CN211025153U

CN211025153U - Mechanical couple control mechanism

Info

Publication number: CN211025153U
Application number: CN201921209010.0U
Authority: CN
Inventors: 赵焯
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-07-29
Filing date: 2019-07-29
Publication date: 2020-07-17
Anticipated expiration: 2029-07-29

Abstract

The utility model provides a mechanical couple control mechanism relates to the simulation control technology field of mechanical couple, has simplified the numerous and complicated preparation process of mechanical couple, has solved miniature, small-size mechanical couple because internally mounted drive mechanism's space is limited, leads to the degree of freedom less and then leads to the not enough lively natural technical problem of mechanical couple developments. The mechanical couple control mechanism comprises a driving module, a guide cable module and an output end; the driving module is arranged outside the mechanical couple to be controlled, and the output end of the driving module is arranged on a framework of the mechanical couple; the guide cable module is respectively connected with the driving module and the output end and used for transmitting the pulling force output by the driving module to the output end so that the output end drives the mechanical couple to execute the preset action. The utility model makes the manufacturing process of the mechanical doll simpler without designing a complex mechanical structure; the maintenance and debugging of the mechanical couple are more convenient and faster; more degrees of freedom can be realized on a miniature and small mechanical couple; mechanical noise is easier to mask and viewers can get a better viewing experience.

Description

Mechanical couple control mechanism

Technical Field

The utility model relates to a simulation control technical field of machinery idol especially relates to a mechanism is controlled to machinery idol.

Background

The mechanical couple (animatronic) technology was widely used for movie special effects in the last 80 to 21 st century. Notable examples include Dabaisha, terminator, Jurassic park, etc. Today, CGI technology has essentially completely replaced mechanical idols, but compared to the green screen and the marked dots, the physical special effect of the mechanical idols can be truly interactive with actors and viewers, which is not available in CGI. Therefore, the mechanical puppet can still show the hands and the hands greatly in the fields of partial film scene shooting, stage dramas, bionic animals in natural museums, public arts and the like.

The typical mechanical couple consists of a leather sheath, a skeleton, a mechanical structure and an operation device. The structure is complex, and a property maker needs to consider art designing in a limited construction period and consume a great deal of time and energy to solve the technical problem of engineering. Small-sized and micro-mechanical couples have limited space for installing mechanical structures inside the couples, so that the degree of freedom is low, and the motions are rigid and not vivid enough. The steering engine used for driving the mechanical couple is a common model airplane steering engine on the market, wherein compared with a 40-gram standard steering engine with a larger volume, various miniature steering engines such as 9 grams, 5 grams and even 1.5 grams are small in torsion and easy to overload, higher in failure rate and shorter in service life. And the mechanical couple needs to be disassembled, assembled and repaired when being maintained and debugged, and the operation procedures are complicated.

SUMMERY OF THE UTILITY MODEL

One of the purposes of the present invention is to provide a control mechanism that can be widely applied to various mechanical puppets. The technical problems that in the prior art, mechanical couples are complex in manufacturing procedures, and due to the fact that the space for internally mounting the transmission mechanism is limited, the number and types of mechanical structures which can be mounted are small, and further the degree of freedom is low, and the dynamics of the mechanical couples are not vivid and natural are solved. The utility model discloses preferred technical scheme can reach a great deal of beneficial technological effect, specifically see the following explanation.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model relates to a mechanical doll control mechanism, which comprises a driving module, a guide cable module and an output end; the driving module is arranged outside the mechanical couple to be controlled, and the output end is arranged on a framework of the mechanical couple; the guide cable module is respectively connected with the driving module and the output end and used for transmitting the pulling force output by the driving module to the output end so that the output end drives the mechanical couple to execute the preset action.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the guide cable module comprises a wire pipe and a wire core, and the wire core is inserted into the wire pipe.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the driving module comprises a double-pull wire driving module and/or a push-pull wire driving module, wherein,

the double-stay wire driving module is used for driving a flexible mechanism of the mechanical couple to execute preset actions;

