CN109352679A - A kind of being driven the steel wire lock tightening device of passive snakelike arm - Google Patents
A kind of being driven the steel wire lock tightening device of passive snakelike arm Download PDFInfo
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- CN109352679A CN109352679A CN201811131930.5A CN201811131930A CN109352679A CN 109352679 A CN109352679 A CN 109352679A CN 201811131930 A CN201811131930 A CN 201811131930A CN 109352679 A CN109352679 A CN 109352679A
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- steel wire
- lock tightening
- wire lock
- draw
- godet
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the steel wire lock tightening devices that a kind of is driven passive snakelike arm, including steel wire guiding mechanism, steel wire lock tightening mechanism and steel wire uncoupling gear, steel wire guiding mechanism is arranged in front end, it is made of several sequentially connected draw-off godets, steel wire lock tightening mechanism and steel wire uncoupling gear are connected to the rear side of the steel wire guiding mechanism, the end connecting base plate of steel wire lock tightening mechanism and steel wire uncoupling gear.Compared with prior art, the present invention only needs a motor to can be realized as the adjustment and fixation of snakelike arm pose, and space needed for body is smaller.4 grades of force amplificatory structures of steel wire lock tightening unit application simultaneously, are entire mechanism load capacity with higher.Its passively good operation performance, can more play its advantage in the place for needing man-machine collaboration, so the invention can preferably be applied to medical field, perform the operation to assist a physician.
Description
Technical field
The present invention relates to a kind of locking devices, and the steel wire lock tightening device of passive snakelike arm is driven more particularly, to a kind of.
Background technique
In modern medical service field, application of the robot in laparoscopic surgery is increasingly attracted much attention, major
Company also has launched a lot of medical robots.But the mechanical arm of current major part robot uses traditional drive due to it
Dynamic and transmission system, is limited by size, it is easy to interfere during surgery with doctor.The appearance of snakelike arm can be very generous
Face solves this problem, but snakelike arm is applied in industrial circle more at present, as the OC Robotics company of Britain opens electricity
The silk of machine driving is driven snakelike arm robot.Since it is applied to industrial circle and uses motor driven, the driving portion of snakelike arm
Point size it is excessively huge, and control aspect it is more complicated, this all make this kind of snakelike arm robot can not be applied to medical treatment neck
Domain.So reducing the size and good operation of silk transmission drive part in order to make snakelike arm can be applied to medical field
Property just at the matter of utmost importance for needing to solve.
Summary of the invention
The purpose of the present invention is the drive parts to the snakelike arm being driven based on silk to redesign, and abandons motor actively
Driving makes it obtain smaller size and more good operability, and possess higher load capacity to make snake using passive matrix
Shape arm can replace standard machinery arm come using silk be driven the steel wire lock tightening device of passive snakelike arm.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of being driven the steel wire lock tightening device of passive snakelike arm, including steel wire guiding mechanism, steel wire lock tightening mechanism and steel
Silk uncoupling gear.
The steel wire guiding mechanism is arranged in front end, is made of several sequentially connected draw-off godets, and with it is external snakelike
Arm is connected.
The steel wire lock tightening mechanism and steel wire uncoupling gear is connected to the rear side of the steel wire guiding mechanism, the steel wire
The end of retaining mechanism and steel wire uncoupling gear is connected to chassis.
Steel wire stretches out from the steel wire lock tightening device being relatively large in diameter and is connected to the snakelike arm of the lesser silk transmission of diameter；?
When steel wire loosens, snakelike arm can be by artificial adjustment, pose needed for being adjusted to people；It is snakelike when steel wire is locked
The pose of arm is fixed, for supporting some specific medical instruments.
The steel wire guiding mechanism enables steel wire not interfere after the stretching of steel wire lock tightening device and can penetrate diameter
In lesser snakelike arm, including the first draw-off godet set gradually, second spinning reel, third draw-off godet and the 4th draw-off godet,
It is respectively disposed with 12 pulleys on first draw-off godet and second spinning reel, divides on the third draw-off godet and the 4th draw-off godet
It is not disposed with 12 thread eyes, first draw-off godet, second spinning reel, through being bolted, the described 4th leads third draw-off godet
Copper post of the wire tray through being circumferentially distributed is connected with second spinning reel.Steel wire sequentially passes through draw-off godet, to be effectively prevented from interference
And stretched out with circle distribution, while diameter when reducing steel wire circumferential arrangement, the lesser snakelike arm of diameter can be penetrated.
