Assembly tool and tool method for linkage flexible joint

Abstract

The invention discloses an assembly tool for linkage of a flexible joint and a tool method.The assembly tool for linkage of the flexible joint comprises a base, a zero-position maintaining unit and a clamping assembly are fixedly arranged on the base, and the zero-position maintaining unit comprises a positioning seat and a maintaining assembly. By the adoption of the assembly tool for the linkage flexible joint and the tool method, positioning of the joint piece is achieved through the base, on one hand, it is guaranteed that the multiple steel wire ropes are kept in a parallel state, all the steel wire ropes are subjected to the same tensile force, on the other hand, it is guaranteed that the pressing head is kept in a perpendicular state with the axis of the clamping sleeve in the pressing process, and the working efficiency is improved. The pressing effect is improved, meanwhile, deformation of the directions of the steel wire ropes is avoided, the consistency of the multiple steel wire ropes is guaranteed, and therefore the operation smoothness and the overall precision of surgical equipment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to an assembly tool and a tool method for a linkage flexible joint. Background Art

[0002] In common laparoscopic surgical robots, some surgical instruments and endoscope structures are connected by flexible joints to enable them to rotate in a narrow space to reach the target position. The flexible joints of the instruments and endoscopes include a rotating joint body, a wire rope, and a wire rope jacket. The joint body is pulled by the wire rope to achieve the purpose of steering the joint body.

[0003] When pre-tightening, tightening and pressing the fixed jacket of the linkage flexible joint, most of the existing technologies use hand-held crimping pliers with customized chucks to clamp and tighten the jacket of the linkage flexible joint wire rope. This method has the problem of inconsistent jacket clamping force. When the four wire ropes are subjected to inconsistent forces, the entire linkage joint and even the entire flexible joint will not move smoothly, the rotation direction position will deviate, and it will not be within the program setting range, and the accuracy and availability will not meet the requirements. On the other hand, this operation method is greatly affected by the experience of the operator, and the yield rate is difficult to guarantee. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an assembly tool and a tool method for a linkage flexible joint which has a simple structure, is easy to operate and can ensure the consistency of the steel wire rope.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0006] The present application provides an assembly tool for a linkage flexible joint, wherein the linkage flexible joint comprises a joint part, a steel wire rope, and a jacket arranged on the steel wire rope, and further comprises:

[0007] Pedestal;

[0008] The zero position holding unit comprises a positioning seat fixedly arranged on the base, and a holding component rotatable relative to the positioning seat, the holding component is used to fix the joint part, and the positioning seat is provided with a pressing groove for placing the jacket and a plurality of rope threading holes corresponding to the steel wire rope;

[0009] The clamping assembly includes a pressing head and a power assembly connected to the pressing head, wherein the pressing head is located at a position corresponding to the pressing groove and can press the jacket placed in the pressing groove under the drive of the power assembly;

[0010] Wherein, the retaining assembly fixes the joint part, and after being fixed relative to the positioning seat, a plurality of steel wire ropes on the joint part parallel to each other are connected to the load at the side of the pressure head away from the retaining assembly, and one of the steel wire ropes passes through the jacket placed in the pressure groove, and the other steel wire ropes pass through the rope holes at the corresponding positions respectively;

[0011] Its technical effect is that the positioning of the joint is achieved through the base. On the one hand, it ensures that multiple steel wire ropes remain in a parallel state so that each steel wire rope is subjected to the same tensioning force. On the other hand, it ensures that the pressure head remains perpendicular to the axis of the sleeve during the clamping process. While improving the clamping effect, it avoids deformation of the direction of the steel wire rope and ensures the consistency of multiple steel wire ropes, thereby improving the smoothness of operation and the overall accuracy of the surgical equipment.

[0012] It is further defined that in the above-mentioned assembly tool for a linked flexible joint, the retaining assembly comprises two retaining members that can be detachably connected, and the two retaining members can be interlocked to form a receiving groove for accommodating the joint member.

