An automated device for ultra-small size tube internal ultra-fine cable bending guide

Abstract

The application relates to the technical field of automatic assembly, and particularly discloses an automatic device for bending and guiding an ultrafine cable inside an ultra-small size pipe, which comprises a submillimeter ultrafine and ultrathin wall pipe and a pushing unit, the submillimeter ultrafine and ultrathin wall pipe is hollow inside and is provided with an opening structure on the side wall, the pushing unit is arranged at one end of the submillimeter ultrafine and ultrathin wall pipe and is used for pushing a flexible cable into the submillimeter ultrafine and ultrathin wall pipe, and the automatic device further comprises a moving clamping unit, a bending unit and an auxiliary unit; the auxiliary unit comprises a cable hardening piece, a cable lubricating piece and a cable softening piece; the moving clamping unit, the pushing unit and the auxiliary unit are arranged, the submillimeter ultrafine and ultrathin wall pipe is clamped and its position is adjusted through a three-dimensional movement and a rotating mechanism, the axis of the submillimeter ultrafine and ultrathin wall pipe is accurately aligned with the pushing unit, manual manual alignment is replaced, and positioning deviation caused by hand shaking and visual error in the prior art is avoided.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation assembly, and particularly discloses an automatic device for bending and guiding an ultra-fine cable inside a super-small size pipe. BACKGROUND

[0002] At present, industrial automation and precision manufacturing technology are developing rapidly, and endoscopes are widely used in many fields. Among them, the ultra-fine probe can adapt to more complex equipment structures and pass through narrow spaces to realize visual detection of difficult-to-observe areas due to its smaller probe (diameter can be less than 1 mm).

[0003] Under the condition of the extremely small size limitation of sub-millimeter ultra-fine and ultra-thin wall pipe, when assembling integrated endoscope products, high-difficulty manual integration operation is required, and the function of bending and guiding the flexible cable from the side wall of the pipe to the external area is realized. However, the existing technology mainly relies on the operator to manually adjust the flexible cable path under a microscope through tweezers, probes and other tools, and needs to repeatedly perform the cycle operation of "microscope observation-tweezers adjustment-visual confirmation", so there are many defects in the existing technology:

[0004] 1. Poor precision, affected by hand shaking and visual error during manual operation, the positioning accuracy of the end of the flexible cable is usually only ±0.1 mm, which is difficult to meet the needs of micron-level equipment;

[0005] 2. The end of the flexible cable has random swinging, which causes too many uncertain variables at the end of the flexible cable during the alignment process, resulting in difficulty in alignment. At the same time, the random bending characteristics of the flexible cable and the high-resistance material characteristics of the surface such as rubber cause great resistance during pipe penetration, and the flexible cable is prone to blockage inside the pipe;

[0006] 3. Strong dependence on experience, operators need long-term training, and novices are prone to improper force control, and it is difficult for operators to quickly and accurately judge the stress state of the flexible cable, which is prone to cause the flexible cable to break or scratch the inner wall of the pipe (especially for brittle materials such as polyimide).

[0007] In summary, the existing implementation of the functions of pipe penetration of the flexible cable inside the pipe and bending and guiding the internal flexible cable from the side wall of the pipe to the external area relies on manual operation, which has strong dependence on the experience and feeling of the operator, redundant operation process, difficulty in coordination of multiple flexible cables, large resistance of the flexible cable during pipe penetration, inability to accurately judge the stress state, and problems such as the need for multiple rework due to insufficient precision, which further leads to low efficiency and uncontrollable quality consistency. SUMMARY

[0008] The application aims to provide an automatic device for bending guiding of ultra-fine cable inside ultra-small size pipe fittings, to solve the problems of poor precision, low efficiency and strong experience dependence in manual operation in the prior art, and to realize automatic operation of pipe penetrating and bending guiding of flexible cable from the side wall of the pipe fitting to the external area inside the pipe fitting, improve accuracy, precision consistency and completion efficiency.

[0009] Specifically, the application is implemented by the following technical scheme:

[0010] An automatic device for bending guiding of ultra-fine cable inside ultra-small size pipe fittings, comprising a sub-millimeter ultra-fine and ultra-thin wall pipe fitting and a pushing unit, the inside of the sub-millimeter ultra-fine and ultra-thin wall pipe fitting is hollow and the side wall thereof is provided with an opening structure, the pushing unit is arranged at one end of the sub-millimeter ultra-fine and ultra-thin wall pipe fitting and is used for pushing the flexible cable into the inside of the sub-millimeter ultra-fine and ultra-thin wall pipe fitting, further comprising:

[0011] A moving clamping unit arranged at the other end of the sub-millimeter ultra-fine and ultra-thin wall pipe fitting and used for clamping the sub-millimeter ultra-fine and ultra-thin wall pipe fitting to move, so that the sub-millimeter ultra-fine and ultra-thin wall pipe fitting corresponds to the pushing unit;

[0012] A bending unit located at the side of the sub-millimeter ultra-fine and ultra-thin wall pipe fitting, used for guiding the flexible cable entering the inside of the sub-millimeter ultra-fine and ultra-thin wall pipe fitting and promoting it to bend and pass out through the opening structure;