The pulley every two is one group, is circumferentially distributed on the first draw-off godet and second spinning reel, two pulleys it
Between connected through pulley yoke, the pulley yoke be equipped be bolted the first draw-off godet, second spinning reel, third draw-off godet.
The steel wire lock tightening unit group that the steel wire lock tightening mechanism is circumferentially distributed by six groups is constituted, every group of steel wire lock tightening unit
Group connects the first draw-off godet and chassis by bottom plate.
The steel wire lock tightening unit group is made of preceding steel wire lock tightening unit and rear steel wire lock tightening unit, preceding steel wire lock tightening unit
And pulley is mounted on top plate by pulley spindle and pulley yoke among rear steel wire lock tightening unit.Preceding steel wire lock tightening unit and rear steel
Silk locking unit needs to provide enough clamping forces and carrys out locking wire wheel, to realize locking and the pose of snakelike arm of steel wire
It is fixed.
The preceding steel wire lock tightening unit and rear steel wire lock tightening unit include chassis, wedge block, upright slide block, Heng Zengligang
Bar, the first toggle, transverse slider, L shaped plate, the second toggle, bascule, briquetting, fore-stock, after-poppet, wire wheel, wire wheel
Axis, wire wheel pedestal and top plate, the wedge block, upright slide block, permanent boosting lever, the first toggle, the second toggle, equiarm thick stick
Bar and briquetting have collectively constituted level Four force amplificatory structure, and the pressure of initial compression spring is made to put the several ten times larger briquetting to make end
Compress simultaneously locking wire wheel.
The wedge block is by 3 with guiding optical axis guiding, and three guiding optical axises are fixed by former and later two optical axis brackets, in wedge
It is disposed with compressed spring at shape block, initial pressure is provided for force amplificatory structure, enables wedge block along linear motion,
The upright slide block has the sliding slot of an open type and the optical axis fixed vertically by two is oriented to, vertically
Fixed on sliding block there are two idler wheels, it is therefore an objective to which friction is smaller when contact of incline plane with wedge block.
The perseverance boosting lever is connected by the gate shafts being open in sliding slot being arranged on upright slide block in upright slide block,
And be connected by hinge axis with after-poppet, form the fulcrum of permanent boosting lever.
First toggle is connected by the first toggle axis with the permanent boosting lever, and the transverse slider and L shaped plate are logical
It crosses and is bolted to form an entirety, and be connected by hinge axis with the first toggle.
It is fixed with 2 guiding optical axises between the fore-stock and after-poppet, is oriented to for transverse slider.
Second toggle is linked together by the second toggle axis with the hole in L shaped plate.The bascule and
Second toggle is connected by hinge axis.
The briquetting is connected with bascule by hinge axis, and passes through the bascule axis fixed with wire wheel pedestal
It is connected to form fulcrum.
The compressed spring gives wedge block one initial pressure, so that wedge block is forced downward vertically in leading for optical axis
Sliding block realizes the amplification of first time power by inclined-plane effect；Upright slide block moves upwards, and drives permanent boosting lever to move upwards, leads to
Cross second of amplification that leverage realizes power；Permanent boosting lever drives the first toggle to push transverse slider, passes through angular effect
Realize the amplification of third time power；Transverse slider pushes coupled L shaped plate, and L shaped plate pushes the second toggle, imitates again by angle
It should realize the 4th power amplification；The pressure towards wire wheel is converted by the outside power in the second toggle direction finally by bascule
Power, and then compress wire wheel, locking steel wire.When wire wheel is by level Four force amplificatory structure locking in steel wire lock tightening unit, steel wire
It can not move, to realize the fixation of snakelike arm pose；In the case where wire wheel can be freely rotated by locking, steel wire
It can move freely, so that snakelike arm also be free to adjustment pose.
The wire wheel includes preceding wire wheel and rear wire wheel, is bolted to form an entirety, in wire wheel
Portion is equipped with clockwork spring, and wire wheel is made to possess a torque always, which pulls the direction of rotation phase of wire wheel with steel wire
Instead, thus the tensioning for making wire wheel that there is certain take-up ability and moment to maintain steel wire.
