CN210335954U - Intraductal wiring mechanism of terminal multi freedom motion realizes - Google Patents
Intraductal wiring mechanism of terminal multi freedom motion realizes Download PDFInfo
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- CN210335954U CN210335954U CN201820554709.XU CN201820554709U CN210335954U CN 210335954 U CN210335954 U CN 210335954U CN 201820554709 U CN201820554709 U CN 201820554709U CN 210335954 U CN210335954 U CN 210335954U
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Abstract
The utility model discloses an in-pipe rope winding mechanism for realizing the movement of multiple degrees of freedom of the tail end, which comprises a primary pipe (3), wherein a diode (4) is sleeved at one end in the primary pipe (3); the telescopic 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 assembly (803), a second telescopic pulley assembly (804) and a secondary pipe pulling piece (12), and the first telescopic pulley assembly and the second telescopic pulley assembly 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 freedom degree of telescopic, rotary and swinging motion and the pulling execution freedom degree relative to the primary pipe.
Description
Technical Field
The utility model relates to a rope driven wiring mode field especially relates to an intraductal wiring mechanism who realizes terminal multi freedom motion.
Background
The problem of controlling and operating the tail end degree of freedom often appears in actual production, and a plurality of mechanisms or devices for operating the tail end degree of freedom by utilizing rope driving are already available in the market at present, for example, Chinese patent '2017010531265.8' discloses a rope-driven robot arm, the device utilizes a plurality of steering engines for driving, the rope driving and gear transmission are combined to realize the multi-degree-of-freedom movement of a manipulator, but the device mechanism is too complex and heavy, and the steering engines, straight gears, bevel gears and other parts are used to make the mechanical cost expensive, so that the device is difficult to be applied to occasions and auxiliary devices requiring easy movement, consumes electric energy, needs heavy batteries, has large energy consumption and is difficult to be widely applied. In view of this the utility model provides a realize intraductal wiring mode of terminal multi freedom motion to lower cost realizes terminal rotation, swing, shearing, flexible function with comparatively simple mode, can effectively reduce workman working strength and improve individual operational environment.
SUMMERY OF THE UTILITY MODEL
The utility model provides a to prior art not enough, the utility model provides a realize intraductal wiring mode of terminal multi freedom motion can assist workman's work or replace partial workman direct work, saves a large amount of labours' input, and work efficiency and security are superior to manual work.
The utility model discloses the technical scheme who adopts: an in-pipe rope winding mechanism for realizing multi-degree-of-freedom movement of the tail end comprises a primary pipe, wherein a diode is sleeved at one end in the primary pipe; the telescopic mechanism comprises a control hand wheel arranged on the primary pipe, a first telescopic pulley assembly, a second telescopic pulley assembly and a diode pulling part, wherein the first telescopic pulley assembly, the second telescopic pulley assembly and the diode pulling part are arranged in the primary pipe; the control hand wheel is provided with a first telescopic driving rope and a second telescopic driving rope, and the first telescopic driving rope and the second telescopic driving rope bypass the first telescopic pulley assembly; the diode pulling piece is fixedly connected with the head end of the diode, the first telescopic driving rope penetrates through the front face of the diode pulling piece to bypass the second telescopic pulley assembly and then is fixedly connected to the back face of the diode pulling piece, and the second telescopic driving rope is fixedly connected with the front face of the diode pulling piece.
The automatic rope winding device comprises a primary tube, a secondary tube and a rotary mechanism, wherein the primary tube is provided with a rope winding device I, a rotary handle assembly II, a rotary T-shaped cover and a rotary pulley assembly; the automatic rope collecting device I is provided with a first rotating driving rope and a second rotating driving rope, wherein the first rotating driving rope passes through a first rotating handle assembly, bypasses the rotating pulley assembly and is connected with the rotating T-shaped cover in a clockwise direction; the second rotating driving rope passes through the second rotating handle assembly to bypass the rotating pulley assembly and is connected with the rotating T-shaped cover in the anticlockwise direction.
