Pre-knotting device and method based on three-dimensional pipeline constraint

Abstract

The invention discloses a pre-knotting device and method based on three-dimensional pipeline constraint. The device comprises a space scaling connecting rod mechanism, a plurality of local pipeline modules, first rotating rods, second rotating rods and elastic reset pieces, wherein the first rotating rods and the second rotating rods are arranged corresponding to the local pipeline modules respectively. According to the pre-knotting device disclosed by the invention, flexible construction and accurate control of a rope path are realized through radial extension and retraction of the spatial scaling connecting rod mechanism and dynamic opening and closing of the local pipeline module. The device can dynamically adjust and restrain the pipeline according to the structural types of different knots and automatically release the rope after knotting is completed, the limitation of existing knotting equipment in the aspects of universality, reconfigurability and adaptability is effectively overcome, and an efficient and multifunctional knotting forming solution is provided for the fields of petroleum, medical treatment, spinning, packaging and the like.

Description

Technical Field

[0001] This invention relates to a pre-formed structure device and method based on three-dimensional pipe constraints. Background Technology

[0002] Knotting technology is widely used in many fields, including medical, textile, packaging, fishery, aerospace, and daily life. Traditional knotting equipment mainly relies on mechanical transmission or pre-programmed trajectory control, using specific actuators (such as hooks, grippers, rotating heads, etc.) to guide the rope to complete the knotting action.

[0003] In existing technologies, knot-tying devices share the common characteristic that their movement trajectory is strongly correlated with the target knot shape, and their mechanical structure or control logic is usually fixed, resulting in a single device being able to complete only one or a few fixed knot shapes. If new and complex knots need to be handled, the mechanical module must be redesigned or the control algorithm must be completely modified, which is costly, time-consuming, and the equipment lacks reconfigurability and adaptability.

[0004] Therefore, there is an urgent need for a universal knot-forming device and method that can flexibly and efficiently generate a variety of complex knots, in order to overcome the limitations of existing technologies in terms of universality, adaptability and reconfigurability. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the defects in the prior art and provide a pre-formed structure device and method based on three-dimensional pipeline constraints.

[0006] The present invention solves the above-mentioned technical problems through the following technical solution: A pre-formed structure device based on three-dimensional pipe constraints, comprising: A spatial scaling linkage mechanism includes multiple hinged spatial links with gaps at the hinges to ensure that all spatial links can rotate smoothly. The spatial scaling linkage mechanism is configured to perform radial telescopic motion. Multiple local pipe modules are arranged along the circumferential direction of the spatial scaling linkage mechanism. Each local pipe module includes a first part and a second part that can contact or separate from each other. When the first part contacts the second part, the local pipe module is in a closed state to form a continuous rope-constrained pipe. All the local pipe modules together constitute a rope-like three-dimensional constraint pipe in the closed state. A first rotating rod and a second rotating rod are provided corresponding to each of the local pipe modules, wherein the first rotating rod is connected to the first part and the second rotating rod is connected to the second part; Multiple pairs of inclined guide blocks are fixedly installed and slidably engaged with the first rotating rod and the second rotating rod. The inclined guide blocks are configured such that, in the first stage when the spatial scaling linkage mechanism opens radially, their inclined surfaces engage with the guide surfaces of the first rotating rod and the second rotating rod to guide the corresponding local pipe modules of the first rotating rod and the second rotating rod to move radially as a whole and remain closed; in the second stage when the spatial scaling linkage mechanism continues to open, the guide surfaces of the first rotating rod and the second rotating rod disengage from the inclined surfaces of the inclined guide blocks. An elastic reset element is disposed between the first rotating rod and the second rotating rod; When the spatial scaling linkage mechanism is stretched to the second stage, after the guide surfaces of the first and second rotating rods disengage from the inclined surface of the inclined guide block, the first and second rotating rods move in opposite directions under the drive of the elastic reset member, thereby driving the first and second parts of the local pipeline module to perform scissor motion and separate from each other, so as to open the three-dimensional constraint pipeline and release the rope.

