Wire transmission system, wire transmission pre-tightening system and pre-tightening method

Abstract

The present invention relates to a wire transmission system, a wire transmission pre-tensioning system and a pre-tensioning method, wherein the wire transmission system comprises: a rotating shaft unit, comprising a plurality of transmission shafts, the plurality of transmission shafts are arranged in sequence and spaced apart, and the transmission shaft located at the head end is a driving shaft, and the remaining transmission shafts are all driven shafts; a plurality of pre-tensioning units, the pre-tensioning units correspond one-to-one to the driven shafts and are adjustably arranged, and are provided with a first clamping portion, the first clamping portion being used to clamp with a second clamping portion of a pre-tensioning tool; a plurality of groups of transmission units, a transmission unit corresponds one-to-one to two adjacent transmission shafts, the transmission unit comprises a transmission wire, the transmission wire is cross-wound around two adjacent transmission shafts and the pre-tensioning unit, or the transmission wire is cross-wound around two adjacent transmission shafts; the second clamping portion is clamped with the first clamping portion, and the pre-tensioning tool is operated to rotate the pre-tensioning unit to adjust the tension of the transmission wire, with good stability, and the pre-tensioning tool responds to the pre-tensioning force, thereby realizing objective judgment of the pre-tensioning force and ensuring consistency of the pre-tensioning force of each part.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a wire transmission system, a wire transmission pre-tightening system and a pre-tightening method. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Minimally invasive surgical robots, with their high stability, high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations, making them widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities.

[0003] At present, as a representative of minimally invasive surgical robots, laparoscopic surgical robots are composed of a doctor's console, a patient surgical platform, and an image platform. During surgery, the doctor uses the image on the image platform in front of the doctor's console to operate the main control hand, and remotely controls the instruments installed on the surgical arm of the patient surgical platform to perform surgical operations on different parts of the body. Since the main control hands are mostly large and not light enough, in order to make the doctor feel light, it is necessary to provide a mechanism with a large transmission ratio, compact structure, and good reverse drive performance. Wire transmission has become the preferred choice of transmission mechanism due to its simple and compact structure, small overall size, simplified long-distance transmission structure, and easy change of transmission direction. However, the subjective judgment of the preload force of the existing wire transmission mechanism and the inconsistency of the preload force of multiple wire transmission mechanisms during the entire transmission process affect the smooth and smooth progress of the wire transmission, which has become an important reason why the existing wire transmission mechanism is difficult to apply to the main control hand. Summary of the Invention

[0004] Based on this, it is necessary to provide a wire transmission system, a wire transmission pre-tightening system and a pre-tightening method to address the problem that the existing wire transmission mechanism is difficult to apply to the main control hand.

[0005] The present invention provides a wire transmission system, comprising:

[0006] The rotating shaft unit includes a plurality of transmission shafts, wherein the plurality of transmission shafts are arranged in sequence and spaced apart, and the transmission shaft at the head end is the driving shaft, and the remaining transmission shafts are driven shafts;

[0007] A plurality of pre-tightening units, each of which corresponds to the driven shaft and is adjustably arranged, and is provided with a first clamping portion, the first clamping portion being used to clamp with the second clamping portion of the pre-tightening tool;

[0008] Multiple groups of transmission units, one transmission unit corresponds to two adjacent transmission shafts one by one, the transmission unit includes a transmission wire, the transmission wire is cross-wound around the two adjacent transmission shafts and the pre-tightening unit or the transmission wire is cross-wound around the two adjacent transmission shafts.

[0009] In the above-mentioned wire transmission system, when the driving shaft rotates clockwise, the transmission wire rotates accordingly, thereby driving the adjacent driven shaft to rotate counterclockwise. Correspondingly, when the driving shaft rotates counterclockwise, the transmission wire rotates accordingly, thereby driving the adjacent driven shaft to rotate clockwise. Therefore, the forward and reverse rotation of the transmission shaft can be achieved by cross-winding the transmission wire of the transmission shaft and the pre-tensioning unit. A high reduction ratio can also be achieved through the wire transmission of multiple groups of transmission units. In addition, the forward and reverse drive are both provided by the driving shaft, so that the reverse drive force is small and the forward and reverse drive performance is good. By engaging the second clamping portion of the pre-tensioning fixture with the first clamping portion of the pre-tensioning unit, the pre-tensioning fixture is operated to rotate the pre-tensioning unit relative to the driven shaft to adjust the tension of the transmission wire, making the pre-tensioning force adjustable. The overall structure is compact, small in size, and has good stability. The pre-tensioning force adjustment is reflected by the pre-tensioning fixture to achieve objective judgment of the pre-tensioning force. The pre-tensioning force of each part of the above-mentioned wire transmission system is consistent throughout the entire transmission process, and the wire transmission is smooth and smooth, which is suitable for a master controller.

