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
Description
技术领域Technical field
本发明涉及绳驱动的绕绳方式领域,尤其涉及一种实现末端多自由度运动的管内绕绳机构。The present invention relates to the field of rope-driven rope winding methods, and in particular to an in-tube rope winding mechanism that realizes multi-degree-of-freedom movement of the end.
背景技术Background technique
实际生产中经常会出现对于末端自由度的控制和操纵问题,目前市面上已经出现很多具有利用绳驱动对末端自由度操纵的机构或设备,如中国专利“2017010531265.8”公开了“一种绳驱动机器人手臂”,该设备利用多个舵机驱动,绳驱动与齿轮传动联合实现机械手的多自由度运动,但该设备机构过于复杂,沉重,用了舵机、直齿轮、斜齿轮等零件使得机械成本较为昂贵,难以在要求轻松活动场合、辅助设备上应用,消耗电能,要带着笨重的电池,而且能源消耗大,难以广泛应用。鉴于此本发明提供一种实现末端多自由度运动的管内绕绳方式,以较低成本,以较为简单的方式实现末端旋转、摆动、剪切、伸缩功能,可以有效降低工人工作强度和改善个人的工作环境。Problems with the control and manipulation of the end degrees of freedom often arise in actual production. Currently, there are many mechanisms or equipment on the market that use rope drive to control the end degrees of freedom. For example, Chinese patent "2017010531265.8" discloses "a rope-driven robot" "Arm", this equipment uses multiple servos to drive, rope drive and gear transmission to achieve multi-freedom movement of the manipulator. However, the equipment mechanism is too complex and heavy, and the use of servos, spur gears, helical gears and other parts makes the machinery cost It is relatively expensive and difficult to apply in situations requiring easy activities and auxiliary equipment. It consumes electric energy and requires a heavy battery. It also consumes a lot of energy and is difficult to be widely used. In view of this, the present invention provides an in-tube rope winding method that realizes multiple degrees of freedom movement of the end. It realizes the end rotation, swing, shearing, and telescopic functions at a lower cost and in a relatively simple manner, which can effectively reduce the work intensity of workers and improve their personal performance. working environment.
发明内容Contents of the invention
针对现有技术的不足,本发明提供了一种实现末端多自由度运动的管内绕绳方式可以辅助工人工作或代替部分工人直接工作,节省大量劳动力的投入,工作效率和安全性优于人工作业。In view of the shortcomings of the existing technology, the present invention provides an in-pipe rope-winding method that realizes multi-degree-of-freedom movement of the end, which can assist workers in working or replace some workers' direct work, saving a lot of labor investment, and the work efficiency and safety are better than manual work. Operation.
本发明所采用的技术方案:一种实现末端多自由度运动的管内绕绳机构,包括一级管(3),所述一级管(3)内的一端套设有二级管(4);还包括伸缩机构,所述伸缩机构包括设置在所述一级管(3)上的控制手轮(17)和设置于所述一级管(3)内部的伸缩滑轮组件一(803)和伸缩滑轮组件二(804)以及二级管拉动件(12);所述控制手轮(17)设有伸缩驱动绳索一(903)、伸缩驱动绳二(904),所述伸缩驱动绳索一(903)和所述伸缩驱动绳二(904)绕过所述伸缩滑轮组件一(803);所述二级管拉动件(12)与所述二级管(4)的首端固定连接,所述伸缩驱动绳索一(903)穿过所述二级管拉动件(12)正面绕过所述伸缩滑轮组件二(804)后固接在所述二级管拉动件(12)背面,所述伸缩驱动绳二(904)与所述二级管拉动件(12)正面固接。The technical solution adopted by the present invention: an in-tube rope-winding mechanism that realizes multi-degree-of-freedom movement of the end, including a primary tube (3), and one end of the primary tube (3) is covered with a secondary tube (4) ; Also includes a telescopic mechanism, which includes a control handwheel (17) provided on the primary pipe (3) and a telescopic pulley assembly (803) provided inside the primary pipe (3) and The telescopic pulley assembly two (804) and the secondary tube pulling member (12); the control handwheel (17) is provided with a telescopic driving rope (903) and a telescopic driving rope (904), and the telescopic driving rope one (904) 903) and the telescopic driving rope two (904) bypass the telescopic pulley assembly one (803); the secondary tube pulling member (12) is fixedly connected to the head end of the secondary tube (4), so The telescopic driving rope one (903) passes through the front of the secondary pipe pulling member (12), bypasses the telescopic pulley assembly two (804), and is fixed on the back of the secondary pipe pulling member (12). The second telescopic driving rope (904) is fixedly connected to the front side of the secondary tube pulling member (12).
还包括旋转机构,所述旋转机构包括设置在所述一级管(3)上的自动收绳器一(701)和旋转手柄组件一(101)以及旋转手柄组件二(102)、设置在所述二级管(4)尾端的旋转T形盖(14)和旋转滑轮组件(805);所述自动收绳器一(701)设有旋转驱动绳一(905)和旋转驱动绳二(906),其中,所述旋转驱动绳一(905)穿过旋转手柄组件一(101)绕过所述旋转滑轮组件(805)并以顺时针的方向与所述旋转T形盖(14)连接;所述旋转驱动绳二(906)穿过旋转手柄组件二(102)绕过所述旋转滑轮组件(805)并以逆时针的方向与所述旋转T形盖(14)连接。It also includes a rotating mechanism, which includes an automatic rope retractor (701) and a rotating handle assembly (101) and a rotating handle assembly (102) provided on the primary pipe (3). The rotating T-shaped cover (14) and the rotating pulley assembly (805) at the end of the secondary tube (4); the automatic rope retractor one (701) is provided with a rotating drive rope one (905) and a rotating drive rope two (906 ), wherein the rotary driving rope (905) passes through the rotary handle assembly (101), bypasses the rotary pulley assembly (805) and is connected to the rotary T-shaped cover (14) in a clockwise direction; The second rotation drive rope (906) passes through the second rotation handle assembly (102), bypasses the rotation pulley assembly (805), and is connected to the rotation T-shaped cover (14) in a counterclockwise direction.
