CN108500970B - In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom - Google Patents
In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom Download PDFInfo
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- CN108500970B CN108500970B CN201810350809.5A CN201810350809A CN108500970B CN 108500970 B CN108500970 B CN 108500970B CN 201810350809 A CN201810350809 A CN 201810350809A CN 108500970 B CN108500970 B CN 108500970B
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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 an in-pipe rope winding mechanism for realizing multi-degree-of-freedom movement of a tail end, which comprises a primary pipe (3), wherein one end in the primary pipe (3) is sleeved with a diode (4); the device also comprises a telescopic mechanism, wherein the telescopic mechanism comprises a control hand wheel (17) arranged on the primary pipe (3), a first telescopic pulley component (803), a second telescopic pulley component (804) and a diode pulling piece (12) which are arranged in the primary pipe (3); the control hand wheel (17) is provided with a first telescopic driving rope (903) and a second telescopic driving rope (904), and the first telescopic driving rope (903) and the second telescopic driving rope (904) bypass the first telescopic pulley assembly (803); the diode pulling piece (12) is fixedly connected with the head end of the diode (4). Under the combined action of the telescopic mechanism, the rotating mechanism, the swinging mechanism and the pulling mechanism, the tail end can realize the degrees of freedom of telescopic, rotating and swinging movements and the degrees of freedom of pulling execution relative to the primary pipe.
Description
Technical Field
The invention relates to the field of rope-winding modes driven by ropes, in particular to an in-pipe rope-winding mechanism for realizing multi-degree-of-freedom movement of a tail end.
Background
The problem of controlling and manipulating the degree of freedom of the tail end often occurs in actual production, and a plurality of mechanisms or devices for manipulating the degree of freedom of the tail end by utilizing rope drive are already on the market at present, for example, a rope drive robot arm is disclosed in Chinese patent 2017010531265.8, and the device utilizes a plurality of steering engines to drive, rope drive and gear drive to jointly realize the multi-degree-of-freedom motion of a manipulator, but the device mechanism is too complex and heavy, and the steering engines, the spur gears, the bevel gears and other parts are used for making the mechanical cost more expensive, so that the device is difficult to apply to occasions requiring easy activities and auxiliary devices, consumes electric energy, is required to carry heavy batteries, and has high energy consumption and difficult wide application. In view of the above, the invention provides a rope winding mode in a pipe for realizing multi-freedom-degree movement of the tail end, which can realize the functions of rotation, swing, shearing and stretching of the tail end in a simpler mode with lower cost, thereby effectively reducing the working intensity of workers and improving the personal working environment.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a rope winding mode in a pipe for realizing the movement of the tail end with multiple degrees of freedom, which can assist workers to work or replace partial workers to work directly, saves a great deal of labor investment, and has better working efficiency and safety than manual operation.
The invention adopts the technical scheme that: an in-pipe rope winding mechanism for realizing multi-degree-of-freedom movement of a tail end comprises a primary pipe (3), wherein one end in the primary pipe (3) is sleeved with a diode (4); the device also comprises a telescopic mechanism, wherein the telescopic mechanism comprises a control hand wheel (17) arranged on the primary pipe (3), a first telescopic pulley component (803), a second telescopic pulley component (804) and a diode pulling piece (12) which are arranged in the primary pipe (3); the control hand wheel (17) is provided with a first telescopic driving rope (903) and a second telescopic driving rope (904), and the first telescopic driving rope (903) and the second telescopic driving rope (904) bypass the first telescopic pulley assembly (803); the diode pulling piece (12) is fixedly connected with the head end of the diode (4), the first telescopic driving rope (903) penetrates through the front surface of the diode pulling piece (12) to bypass the second telescopic pulley assembly (804) and then is fixedly connected to the back surface of the diode pulling piece (12), and the second telescopic driving rope (904) is fixedly connected with the front surface of the diode pulling piece (12).