[0010] In one embodiment, the number of the transmission shafts is three, and the transmission unit close to the driving shaft further includes a small wire wheel and a large wire wheel. The small wire wheel and the large wire wheel are both located on the same side of the rotating shaft unit, and the large wire wheel is away from the driving shaft. The two ends of the transmission wire cross-extending from the small wire wheel are sequentially wound around the large wire wheel and the pre-tightening unit, and the pre-tightening unit is adjustably installed in an area on the large wire wheel that is offset from the axis.

[0011] In one embodiment, the pre-tensioning unit includes a pre-tensioning wheel and a first fastener. The pre-tensioning wheel is rotatably mounted on an area of the large wire wheel that is offset from the axis, and is detachably connected to the large wire wheel through the fastener. The first clamping portion is formed on the side of the pre-tensioning wheel away from the large wire wheel.

[0012] In one embodiment, the driven shaft away from the driving shaft includes a lower shaft with an open end and an upper shaft with a stepped structure, the lower shaft is sleeved on the small end of the upper shaft and abuts against the large end of the upper shaft; the pre-tightening unit includes a pre-tightening seat and at least one second fastener, the pre-tightening seat is clamped with the lower shaft, and is sleeved and locked to the end of the upper shaft extending out of the lower shaft through the second fastener, and the first clamping portion is formed on the side of the pre-tightening wheel away from the upper shaft.

[0013] In one embodiment, the two transmission units have the same structure, and the two pre-tightening units have the same structure.

[0014] In addition, the present invention also provides a wire transmission pre-tightening system, comprising:

[0015] The wire transmission system as described in any one of the above technical solutions;

[0016] The pre-tightening tool comprises a tool piece and a push-pull force gauge, wherein the tool piece is provided with a second clamping portion and a mounting hole, and the push-pull force gauge has a protruding end, and the protruding end is detachably fixed to the mounting hole.

[0017] In the above-mentioned wire transmission pretensioning system, when the driving shaft in the wire transmission system rotates clockwise, the transmission wire rotates accordingly, thereby driving the adjacent driven shaft to rotate counterclockwise. Correspondingly, when the driving shaft rotates counterclockwise, the transmission wire rotates accordingly, thereby driving the adjacent driven shaft to rotate clockwise. Therefore, the forward and reverse rotation of the transmission shaft can be achieved by cross-winding the transmission wire of the transmission shaft and the pretensioning unit. A high reduction ratio can also be obtained through the wire transmission of multiple groups of transmission units, and the forward and reverse drive are both provided by the driving shaft, so that the reverse driving force is smaller and the forward and reverse drive performance is better. The second clamping part of the tooling piece is clamped with the first clamping part of the pre-tightening unit, and the protruding end of the push-pull force gauge is fixed to the mounting hole. The push-pull force gauge is pushed, and the tooling piece drives the pre-tightening unit to move, so that the pre-tightening unit rotates relative to the driven shaft, so as to be able to adjust the tension of the transmission wire, so that the pre-tightening force is adjustable. The overall structure is compact, the volume is small, and the stability is good. The pre-tightening force adjustment is reflected by the push-pull force gauge to achieve objective judgment of the pre-tightening force. During the entire transmission process, the pre-tightening force of each part of the above-mentioned wire transmission system is consistent, and the wire transmission is smooth and smooth, which is suitable for the main control hand.

[0018] In one embodiment, the first clamping portion is one of a clamping slot and a clamping column, and the second clamping portion is the other of the two.

[0019] In one embodiment, as described in the above technical solution, the wire transmission system, one end of the tooling piece along the first direction is a U-shaped structure, forming a groove for the first fastener to pass through along the second direction, and the first clamping portion is provided on the end face along the second direction, the other end of the tooling piece along the first direction is a plate-like structure, and the end face is provided with the mounting hole extending along the first direction, and the second direction is perpendicular to the first direction.

[0020] In addition, the present invention further provides a pre-tightening method for a wire transmission pre-tightening system as described in any one of the above technical solutions, comprising:

[0021] Step S601, providing a wire transmission system to be pre-tightened;

[0022] Step S602: The second clamping portion is clamped to the first clamping portion, and the protruding end of the push-pull force gauge is fixed to the mounting hole;

[0023] Step S603, pushing the push-pull dynamometer to a set preload force;

[0024] Step S604: fix the preload unit and the corresponding driven shaft.