还包括摆动机构,所述摆动机构包括设置在所述一级管(3)上的自动收绳器二(702)和摆动卡绳手柄组件一(104)以及摆动卡绳手柄组件二(105);所述摆动机构还包括设置于所述旋转T形盖(14)上端面的所述二级管尾端盖(15),所述二级管尾端盖(15)上还设有尾端盖(15),所述二级管尾端盖(15)与所述二级管尾端盖(15)之间还设有防死点滑轮组件(808);所述二级管尾端盖(15)的两侧还设有摆动滑轮组件(807);所述二级管尾端盖(15)下端还连接有变向滑轮组件(806)且所述变向滑轮组件(806)内置于所述旋转T形盖(14)内部;所述自动收绳器二(702)设有摆动驱动绳索一(907)、摆动驱动绳索二(908),所述摆动驱动绳索一(907)穿过摆动卡绳手柄组件一(104)以顺时针的方向绕过所述变向滑轮组件(806)并绕过所述摆动滑轮组件(807)后固定连接在二级管尾端盖(15)上;所述摆动驱动绳索二(908)穿过摆动卡绳手柄组件二(105)以逆时针的方向绕过所述变向滑轮组件(806)并绕过所述摆动滑轮组件(807)后固定连接在二级管尾端盖(15)上。It also includes a swing mechanism, which includes an automatic rope retractor two (702), a swing rope handle assembly one (104), and a swing rope handle assembly two (105) provided on the primary pipe (3). ; The swing mechanism also includes the secondary tube tail end cover (15) provided on the upper end surface of the rotating T-shaped cover (14), and the secondary tube tail end cover (15) is also provided with a tail end Cover (15), an anti-dead point pulley assembly (808) is also provided between the secondary tube end cover (15) and the secondary tube end cover (15); the secondary tube end cover There are also swing pulley assemblies (807) on both sides of (15); a reversing pulley assembly (806) is also connected to the lower end of the secondary tube tail end cover (15) and the reversing pulley assembly (806) is built in Inside the rotating T-shaped cover (14); the automatic rope retractor two (702) is provided with a swing driving rope one (907) and a swing driving rope two (908), and the swing driving rope one (907) passes through The swing rope handle assembly one (104) bypasses the direction change pulley assembly (806) and the swing pulley assembly (807) in a clockwise direction and is then fixedly connected to the secondary tube tail end cover (15) ; The second swing driving rope (908) passes through the second swing rope handle assembly (105), bypasses the reverse pulley assembly (806) in a counterclockwise direction, and bypasses the swing pulley assembly (807) before being fixed. Connect to the secondary tube end cap (15).
还包括拉扯机构,所述拉扯机构包括设置在所述一级管(3)上的自动收绳器一(701)、拉扯卡绳手柄组件(103);所述拉扯机构还包括设置在所述二级管尾端盖(15)内部的拉扯件(162),所述拉扯件(162)连接有拉伸弹簧(163),所述自动收绳器一(701)还设有拉扯驱动绳(909),所述拉扯驱动绳(909)穿过拉扯卡绳手柄组件(103)绕过所述变向滑轮组件(806)并且绕过防死点滑轮组件(808)后依次穿过尾端盖(15)、拉伸弹簧(163)与所述拉扯件(162)固定连接。It also includes a pulling mechanism, which includes an automatic rope retractor (701) provided on the primary pipe (3) and a pulling rope handle assembly (103); The pulling piece (162) inside the secondary tube tail end cover (15) is connected to a tension spring (163), and the automatic rope retractor one (701) is also provided with a pulling driving rope ( 909), the pulling driving rope (909) passes through the pulling rope handle assembly (103), bypasses the direction changing pulley assembly (806), bypasses the anti-dead point pulley assembly (808), and then passes through the tail end cover in turn. (15), the tension spring (163) is fixedly connected to the pulling member (162).
优选的,所述二级管(4)尾端连接有末端(16)。Preferably, the tail end of the secondary tube (4) is connected to a terminal (16).
优选的,所述控制手轮(17)通过手轮固定板(19)设置在所述一级管(3)上。Preferably, the control handwheel (17) is arranged on the primary pipe (3) through a handwheel fixing plate (19).
优选的,所述的拉扯卡绳手柄组件(103)包括握柄(183),所述握柄(183)上设有凸点(184);还包括弹性U型盖(182),弹性U型盖(182)上设有滑槽(181);所述握柄(183)安装于所述弹性U型盖(182)中间,所述的旋转卡绳手柄组件一(101)、旋转卡绳手柄组件二(102)、摆动卡绳手柄组件一(104)、摆动卡绳手柄组件二(105)结构均与所述拉扯卡绳手柄组件(103)相同。Preferably, the handle assembly (103) for pulling the rope includes a handle (183), and the handle (183) is provided with a convex point (184); it also includes an elastic U-shaped cover (182), an elastic U-shaped cover (182). The cover (182) is provided with a chute (181); the handle (183) is installed in the middle of the elastic U-shaped cover (182), and the rotary rope handle assembly one (101), the rotary rope handle The structures of the second component (102), the swing rope handle component one (104), and the swing rope handle component two (105) are the same as the pulling rope handle assembly (103).
与现有技术相比,本发明的有益效果是:(1)本发明以较为简单的结构和方式实现末端多自由度运动。(2)本发明相对于用电机驱动单片机控制再经过绳驱动齿轮传动的方法来实现末端多自由度运动,这种方式较为简单,能源消耗低,成本低,较为方便。(3)与现有技术相比,本发明设计的卡绳手柄组件与自动收绳器配合能够使得末端的操纵与管道的伸缩有效地配合而不干涉。(4)本发明二级管尾端依次安装着旋转T形盖、二级管尾端盖、摆动件、拉扯件,使得末端有效地实现旋转、摆动、拉扯自由度。(5)与现有技术相比,本发明是完全通过绳驱动的方式,人在末端控制拉来实现末端多自由度运动,方法较为新颖。(6)本发明提供的一种实现末端多自由度运动的管内绕绳方式能够协助部分人工,提高工作效率。Compared with the prior art, the beneficial effects of the present invention are: (1) The present invention realizes multi-degree-of-freedom movement of the end with a relatively simple structure and method. (2) Compared with the method of using a motor-driven microcontroller to control and then drive the gear through a rope to achieve multi-degree-of-freedom movement at the end, this method is simpler, has low energy consumption, low cost, and is more convenient. (3) Compared with the prior art, the rope clamping handle assembly designed in the present invention and the automatic rope retractor can effectively cooperate with the manipulation of the end and the expansion and contraction of the pipeline without interfering. (4) The tail end of the secondary tube of the present invention is equipped with a rotating T-shaped cover, a secondary tube tail end cover, a swinging piece, and a pulling piece in order, so that the end can effectively realize the freedom of rotation, swinging, and pulling. (5) Compared with the existing technology, the present invention is completely driven by a rope, and the person controls the pull at the end to achieve multi-degree of freedom movement of the end. The method is relatively novel. (6) The invention provides an in-tube rope winding method that realizes multiple degrees of freedom movement of the end, which can assist some labor and improve work efficiency.
