Mechanical-locking-based wire traction variable stiffness mechanism

The invention discloses a mechanical-locking-based wire traction variable stiffness mechanism. The mechanism comprises a continuum robot basic structure, variable stiffness locking mechanisms and a variable stiffness traction mechanism. The continuum robot basic structure is composed of connection disks, a central wire and four driving wires distributed circumferentially. The connection disks include the middle connection disks and the tail end connection disk. The tail end connection disk is fixed to the tail end of the central wire and the tail ends of the driving wires through a wedge-shaped locking mouth. The middle connection disks are fixed to the central wire through wedge-shaped locking mouths. Each variable stiffness locking mechanism is a single-degree-of-freedom mechanism composed of sliding bevel wheels, springs, incomplete gears, connecting rods and inlaid metal sheets with each middle connection disk as a rack. The variable stiffness traction mechanism is composed of wire guide sheaths, a tensil