[0025] In the pre-tightening method of the wire transmission pre-tightening system, first, through step S601, a wire transmission system to be pre-tightened is provided. At this time, the wire transmission system can be a newly assembled system or a system that needs pre-tightening maintenance after running for a period of time; then, through step S602, the second clamping portion of the tooling is clamped with the first clamping portion of the pre-tightening unit, and the protruding end of the push-pull force gauge is fixed to the mounting hole to complete the pre-tightening preparation; then, through step S603, the push-pull force gauge is pushed to the set pre-tightening force, and the tooling drives the pre-tightening unit to move so that the pre-tightening unit rotates relative to the driven shaft to adjust the transmission wire to the appropriate tension; finally, through step S604, the pre-tightening unit and the corresponding driven shaft are fixed to complete the pre-tightening of the wire transmission pre-tightening system. The above pre-tightening method is simple, convenient and easy to operate. The pre-tightening force adjustment is reflected by the push-pull force gauge to achieve objective judgment of the pre-tightening force, which can ensure that the pre-tightening force of each part of the above wire transmission system is consistent during the entire transmission process, and the wire transmission is smooth and smooth, which is suitable for the main control hand.

[0026] In one embodiment, the wire transmission system as described in the above technical solution, providing a wire transmission system to be pre-tightened specifically includes:

[0027] Install the small wire wheel on the driving shaft, install the large wire wheel on the driven shaft close to the driving shaft, and set the preload wheel on the large wire wheel;

[0028] The transmission wire is wound around the small wire wheel and the large wire wheel in a crosswise manner according to a set path, and the end portion extending from the large wire wheel is wound around the preload wheel.

[0029] In one embodiment, the wire transmission system as described in the above technical solution, providing a wire transmission system to be pre-tightened specifically includes:

[0030] The lower shaft sleeve is arranged on the small end of the upper shaft, and the preload seat is clamped on the lower shaft;

[0031] The transmission wire is cross-wound around the upper shaft and the lower shaft according to a set path. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the structure of a wire transmission system according to an embodiment of the present invention;

[0033] Figure 2 A schematic structural diagram of a wire transmission system according to another embodiment of the present invention;

[0034] Figure 3 This is a schematic structural diagram of a wire transmission pre-tightening system according to an embodiment of the present invention;

[0035] Figure 4 A schematic structural diagram of a wire transmission pre-tightening system according to another embodiment of the present invention;

[0036] Figure 5 A schematic structural diagram of a tooling component in a wire transmission pre-tightening system according to an embodiment of the present invention;

[0037] Figure 6 This is a flow chart of a pretensioning method of a wire transmission pretensioning system according to an embodiment of the present invention. Description of the drawings:

[0039] 01. Wire drive preload system;

[0040] 10. Wire transmission system;

[0041] 100, rotating shaft unit; 110, transmission shaft; 120, driving shaft; 121, driving motor; 130, driven shaft; 131, upper shaft; 132, lower shaft;

[0042] 200, pre-tightening unit; 211, first clamping portion; 212, pre-tightening wheel; 213, first fastener; 221, pre-tightening seat; 222, second fastener;

[0043] 300, transmission unit; 310, transmission wire; 320, small wire wheel; 330, large wire wheel;

[0044] 20. Preload fixture; 21. Fixture piece; 22. Push-pull force gauge; 23. Second clamping portion; 24. Mounting hole; 25. Extended end; 26. Groove. DETAILED DESCRIPTION

[0045] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth numerous specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0046] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0047] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0048] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0050] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0051] The technical solutions provided by the embodiments of the present invention are described below with reference to the accompanying drawings.

[0052] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 as well as Figure 5 As shown, the present invention provides a wire drive preload system 01, including a preload tool 20, the preload tool 20 including a tool piece 21 and a push-pull force gauge 22, the tool piece 21 being provided with a second clamping portion 23 and a mounting hole 24, the push-pull force gauge 22 having an extension end 25, the extension end 25 being fixed to the mounting hole 24, and the extension end 25 being detachable relative to the mounting hole 24. In a specific configuration, the push-pull force gauge 22 can have functions such as digital display, preset, and range adjustment, the dimensions of the extension end 25 of the push-pull force gauge 22 and the mounting hole 24 of the tool piece 21 corresponding to each other, and the detachable connection method between the two can be a snap connection, a concave-convex fit, a threaded connection, etc.

[0053] like Figure 1 、 Figure 2 、 Figure 3 as well as Figure 4 As shown, the wire drive pretensioning system 01 also includes a wire drive system 10 according to any of the following technical solutions. The wire drive system 10 uses a wire drive method to achieve motion transmission and utilizes a pretensioning tool 20 for reliable pretensioning operation, so that the wire drive system 10 can be used in a master controller. The wire drive system 10 includes a rotating shaft unit 100, multiple pretensioning units 200, and multiple transmission units 300.