附图说明Description of the drawings
图1为本发明一种实现末端多自由度运动的管内绕绳机构的剖面图;Figure 1 is a cross-sectional view of an in-tube rope winding mechanism that realizes multiple degrees of freedom movement of the end according to the present invention;
图2为伸缩机构结构示意图;Figure 2 is a schematic structural diagram of the telescopic mechanism;
图3为旋转机构结构示意图;Figure 3 is a schematic structural diagram of the rotating mechanism;
图4为摆动机构结构示意图;Figure 4 is a schematic structural diagram of the swing mechanism;
图5为拉扯机构结构示意图;Figure 5 is a schematic structural diagram of the pulling mechanism;
图6为二级管尾端爆炸图;Figure 6 is an exploded view of the rear end of the secondary tube;
图7为卡绳手柄组件在的三个状态示意图;Figure 7 is a schematic diagram of the three states of the rope handle assembly;
图8为卡绳手柄组件安装位置结构示意图。Figure 8 is a schematic structural diagram of the installation position of the rope handle assembly.
图中:904、伸缩驱动绳二;903、伸缩驱动绳一;906、旋转驱动绳二;905、旋转驱动绳一;908、摆动驱动绳索二;907、摆动驱动绳索一;909、拉扯驱动绳索;17、控制手轮;10、手柄组件;163、拉伸弹簧;101、旋转卡绳手柄组件一;102、旋转卡绳手柄组件二;104、摆动卡绳手柄组件一;105、摆动卡绳手柄组件二;103、拉扯卡绳手柄组件;807、摆动滑轮组件;803、伸缩滑轮组件一;804、伸缩滑轮组件二;805、旋转滑轮组件;808、防死点大滑轮组件;806、变向滑轮组件;16、末端;161、摆动件;162、拉扯件;163、拉伸弹簧;19、手轮固定板;8、弹性固定环;9、一级管;10、二级管;17、伸缩拉绳盖;702、自动收绳器一;20、收绳器固定卡环;14、旋转T形盖;701、自动收绳器二;15、二级管尾端盖;181、滑槽;182、弹性U形件;183、握柄;184、凸点。In the figure: 904. Telescopic driving rope 2; 903. Telescopic driving rope 1; 906. Rotating driving rope 2; 905. Rotating driving rope 1; 908. Swinging driving rope 2; 907. Swinging driving rope 1; 909. Pulling driving rope ; 17. Control handwheel; 10. Handle assembly; 163. Tension spring; 101. Rotating rope handle assembly one; 102. Rotating rope handle assembly two; 104. Swinging rope handle assembly one; 105. Swinging rope handle assembly Handle component two; 103. Pull the rope handle component; 807. Swing pulley component; 803. Telescopic pulley component one; 804. Telescopic pulley component two; 805. Rotating pulley component; 808. Anti-dead point large pulley component; 806. Variable Pulley assembly; 16. End; 161. Swinging member; 162. Pulling member; 163. Tension spring; 19. Handwheel fixed plate; 8. Elastic fixed ring; 9. Primary pipe; 10. Secondary pipe; 17 , retractable rope cover; 702, automatic rope retractor one; 20, rope retractor fixed snap ring; 14, rotating T-shaped cover; 701, automatic rope retractor two; 15, secondary pipe tail end cover; 181, slide Groove; 182, elastic U-shaped piece; 183, handle; 184, convex point.
具体实施方式Detailed ways
下面结合附图1到附图8对本发明的一种实现末端多自由度运动的管内绕绳方式作进一步详细说明。An in-tube rope-winding method for achieving multi-degree-of-freedom movement of the end of the present invention will be further described in detail below with reference to the accompanying drawings 1 to 8 .
如图1-8所示,一种实现末端多自由度运动的管内绕绳机构,包括一级管(3),所述一级管(3)内的一端套设有二级管(4);还包括伸缩机构,所述伸缩机构包括设置在所述一级管(3)上的控制手轮(17)和设置于所述一级管(3)内部的伸缩滑轮组件一(803)和伸缩滑轮组件二(804)以及二级管拉动件(12);所述控制手轮(17)设有伸缩驱动绳索一(903)、伸缩驱动绳二(904),所述伸缩驱动绳索一(903)和所述伸缩驱动绳二(904)绕过所述伸缩滑轮组件一(803);所述二级管拉动件(12)与所述二级管(4)的首端固定连接,所述伸缩驱动绳索一(903)穿过所述二级管拉动件(12)正面绕过所述伸缩滑轮组件二(804)后固接在所述二级管拉动件(12)背面,所述伸缩驱动绳二(904)与所述二级管拉动件(12)正面固接。As shown in Figure 1-8, an in-tube rope-winding mechanism that realizes multi-degree-of-freedom movement of the end includes a primary tube (3), and one end of the primary tube (3) is sleeved with a secondary tube (4) ; Also includes a telescopic mechanism, which includes a control handwheel (17) provided on the primary pipe (3) and a telescopic pulley assembly (803) provided inside the primary pipe (3) and The telescopic pulley assembly two (804) and the secondary tube pulling member (12); the control handwheel (17) is provided with a telescopic driving rope (903) and a telescopic driving rope (904), and the telescopic driving rope one (904) 903) and the telescopic driving rope two (904) bypass the telescopic pulley assembly one (803); the secondary tube pulling member (12) is fixedly connected to the head end of the secondary tube (4), so The telescopic driving rope one (903) passes through the front of the secondary pipe pulling member (12), bypasses the telescopic pulley assembly two (804), and is fixed on the back of the secondary pipe pulling member (12). The second telescopic driving rope (904) is fixedly connected to the front side of the secondary tube pulling member (12).