The swing mechanism comprises a second automatic rope collector, a first swing rope clamping handle assembly and a second swing rope clamping handle assembly which are arranged on the primary pipe; the swinging mechanism further comprises a diode tail end cover arranged on the upper end face of the rotary T-shaped cover, a tail end cover is further arranged on the diode tail end cover, and an anti-dead point pulley assembly is further arranged between the diode tail end cover and the diode tail end cover; swing pulley components are further arranged on two sides of the diode tail end cover; the lower end of the diode tail end cover is also connected with a direction-changing pulley assembly, and the direction-changing pulley assembly is arranged in the rotating T-shaped cover; the automatic rope collecting device II is provided with a first swinging driving rope and a second swinging driving rope, and the first swinging driving rope passes through a first swinging rope clamping handle assembly to bypass the direction-changing pulley assembly in a clockwise direction and bypass the swinging pulley assembly and then is fixedly connected to the tail end cover of the diode; and the second swinging driving rope passes through the second swinging rope clamping handle assembly and bypasses the direction-changing pulley assembly in the anticlockwise direction and then fixedly connected to the tail end cover of the diode after bypassing the swinging pulley assembly.
The pull mechanism comprises a first automatic rope collector and a pull rope clamping handle assembly which are arranged on the primary pipe; the mechanism of dragging still including setting up the inside piece of dragging of diode tail-end cover, it is connected with extension spring to drag the piece, automatic receipts rope ware still is equipped with and drags the driving rope, it passes and drags rope-handling spare to drag the driving rope and walks around diversion loose pulley assembly and walk around behind the anti-dead point loose pulley assembly pass tail-end cover, extension spring in proper order with drag a fixed connection.
Preferably, the tail end of the diode is connected with a tail end.
Preferably, the control hand wheel is arranged on the primary pipe through a hand wheel fixing plate.
Preferably, the pulling and clamping rope handle assembly comprises a grab handle, and salient points are arranged on the grab handle; the elastic U-shaped cover is provided with a sliding chute; the grab handle is installed in the middle of the elastic U-shaped cover, and the structures of the first rotary rope clamping handle component, the second rotary rope clamping handle component, the first swing rope clamping handle component and the second swing rope clamping handle component are the same as those of the pull rope clamping handle component.
Compared with the prior art, the beneficial effects of the utility model are that: (1) the utility model discloses realize terminal multi freedom motion with comparatively simple structure and mode. (2) The utility model discloses for realize terminal multi freedom motion through rope drive gear drive's method again with motor drive single chip microcomputer control, this kind of mode is comparatively simple, and energy resource consumption is low, and is with low costs, and is comparatively convenient. (3) Compared with the prior art, the utility model discloses a card rope handle components and automatic rope ware cooperation of receiving can make terminal manipulation and the flexible cooperation effectively of pipeline and do not interfere. (4) The utility model discloses rotatory T shape lid, diode tail end lid, swing piece, the piece of dragging are being installed in proper order to the diode tail end for the end realizes rotatory, swing, drags the degree of freedom effectively. (5) Compared with the prior art, the utility model discloses a completely through rope driven mode, the people pulls at terminal control and realizes terminal multi freedom motion, and the method is comparatively novel. (6) The utility model provides a pair of realize intraductal wiring mode of terminal multi freedom motion can assist the part manual work, improves work efficiency.
Drawings
FIG. 1 is a cross-sectional view of an in-tube rope winding mechanism for achieving multi-degree-of-freedom movement of the end of the present invention;
FIG. 2 is a schematic structural view of the telescoping mechanism;
FIG. 3 is a schematic structural view of a rotating mechanism;
FIG. 4 is a schematic structural diagram of a swing mechanism;
FIG. 5 is a schematic view of a pulling mechanism;
FIG. 6 is an exploded view of the diode tail end;
FIG. 7 is a schematic view of the tether lever assembly in three states;
fig. 8 is a schematic view of the installation position of the rope clamping handle assembly.
