CN108500970A - A kind of Guan Nei wirings mechanism realizing end multifreedom motion - Google Patents
A kind of Guan Nei wirings mechanism realizing end multifreedom motion Download PDFInfo
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- CN108500970A CN108500970A CN201810350809.5A CN201810350809A CN108500970A CN 108500970 A CN108500970 A CN 108500970A CN 201810350809 A CN201810350809 A CN 201810350809A CN 108500970 A CN108500970 A CN 108500970A
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- rope
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- handleset
- swing
- pipe
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
The invention discloses a kind of Guan Nei wirings mechanism realizing end multifreedom motion, including level-one pipe (3), one end in the level-one pipe (3) is arranged with diode (4)；Further include telescoping mechanism, the telescoping mechanism includes the control handwheel (17) being arranged on the level-one pipe (3) and the flexible pulley assembly one (803) for being set to level-one pipe (3) inside and flexible pulley assembly two (804) and diode drawing article (12)；The control handwheel (17) is equipped with telescopic drive rope one (903), telescopic drive rope two (904), and the telescopic drive rope one (903) and the telescopic drive rope two (904) bypass the flexible pulley assembly one (803)；The diode drawing article (12) is fixedly connected with the head end of the diode (4).In the telescoping mechanism, rotating mechanism, swing mechanism and under pullling the collective effect of mechanism, end can realize, rotation flexible relative to level-one pipe, pendulum motion degree of freedom and pull execution degree of freedom.
Description
Technical field
The present invention relates in the baudrier field of rope driving more particularly to a kind of pipe for realizing end multifreedom motion
Wiring mechanism.
Background technology
It often will appear the control for end free degree in actual production and manipulate problem, occurred on the market at present
It is many that there is the mechanism or equipment manipulated to end free degree using rope driving, such as Chinese patent " 2017010531265.8 " public affairs
It has opened " a kind of robot driven by ropes human arm ", the multiple servo drivings of the equipment utilization, realization machine is combined in rope driving with gear drive
The multifreedom motion of tool hand, but the equipment mechanism is excessively complicated, it is heavy, use the parts such as steering engine, spur gear, helical gear to make
Machine cost is costly, it is difficult to and it requiring light activity occasion, applying in ancillary equipment, consuming electric energy, it be with bulky
Battery, and energy consumption is big, it is difficult to extensive use.Given this present invention provides a kind of pipe for realizing end multifreedom motion
Interior baudrier is realized end rotation in a manner of relatively simple, swings, shears, Telescopic, Ke Yiyou at lower cost
Effect reduces worker's working strength and improves personal working environment.
Invention content
In view of the deficiencies of the prior art, the present invention provides baudriers in a kind of pipe for realizing end multifreedom motion
It can be worked with underworker or directly be worked instead of part worker, save the input of a large amount of labours, working efficiency and safety
Better than manual work.
The technical solution adopted in the present invention：A kind of Guan Nei wirings mechanism realizing end multifreedom motion, including one
Grade manages (3), and one end in the level-one pipe (3) is arranged with diode (4)；Further include telescoping mechanism, the telescoping mechanism includes
Control handwheel (17) on the level-one pipe (3) is set and is set to the internal flexible pulley assembly one of the level-one pipe (3)
(803) and flexible pulley assembly two (804) and diode drawing article (12)；The control handwheel (17) is equipped with telescopic drive rope
Rope one (903), telescopic drive rope two (904), the telescopic drive rope one (903) and the telescopic drive rope two (904) around
Cross the flexible pulley assembly one (803)；The diode drawing article (12) is fixedly connected with the head end of the diode (4),
The telescopic drive rope one (903) passes through the diode drawing article (12) front to bypass the flexible pulley assembly two
(804) diode drawing article (12) back side, the telescopic drive rope two (904) and the diode drawing article are fixed in after
(12) front is affixed.