[0013] It is further defined that, in the above-mentioned assembly tool for a linkage flexible joint, a positioning groove for accommodating the retaining assembly is provided on an end surface of the positioning seat away from the base;

[0014] The rope threading hole is arranged on the positioning seat along the axial direction of the pressing groove and is communicated with the positioning groove.

[0015] It is further defined that the above-mentioned assembly tool for a linkage flexible joint, wherein the positioning seat is provided with a first limiting hole connected to the positioning groove along the axial direction of the rope threading hole, and the end surface of the retaining member close to the pressing groove is provided with a plurality of second limiting holes;

[0016] Wherein, when the retaining assembly is placed in the positioning groove and one of the steel wire ropes passes through the pressing groove, one of the second limiting holes is connected to the first limiting hole, and an auxiliary positioning pin can be inserted into the first limiting hole and the second limiting hole at the corresponding position;

[0017] Its technical effect is that, through the cooperation of the first limiting hole and the second limiting hole, the position adjustment of the retaining component in the positioning groove can be realized, so that each wire rope can be adjusted to the corresponding position of the pressing groove, and the auxiliary positioning pin can realize the relative position fixation between the retaining component and the positioning seat, thereby ensuring the position stability of the retaining component.

[0018] It is further defined that, in the above-mentioned assembly tool for a linkage flexible joint, the positioning seat is provided with a supporting groove coaxial with and connected to the pressing groove;

[0019] Wherein, the abutment groove is located on the side of the pressing groove away from the retaining assembly and is used to accommodate the auxiliary tube;

[0020] The technical effect is that when the jacket is placed in the pressing groove and the wire rope is passed through the jacket, the auxiliary tube can be sleeved on the wire rope at the corresponding position. When the auxiliary tube moves axially along the wire rope and pushes the jacket, the jacket can be moved away from one end of the auxiliary tube and tightly abut the joint part, thereby ensuring the matching accuracy of the jacket and the joint part, and then ensuring the accuracy of the pressure head pressing the jacket.

[0021] It is further defined that in the above-mentioned assembly tool for a linkage flexible joint, the clamping assembly further includes a bracket fixedly arranged on a base, and the power assembly includes:

[0022] The telescopic electric cylinder is fixedly arranged on the bracket, and a pressure head is fixedly connected to the telescopic end;

[0023] A motor is fixedly mounted on the bracket and is used to drive the telescopic end of the telescopic electric cylinder to telescope toward a side close to the positioning seat;

[0024] Or, the power assembly further comprises a pressure sensor for monitoring the clamping force of the pressure head;

[0025] The technical effect is that when the pressure sensor detects that the pressure of the pressure head has reached the set value, it can output a signal to the power component, and the power component stops driving, thereby ensuring that the pressure head presses the jacket tightly while ensuring the consistency of the clamping force of the pressure head on the jacket.

[0026] It is further defined that the above-mentioned assembly tool for the linkage flexible joint further includes a guide wheel assembly fixedly arranged on the base and used for guiding the wire rope;

[0027] The guide wheel assembly is located on the side of the pressing groove away from the retaining assembly, and a plurality of steel wire ropes passing through the positioning seat are wound around the guide wheel assembly and connected to the load.

[0028] It is further defined that, in the above-mentioned assembly tool for linkage flexible joints, the guide wheel assembly comprises a fixed frame fixedly arranged on a base, and a plurality of guide wheel members are rotatably arranged on the fixed frame;

[0029] The rotation axes of the plurality of guide wheel members are parallel to each other, and the plurality of steel wire ropes passing through the positioning seat can pass around the top of the guide wheel members at corresponding positions and connect to the load member;

[0030] Wherein, the multiple steel wire ropes between the positioning seat and the guide wheel member are parallel to each other.