and the push-pull wire driving module is used for driving a flexible mechanism and/or a rigid mechanism of the mechanical couple to execute preset actions.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the double-pull-wire driving module comprises a double-pull-wire steering engine, a first wire guide device, a wire winder and a first rocker arm; the bottom of the first wire guide is fixedly connected with an output shaft above the double-pull-wire steering engine; the winder is fixedly connected with an output shaft of the double-pull-wire steering engine through a first rocker arm and is arranged above the first wire guide.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much:

the first wire guide device is used for respectively connecting the guide rope module, the winder and the double-pull-wire steering engine, so that the guide rope module, the winder and the double-pull-wire steering engine are stably connected;

the winder is used for controlling the winding and unwinding of the wire core under the driving of the double-wire-pulling steering engine so as to enable the flexible mechanism of the mechanical couple to perform different preset actions.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: a first wire guide hole and a second wire guide hole are symmetrically formed in the side face of the first wire guide along the central axis of the output shaft of the double-wire-pulling steering engine; the first wire tube hole and the second wire tube hole are respectively connected with the first wire tube and the second wire tube;

the first wire pipe hole and the first wire pipe are used for enabling the wire core to penetrate through the first wire pipe hole and the first wire pipe, so that the wire core is wound on the winder;

and a second spool hole and a second spool for passing the core wound on the reel therethrough.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the winder comprises a winding slot, an opening, a first iron sheet and a second iron sheet;

the winding groove is arranged on the side surface of the winder and used for winding the wire core;

the opening is formed in one side of the winder and communicated with the winding groove, the wire cores of the two guide rope modules are respectively wound by half a turn at the opposite side of the winder and are embedded into the winding groove of the winder, and the wire ends of the two wire cores penetrate through the same opening and penetrate out of the top surface of the winder;

the first iron sheet and the second iron sheet are arranged on the top surface of the winder, symmetrically distributed along the connecting line of the middle point of the opening and the winder and used for fixing two wire cores which penetrate out of the opening respectively.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the push-pull wire driving module comprises a push-pull wire steering engine, a second wire guide device, a second rocker arm and a positioning bean; one end of the second rocker arm is connected to the output shaft of the push-pull wire steering engine, and the other end of the second rocker arm is connected to the positioning bean.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the second wire guide is provided with a through hole, one end of the through hole is connected with a third wire tube and used for enabling the wire core to penetrate through the third wire tube and the second wire guide and connecting and winding the positioning bean;

and the second rocker arm is used for performing angle swing under the driving of the push-pull wire steering engine, driving and controlling the wire core of the positioning bean linkage guide cable module to perform push-pull motion, and further driving the flexible mechanism and/or the rigid mechanism of the mechanical pair to execute preset actions.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the output end comprises a double-pull-wire output end and a push-pull-wire output end, wherein the double-pull-wire output end is a wire core in the guide cable module, and is fixedly connected with the mechanical couple and used for driving the double-pull-wire steering engine to control the wire core in the guide cable module so as to enable the flexible mechanism of the mechanical couple to execute preset actions.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: the output end of the push-pull wire comprises an output end wire guide, a spring, a clamping sleeve and a universal joint; one end of the clamping sleeve is connected with the universal joint, and the other end of the clamping sleeve is connected with one end of the spring; one end of the output end wire guide is connected with the other end of the spring, and the other end of the output end wire guide is connected with the guide cable module;

the output end wire guide is used for fixedly connecting the guide cable module;

the spring is used for maintaining the tension of the wire core of the guide cable module and eliminating the virtual position, and the spring also provides thrust and is matched with the tension transmitted by the guide cable module for use, so that the output end of the whole push-pull wire generates the stretching and push-pull motion effects;

the clamping sleeve is used for adjusting the thrust of the spring and locking the universal joint so that the universal joint does not fall off when in operation;

the universal joint is used for hinging the movable part of the mechanical couple so as to enable the mechanical couple to make corresponding motion.

Further, for realizing better the utility model discloses, adopt the following structure that sets up very much: if the number of the driving modules is multiple, the method further comprises the following steps: a drive module fixing frame; the driving module fixing frame is used for fixing the plurality of driving modules into a driving module array.

