexible sleeve sequentially penetrates through the continuous body positioned below and then is connected with the base.

Further, the positions of the wiring holes on the continuous body above the wiring holes are the same as the positions of the corresponding wiring holes on the continuous body below and adjacent to the wiring holes.

Further, the q=3.

Further, an airbag is arranged inside the continuous mechanical arm.

Further, a protective sleeve is sleeved outside the continuous mechanical arm.

The beneficial effects of the invention are as follows:

1. compared with the existing continuous robot, the self-telescopic rope-driven continuous robot provided by the invention has the characteristics of telescopic, spiral and bending in all directions by arranging the corrugated elastic sheet with the hollowed grid and the section supporting sheet, and when a task is executed, corresponding actuators (such as a hand grip, a camera and other tools can be arranged on the continuous body at the tail end of the robot, and corresponding work can be completed by utilizing the motion characteristics of the robot.

2. According to the self-telescopic rope-driven continuous robot, the wiring holes are formed in each section supporting piece, the connecting ropes are connected in series, and the flexible sleeve is sleeved on the connecting rope which does not belong to the continuous body, so that force directly acts on the flexible sleeve when the connecting rope moves, the rest continuous bodies below the moving continuous body are not affected by force, the whole continuous robot is decoupled in movement for N continuous bodies (equivalent to N joints) when working, independent control of the N continuous bodies is effectively performed, the control precision is high, the stability of connecting the corrugated spring can be effectively improved, and the acting force distribution of each corrugated elastic sheet is improved.

3. According to the self-telescopic rope-driven continuous robot, the limiting sleeve is arranged at the position corresponding to the wiring hole of each section supporting piece corresponding to the rest of the continuous body, and the limiting sleeve can play a role in limiting the radial movement and lubrication of the connecting rope.

4. When one or more continuous bodies move, the positions of the rest continuous bodies relative to the driving device are changed, so that the flexible sleeves and/or the connecting ropes are loosened or tensioned, and the connecting ropes are required to be recovered and released.

5. According to the self-telescopic rope-driven continuous robot, the connecting rope is adopted to control the continuous robot, so that compared with a continuous robot driven by air, the control difficulty is reduced, and the torsion resistance is improved.

6. According to the self-telescopic rope-driven continuous robot, through the arrangement of the wiring holes in a superposition mode, namely, the I-Q through wiring holes are uniformly arranged on the section supporting pieces of the continuous type bodies along the circumferential direction of the section supporting pieces, each connecting rope can penetrate through one of the wiring holes of each section supporting piece of the continuous type body below the connecting rope, independent control of the continuous type bodies can be achieved through the connecting rope connected to each continuous type body, and common control of all the continuous type bodies can be achieved through the fact that the connecting rope sequentially penetrates through the wiring holes of the continuous type bodies below the connecting rope.

7. The self-telescopic rope-driven continuous robot provided by the invention has the advantages of simple structure, better bending and retractility and higher torsion resistance.

8. According to the self-telescopic rope-driven continuous robot, the air bags are arranged in the continuous mechanical arm, so that the load capacity of the robot is improved, devices such as an optical fiber bundle, an electric wire and a sensor can be arranged in the robot in a penetrating mode, or an annular air bag is adopted, and devices such as the optical fiber bundle, the electric wire and the sensor can also be arranged in the annular air bag in a penetrating mode.

9. According to the self-telescopic rope-driven continuous robot, the protective sleeve is sleeved outside the continuous mechanical arm, so that the safety of the whole continuous robot can be improved, and the self-telescopic rope-driven continuous robot is particularly suitable for the medical field.