[0054] The rotating shaft unit 100 includes multiple transmission shafts 110, and the multiple transmission shafts 110 are arranged in sequence at intervals, and the transmission shaft 110 located at the head end of the multiple transmission shafts 110 is the driving shaft 120, and the remaining transmission shafts 110 in the multiple transmission shafts 110 are all driven shafts 130; in the specific setting, the number of transmission shafts 110 can be two, three, four or more than four, the driving shaft 120 can be a rotating shaft connected to the drive motor 121, and the driving shaft 120 can also be the output shaft of the drive motor 121.

[0055] The pre-tensioning unit 200 is arranged in a one-to-one correspondence with the driven shaft 130, and the pre-tensioning unit 200 can adjust the tension of the wire relative to the driven shaft 130; in a specific setting, one driven shaft 130 corresponds to one pre-tensioning unit 200, and the number of pre-tensioning units 200 is equivalent to the number of driven shafts 130. The pre-tensioning unit 200 is provided with a first clamping portion 211, which is used to clamp with the second clamping portion 23 of the pre-tensioning tool 20; in the specific setting, the first clamping portion 211 is one of the clamping groove and the clamping column, and the second clamping portion 23 is the other of the clamping groove and the clamping column. For example, the first clamping portion 211 can be a clamping groove opening on the surface of the pre-tensioning unit 200, and the second clamping portion 23 can be a clamping column protruding from the tooling piece 21. For another example, the first clamping portion 211 can be a clamping column protruding from the surface of the pre-tensioning unit 200, and the second clamping portion 23 can be a clamping groove opening on the tooling piece 21. Of course, the structural form of the first clamping portion 211 and the second clamping portion 23 is not limited to this, and can also be other structural forms that can be required.

[0056] In the plurality of transmission units 300, one transmission unit 300 corresponds to two adjacent transmission shafts 110. The transmission unit 300 includes a transmission wire 310, which is cross-wound around the two adjacent transmission shafts 110 and the pre-tightening unit 200. In a specific configuration, two adjacent transmission shafts 110 correspond to one transmission unit 300. After the transmission wire 310 is wound around the transmission shafts 110, the two ends extending therefrom are staggered vertically in the axial direction of the transmission shafts 110 and continue to be wound around the other transmission shaft 110 and the pre-tightening unit 200 in a cross-direction. Alternatively, after the transmission wire 310 is wound around the transmission shaft 110, the two ends extending therefrom are staggered vertically in the axial direction of the transmission shafts 110 and continue to be wound around the other transmission shaft 110 in a cross-direction.

[0057] In the above-mentioned wire drive pretensioning system 01, when the driving shaft 120 in the wire drive system 10 rotates clockwise, the transmission wire 310 rotates accordingly, driving the adjacent driven shaft 130 to rotate counterclockwise. Correspondingly, when the driving shaft 120 rotates counterclockwise, the transmission wire 310 rotates accordingly, driving the adjacent driven shaft 130 to rotate clockwise. Therefore, the forward and reverse rotation of the transmission shaft 110 can be achieved by cross-winding the transmission wire 310 of the transmission shaft 110 and the pretensioning unit 200. A high reduction ratio can also be obtained through the wire drive of multiple groups of transmission units 300, and the forward and reverse drive are both provided by the driving shaft 120, so that the reverse driving force is smaller and the forward and reverse drive performance is better. The second clamping portion 23 of the tooling 21 is clamped with the first clamping portion 211 of the pre-tightening unit 200, and the protruding end 25 of the push-pull force gauge 22 is fixed to the mounting hole 24. The push-pull force gauge 22 is pushed, and the tooling 21 drives the pre-tightening unit 200 to move, so that the pre-tightening unit 200 rotates relative to the driven shaft 130, so as to be able to adjust the tension of the transmission wire 310, so that the pre-tightening force is adjustable, the overall structure is compact, the volume is small, and the stability is good. The pre-tightening force adjustment is reflected by the push-pull force gauge 22 to achieve objective judgment of the pre-tightening force. During the entire transmission process, the pre-tightening force of each part of the above-mentioned wire transmission system 10 is consistent, and the wire transmission is smooth and smooth, which is suitable for the main control hand.

[0058] like Figure 6 As shown, in addition, the present invention further provides a pre-tightening method for a wire transmission pre-tightening system 01, which is applicable to any wire transmission pre-tightening system 01 of the present invention. The pre-tightening method for the wire transmission pre-tightening system 01 includes:

[0059] In step S601, a wire transmission system 10 to be pre-tightened is provided. The wire transmission system 10 can be a newly assembled system or a system that needs pre-tightening maintenance after running for a period of time. The shaft unit 100, multiple pre-tightening units 200 and multiple groups of transmission units 300 are assembled together.