[0007] Preferably, the spatial scaling linkage mechanism includes multiple sets of locally scaling linkages arranged alternately along the circumferential direction, and each of the locally scaling linkages is connected by a hinge with a gap, the gap being configured to allow the hinge to rotate during the extension and retraction of the spatial scaling linkage mechanism.

[0008] Preferably, the three-dimensional constraint pipeline is composed of two or more intersecting vertical surface pipelines. The number and spatial arrangement of the vertical surface pipelines are determined according to the structural type of the target knot. The vertical surface pipelines coincide with the central radial cross-section of the spatial scaling linkage mechanism.

[0009] Preferably, the elastic reset element is a compression spring, which is disposed between the first rotating rod and the second rotating rod.

[0010] Preferably, the three-dimensional restraint pipe has a rope inlet and a rope outlet, and a negative pressure generating device is arranged at the rope outlet. The negative pressure generating device is configured to create a negative pressure inside the three-dimensional restraint pipe to pull the rope from the inlet along the three-dimensional restraint pipe and wind it into a rope structure.

[0011] A pre-formed structure method based on three-dimensional pipe constraints, employing the aforementioned apparatus, is characterized by comprising the following steps: Traction rope procedure: In the initial state, the circular telescopic connecting rod is in a retracted state, the local pipe module is closed to form a continuous constraint pipe, and the traction device pulls the rope from the inlet along the pipe to make the rope wind into a rope-like structure. The process of dispersing the local pipe modules in a straight line is as follows: a pulling force is applied to both ends of the circular telescopic mechanism to make it open outward, which drives the local pipe modules to move radially, and the local pipe modules separate. The partial pipe module is scissor-opened and the rope is released in the following steps: Continue to apply tension to both ends of the circular telescopic mechanism to make it fully open. The guide surfaces of the first rotating rod and the second rotating rod separate from the inclined surface of the inclined guide block. The partial pipe module is scissor-opened under the action of the elastic reset member, and the rope is released. Local pipe module restoration procedure: Perform the reverse process to restore the local pipe module to its closed state.

[0012] Preferably, the traction device is a vacuum generator that pulls the rope by means of negative pressure.

[0013] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0014] The significant advantages of this invention are as follows: the pre-knotting device achieves flexible construction and precise control of the rope path through the radial extension and retraction of the spatial scaling linkage mechanism and the dynamic opening and closing of the local pipeline module. This device can dynamically adjust the constraint pipeline according to different knot structures and automatically release the rope after knotting, effectively overcoming the limitations of existing knotting equipment in terms of versatility, reconfigurability, and adaptability. It provides an efficient and multifunctional knot-forming solution for fields such as medical, textile, and packaging. Attached Figure Description

[0015] Figure 1 The overall structure of the knot-forming device according to a preferred embodiment of this application is shown.

[0016] Figure 2 A partial structure of the pre-junction apparatus according to a preferred embodiment of this application is shown.

[0017] Figure 3 The diagram illustrates a three-dimensional structure of a partial pipe module in a closed state according to a preferred embodiment of this application.

[0018] Figure 4 The diagram shows a three-dimensional structure of a partial pipe module in a separated, open state according to a preferred embodiment of this application.

[0019] Figure 5 The telescopic movement process of the spatial link according to a preferred embodiment of this application is shown.

[0020] Figure 6 The telescopic motion process of the spatial scaling linkage mechanism according to a preferred embodiment of this application is shown.

[0021] Figure 7The planar structure of a partial pipe module in a closed state according to a preferred embodiment of this application is shown.

[0022] Figure 8 The planar structure of a partial pipe module in a detached and open state, according to a preferred embodiment of this application, is shown.

[0023] Figure 9 This illustrates the state in which all local pipe modules of the preferred embodiment of this application together constitute a three-dimensional constraint pipe of a rope-like structure in a closed state.