Drawings

FIG. 1 is a schematic view of the overall structure of a continuous robot (the driving device is not fully shown) in an embodiment of the present invention;

FIG. 2 is a schematic view of a part of a continuous body according to an embodiment of the present invention;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a schematic view of a connecting rope and a flexible sleeve according to an embodiment of the present invention;

FIG. 5 is a schematic top view of a driving device (linear motor horizontally disposed) according to an embodiment of the present invention;

fig. 6 is a schematic structural view of a driving device (a linear motor is vertically arranged) according to an embodiment of the present invention;

FIG. 7 is a schematic view of a connection structure between a continuous body and a connecting rope according to an embodiment of the present invention;

FIG. 8 is a partial schematic view of the structure of FIG. 7;

FIG. 9 is a partial schematic view of the structure of FIG. 8;

FIG. 10 is a partial schematic view of the structure of FIG. 7;

in the figure, 1, a continuous body; 2. a driving device; 21. a linear motor; 22. a base; 3. a connecting rope; 4. a corrugated spring plate; 5. a cross-section support sheet; 6. a wiring hole; 7. a wire locker; 8. a limit sleeve; 9. a tension spring; 10. a flexible sleeve.

Detailed Description

The invention will be described in detail below with reference to the drawings and the detailed description.

Example 1:

the invention provides a self-telescopic rope-driven continuous robot, which comprises a driving device 2, N continuous bodies 1 and 1 group of connecting rope groups corresponding to the N continuous bodies 1 one by one, as shown in fig. 1, wherein in the embodiment, N=1.

The functions of the components are as follows:

the continuous body 1 is used for realizing expansion and contraction and various bending transformation; the purpose of the connecting rope set is to control the continuous body 1 to stretch and bend in each direction; the driving device 2 provides support for the continuous body 1, and provides power for the connecting rope set to control the retraction of the connecting rope set.

The structure of the continuous body 1 is shown in fig. 1 and 2, the integral form of the continuous body is similar to a tube, the whole arm body is composed of M corrugated elastic pieces 4, M section supporting pieces 5 and a plurality of connecting nails, in the embodiment, the inner diameter of each section supporting piece 5 is smaller than that of each corrugated elastic piece 4, the wave crest and the wave trough of each corrugated elastic piece 4 are respectively attached to the upper section supporting piece 5 and the lower section supporting piece 5 (M=10), mounting holes (which can be threaded holes) are formed in each corrugated elastic piece 4 and each section supporting piece 5, the continuous body is mounted at the corresponding mounting holes through the connecting nails, the corrugated elastic pieces 4 and the section supporting pieces 5 are fixed, and the number of the mounting holes is selected according to the wave number of the corrugated elastic pieces 4.

As shown in fig. 3 and 7, three wire holes 6 are uniformly formed in the inner side of the section supporting plate 5 along the circumferential direction, the outer side edge of each wire hole 6 is smaller than the inner diameter of the corrugated elastic sheet 4, three connecting ropes 3 corresponding to the three wire holes 6 one by one are included in the connecting rope group, one end of each connecting rope 3 is installed at the wire hole 6 of the uppermost section supporting plate 5 through a steel wire locker 7 as shown in fig. 8-10, and the other end of each connecting rope 3 sequentially passes through the other corresponding wire holes 6 and then is connected with the driving device 2.

As shown in fig. 5 and 6, the driving device 2 includes a base 22 and three linear motors 21 corresponding to the three connecting ropes 3 one by one; the linear motor 21 is installed in the base 22; the ripple shrapnel 4 at the lowest end is fixed on the base 22, the other end of the connecting rope 3 passes through the wiring hole 6 corresponding to each section supporting plate 5 below the connecting rope and then is connected with the moving end of the linear motor 21, the connecting rope 3 is driven to be wound and unwound through the movement of the linear motor 21, three connecting ropes 3 are uniformly distributed and installed, a single joint is controlled through the three connecting ropes 3, and the linear motor 21 can be vertically placed or horizontally placed.

In order to improve the load capacity of the continuous robot, an airbag may be provided inside the continuous body 1; in order to improve the safety of the whole device, a sleeve can be sleeved outside the continuous body 1.

The number of the wiring holes 6 on each section supporting piece 5 can be selected according to the joint number (namely the number of the continuous body 1), and the section supporting pieces 5 can also effectively improve the stability of the connection of the corrugated elastic pieces 4 and improve the distribution of acting force on each corrugated elastic piece 4.

The connecting nails can be connected and fixed by using screws, nuts, rivets and the like.