还包括旋转机构,所述旋转机构包括设置在所述一级管(3)上的自动收绳器一(701)和旋转手柄组件一(101)以及旋转手柄组件二(102)、设置在所述二级管(4)尾端的旋转T形盖(14)和旋转滑轮组件(805);所述自动收绳器一(701)设有旋转驱动绳一(905)和旋转驱动绳二(906),其中,所述旋转驱动绳一(905)穿过旋转手柄组件一(101)绕过所述旋转滑轮组件(805)并以顺时针的方向与所述旋转T形盖(14)连接;所述旋转驱动绳二(906)穿过旋转手柄组件二(102)绕过所述旋转滑轮组件(805)并以逆时针的方向与所述旋转T形盖(14)连接。It also includes a rotating mechanism, which includes an automatic rope retractor (701) and a rotating handle assembly (101) and a rotating handle assembly (102) provided on the primary pipe (3). The rotating T-shaped cover (14) and the rotating pulley assembly (805) at the end of the secondary tube (4); the automatic rope retractor one (701) is provided with a rotating drive rope one (905) and a rotating drive rope two (906 ), wherein the rotary driving rope (905) passes through the rotary handle assembly (101), bypasses the rotary pulley assembly (805) and is connected to the rotary T-shaped cover (14) in a clockwise direction; The second rotation drive rope (906) passes through the second rotation handle assembly (102), bypasses the rotation pulley assembly (805), and is connected to the rotation T-shaped cover (14) in a counterclockwise direction.
还包括摆动机构,所述摆动机构包括设置在所述一级管(3)上的自动收绳器二(702)和摆动卡绳手柄组件一(104)以及摆动卡绳手柄组件二(105);所述摆动机构还包括设置于所述旋转T形盖(14)上端面的所述二级管尾端盖(15),所述二级管尾端盖(15)上还设有尾端盖(15),所述二级管尾端盖(15)与所述二级管尾端盖(15)之间还设有防死点滑轮组件(808);所述二级管尾端盖(15)的两侧还设有摆动滑轮组件(807);所述二级管尾端盖(15)下端还连接有变向滑轮组件(806)且所述变向滑轮组件(806)内置于所述旋转T形盖(14)内部;所述自动收绳器二(702)设有摆动驱动绳索一(907)、摆动驱动绳索二(908),所述摆动驱动绳索一(907)穿过摆动卡绳手柄组件一(104)以顺时针的方向绕过所述变向滑轮组件(806)并绕过所述摆动滑轮组件(807)后固定连接在二级管尾端盖(15)上;所述摆动驱动绳索二(908)穿过摆动卡绳手柄组件二(105)以逆时针的方向绕过所述变向滑轮组件(806)并绕过所述摆动滑轮组件(807)后固定连接在二级管尾端盖(15)上。It also includes a swing mechanism, which includes an automatic rope retractor two (702), a swing rope handle assembly one (104), and a swing rope handle assembly two (105) provided on the primary pipe (3). ; The swing mechanism also includes the secondary tube tail end cover (15) provided on the upper end surface of the rotating T-shaped cover (14), and the secondary tube tail end cover (15) is also provided with a tail end Cover (15), an anti-dead point pulley assembly (808) is also provided between the secondary tube end cover (15) and the secondary tube end cover (15); the secondary tube end cover There are also swing pulley assemblies (807) on both sides of (15); a reversing pulley assembly (806) is also connected to the lower end of the secondary tube tail end cover (15) and the reversing pulley assembly (806) is built in Inside the rotating T-shaped cover (14); the automatic rope retractor two (702) is provided with a swing driving rope one (907) and a swing driving rope two (908), and the swing driving rope one (907) passes through The swing rope handle assembly one (104) bypasses the direction change pulley assembly (806) and the swing pulley assembly (807) in a clockwise direction and is then fixedly connected to the secondary tube tail end cover (15) ; The second swing driving rope (908) passes through the second swing rope handle assembly (105), bypasses the reverse pulley assembly (806) in a counterclockwise direction, and bypasses the swing pulley assembly (807) before being fixed. Connect to the secondary tube end cap (15).
还包括拉扯机构,所述拉扯机构包括设置在所述一级管(3)上的自动收绳器一(701)、拉扯卡绳手柄组件(103);所述拉扯机构还包括设置在所述二级管尾端盖(15)内部的拉扯件(162),所述拉扯件(162)连接有拉伸弹簧(163),所述自动收绳器一(701)还设有拉扯驱动绳(909),所述拉扯驱动绳(909)穿过拉扯卡绳手柄组件(103)绕过所述变向滑轮组件(806)并且绕过防死点滑轮组件(808)后依次穿过尾端盖(15)、拉伸弹簧(163)与所述拉扯件(162)固定连接。It also includes a pulling mechanism, which includes an automatic rope retractor (701) provided on the primary pipe (3) and a pulling rope handle assembly (103); The pulling piece (162) inside the secondary tube tail end cover (15) is connected to a tension spring (163), and the automatic rope retractor one (701) is also provided with a pulling driving rope ( 909), the pulling driving rope (909) passes through the pulling rope handle assembly (103), bypasses the direction changing pulley assembly (806), bypasses the anti-dead point pulley assembly (808), and then passes through the tail end cover in turn. (15), the tension spring (163) is fixedly connected to the pulling member (162).
在本发明的具体技术方案中,所述二级管(4)尾端连接有末端(16),所述控制手轮(17)通过手轮固定板(19)设置在所述一级管(3)上。In the specific technical solution of the present invention, the tail end of the secondary tube (4) is connected to an end (16), and the control handwheel (17) is arranged on the primary tube (19) through a handwheel fixing plate (19). 3) Go up.