In the figure: 904. a second telescopic driving rope; 903. a first telescopic driving rope; 906. rotating a driving rope II; 905. rotating the driving rope I; 908. a second swinging driving rope; 907. swinging a first driving rope; 909. pulling the drive rope; 17. a control hand wheel; 10. a handle assembly; 163. an extension spring; 101. rotating the rope clamping handle assembly I; 102. rotating the rope clamping handle assembly II; 104. swinging the rope clamping handle assembly I; 105. swinging the rope clamping handle assembly II; 103. pulling the strap handle assembly; 807. a swinging sheave assembly; 803. a first telescopic pulley component; 804. a second telescopic pulley component; 805. a rotating sheave assembly; 808. a dead-point prevention large pulley assembly; 806. a direction-changing pulley assembly; 16. a terminal end; 161. a swinging member; 162. a pulling member; 163. an extension spring; 19. a handwheel fixing plate; 8. an elastic fixing ring; 9. a first-stage pipe; 10. a diode; 17. a telescopic pull rope cover; 702. A first automatic rope collecting device; 20. the rope collector fixes the snap ring; 14. rotating the T-shaped cover; 701. a second automatic rope collecting device; 15. a diode tail end cap; 181. a chute; 182. an elastic U-shaped piece; 183. a handle; 184. and (4) bumps.
Detailed Description
The following describes in detail a rope winding manner in a pipe for achieving multiple degrees of freedom movement of the end of the present invention with reference to fig. 1 to 8.
As shown in fig. 1 to 8, an in-tube rope winding mechanism for realizing multi-degree-of-freedom movement of a tail end comprises a primary tube 3, wherein a diode 4 is sleeved at one end in the primary tube 3; the telescopic mechanism comprises a control hand wheel 17 arranged on the primary tube 3, a first telescopic pulley component 803 and a second telescopic pulley component 804 which are arranged in the primary tube 3, and a secondary tube pulling piece 12; 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 part 12 is fixedly connected with the head end of the diode 4, the first telescopic driving rope 903 penetrates through the front face of the diode pulling part 12 to bypass the second telescopic pulley assembly 804 and then is fixedly connected to the back face of the diode pulling part 12, and the second telescopic driving rope 904 is fixedly connected with the front face of the diode pulling part 12.
The automatic rope winding device further comprises a rotating mechanism, wherein the rotating mechanism comprises a first automatic rope winding device 701, a first rotating handle assembly 101, a second rotating handle assembly 102, a rotating T-shaped cover 14 and a rotating pulley assembly 805, the first automatic rope winding device and the second automatic rope winding device are arranged on the primary tube 3, and the rotating T-shaped cover 14 and the rotating pulley assembly 805 are arranged at the tail end of the secondary tube 4; the first automatic rope winding device 701 is provided with a first rotating driving rope 905 and a second rotating driving rope 906, wherein the first rotating driving rope 905 passes through a first rotating handle assembly 101 to bypass the rotating pulley assembly 805 and is connected with the rotating T-shaped cover 14 in a clockwise direction; the second rotational drive line 906 passes through the second rotational handle assembly 102 around the rotational pulley assembly 805 and connects to the rotational tee 14 in a counterclockwise direction.
The swing mechanism comprises a second automatic rope collector 702 arranged on the primary pipe 3, a first swing rope clamping handle assembly 104 and a second swing rope clamping handle assembly 105; the swinging mechanism further comprises a diode tail end cover 15 arranged on the upper end face of the rotating T-shaped cover 14, the diode tail end cover 15 is further provided with a tail end cover 15, and an anti-dead point pulley assembly 808 is further arranged between the diode tail end cover 15 and the diode tail end cover 15; swing pulley assemblies 807 are also arranged on two sides of the diode tail end cover 15; the lower end of the diode tail end cover 15 is further connected with a direction-changing pulley assembly 806, and the direction-changing pulley assembly 806 is arranged in the rotating T-shaped cover 14; the second automatic rope winding device 702 is provided with a first swinging driving rope 907 and a second swinging driving rope 908, and the first swinging driving rope 907 passes through the first swinging rope clamping handle assembly 104 to pass around the direction-changing pulley assembly 806 in a clockwise direction and pass through the swinging pulley assembly 807 to be fixedly connected to the diode tail end cover 15; the second swing actuation cable 908 passes through the second swing tether handle assembly 105 in a counterclockwise direction around the diverting pulley assembly 806 and around the swing pulley assembly 807 before being fixedly attached to the diode end cap 15.