Further include rotating mechanism, the rotating mechanism includes the automatic rope rolling apparatus one being arranged on the level-one pipe (3)
(701) and rotating handle component one (101) and rotating handle component two (102), setting the diode (4) tail end rotation
Turn T shapes lid (14) and rotating pulley component (805)；The automatic rope rolling apparatus one (701) is equipped with rotation driving one (905) of rope and rotation
Turn two (906) of driving rope, wherein one (905) of the rotation driving rope pass through rotating handle component one (101) to bypass the rotation
Pulley assembly (805) is simultaneously connect with clockwise direction with the rotation T shapes lid (14)；It wears two (906) of the rotation driving rope
Rotating handle component two (102) is crossed around the rotating pulley component (805) and with direction counterclockwise and the rotation T shape lids
(14) it connects.
Further include swing mechanism, the swing mechanism includes the automatic rope rolling apparatus two being arranged on the level-one pipe (3)
(702) it and swings card rope Handleset one (104) and swings card rope Handleset two (105)；The swing mechanism further includes
It is set to the diode tail end cover (15) of described rotation T shapes lid (14) upper surface, is gone back on the diode tail end cover (15)
Equipped with tail end cover (15), anti-dead point pulley is additionally provided between the diode tail end cover (15) and the diode tail end cover (15)
Component (808)；The both sides of the diode tail end cover (15), which are additionally provided with, swings pulley assembly (807)；The diode tail end cover
(15) lower end is also associated with angle pulley component (806) and the angle pulley component (806) is built in the rotation T shape lids
(14) internal；The automatic rope rolling apparatus two (702) is equipped with wobble drive rope one (907), wobble drive rope two (908), institute
It states wobble drive rope one (907) and passes through to swing and block rope Handleset one (104) with clockwise direction around deflecting cunning
Wheel assembly (806) and around being fixedly connected on diode tail end cover (15) after the swing pulley assembly (807)；The swing
Drive rope two (908) that swing card rope Handleset two (105) is passed through to bypass the angle pulley component with direction counterclockwise
(806) and after bypassing the swing pulley assembly (807) it is fixedly connected on diode tail end cover (15).
Further include pullling mechanism, the mechanism of pullling includes the automatic rope rolling apparatus one being arranged on the level-one pipe (3)
(701), card rope Handleset (103) is pullled；The mechanism of pullling further includes that setting is internal in the diode tail end cover (15)
Pull part (162), the part (162) of pullling is connected with extension spring (163), and the automatic rope rolling apparatus one (701) is additionally provided with
Driving rope (909) is pullled, described pull drives rope (909) to bypass the angle pulley across card rope Handleset (103) is pullled
Component (806) and around sequentially pass through after anti-dead point pulley assembly (808) tail end cover (15), extension spring (163) with it is described
Part (162) is pullled to be fixedly connected.
Preferably, diode (4) tail end is connected with end (16).
Preferably, the control handwheel (17) is arranged by handwheel fixed plate (19) on the level-one pipe (3).
Preferably, the card rope Handleset (103) of pullling includes lever (183), and the lever (183) is equipped with convex
Point (184)；Further include elastic u-shaped lid (182), elastic u-shaped lid (182) is equipped with sliding slot (181)；Lever (183) installation
Among the elastic u-shaped lid (182), the revotating card rope Handleset one (101), revotating card rope Handleset two
(102), swing blocks rope Handleset one (104), swing blocks Handleset two (105) structure of restricting and pulls card rope handle with described
Component (103) is identical.
Compared with prior art, the beneficial effects of the invention are as follows：(1) present invention by relatively simple structure and in a manner of realize
End multifreedom motion.(2) present invention drives gear-driven side relative to motor drive microcontroller control using rope
Method realizes end multifreedom motion, and this mode is relatively simple, and energy consumption is low, at low cost, more convenient.(3) and it is existing
There is technology to compare, the card rope Handleset that the present invention designs coordinates the manipulation and pipeline for enabling to end with automatic rope rolling apparatus
It is flexible effectively to coordinate without interfering.(4) diode tail end of the present invention is installed with rotation T shapes lid, diode tail end cover, pendulum successively
Moving part pulls part so that end effectively realizes rotation, swings, pulls degree of freedom.(5) compared with prior art, the present invention is
Completely by way of restricting and driving, people realizes that end multifreedom motion, method are more novel in end-of-pipe control drawing.(6) originally
Baudrier in a kind of pipe that realizing end multifreedom motion provided is provided and can assist in part manually, improves work effect
Rate.