The automatic rope winding device comprises a primary pipe (3), a primary rotating handle assembly (101), a secondary rotating handle assembly (102), a rotary T-shaped cover (14) and a rotary pulley assembly (805), wherein the primary rotating mechanism comprises an automatic rope winding device (701) and the primary rotating handle assembly (101) which are arranged on the primary pipe; the automatic rope retractor I (701) is provided with a rotary driving rope I (905) and a rotary driving rope II (906), wherein the rotary driving rope I (905) passes through the rotary handle assembly I (101), bypasses the rotary pulley assembly (805) and is connected with the rotary T-shaped cover (14) in a clockwise direction; the second rotary drive cord (906) passes through the second rotary handle assembly (102), bypasses the rotary pulley assembly (805) and is connected with the rotary tee cover (14) in a counterclockwise direction.
The swing mechanism comprises a second automatic rope collector (702), a first swing rope clamping handle assembly (104) and a second swing rope clamping handle assembly (105) which are arranged on the primary pipe (3); the swing mechanism further comprises a diode tail end cover (15) arranged on the upper end face of the rotary T-shaped cover (14), the diode tail end cover (15) is further provided with a tail end cover (15), and an anti-dead point pulley assembly (808) is further arranged between the diode tail end cover (15) and the diode tail end cover (15); swing pulley assemblies (807) are further arranged on two sides of the diode tail end cover (15); the lower end of the diode tail end cover (15) is also connected with a direction-changing pulley assembly (806), and the direction-changing pulley assembly (806) is arranged in the rotary T-shaped cover (14); the automatic rope collecting device II (702) is provided with a swing driving rope I (907) and a swing driving rope II (908), the swing driving rope I (907) passes through the swing rope clamping handle assembly I (104) to bypass the direction changing pulley assembly (806) in a clockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15); the swing driving rope II (908) passes through the swing rope clamping handle assembly II (105) to bypass the turning pulley assembly (806) in a counterclockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15).
The automatic rope winding device further comprises a pulling mechanism, wherein the pulling mechanism comprises an automatic rope winding device I (701) and a pulling rope clamping handle assembly (103) which are arranged on the primary pipe (3); the automatic rope winding device is characterized in that the pulling mechanism further comprises a pulling piece (162) arranged inside the diode tail end cover (15), the pulling piece (162) is connected with a tension spring (163), the automatic rope winding device (701) is further provided with a pulling driving rope (909), the pulling driving rope (909) passes through the pulling rope clamping handle assembly (103) to bypass the turning pulley assembly (806) and passes through the tail end cover (15), the tension spring (163) and the pulling piece (162) in sequence after bypassing the dead point preventing pulley assembly (808).
Preferably, the tail end of the diode (4) is connected with a tail end (16).
Preferably, the control hand wheel (17) is arranged on the primary pipe (3) through a hand wheel fixing plate (19).
Preferably, the pulling rope handle assembly (103) comprises a grab handle (183), and the grab handle (183) is provided with a convex point (184); the novel plastic bottle further comprises an elastic U-shaped cover (182), and a chute (181) is arranged on the elastic U-shaped cover (182); the grab handle (183) is arranged in the middle of the elastic U-shaped cover (182), and the structures of the first rotary rope clamping handle component (101), the second rotary rope clamping handle component (102), the first swing rope clamping handle component (104) and the second swing rope clamping handle component (105) are the same as those of the pulling rope clamping handle component (103).
Compared with the prior art, the invention has the beneficial effects that: (1) The invention realizes the movement of the tail end with multiple degrees of freedom in a simpler structure and mode. (2) Compared with a method of driving a singlechip by a motor and controlling the singlechip by a rope to drive gear transmission, the invention realizes the movement of the tail end with multiple degrees of freedom, and has the advantages of simpler mode, low energy consumption, low cost and convenience. (3) Compared with the prior art, the rope clamping handle assembly and the automatic rope collector are matched, so that the tail end operation and the expansion and contraction of the pipeline can be effectively matched without interference. (4) The tail end of the diode is sequentially provided with the rotary T-shaped cover, the tail end cover of the diode, the swinging piece and the pulling piece, so that the tail end can effectively realize the degrees of freedom of rotation, swinging and pulling. (5) Compared with the prior art, the invention realizes the movement of the tail end with multiple degrees of freedom by controlling the pull at the tail end by a person completely through a rope driving mode, and the method is novel. (6) The in-pipe rope winding mode for realizing the movement of the tail end with multiple degrees of freedom can assist part of manpower and improve the working efficiency.