[0013] An auxiliary unit comprising a cable hardening member, a cable lubricating member and a cable softening member, the cable hardening member is located at the intermediate position of the pushing unit, and the middle part of the cable hardening member is provided with a hardening through hole with an inner diameter larger than that of the flexible cable, the inside of the hardening through hole is provided with a plurality of refrigeration blocks, the inside of the refrigeration block is provided with a refrigeration groove, and the refrigeration groove is filled with refrigerant and communicates with the outside through a pipeline, when the flexible cable is pushed through the pushing unit and passes through the hardening through hole of the cable hardening member, the refrigeration blocks cool and harden the flexible cable through the refrigerant in the refrigeration groove, realize the straight-line hardening of the flexible cable, and ensure the controllability of the directionality of the flexible cable in the pushing process;

[0014] The cable lubricating member is arranged at the position between the pushing unit and the sub-millimeter ultra-fine and ultra-thin wall pipe fitting, the cable lubricating member comprises a sleeve ring matched with the flexible cable, the inner wall of the sleeve ring is provided with a plurality of lubricating cavities, the lubricating cavities are filled with lubricating medium, and a plurality of the lubricating cavities are internally and rollingly embedded with lubricating balls protruding from the outside of the lubricating cavities, when the flexible cable passes through the sleeve ring, the lubricating balls rub the lubricating medium on the outer surface of the flexible cable by rolling outside the flexible cable, reduce the resistance of the flexible cable in the process of exploring into the sub-millimeter ultra-fine and ultra-thin wall pipe fitting, and facilitate the pushing of the flexible cable in the sub-millimeter ultra-fine pipe fitting;

[0015] The cable softening piece is arranged at the front end of the pushing unit and is sleeved on the outside of the sub-millimeter ultra-thin-walled pipe, and a softening through hole with an inner diameter larger than that of the flexible cable is formed in the middle of the cable softening piece, and a heating wire is attached to the inside of the softening through hole. The flexible cable inserted into the sub-millimeter ultra-thin-walled pipe is heated by the heating wire to soften the cooled and hardened flexible cable and volatilize and discharge the lubricating component on the surface of the flexible cable, so that the cable can be bent and guided at the desired position.

[0016] In the above scheme, the clamping and moving functions of the moving clamping unit are used to realize the accurate alignment of the sub-millimeter ultra-thin-walled pipe with the axis of the pushing unit and the quantitative real-time monitoring of the stress state of the flexible cable, avoid visual errors and hand shaking during manual alignment, and improve the initial positioning accuracy. The flexible cable in the area of the moving clamping unit is cooled and hardened by the cable hardening piece of the auxiliary unit to realize the linear hardening of the flexible cable and improve the accuracy and efficiency of the pushing alignment. The lubricating ball of the cable lubricating piece applies lubricating medium to the surface of the flexible cable when it passes through to reduce the resistance of the flexible cable during the insertion into the sub-millimeter ultra-thin-walled pipe and avoid damage to the flexible cable when it passes through the sub-millimeter ultra-thin-walled pipe. The cable softening piece uses a heating wire to warm and soften the cooled and hardened flexible cable and volatilize and discharge the lubricating component on the surface of the flexible cable, so that the flexible cable restores the bending characteristics and is easy to pass out of the hole structure in the side wall. In the above scheme, the bending unit replaces the manual adjustment of the tweezers to automatically control the bending path of the flexible cable, solving the problems of insufficient accuracy and low efficiency during manual guidance.

[0017] Further, the hole structure includes a through-hole and / or a single-side hole;

[0018] When the through-hole is used, the hole structure includes a first hole and a second hole oppositely arranged in the two side walls of the sub-millimeter ultra-thin-walled pipe;

[0019] When the single-side hole is used, the hole structure includes a third hole arranged in one side wall of the sub-millimeter ultra-thin-walled pipe.

[0020] In the above scheme, the through-hole provides a channel for the flexible cable to pass through the two side walls of the pipe, which is suitable for scenarios where the flexible cable needs to be inserted from one side and guided out from the other side. The single-side hole is suitable for scenarios where the flexible cable is only guided out from one side wall. In this way, the device can adapt to different assembly requirements and improve versatility through the above-mentioned various hole structures.

[0021] Further, the bending unit includes a bending guide assembly matched with the hole structure when the through-hole is used;

[0022] The bending guide assembly comprises a guide head having a guide slope, and a guide inclined groove is further formed on the guide slope, the guide inclined groove is matched with the flexible cable, and the length direction of the guide inclined groove forms a certain angle with the axial direction of the sub-millimeter ultra-thin-walled pipe.

[0023] The guide slope of the guide head enters into the sub-millimeter ultra-thin-walled pipe through the first opening, so as to guide the flexible cable in the pipe through the guide inclined groove and bend out through the second opening.

[0024] It can be understood that the guide assembly in the above scheme is specially designed for the through-type opening structure (the first opening and the second opening are oppositely arranged), and the guide slope and the guide inclined groove of the guide head are designed to form a bending guide track for the flexible cable. When the flexible cable moves to the vicinity of the guide head in the sub-millimeter ultra-thin-walled pipe, the flexible cable is bent when moving along the guide inclined groove, and is pulled out at a preset angle from the second opening, realizing millimeter-level precision bending guide, solving the problem of unstable path control in manual operation. In the scheme, the guide inclined groove is a groove structure, which can limit the position of the flexible cable when the flexible cable moves in the guide inclined groove, so as to avoid the position deviation of the flexible cable.

[0025] Further, the bending unit further comprises a first bending guide mechanism;

[0026] The first bending guide mechanism comprises a first rotating clamping member and a first three-dimensional moving member, the first rotating clamping member is located at the lower part of the guide head and is used for clamping the guide head to rotate around the axis, and the first three-dimensional moving member is connected to the outside of the first rotating clamping member and is used for carrying the first rotating clamping member to move in three-dimensional directions.