在本发明的具体技术方案中,所述的拉扯卡绳手柄组件(103)包括握柄(183),所述握柄(183)上设有凸点(184);还包括弹性U型盖(182),弹性U型盖(182)上设有滑槽(181);所述握柄(183)安装于所述弹性U型盖(182)中间,所述的旋转卡绳手柄组件一(101)、旋转卡绳手柄组件二(102)、摆动卡绳手柄组件一(104)、摆动卡绳手柄组件二(105)结构均与所述拉扯卡绳手柄组件(103)相同。In the specific technical solution of the present invention, the handle assembly (103) for pulling the rope includes a handle (183), and the handle (183) is provided with a bump (184); it also includes an elastic U-shaped cover ( 182), the elastic U-shaped cover (182) is provided with a chute (181); the handle (183) is installed in the middle of the elastic U-shaped cover (182), and the rotating rope handle assembly (101 ), rotating rope handle assembly two (102), swinging rope handle assembly one (104), and swinging rope handle assembly two (105) have the same structure as the pulling rope handle assembly (103).
本发明在具体使用时,其原理如下:When the present invention is specifically used, its principle is as follows:
结合图1-8,一种实现末端多自由度运动的管内绕绳机构,包括一级管(3)、伸缩机构、二级管(4)、旋转机构、摆动机构、拉扯机构和末端(16);所述二级管(4)套于一级管(3)内,且二级管(4)在伸缩机构驱动下可相对于一级管(3)伸出或缩入管内;所述旋转机构、摆动机构和拉扯机构布置在一级管(3)和二级管(4)上;所述末端(16)通过旋转机构尾端与二级管(4)尾端连接;所述伸缩机构、旋转机构、摆动机构和拉扯机构均为绳驱动,绳索布置于一级管(3)和二级管(4)内部。在所述伸缩机构、旋转机构、摆动机构和拉扯机构的共同作用下,末端(16)可实现相对于一级管(3)伸缩、旋转、摆动运动自由度和拉扯执行自由度。With reference to Figure 1-8, an in-tube rope-winding mechanism that realizes multiple degrees of freedom movement of the end includes a primary tube (3), a telescopic mechanism, a secondary tube (4), a rotating mechanism, a swing mechanism, a pulling mechanism and an end (16 ); the secondary pipe (4) is placed within the primary pipe (3), and the secondary pipe (4) can extend or retract into the pipe relative to the primary pipe (3) driven by the telescopic mechanism; the The rotating mechanism, the swinging mechanism and the pulling mechanism are arranged on the primary tube (3) and the secondary tube (4); the end (16) is connected to the rear end of the secondary tube (4) through the rear end of the rotating mechanism; the telescopic The mechanism, rotating mechanism, swing mechanism and pulling mechanism are all driven by ropes, and the ropes are arranged inside the primary tube (3) and the secondary tube (4). Under the joint action of the telescopic mechanism, the rotation mechanism, the swing mechanism and the pulling mechanism, the end (16) can realize the freedom of telescopic, rotating, swinging movements and the freedom of pulling execution relative to the primary tube (3).
如图2所示,所述伸缩机构包括设置在所述一级管(3)上的控制手轮(17)和设置于所述一级管(3)内部的伸缩滑轮组件一(803)和伸缩滑轮组件二(804)以及二级管拉动件(12),伸缩滑轮组件二(804)的螺杆与二级管(4)两道开槽相配合,从而限制了在伸缩活动时二级管(4)的旋转自由度;所述控制手轮(17)设有伸缩驱动绳索一(903)、伸缩驱动绳二(904),所述伸缩驱动绳索一(903)和所述伸缩驱动绳二(904)绕过所述伸缩滑轮组件一(803);所述二级管拉动件(12)与所述二级管(4)的首端固定连接,所述伸缩驱动绳索一(903)穿过所述二级管拉动件(12)正面绕过所述伸缩滑轮组件二(804)后固接在所述二级管拉动件(12)背面,所述伸缩驱动绳二(904)与所述二级管拉动件(12)正面固接。当顺时针转动控制手轮(17)时,伸缩驱动绳索一(903)收于控制手轮(17)上,伸缩驱动绳索二(904)则放绳,这时伸缩驱动绳索一(903)拉动二级管(4)上的二级管拉动件(12),从而二级管(4)作相对于一级管(3)的伸出动作;当逆时针转动控制手轮(17)时,伸缩驱动绳索一(903)放绳,伸缩驱动绳索二(904)则收于控制手轮(17)内,这时伸缩驱动绳二(904)拉动二级管(4)作相对于一级管(3)作缩入动作。As shown in Figure 2, the telescopic mechanism includes a control handwheel (17) provided on the primary pipe (3) and a telescopic pulley assembly (803) provided inside the primary pipe (3). The second telescopic pulley assembly (804) and the secondary pipe pulling member (12). The screw of the second telescopic pulley assembly (804) matches the two slots of the secondary pipe (4), thereby limiting the secondary pipe during telescopic activities. (4) rotational freedom; the control handwheel (17) is provided with telescopic drive rope one (903) and telescopic drive rope two (904). The telescopic drive rope one (903) and the telescopic drive rope two (904) Bypass the telescopic pulley assembly one (803); the secondary tube pulling member (12) is fixedly connected to the head end of the secondary tube (4), and the telescopic driving rope (903) passes through The second telescopic pulley assembly (804) is passed through the front of the secondary pipe pulling member (12) and then fixed on the back of the secondary pipe pulling member (12). The second telescopic driving rope (904) is connected to the second telescopic pulley assembly (804). The secondary tube pulling member (12) is fixed on the front. When the control handwheel (17) is turned clockwise, the telescopic driving rope one (903) is retracted on the control handwheel (17), and the telescopic driving rope two (904) is released. At this time, the telescopic driving rope one (903) pulls The secondary tube pulling member (12) on the secondary tube (4) causes the secondary tube (4) to extend relative to the primary tube (3); when the control handwheel (17) is turned counterclockwise, The telescopic driving rope one (903) releases the rope, and the telescopic driving rope two (904) is retracted in the control handwheel (17). At this time, the telescopic driving rope two (904) pulls the secondary pipe (4) relative to the primary pipe. (3) Make an indentation action.