Drawings
FIG. 1 is a cross-sectional view of an in-tube roping mechanism for achieving multiple degrees of freedom motion of a tip in accordance with the present invention;
FIG. 2 is a schematic view of a telescopic mechanism;
FIG. 3 is a schematic diagram of a rotation mechanism;
FIG. 4 is a schematic diagram of a swing mechanism;
FIG. 5 is a schematic diagram of a pulling mechanism;
FIG. 6 is an exploded view of the tail end of the diode;
FIG. 7 is a schematic view of the clip cord handle assembly in three states;
FIG. 8 is a schematic view of the installation position of the clamping rope handle assembly.
In the figure: 904. a second telescopic driving rope; 903. a first telescopic driving rope; 906. rotating a driving rope II; 905. rotating the first driving rope; 908. swing the driving rope II; 907. swinging the driving rope I; 909. pulling the driving rope; 17. a control hand wheel; 10. a handle assembly; 163. a tension spring; 101. rotating the first rope clamping handle assembly; 102. rotating the second rope clamping handle assembly; 104. a swing rope clamping handle assembly I; 105. swing the second rope clamping handle component; 103. pulling the rope clamping handle assembly; 807. a swing pulley assembly; 803. a telescopic pulley assembly I; 804. a second telescopic pulley assembly; 805. a rotary pulley assembly; 808. anti-dead-point large pulley assembly; 806. a diverting pulley assembly; 16. a terminal end; 161. a swinging member; 162. a pulling member; 163. a tension spring; 19. a hand wheel fixing plate; 8. an elastic fixing ring; 9. a primary pipe; 10. a diode; 17. a telescopic rope cover; 702. an automatic rope winding device I; 20. the rope collector is fixed with a clamping ring; 14. rotating the T-shaped cover; 701. an automatic rope winding device II; 15. a diode tail end cover; 181. a chute; 182. an elastic U-shaped member; 183. a grab handle; 184. and (5) protruding points.
Detailed Description
An in-tube roping method for achieving multiple degrees of freedom motion of the distal end according to the present invention is described in further detail below with reference to FIGS. 1 through 8.
1-8, an in-pipe rope winding mechanism for realizing movement of the tail end with multiple degrees of freedom comprises a primary pipe (3), wherein one end in the primary pipe (3) is sleeved with a diode (4); the device also comprises a telescopic mechanism, wherein the telescopic mechanism comprises a control hand wheel (17) arranged on the primary pipe (3), a first telescopic pulley component (803), a second telescopic pulley component (804) and a diode pulling piece (12) which are arranged in the primary pipe (3); the control hand wheel (17) is provided with a first telescopic driving rope (903) and a second telescopic driving rope (904), and the first telescopic driving rope (903) and the second telescopic driving rope (904) bypass the first telescopic pulley assembly (803); the diode pulling piece (12) is fixedly connected with the head end of the diode (4), the first telescopic driving rope (903) penetrates through the front surface of the diode pulling piece (12) to bypass the second telescopic pulley assembly (804) and then is fixedly connected to the back surface of the diode pulling piece (12), and the second telescopic driving rope (904) is fixedly connected with the front surface of the diode pulling piece (12).
The automatic rope winding device comprises a primary pipe (3), a primary rotating handle assembly (101), a secondary rotating handle assembly (102), a rotary T-shaped cover (14) and a rotary pulley assembly (805), wherein the primary rotating mechanism comprises an automatic rope winding device (701) and the primary rotating handle assembly (101) which are arranged on the primary pipe; the automatic rope retractor I (701) is provided with a rotary driving rope I (905) and a rotary driving rope II (906), wherein the rotary driving rope I (905) passes through the rotary handle assembly I (101), bypasses the rotary pulley assembly (805) and is connected with the rotary T-shaped cover (14) in a clockwise direction; the second rotary drive cord (906) passes through the second rotary handle assembly (102), bypasses the rotary pulley assembly (805) and is connected with the rotary tee cover (14) in a counterclockwise direction.