The steel wire uncoupling gear includes screw rod stepper motor, feed screw nut, round platen, screw rod bracket and chassis, institute
The round platen stated has the slot of 6 perforations, passes through the optical axis at wedge block, is oriented to for round platen, institute
It states feed screw nut to be placed on screw rod, and links together with round platen, the screw rod stepper motor is connected with chassis, screw rod
It crosses steel wire lock tightening mechanism and passes through the screw rod bracket being fixed on the first positioning disk, rotated, driven by motor drives screw mandrel
The round platen being connected with feed screw nut moves along a straight line along optical axis.
Screw rod stepper motor drives screw rod rotation, drives the platen being connected with feed screw nut, under the action of being oriented to optical axis,
Wedge block is pressed to, so that steel wire lock tightening unit is unclamped wire wheel enables coupled steel wire so that wire wheel can be freely rotated
It enough moves freely, and then snakelike arm is enable freely to adjust pose.
The principle of the present invention is as follows: in the steel wire lock tightening stage, compressed spring at wedge block provide one it is initial
Pressure makes briquetting push down wire wheel by a series of transmissions of the force amplificatory structure in steel wire lock tightening unit, to make to be fixed on
Steel wire on wire wheel is also fixed, and then is capable of fixing the pose for the snakelike arm being connected in steel wire lock tightening device, makes it
Become a rigid body, there is certain load capacity, and then some equipment can be supported.In steel wire loosening stage, stepper motor
Rotation drives round platen to press to wedge block, compresses compressed spring again, the power being pressed on wire wheel is withdrawn by, wire wheel
It can be freely rotated, and then the steel wire for penetrating snakelike arm can also move freely, so that people can manually adjust snakelike arm
Posture, achieve the purpose that desired.
Compared with prior art, the present invention is without the motor of substantial amounts, cumbersome control and huge volume, the hair
One motor of bright need can be realized as the adjustment and fixation of snakelike arm pose, and space needed for body is smaller and with higher
Load capacity and good operating characteristics can more play its advantage in the place for needing man-machine collaboration, so the invention can
Preferably it is applied to medical field, performs the operation to assist a physician.
Detailed description of the invention
Fig. 1 is the perspective view of the present invention with a kind of snakelike arm connection；
Fig. 2 is whole perspective view of the invention；
Fig. 3 is the perspective view of steel wire guiding mechanism of the invention；
Fig. 4 is the perspective view of steel wire uncoupling gear and single steel wire lock tightening unit group of the invention；
Fig. 5 is the perspective view of round platen and feed screw nut in steel wire uncoupling gear of the invention；
Fig. 6 is the perspective view of steel wire lock tightening unit group of the invention；
Fig. 7 is the partial perspective view of the upper part of steel wire lock tightening unit of the invention；
Fig. 8 is the partial perspective view of the lower part of steel wire lock tightening unit of the invention；
Fig. 9 is the partial perspective view of the upright slide block of steel wire lock tightening unit of the invention；
Figure 10 is the perspective view of the middle wire wheel of steel wire lock tightening unit of the invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Embodiment
A kind of being driven the steel wire lock tightening device of passive snakelike arm, and the structure after connecting with snakelike arm is as shown in Figure 1, snake
Shape arm 61 is connected with the steel wire guiding mechanism 2 of steel wire lock tightening device 60.
As shown in Fig. 2, steel wire lock tightening device 60 includes steel wire guiding mechanism 2, steel wire lock tightening mechanism 3 and steel wire uncoupling gear
4.Steel wire 1 is stretched out from steel wire lock tightening mechanism 2, and the outside of entire steel wire lock tightening device is extended to by steel wire guiding mechanism.
As shown in figure 3, steel wire guiding mechanism 2 includes the first draw-off godet 5, second spinning reel 6, third draw-off godet 7 and the 4th
Draw-off godet 8.On the first draw-off godet 5 and second spinning reel 6, pulley 9, pulley 9 are mounted with by pulley spindle 10 and pulley yoke 11
It is respectively 12 on the first draw-off godet 5 and second spinning reel 6, every two is one group, at circle distribution in 5 He of the first draw-off godet
On second spinning reel 6.On third draw-off godet 7 and the 4th draw-off godet 8, have respectively 12 at circle distribution steel wire pilot hole 13.