[0027] In the above scheme, in order to match the structure design of the through-type opening, the first bending guide mechanism cooperates the rotating movement of the first rotating clamping member and the three-dimensional movement of the first three-dimensional moving member to realize the accurate adjustment of the spatial position and angle of the guide head, so as to ensure the accurate butt joint of the guide inclined groove and the opening interface of the sub-millimeter ultra-thin-walled pipe, replace the repeated adjustment of the artificial under the microscope, improve the assembly efficiency, and further reduce the operation time, avoid the assembly quality fluctuation caused by the dependence on the experience of the artificial.

[0028] Further, the bending unit comprises a bending traction assembly matched with the opening structure when the opening is performed on one side;

[0029] The bending traction assembly comprises a traction member, and the traction member is provided with a hook portion at one end;

[0030] The hook portion of the traction member enters into the sub-millimeter ultra-thin-walled pipe through the third opening to hook the flexible cable and bend out through the third opening.

[0031] It should be noted that, in order to design a single-side opening structure of the sub-millimeter ultra-thin and ultra-thin wall pipe (that is, only a third opening is formed in the side wall of the sub-millimeter ultra-thin and ultra-thin wall pipe), the pulling member of the present scheme directly stretches into the sub-millimeter ultra-thin and ultra-thin wall pipe through the hook portion to accurately hook the flexible cable, and when moving outward, the flexible cable is bent and led out from the third opening, so as to avoid the low efficiency problem of blind operation of the probe from the single hole, thereby replacing the direct contact operation of the flexible cable by the artificial, and reducing the risk of winding or short circuit of the flexible cable caused by human intervention.

[0032] Further, the bending pulling assembly further comprises a second bending moving mechanism;

[0033] The second bending moving mechanism comprises a second rotating clamping member and a second three-dimensional moving member, the second rotating clamping member is located at the upper part of the pulling member and is used for clamping the pulling member to rotate around the axis, and the second three-dimensional moving member is connected to the outside of the second rotating clamping member and is used for carrying the second rotating clamping member to move in three-dimensional directions.

[0034] In the above scheme, in order to match the structure characteristics of the single-side opening, the present scheme can control the pose of the hook portion in the single hole through the second bending moving mechanism, accurately hook the flexible cable and lead it out from the same hole, which is more suitable for the space limitation of the single hole scene compared with the through-type guiding, realizes the automatic operation of the single-side bending guiding, and improves the efficiency and success rate of the single hole assembly.

[0035] Further, the moving clamping unit comprises a third rotating clamping member and a third three-dimensional moving member, the clamping end of the third rotating clamping member is connected with the end of the sub-millimeter ultra-thin and ultra-thin wall pipe and makes it rotate around the axis, and the third three-dimensional moving member is connected to the outside of the third rotating clamping member and makes it move in three-dimensional directions.

[0036] The present scheme adjusts the opening in the side wall of the sub-millimeter ultra-thin and ultra-thin wall pipe to the target direction (such as the horizontal direction) through the three-dimensional movement of the third three-dimensional moving member and the rotation of the third rotating clamping member, provides an accurate position reference for subsequent bending guiding, replaces the repeated positioning when the artificial clamps, ensures the consistency of the opening position, and avoids the failure of the flexible cable guiding caused by the clamping error of the artificial.

[0037] Further, the pushing unit comprises two push wheel groups arranged at intervals, each of the push wheel groups comprises two push rollers arranged from top to bottom, a pushing area adapted to and in contact with the flexible cable is formed between the two push rollers, an anti-skid groove is further formed outside the two push rollers, and a power device for driving the rotation of one of the push rollers is mounted on the side surface of the push roller.

[0038] The scheme drives the pushing roller to rotate through the power device, so that the pushing roller pushes the flexible cable along the axial direction of the sub-millimeter ultra-thin-walled pipe through friction after rotating, so as to realize the automatic axial advancement of the flexible cable, accurately control the pushing speed and distance of the flexible cable, reduce the damage or pushing failure of the flexible cable caused by uneven manual force, and further increase the friction between the roller and the flexible cable based on the setting of the anti-skid groove, avoid the slipping of the flexible cable during pushing, and ensure that the flexible cable enters the pipe smoothly and accurately compared with manual pushing by tweezers,

[0039] Compared with the prior art, the present application has the following advantages and beneficial effects:

[0040] 1、The present application can clamp the sub-millimeter ultra-thin-walled pipe by setting the moving clamping unit, and adjust its position through three-dimensional motion and rotation, so that the axis of the sub-millimeter ultra-thin-walled pipe is accurately aligned with the pushing unit, replacing manual positioning, and avoiding the positioning deviation caused by hand shaking and visual error in the prior art.

[0041] 2、The present application sets a bending unit corresponding to the opening structure, and configures a guide head with a guide chute for the through-type opening, and configures a traction member with a hook part for the single-side opening, to realize automatic bending and guiding of the flexible cable in different opening scenes, solve the problem of frequent tool switching and complicated operation of manual operation in the prior art, and improve the adaptability of the device.

[0042] 3、The present application sets a first bending guide mechanism in the bending guide assembly, which can automatically adjust the spatial position and angle of the guide head, so that the guide chute is accurately connected with the through-type opening, replacing the repeated adjustment of manual operation under a microscope, and greatly improving the assembly efficiency of the through scene.

[0043] 4、The present application sets a second bending moving mechanism in the bending traction assembly, which can control the pose of the hook part in the single-side opening, accurately hook the flexible cable and lead it out, solve the problem of hooking failure caused by manual "blind operation" in the prior art, and effectively avoid the breakage of the flexible cable or the scratch of the pipe.