The swing mechanism comprises a second automatic rope collector (702), a first swing rope clamping handle assembly (104) and a second swing rope clamping handle assembly (105) which are arranged on the primary pipe (3); the swing mechanism further comprises a diode tail end cover (15) arranged on the upper end face of the rotary T-shaped cover (14), the diode tail end cover (15) is further provided with a tail end cover (15), and an anti-dead point pulley assembly (808) is further arranged between the diode tail end cover (15) and the diode tail end cover (15); swing pulley assemblies (807) are further arranged on two sides of the diode tail end cover (15); the lower end of the diode tail end cover (15) is also connected with a direction-changing pulley assembly (806), and the direction-changing pulley assembly (806) is arranged in the rotary T-shaped cover (14); the automatic rope collecting device II (702) is provided with a swing driving rope I (907) and a swing driving rope II (908), the swing driving rope I (907) passes through the swing rope clamping handle assembly I (104) to bypass the direction changing pulley assembly (806) in a clockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15); the swing driving rope II (908) passes through the swing rope clamping handle assembly II (105) to bypass the turning pulley assembly (806) in a counterclockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15).
The automatic rope winding device further comprises a pulling mechanism, wherein the pulling mechanism comprises an automatic rope winding device I (701) and a pulling rope clamping handle assembly (103) which are arranged on the primary pipe (3); the automatic rope winding device is characterized in that the pulling mechanism further comprises a pulling piece (162) arranged inside the diode tail end cover (15), the pulling piece (162) is connected with a tension spring (163), the automatic rope winding device (701) is further provided with a pulling driving rope (909), the pulling driving rope (909) passes through the pulling rope clamping handle assembly (103) to bypass the turning pulley assembly (806) and passes through the tail end cover (15), the tension spring (163) and the pulling piece (162) in sequence after bypassing the dead point preventing pulley assembly (808).
In the specific technical scheme of the invention, the tail end of the diode (4) is connected with a tail end (16), and the control hand wheel (17) is arranged on the primary pipe (3) through a hand wheel fixing plate (19).
In the specific technical scheme of the invention, the pulling rope handle assembly (103) comprises a grab handle (183), and the grab handle (183) is provided with a convex point (184); the novel plastic bottle further comprises an elastic U-shaped cover (182), and a chute (181) is arranged on the elastic U-shaped cover (182); the grab handle (183) is arranged in the middle of the elastic U-shaped cover (182), and the structures of the first rotary rope clamping handle component (101), the second rotary rope clamping handle component (102), the first swing rope clamping handle component (104) and the second swing rope clamping handle component (105) are the same as those of the pulling rope clamping handle component (103).
When the invention is specifically used, the principle is as follows:
1-8, an in-tube rope winding mechanism for realizing multi-degree-of-freedom movement of a tail end comprises a primary tube (3), a telescopic mechanism, a diode (4), a rotating mechanism, a swinging mechanism, a pulling mechanism and a tail end (16); the diode (4) is sleeved in the primary pipe (3), and the diode (4) can extend out of or retract into the primary pipe (3) under the driving of the telescopic mechanism; the rotating mechanism, the swinging mechanism and the pulling mechanism are arranged on the primary pipe (3) and the secondary pipe (4); the tail end (16) is connected with the tail end of the diode (4) through the tail end of the rotating mechanism; the telescopic mechanism, the rotating mechanism, the swinging mechanism and the pulling mechanism are all driven by ropes, and the ropes are arranged inside the primary pipe (3) and the secondary pipe (4). Under the combined action of the telescopic mechanism, the rotating mechanism, the swinging mechanism and the pulling mechanism, the tail end (16) can realize the degrees of freedom of telescopic, rotating and swinging movements and the degrees of freedom of pulling execution relative to the primary pipe (3).