The threaded hole of first draw-off godet 5, second spinning reel 6, third draw-off godet 7 respectively by processing on pulley yoke 11 carries out bolt company
It connects, the 4th draw-off godet 8 is linked together by the copper post 12 and second spinning reel 6 of 6 circle distributions, makes third draw-off godet 7
In the centre of second spinning reel 6 and the 4th draw-off godet 8.
As shown in figure 4, steel wire lock tightening unit group 17 is connected draw-off godet 5 and chassis 22 by bottom plate 16, steel is formed
Silk retaining mechanism 3.According to the displaying in Fig. 2, steel wire lock tightening mechanism 3 possesses 6 steel wire lock tightening unit groups 17 in total, at circumference point
Cloth is in steel wire lock tightening mechanism.In steel wire uncoupling gear 4, screw rod bracket 14 links together with draw-off godet 5, screw rod stepping electricity
Machine 21 links together with hub disk, and screw rod 20 is made to pass through screw rod bracket 14,2 feed screw nuts 19 is housed on screw rod 20, respectively
It is connected with platen 18, round platen 18 is simultaneously tightly attached on steel wire lock tightening unit, and passes through preceding steel wire lock tightening unit 24, rear cable-type padlock
Guiding optical axis 49 in tight unit 25.Screw rod stepper motor 21 rotate forward when, platen 18 will be pressed against preceding steel wire lock tightening unit 24, after
Wedge block 47 and realization in steel wire lock tightening unit 25 loosen the function of steel wire.When lead screw motor 21 inverts, platen 18 be will be far from
Wedge block 47, compressed spring 50 press to wedge block 47 and lock steel wire again.
As shown in figure 5, for the perspective view of round platen 18 and feed screw nut 19 in steel wire uncoupling gear 4.Steel before each
The optical axises for being located at downside in silk locking unit 24, three of rear steel wire lock tightening unit 25 guiding optical axises 49 pass through round platen 18
On with the slot of 6 of circle distribution perforations, feeding and setback as round platen 18 are oriented to.Round platen 18
It is connected with feed screw nut 19 by four bolts.
As shown in fig. 6, steel wire lock tightening unit group 17 includes preceding steel wire lock tightening unit 24 and rear steel wire lock tightening unit 25, at him
It is intermediate, pulley 23 is mounted on top plate 15 by pulley spindle and pulley yoke, with this come in steel wire lock tightening unit 25 after realizing
Steel wire guiding, in order to avoid steel wire and preceding steel wire lock tightening unit 24 interfere.
As shown in fig. 7, the perspective view of the upper part of preceding steel wire lock tightening unit 24.After-poppet 26 and fore-stock 27 and bottom plate 16
It is bolted, and is respectively symmetrically distributed in the two sides of preceding steel wire lock tightening unit 24.Optical axis 28 passes through after-poppet 26 and fore-stock 27
After fixation, it is oriented to, can slides laterally for transverse slider 35.Optical axis 29 is carried out by the hole on bottom plate 16 and top plate 15
It is fixed, it is oriented to for upright slide block 30, it can vertical sliding.Permanent boosting lever 31 passes through hinge axis 32 and first axle 33
It is connected, first axle 33 is symmetrically distributed in the two sides of permanent boosting lever 31, and is connected by hinge axis 34 with transverse slider 35.L
Shape plate 36 is bolted together with transverse slider 35.4 second hinges 37 by 4 hinge axis 39 respectively with L shaped plate 36 and
Bascule 38 is connected.Bascule axis 40 is connected with wire wheel pedestal 45 and top plate 15, the fulcrum as bascule 38.Pressure
Block 41 is connected by hinge axis 42 with bascule 38.Wire wheel pedestal 45 is pushed down steel wire wheel axle 44 and is connected on bottom plate 16,
44 both ends of steel wire wheel axle are machined with plane, so steel wire wheel axle 44 is just fixed when steel wire wheel carrier 45 pushes down steel wire wheel axle 44
Firmly.Before wire wheel 43 is mounted on by steel wire wheel axle 44 in steel wire lock tightening unit 24.
As shown in figure 8, the perspective view of the lower part for preceding steel wire lock tightening unit 24.Preceding optical axis frame 46 and rear optical axis frame 48 divide
It is not connected on bottom plate 16 and is fixed therein 3 guiding optical axises 49.Guiding optical axis 49 is that wedge block 47 provides guiding, makes wedge
Shape block 47 being capable of transverse shifting.3 compression springs 50 are installed in the left side of wedge block 47, provide pressure for wedge block 47
Source.The structure of steel wire lock tightening unit 25 and preceding steel wire lock tightening unit 24 are almost the same afterwards, only need to be by the reversed installation of wire wheel 43
It can.