如图7所示,所述的拉扯卡绳手柄组件(103)包括握柄(183),所述握柄(183)上设有凸点(184);还包括弹性U形件(182),弹性U形件(182)上设有滑槽(181)。所述握柄(183)安装于所述弹性U形件(182)中间。拉扯卡绳手柄组件(103)是通过握柄(183)与弹性U形件(182)共同挤压拉扯驱动绳子(909)来卡住拉扯驱动绳子(909),且通过握柄(183)的凸点(184)卡开弹性U形件(182)从而使得弹性U形件上的滑槽(181)与一级管(3)摩擦接触实现拉扯卡绳手柄组件(103)位置锁紧。拉扯卡绳手柄组件(103)共有三种操作状态分别是锁紧,卡绳,卡绳锁紧,处于锁紧状态时握柄(183)处于水平状态,如图7-1所示,握柄(183)上的凸点(184)卡开弹性U形件(182),使其滑动槽(181)与一级管(3)卡条摩擦接触锁死,握柄(183)没有卡住拉扯驱动绳子(909),整个拉扯卡绳手柄组件(103)没有沿着管轴向活动的自由度;处于卡绳状态时,如图7-2所示,握柄(183)处于80度左右的状态,握柄(183)底部弧线锤头处与U形件(182)底部共同挤压住拉扯驱动绳子(909)从而卡住拉扯驱动绳子(909),这时凸点(184)没有顶住弹性U形件(182),整个拉扯卡绳手柄组件(103)有沿着管轴向活动的自由度;处于卡绳锁紧状态时,如图7-3所示,握柄(183)处于100度左右的状态,握柄(183)底部弧线锤头处与U形件(182)底部还是共同挤压拉扯驱动绳子(909)从而卡住拉扯驱动绳子(909),这时凸点(184)顶住弹性U形件(182),整个拉扯卡绳手柄组件(103)没有沿着管轴向活动的自由度。所述的旋转卡绳手柄组件一(101)、旋转卡绳手柄组件二(102)、摆动卡绳手柄组件一(104)、摆动卡绳手柄组件二(105)结构及其卡绳子方式均与所述拉扯卡绳手柄组件相同。As shown in Figure 7, the rope pulling handle assembly (103) includes a handle (183), the handle (183) is provided with a protruding point (184); it also includes an elastic U-shaped piece (182), The elastic U-shaped member (182) is provided with a chute (181). The handle (183) is installed in the middle of the elastic U-shaped piece (182). The pulling rope handle assembly (103) squeezes and pulls the driving rope (909) through the handle (183) and the elastic U-shaped member (182) to block the pulling driving rope (909), and the handle (183) The protruding point (184) engages the elastic U-shaped member (182) so that the chute (181) on the elastic U-shaped member is in frictional contact with the primary tube (3) to achieve position locking of the pull cord handle assembly (103). There are three operating states for pulling the stuck rope handle assembly (103): locked, stuck, and locked. When in the locked state, the handle (183) is in a horizontal state, as shown in Figure 7-1. The protruding point (184) on the (183) engages the elastic U-shaped member (182), causing the sliding groove (181) to be locked by friction contact with the clamping strip of the primary pipe (3), and the handle (183) is not stuck or pulled. When the rope (909) is driven, the entire pulled rope handle assembly (103) has no freedom to move along the axis of the tube; when the rope is stuck, as shown in Figure 7-2, the handle (183) is at about 80 degrees. In this state, the arc hammer head at the bottom of the handle (183) and the bottom of the U-shaped piece (182) jointly squeeze the pulling driving rope (909) to block the pulling driving rope (909). At this time, the bump (184) has no top. Hold the elastic U-shaped piece (182), and the entire rope-pulling handle assembly (103) has the freedom to move along the axis of the tube; when in the rope-locking state, as shown in Figure 7-3, the handle (183) In a state of about 100 degrees, the arc hammer head at the bottom of the handle (183) and the bottom of the U-shaped piece (182) still squeeze together to pull the driving rope (909), thereby blocking the pulling driving rope (909). At this time, the bump (184) resists the elastic U-shaped member (182), and the entire pulling rope handle assembly (103) has no freedom to move along the tube axis. The structures of the rotating rope handle assembly one (101), the rotating rope handle assembly two (102), the swinging rope handle assembly one (104), the swinging rope handle assembly two (105) and the rope clamping method are all the same. The handle assembly for pulling the rope is the same.
如图3所示,旋转机构包括设置在所述一级管(3)上的自动收绳器一(701)和旋转手柄组件一(101)以及旋转手柄组件二(102)、设置在所述二级管(4)尾端的旋转T形盖(14)和旋转滑轮组件(805);所述自动收绳器一(701)设有旋转驱动绳一(905)和旋转驱动绳二(906),其中,所述旋转驱动绳一(905)穿过旋转手柄组件一(101)绕过所述旋转滑轮组件(805)并以顺时针的方向与所述旋转T形盖(14)连接;所述旋转驱动绳二(906)穿过旋转手柄组件二(102)绕过所述旋转滑轮组件(805)并以逆时针的方向与所述旋转T形盖(14)连接。两股旋转驱动绳通过以交错绕着旋转T形盖(14)颈部,使得在旋转驱动绳拉动旋转T形盖(14)的力都是沿着颈部管的切线方向,从而实现旋转T形盖(14)相对于一级管(3)进行旋转运动。当依次拨动旋转卡绳手柄组件一(101)使其卡住旋转驱动绳一(905),下拉旋转卡绳手柄组件一(101)时,旋转驱动绳一(905)拉动旋转T形盖(14)使其实现逆时针旋转,旋转驱动绳二(906)从自动收绳器一(701)中放绳;反之,当依次拨动旋转卡绳手柄组件二(102)使其卡住旋转驱动绳索二(906),下拉旋转卡绳手柄组件二(102)时,旋转驱动绳二(906)拉动旋转T形盖(14)使其实现顺时针旋转,旋转驱动绳一(905)从自动收绳器一(701)中放绳。As shown in Figure 3, the rotating mechanism includes an automatic rope retractor one (701), a rotating handle assembly one (101) and a rotating handle assembly two (102) provided on the primary pipe (3). The rotating T-shaped cover (14) and the rotating pulley assembly (805) at the end of the secondary tube (4); the automatic rope retractor one (701) is provided with a rotating drive rope one (905) and a rotating drive rope two (906) , wherein the rotary driving rope (905) passes through the rotary handle assembly (101), bypasses the rotary pulley assembly (805) and is connected to the rotary T-shaped cover (14) in a clockwise direction; so The rotary driving rope two (906) passes through the rotary handle assembly two (102), bypasses the rotary pulley assembly (805), and is connected to the rotary T-shaped cover (14) in a counterclockwise direction. The two rotating drive ropes are staggered around the neck of the rotating T-shaped cover (14), so that the force of the rotating drive rope pulling the rotating T-shaped cover (14) is along the tangent direction of the neck tube, thereby realizing the rotating T-shaped cover (14). The shaped cover (14) rotates relative to the primary tube (3). When the rotary rope handle assembly one (101) is turned in turn to block the rotary drive rope one (905), and when the rotary rope handle assembly one (101) is pulled down, the rotary drive rope one (905) pulls the rotary T-shaped cover ( 14) To make it rotate counterclockwise, the rotary drive rope two (906) releases the rope from the automatic rope retractor one (701); on the contrary, when the rotary rope clamping handle assembly two (102) is turned in sequence, it blocks the rotary drive Rope two (906), when pulling down the rotary rope handle assembly two (102), the rotary drive cord two (906) pulls the rotary T-shaped cover (14) to rotate clockwise, and the rotary drive cord one (905) automatically retracts Place the rope in Rope Device 1 (701).