[0044] 5、The present application sets a pushing unit with an anti-skid groove, which uses the friction of the roller to smoothly push the flexible cable into the pipe, replaces the manual pushing of the tweezers, avoids the slipping, deformation or damage of the flexible cable caused by uneven manual force, and accurately controls the pushing speed and distance, and the pushing unit is provided with a force sensing module, which can monitor the stress state of the flexible cable during the pipe penetrating process in real time, and provide real-time warning function for abnormal stress such as blockage.

[0045] 6、The present application realizes the linear hardening of the flexible cable, improves the accuracy and efficiency of the pushing alignment, and reduces the resistance of the flexible cable in the process of exploring into the sub-millimeter ultra-thin-walled pipe, avoids damage to the flexible cable when passing through the sub-millimeter ultra-thin-walled pipe, and restores the bending characteristics of the flexible cable, which is beneficial to the subsequent penetration from the opening structure of the side wall, and improves the use effect of the device.

[0046] In summary, based on the above structure cooperation, the present application realizes the full-process automation of "sub-millimeter ultra-thin-walled pipe positioning-bending mechanism alignment-flexible cable hardening / softening guidance", replaces the redundant manual cycle of "observation-adjustment-confirmation" in the prior art, greatly shortens the assembly time of the existing flexible cable, and ensures the assembly quality consistency controllable, solves the quality fluctuation problem caused by manual experience dependence. BRIEF DESCRIPTION OF DRAWINGS

[0047] The drawings described herein are used to provide further understanding of the embodiments of the present application, constitute a part of the present application, and do not constitute a limitation on the embodiments of the present application. In the drawings:

[0048] Figure 1 is a structural schematic view of the present application (the sub-millimeter ultra-thin-walled pipe is in a double-side opening state);

[0049] Figure 2 is a partial structure schematic view of the guide head of the present application; Figure 1

[0050] Figure 3 is a structural schematic view of the present application (the sub-millimeter ultra-thin-walled pipe is in a single-side opening state);

[0051] Figure 4 is a structural schematic view of the present application (the sub-millimeter ultra-thin-walled pipe simultaneously has a double-side opening and a single-side opening);

[0052] Figure 5 is an internal structure schematic view of the cable lubricating member of the present application.

[0053] ​The reference signs represent: 1, sub-millimeter ultra-fine thin-walled pipe fitting; 11, first opening; 12, second opening; 13, third opening; 2, pushing unit; 21, pushing roller; 3, moving clamping unit; 31, third rotating clamping piece; 32, third three-dimensional moving piece; 4, bending unit; 41, guide head; 411, guide inclined groove; 42, first rotating clamping piece; 43, first three-dimensional moving piece; 44, second rotating clamping piece; 45, second three-dimensional moving piece; 46, traction piece; 461, hook portion; 51, cable hardening piece; 511, hardening through hole; 512, refrigeration block; 52, cable softening piece; 521, softening through hole; 6, cable lubricating piece; 61, lubricating cavity; 62, lubricating ball. DETAILED DESCRIPTION

[0054] In order to make the objects, technical solutions and advantages of the present application clearer, further detailed description will be made to the present application in combination with embodiments, the illustrative embodiments of the present application and the description thereof are only used to explain the present application, and do not limit the present application. The embodiments described below are part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0055] In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, it will be apparent to one skilled in the art that the present application can be practiced without these specific details. In other embodiments, well-known structures, materials or methods have not been specifically described in order to avoid obscuring the present application. The materials, instruments and reagents used in the following embodiments, etc. can be obtained from commercial channels unless otherwise specified. The technical means used in the embodiments is well known to those skilled in the art unless otherwise specified.

[0056] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0057] Embodiment:

[0058] Please refer to Figures 1 to 5As shown, the embodiment discloses an automatic device for the bending guide of ultra-small cable inside the pipe, which comprises a sub-millimeter ultra-thin wall pipe 1 and a pushing unit 2, the inside of the sub-millimeter ultra-thin wall pipe 1 is hollow and the side wall is provided with an opening structure, the pushing unit 2 is arranged at one end of the sub-millimeter ultra-thin wall pipe 1 and is used for pushing the flexible cable into the inside of the sub-millimeter ultra-thin wall pipe 1, further comprising:

[0059] A moving clamping unit 3 is arranged at the other end of the sub-millimeter ultra-thin wall pipe 1 and is used for clamping the sub-millimeter ultra-thin wall pipe 1 to move, so that the sub-millimeter ultra-thin wall pipe 1 corresponds to the pushing unit 2;

[0060] A bending unit 4 is arranged at the side of the sub-millimeter ultra-thin wall pipe 1 and is used for guiding the flexible cable entering the inside of the sub-millimeter ultra-thin wall pipe 1 and making it bend through the opening structure and out;

[0061] An auxiliary unit comprises a cable hardening part 51, a cable lubricating part 6 and a cable softening part 52, the cable hardening part 51 is arranged at the middle position of the pushing unit 2, the middle part of the cable hardening part 51 is provided with a hardening through hole 511 with an inner diameter larger than that of the flexible cable, the inside of the hardening through hole 511 is provided with a plurality of refrigeration blocks 512, the inside of the refrigeration block 512 is provided with a refrigeration groove, the refrigeration groove is filled with refrigerant and is communicated with the outside through a pipeline, when the flexible cable is pushed through the pushing unit 2 and passes through the hardening through hole 511 of the cable hardening part 51, the refrigeration block 512 cools and hardens the flexible cable through the refrigerant in the refrigeration groove, realizing the straight-line hardening of the flexible cable;