The upper page of the section supporting sheet 5 is provided with mounting holes for mounting other accessories (such as optical fibers and sensors).

The wave number and thickness of the corrugated spring sheet 4 can be selected according to the size of the arm body, the load and other factors, and the 3-wave spring sheet adopted in the example.

As shown in fig. 5, in order to prevent malfunction caused by disturbance of the lower end of the connecting rope 3, a rope recovery structure is provided inside the base 22, and in this embodiment, the rope recovery structure adopts a tension spring 9, and the tension spring 9 is a two-end hooking structure, one end of which is hooked inside the base 22, and the other end of which is hooked at the lower end of the connecting rope 3.

In order to prevent the connecting rope 3 from moving radially during movement, a limit sleeve 8 is arranged at the position of the other corresponding wiring hole 6, and the connecting rope 3 passes through the limit sleeve 8.

Example 2:

example 2 differs from example 1 in that:

as shown in fig. 4, the device further comprises three flexible sleeves 10, wherein the sleeve fixing parts are in one-to-one correspondence with the three connecting ropes 3, the flexible sleeves 10 are sleeved under the connecting ropes 3, the upper ends of the flexible sleeves 10 are connected with the lowest ends of the continuous body 1, the lower ends of the flexible sleeves 10 are fixedly connected with the sleeve fixing parts inside the base 22 (the sleeve fixing parts are of plate-shaped structures, through holes for the connecting ropes 3 to pass through are formed in the sleeve fixing parts), and the connecting ropes 3 pass through the sleeve fixing parts and are connected with the moving ends of the linear motors 21.

Example 3:

example 3 differs from example 1 in that:

the number of the continuous body 1 is three (namely three joints), and the number of the connecting rope sets is 3 sets of 9;

as shown in fig. 1, three continuous bodies 1 are sequentially and coaxially connected to form a continuous mechanical arm, and the inner side of each section supporting piece 5 of each continuous body 1 is provided with I groups of wire holes 6 which are vertically communicated along the circumferential direction of the continuous body, and each group comprises 3 wire holes 6 which are uniformly distributed along the circumferential direction; wherein the value of I is the same as the sequence I of the corresponding continuous body 1 on the continuous mechanical arm, the sequence is counted from top to bottom, and I is more than or equal to 1 and less than or equal to 3; that is, the cross section supporting piece 5 of the uppermost continuous body 1 is uniformly provided with 1 group of wire holes 6 along the circumferential direction thereof, namely three wire holes 6, the cross section supporting piece 5 of the middle continuous body 1 is uniformly provided with two groups of wire holes along the circumferential direction thereof, as shown in fig. 7-10, namely six wire holes 6 which are penetrated up and down, the cross section supporting piece 5 of the lowermost continuous body 1 is provided with three groups of wire holes 6 which are penetrated up and down, namely nine wire holes 6 which are penetrated up and down, wherein the positions of each group of wire holes 6 are not interfered, the interval distance between each group of wire holes 6 is determined according to the requirement or the processing difficulty, the positions of two groups of wire holes 6 on the lowermost continuous body 1 are the same as the positions of the wire holes 6 on the middle continuous body 1, and the positions of one group of wire holes 6 on the middle continuous body 1 are the same as the positions of the wire holes 6 on the uppermost continuous body 111.

Nine connecting ropes 3 are arranged, wherein one ends of the nine connecting ropes are respectively fixed with the moving ends of the corresponding linear motors 21, penetrate through the base 22, sequentially penetrate through one group of wiring holes 6 of the three continuous bodies 1, and are connected with the section supporting sheet 5 at the uppermost end of the uppermost continuous body 1; the other three ends are respectively fixed with the moving ends of the corresponding linear motors 21, pass through the base 22, sequentially pass through the other group of wiring holes 6 of the two continuous bodies 1, then are connected with the uppermost section supporting sheet 5 of the middle continuous body 1, and the remaining three ends are respectively fixed with the moving ends of the corresponding linear motors 21, pass through the base 22, pass through the remaining group of wiring holes 6 of the lowermost continuous body 1, and then are connected with the uppermost section supporting sheet 5 of the lowermost continuous body 1.