As shown in fig. 2, the telescopic mechanism comprises a control hand wheel (17) arranged on the primary pipe (3), a first telescopic pulley assembly (803) and a second telescopic pulley assembly (804) which are arranged inside the primary pipe (3) and a diode pulling piece (12), wherein a screw rod of the second telescopic pulley assembly (804) is matched with two grooves of the diode (4), so that the rotation freedom degree of the diode (4) during telescopic movement is limited; the control hand wheel (17) is provided with a first telescopic driving rope (903) and a second telescopic driving rope (904), and the first telescopic driving rope (903) and the second telescopic driving rope (904) bypass the first telescopic pulley assembly (803); the diode pulling piece (12) is fixedly connected with the head end of the diode (4), the first telescopic driving rope (903) penetrates through the front surface of the diode pulling piece (12) to bypass the second telescopic pulley assembly (804) and then is fixedly connected to the back surface of the diode pulling piece (12), and the second telescopic driving rope (904) is fixedly connected with the front surface of the diode pulling piece (12). When the control hand wheel (17) is rotated clockwise, the first telescopic driving rope (903) is received on the control hand wheel (17), the second telescopic driving rope (904) is released, and at the moment, the first telescopic driving rope (903) pulls the diode pulling piece (12) on the diode (4), so that the diode (4) stretches out relative to the primary pipe (3); when the control hand wheel (17) is rotated anticlockwise, the first telescopic driving rope (903) is used for paying off, the second telescopic driving rope (904) is retracted into the control hand wheel (17), and at the moment, the second telescopic driving rope (904) pulls the diode (4) to retract relative to the primary pipe (3).
As shown in fig. 7, the pulling rope handle assembly (103) comprises a grab handle (183), and a bump (184) is arranged on the grab handle (183); the novel plastic box further comprises an elastic U-shaped piece (182), and a chute (181) is arranged on the elastic U-shaped piece (182). The handle (183) is mounted intermediate the resilient U-shaped member (182). The pulling rope clamping handle assembly (103) clamps the pulling driving rope (909) by extruding the pulling driving rope (909) together with the elastic U-shaped piece (182) through the grab handle (183), and clamps the elastic U-shaped piece (182) through the salient points (184) of the grab handle (183), so that the sliding groove (181) on the elastic U-shaped piece is in friction contact with the primary pipe (3) to realize the position locking of the pulling rope clamping handle assembly (103). The pulling rope clamping handle assembly (103) has three operation states, namely locking, rope clamping and rope clamping locking, when the pulling rope clamping handle assembly is in a locking state, the grab handle (183) is in a horizontal state, as shown in fig. 7-1, the convex points (184) on the grab handle (183) clamp the elastic U-shaped piece (182) to enable the sliding groove (181) of the elastic U-shaped piece to be in friction contact with the clamping strip of the primary pipe (3) for locking, the grab handle (183) does not clamp the pulling driving rope (909), and the whole pulling rope clamping handle assembly (103) does not have the freedom degree of axial movement along the pipe; 7-2, the grab handle (183) is in a state of about 80 degrees, and the arc hammerhead at the bottom of the grab handle (183) and the bottom of the U-shaped piece (182) are used for extruding the pulling driving rope (909) together so as to clamp the pulling driving rope (909), at the moment, the convex point (184) does not support the elastic U-shaped piece (182), and the whole pulling rope clamping handle assembly (103) has the freedom degree of moving along the axial direction of the pipe; 7-3, the grab handle (183) is in a state of about 100 degrees, and the arc hammerhead at the bottom of the grab handle (183) and the bottom of the U-shaped piece (182) are still used for extruding the pulling driving rope (909) together so as to clamp the pulling driving rope (909), at the moment, the convex point (184) props against the elastic U-shaped piece (182), and the whole pulling rope clamping handle assembly (103) has no freedom degree of moving along the axial direction of the pipe. The structure of the first rotary rope clamping handle component (101), the second rotary rope clamping handle component (102), the first swing rope clamping handle component (104), the second swing rope clamping handle component (105) and the rope clamping mode are the same as those of the pulling rope clamping handle component.