[0062] The cable lubricating part 6 is arranged at the position between the pushing unit 2 and the sub-millimeter ultra-thin wall pipe 1, the cable lubricating part 6 comprises a sleeve ring matched with the flexible cable, the inner wall of the sleeve ring is provided with a plurality of lubricating cavities 61, the lubricating cavities 61 are filled with lubricating medium, and a plurality of lubricating balls 62 protruding from the outside of the lubricating cavities 61 are embedded in the inside of the lubricating cavities 61, when the flexible cable passes through the sleeve ring, the lubricating balls 62 roll on the outside of the flexible cable to smear the lubricating medium on the outer surface of the flexible cable, reducing the resistance of the flexible cable in the process of exploring into the sub-millimeter ultra-thin wall pipe 1;

[0063] The cable softening part 52 is arranged at the front end of the pushing unit 2 and is sleeved on the outside of the sub-millimeter ultra-thin wall pipe 1, and a softening through hole 521 with an inner diameter larger than that of the flexible cable is arranged in the middle part of the cable softening part 52, a heating wire is arranged in the inside of the softening through hole 521, the heating wire is used for heating the flexible cable passing into the inside of the sub-millimeter ultra-thin wall pipe 1, so as to soften the cooled and hardened flexible cable and volatilize and discharge the surface lubricating components of the flexible cable.

[0064] In the above embodiment, the present application realizes the precise alignment of the sub-millimeter ultra-thin-walled pipe 1 and the axis of the pushing unit 2 and the quantitative real-time monitoring of the stress state of the flexible cable by moving the clamping unit 3 to achieve the clamping and moving functions, avoids visual errors and hand shaking during manual alignment, improves the initial positioning accuracy, and realizes the linear hardening of the flexible cable by the cable hardening member 51 of the auxiliary unit to improve the accuracy and efficiency of the pushing alignment. The cable lubricating member 6 applies lubricating medium to the surface of the flexible cable when it passes through to reduce the resistance of the flexible cable during the process of exploring the sub-millimeter ultra-thin-walled pipe 1, so as to avoid damage to the flexible cable when it passes through the sub-millimeter ultra-thin-walled pipe 1. The cable softening member 52 softens the cooled and hardened flexible cable by heating wires and volatilizes and discharges the heated and volatilized lubricating components on the surface of the flexible cable, so as to restore the bending characteristics of the flexible cable and facilitate its subsequent passage from the opening structure of the side wall. The bending unit 4 replaces the manual adjustment of the tweezers to automatically control the bending path of the flexible cable, thereby solving the problems of insufficient accuracy and low efficiency during manual guidance.

[0065] It should be noted that the sub-millimeter ultra-thin-walled pipe 1 of the present embodiment adopts an ultra-thin-walled structure with a diameter of ≤1mm, and the material is polyimide or stainless steel. The pore size of the side wall opening structure is 0.3-0.5mm, which ensures that the flexible cable can pass smoothly and be accurately guided.

[0066] In addition, in some preferred embodiments, it should be noted that the plurality of refrigeration blocks 512 located in the hardening through hole 511 form an arc-shaped notch near the part of the flexible cable, and the plurality of refrigeration blocks 512 are spliced with each other to adapt the arc-shaped notch to the outside of the flexible cable, and the refrigerant in the inside is preferably food-grade dry ice particles (solid carbon dioxide) or liquid nitrogen, so that it can meet the hardening needs of the flexible cable and will not cause the flexible cable material to become brittle due to too low temperature.

[0067] The lubricating medium in the lubricating cavity 61 is preferably medical-grade liquid paraffin or food-grade perfluoropolyether lubricant. The medical-grade liquid paraffin has excellent flowability and biocompatibility, stable molecular structure and strong chemical inertness, and will not cause corrosion or swelling to the sub-millimeter ultra-thin-walled pipe 1 and the flexible cable made of polyimide or stainless steel, and can form a uniform lubricating film on the surface of the flexible cable to effectively reduce the friction coefficient between the cable and the inner wall of the pipe. In addition, it can be understood that the rolling and smearing of the lubricating ball 62 can realize precise control of the amount of lubricating cut-off to avoid excessive medium.

[0068] For the heating wire, preferably a nickel-chromium alloy heating wire (such as Cr20Ni80 type) is used, which has precise temperature control capability and can stably output the required 80-150℃ temperature for softening the flexible cable, which can restore the bending characteristics of the cooled and hardened flexible cable, and will not cause the cable material to deteriorate due to excessive temperature, and can effectively warm up and volatilize the lubricating medium (such as medical-grade liquid paraffin or food-grade perfluoropolyether lubricant) on the surface of the flexible cable, and can be processed into a spiral shape around the softening through hole 521 to form a uniform heating area.

[0069] Based on the above embodiments, as Figure 1 , Figure 3 and Figure 4 , the opening structure includes a through-opening and / or a single-sided opening;

[0070] In the through-opening, the opening structure includes a first opening 11 and a second opening 12 oppositely opened on the two side walls of the sub-millimeter ultra-thin wall pipe 1;

[0071] In the single-sided opening, the opening structure includes a third opening 13 opened on one side wall of the sub-millimeter ultra-thin wall pipe 1.

[0072] It can be understood that the through-opening provides a channel for the flexible cable to pass through the two side walls of the pipe, which is suitable for scenarios where the flexible cable needs to be inserted from one side and drawn out from the other side; while the single-sided opening is suitable for scenarios where the flexible cable is only drawn out from a single side wall, so that the device can adapt to different assembly requirements and improve versatility.