The utility model provides a pair of mechanical couple control mechanism has following beneficial technological effect at least:

the utility model comprises a driving module, a guide cable module and an output end, wherein the driving module and the guide cable module are externally arranged on a mechanical doll, so that the manufacturing process of the mechanical doll is simplified; more degrees of freedom are realized in a limited installation space, and the dynamic state of the mechanical couple is more vivid and natural; the failure rate of the mechanical couple is reduced; the maintenance and debugging are convenient; mechanical noise is reduced; can be widely applied.

The utility model discloses an output can the direct fixation in mechanical even skeleton, connect corresponding mobile position, need not to redesign other mechanical structure complicated. Because the structure of the utility model is external, the maintenance and debugging of the mechanical doll are more convenient and do not need to be disassembled; for small and micro mechanical couples, the size and the number of the steering engines are not limited by installation space any more, more degrees of freedom can be realized, and standard steering engines with larger torsion and lower failure rate can be used. The utility model discloses pass through output and guide cable module with the machinery idol and be connected, the connection is flexible connection, then the utility model discloses can settle wantonly when using, for example the machinery idol is put on the show stand, then the utility model discloses put into the sound-proof box and hide in the base, shielding mechanical noise provides better viewing experience.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural diagram of a dual-stay driving module of the present invention;

fig. 3 is a schematic structural view of a first wire guide of the present invention;

FIG. 4 is a top view of the reel of the present invention;

FIG. 5 is a schematic view of the reel structure of the present invention;

fig. 6 is a schematic structural view of the push-pull wire driving module of the present invention;

fig. 7 is a schematic view of a second wire guide according to the present invention;

fig. 8 is a schematic structural view of the output end of the push-pull wire of the present invention;

fig. 9 is a schematic structural view of a combined array of four dual-pull-wire driving modules according to the present invention;

fig. 10 is a schematic structural view of a combined array of eight dual-pull-wire driving modules according to the present invention;

fig. 11 is a schematic structural diagram of a combined array of four push-pull wire driving modules according to the present invention;

fig. 12 is a schematic structural diagram of a combined array of eight push-pull wire driving modules according to the present invention.

In the figure, 1-drive module, 2-guide cable module, 3-output end, 4-drive module fixing frame;

11-double-pull-wire driving module, 111-double-pull-wire steering engine, 112-first wire guider, 1121-first wire pipe hole, 1122-second wire pipe hole, 113-winder, 1131-winding groove, 1132-opening hole, 1133-first iron sheet, 1134-second iron sheet and 114-first rocker arm;

12-a push-pull wire driving module, 121-a push-pull wire steering engine, 122-a second wire guide, 1221-a through hole, 123-a second rocker arm and 124-a positioning bean;

31-double pull wire output end, 32-push wire output end, 321-output end wire guide, 322-spring, 323-clamping sleeve and 324-universal joint.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1, the present invention relates to a mechanical couple control mechanism, which comprises a driving module 1, a cable guiding module 2 and an output end 3, which are connected in sequence; wherein,

the driving module 1 is arranged outside the mechanical couple to be controlled, and the output end 3 is arranged on a framework of the mechanical couple; the guide cable module 2 is respectively connected with the driving module 1 and the output end 3 and is used for transmitting the power or the pulling force output by the driving module 1 to the output end 3 so that the output end 3 drives the mechanical couple to execute a preset action;

the driving module 1 is used for driving and controlling the mechanical couple to operate;

the guide cable module 2 is used for transmitting the pulling force of the driving module to the output end;

and the output end 3 is used for connecting the mechanical couple and conducting power to the mechanical couple to complete corresponding actions.

The driving module 1 is preferably a steering engine for an airplane model, namely a standard steering engine controlled by pwm pulse signals commonly available in the market, and can be replaced by at least one of the following items: and pwm steering engines, bus steering engines, servo motors, stepping motors and other rotating mechanisms with other specifications or sizes.