[0024] Figure 10 This illustrates the process by which all local pipe modules in a preferred embodiment of this application switch from a closed state to a separated open state.

[0025] Explanation of reference numerals in the attached figures: Spatial scaling linkage 1 Space Link 11 Local Piping Module 2 Part 1, Chapter 21 Part 2, 22 Three-dimensional constrained pipeline 23 Rope entrance 231 Rope outlet 232 First rotating rod 3 Guide surface 31 Second rotating rod 4 Inclined guide block 5 Incline 51 Elastic reset element 6 Detailed Implementation The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0026] This application proposes a pre-formed structure device based on three-dimensional pipe constraints, including a spatial scaling linkage mechanism 1, multiple local pipe modules 2, a first rotating rod 3 and a second rotating rod 4 corresponding to each local pipe module 2, and an elastic reset member 6.

[0027] The spatial scaling linkage 1 includes multiple hinged spatial links 11 with gaps at the hinges to ensure that all spatial links 11 can rotate smoothly. The spatial scaling linkage 1 is configured to be able to perform radial telescopic motion. Multiple local pipe modules 2 are arranged along the circumferential direction of the spatial scaling linkage mechanism 1. Each local pipe module 2 includes a first part 21 and a second part 22 that can contact or separate from each other. When the first part 21 contacts the second part 22, the local pipe module 2 is in a closed state to jointly form a continuous rope-line constraint pipe. All local pipe modules 2 together constitute a rope-like three-dimensional constraint pipe 23 in the closed state. The first rotating rod 3 is connected to the first part 21, and the second rotating rod 4 is connected to the second part 22; Multiple pairs of inclined guide blocks 5 are fixedly installed and slide in cooperation with the first rotating rod 3 and the second rotating rod 4. The inclined guide blocks 5 are configured such that: in the first stage when the spatial scaling linkage mechanism 1 opens radially, their inclined surfaces 51 cooperate with the guide surfaces 31 of the first rotating rod 3 and the second rotating rod 4 to guide the corresponding local pipe modules 2 to move radially as a whole and remain closed; in the second stage when the spatial scaling linkage mechanism 1 continues to open, the guide surfaces 31 of the first rotating rod 3 and the second rotating rod 4 disengage from the inclined surfaces 51 of the inclined guide blocks 5. The elastic reset element 6 is disposed between the first rotating rod 3 and the second rotating rod 4; When the spatial scaling linkage mechanism 1 is stretched to the second stage, after the guide surfaces 31 of the first rotating rod 3 and the second rotating rod 4 separate from the inclined surface 51 of the inclined guide block 5, the first rotating rod 3 and the second rotating rod 4 move in opposite directions under the drive of the elastic reset member 6, thereby driving the first part 21 and the second part 22 of the local pipe module 2 to perform scissor motion and separate from each other, so as to open the three-dimensional constraint pipe 23 and release the rope.

[0028] For ease of understanding, the following explains some key terms in this embodiment: Spatial scaling linkage mechanism 1: This mechanism includes multiple spatial linkages 11 connected by hinges. Its overall structure is designed to be spherical and capable of radial telescoping. Its function is to drive the local pipeline module 2 to move radially.

[0029] Local pipe module 2: This module is arranged along the circumference of the spatial scaling linkage mechanism 1. Each module includes a first part 21 and a second part 22 that can contact or separate from each other. When the first part 21 contacts the second part 22, the local pipe module 2 is in a closed state, forming a continuous rope-constrained pipe. All local pipe modules 2 in the closed state together constitute a rope-like three-dimensional constraint pipe 23, used to guide the rope to form according to a preset path. That is, the pipes in the local pipe module are segmented composite pipes.

[0030] First rotating rod 3 and second rotating rod 4: These rotating rods are respectively connected to the first part 21 and the second part 22 of the local pipeline module 2. Their function is to receive external driving force or the driving force of the elastic reset member 6 and transmit it to the local pipeline module 2 to control the opening and closing movement of the local pipeline module 2.