Description of the drawings
Fig. 1 is a kind of sectional view for the Guan Nei wirings mechanism realizing end multifreedom motion of the present invention；
Fig. 2 is telescoping mechanism structural representation；
Fig. 3 is rotating mechanism structural schematic diagram；
Fig. 4 is swing mechanism structural schematic diagram；
Fig. 5 is to pull mechanism structure schematic diagram；
Fig. 6 is diode tail end explosive view；
Fig. 7 be card rope Handleset three status diagrams；
Fig. 8 is card rope Handleset installation site structural schematic diagram.
In figure：904, telescopic drive rope two；903, telescopic drive rope one；906, rotation driving rope two；905, rotation driving
Rope one；908, wobble drive rope two；907, wobble drive rope one；909, driving rope is pullled；17, handwheel is controlled；10, hand
Handle component；163, extension spring；101, revotating card rope Handleset one；102, revotating card rope Handleset two；104, card is swung
Rope Handleset one；105, card rope Handleset two is swung；103, card rope Handleset is pullled；807, pulley assembly is swung；
803, stretch pulley assembly one；804, stretch pulley assembly two；805, rotating pulley component；808, the big pulley assembly in anti-dead point；
806, angle pulley component；16, end；161, swing component；162, part is pullled；163, extension spring；19, handwheel fixed plate；8、
Flexible fastening ring；9, level-one pipe；10, diode；17, stretch drawstring lid；702, automatic rope rolling apparatus one；20, rope rolling apparatus fixing card
Ring；14, T shape lids are rotated；701, automatic rope rolling apparatus two；15, diode tail end cover；181, sliding slot；182, resilient U-shaped part；183、
Lever；184, salient point.
Specific implementation mode
Below in conjunction with the accompanying drawings 1 attached drawing 8 is arrived to baudrier in a kind of pipe for realizing end multifreedom motion of the present invention
It is described in further detail.
As shown in figures 1-8, a kind of Guan Nei wirings mechanism realizing end multifreedom motion, including level-one pipe (3), it is described
One end in level-one pipe (3) is arranged with diode (4)；Further include telescoping mechanism, the telescoping mechanism includes being arranged described one
Grade manages the control handwheel (17) on (3) and is set to the internal flexible pulley assembly one (803) of the level-one pipe (3) and flexible cunning
Wheel assembly two (804) and diode drawing article (12)；The control handwheel (17) is equipped with telescopic drive rope one (903), stretches
Two (904) of contracting driving rope, the telescopic drive rope one (903) and the telescopic drive rope two (904) bypass the flexible cunning
Wheel assembly one (803)；The diode drawing article (12) is fixedly connected with the head end of the diode (4), the telescopic drive
Rope one (903) passes through the diode drawing article (12) front around institute is fixed in after the flexible pulley assembly two (804)
Diode drawing article (12) back side is stated, the telescopic drive rope two (904) and the diode drawing article (12) front are affixed.
Further include rotating mechanism, the rotating mechanism includes the automatic rope rolling apparatus one being arranged on the level-one pipe (3)
(701) and rotating handle component one (101) and rotating handle component two (102), setting the diode (4) tail end rotation
Turn T shapes lid (14) and rotating pulley component (805)；The automatic rope rolling apparatus one (701) is equipped with rotation driving one (905) of rope and rotation
Turn two (906) of driving rope, wherein one (905) of the rotation driving rope pass through rotating handle component one (101) to bypass the rotation
Pulley assembly (805) is simultaneously connect with clockwise direction with the rotation T shapes lid (14)；It wears two (906) of the rotation driving rope
Rotating handle component two (102) is crossed around the rotating pulley component (805) and with direction counterclockwise and the rotation T shape lids
(14) it connects.
