CN108500970B - In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom - Google Patents

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

An in-tube rope-winding mechanism that realizes multiple degrees of freedom movement at the end

Technical field

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.

Background technique

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.

Contents of the invention

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.

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).

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.

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).

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).

Preferably, the tail end of the secondary tube (4) is connected to a terminal (16).

Preferably, the control handwheel (17) is arranged on the primary pipe (3) through a handwheel fixing plate (19).

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).

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.

Description of the drawings

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;

Figure 2 is a schematic structural diagram of the telescopic mechanism;

Figure 3 is a schematic structural diagram of the rotating mechanism;

Figure 4 is a schematic structural diagram of the swing mechanism;

Figure 5 is a schematic structural diagram of the pulling mechanism;

Figure 6 is an exploded view of the rear end of the secondary tube;

Figure 7 is a schematic diagram of the three states of the rope handle assembly;

Figure 8 is a schematic structural diagram of the installation position of the rope handle assembly.

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.

Detailed ways

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 .

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).

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.

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).

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).

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.

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).

When the present invention is specifically used, its principle is as follows:

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).

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.

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.

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).

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.

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).

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.

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.

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.

Claims (2)

1. An in-tube rope-winding mechanism that realizes multi-degree-of-freedom movement of the end, characterized in that: it includes a primary tube (3), one end of the primary tube (3) is sleeved with a secondary tube (4); and It includes a telescopic mechanism, which includes a control handwheel (17) provided on the primary pipe (3) and a telescopic pulley assembly (803) and a telescopic pulley group provided inside the primary pipe (3). Part two (804) and the secondary tube pulling part (12); the control handwheel (17) is provided with a telescopic driving rope one (903) and a telescopic driving rope two (904), and the telescopic driving rope one (903) and the telescopic driving rope two (904) bypasses 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 The first driving rope (903) passes through the front side of the secondary pipe pulling member (12), bypasses the second telescopic pulley assembly (804), and is fixed on the back side of the secondary pipe pulling member (12). The telescopic drive The second rope (904) is fixedly connected to the front side of the secondary tube pulling member (12); The in-tube rope winding mechanism also includes a rotating mechanism, which includes an automatic rope retractor one (701) and a rotating handle assembly one (101) and a rotating handle assembly two ( 102), a rotating T-shaped cover (14) and a rotating pulley assembly (805) provided at the tail end of the secondary tube (4); the automatic rope retractor one (701) is provided with a rotating drive rope (905) and Rotary drive rope two (906), wherein the rotary drive rope one (905) passes through the rotary handle assembly one (101), bypasses the rotary pulley assembly (805), and is connected to the rotary T-shape in a clockwise direction. The cover (14) is connected; the rotating drive rope 2 (906) passes through the rotating handle assembly 2 (102), bypasses the rotating pulley assembly (805), and connects with the rotating T-shaped cover (14) in a counterclockwise direction. connect; The rope winding mechanism in the pipe also includes a swing mechanism, which includes an automatic rope retractor two (702) and a swing rope handle assembly (104) provided on the primary pipe (3), as well as a swing rope handle assembly. Handle assembly two (105); the swing mechanism also includes a 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) also has A swinging member (161) is provided, and an anti-dead point pulley assembly (808) is provided between the secondary tube end cover (15) and the swinging member (161); the secondary tube end cover ( There are also swing pulley assemblies (807) on both sides of the secondary pipe tail end cover (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 into the Inside the rotating T-shaped cover (14); the automatic rope retractor two (702) is provided with a swing drive rope one (907) and a swing drive rope two (908), and the swing drive rope one (907) passes through the swing drive rope. The rope handle assembly 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 second swing driving rope (908) passes through the second swing rope handle assembly (105), bypasses the direction changing pulley assembly (806) in a counterclockwise direction, and bypasses the swing pulley assembly (807) before being fixedly connected. On the secondary tube end cap (15); The rope winding mechanism in the pipe 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 mechanism It also includes a pulling piece (162) arranged inside the secondary tube tail end cover (15), the pulling piece (162) is connected to a tension spring (163), and the automatic rope retractor one (701) also A pulling driving rope (909) is provided. The pulling driving rope (909) passes through the pulling rope handle assembly (103), bypasses the direction change pulley assembly (806), and bypasses the anti-dead point pulley assembly (808). Pass through the tail end cover (15) and the tension spring (163) in order to be fixedly connected to the pulling member (162); The tail end of the secondary tube (4) is connected with an end (16); The handle assembly (103) for pulling the rope includes a handle (183), and the handle (183) is provided with a protrusion (184); it also includes an elastic U-shaped cover (182), and 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), the rotary handle assembly one (101), the rotary handle assembly two (102), the swing The structures of the first rope clamping handle assembly (104) and the second swinging rope clamping handle assembly (105) are the same as the pulling rope clamping handle assembly (103). 2. An intra-pipe rope winding mechanism that realizes multiple degrees of freedom movement of the end according to claim 1, characterized in that: the control handwheel (17) is arranged on the first-level pipe through a handwheel fixing plate (19). (3)Up.