The utility model comprises a driving module 1, a guide cable module 2 and an output end 3, wherein the output end 3 can be directly fixed on the framework of the mechanical doll, the driving module 1 and the guide cable module 2 are externally arranged on the mechanical doll, no additional transmission mechanism needs to be designed, and the manufacturing process of the mechanical doll is simplified; the maintenance and debugging of the mechanical couple are more convenient, and the maintenance and debugging can be carried out without disassembly under the common condition. For small and miniature mechanical couples, the size and the number of the steering engines are not limited by installation space any more, more degrees of freedom can be realized, standard steering engines with larger torsion and lower failure rate can be used, and the dynamic of the mechanical couples is more vivid and natural. The utility model discloses pass through output 3 and lead cable module 2 with the machinery idol and be connected, the connection is flexible connection, then the utility model discloses can settle wantonly when using, for example the machinery idol displays on the show stand, then the utility model discloses put into the sound-proof box and hide in the base, shielding mechanical noise provides better viewing experience.

The guide cable module 2 comprises a guide tube 21 and a wire core 22, and the wire core 22 is inserted in the guide tube 21. The wire core 22 comprises at least one of: bicycle speed-changing line, rubber-coated steel wire rope, fishing line, nylon line, etc.

The driving module 1 comprises a double pull wire driving module 11 and/or a push pull wire driving module 12, wherein,

the double-pull-wire driving module 11 is used for driving a flexible mechanism of the mechanical couple to execute a preset action; for example, the double-pull-wire driving module 11 can be used for driving the tail of the animal-shaped mechanical couple to perform twisting and swinging motions, or for performing twisting and swinging motions on other long strip-shaped parts of the mechanical couple.

The push-pull wire driving module 12 is used for driving a flexible mechanism and/or a rigid mechanism of the mechanical couple to execute a preset action; for example, the push-pull wire driving module 12 may be used to drive eyeballs of a human-shaped mechanical couple to realize a rotation motion, or drive a head of the mechanical couple to perform facial expression motions such as eyebrow movement, wink movement, grinning movement, and aperture. According to the driving module 1, the double-pull-wire steering engine 11 and the push-pull-wire steering engine 12 can be steering engines for aeromodelling, or other same driving modules 1 or different driving modules 1.

Referring to fig. 2, the double-wire-pulling driving module 11 includes a double-wire-pulling steering engine 111, a first wire guide 112, a wire winder 113, and a first rocker arm 114; the bottom of the first wire guide 112 is fixedly connected to an output shaft above the double-pull-wire steering engine 111; the winder 113 is fixedly connected with the output shaft of the double-wire-pulling steering engine 111 through a first rocker arm 114 and is arranged above the first wire guide 112.

The first wire guide 112 is used for respectively connecting the rope guide module 2, the winder 113 and the double-pull-wire steering engine 111, so that the rope guide module 2, the winder 113 and the double-pull-wire steering engine 111 are stably connected; referring to fig. 3, a first wire guide 112 is provided with a first wire guide hole 1121 and a second wire guide hole 1122 on a side surface thereof and symmetrically along a central axis of an output shaft of the dual-wire-pulling steering engine 111; the first and

second wire holes

1121, 1122 connect the first and second wire pipes, respectively. The first wire guide 112 can be marked with numbers "2.5" and "09", where "2.5" indicates that the wire tube with the diameter of 2.5mm can be adapted, and "09" indicates that the distance between the fixed screw holes of the double-pull wire steering engine 111 of the model is 9 mm. The number of the screw hole intervals is different according to different diameters of the line pipe and the double-pull-line steering engine 111.

The first wire tube hole 1121 and the first wire tube are used for enabling the wire core to penetrate through the first wire tube hole 1121 and the first wire tube so that the wire core is wound on the winder;

a second bobbin hole 1122 and a second bobbin for passing the core wound on the reel therethrough.