Further include swing mechanism, the swing mechanism includes the automatic rope rolling apparatus two being arranged on the level-one pipe (3)
(702) it and swings card rope Handleset one (104) and swings card rope Handleset two (105)；The swing mechanism further includes
It is set to the diode tail end cover (15) of described rotation T shapes lid (14) upper surface, is gone back on the diode tail end cover (15)
Equipped with tail end cover (15), anti-dead point pulley is additionally provided between the diode tail end cover (15) and the diode tail end cover (15)
Component (808)；The both sides of the diode tail end cover (15), which are additionally provided with, swings pulley assembly (807)；The diode tail end cover
(15) lower end is also associated with angle pulley component (806) and the angle pulley component (806) is built in the rotation T shape lids
(14) internal；The automatic rope rolling apparatus two (702) is equipped with wobble drive rope one (907), wobble drive rope two (908), institute
It states wobble drive rope one (907) and passes through to swing and block rope Handleset one (104) with clockwise direction around deflecting cunning
Wheel assembly (806) and around being fixedly connected on diode tail end cover (15) after the swing pulley assembly (807)；The swing
Drive rope two (908) that swing card rope Handleset two (105) is passed through to bypass the angle pulley component with direction counterclockwise
(806) and after bypassing the swing pulley assembly (807) it is fixedly connected on diode tail end cover (15).
Further include pullling mechanism, the mechanism of pullling includes the automatic rope rolling apparatus one being arranged on the level-one pipe (3)
(701), card rope Handleset (103) is pullled；The mechanism of pullling further includes that setting is internal in the diode tail end cover (15)
Pull part (162), the part (162) of pullling is connected with extension spring (163), and the automatic rope rolling apparatus one (701) is additionally provided with
Driving rope (909) is pullled, described pull drives rope (909) to bypass the angle pulley across card rope Handleset (103) is pullled
Component (806) and around sequentially pass through after anti-dead point pulley assembly (808) tail end cover (15), extension spring (163) with it is described
Part (162) is pullled to be fixedly connected.
In the specific technical solution of the present invention, diode (4) tail end is connected with end (16), the control handwheel
(17) it is arranged on the level-one pipe (3) by handwheel fixed plate (19).
In the specific technical solution of the present invention, the card rope Handleset (103) of pullling includes lever (183), institute
It states lever (183) and is equipped with salient point (184)；Further include elastic u-shaped lid (182), elastic u-shaped lid (182) is equipped with sliding slot
(181)；The lever (183) is installed among the elastic u-shaped lid (182), the revotating card rope Handleset one
(101), revotating card rope Handleset two (102), swing card rope Handleset one (104), swing block Handleset two (105) of restricting
Structure with it is described pull card rope Handleset (103) it is identical.
For the present invention when specifically used, principle is as follows：
In conjunction with Fig. 1-8, a kind of Guan Nei wirings mechanism realizing end multifreedom motion, including level-one pipe (3), telescopic machine
Structure, rotating mechanism, swing mechanism, pulls mechanism and end (16) at diode (4)；The diode (4) is placed on level-one pipe (3)
It is interior, and diode (4) can be relative in level-one pipe (3) stretching or retraction pipe under telescoping mechanism driving；The rotating mechanism, pendulum
Motivation structure and arrangement of mechanism is pullled on level-one pipe (3) and diode (4)；The end (16) passes through rotating mechanism tail end and two
Grade pipe (4) tail end connection；The telescoping mechanism, rotating mechanism, swing mechanism and to pull mechanism be rope driving, rope is arranged in
Level-one pipe (3) and diode (4) are internal.In the telescoping mechanism, rotating mechanism, swing mechanism and the collective effect for pullling mechanism
Under, end (16) can be achieved, rotation flexible relative to level-one pipe (3), pendulum motion degree of freedom and pull execution degree of freedom.