[0031] The present application provides a tooling method for a linked flexible joint, which is applicable to any of the above-mentioned assembly tools for a linked flexible joint, and includes:

[0032] Installing a retaining assembly on the positioning seat, and fixing the joint component on the retaining assembly;

[0033] A jacket is placed on one of the steel wire ropes on the joint, the jacket is placed on the pressing groove, and the other steel wire ropes are passed through the rope holes at the corresponding positions;

[0034] Loads of equal magnitude are respectively set at the ends of the multiple steel wires away from the joints, so that the tension of the multiple steel wires is consistent;

[0035] The driving pressure head presses against the jacket placed in the pressure groove, so that the jacket is deformed to be fixed on the steel wire rope at the corresponding position;

[0036] Adjust the angle of the retaining assembly in the positioning groove, and place the steel wire rope without the jacket pressed in the corresponding position of the pressing groove to achieve the clamping of the jacket on multiple steel wire ropes.

[0037] Among them, a plurality of steel wire ropes are parallel to each other, and when the joint part is fixed on the retaining assembly, the jacket is coaxial with the steel wire ropes at corresponding positions.

[0038] It is further defined that the above-mentioned tooling method for a linkage flexible joint, wherein the retaining assembly is installed on the positioning seat, and the joint part is fixed on the retaining assembly, specifically:

[0039] Placing a first retaining member in the positioning groove, and placing a joint member in the receiving groove on the first retaining member;

[0040] When the first retaining member and the second retaining member are buckled and not fixedly connected, a pre-tightening force is applied to the end of the wire rope away from the joint member to make the joint member abut against the inner wall of the corresponding side of the positioning groove, and the first retaining member and the second retaining member are fixedly connected. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a schematic diagram of the structure of an assembly tool for a linkage flexible joint according to an embodiment of the present application;

[0042] Figure 2 It is a schematic diagram of the structure explosion of the "zero position holding unit 300" part in the assembly tooling for the linkage flexible joint according to the embodiment of the present application;

[0043] Figure 3 It is a schematic diagram of the structure enlargement of the "zero position holding unit 300" part in the assembly tooling for the linkage flexible joint according to the embodiment of the present application;

[0044] Figure 4 This is an enlarged schematic diagram of the structure of the "positioning seat 310" part of the assembly tooling for the linkage flexible joint in the embodiment of the present application;

[0045] Figure 5 This is a schematic diagram of the installation of the "wire rope 600" on the "zero position holding unit 300" in the assembly tooling for the linkage flexible joint according to the embodiment of the present application;

[0046] Figure 6 This is a schematic diagram of debugging an assembly tool for a linkage flexible joint according to an embodiment of the present application;

[0047] Figure 7 This is a structural cross-sectional view of the "zero position holding unit 300" in the assembly tooling for the linkage flexible joint according to the embodiment of the present application;

[0048] Figure 8 It is a flow chart of a tooling method for linked flexible joints according to an embodiment of the present application.

[0049] Reference numerals

[0050] Workbench-100, base-200, zero position holding unit-300, positioning seat-310, positioning groove-311, rope threading hole-312, first limiting hole-313, guide hole-314, pressing groove-315, supporting groove-316, first retaining member-320, second retaining member-330, mounting hole-340, accommodating groove-350, second limiting hole-360, clamping assembly-400, bracket-410, telescopic electric cylinder-420, motor-430, pressure sensor-440, pressure head-450, guide pin-460, guide wheel assembly-500, fixed frame-510, make way groove-520, guide wheel member-530, wire rope-600, joint member-610, jacket-620, auxiliary pipe-700, load member-800. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0052] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0053] The following, in conjunction with the accompanying drawings, describes in detail the assembly tooling and tooling method for the linked flexible joints provided in the embodiments of the present application through specific embodiments and their application scenarios.

[0054] like Figures 1 to 7 As shown, an embodiment of the present application provides an assembly tool for a linked flexible joint, including a base 200 , on which a zero position holding unit 300 and a clamping assembly 400 are fixedly provided.