如图4所示,所述摆动机构包括设置在所述一级管(3)上的自动收绳器二(702)和摆动卡绳手柄组件一(104)以及摆动卡绳手柄组件二(105);所述摆动机构还包括设置于所述旋转T形盖(14)上端面的所述二级管尾端盖(15),所述二级管尾端盖(15)上还设有摆动件(161),所述二级管尾端盖(15)与所述摆动件(161)之间还设有防死点滑轮组件(808);所述二级管尾端盖(15)的两侧还设有摆动滑轮组件(807);所述二级管尾端盖(15)下端还连接有变向滑轮组件(806)且所述变向滑轮组件(806)内置于所述旋转T形盖(14)内部;所述自动收绳器二(702)设有摆动驱动绳索一(907)、摆动驱动绳索二(908),所述摆动驱动绳索一(907)穿过摆动卡绳手柄组件一(104)以顺时针的方向绕过所述变向滑轮组件(806)并绕过所述摆动滑轮组件(807)后固定连接在二级管尾端盖(15)上;所述摆动驱动绳索二(908)穿过摆动卡绳手柄组件二(105)以逆时针的方向绕过所述变向滑轮组件(806)并绕过所述摆动滑轮组件(807)后固定连接在二级管尾端盖(15)上。引线滑轮组件(806)把两股绳子交错引于管外,摆动滑轮组件(807)分别改变两股绳子的方向,使得摆动驱动绳拉力在摆动件上形成力臂,从而实现末端(16)相对于一级管(3)作摆动动作;在摆动过程中力臂是不断变化的,分别在摆动到相对中轴线正负50度左右将会出现死点,但防死点大滑轮组件(808)能够有效的改变在那个角度上绳子的方向,从而避免死点的出现。当依次拨动摆动卡绳手柄组件一(104)使其卡住摆动驱动绳索一(907),下拉摆动卡绳手柄组件一(104)时,摆动驱动绳索一(907)拉动摆动件(161)使其实现向下摆动,摆动驱动绳索二(908)从自动收绳器二(702)中放绳;当依次拨动摆动卡绳手柄组件二(105)使其卡住摆动驱动绳索二(908),下拉摆动卡绳手柄组件二(105)时,摆动驱动绳索二(908)拉动摆动件(161)使其实现向上摆动,摆动驱动绳索一(907)从自动收绳器二(702)中放绳。As shown in Figure 4, the swing mechanism includes an automatic rope retractor two (702) and a swing rope handle assembly one (104) and a swing rope handle assembly two (105) provided on the primary pipe (3). ); the swing mechanism also includes the secondary tube tail end cover (15) provided on the upper end surface of the rotating T-shaped cover (14), and the secondary tube tail end cover (15) is also provided with a swing Part (161), an anti-dead point pulley assembly (808) is also provided between the secondary tube end cover (15) and the swing part (161); the secondary tube end cover (15) There are also swing pulley assemblies (807) on both sides; a reversing pulley assembly (806) is also connected to the lower end of the secondary tube tail end cover (15) and the reversing pulley assembly (806) is built into the rotating T Inside the shaped cover (14); the automatic rope retractor two (702) is provided with a swing driving rope one (907) and a swing driving rope two (908), and the swing driving rope one (907) passes through the swing rope clamping handle Component one (104) bypasses the direction change pulley assembly (806) and the swing pulley assembly (807) in a clockwise direction, and then is fixedly connected to the secondary tube tail end cover (15); the swing The second driving rope (908) passes through the second swing rope handle assembly (105), bypasses the deflection pulley assembly (806) in a counterclockwise direction, and bypasses the swing pulley assembly (807) before being fixedly connected to the second level. Put the end cap (15) on the tube. The lead pulley assembly (806) leads the two strands of ropes staggered outside the tube, and the swing pulley assembly (807) changes the directions of the two strands of rope respectively, so that the tension of the swing driving rope forms a moment arm on the swinging member, thereby realizing that the ends (16) are opposite to each other. The primary tube (3) performs a swinging action; during the swinging process, the force arm is constantly changing. When the swing reaches about plus or minus 50 degrees relative to the central axis, a dead point will appear, but the anti-dead point large pulley assembly (808) It can effectively change the direction of the rope at that angle, thereby avoiding the occurrence of dead spots. When the swing rope clamping handle assembly one (104) is sequentially turned to make it jam the swing driving rope one (907), and when the swing rope clamping handle assembly one (104) is pulled down, the swing driving rope one (907) pulls the swing member (161) Make it swing downward, and the swing driving rope two (908) releases the rope from the automatic rope retractor two (702); when the swing rope clamping handle assembly two (105) is turned in turn, it blocks the swing driving rope two (908) ), when the swing rope handle assembly two (105) is pulled down, the swing drive rope two (908) pulls the swing member (161) to swing upward, and the swing drive rope one (907) is removed from the automatic rope retractor two (702) Put the rope.