The automatic rope winding device further comprises a pulling mechanism, wherein the pulling mechanism comprises a first automatic rope winding device 701 arranged on the primary pipe 3 and a pulling rope clamping handle assembly 103; the pulling mechanism further comprises a pulling member 162 arranged inside the diode tail end cover 15, the pulling member 162 is connected with a tension spring 163, the first automatic rope winding device 701 is further provided with a pulling driving rope 909, and the pulling driving rope 909 passes through the pulling rope clamping handle assembly 103, bypasses the direction-changing pulley assembly 806, bypasses the anti-dead point pulley assembly 808 and then sequentially passes through the tail end cover 15, the tension spring 163 and the pulling member 162 to be fixedly connected.
The utility model discloses an among the specific technical scheme, 4 trailing end connections of diode have terminal 16, control hand wheel 17 sets up through hand wheel fixed plate 19 on the primary tube 3.
In the specific technical solution of the present invention, the handle assembly 103 for pulling the clamping rope comprises a handle 183, wherein the handle 183 is provided with a salient point 184; the device also comprises an elastic U-shaped cover 182, wherein a sliding groove 181 is arranged on the elastic U-shaped cover 182; the grab handle 183 is installed in the middle of the elastic U-shaped cover 182, and the structures of the first rotary rope clamping handle component 101, the second rotary rope clamping handle component 102, the first swing rope clamping handle component 104 and the second swing rope clamping handle component 105 are the same as those of the pull rope clamping handle component 103.
The utility model discloses when specifically using, its principle as follows:
with reference to fig. 1-8, an in-tube rope winding mechanism for realizing multi-degree-of-freedom movement of a tail end comprises a primary tube 3, a telescopic mechanism, a diode 4, a rotating mechanism, a swinging mechanism, a pulling mechanism and a tail end 16; the diode 4 is sleeved in the primary tube 3, and the diode 4 can extend out of or retract into the primary tube 3 under the driving of the telescopic mechanism; the rotating mechanism, the swinging mechanism and the pulling mechanism are arranged on the primary tube 3 and the secondary tube 4; the tail end 16 is connected with the tail end of the diode 4 through the tail end of the rotating mechanism; the telescopic mechanism, the rotating mechanism, the swinging mechanism and the pulling mechanism are all driven by ropes, and the ropes are arranged inside the primary tube 3 and the secondary tube 4. Under the combined action of the telescoping mechanism, the rotating mechanism, the swinging mechanism and the pulling mechanism, the tail end 16 can realize the freedom of telescoping, rotating, swinging movement and pulling execution relative to the primary pipe 3.
As shown in fig. 2, the telescoping mechanism includes a control hand wheel 17 disposed on the primary tube 3, a first telescoping pulley assembly 803 and a second telescoping pulley assembly 804 disposed inside the primary tube 3, and a secondary tube pulling member 12, and a screw of the second telescoping pulley assembly 804 is matched with two slots of the secondary tube 4, so as to limit the rotational degree of freedom of the secondary tube 4 during telescoping movement; 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 part 12 is fixedly connected with the head end of the diode 4, the first telescopic driving rope 903 penetrates through the front face of the diode pulling part 12 to bypass the second telescopic pulley assembly 804 and then is fixedly connected to the back face of the diode pulling part 12, and the second telescopic driving rope 904 is fixedly connected with the front face of the diode pulling part 12. When the control hand wheel 17 is rotated clockwise, the first telescopic driving rope 903 is retracted on the control hand wheel 17, the second telescopic driving rope 904 is released, and the first telescopic driving rope 903 pulls the diode pulling part 12 on the diode 4, so that the diode 4 extends relative to the primary tube 3; when the control hand wheel 17 is rotated anticlockwise, the first telescopic driving rope 903 is released, the second telescopic driving rope 904 is retracted in the control hand wheel 17, and the second telescopic driving rope 904 pulls the diode 4 to retract relative to the primary tube 3.