As shown in fig. 3, the rotating mechanism comprises a first automatic rope collector (701) and a first rotating handle assembly (101) which are arranged on the primary pipe (3), a second rotating handle assembly (102), a rotating T-shaped cover (14) and a rotating pulley assembly (805) which are arranged at the tail end of the secondary pipe (4); the automatic rope retractor I (701) is provided with a rotary driving rope I (905) and a rotary driving rope II (906), wherein the rotary driving rope I (905) passes through the rotary handle assembly I (101), bypasses the rotary pulley assembly (805) and is connected with the rotary T-shaped cover (14) in a clockwise direction; the second rotary drive cord (906) passes through the second rotary handle assembly (102), bypasses the rotary pulley assembly (805) and is connected with the rotary tee cover (14) in a counterclockwise direction. The two rotary driving ropes are used for carrying out rotary motion of the rotary T-shaped cover (14) relative to the primary pipe (3) by staggering the necks of the rotary T-shaped cover (14) so that the force for pulling the rotary T-shaped cover (14) by the rotary driving ropes is along the tangential direction of the neck pipe. When the first rotary rope clamping handle assembly (101) is sequentially stirred to clamp the first rotary driving rope (905), and the first rotary rope clamping handle assembly (101) is pulled down, the first rotary driving rope (905) pulls the rotary T-shaped cover (14) to rotate anticlockwise, and the second rotary driving rope (906) is released from the first automatic rope winding device (701); conversely, when the second rotary rope clamping handle assembly (102) is sequentially stirred to clamp the second rotary driving rope (906), and the second rotary rope clamping handle assembly (102) is pulled down, the second rotary driving rope (906) pulls the rotary T-shaped cover (14) to rotate clockwise, and the first rotary driving rope (905) is unwound from the first automatic rope retractor (701).
As shown in fig. 4, the swing mechanism comprises a second automatic rope collector (702) and a first swing rope clamping handle assembly (104) which are arranged on the primary pipe (3), and a second swing rope clamping handle assembly (105); the swing mechanism further comprises a diode tail end cover (15) arranged on the upper end face of the rotary T-shaped cover (14), a swing piece (161) is further arranged on the diode tail end cover (15), and an anti-dead point pulley assembly (808) is further arranged between the diode tail end cover (15) and the swing piece (161); swing pulley assemblies (807) are further arranged on two sides of the diode tail end cover (15); the lower end of the diode tail end cover (15) is also connected with a direction-changing pulley assembly (806), and the direction-changing pulley assembly (806) is arranged in the rotary T-shaped cover (14); the automatic rope collecting device II (702) is provided with a swing driving rope I (907) and a swing driving rope II (908), the swing driving rope I (907) passes through the swing rope clamping handle assembly I (104) to bypass the direction changing pulley assembly (806) in a clockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15); the swing driving rope II (908) passes through the swing rope clamping handle assembly II (105) to bypass the turning pulley assembly (806) in a counterclockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15). The two ropes are staggered and led out of the pipe by the lead pulley assembly (806), and the directions of the two ropes are respectively changed by the swing pulley assembly (807) so that the tension of the swing driving rope forms a force arm on the swing piece, thereby realizing the swing action of the tail end (16) relative to the primary pipe (3); the moment arm is constantly changed in the swinging process, dead points can appear when the moment arm swings to plus or minus 50 degrees relative to the central axis respectively, but the dead point prevention large pulley assembly (808) can effectively change the direction of the rope at that angle, so that the dead points are avoided. When the swing rope clamping handle assembly I (104) is sequentially poked to clamp the swing driving rope I (907), and the swing rope clamping handle assembly I (104) is pulled down, the swing driving rope I (907) pulls the swing piece (161) to swing downwards, and the swing driving rope II (908) releases ropes from the automatic rope collector II (702); when the swing rope clamping handle assembly II (105) is sequentially shifted to clamp the swing driving rope II (908), and the swing rope clamping handle assembly II (105) is pulled down, the swing driving rope II (908) pulls the swing piece (161) to swing upwards, and the swing driving rope I (907) releases the rope from the automatic rope collector II (702).