And the winder 113 is used for controlling the winding and unwinding of the wire core 22 under the driving of the double-wire-pulling steering engine 111 so as to enable the flexible mechanism of the mechanical couple to perform different preset actions. Referring to fig. 4 and 5, the cord reel includes a winding groove 1131, an opening 1132, a first iron piece 1133 and a second iron piece 1134;

the winding groove 1131 is arranged on the side surface of the winder 113 and is used for winding the wire core 22;

the opening 1132 is arranged at one side of the winder 113 and communicated with the winding groove 1131, and is used for winding half-turn of the wire cores 22 of the two cable guide modules 2 at the opposite side of the winder 113 respectively to be embedded into the winding groove 1131 of the winder 113, and the wire ends of the two wire cores 22 pass through the same opening 1132 and penetrate out of the top surface of the winder 113;

the first iron sheet 1133 and the second iron sheet 1134 are disposed on the top surface of the reel 113, fixed by screws, and symmetrically distributed along the opening 1132 and the midpoint connecting line of the reel 113, for fixing the two cores 22 penetrating out of the opening 1132 respectively.

Referring to fig. 6, the push-pull wire driving module 12 includes a push-pull wire steering engine 121, a second wire guide 122, a second rocker arm 123 and a positioning beam 124; one end of the second rocker arm 123 is connected to the output shaft of the push-pull wire steering engine 121, and the other end of the second rocker arm is connected to the positioning beam 124. The positioning beam 124 is a positioning beam 124 for the model airplane.

Referring to fig. 7, a through hole 1221 is formed in the second wire guide 122, and one end of the through hole 1221 is connected to the third wire tube 21, so that the wire core 22 passes through the third wire tube 21 and the second wire guide 122, and is connected to and wound around the positioning beam 124.

The second rocker arm 123 is configured to perform angular swing under the driving of the push-pull wire steering engine 121, and drive and control the positioning beam 124 to link the wire core 22 of the guide cable module 2 to perform push-pull motion, so as to drive the flexible mechanism and/or the rigid mechanism of the mechanical couple to perform a preset action.

The output end 3 comprises a double-pull-wire output end 31 and a push-pull-wire output end 32, wherein the double-pull-wire output end 3 is a wire core 22 in the guide cable module 2, is fixedly connected with a mechanical couple, and is used for driving and controlling the wire core 22 in the guide cable module 2 by the double-pull-wire steering engine 11 so as to enable a flexible mechanism of the mechanical couple to execute a preset action.

Referring to fig. 8, the push-pull wire output end 32 includes an output end wire guide 321, a spring 322, a clamping sleeve 323 and a universal joint 324; one end of the clamping sleeve 323 is connected with the universal joint 324, and the other end is connected with one end of the spring 322; one end of the output end wire guide 321 is connected with the other end of the spring 322, and the other end is connected with the guide cable module 2;

the output end wire guide 321 is used for fixedly connecting the guide cable module 2;

the spring 322 is used for maintaining the tension of the wire core 22 of the guide cable module 2 and eliminating a virtual position, and the spring 322 also provides a pushing force which is matched with the pulling force transmitted by the guide cable module 2 for use, so that the whole push-pull wire output end 32 generates the stretching and push-pull motion effect;

the clamping sleeve 323 is used for adjusting the tension of the spring 322 and locking the universal joint 324, so that the universal joint 324 does not fall off during operation; the clamping sleeve 323 is used by the model airplane and generally consists of a wheel block, a screw and a stainless steel shaft sleeve used by the model airplane; wherein, the wheel block and the screw in the clamping sleeve 232 close to the universal joint are used for connecting the wire core and the universal joint, and also have the fine adjustment function; the wheel chock and the screw in the clamping sleeve 232 close to the spring are used for stopping the spring and adjusting the tension of the spring;

the universal joint 324 is used for hinging the movable part of the mechanical couple so as to enable the mechanical couple to make corresponding motion; the universal joint 324 consists of a screw, an iron sheet and an elastic steel wire, and the elastic steel wire is connected with the wire core 22 and locked in the clamping sleeve 323 together with the wire core 22; the universal joint 324 is equivalent to a ball joint existing on the market, so the universal joint 324 can be replaced by the ball joint, but the universal joint 324 is smaller and thinner in size and can be installed in a crack.

If drive module 1 is a plurality of, the utility model discloses still include: a drive module mount 4; the driving module fixing frame 4 is used for fixing the plurality of driving modules 1 into a driving module 1 array. The driving module fixing frame 4 is further used for stably connecting the push-pull wire steering engine 121 with the second wire guide 122, so that the second wire guide 122 and the push-pull wire steering engine 121 cannot generate displacement.