As shown in Fig. 2, the telescoping mechanism includes the control handwheel (17) being arranged on the level-one pipe (3) and is set to
The internal flexible pulley assembly one (803) of the level-one pipe (3) and flexible pulley assembly two (804) and diode drawing article
(12), the screw rod of flexible pulley assembly two (804) is matched with diode (4) twice fluting, to limit in telescopic movable
When diode (4) rotary freedom；The control handwheel (17) is equipped with telescopic drive rope one (903), telescopic drive rope two
(904), the telescopic drive rope one (903) and the telescopic drive rope two (904) bypass the flexible pulley assembly one
(803)；The diode drawing article (12) is fixedly connected with the head end of the diode (4), the telescopic drive rope one
(903) the diode drawing article (12) front is passed through around the two level is fixed in after the flexible pulley assembly two (804)
Pipe drawing article (12) back side, the telescopic drive rope two (904) and the diode drawing article (12) front are affixed.When clockwise
When rotation control handwheel (17), telescopic drive rope one (903) closes on control handwheel (17), telescopic drive rope two (904)
Rope is then put, at this moment telescopic drive rope one (903) pulls the diode drawing article (12) on diode (4), to diode (4)
Make the extending action relative to level-one pipe (3)；When rotating counterclockwise control handwheel (17), telescopic drive rope one (903) is put
Rope, telescopic drive rope two (904) then close in control handwheel (17), and at this moment telescopic drive rope two (904) pulls diode (4)
Make to make retraction action relative to level-one pipe (3).
As shown in fig. 7, the card rope Handleset (103) of pullling includes lever (183), set on the lever (183)
There is salient point (184)；Further include resilient U-shaped part (182), resilient U-shaped part (182) is equipped with sliding slot (181).The lever (183)
It is intermediate to be installed on the resilient U-shaped part (182).It is by lever (183) and resilient U-shaped part to pull card rope Handleset (103)
(182) common extruding pulls driving rope (909) and pulls driving rope (909) to block, and passes through the salient point of lever (183)
(184) card opens resilient U-shaped part (182) so that the sliding slot (181) on resilient U-shaped part is realized with level-one pipe (3) CONTACT WITH FRICTION
Pull Handleset (103) position locking of card rope.It is altogether lock respectively there are three types of mode of operation to pull card rope Handleset (103)
Tightly, card rope, card cord lock is tight, and lever (183) is in horizontality when being in locking state, as shown in Fig. 7-1, on lever (183)
Salient point (184) card open resilient U-shaped part (182), keep its sliding groove (181) and level-one pipe (3) strip CONTACT WITH FRICTION locked, lever
(183) it does not block and pulls driving rope (909), it is axially not movable along pipe entirely to pull card rope Handleset (103)
Degree of freedom；When in card rope form state, as shown in Fig. 7-2, lever (183) is in 80 degree or so of state, lever (183) bottom arc
Being pressed against to pull jointly with U-shaped part (182) bottom at plumb bob head drives rope (909) to pull driving rope (909) to block,
At this moment salient point (184) does not withstand resilient U-shaped part (182), and entirely pullling card rope Handleset (103) has along the axial activity of pipe
Degree of freedom；When restricting locking state in card, as shown in Fig. 7-3, lever (183) is in 100 degree or so of state, lever
(183) driving rope (909) is pullled with U-shaped part (182) bottom or common extruding at bottom camber line tup to pull to block
Rope (909) is driven, at this moment salient point (184) withstands resilient U-shaped part (182), and entirely pullling card rope Handleset (103) does not have edge
Pipe axially movable degree of freedom.The revotating card rope Handleset one (101), revotating card rope Handleset two (102), pendulum
Dynamic card rope Handleset one (104), swing card rope Handleset two (105) structure and its card rope mode pull card with described
Handleset of restricting is identical.
As shown in figure 3, rotating mechanism includes the automatic rope rolling apparatus one (701) being arranged on the level-one pipe (3) and rotation
Handleset one (101) and rotating handle component two (102), setting the diode (4) tail end rotation T shapes lid (14)
With rotating pulley component (805)；The automatic rope rolling apparatus one (701) is equipped with rotation driving one (905) of rope and rotation driving rope two
(906), wherein one (905) of the rotation driving rope pass through rotating handle component one (101) to bypass the rotating pulley component
(805) and with clockwise direction it is connect with the rotation T shapes lid (14)；Two (906) of the rotation driving rope pass through rotation hand
Handle component two (102) connects around the rotating pulley component (805) and with direction counterclockwise and the rotation T shapes lid (14)
It connects.Two strands of rotation driving ropes pass through to interlock around rotation T shapes lid (14) neck so that drive rope to pull rotation T shapes in rotation
The power of lid (14) is along the tangential direction of neck tube, to realize that rotation T shapes lid (14) is revolved relative to level-one pipe (3)
Transhipment is dynamic.So that it is blocked one (905) of rotation driving rope when stirring revotating card rope Handleset one (101) successively, pulls down revotating card
When rope Handleset one (101), rotation driving rope one (905) pulling rotates T shapes lid (14) and achieves rotation counterclockwise, rotates
Rope is put from automatic rope rolling apparatus one (701) in two (906) of driving rope；Conversely, revotating card rope Handleset two (102) ought be stirred successively
It is set to block rotation driving rope two (906), when pulling down revotating card rope Handleset two (102), two (906) of rotation driving rope are drawn
Dynamic rotation T shapes lid (14), which achieves, to be rotated clockwise, and rope is put in one (905) of rotation driving rope from automatic rope rolling apparatus one (701).