[0031] Inclined guide block 5: This guide block is fixedly installed and slides in cooperation with the first rotating rod 3 and the second rotating rod 4. Its main function is to guide the movement and control the state of the local pipeline module 2 by engaging or disengaging its inclined surface 51 with the guide surface 31 of the rotating rod according to the radial opening stage of the spatial scaling linkage mechanism 1, ensuring that the pipeline remains closed or is allowed to open at a specific stage.

[0032] Elastic reset component 6: This component is disposed between the first rotating rod 3 and the second rotating rod 4. Its function is to provide elastic driving force under specific conditions, causing the first rotating rod 3 and the second rotating rod 4 to move in opposite directions, thereby driving the first part 21 and the second part 22 of the local pipe module 2 to separate from each other, so as to open the three-dimensional constraint pipe 23.

[0033] Scissor motion: refers to the relative rotation of the first part 21 and the second part 22 of the local pipe module 2 around their respective connection points under the drive of the rotating rod, similar to the opening and closing of scissors, thereby achieving mutual separation or contact.

[0034] This embodiment provides a pre-knotted device based on three-dimensional pipe constraints, which achieves precise forming and release of ropes through a series of cooperating components.

[0035] First, the device includes a spatial scaling linkage mechanism 1. In this embodiment, the mechanism is a generally spherical scaling linkage mechanism composed of a series of mutually hinged rigid spatial links 11. These spatial links 11 are connected in a specific way, such as by pins, so that the entire mechanism can extend and retract radially. For example, it can be designed as a polygonal linkage structure, and the overall size can be enlarged or reduced by changing the side length or angle of the polygon.

[0036] Secondly, the device is equipped with multiple local pipe modules 2. These modules are arranged uniformly or non-uniformly along the circumference of the spatial scaling linkage mechanism 1. Each local pipe module 2 consists of a first part 21 and a second part 22 that can contact or separate from each other. For example, the first part 21 and the second part 22 can be designed as semi-circular or arc-shaped structures with complementary shapes, which can fit tightly together to form a continuous pipe when they contact each other. When the first part 21 contacts the second part 22, the local pipe module 2 is in a closed state, together forming a continuous rope-constrained pipe. All local pipe modules 2, in the closed state, together constitute a rope-like three-dimensional constraint pipe 23, which can be preset according to the geometry of the target knot.

[0037] Furthermore, a first rotating rod 3 and a second rotating rod 4 are provided corresponding to each local piping module 2. The first rotating rod 3 is connected to the first part 21 of the local piping module 2, and the second rotating rod 4 is connected to the second part 22 of the local piping module 2. These rotating rods can be designed as rigid rods of a certain length and are connected to the local piping module 2 by a fixed connection.

[0038] In addition, the device includes multiple pairs of inclined guide blocks 5. These inclined guide blocks 5 are fixedly mounted on the frame of the device and slide in engagement with the first rotating rod 3 and the second rotating rod 4. The inclined guide blocks 5 are configured to function at different stages of the radial opening of the spatial scaling linkage mechanism 1. In the first stage of the radial opening of the spatial scaling linkage mechanism 1, the inclined surface 51 of the inclined guide block 5 is in close engagement with the guide surface 31 (e.g., the side or end of the rotating rod) of the first rotating rod 3 and the second rotating rod 4. This engagement guides the corresponding local pipe modules 2 of the first rotating rod 3 and the second rotating rod 4 to move radially as a whole, and in the process maintains the closed state of the local pipe modules 2. In the second stage of the continued opening of the spatial scaling linkage mechanism 1, the guide surface 31 of the first rotating rod 3 and the second rotating rod 4 disengages from the inclined surface 51 of the inclined guide block 5. For example, the inclined surface 51 of the inclined guide block 5 can terminate or flatten at a specific position, so that the rotating rod is no longer subject to its radial constraint.