[0060] In step S602 , the second engaging portion 23 of the tooling piece 21 is engaged with the first engaging portion 211 of the pre-tensioning unit 200 , and the protruding end 25 of the push-pull force gauge 22 is fixed to the mounting hole 24 of the tooling piece 21 .

[0061] Step S603 , pushing the push-pull force gauge 22 to the set preload force; in specific settings, the movement stroke of the push-pull force gauge 22 can be preset to facilitate batch operation of multiple wire transmission systems 10 and multiple preload units 200 of the wire transmission system 10 .

[0062] Step S604 : After the adjustment of the push-pull dynamometer 22 is completed, the pre-tightening unit 200 and the corresponding driven shaft 130 are fixed.

[0063] In the pre-tightening method of the above-mentioned wire transmission pre-tightening system 01, first, through step S601, a wire transmission system 10 to be pre-tightened is provided; then, through step S602, the second clamping portion 23 of the tooling 21 is clamped with the first clamping portion 211 of the pre-tightening unit 200, and the protruding end 25 of the push-pull force gauge 22 is fixed to the mounting hole 24 to complete the pre-tightening preparation; then, through step S603, the push-pull force gauge 22 is pushed to the set pre-tightening force, and the tooling 21 drives the pre-tightening unit 200 to move, so that the pre-tightening unit 200 rotates relative to the driven shaft 130, so as to be able to adjust the transmission wire 310 to the appropriate tension; finally, through step S604, the pre-tightening unit 200 and the corresponding driven shaft 130 are fixed to complete the pre-tightening of the wire transmission pre-tightening system 01. The above-mentioned pre-tightening method is simple, convenient and easy to operate. The pre-tightening force adjustment is reflected by the push-pull force gauge 22 to achieve objective judgment of the pre-tightening force. It can ensure that the pre-tightening force of each part of the above-mentioned wire transmission system 10 is consistent during the entire transmission process, and the wire transmission is smooth and smooth, which is suitable for the main controller.

[0064] According to the different transmission units 300, the structure of the wire transmission system 10 has various forms, such as Figure 1 、 Figure 2 as well as Figure 3 As shown, in a preferred embodiment, the number of transmission shafts 110 is three, and the transmission unit 300 close to the driving shaft 120 also includes a small wire wheel 320 and a large wire wheel 330. The small wire wheel 320 and the large wire wheel 330 are both located on the same side of the rotating shaft unit 100. The small wire wheel 320 and the large wire wheel 330 are correspondingly installed on two adjacent transmission shafts 110, and the large wire wheel 330 is away from the driving shaft 120. The two ends of the transmission wire 310 extending crosswise from the small wire wheel 320 are sequentially wound around the large wire wheel 330 and the pre-tightening unit 200; the pre-tightening unit 200 is installed in an area on the large wire wheel 330 that is misaligned with the axis center, and the pre-tightening unit 200 is adjustable relative to the large wire wheel 330. In the specific setting, the connection method between the small wire wheel 320 and the transmission shaft 110, and the large wire wheel 330 and the transmission shaft 110 can be the same. For example, they can be connected as one through key connection, threaded connection, snap connection, etc. The connection method between the small wire wheel 320 and the transmission shaft 110, and the large wire wheel 330 and the transmission shaft 110 can also be different. For example, the small wire wheel 320 and the transmission shaft 110 are keyed, and the large wire wheel 330 and the transmission shaft 110 are threaded.

[0065] In the above-mentioned wire transmission system 10, by providing a small wire wheel 320 and a large wire wheel 330 of different sizes, and limiting the small wire wheel 320 to be installed on the driving shaft 120 and the large wire wheel 330 to be installed on the transmission shaft 110 near the driving shaft 120, a higher reduction ratio can be achieved with a relatively simple structure. The second clamping portion 23 of the tooling 21 is clamped with the first clamping portion 211 of the preload unit 200, and the protruding end 25 of the push-pull force gauge 22 is fixed to the mounting hole 24. When the push-pull force gauge 22 is pushed, the tooling 21 drives the preload unit 200 to move, so that the preload unit 200 rotates relative to the large wire wheel 330, thereby adjusting the tension of the transmission wire 310.