As shown in figure 9, optical axis 29 is that upright slide block 30 is oriented to, can move up and down.Gate shafts 53 are placed in vertical cunning
In the open slot of block 30, and it is connected with permanent boosting lever 31.The fulcrum of permanent boosting lever 31 passes through hinge axis 51 and after-poppet 26
Be fixedly connected to provide.In order to reduce the sliding friction between upright slide block 30 and wedge block 47, pacify on upright slide block 30
There are two pulleys 52 for dress.
As shown in Figure 10, wire wheel 43 be bolted by preceding wire wheel 55 with rear wire wheel 54 together with, juxtaposition
In on steel wire wheel axle 44, in order to keep rotation more smooth, bearing 57 has been installed additional between steel wire wheel axle 44 in wire wheel 43.Preceding steel wire
There is steel wire trough 58 and fixation with steel wire hole 59 on wheel 55.Steel wire passes through fixation with steel wire hole 59 and fixes with preceding wire wheel 55, it
After be wrapped in steel wire trough 58.Since steel wire needs to be tensioned design, so being equipped with clockwork spring in the inside of steel wire wheel axle 43
56, the inside and outside structure hooked can be stuck in wire wheel between 44 and wire wheel 43.Clockwork spring 56 is when installation
It is just provided with pretightning force, the torque opposite with 43 rotation direction of wire wheel when pulling steel wire can be provided, steel is realized with this
The tensioning of silk.
By the way that shown in Fig. 7,8,9 and 10, the core of entire steel wire lock tightening unit is a level Four force amplificatory structure, principle
As follows: compressed spring 50 pushes wedge block 47 to press to upright slide block 30, passes through the inclined-plane of wedge block 47 and the cunning of upright slide block 30
The effect of wheel 52 pushes upright slide block 30 to move upwards, and realizes the amplification of first time power by inclined-plane effect；Upright slide block 30 drives
Permanent boosting lever 31 moves upwards, and pushes the first toggle 33 and transverse slider 35 is driven to move, and realizes power by lever and toggle
Second and third time amplify；The L shaped plate 36 being connected with transverse slider 35 pushes the 4th amplification of the second toggle 37 realization power；
The outside power of second toggle 37 is commutated by bascule 38, and the briquetting being connected with bascule 38 41 is made to press to steel wire
Wheel 3, so that locking wire wheel 43 rotate it can not, and then is fixed coupled steel wire also.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the device includes steel wire guiding mechanism, steel
Silk retaining mechanism and steel wire uncoupling gear.
The steel wire guiding mechanism is arranged in front end, is made of several sequentially connected draw-off godets.
The steel wire lock tightening mechanism and steel wire uncoupling gear is connected to the rear side of the steel wire guiding mechanism, the steel wire lock tightening
The end connecting base plate of mechanism and steel wire uncoupling gear.
2. a kind of according to claim 1 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the steel
Silk guiding mechanism includes the first draw-off godet set gradually, second spinning reel, third draw-off godet and the 4th draw-off godet, and described first
It is respectively disposed with 12 pulleys on draw-off godet and second spinning reel, is respectively disposed on the third draw-off godet and the 4th draw-off godet
12 thread eyes, first draw-off godet, second spinning reel, third draw-off godet is through being bolted, and the 4th draw-off godet is through being in
The copper post of circle distribution is connected with second spinning reel.
3. a kind of according to claim 2 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the cunning
Taking turns every two is one group, is circumferentially distributed on the first draw-off godet and second spinning reel, connects between two pulleys through pulley yoke,
The pulley yoke is equipped with and is bolted the first draw-off godet, second spinning reel, third draw-off godet.
4. a kind of according to claim 1 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the steel
The steel wire lock tightening unit group that silk retaining mechanism is circumferentially distributed by six groups is constituted, and every group of steel wire lock tightening unit group is connected by bottom plate
First draw-off godet and chassis.
5. a kind of according to claim 4 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the steel
Silk locking unit group is made of preceding steel wire lock tightening unit and rear steel wire lock tightening unit, preceding steel wire lock tightening unit and rear steel wire lock tightening list
Pulley is mounted on top plate by pulley spindle and pulley yoke among first.