[0039] Furthermore, the elastic reset element 6 is disposed between the first rotating rod 3 and the second rotating rod 4. This elastic reset element 6 can be a device that provides elastic force, such as a coil spring, leaf spring, or rubber elastomer. It is installed between the two rotating rods, storing energy when the rotating rods are compressed by an external force, and releasing the energy after the external force is released, thus pushing the rotating rods to move in opposite directions.

[0040] Therefore, when the spatial scaling linkage mechanism 1 is stretched to the second stage, after the guide surfaces 31 of the first rotating rod 3 and the second rotating rod 4 disengage from the inclined surface 51 of the inclined guide block 5, the first rotating rod 3 and the second rotating rod 4 move in opposite directions under the drive of the elastic reset member 6. This opposite movement then drives the first part 21 and the second part 22 of the local pipe module 2 to perform a scissor motion and separate from each other, so as to open the three-dimensional constrained pipe 23 and release the rope. That is, the combination and separation of the shards (the first part 21 and the second part 22) can be controlled by the spatial linkage to close or open the pipe. For example, when the rotating rods are freed from the constraint of the inclined guide block 5, the elastic force of the elastic reset member 6 will push the two rotating rods to swing outward, thereby causing the first part 21 and the second part 22 of the connected local pipe module 2 to open like scissors, so that the rope constrained in the pipe can be released freely.

[0041] The pre-knotting device in this embodiment achieves flexible construction and precise control of the rope path through the radial extension and retraction of the spatial scaling linkage mechanism 1 and the dynamic opening and closing of the local pipeline module 2. This device can dynamically adjust the constraint pipeline according to different knot structures and automatically release the rope after knotting, effectively overcoming the limitations of existing knotting equipment in terms of versatility, reconfigurability, and adaptability. It provides an efficient and multifunctional knotting solution for fields such as medical, textile, and packaging.

[0042] This application further proposes that the spatial scaling linkage mechanism 1 includes multiple sets of locally scaling linkages arranged alternately along the circumferential direction, and each locally scaling linkage is connected by a hinge with a gap, the gap being configured to allow the hinge to rotate during the extension and retraction of the spatial scaling linkage mechanism 1.

[0043] Specifically, the spatial scaling linkage 1 is composed of multiple sets of locally scaling linkages arranged alternately along the circumferential direction. This structural design makes the spatial scaling linkage 1 not a single continuous body, but rather composed of multiple independent, repeatable sub-units (i.e., locally scaling linkages) arranged in a specific pattern (e.g., staggered or symmetrical) along the circumferential direction.

[0044] Hinges are used to connect the various local scaling links, and these hinges are designed with a certain clearance. For example, the hinges can use a pin-and-hole fit, where the diameter of the hole is slightly larger than the diameter of the pin, thus providing a small clearance in the radial or axial direction. This clearance is not a simple manufacturing tolerance, but a deliberately designed functional feature. The clearance is designed to ensure that the hinges have the necessary rotational freedom when the spatial scaling linkage 1 performs radial telescoping motion. This configuration directly solves the problem of hinge jamming during movement, ensuring smooth operation of the mechanism.

[0045] Through the above technical solution, the structure of the spatial scaling linkage mechanism 1 is optimized. Its multiple sets of alternating local scaling linkages along the circumference ensure uniform load distribution and mechanism balance during radial expansion and contraction, effectively avoiding local stress concentration and deformation. Simultaneously, the local scaling linkages are connected by hinges with gaps, which are configured to allow rotation during expansion and contraction. This provides the necessary movement space for the hinges to adapt to changes in the mechanism's geometry, thereby eliminating the risk of jamming due to friction, alignment errors, or restricted rotation. This enables the spatial scaling linkage mechanism 1 to achieve smoother, more reliable, and more efficient expansion and contraction when driving the local pipe module 2 radially, significantly improving the operational stability of the entire pre-forming device and the reliability and efficiency of the forming process.