As shown in fig. 7, the handle assembly 103 for pulling and clamping the rope comprises a handle 183, wherein a bump 184 is arranged on the handle 183; the device also comprises an elastic U-shaped piece 182, and a sliding groove 181 is arranged on the elastic U-shaped piece 182. The grab handle 183 is mounted in the middle of the elastic U-shaped member 182. The pulling rope-clamping handle assembly 103 clamps the pulling driving rope 909 through the common extrusion of the grab handle 183 and the elastic U-shaped piece 182, and the convex point 184 of the grab handle 183 clamps the elastic U-shaped piece 182, so that the sliding groove 181 on the elastic U-shaped piece is in frictional contact with the primary pipe 3, and the position locking of the pulling rope-clamping handle assembly 103 is realized. The pulling and clamping rope handle assembly 103 has three operating states of locking, rope clamping and rope clamping locking, the grab handle 183 is in a horizontal state when in the locking state, as shown in fig. 7-1, the convex point 184 on the grab handle 183 clamps the elastic U-shaped piece 182, so that the sliding groove 181 is in frictional contact with the clamping strip of the first-stage pipe 3 and is locked, the grab handle 183 does not clamp the pulling and clamping driving rope 909, and the whole pulling and clamping rope handle assembly 103 does not have the freedom degree of moving along the axial direction of the pipe; when the handle 183 is in the rope clamping state, as shown in fig. 7-2, the handle 183 is in a state of about 80 degrees, the arc hammer head at the bottom of the handle 183 and the bottom of the U-shaped element 182 jointly press the pulling driving rope 909 to clamp the pulling driving rope 909, at this time, the convex point 184 does not support the elastic U-shaped element 182, and the whole pulling rope clamping handle assembly 103 has freedom degree of movement along the axial direction of the pipe; when the rope is in the locking state, as shown in fig. 7-3, the handle 183 is 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 member 182 still squeeze and pull the driving rope 909 together to lock and pull the driving rope 909, at this time, the convex point 184 props against the elastic U-shaped member 182, and the whole pulling and rope-clamping handle assembly 103 has no freedom degree of moving along the axial direction of the pipe. The structure of the first rotary rope clamping handle assembly 101, the second rotary rope clamping handle assembly 102, the first swing rope clamping handle assembly 104, the second swing rope clamping handle assembly 105 and the rope clamping mode thereof are all the same as those of the pull rope clamping handle assembly.
As shown in fig. 3, the rotating mechanism comprises a first automatic rope winder 701 and a first rotating handle assembly 101 which are arranged on the primary tube 3, a second rotating handle assembly 102, a rotating T-shaped cover 14 and a rotating pulley assembly 805 which are arranged at the tail end of the secondary tube 4; the first automatic rope winding device 701 is provided with a first rotating driving rope 905 and a second rotating driving rope 906, wherein the first rotating driving rope 905 passes through a first rotating handle assembly 101 to bypass the rotating pulley assembly 805 and is connected with the rotating T-shaped cover 14 in a clockwise direction; the second rotational drive line 906 passes through the second rotational handle assembly 102 around the rotational pulley assembly 805 and connects to the rotational tee 14 in a counterclockwise direction. The two strands of rotating drive cords effect a rotational movement of the rotating tee cap 14 relative to the primary tube 3 by rotating the neck of the tee cap 14 in an alternating manner such that the force pulling the rotating tee cap 14 on the rotating drive cords is in a tangential direction to the neck tube. When the first rotary rope clamping handle assembly 101 is sequentially pulled to clamp the first rotary driving rope 905 and the first rotary rope clamping handle assembly 101 is pulled down, the first rotary driving rope 905 pulls the rotary T-shaped cover 14 to rotate anticlockwise, and the second rotary driving rope 906 releases the rope from the first automatic rope collector 701; conversely, when the second rotary rope clamping handle assembly 102 is sequentially shifted to clamp the second rotary driving rope 906, and the second rotary rope clamping handle assembly 102 is pulled down to rotate, the second rotary driving rope 906 pulls the rotary T-shaped cover 14 to rotate clockwise, and the first rotary driving rope 905 is released from the first automatic rope take-up device 701.