[0073] In addition, in the specific implementation of the present scheme, the through-opening and the single-sided opening can also exist on the side wall of the sub-millimeter ultra-thin wall pipe 1 at the same time, so when this situation occurs, the through-opening and the single-sided opening can be respectively located at different positions of the sub-millimeter ultra-thin wall pipe 1, as shown in Figure 4 .

[0074] Based on the above embodiments, further, since the opening structure includes both through-openings and single-sided openings, correspondingly, the bending unit 4 is also divided into two types to adapt to different opening structures: a bending guide assembly for through-openings, and a bending traction assembly for single-sided openings, thereby realizing precise adaptation of the bending guide of the flexible cable in different opening scenarios. Specifically:

[0075] For the opening structure when the through-opening, please refer to Figure 1 and Figure 2, the bending unit 4 comprises a bending guide assembly, the bending guide assembly comprises a guide head 41, the guide head 41 has a guide inclined surface, a guide inclined groove 411 is formed on the guide inclined surface, the guide inclined groove 411 is matched with the flexible cable, and the length direction of the guide inclined groove 411 forms an included angle of 30-60° with the axial direction of the sub-millimeter ultra-thin-walled pipe 1;

[0076] When the guide bending is performed, the guide inclined surface of the guide head 41 enters into the sub-millimeter ultra-thin-walled pipe 1 through the first opening 11, so as to guide the flexible cable in the pipe through the guide inclined groove 411 and bend out through the second opening 12.

[0077] For the guide head 41, it needs to be supplemented that the groove width of the guide inclined groove 411 of the guide head 41 in the embodiment is matched with the diameter of the flexible cable (the groove bottom depth is 0.1 mm, and the error is less than or equal to 0.05 mm), and the inner wall is polished to avoid damage to the flexible cable.

[0078] The bending guide assembly further comprises a first bending guide mechanism, and Figure 1 It has been shown that the first bending guide mechanism comprises a first rotating clamping piece 42 and a first three-dimensional moving piece 43: the first rotating clamping piece 42 is located at the lower part of the guide head 41 and is used for clamping the guide head 41 to rotate around the axis, and the first three-dimensional moving piece 43 is connected to the outside of the first rotating clamping piece 42 and is used for carrying the first rotating clamping piece 42 to move in three-dimensional directions, so as to realize accurate adjustment of the spatial position and angle of the guide head 41 through cooperation of the rotating movement and the three-dimensional movement, and ensure that the guide inclined groove 411 is accurately connected with the opening interface of the sub-millimeter ultra-thin-walled pipe 1.

[0079] For the opening result of the single-side opening, please refer to Figure 3 The bending unit 4 comprises a bending traction assembly, the bending traction assembly comprises a traction piece 46, and the traction piece 46 is provided with a hook part 461 at one end;

[0080] The hook part 461 of the traction piece 46 enters into the sub-millimeter ultra-thin-walled pipe 1 through the third opening 13 to hook the flexible cable and bend out through the third opening 13.

[0081] For the traction piece 46, it needs to be explained that the hook diameter of the hook part 461 of the traction piece 46 in the embodiment is 0.1-0.2 mm, and tungsten alloy material is adopted, which has high hardness and is not easy to deform.

[0082] The bending traction assembly further comprises a second bending moving mechanism, and Figure 3As shown in the embodiment, the second rotating clamping member 44 is located on the upper part of the traction member 46 and is used to clamp the traction member 46 to rotate it around the axis, and the second three-dimensional movement member 45 is connected to the outside of the second rotating clamping member 44 and is used to carry the second rotating clamping member 44 to move in three-dimensional directions, so as to control the pose of the hook part 461 in the single hole, accurately hook the flexible cable and lead it out from the same hole.

[0083] As can also be understood, when the side wall of the sub-millimeter ultra-thin wall pipe 1 has both the through-type opening and the single-side opening, the bending guide assembly and the bending traction member 46 also exist and are located at different positions to correspond to the through-type opening and the single-side opening, respectively, and the bending guide assembly and the bending traction member 46 are used to control the pose of the hook part 461 in the single hole, accurately hook the flexible cable and lead it out from the same hole. Figure 4

[0084] Based on the above embodiment, the moving clamping unit 3 includes a third rotating clamping member 31 and a third three-dimensional movement member 32: the clamping end of the third rotating clamping member 31 is connected to the end of the sub-millimeter ultra-thin wall pipe 1 and makes it rotate around the axis, and the third three-dimensional movement member 32 is connected to the outside of the third rotating clamping member 31 and makes it move in three-dimensional directions, and through the cooperation of three-dimensional movement and rotation, the opening on the side wall of the sub-millimeter ultra-thin wall pipe 1 is accurately adjusted to the target direction, providing an accurate position reference for subsequent bending guide.

[0085] Based on the above embodiment, as shown in Figure 1 , Figure 3 and Figure 4 , the pushing unit 2 includes two push wheel groups arranged at intervals, each of the push wheel groups includes two push rollers 21 arranged from top to bottom, a pushing area adapted to and in contact with the flexible cable is formed between the two push rollers 21, an anti-skid groove is formed on the outside of the two push rollers 21, and the side surface of one of the push rollers 21 is provided with a power device for driving it to rotate, the push roller 21 is driven to rotate by the power device to push the flexible cable along the sub-millimeter ultra-thin wall pipe 1 in the axial direction by friction, and the pushing speed and distance of the flexible cable are accurately controlled.