[0046] This application further proposes that the three-dimensional constraint pipe 23 is composed of two or more vertical pipes intersecting each other. The number and spatial arrangement of the vertical pipes are determined according to the structural type of the target knot. The vertical pipes coincide with the central radial cross section of the spatial scaling linkage mechanism 1.

[0047] Specifically, the three-dimensional constraint pipe 23 is composed of two or more vertical plane pipes intersecting, which refers to the path used to guide and constrain the rope to form a specific three-dimensional knot structure. The "vertical plane pipe" is a pipe segment constructed in different vertical planes. They are "intersected" to form a complex three-dimensional path, which is designed to simulate the winding path of the knot in space and ensure that the rope can be accurately guided to the target shape.

[0048] Furthermore, the number and spatial arrangement of the vertical surface pipes are determined according to the structural type of the target knot. This means that the specific number of each vertical surface pipe constituting the three-dimensional constraint pipe 23, as well as their relative positions, angles, and arrangement order in three-dimensional space, are configurable and can be dynamically adjusted according to the geometry and complexity of the specific knot to be formed as needed.

[0049] Furthermore, the vertical plane pipe coinciding with the central radial cross-section of the spatial scaling linkage mechanism 1 means that the vertical plane pipe is spatially aligned with or located within the radial center plane of the spatial scaling linkage mechanism 1. This design ensures that when the spatial scaling linkage mechanism 1 performs radial extension and retraction, the vertical plane pipe can synchronously and stably perform overall radial movement without deviation or twisting.

[0050] Through the above technical solution, the three-dimensional constraint pipe 23 is composed of two or more intersecting vertical pipes, and its number and spatial arrangement are determined according to the structural type of the target knot, thereby flexibly simulating and adapting to various complex three-dimensional knot paths. This configurable pipe structure effectively solves the problems of fixed pipe structure and poor versatility in the prior art, enabling the device to handle many different types of knots, significantly improving the versatility and reconfigurability of the equipment, and avoiding the tedious process of redesigning mechanical modules for each new knot.

[0051] This application further proposes that the elastic reset element 6 is specifically a compression spring, and the compression spring is disposed between the first rotating rod 3 and the second rotating rod 4. A compression spring is a common elastic element that stores and releases energy through the elastic deformation of the material. When subjected to compressive force, the compression spring contracts axially and returns to its original length after the compressive force is released, thereby providing a stable reset force. Compression springs come in various types; for example, they can be cylindrical helical compression springs, which have a simple structure, are easy to manufacture, and can provide linear force-displacement characteristics.

[0052] The above technical solution concretizes the elastic reset member 6 into a compression spring and places it between the first rotating rod 3 and the second rotating rod 4, effectively solving the potential problems of the elastic reset member 6 in terms of reset effect and reliability.

[0053] This application further proposes that the three-dimensional restraint pipe 23 has a rope inlet 231 and a rope outlet 232. A negative pressure generating device is arranged at the rope outlet 232. The negative pressure generating device is configured to create a negative pressure inside the three-dimensional restraint pipe 23 to pull the rope from the inlet along the three-dimensional restraint pipe 23 and wind it into a rope structure.

[0054] Specifically, the rope inlet 231 and rope outlet 232 are specific locations used to guide the rope into and out of the three-dimensional constraint pipe 23, and the inlet and outlet can be formed by a specific structure of the local pipe module 2.

[0055] A negative pressure generator is a device capable of generating pressure below ambient level, which creates suction to pull the rope. This device can take various forms; for example, it can be a vacuum pump that creates negative pressure by drawing air from inside the three-dimensional confinement pipe 23. Positioning the negative pressure generator at the rope outlet 232 optimizes the point of application of the traction force, ensuring unidirectional and efficient movement of the rope from the inlet to the outlet.