Example 1: referring to fig. 9 and 10, fig. 9 is a view of combining four dual wire driving modules into an array through the driving module fixing frame 4, and fig. 10 is a view of combining eight dual wire driving modules into an array through the driving module fixing frame 4. The driving module fixing frame 4 is provided with hole sites for placing the double-pull-wire steering engines 111, and the hole sites of the double-pull-wire steering engines 111 can be compatible with all public mould standard steering engines in the market.

Example 2: referring to fig. 10 and 12, fig. 10 shows four push-pull wire driving modules combined into an array by the driving module fixing frame 4, and fig. 12 shows eight push-pull wire driving modules combined into an array by the driving module fixing frame 4. The driving module fixing frame 4 is provided with a hole site for placing the push-pull wire steering engine 121 and a hole site for placing the second wire guide 122, and the hole sites of the push-pull wire steering engine 121 can be compatible with all public mould standard steering engines on the market.

The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A mechanical couple control mechanism is characterized by comprising a driving module, a guide cable module and an output end; the driving module is arranged outside the mechanical couple to be controlled, and the output end is arranged on a framework of the mechanical couple; the guide cable module is respectively connected with the driving module and the output end and used for transmitting the pulling force output by the driving module to the output end so that the output end drives the mechanical couple to execute the preset action.

2. The mechanical couple operating mechanism of claim 1, wherein the guide cable module comprises a conduit and a wire core, the wire core being threaded into the conduit.

3. The mechanical couple manipulation mechanism of claim 2, wherein the drive module comprises a dual pull wire drive module and/or a push pull wire drive module, wherein,

4. The mechanical couple control mechanism of claim 3, wherein the dual pull line drive module comprises a dual pull line steering engine, a first wire guide, a reel, and a first rocker arm; the bottom of the first wire guide is fixedly connected with an output shaft above the double-pull-wire steering engine; the winder is fixedly connected with an output shaft of the double-pull-wire steering engine through a first rocker arm and is arranged above the first wire guide;

5. The mechanical couple control mechanism according to claim 4, wherein a first wire guide hole and a second wire guide hole are symmetrically formed in the side surface of the first wire guide along the central axis of the output shaft of the double-wire-pulling steering engine; the first wire tube hole and the second wire tube hole are respectively connected with the first wire tube and the second wire tube;

6. The mechanical couple operating mechanism of claim 5, wherein the winder includes a winding slot, an opening, a first iron piece and a second iron piece;

7. The mechanical couple control mechanism according to claim 3, wherein the push-pull wire driving module comprises a push-pull wire steering engine, a second wire guide, a second rocker arm and a positioning bean; one end of the second rocker arm is connected to the output shaft of the push-pull wire steering engine, and the other end of the second rocker arm is connected with the positioning beam; wherein,

the second wire guide is provided with a through hole, one end of the through hole is connected with a third wire tube and used for enabling the wire core to penetrate through the third wire tube and the second wire guide and connecting and winding the positioning bean;

8. The mechanical couple operating mechanism according to any one of claims 1 to 7, wherein the output end comprises a double-pull-wire output end and a push-pull-wire output end, wherein the double-pull-wire output end is a wire core in the guide cable module, and is fixedly connected with the mechanical couple, and is used for driving the double-pull-wire steering engine to control the wire core in the guide cable module, so that the flexible mechanism of the mechanical couple performs a preset action.

9. The mechanical couple operating mechanism of claim 8, wherein the push-pull wire output comprises an output wire guide, a spring, a detent sleeve, and a universal joint; one end of the clamping sleeve is connected with the universal joint, and the other end of the clamping sleeve is connected with one end of the spring; one end of the output end wire guide is connected with the other end of the spring, and the other end of the output end wire guide is connected with the guide cable module;

10. The mechanical couple operating mechanism of claim 1, further comprising, if there are multiple drive modules: a drive module fixing frame; the driving module fixing frame is used for fixing the plurality of driving modules into a driving module array.