As shown in fig. 5, the pulling mechanism comprises an automatic rope collector I (701) and a pulling rope clamping handle assembly (103) which are arranged on the primary pipe (3); the automatic rope reeling device is characterized in that the pulling mechanism further comprises a pulling piece (162) arranged inside the diode tail end cover (15), the pulling piece (162) is connected with a tension spring (163), the automatic rope reeling device (701) is further provided with a pulling driving rope (909), the pulling driving rope (909) passes through the pulling rope clamping handle assembly (103) to bypass the turning pulley assembly (806) and passes through the tail end cover (15), the tension spring (163) and the pulling piece (162) fixedly connected after bypassing the dead point preventing pulley assembly (808). As shown in fig. 4, the tail end (16) is connected with the tail end of the diode (4) through the dead point prevention large pulley assembly (808), the tail end cover of the diode (4) and the rotary T-shaped cover (14) in sequence; the extension spring (163) plays a role of self-return when being pulled. Pulling the rope clamping handle assembly (103) to clamp the rope clamping driving rope (909), then pulling the rope clamping handle assembly (103) downwards, pulling the driving rope (909) to pull the pulling piece (162) to achieve pulling action, and pulling the spring (163) to enable the pulling piece (162) to return automatically.
Referring to fig. 1 to 8, an in-tube rope winding mechanism for realizing multi-degree-of-freedom movement of a tail end is provided, when the mechanism works, a handle assembly of five clamping ropes is in a locking state, and the ropes are all tensioned by a rope collector with constant force but the tail end cannot act by the force; if the tail end is to be operated to rotate clockwise, and then to perform pulling action after swinging leftwards, a person should initially rotate the control hand wheel (17) to enable the tail end (16) to reach a preliminary destination, pull up the grab handle on the corresponding rotating rope clamping handle assembly I (101) to a rope clamping state, then pull back the grab handle on the rotating rope clamping handle assembly I (101) along the groove of the primary pipe (3) until the grab handle reaches a proper position, and then break the grab handle (183) to a rope clamping locking state, so that the clockwise rotating action is completed. And similar to the step of rotating, the swinging rope clamping handle assembly is operated, so that the tail end swinging action is realized. Finally, the pulling action is controlled, the step similar to the rotating action is performed, the pulling rope clamping handle assembly is controlled, if the pulling state is to be maintained later, the handle (183) is controlled to be broken into the rope clamping locking state, and if the pulling state is not maintained, the pulling rope clamping handle assembly is automatically reset due to the fact that the pulling spring (163) is loosened.
In design, the distance between the two rotary pulley assemblies (805) should be kept the largest within the allowable range, the neck diameter of the corresponding rotary T-shaped cover (14) is the longest possible, so that the head end (6) is more labor-saving to operate, the distance between the two swinging pulley assemblies (807) should be larger without being disturbed by the outside, so that the head end is more labor-saving to operate, and the dead point prevention pulley assembly (808) is the largest within the proper range, so that the dead point can be more effectively prevented.
It should be noted that the embodiment described herein is only one preferred embodiment of the invention, and that those skilled in the art will be able to devise many more embodiments on the basis of this disclosure. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (2)
1. An intraductal wiring mechanism of terminal multi freedom motion is realized to realization, its characterized in that: comprises a primary pipe (3), wherein a diode (4) is sleeved at one end in the primary pipe (3); the device also comprises a telescopic mechanism, wherein the telescopic mechanism comprises a control hand wheel (17) arranged on the primary pipe (3), a first telescopic pulley component (803), a second telescopic pulley component (804) and a diode pulling piece (12) which are arranged in the primary pipe (3); the control hand wheel (17) is provided with a first telescopic driving rope (903) and a second telescopic driving rope (904), and the first telescopic driving rope (903) and the second telescopic driving rope (904) bypass the first telescopic pulley assembly (803); the first telescopic driving rope (903) passes through the front surface of the diode pulling piece (12) to bypass the second telescopic pulley assembly (804) and then is fixedly connected to the back surface of the diode pulling piece (12), and the second telescopic driving rope (904) is fixedly connected with the front surface of the diode pulling piece (12);