Since the number of joints is 3 in the embodiment, each joint has 3 degrees of freedom (2 degrees of freedom of rotation and 1 degree of freedom of extension) and is controlled by 3 connecting ropes 3 and corresponding linear motors 21, the total number of connecting ropes 3 is 9, that is, 3 connecting ropes 3 are uniformly distributed on each joint, so that the connecting ropes 3 can be pulled by the linear motors 21 to control the 3 degrees of freedom of the joint.

The connecting rope 3 is sleeved with a limit sleeve 8 at the position corresponding to the wiring hole 6 of the continuous body 1, and the limit sleeve 8 is arranged at the position corresponding to the wiring hole 6.

Example 4:

example 4 differs from example 3 in that:

the device further comprises 9 flexible sleeves 10, wherein the sleeve fixing pieces correspond to the 9 connecting ropes 3 one by one, the three flexible sleeves 10 are sleeved at the lower ends of the connecting ropes 3, the limiting sleeves 8 are not arranged, the upper ends of the three flexible sleeves 10 are fixed at the lowest ends of the continuous type bodies 1, the other ends of the three flexible sleeves are sequentially connected with the sleeve fixing pieces fixed inside the base 22 after penetrating through corresponding wiring holes 6 on the continuous type bodies 1 below the connecting ropes, the sleeve fixing pieces are of plate-shaped structures, through holes for the connecting ropes 3 to penetrate through are formed in the sleeve fixing pieces, and the connecting ropes 3 penetrate through the sleeve fixing pieces and are connected with the moving ends of the linear motors 21.

In this embodiment, the linear motor 21 tightens the connecting rope 3, the flexible sleeve 10 moves with the connecting rope 3, the traction force of the connecting rope 3 only acts on the starting position and the tail end of a single joint, other joints are not affected, and the motion coupling effect of joint stress is eliminated (for example, when the joint 1 is driven by the connecting rope 3 without the flexible sleeve 10, the contraction force acts on the joint 2 and the joint 3 when the joint 1 is contracted, so that the joint motion is strong in coupling property).

In other embodiments, the driving device 2 may have other structures, for example, the driving device 2 may use a motor and a winding wheel to implement winding and unwinding of the connecting rope 3.

The working sources of the invention are as follows:

each continuous body 1 is independently controlled through three connecting ropes 3, and the expansion and contraction amount of the connecting ropes 3 is changed by controlling the linear motor 21 to operate, so that the continuous robot motion is controlled: if the deformation of one side of the corrugated elastic sheet 4 of the continuous body 1 is small and the deformation of the other side is small, the continuous robot can realize bending motion of the continuous robot, and if the deformation of each corrugated elastic sheet 4 of the continuous body 1 is the same, the continuous robot can realize telescopic motion of the continuous robot, and the spiral function is realized by controlling a plurality of continuous bodies 1 to be in different bending directions.

Claims (9)

1. A self-telescopic rope-driven continuous robot is characterized in that:

comprises a driving device (2), N continuous bodies (1) and N groups of connecting rope groups corresponding to the N continuous bodies (1) one by one, wherein N is more than or equal to 1;

the N continuous bodies (1) are sequentially and coaxially connected from top to bottom to form a continuous mechanical arm; the lower end of the continuous mechanical arm is arranged on the driving device (2), and the upper end of the continuous mechanical arm is connected with an external load;

the continuous body (1) comprises a plurality of corrugated elastic sheets (4) and a plurality of section supporting sheets (5), the plurality of corrugated elastic sheets (4) and the plurality of section supporting sheets (5) are coaxially connected, and at least one section supporting sheet (5) is positioned at the uppermost end of the continuous body (1);

each section supporting piece (5) is provided with I groups of wiring hole groups which are vertically communicated along the circumferential direction of the section supporting piece, each group comprises Q wiring holes (6) which are circumferentially distributed, the outer side edge of each wiring hole (6) is smaller than or equal to the inner diameter of the corrugated elastic piece (4), or the inner side edge of each wiring hole (6) is larger than or equal to the outer diameter of the corrugated elastic piece (4); wherein the value of I is the same as the sequence I of the corresponding continuous body (1) on the continuous mechanical arm, the sequence is counted from top to bottom, I is more than or equal to 1 and less than or equal to N, and Q is more than or equal to 3;