[0066] On the basis of the above-mentioned wire transmission system 10, as Figure 1 、 Figure 2 as well as Figure 3 As shown, specifically, the pre-tightening unit 200 includes a pre-tightening wheel 212 and a first fastener 213. The pre-tightening wheel 212 is installed in an area on the large wire wheel 330 that is offset from the axis, and the pre-tightening wheel 212 is rotatable relative to the large wire wheel 330. The pre-tightening wheel 212 is connected to the large wire wheel 330 as a whole through the fastener, and the fastener and the large wire wheel 330 can be detachable. A first clamping portion 211 is formed on the side of the pre-tightening wheel 212 away from the large wire wheel 330. In the specific setting, the pre-tightening wheel 212 can be installed on the large wire wheel 330 through a bearing, a pin shaft or other structural form. In order to ensure the smooth movement of the transmission wire 310, an opening is provided at the edge of the large wire wheel 330, and the pre-tightening wheel 212 is installed in the opening. The connection between the pre-tightening wheel 212 and the large wire wheel 330 can be a locking screw, or other structural forms that can meet the requirements, such as screws. The first clamping portion 211 may be a clamping groove opened on the end surface of the pre-tensioning wheel 212 away from the large wire wheel 330 , or the first clamping portion 211 may be a clamping column protruding from the end surface of the pre-tensioning wheel 212 away from the large wire wheel 330 .

[0067] In the above-mentioned wire transmission system 10, when tension adjustment is required, the first fastener 213 is first loosened, and the second clamping portion 23 of the tooling 21 is clamped with the first clamping portion 211 of the pre-tensioning wheel 212. The protruding end 25 of the push-pull dynamometer 22 is fixed to the mounting hole 24, and the push-pull dynamometer 22 is pushed. The tooling 21 drives the pre-tensioning wheel 212 to rotate on the large wire wheel 330. The transmission wire 310 rotates with the pre-tensioning wheel 212, so that the length of the transmission wire 310 on the pre-tensioning wheel 212 changes, thereby adjusting the tension of the transmission wire 310. After adjusting to the appropriate pre-tensioning force, the first fastener 213 is then tightened to complete the entire pre-tensioning function. In the specific setting, the structural form of the pre-tensioning unit 200 can be the above-mentioned pre-tensioning wheel 212, or other structural forms that can meet the requirements. The structural form of the first fastener 213 can be a locking screw, or other structural forms that can meet the requirements, such as a screw.

[0068] In the wire transmission pre-tightening system 01 corresponding to the above-mentioned wire transmission system 10, as Figure 3 as well as Figure 5 As shown, one end of the tooling 21 along the first direction is a U-shaped structure. In a specific configuration, the second direction is parallel to the axis of the driven shaft 130. The U-shaped structure is formed with a groove 26 for the first fastener 213 to pass through along the second direction, and the end face of the U-shaped structure along the second direction is provided with a first clamping portion 211. The other end of the tooling 21 along the first direction is a plate-like structure, and the end face of the plate-like structure is provided with a mounting hole 24 extending along the first direction. The second direction is perpendicular to the first direction. In the wire drive pretensioning system 01, by limiting the structural form of the tooling 21, the first clamping portion 211 and the mounting hole 24 are provided, the structure is simple, and it is easy to prepare and assemble. In addition, by providing the groove 26, the first fastener 213 can fix the pretensioning wheel 212 and the large wire wheel 330 after the tensioning force is adjusted.

[0069] In the pre-tightening method of the wire transmission pre-tightening system 01 corresponding to the above-mentioned wire transmission system 10, in order to facilitate the assembly of the wire transmission system 10 to be pre-tightened, step S601 provides a wire transmission system 10 to be pre-tightened, which specifically includes:

[0070] First, the small wire wheel 320 is installed on the driving shaft 120, the large wire wheel 330 is installed on the driven shaft 130 close to the driving shaft 120, and the pre-tensioning wheel 212 is set on the large wire wheel 330; during the specific setting, the small wire wheel 320 is fixedly connected to the driving shaft 120, the large wire wheel 330 and the driven shaft 130, and the position of the small wire wheel 320 and the driving shaft 120, the large wire wheel 330 and the driven shaft 130 is fixed. The pre-tensioning wheel 212 can be fixed to the large wire wheel 330 by the first fastener 213, and the first fastener 213 can be loosened after the setting of the transmission wire 310 is completed. The pre-tensioning wheel 212 can also be set together with the large wire wheel 330 only by the first fastener 213 without tightening, so that the tensioning force can be adjusted directly after the setting of the transmission wire 310 is completed.

[0071] Next, the transmission wire 310 is wound around the small wire wheel 320 and the large wire wheel 330 in a crosswise manner according to a set path, and the end of the transmission wire 310 extending from the large wire wheel 330 is wound around the preload wheel 212. In the specific setting, the large wire wheel 330 and the preload wheel 212 are respectively provided with wire head holes, and the two wire heads of the transmission wire 310 are respectively pressed into these two wire head holes to complete the setting of the transmission wire 310.