the in-pipe rope winding mechanism further comprises a rotating mechanism, wherein the rotating mechanism comprises a first automatic rope collector (701) and a first rotating handle assembly (101) which are arranged on the primary pipe (3), a second rotating handle assembly (102), a rotating T-shaped cover (14) and a rotating pulley assembly (805) which are arranged at the tail end of the diode (4); the automatic rope retractor I (701) is provided with a rotary driving rope I (905) and a rotary driving rope II (906), wherein the rotary driving rope I (905) passes through the rotary handle assembly I (101), bypasses the rotary pulley assembly (805) and is connected with the rotary T-shaped cover (14) in a clockwise direction; the second rotary drive rope (906) passes through the second rotary handle assembly (102), bypasses the rotary pulley assembly (805) and is connected with the rotary T-shaped cover (14) in a counterclockwise direction;
the in-pipe rope winding mechanism further comprises a swinging mechanism, wherein the swinging mechanism comprises a second automatic rope collector (702), a first swinging rope clamping handle assembly (104) and a second swinging rope clamping handle assembly (105) which are arranged on the primary pipe (3); the swing mechanism further comprises a diode tail end cover (15) arranged on the upper end face of the rotary T-shaped cover (14), a swing piece (161) is further arranged on the diode tail end cover (15), and an anti-dead point pulley assembly (808) is further arranged between the diode tail end cover (15) and the swing piece (161); swing pulley assemblies (807) are further arranged on two sides of the diode tail end cover (15); the lower end of the diode tail end cover (15) is also connected with a direction-changing pulley assembly (806), and the direction-changing pulley assembly (806) is arranged in the rotary T-shaped cover (14); the automatic rope collecting device II (702) is provided with a swing driving rope I (907) and a swing driving rope II (908), the swing driving rope I (907) passes through the swing rope clamping handle assembly I (104) to bypass the direction changing pulley assembly (806) in a clockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15); the swing driving rope II (908) passes through the swing rope clamping handle assembly II (105) to bypass the turning pulley assembly (806) in a counterclockwise direction and bypass the swing pulley assembly (807) and then is fixedly connected to the diode tail end cover (15);
the in-pipe rope winding mechanism further comprises a pulling mechanism, wherein the pulling mechanism comprises an automatic rope collector I (701) and a pulling rope clamping handle assembly (103) which are arranged on the primary pipe (3); the pulling mechanism further comprises a pulling piece (162) arranged in the tail end cover (15) of the diode, the pulling piece (162) is connected with a tension spring (163), the automatic rope collecting device I (701) is further provided with a pulling driving rope (909), the pulling driving rope (909) passes through the pulling rope clamping handle assembly (103) to bypass the turning pulley assembly (806) and passes through the tail end cover (15) and the tension spring (163) in sequence after bypassing the dead point preventing pulley assembly (808) to be fixedly connected with the pulling piece (162);
the tail end of the diode (4) is connected with a tail end (16);
the pulling rope clamping handle assembly (103) comprises a grab handle (183), and a bump (184) is arranged on the grab handle (183); the novel plastic bottle further comprises an elastic U-shaped cover (182), and a chute (181) is arranged on the elastic U-shaped cover (182); the grab handle (183) is arranged in the middle of the elastic U-shaped cover (182), and the structures of the first rotary handle component (101), the second rotary handle component (102), the first swing rope clamping handle component (104) and the second swing rope clamping handle component (105) are the same as those of the pulling rope clamping handle component (103).
2. An in-tube roping mechanism for achieving multiple degrees of freedom motion of a distal end as claimed in claim 1 wherein: the control hand wheel (17) is arranged on the primary pipe (3) through a hand wheel fixing plate (19).
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 |
|---|---|
| CN108500970A CN108500970A (en) | 2018-09-07 |
| CN108500970B true CN108500970B (en) | 2023-10-03 |
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| 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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111923004A (en) * | 2020-08-28 | 2020-11-13 | 吕孙宝 | Opening and closing device |
| 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 |
| CN115864086B (en) * | 2022-12-30 | 2023-09-15 | 重庆赛迪奇智人工智能科技有限公司 | Folding power supply device and power connection system |
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| CN108500970A (en) | 2018-09-07 |
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