[0086] ​As a preferred embodiment, the pushing unit 2 can also be configured with a force sensor, and the force sensor is arranged on the pushing roller 21. Through the force sensor, the force state (including the clamping force and the pushing force) of the flexible cable during the pipe penetrating process can be monitored in real time to provide real-time early warning function for abnormal force such as blockage. For the force sensor, it is preferably a micro strain gauge type force sensor (such as a high-precision S-shaped or column type micro force sensor). Its measurement range is suitable for the fine force scenario of the flexible cable pipe penetrating, and is set to 0-5N. The accuracy can reach ±0.01N. It can accurately capture the slight changes of the clamping force (to avoid damage to the flexible cable due to too tight or slipping due to too loose) and the pushing force (to monitor the smoothness during the pipe penetrating process). In specific implementation, the user can purchase it from the public sales channel. Therefore, the specific principle of the force sensor is not limited further herein, and it is not within the protection scope of the present application.

[0087] To facilitate further understanding of the technical solution, the specific implementation process of the embodiment will be briefly described herein. In the through-type opening scenario, first, the sub-millimeter ultra-thin-walled pipe fitting 1 is clamped on the third rotating clamping member 31. The axis of the sub-millimeter ultra-thin-walled pipe fitting 1 is adjusted to be aligned with the center position of the pushing unit 2 through the third three-dimensional moving member 32. The sub-millimeter ultra-thin-walled pipe fitting 1 is adjusted to be in the horizontal direction by rotating the third rotating clamping member 31. Then, the guide head 41 is aligned with the side wall opening of the sub-millimeter ultra-thin-walled pipe fitting 1 by adjusting the first three-dimensional moving member 43 and the first rotating clamping member 42. Finally, the flexible cable is placed in the flexible cable pushing mechanism. The flexible cable is pushed to the guide inclined groove 411 of the guide head 41 by the pushing unit 2. The flexible cable is guided and bent to one side opening from the pipe fitting axis direction through the inclined groove structure and protrudes out.

[0088] In the single-side opening scenario, when the flexible cable is pushed to the single-side opening position of the sub-millimeter ultra-thin-walled pipe fitting 1 by the pushing unit 2, the guide pulling member 46 is pushed to the single-side opening by the third three-dimensional moving member 32. The hook part 461 at the front end of the pulling member 46 hooks the flexible cable through the single-side opening. Then, the pulling member 46 is moved out of the single-side opening structure by the second three-dimensional moving member 45 to realize the function of bending and pulling the flexible cable from the single-side opening to the external area.

[0089] It can be expected that, compared with the prior art, the embodiment realizes the automatic operation of the flexible cable penetrating in the pipe fitting and bending and guiding from the side wall to the external area through the above-mentioned implementation, solves the problems of poor precision, low efficiency and strong experience dependence in the prior art, and provides a high-efficiency and reliable technical solution for the assembly of the sub-millimeter ultra-thin-walled pipe fitting 1 of the endoscope and other precision equipment.

[0090] In the above embodiments, it is also necessary to supplement that the first three-dimensional moving member 43, the second three-dimensional moving member 45 and the third three-dimensional moving member 32 are all composed of X / Y / Z axis linear modules (such as mechanical arms, servo motors, etc.) in the prior art, and the first rotating clamping member 42, the second rotating clamping member 44 and the third rotating clamping member 31 all adopt precision rotary tables, which are not the scope to be protected by the present application, and therefore the present application does not make specific limitation and description thereof, and the skilled in the art can obtain it through public means (such as market purchase) and debug the related precision requirements based on the actual situation.

[0091] It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are all schematic diagrams, which only serve to cooperate with the disclosed content of the specification for understanding and reading by those skilled in the art, and are not used to limit the implementation conditions of the present application, and therefore do not have substantial technical significance, and any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope covered by the disclosed technical content of the present application.

[0092] At the same time, the terms such as "upper", "lower", "left", "right", "intermediate", etc. cited in the present specification are only for the convenience of clear description, and are not used to limit the implementation range of the present application, and the change or adjustment of the relative relationship, without substantially changing the technical content, should also be considered as the implementation scope of the present application.

Claims

1. An automatic device for the bending guide of an ultra-fine cable inside a small-size pipe, comprising a sub-millimeter ultra-fine and ultra-thin wall pipe (1) and a pushing unit (2), the inside of the sub-millimeter ultra-fine and ultra-thin wall pipe (1) is hollow and the side wall is provided with an opening structure, the pushing unit (2) is arranged at one end of the sub-millimeter ultra-fine and ultra-thin wall pipe (1) and is used for pushing a flexible cable into the inside of the sub-millimeter ultra-fine and ultra-thin wall pipe (1), characterized in that, Also include: The moving clamping unit (3) is arranged at the other end of the sub-millimeter ultra-thin-walled pipe (1), which is used for clamping the sub-millimeter ultra-thin-walled pipe (1) to move, so that the sub-millimeter ultra-thin-walled pipe (1) corresponds to the pushing unit (2); The bending unit (4) is located at the side of the sub-millimeter ultra-thin-walled pipe (1), which is used for guiding the flexible cable into the sub-millimeter ultra-thin-walled pipe (1) and making it bend through the opening structure and out; The auxiliary unit includes cable stiffening member (51), cable lubricating member (6) and cable softening member (52), the cable stiffening member (51) is located at the middle position of the pushing unit (2), and the middle part of the cable stiffening member (51) is provided with a stiffening through hole (511) with an inner diameter larger than that of the flexible cable, a plurality of refrigeration blocks (512) are arranged in the stiffening through hole (511), the inside of the refrigeration block (512) is provided with a refrigeration groove, and the refrigeration groove is filled with refrigerant and communicated with the outside through a pipeline, when the flexible cable is pushed through the stiffening through hole (511) of the cable stiffening member (51) by the pushing unit (2), the refrigeration block (512) cools and hardens the flexible cable through the refrigerant in the refrigeration groove, realizes the straight line hardening of the flexible cable, and facilitates the directionality of the cable in the pushing process, avoids the contact between the flexible cable and the pipe wall caused by the flexible bending, and further avoids the pushing limitation.