6. a kind of according to claim 5 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that before described
Steel wire lock tightening unit and rear steel wire lock tightening unit include chassis, wedge block, upright slide block, permanent boosting lever, the first toggle, cross
To sliding block, L shaped plate, the second toggle, bascule, briquetting, fore-stock, after-poppet, wire wheel, steel wire wheel axle, wire wheel pedestal
And top plate, the wedge block, upright slide block, permanent boosting lever, the first toggle, the second toggle, bascule and briquetting are common
Constitute level Four force amplificatory structure.
7. a kind of according to claim 6 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the wedge
Shape block by 3 with guiding optical axis guiding, fixed by former and later two optical axis brackets by three guiding optical axises, and pressure is disposed at wedge block
Contracting spring.
The upright slide block has the sliding slot of an open type and the optical axis fixed vertically by two is oriented to, upright slide block
There are two idler wheels for upper fixation.
The perseverance boosting lever is connected by the gate shafts being open in sliding slot being arranged on upright slide block in upright slide block, and is led to
It crosses hinge axis to be connected with after-poppet, forms the fulcrum of permanent boosting lever.
First toggle is connected by the first toggle axis with the permanent boosting lever, and the transverse slider and L shaped plate pass through spiral shell
Bolt is connected to form a whole entirety, and is connected by hinge axis with the first toggle.
2 guiding optical axises are fixed between the fore-stock and after-poppet.
Second toggle is linked together by the second toggle axis with the hole in L shaped plate, the bascule and the second toggle
It is connected by hinge axis.
The briquetting is connected with bascule by hinge axis, and is connected by the bascule axis fixed with wire wheel pedestal
Form fulcrum.
8. a kind of according to claim 7 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the pressure
Contracting spring gives one initial pressure of wedge block and passes through inclined-plane so that wedge block is forced downward upright slide block in leading for optical axis
Effect realizes the amplification of first time power；Upright slide block moves upwards, and drives permanent boosting lever to move upwards, is realized by leverage
Second of amplification of power；Permanent boosting lever drives the first toggle to push transverse slider, realizes that third time power is put by angular effect
Greatly；Transverse slider pushes coupled L shaped plate, and L shaped plate pushes the second toggle, realizes the 4th power again by angular effect
Amplification；The pressure towards wire wheel is converted by the outside power in the second toggle direction finally by bascule, and then compresses steel
Silk wheel, locking steel wire.
9. a kind of according to claim 6 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that the steel
Silk wheel includes preceding wire wheel and rear wire wheel, is bolted to form an entirety, clockwork spring bullet is equipped with inside wire wheel
Spring.
10. a kind of according to claim 6 is driven the steel wire lock tightening device of passive snakelike arm, which is characterized in that described
Steel wire uncoupling gear includes screw rod stepper motor, feed screw nut, round platen, screw rod bracket and chassis, the round platen
The slot penetrated through with 6, passes through the optical axis at wedge block, is oriented to for round platen, the feed screw nut sets
It on screw rod, and links together with round platen, the screw rod stepper motor is connected with chassis, and screw rod crosses steel wire lock tightening
Mechanism simultaneously passes through the screw rod bracket being fixed on the first positioning disk, is rotated, is driven and feed screw nut's phase by motor drives screw mandrel
Round platen even moves along a straight line along optical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811131930.5A CN109352679B (en) | 2018-09-27 | 2018-09-27 | Steel wire locking device of wire transmission driven snake-shaped arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811131930.5A CN109352679B (en) | 2018-09-27 | 2018-09-27 | Steel wire locking device of wire transmission driven snake-shaped arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109352679A true CN109352679A (en) | 2019-02-19 |
| CN109352679B CN109352679B (en) | 2021-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811131930.5A Active CN109352679B (en) | 2018-09-27 | 2018-09-27 | Steel wire locking device of wire transmission driven snake-shaped arm |
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| CN (1) | CN109352679B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113842219A (en) * | 2021-10-13 | 2021-12-28 | 中南大学 | Joint adjusting and braking mechanism |
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| CN113842219A (en) * | 2021-10-13 | 2021-12-28 | 中南大学 | Joint adjusting and braking mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109352679B (en) | 2021-07-09 |
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