the number of connecting ropes (3) in each group of connecting rope groups is the same as the number of wiring holes (6) in each group of wiring hole groups and corresponds to one, one end of each group of connecting rope groups is arranged at the upper end of the corresponding continuous body (1), the other end of each group of connecting rope groups penetrates through the corresponding group of wiring hole groups of each continuous body (1) below the corresponding group of connecting rope groups and then is connected with a driving device (2), and the driving device (2) is used for driving the connecting ropes (3) to be wound and unwound.

2. The self-telescoping rope-driven continuous robot of claim 1, wherein:

the corrugated elastic sheets (4) and the section supporting sheets (5) are connected in a staggered manner;

the device also comprises N-1 group of sleeve pipes, wherein the N-1 group of sleeve pipes corresponds to N-1 continuous bodies (1) which are sequentially arranged from top to bottom, the number of flexible sleeve pipes (10) in each group of sleeve pipes corresponds to the number of connecting ropes (3) in each group of connecting rope groups in a one-to-one manner, the flexible sleeve (10) is sleeved outside the connecting rope (3), one end of the flexible sleeve is connected with the lower end of the corresponding continuous body (1), and the other end of the flexible sleeve sequentially penetrates through the continuous body (1) positioned below and then is connected with the driving device (2);

or still include with N continuous type body (1) the N group sleeve group of one-to-one, in the quantity of flexible sleeve (10) and every group in connecting rope group of group sleeve, the quantity of connecting rope (3) is the same and one-to-one, flexible sleeve (10) cover is established in connecting rope (3) outside, and one end is connected with the lower extreme of corresponding continuous type body (1), and the other end passes in proper order behind continuous type body (1) that are located the below and is connected with drive arrangement (2).

3. A self-retracting rope-driven continuous robot according to claim 2, wherein:

the device also comprises rope recovery structures which are the same as the connecting ropes (3) in number and in one-to-one correspondence, one end of each rope recovery structure is installed on the driving device (2), and the other end of each rope recovery structure is connected with the lower end of the corresponding connecting rope (3).

4. A self-retracting rope driven continuous robot according to claim 3, wherein:

the connecting rope (3) is installed at a wiring hole (6) corresponding to the uppermost section supporting piece (5) of the continuous body (1) through a steel wire locker (7), and a limit sleeve (8) is arranged at the position of each other section supporting piece (5) corresponding to the continuous body (1) corresponding to the wiring hole (6), and a through hole for the connecting rope (3) to pass through is formed in the limit sleeve (8).

5. The self-retracting rope driven continuous robot of claim 4, wherein:

the driving device (2) comprises a base (22) and linear motors (21) the same in number as the connecting ropes (3);

the linear motor (21) is arranged in the base (22); the other end of the connecting rope (3) passes through the corresponding wiring hole (6) of each section supporting piece (5) below the connecting rope and is connected with the moving end of the linear motor (21);

the lower end of the continuous mechanical arm is arranged on the base (22); one end of the rope recovery structure is arranged on the base (22); one end of the flexible sleeve (10) is connected with the lower end of the corresponding continuous body (1), and the other end of the flexible sleeve sequentially passes through the continuous body (1) positioned below and then is connected with the base (22).

6. A self-retracting rope driven continuous robot according to any one of claims 1 to 5, wherein:

the position of the wiring hole (6) on the continuous body (1) above the wiring hole is the same as the position of the corresponding wiring hole (6) on the continuous body (1) below and adjacent to the wiring hole.

7. The self-retracting rope driven continuous robot of claim 6, wherein:

q=3.

8. The self-retracting rope driven continuous robot of claim 7, wherein:

and an air bag is arranged inside the continuous mechanical arm.

9. The self-retracting rope driven continuous robot of claim 8, wherein:

and a protective sleeve is sleeved outside the continuous mechanical arm.