As shown in fig. 4, the swing mechanism includes a second automatic rope collector 702, a first swing rope clamping handle assembly 104 and a second swing rope clamping handle assembly 105 which are arranged on the primary pipe 3; the swinging mechanism further comprises a diode tail end cover 15 arranged on the upper end face of the rotating T-shaped cover 14, a swinging piece 161 is further arranged on the diode tail end cover 15, and an anti-dead point pulley assembly 808 is further arranged between the diode tail end cover 15 and the swinging piece 161; swing pulley assemblies 807 are also arranged on two sides of the diode tail end cover 15; the lower end of the diode tail end cover 15 is further connected with a direction-changing pulley assembly 806, and the direction-changing pulley assembly 806 is arranged in the rotating T-shaped cover 14; the second automatic rope winding device 702 is provided with a first swinging driving rope 907 and a second swinging driving rope 908, and the first swinging driving rope 907 passes through the first swinging rope clamping handle assembly 104 to pass around the direction-changing pulley assembly 806 in a clockwise direction and pass through the swinging pulley assembly 807 to be fixedly connected to the diode tail end cover 15; the second swing actuation cable 908 passes through the second swing tether handle assembly 105 in a counterclockwise direction around the diverting pulley assembly 806 and around the swing pulley assembly 807 before being fixedly attached to the diode end cap 15. The two ropes are led out of the pipe in a staggered mode through the lead-in pulley assembly 806, the directions of the two ropes are changed through the swing pulley assembly 807, so that the tension of the swing driving rope forms a force arm on the swing part, and the tail end 16 swings relative to the primary pipe 3; the arm of force is constantly changing in the swing process, dead points will appear when the swing arm swings to about plus or minus 50 degrees relative to the central axis, but the dead point prevention large pulley assembly 808 can effectively change the direction of the rope at the angle, so that the dead points are avoided. When the first swing rope clamping handle assembly 104 is sequentially pulled to clamp the first swing driving rope 907 and the first swing rope clamping handle assembly 104 is pulled down, the first swing driving rope 907 pulls the swing piece 161 to swing downwards, and the second swing driving rope 908 releases ropes from the second automatic rope collector 702; when the second swing rope clamping handle assembly 105 is sequentially shifted to clamp the second swing driving rope 908, and the second swing rope clamping handle assembly 105 is pulled down, the second swing driving rope 908 pulls the swing piece 161 to swing upwards, and the first swing driving rope 907 is swung to release the rope from the second automatic rope take-up device 702.
As shown in fig. 5, the pulling mechanism comprises a first automatic rope collector 701 arranged on the primary pipe 3, a pulling rope clamping handle assembly 103; the pulling mechanism further comprises a pulling member 162 arranged inside the diode tail end cover 15, the pulling member 162 is connected with a stretching spring 163, the first automatic rope collecting device 701 is further provided with a pulling driving rope 909, and the pulling driving rope 909 penetrates through the pulling rope clamping handle assembly 103, bypasses the direction-changing pulley assembly 806, bypasses the anti-dead point pulley assembly 808 and then sequentially penetrates through the tail end cover 15 and the stretching spring 163 to be fixedly connected with the pulling member 162. As shown in fig. 4, the tail end 16 is connected with the tail end of the diode 4 through the dead-point prevention large pulley assembly 808, the tail end cover of the diode 4 and the rotating T-shaped cover 14 in sequence; the extension spring 163 functions to self-return when pulled. When the pulling rope handle assembly 103 is pulled to block the pulling driving rope 909, and then the pulling rope handle assembly 103 is pulled downwards, the pulling driving rope 909 pulls the pulling member 162 to realize the pulling action, and the extension spring 163 has the function of enabling the pulling member 162 to automatically return.