As shown in figure 4, the swing mechanism include be arranged automatic rope rolling apparatus two (702) on the level-one pipe (3) and
It swings card rope Handleset one (104) and swings card rope Handleset two (105)；The swing mechanism further includes being set to institute
The diode tail end cover (15) of rotation T shapes lid (14) upper surface is stated, swing is additionally provided on the diode tail end cover (15)
Part (161) is additionally provided with anti-dead point pulley assembly (808) between the diode tail end cover (15) and the swing component (161)；Institute
The both sides for stating diode tail end cover (15) are additionally provided with swing pulley assembly (807)；Diode tail end cover (15) lower end also connects
It is connected to angle pulley component (806) and the angle pulley component (806) is built in rotation T shapes lid (14) inside；It is described
Automatic rope rolling apparatus two (702) is equipped with wobble drive rope one (907), wobble drive rope two (908), the wobble drive rope
One (907) pass through swing card rope Handleset one (104) with clockwise direction around the angle pulley component (806) and around
It is fixedly connected on diode tail end cover (15) after crossing the swing pulley assembly (807)；The wobble drive rope two (908)
Block rope Handleset two (105) with direction counterclockwise around the angle pulley component (806) and around described across swinging
It is fixedly connected on diode tail end cover (15) after swinging pulley assembly (807).Lead pulley assembly (806) hands over two strand
Mistake is drawn in outside pipe, and swing pulley assembly (807) changes the direction of two strands respectively so that wobble drive rope tension is in swing component
The upper formation arm of force, to realize that wobbling action is made in end (16) relative to level-one pipe (3)；The arm of force is constantly to become in swing process
Change, will will appear dead point, but anti-dead point big pulley assembly (808) energy swinging to opposite positive and negative 50 degree or so of central axes respectively
Enough effective directions for changing the rope in that angle, to avoid the appearance at dead point.Card rope handle is swung when stirring successively
Component one (104) makes it block wobble drive rope one (907), when drop-down swings card rope Handleset one (104), wobble drive
Rope one (907) pulls swing component (161) to achieve to lower swing, and wobble drive rope two (908) is from automatic rope rolling apparatus two
(702) rope is put in；So that it is blocked wobble drive rope two (908) when stirring swing card rope Handleset two (105) successively, pulls down
When swinging card rope Handleset two (105), wobble drive rope two (908) pulls swing component (161) to achieve and is swung up,
Wobble drive rope one (907) puts rope from automatic rope rolling apparatus two (702).
Include the automatic rope rolling apparatus one (701) being arranged on the level-one pipe (3), pull card as shown in figure 5, pullling mechanism
Rope Handleset (103)；The mechanism of pullling further includes that setting pulls part in the diode tail end cover (15) inside
(162), the part (162) of pullling is connected with extension spring (163), and the automatic rope rolling apparatus one (701), which is additionally provided with, pulls driving
It restricts (909), described pull drives rope (909) to bypass the angle pulley component (806) across card rope Handleset (103) is pullled
And around tail end cover (15) is sequentially passed through after anti-dead point pulley assembly (808), extension spring (163) pulls part with described
(162) affixed.As shown in figure 4, end (16) pass sequentially through the big pulley assembly in anti-dead point (808), diode (4) tail end cover, rotation
Turn T shapes lid (14) to connect with diode (4) tail end；Extension spring (163) plays the role of self-return when pullling.Stir drawing
Pull card rope Handleset (103) make its block pull driving rope (909), then pull down card rope Handleset (103) when, drawing
It pulls driving rope (909) to pull part (162) and achieve pulling action, and extension spring (163) has makes to pull part (162)
Self-return acts on.