[0055] The zero-position holding unit 300 includes a positioning seat 310 and a holding assembly. The positioning seat 310 is provided with a positioning groove 311 for accommodating the holding assembly and a pressing groove 315 for placing the jacket 620 on the end face on the side away from the base 200. The positioning seat 310 is axially penetrated by a plurality of rope threading holes 312 that are connected to the positioning groove 311 and are used to thread the wire rope 600. The holding assembly includes a first retaining member 320 and a second retaining member 330 detachably connected to the first retaining member 320. The first retaining member 320 and the second retaining member 330 can be interlocked to form a receiving groove 350 for accommodating the joint member 610.

[0056] The clamping assembly 400 includes a pressing head 450 and a power assembly connected to the pressing head 450 . The pressing head 450 is located at a position corresponding to the pressing groove 315 and can press the jacket 620 placed in the pressing groove 315 under the drive of the power assembly.

[0057] Among them, when the joint part 610 is installed in the accommodating groove 350 and the retaining assembly is placed in the positioning groove 311, multiple parallel steel wire ropes 600 pass through the joint part 610 and are connected to the load on the side of the pressure head 450 away from the retaining assembly. One of the steel wire ropes 600 passes through the jacket 620 placed in the pressure groove 315, and the other steel wire ropes 600 pass through the rope holes 312 at the corresponding positions.

[0058] It is understandable that, initially, the retaining assembly is not placed in the positioning groove 311, the joint member 610 is not installed in the receiving groove 350, and the pressing head 450 is kept at a certain distance from the pressing groove 315; Figure 5 As shown, the first retaining member 320 is placed in the positioning groove 311, and the joint member 610 is placed in the receiving groove 350 on the first retaining member 320, the wire rope 600 is installed on the joint member 610, a jacket 620 is sleeved on one of the wire ropes 600, and the jacket 620 is placed on the pressing groove 315, and the other wire ropes 600 are passed through the rope threading holes 312 at the corresponding positions; when pre-tightened, as shown in FIG. Figure 7As shown, the second retaining member 330 is buckled onto the first retaining member 320, and the staff manually pulls the wire rope 600, so that the joint member 610 is closely abutted against the inner wall of the positioning groove 311 close to the pressing groove 315, so that the jacket 620 is coaxial with the wire rope 600 at the corresponding position, and then the second retaining member 330 is fixedly connected to the first retaining member 320 to achieve complete positioning of the joint member 610; when tightened, as shown in FIG. Figure 6 As shown, loads of equal size are respectively connected to the ends of the multiple steel wire ropes 600 away from the joint 610, so that the tension of the multiple steel wire ropes 600 is consistent; when clamping, the pressure head 450 moves toward the side close to the positioning seat 310 under the drive of the power component, thereby pressing the jacket 620 placed in the pressing groove 315, and then the jacket 620 is deformed to be fixed on the steel wire rope 600 at the corresponding position; after clamping, the angle of the retaining component in the positioning groove 311 is adjusted so that the steel wire rope 600 without the jacket 620 installed is located at the corresponding position of the pressing groove 315, and the above process can be repeated to achieve the clamping of the jacket 620 on the multiple steel wire ropes 600.

[0059] It is understandable that the reason why the first retaining member 320 is installed first and the second retaining member 330 and the first retaining member 320 are fixedly connected after the joint member 610 is pre-tightened is to ensure the mobility of the joint member 610 in the accommodating groove 350 before pre-tightening. When the joint member 610 is positioned, the second retaining member 330 is connected to the first retaining member 320. At this time, the position of the joint member 610 relative to the retaining assembly is fixed, thereby ensuring the stability of the tensioning process of the wire rope 600.

[0060] In an embodiment of the present application, the above-mentioned assembly tool for a linked flexible joint is adopted, and the positioning of the joint component 610 is realized through the base 200. On the one hand, it ensures that the multiple steel wire ropes 600 remain in a parallel state so that each steel wire rope 600 is subjected to the same tensioning force. On the other hand, it ensures that the pressure head 450 remains perpendicular to the axis of the sleeve 620 during the clamping process. While improving the clamping effect, deformation of the direction of the steel wire rope 600 is avoided, and the consistency of the multiple steel wire ropes 600 is ensured, thereby improving the smoothness of operation and the overall accuracy of the surgical equipment.