[0072] According to the structural form of the transmission unit 300, such as Figure 1 、 Figure 2 、 Figure 3 as well as Figure 4As shown, the structure of the wire transmission system 10 has the following two modes:

[0073] In the first mode, the two transmission units 300 have the same structure, and the two pre-tightening units 200 have the same structure. In the specific configuration, the primary transmission unit composed of the active shaft 120 and the driven shaft 130 adjacent to the active shaft 120 has the same structure as the secondary transmission unit composed of the two driven shafts 130, both of which are composed of a large wire wheel 330 and a small wire wheel 320. The pre-tightening unit 200 in the primary transmission composed of the active shaft 120 and the driven shaft 130 adjacent to the active shaft 120 has the same structure as the pre-tightening unit 200 in the secondary transmission composed of the two driven shafts 130, both of which are composed of a pre-tightening wheel 212 and a first fastener 213. The two-stage transmission unit 300 and pre-tightening unit 200 of the first mode have the same structure and are applicable to joints 1, 2, and 3 of the master control hand. The pre-tightening method of the two-stage transmission is the same, which facilitates the overall pre-tightening operation.

[0074] In the second method, the two transmission units 300 have different structures, and the two pre-tightening units 200 have different structures. The primary transmission unit composed of the driving shaft 120 and the driven shaft 130 close to the driving shaft 120 is a large wire wheel 330 and a small wire wheel 320. The pre-tightening unit 200 in the primary transmission is a pre-tightening wheel 212 and a first fastener 213. In the secondary transmission, the driven shaft 130 away from the driving shaft 120 includes a lower shaft 132 and an upper shaft 131. One end of the lower shaft 132 is open, and the upper shaft 131 has a stepped structure. The lower shaft 132 is sleeved on the small end of the upper shaft 131, and the lower shaft 132 abuts the large end of the upper shaft 131, and the small end of the upper shaft 131 extends out of the lower shaft 132. In the specific setting, the driven shaft 130 close to the driving shaft 120 rotates, driving the transmission wire 310 to move, and the transmission wire 310 drives the upper shaft 131 and the lower shaft 132 to rotate accordingly.

[0075] In the secondary transmission, the pre-tightening unit 200 includes a pre-tightening seat 221 and at least one second fastener 222. The number of the second fasteners 222 can be one, two, three or more than three. The second fasteners 222 can be bolts, screws, etc.; the pre-tightening seat 221 is clamped with the lower shaft 132, and the pre-tightening seat 221 is sleeved on the small end portion of the upper shaft 131 extending out of the lower shaft 132. The pre-tightening seat 221 is locked to the small end portion of the upper shaft 131 extending out of the lower shaft 132 through the second fastener 222. A first clamping portion 211 is formed on the side of the pre-tightening seat 221 away from the upper shaft 131. Specifically, the preload seat 221 is a preload cap with an opening in its sidewall. The inner wall of the preload cap fits over the small end of the upper shaft 131 extending from the lower shaft 132. When the second fastener 222 locks the opening, it secures the preload seat 221 to the upper and lower shafts 131, 132. Furthermore, a block protrudes from the inner wall of the preload seat 221, and a slot is provided on the lower shaft 132. The engagement of the slot and block allows the preload seat 221 to move with the lower shaft 132. Method 2 differs in structure from the two-stage transmission unit 300 and preload unit 200 and is applicable to joint 4 of the master control hand.

[0076] The pre-tightening methods for two-stage transmission are different. In order to facilitate the assembly of the wire transmission system 10 to be pre-tightened in the pre-tightening method for two-stage transmission, step S601 provides a wire transmission system 10 to be pre-tightened, which specifically includes:

[0077] The lower shaft 132 is sleeved on the small end of the upper shaft 131, and the pre-tightening seat 221 is clamped on the lower shaft 132; in the specific setting, the lower shaft 132 is sleeved on the small end of the upper shaft 131, and the lower shaft 132 is abutted against the stepped end surface of the upper shaft 131, and the clamping block of the pre-tightening seat 221 cooperates with the clamping groove on the outer wall of the lower shaft 132 to set the lower shaft 132, the upper shaft 131 and the pre-tightening seat 221 relative to each other.

[0078] The transmission wire 310 is wound crosswise around the upper shaft 131 and the lower shaft 132 according to a set path. During the specific setting, the upper shaft 131 and the lower shaft 132 are respectively provided with a wire head hole, and the two wire heads of the transmission wire 310 are respectively pressed into these two wire head holes to complete the setting of the transmission wire 310. During pretightening, the second clamping portion 23 of the tooling 21 is clamped with the first clamping portion 211 of the pretightening seat 221, and then the tooling 21 is pushed by the push-pull force gauge 22, and the tooling 21 drives the lower shaft 132 to rotate; finally, when the thrust reaches the design requirement value, the lower shaft 132 is fixed, and the lower shaft 132 and the pretightening seat 221 are locked by the second fastener 222. The upper shaft 131 and the lower shaft 132 are fixed, and the pretightening of the transmission wire 310 can be achieved.