Referring to figs. 1 to 8, a kind of Guan Nei wirings mechanism realizing end multifreedom motion, when mechanism works, five cards are restricted
Handleset be initially located in locking state, rope is tensed entirely with constant force by rope rolling apparatus but power can't make end act；If
It manipulating end to be rotated clockwise, pulling action is carried out again after left swing is dynamic, then people should rotate control handwheel (17) at the beginning,
So that end (16) reach preliminary destination, then holding on the corresponding clockwise revotating card rope Handleset one (101) of pull-up
Handle to card rope form state, later along the slot of level-one pipe (3) pull back one (101) drawstring of revotating card rope Handleset arrival rotate to it is suitable
Until position, lever (183) is broken later to card rope locking state, this completes one to rotate clockwise action.Class
Like the step of spinning movement, manipulates and swing card rope Handleset, to realize end wobbling action.Pulling action is finally manipulated,
The step of similar spinning movement, manipulation pull card rope Handleset and just lever (183) are broken then to keep pullling state
Make card rope locking state oneself to loose one's grip since extension spring (163) will self-return if not keeping.
In design, the distance between two rotating pulley components (805) should keep maximum in allowed limits, accordingly
Rotation T shapes lid (14) the longest also done as far as possible of recess diameter, to realize that it is more effortless that head end (6) manipulates, two swings
The bigger that the distance between pulley assembly (807) should also be done in the case of extraneous interference-free, to realize that head end manipulates
More effortless, anti-dead point pulley assembly (808) can more effectively prevent dead point so also because accomplishing maximum in appropriate range
The case where occur.
It should be noted that embodiment described herein is a preferred embodiment of the present invention, art technology
Personnel on this basis, can be designed that more embodiments completely.The foregoing description of the disclosed embodiments makes this field
Professional technician can realize or use the present invention.Various modifications to these embodiments are to those skilled in the art
For will be apparent, the general principles defined herein can be the case where not departing from the spirit or scope of the present invention
Under, it realizes in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein, but with this
The consistent widest range of principle and novel features disclosed in text.
Claims (7)
1. a kind of Guan Nei wirings mechanism realizing end multifreedom motion, it is characterised in that：Including level-one pipe (3), described one
One end in grade pipe (3) is arranged with diode (4)；Further include telescoping mechanism, the telescoping mechanism includes being arranged in the level-one
It manages the control handwheel (17) on (3) and is set to the internal flexible pulley assembly one (803) of the level-one pipe (3) and flexible pulley
Component two (804) and diode drawing article (12)；The control handwheel (17) is equipped with telescopic drive rope one (903), stretches
Two (904) of driving rope, the telescopic drive rope one (903) and the telescopic drive rope two (904) bypass the flexible pulley
Component one (803)；The diode drawing article (12) is fixedly connected with the head end of the diode (4), the telescopic drive rope
Rope one (903) passes through the diode drawing article (12) front described around being fixed in after the flexible pulley assembly two (804)
Diode drawing article (12) back side, the telescopic drive rope two (904) and the diode drawing article (12) front are affixed.
2. a kind of Guan Nei wirings mechanism realizing end multifreedom motion according to claim 1, it is characterised in that：Also
Including rotating mechanism, the rotating mechanism includes the automatic rope rolling apparatus one (701) being arranged on the level-one pipe (3) and rotation hand
Handle component one (101) and rotating handle component two (102), setting the diode (4) tail end rotation T shapes lid (14) and
Rotating pulley component (805)；The automatic rope rolling apparatus one (701) is equipped with rotation driving one (905) of rope and rotation driving rope two
(906), wherein one (905) of the rotation driving rope pass through rotating handle component one (101) to bypass the rotating pulley component
(805) and with clockwise direction it is connect with the rotation T shapes lid (14)；Two (906) of the rotation driving rope pass through rotation hand
Handle component two (102) connects around the rotating pulley component (805) and with direction counterclockwise and the rotation T shapes lid (14)
It connects.