[0061] In a preferred embodiment, Figures 1 to 4 , Figure 6 , Figure 7 As shown, three rope threading holes 312 are provided on the positioning seat 310 .

[0062] There are four steel wires 600 passing through the joint 610 , one of which passes through the jacket 620 at the position of the pressing groove 315 , and the other three steel wires 600 pass through the rope holes 312 at corresponding positions respectively.

[0063] It is understandable that the number of rope holes 312 is based on the number of steel wire ropes 600 on the joint part 610, so the setting form is not limited to the above one, as long as the positioning of multiple steel wire ropes 600 on the joint part 610 can be guaranteed, which will not be elaborated here.

[0064] In a preferred embodiment, Figures 1 to 7 As shown, a first limiting hole 313 communicating with the positioning groove 311 is axially provided on the positioning seat 310 along the rope threading hole 312 , and a plurality of second limiting holes 360 are respectively provided on the end surfaces of the first retaining member 320 and the second retaining member 330 close to the pressing groove 315 .

[0065] When the retaining assembly is placed in the positioning groove 311 and one of the steel wire ropes 600 passes through the pressing groove 315, one of the second limiting holes 360 is connected to the first limiting hole 313, and an auxiliary positioning pin can be inserted into the first limiting hole 313 and the corresponding second limiting hole 360.

[0066] It can be understood that by cooperating with the first limiting hole 313 and the second limiting hole 360, the position adjustment of the retaining assembly in the positioning groove 311 can be achieved, so that each wire rope 600 can be adjusted to the corresponding position of the pressing groove 315, and the auxiliary positioning pin can achieve the relative position fixation between the retaining assembly and the positioning seat 310, thereby ensuring the position stability of the retaining assembly.

[0067] In a preferred embodiment, Figures 1 to 7 As shown, the positioning seat 310 is further provided with a supporting groove 316 which is coaxial with and communicates with the pressing groove 315 .

[0068] The abutting groove 316 is located at a side of the pressing groove 315 away from the retaining assembly and is used to accommodate the auxiliary tube 700 .

[0069] It can be understood that when the jacket 620 is placed in the pressing groove 315 and the wire rope 600 is inserted into the jacket 620, the auxiliary tube 700 can be sleeved on the wire rope 600 at the corresponding position. When the auxiliary tube 700 moves axially along the wire rope 600 and pushes the jacket 620, the jacket 620 can be tightly abutted against the joint part 610 away from one end of the auxiliary tube 700, thereby ensuring the matching accuracy of the jacket 620 and the joint part 610, and further ensuring the accuracy of the pressing position of the jacket 620 by the pressure head 450.

[0070] In a preferred embodiment, Figures 1 to 3 As shown, a plurality of mounting holes 340 are respectively formed through the first retaining member 320 and the second retaining member 330 , and the first retaining member 320 and the second retaining member 330 can be connected by bolts through the mounting holes 340 .

[0071] It is understandable that the detachable connection method between the first retaining member 320 and the second retaining member 330 is not limited to the above-mentioned one. For example, a snap-fit ​​structure can be set between the first retaining member 320 and the second retaining member 330. As long as the split connection structure of the retaining component can be realized, it will not be elaborated here.

[0072] In a preferred embodiment, the first retaining member 320 and the second retaining member 330 are made of transparent material, so that the state of the joint member 610 in the receiving groove 350 can be observed.

[0073] It is understandable that the first retaining member 320 and the second retaining member 330 can be specifically configured to be a transparent acrylic material, or a glass material, etc., as long as the internal visualization of the retaining component can be achieved, and no further details are given here.