2. An automated device for internal ultra-fine cable bending guidance of ultra-small size tubulars according to claim 1, characterized in that, The cable lubricating member (6) is arranged between the pushing unit (2) and the sub-millimeter ultra-thin-walled pipe (1), the cable lubricating member (6) includes a sleeve ring matched with the flexible cable, a plurality of lubricating cavities (61) are arranged on the inner wall of the sleeve ring, the lubricating cavities (61) are filled with lubricating medium, and a plurality of lubricating balls (62) protruding from the outside of the lubricating cavities (61) are arranged in the lubricating cavities (61), which are used for providing lubricant for the cable and facilitating the directional pushing of the cable in the ultra-thin-walled pipe.

3. An automated device for internal ultra-fine cable bending guide for ultra-small size tube according to claim 1, characterized in that, The cable softening member (52) is arranged at the front end of the pushing unit (2) and is sleeved on the outside of the sub-millimeter ultra-thin-walled pipe (1), and a softening through hole (521) with an inner diameter larger than that of the flexible cable is arranged in the middle part of the cable softening member (52), and a heating wire is arranged in the softening through hole (521), which is used for heating and softening the flexible cable entering into the sub-millimeter ultra-thin-walled pipe (1).

4. An automated device for internal ultra-fine cable bend management for ultra-small size tubing according to claim 1, wherein, The opening structure includes through opening and / or single side opening; When the through opening is used, the opening structure includes a first opening (11) and a second opening (12) arranged on the two side walls of the sub-millimeter ultra-thin-walled pipe (1); When the single side opening is used, the opening structure includes a third opening (13) arranged on one side wall of the sub-millimeter ultra-thin-walled pipe (1).

5. An automated device for internal ultra-fine cable bending guidance of ultra-small size tubulars according to claim 4, characterized in that, The bending unit (4) includes a bending guide assembly matched with the opening structure when the through opening is used; The bending guide assembly comprises a guide head (41) having a guide slope, and a guide inclined groove (411) is further formed on the guide slope, the guide inclined groove (411) is matched with the flexible cable, and the length direction of the guide inclined groove (411) forms an angle with the axial direction of the sub-millimeter ultra-thin wall pipe (1); The guide slope of the guide head (41) enters into the sub-millimeter ultra-thin wall pipe (1) through the first opening (11), so as to guide the flexible cable in the pipe through the guide inclined groove (411) and bend out through the second opening (12).

6. An automated device for internal ultra-fine cable bending guidance of ultra-small size tubulars according to claim 5, characterized in that, The bending guide assembly further comprises a first bending guide mechanism; The first bending guide mechanism comprises a first rotating clamping member (42) and a first three-dimensional moving member (43), the first rotating clamping member (42) is located at the lower part of the guide head (41) and is used for clamping the guide head (41) to rotate around the axis, and the first three-dimensional moving member (43) is connected to the outside of the first rotating clamping member (42) and is used for carrying the first rotating clamping member (42) to move in three-dimensional directions.

7. An automated device for internal ultra-fine cable bending guide for ultra-small size tube according to claim 4, characterized in that, The bending unit (4) comprises a bending traction assembly matched with the opening structure when the single-sided opening is performed; The bending traction assembly comprises a traction member (46), one end of the traction member (46) is provided with a hook part (461); The hook part (461) of the traction member (46) enters into the sub-millimeter ultra-thin wall pipe (1) through the third opening (13) to hook the flexible cable and bend out through the third opening (13).

8. An automated device for internal ultra-fine cable bending guidance of ultra-small size tubulars according to claim 7, characterized in that, The bending traction assembly further comprises a second bending moving mechanism; The second bending moving mechanism comprises a second rotating clamping member (44) and a second three-dimensional moving member (45), the second rotating clamping member (44) is located at the upper part of the traction member (46) and is used for clamping the traction member (46) to rotate around the axis, and the second three-dimensional moving member (45) is connected to the outside of the second rotating clamping member (44) and is used for carrying the second rotating clamping member (44) to move in three-dimensional directions.

9. An automated device for internal ultra-fine cable bend management for ultra-small size tubing according to claim 1, wherein, The moving clamping unit (3) comprises a third rotating clamping member (31) and a third three-dimensional moving member (32), the clamping end of the third rotating clamping member (31) is connected with the end of the sub-millimeter ultra-thin wall pipe (1) and is used for rotating around the axis, and the third three-dimensional moving member (32) is connected to the outside of the third rotating clamping member (31) and is used for moving in three-dimensional directions.

10. An automated device for internal ultra-fine cable bend management for ultra-small size tubing according to claim 1, wherein, The pushing unit (2) comprises two spaced pushing wheel groups, each of the pushing wheel groups comprises two pushing rollers (21) arranged from top to bottom, a pushing area matched with and in contact with the flexible cable is formed between the two pushing rollers (21), an anti-skid groove is further formed on the outside of the two pushing rollers (21), and a power device for driving the rotation of one of the pushing rollers (21) is mounted on the side surface of the pushing roller (21).

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