3. a kind of Guan Nei wirings mechanism realizing end multifreedom motion according to claim 2, it is characterised in that：Also
Including swing mechanism, the swing mechanism includes the automatic rope rolling apparatus two (702) being arranged on the level-one pipe (3) and swing card
Rope Handleset one (104) and swing card rope Handleset two (105)；The swing mechanism further includes being set to the rotation
The diode tail end cover (15) of T shapes lid (14) upper surface is additionally provided with swing component on the diode tail end cover (15)
(161), anti-dead point pulley assembly (808) is additionally provided between the diode tail end cover (15) and the swing component (161)；It is described
The both sides of diode tail end cover (15), which are additionally provided with, swings pulley assembly (807)；Diode tail end cover (15) lower end is also connected with
There are angle pulley component (806) and the angle pulley component (806) to be built in the rotation T shapes lid (14) internal；It is described from
Dynamic rope rolling apparatus two (702) is equipped with wobble drive rope one (907), wobble drive rope two (908), the wobble drive rope one
(907) it passes through swing card rope Handleset one (104) with clockwise direction around the angle pulley component (806) and bypasses
It is fixedly connected on diode tail end cover (15) after the swing pulley assembly (807)；The wobble drive rope two (908) is worn
Swing card rope Handleset two (105) is crossed with direction counterclockwise around the angle pulley component (806) and around the pendulum
It is fixedly connected on after movable pulley component (807) on diode tail end cover (15).
4. a kind of Guan Nei wirings mechanism realizing end multifreedom motion according to claim 3, it is characterised in that：Also
Including pullling mechanism, the mechanism of pullling includes the automatic rope rolling apparatus one (701) being arranged on the level-one pipe (3), pulls card
Rope Handleset (103)；The mechanism of pullling further includes that setting pulls part in the diode tail end cover (15) inside
(162), the part (162) of pullling is connected with extension spring (163), and the automatic rope rolling apparatus one (701), which is additionally provided with, pulls driving
It restricts (909), described pull drives rope (909) to bypass the angle pulley component (806) across card rope Handleset (103) is pullled
And around tail end cover (15) is sequentially passed through after anti-dead point pulley assembly (808), extension spring (163) pulls part with described
(162) it is fixedly connected.
5. a kind of Guan Nei wirings mechanism realizing end multifreedom motion according to claim 1, it is characterised in that：Institute
It states diode (4) tail end and is connected with end (16).
6. a kind of Guan Nei wirings mechanism realizing end multifreedom motion according to claim 1, it is characterised in that：Institute
Control handwheel (17) is stated by handwheel fixed plate (19) to be arranged on the level-one pipe (3).
7. a kind of Guan Nei wirings mechanism realizing end multifreedom motion according to claim 4, it is characterised in that：Institute
The card rope Handleset (103) of pullling stated includes lever (183), and the lever (183) is equipped with salient point (184)；It further include bullet
Property U-shaped lid (182), elastic u-shaped lid (182) is equipped with sliding slot (181)；The lever (183) is installed on the elastic u-shaped lid
(182) among, the revotating card rope Handleset one (101), revotating card rope Handleset two (102) swing card rope handle
Component one (104), swing card rope Handleset two (105) structure with it is described pull card restrict Handleset (103) it is identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350809.5A CN108500970B (en) | 2018-04-18 | 2018-04-18 | In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810350809.5A CN108500970B (en) | 2018-04-18 | 2018-04-18 | In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom |
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| Publication Number | Publication Date |
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| CN108500970A true CN108500970A (en) | 2018-09-07 |
| CN108500970B CN108500970B (en) | 2023-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810350809.5A Active CN108500970B (en) | 2018-04-18 | 2018-04-18 | In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom |
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| Country | Link |
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| CN (1) | CN108500970B (en) |
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| CN114179061A (en) * | 2020-09-12 | 2022-03-15 | 重庆牛迪创新科技有限公司 | Quick release device of acting as go-between |
| CN115864086A (en) * | 2022-12-30 | 2023-03-28 | 重庆赛迪奇智人工智能科技有限公司 | Foldable power supply unit and connect electric system |
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| Publication number | Publication date |
|---|---|
| CN108500970B (en) | 2023-10-03 |
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