[0074] In a preferred embodiment, Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the clamping assembly 400 further includes a bracket 410 fixedly disposed on the base 200 , and the power assembly includes a telescopic electric cylinder 420 and a motor 430 fixedly disposed on the bracket 410 .

[0075] The motor 430 is used to drive the telescopic end of the telescopic electric cylinder 420 to telescope toward the side close to the positioning seat 310 , and the pressure head 450 is fixedly arranged on the telescopic end of the telescopic electric cylinder 420 .

[0076] It is understandable that the configuration of the power assembly is not limited to the above-mentioned one. For example, it can also be configured as a threaded slider structure or a gear tooth plate structure. As long as the clamping drive of the pressure head 450 can be achieved, it will not be elaborated here.

[0077] In a preferred embodiment, Figure 1 , Figure 2 , Figure 5 , Figure 6 As shown, the clamping assembly 400 also includes a pressure sensor 440 fixedly disposed between the pressure head 450 and the telescopic end of the telescopic electric cylinder 420 .

[0078] The pressure sensor 440 is used to monitor the clamping force of the pressure head 450 on the jacket 620 .

[0079] It is understandable that after the pressure sensor 440 detects that the pressure of the pressure head 450 reaches the set value, it can output a signal to the power component, and the power component stops driving, thereby ensuring that the pressure head 450 presses the sleeve 620 while ensuring the consistency of the clamping force of the pressure head 450 on the sleeve 620.

[0080] In a preferred embodiment, Figures 1 to 6As shown, a guide hole 314 is provided on the end surface of the positioning seat 310 away from the base 200 , and a guide pin 460 that can be plugged into the guide hole 314 is fixedly provided on the end surface of the pressing head 450 close to the base 200 .

[0081] It is understandable that when the pressing head 450 is fed to press the jacket 620 in the pressing groove 315 , the guide pin 460 is plugged into the guide hole 314 at the corresponding position, thereby ensuring the stability of the movement of the pressing head 450 .

[0082] In a preferred embodiment, Figure 1 , Figure 2 , Figure 6 As shown, it also includes a guide wheel assembly 500 fixedly disposed on the base 200 and used to guide the wire rope 600.

[0083] The guide wheel assembly 500 is located at the side of the pressing groove 315 away from the retaining assembly, and a plurality of steel wire ropes 600 passing through the positioning seat 310 are wound around the guide wheel assembly 500 and connected to the load.

[0084] In a preferred embodiment, Figure 1 , Figure 2 , Figure 6 As shown, the guide wheel assembly 500 includes a fixed frame 510 fixedly set on the base 200, and a plurality of guide wheel components 530 are rotatably provided on the fixed frame 510. The rotation axes of the plurality of guide wheel components 530 are parallel to each other. The plurality of steel wire ropes 600 passing through the positioning seat 310 can respectively pass around the top of the guide wheel components 530 at the corresponding positions and connect to the load component 800.

[0085] The plurality of steel wire ropes 600 between the positioning seat 310 and the guide wheel member 530 are parallel to each other.

[0086] In a preferred embodiment, Figure 1 , Figure 2 , Figure 6 As shown, a clearance groove 520 is formed through the fixing frame 510 and the base 200 .

[0087] The steel wire rope 600 passing around the top of the guide wheel component 530 passes through the clearance groove 520 and is fixedly connected to the load component 800 .

[0088] In a preferred embodiment, Figure 1 As shown, a workbench 100 is also included, and a base 200 is fixedly arranged on the workbench 100 .

[0089] Part of the base 200 extends to the outside of the workbench 100 , and the guide wheel assembly 500 is located at an extended position of the base 200 relative to the workbench 100 .