如图5所示,拉扯机构包括设置在所述一级管(3)上的自动收绳器一(701)、拉扯卡绳手柄组件(103);所述拉扯机构还包括设置在所述二级管尾端盖(15)内部的拉扯件(162),所述拉扯件(162)连接有拉伸弹簧(163),所述自动收绳器一(701)还设有拉扯驱动绳(909),所述拉扯驱动绳(909)穿过拉扯卡绳手柄组件(103)绕过所述变向滑轮组件(806)并且绕过防死点滑轮组件(808)后依次穿过尾端盖(15)、拉伸弹簧(163)与所述拉扯件(162)固接。如图4所示,末端(16)依次通过防死点大滑轮组件(808)、二级管(4)尾端盖、旋转T形盖(14)与二级管(4)尾端连接;拉伸弹簧(163)在拉扯时起到自动回位的作用。拨动拉扯卡绳手柄组件(103)使其卡住拉扯驱动绳索(909),然后下拉扯卡绳手柄组件(103)时,拉扯驱动绳索(909)拉动拉扯件(162)使其实现拉扯动作,且拉伸弹簧(163)有使拉扯件(162)自动回位作用。As shown in Figure 5, the pulling mechanism includes an automatic rope retractor (701) provided on the first-level pipe (3) and a pulling rope handle assembly (103); The pulling piece (162) inside the stage pipe tail end cover (15), the pulling piece (162) is connected with a tension spring (163), and the automatic rope retractor one (701) is also equipped with a pulling driving rope (909 ), the pulling driving rope (909) passes through the pulling rope handle assembly (103), bypasses the direction changing pulley assembly (806), bypasses the anti-dead point pulley assembly (808), and then passes through the tail end cover ( 15). The tension spring (163) is fixedly connected to the pulling member (162). As shown in Figure 4, the end (16) is connected to the tail end of the secondary tube (4) through the large anti-dead point pulley assembly (808), the tail end cover of the secondary tube (4), and the rotating T-shaped cover (14); The tension spring (163) plays the role of automatic return when pulling. Turn and pull the rope jamming handle assembly (103) to make it jam and pull the driving rope (909). Then when pulling down the rope jamming handle assembly (103), pull the driving rope (909) and pull the pulling member (162) to achieve the pulling action. , and the tension spring (163) has the function of automatically returning the pulling member (162).
参照图1到8,一种实现末端多自由度运动的管内绕绳机构,机构工作时,五个卡绳的手柄组件开始处于锁紧状态,绳子全被收绳器以恒力拉紧但力还不能使得末端动作;若要操纵末端进行顺时针旋转,左摆动后再进行拉扯动作,则人一开始应旋转控制手轮(17),使得末端(16)到达初步的目的地,再拉起相对应顺转的旋转卡绳手柄组件一(101)上的握柄到卡绳状态,之后沿着一级管(3)的槽回拉旋转卡绳手柄组件一(101)拉绳到达旋转到适当位置为止,之后掰握柄(183)到卡绳锁紧状态,这样就完成了一个顺时针旋转动作了。类似旋转动作的步骤,操纵摆动卡绳手柄组件,从而实现末端摆动动作。最后操纵拉扯动作,类似旋转动作的步骤,操纵拉扯卡绳手柄组件,而后若要保持拉扯状态,就把握柄(183)掰作卡绳锁紧状态,若是不保持,自己松手由于拉伸弹簧(163)就会自动回位了。Referring to Figures 1 to 8, an in-tube rope winding mechanism realizes multi-degree of freedom movement of the end. When the mechanism is working, the handle components of the five stuck ropes begin to be in a locked state, and the ropes are all tightened by the rope retractor with constant force. It is not possible to make the end move; if you want to control the end to rotate clockwise, swing left and then pull, the person should first rotate the control handwheel (17) so that the end (16) reaches the initial destination, and then pull up Correspondingly, the handle on the rotating rope clamping handle assembly one (101) is rotated to the rope jamming state, and then the rope of the rotating rope clamping handle assembly one (101) is pulled back along the groove of the primary pipe (3) until the rope is rotated to to the appropriate position, and then twist the handle (183) until the rope is locked, thus completing a clockwise rotation. Similar to the steps of the rotation action, operate the swing rope handle assembly to achieve the end swing action. Finally, control the pulling action, which is similar to the rotation action. Operate the pulling rope handle assembly, and then if you want to maintain the pulling state, hold the handle (183) to the rope locking state. If it is not maintained, let go due to the tension spring ( 163) will automatically return to its original position.
在设计时,两个旋转滑轮组件(805)之间的距离应在允许的范围内保持最大,相应的旋转T形盖(14)的颈部直径也尽可能做的最长,从而实现首端(6)操纵更省力,两个摆动滑轮组件(807)之间的距离也应该在外界不受干扰的情况下做的更大,从而实现首端操纵更省力,防死点滑轮组件(808)也因在适当的范围内做到最大,这样可以更有效的防止死点的情况出现。When designing, the distance between the two rotating pulley assemblies (805) should be kept as large as possible within the allowable range, and the neck diameter of the corresponding rotating T-shaped cover (14) should also be made as long as possible, so as to achieve the first end (6) The operation is more labor-saving. The distance between the two swing pulley assemblies (807) should also be made larger without interference from the outside world, so as to achieve more labor-saving operation at the head end and the anti-dead spot pulley assembly (808) Also because it is maximized within an appropriate range, it can more effectively prevent dead spots from occurring.
需要说明的是,本文所描述的实施例只是本发明的一个优选实施例,本领域技术人员在此基础上,完全可以设计出更多的实施例。对所公开的实施例的上述说明,使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的,本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下,在其他实施例中实现。因此,本发明将不会被限制于本文所示的这些实施例,而是与本文所公开的原理和新颖性特点相一致的最宽范围。It should be noted that the embodiment described herein is only a preferred embodiment of the present invention, and those skilled in the art can design more embodiments based on this. The above description of the disclosed embodiments enables those 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 practiced in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not 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.
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CN106989152A (en) * | 2017-04-18 | 2017-07-28 | 中国科学技术大学 | A kind of high-precision wire drive |
CN107550541A (en) * | 2017-10-16 | 2018-01-09 | 吉林大学 | A kind of hand-held Flexible Multi-joint operating theater instruments for abdominal-cavity minimal-invasion surgery |
CN210335954U (en) * | 2018-04-18 | 2020-04-17 | 广东工业大学 | Intraductal wiring mechanism of terminal multi freedom motion realizes |
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