Referring to fig. 1 to 8, in the intraductal rope winding mechanism for realizing multi-degree-of-freedom movement of the tail end, when the mechanism works, handle components of five clamping ropes are in a locking state, the ropes are all tensioned by a rope collector with constant force, but the tail end cannot move due to the force; if the tail end needs to be operated to rotate clockwise, and the pulling action is carried out after the left swing, a person starts to rotate the control hand wheel 17, so that the tail end 16 reaches an initial destination, pulls the grab handle on the first rotary clamping rope handle assembly 101 which rotates clockwise to be in a rope clamping state, pulls the pull rope of the first rotary clamping rope handle assembly 101 back along the groove of the primary pipe 3 until the pull rope rotates to a proper position, and then breaks the grab handle 183 to be in a rope clamping locking state, so that the clockwise rotation action is completed. And operating the swinging rope clamping handle assembly like a rotating action step, so that the tail end swinging action is realized. And finally, operating a pulling action, namely operating a pulling rope clamping handle assembly like a rotating action, and then holding the handle 183 to break into a rope clamping locking state if the pulling state is kept, and if the pulling state is not kept, automatically returning due to the extension spring 163 when the user releases his hand.
In design, the distance between the two rotating pulley assemblies 805 should be kept to the maximum within an allowable range, the diameter of the neck of the corresponding rotating T-shaped cover 14 should be made as large as possible, so as to achieve more labor-saving operation of the head end 6, the distance between the two swinging pulley assemblies 807 should be made larger without interference from the outside, so as to achieve more labor-saving operation of the head end, and the anti-dead-point pulley assembly 808 should be made to the maximum within an appropriate range, so as to more effectively prevent the occurrence of a dead point.
It should be noted that the embodiment described herein is only one preferred embodiment of the present invention, and those skilled in the art can design many other embodiments based on the description herein. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a realize intraductal wiring mechanism of terminal multi freedom motion which characterized in that: the device comprises a primary tube (3), wherein a diode (4) is sleeved at one end in the primary tube (3); the telescopic 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 assembly (803), a second telescopic pulley assembly (804) and a secondary pipe pulling piece (12), and the first telescopic pulley assembly and the second telescopic pulley assembly are arranged in the primary pipe (3); the control hand wheel (17) is provided with a first telescopic driving rope (903) and a second telescopic driving rope (904), and the first telescopic driving rope (903) and the second telescopic driving rope (904) bypass the first telescopic pulley assembly (803); the diode pulling piece (12) is fixedly connected with the head end of the diode (4), the first telescopic driving rope (903) penetrates through the front face of the diode pulling piece (12) to bypass the second telescopic pulley assembly (804) and then is fixedly connected to the back face of the diode pulling piece (12), and the second telescopic driving rope (904) is fixedly connected with the front face of the diode pulling piece (12).
2. The rope winding mechanism in pipe for realizing multi-degree-of-freedom motion of the tail end of the pipe as claimed in claim 1, wherein: the automatic rope winding device comprises a primary pipe (3), a rotary rope clamping handle assembly I (101), a rotary rope clamping handle assembly II (102), a rotary T-shaped cover (14) and a rotary pulley assembly (805), wherein the automatic rope winding device I (701) and the rotary rope clamping handle assembly I (101) are arranged on the primary pipe (3); the automatic rope collecting device I (701) is provided with a rotating driving rope I (905) and a rotating driving rope II (906), wherein the rotating driving rope I (905) passes through a rotating rope clamping handle assembly I (101) to bypass the rotating pulley assembly (805) and is connected with the rotating T-shaped cover (14) in a clockwise direction; the second rotating driving rope (906) passes through the second rotating rope clamping handle assembly (102) to bypass the rotating pulley assembly (805) and is connected with the rotating T-shaped cover (14) in the anticlockwise direction.