[0079] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent. It should be noted that a person skilled in the art would be able to make various modifications and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the patent for this invention shall be determined by the appended claims.

Claims

1. A wire transmission system, characterized in that: include: The rotating shaft unit includes a plurality of transmission shafts, wherein the plurality of transmission shafts are arranged in sequence and spaced apart, and the transmission shaft at the head end is the driving shaft, and the remaining transmission shafts are driven shafts; A plurality of pre-tightening units, each of which corresponds to the driven shaft and is adjustably arranged, and is provided with a first clamping portion, the first clamping portion being used to clamp with the second clamping portion of the pre-tightening tool; Multiple groups of transmission units, one transmission unit corresponds to two adjacent transmission shafts one by one, the transmission unit includes a transmission wire, and the transmission wire is cross-wound around the two adjacent transmission shafts and the pre-tightening unit; The transmission unit near the driving shaft further comprises a small wire wheel and a large wire wheel, and the two ends of the transmission wire extending crosswise from the small wire wheel are sequentially wound around the large wire wheel and the pre-tightening unit, and the pre-tightening unit is adjustably mounted on an area of the large wire wheel that is offset from the axis; The pre-tightening unit includes a pre-tightening wheel and a first fastener. The first clamping portion is formed on a side of the pre-tightening wheel away from the large wire wheel.

2. The wire transmission system according to claim 1, characterized in that There are three transmission shafts, the small wire wheel and the large wire wheel are both located on the same side of the rotating shaft unit, and the large wire wheel is away from the driving shaft.

3. The wire transmission system according to claim 2, characterized in that The preload wheel is rotatably mounted on a region of the large wire wheel that is offset from the axis, and is detachably connected to the large wire wheel as a whole via the fastener.

4. The wire transmission system according to claim 3, characterized in that The driven shaft away from the driving shaft includes a lower shaft with an open end and an upper shaft with a stepped structure, the lower shaft is sleeved on the small end of the upper shaft and abuts against the large end of the upper shaft; the pre-tightening unit includes a pre-tightening seat and at least one second fastener, the pre-tightening seat is clamped with the lower shaft, and is sleeved and locked to the end of the upper shaft extending out of the lower shaft through the second fastener, and the first clamping portion is formed on the side of the pre-tightening wheel away from the upper shaft.

5. The wire transmission system according to claim 2, characterized in that The two transmission units have the same structure, and the two pre-tightening units have the same structure.

6. A wire drive preload system, characterized in that: include: The wire transmission system according to any one of claims 1 to 5; The pre-tightening tool comprises a tool piece and a push-pull force gauge, wherein the tool piece is provided with a second clamping portion and a mounting hole, and the push-pull force gauge has a protruding end, and the protruding end is detachably fixed to the mounting hole.

7. The wire drive pre-tensioning system according to claim 6, characterized in that: The first clamping portion is one of a clamping slot and a clamping column, and the second clamping portion is the other of the two.

8. The wire drive pre-tensioning system according to claim 6, characterized in that: According to the wire transmission system as described in claim 3, one end of the tooling piece along the first direction is a U-shaped structure, forming a groove for the first fastener to pass through along the second direction, and the first clamping portion is provided on the end face along the second direction, and the other end of the tooling piece along the first direction is a plate-like structure, and the end face is provided with the mounting hole extending along the first direction, and the second direction is perpendicular to the first direction.

9. A pre-tightening method for a wire drive pre-tightening system according to any one of claims 6 to 8, characterized in that: include: Providing a wire drive system to be pre-tightened; The second clamping portion is clamped with the first clamping portion and fixes the protruding end of the push-pull force gauge to the mounting hole; Push the push-pull dynamometer to the set preload force; Fix the preload unit and the corresponding driven shaft.

10. The pre-tightening method of the wire transmission pre-tightening system according to claim 9, characterized in that: The wire transmission system according to claim 3, wherein providing a wire transmission system to be preloaded comprises: Install the small wire wheel on the driving shaft, install the large wire wheel on the driven shaft close to the driving shaft, and set the preload wheel on the large wire wheel; The transmission wire is wound around the small wire wheel and the large wire wheel in a crosswise manner according to a set path, and the end portion extending from the large wire wheel is wound around the preload wheel.

11. The pre-tightening method of the wire transmission pre-tightening system according to claim 9, characterized in that: The wire transmission system according to claim 4, wherein providing a wire transmission system to be preloaded comprises: The lower shaft is sleeved on the small end of the upper shaft, and the preload seat is clamped on the lower shaft and the end of the upper shaft extending out of the lower shaft; The transmission wire is cross-wound around the upper shaft and the lower shaft according to a set path.

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