[0090] like Figure 8As shown, the embodiment of the present application provides a tooling method for a linkage flexible joint, which is applicable to the assembly tooling for a linkage flexible joint in the above embodiment, comprising:

[0091] Step S1, placing the first retaining member 320 in the positioning groove 311, and placing the joint member 610 in the receiving groove 350 on the first retaining member 320;

[0092] Step S2, sleeve the jacket 620 on one of the steel wire ropes 600 on the joint 610, place the jacket 620 on the pressing groove 315, and pass the other steel wire rope 600 through the rope threading hole 312 at the corresponding position;

[0093] Step S3, when the first retaining member 320 and the second retaining member 330 are buckled and not fixedly connected, a pre-tightening force is applied to the end of the wire rope 600 away from the joint member 610 so that the joint member 610 abuts against the inner wall of the corresponding side of the positioning groove 311, and the first retaining member 320 and the second retaining member 330 are fixedly connected;

[0094] Step S4, respectively setting loads of equal magnitude at the ends of the plurality of steel wire ropes 600 away from the joint member 610, so that the tensioning forces of the plurality of steel wire ropes 600 are consistent;

[0095] Step S5, driving the pressure head 450 to press the jacket 620 placed in the pressure groove 315, so that the jacket 620 is deformed to be fixed on the steel wire rope 600 at the corresponding position;

[0096] The plurality of steel wires 600 are parallel to each other, and when the joint component 610 abuts against the inner wall of the corresponding side of the positioning groove 311 , the jacket 620 is coaxial with the steel wires 600 at the corresponding position.

[0097] In a preferred embodiment, step S4 is specifically as follows:

[0098] The plurality of steel wires 600 passing through the positioning seat 310 are respectively passed around the top of the guide wheel member 530 at the corresponding position and connected to the load member 800 .

[0099] In a preferred embodiment, before step S5, the following steps are also included:

[0100] An auxiliary tube 700 is sleeved on the steel wire rope 600 at a position corresponding to the pressing groove 315 . The auxiliary tube 700 moves axially along the steel wire rope 600 to push the jacket 620 to abut against the joint component 610 .

[0101] In a preferred embodiment, step S5 further includes:

[0102] The pressing force of the pressure head 450 on the jacket 620 is monitored, and the driving of the pressure head 450 is stopped after the pressing force reaches a set value.

[0103] In a preferred embodiment, Figure 8 As shown, after step S5, the following steps are also included:

[0104] Step S6, adjusting the angle of the retaining assembly in the positioning groove 311, and repeating the above steps 1 to 5 to achieve the clamping of the jacket 620 on the multiple steel wire ropes 600.

[0105] Specifically, after clamping is completed, the angle of the retaining assembly in the positioning groove 311 is adjusted so that the steel wire rope 600 without the jacket 620 installed is located at the corresponding position of the pressing groove 315, and then the jacket 620 is evenly pressed onto all the steel wire ropes 600.

[0106] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0107] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. An assembly tool for a linkage flexible joint, the linkage flexible joint comprising a joint part, a steel wire rope and a jacket arranged on the steel wire rope, characterized in that: include: Pedestal; The zero position holding unit comprises a positioning seat fixedly arranged on the base, and a holding component rotatable relative to the positioning seat, the holding component is used to fix the joint part, and the positioning seat is provided with a pressing groove for placing the jacket and a plurality of rope threading holes corresponding to the steel wire rope; The clamping assembly includes a pressing head and a power assembly connected to the pressing head, wherein the pressing head is located at a position corresponding to the pressing groove and can press the jacket placed in the pressing groove under the drive of the power assembly; Among them, the retaining assembly fixes the joint part, and after being fixed relative to the positioning seat, multiple parallel steel wire ropes on the joint part are connected to the load at the side of the pressure head away from the retaining assembly, and one of the steel wire ropes passes through the jacket placed in the pressure groove, and the other steel wire ropes pass through the rope holes at the corresponding positions respectively.

2. The assembly tool for a linkage flexible joint according to claim 1, characterized in that: The retaining assembly comprises two retaining members that can be detachably connected, and the two retaining members can be buckled with each other to form a receiving groove for receiving the joint member.

3. The assembly tool for a linkage flexible joint according to claim 1, characterized in that: The end surface of the positioning seat away from the base is provided with a positioning groove for accommodating the holding component; The rope threading hole is arranged on the positioning seat along the axial direction of the pressing groove and is communicated with the positioning groove.