3. The rope winding mechanism in pipe for realizing multi-degree-of-freedom movement of the tail end of the pipe as claimed in claim 2, wherein: the swing mechanism comprises a second automatic rope collector (702), a first swing rope clamping handle assembly (104) and a second swing rope clamping handle assembly (105) which are arranged on the primary pipe (3); the swinging mechanism further comprises a diode tail end cover (15) arranged on the upper end face of the rotary T-shaped cover (14), a swinging piece (161) is further arranged on the diode tail end cover (15), and an anti-dead point pulley assembly (808) is further arranged between the diode tail end cover (15) and the swinging piece (161); swing pulley components (807) are also arranged on two sides of the diode tail end cover (15); the lower end of the diode tail end cover (15) is also connected with a direction-changing pulley assembly (806), and the direction-changing pulley assembly (806) is arranged in the rotating T-shaped cover (14); the automatic rope collecting device II (702) is provided with a swinging driving rope I (907) and a swinging driving rope II (908), and the swinging driving rope I (907) passes through the swinging rope clamping handle assembly I (104) to bypass the direction-changing pulley assembly (806) in a clockwise direction and bypass the swinging pulley assembly (807) and then is fixedly connected to the diode tail end cover (15); and the second swinging driving rope (908) passes through the second swinging rope clamping handle assembly (105) to pass around the direction-changing pulley assembly (806) in the anticlockwise direction and pass through the swinging pulley assembly (807), and then is fixedly connected to the diode tail end cover (15).
4. The rope winding mechanism in pipe for realizing multi-degree-of-freedom motion of the tail end of the pipe as claimed in claim 3, wherein: the pull-up device comprises a first automatic rope collector (701) arranged on the primary pipe (3) and a pull-up rope clamping handle assembly (103); the dragging mechanism further comprises a dragging piece (162) arranged inside the diode tail end cover (15), the dragging piece (162) is connected with an extension spring (163), the automatic rope collecting device I (701) is further provided with a dragging driving rope (909), the dragging driving rope (909) penetrates through a dragging rope clamping handle assembly (103) to bypass the direction-changing pulley assembly (806) and bypass the dead point prevention pulley assembly (808) and then sequentially penetrates through the diode tail end cover (15), the extension spring (163) and the dragging piece (162) to be fixedly connected.
5. The rope winding mechanism in pipe for realizing multi-degree-of-freedom motion of the tail end of the pipe as claimed in claim 1, wherein: the tail end of the diode (4) is connected with a tail end (16).
6. The rope winding mechanism in pipe for realizing multi-degree-of-freedom motion of the tail end of the pipe as claimed in claim 1, wherein: the control hand wheel (17) is arranged on the primary pipe (3) through a hand wheel fixing plate (19).
7. The rope winding mechanism in pipe for realizing multi-degree-of-freedom motion of the tail end of the pipe as claimed in claim 4, wherein: the pulling and clamping rope handle assembly (103) comprises a grab handle (183), and salient points (184) are arranged on the grab handle (183); the device also comprises an elastic U-shaped cover (182), wherein a sliding groove (181) is arranged on the elastic U-shaped cover (182); grab handle (183) install in the middle of elasticity U type lid (182), rotatory card rope handle set spare (101), rotatory card rope handle set spare two (102), swing card rope handle set spare one (104), swing card rope handle set spare two (105) structure all with it is the same to pull card rope handle set spare (103).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820554709.XU CN210335954U (en) | 2018-04-18 | 2018-04-18 | Intraductal wiring mechanism of terminal multi freedom motion realizes |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820554709.XU CN210335954U (en) | 2018-04-18 | 2018-04-18 | Intraductal wiring mechanism of terminal multi freedom motion realizes |
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| Publication Number | Publication Date |
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| CN210335954U true CN210335954U (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820554709.XU Expired - Fee Related CN210335954U (en) | 2018-04-18 | 2018-04-18 | Intraductal wiring mechanism of terminal multi freedom motion realizes |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500970A (en) * | 2018-04-18 | 2018-09-07 | 广东工业大学 | A kind of Guan Nei wirings mechanism realizing end multifreedom motion |
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2018
- 2018-04-18 CN CN201820554709.XU patent/CN210335954U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108500970A (en) * | 2018-04-18 | 2018-09-07 | 广东工业大学 | A kind of Guan Nei wirings mechanism realizing end multifreedom motion |
| CN108500970B (en) * | 2018-04-18 | 2023-10-03 | 广东工业大学 | In-tube rope winding mechanism for realizing movement of tail end with multiple degrees of freedom |
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Granted publication date: 20200417 |