4. An assembly tool for a linkage flexible joint according to any one of claims 1 to 3, characterized in that: The positioning seat is provided with a first limiting hole connected to the positioning groove along the axial direction of the rope threading hole, and the end surface of the retaining member close to the pressing groove is provided with a plurality of second limiting holes; Among them, when the retaining assembly is placed in the positioning groove and one of the steel wire ropes passes through the pressing groove, one of the second limiting holes is connected to the first limiting hole, and an auxiliary positioning pin can be inserted into the first limiting hole and the second limiting hole at the corresponding position.

5. The assembly tool for a linkage flexible joint according to claim 1, characterized in that: The positioning seat is provided with a supporting groove which is coaxial with and connected to the pressing groove; Wherein, the abutment groove is located at a side of the pressing groove away from the retaining assembly and is used to accommodate the auxiliary tube.

6. The assembly tool for a linkage flexible joint according to claim 1, characterized in that: The clamping assembly also includes a bracket fixedly arranged on the base, and the power assembly includes: The telescopic electric cylinder is fixedly arranged on the bracket, and a pressure head is fixedly connected to the telescopic end; A motor is fixedly mounted on the bracket and is used to drive the telescopic end of the telescopic electric cylinder to telescope toward a side close to the positioning seat; Alternatively, the power assembly further comprises a pressure sensor for monitoring the clamping force of the pressure head.

7. The assembly tool for a linkage flexible joint according to claim 1, characterized in that: It also includes a guide wheel assembly fixedly arranged on the base and used for guiding the wire rope; The guide wheel assembly is located on the side of the pressing groove away from the retaining assembly, and a plurality of steel wire ropes passing through the positioning seat are wound around the guide wheel assembly and connected to the load.

8. The assembly tool for the linkage flexible joint according to claim 7, characterized in that: The guide wheel assembly comprises a fixed frame fixedly arranged on a base, and a plurality of guide wheel members are rotatably arranged on the fixed frame; The rotation axes of the plurality of guide wheel members are parallel to each other, and the plurality of steel wire ropes passing through the positioning seat can respectively pass around the top of the guide wheel members at corresponding positions and connect to the load member; Wherein, the multiple steel wire ropes between the positioning seat and the guide wheel member are parallel to each other.

9. A tooling method for a linkage flexible joint, characterized in that: The assembly tool for the linked flexible joint according to any one of claims 1 to 8 above comprises: Installing a retaining assembly on the positioning seat, and fixing the joint component on the retaining assembly; A jacket is placed on one of the steel wire ropes on the joint, the jacket is placed on the pressing groove, and the other steel wire ropes are passed through the rope holes at the corresponding positions; Loads of equal magnitude are respectively set at the ends of the multiple steel wires away from the joints, so that the tension of the multiple steel wires is consistent; The driving pressure head presses against the jacket placed in the pressure groove, so that the jacket is deformed to be fixed on the steel wire rope at the corresponding position; Adjust the angle of the retaining assembly in the positioning groove, and place the steel wire rope without the jacket pressed in the corresponding position of the pressing groove to achieve the clamping of the jacket on multiple steel wire ropes. Among them, a plurality of steel wire ropes are parallel to each other, and when the joint part is fixed on the retaining assembly, the jacket is coaxial with the steel wire ropes at corresponding positions.

10. A tooling method for a linkage flexible joint according to claim 9, characterized in that: Install the retaining assembly on the positioning seat and fix the joint part on the retaining assembly. Specifically: Placing a first retaining member in the positioning groove, and placing a joint member in the receiving groove on the first retaining member; When the first retaining member and the second retaining member are buckled and not fixedly connected, a pre-tightening force is applied to the end of the wire rope away from the joint member to make the joint member abut against the inner wall of the corresponding side of the positioning groove, and the first retaining member and the second retaining member are fixedly connected.

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