[0056] The negative pressure generating device creates and maintains a negative pressure environment inside the three-dimensional restraint pipe 23 by establishing an airtight connection with the internal space. This configuration results in the air pressure inside the three-dimensional restraint pipe 23 being lower than the external ambient pressure, thus creating a pressure difference. This pressure difference exerts a traction force along the pipe direction on the rope entering the three-dimensional restraint pipe 23. This traction method avoids the friction, damage, or jamming problems that may occur with traditional mechanical clamping or pushing. Under the continuous action of negative pressure, the rope can smoothly and precisely wind and position itself along the rope-like structure defined by the three-dimensional restraint pipe 23, ultimately forming the desired knot structure.

[0057] Through the above technical solution, this application effectively solves the problem of low efficiency or unreliability in traction ropes within the three-dimensional constraint pipe 23. This traction method significantly reduces friction and resistance between the rope and the pipe wall, avoiding rope damage or jamming that may occur due to mechanical contact, thereby greatly improving the reliability and efficiency of rope movement. Especially when forming complex rope structures, negative pressure traction ensures that the rope is accurately wound and positioned along the path defined by the three-dimensional constraint pipe 23, effectively avoiding problems such as uneven rope movement or inability to accurately form the target knot. Therefore, the pre-knotting device of this application exhibits higher versatility, adaptability, and reconfigurability in generating various complex knots.

[0058] This application proposes a pre-formed structure method based on three-dimensional pipe constraints, which includes the following steps: The first step is the traction rope process: In the initial state, the circular telescopic link is in a retracted state, and the local pipe module 2 is closed to form a continuous constraint pipe. The traction device pulls the rope from the inlet along the pipe, causing the rope to wind into a rope-like structure. This step aims to ensure that the rope, under controlled constraint conditions, can accurately wind into the target knot structure along a preset path. The traction device can be implemented in various ways. For example, a vacuum generator can be used to create negative pressure inside the three-dimensional constraint pipe 23, pulling the rope from the inlet to the outlet and moving it along the pipe; alternatively, a mechanical clamping or pushing mechanism can be used to apply pushing or pulling force to the rope, causing it to move and be positioned along the preset path of the three-dimensional constraint pipe 23.

[0059] The next step is the linear separation of each local pipe module 2: tension is applied to both ends of the circular telescopic mechanism to open it outward, causing the local pipe modules 2 to move radially, thus separating each local pipe module 2. The purpose of this step is to achieve preliminary radial separation of the modules without fully opening the local pipe modules 2, creating space for subsequent rope detachment, while avoiding premature interference with the already formed rope structure. The method of applying tension can include, but is not limited to: connecting to both ends of the spatial scaling linkage mechanism 1 through a linear actuator (such as a lead screw mechanism driven by a stepper motor) to make it move outward synchronously; or driving a specific link of the spatial scaling linkage mechanism 1 through a hydraulic or pneumatic cylinder to achieve overall radial expansion.

[0060] Next is the scissor-like opening of the local pipe module 2 and the release of the rope: Continue to apply tension to both ends of the circular telescopic mechanism to fully open it. The guide surfaces 31 of the first rotating rod 3 and the second rotating rod 4 separate from the inclined surface 51 of the inclined guide block 5. Under the action of the elastic reset member 6, the local pipe module 2 opens in a scissor-like motion, and the rope is released. This step is crucial for releasing the knot. By precisely controlling the opening degree of the spatial scaling linkage mechanism 1, the first rotating rod 3 and the second rotating rod 4 can break free from the constraint of the inclined guide block 5. Then, using the driving force of the elastic reset member 6, the first part 21 and the second part 22 of the local pipe module 2 perform a scissor-like motion and separate from each other, thereby reliably opening the three-dimensional constraint pipe 23 and releasing the rope.

[0061] Finally, the partial pipe module 2 is restored to its closed state by reversing the process. This step aims to restore the pre-forming device to its initial working state for the next knotting operation, thereby improving the continuous working capability and efficiency of the device. The restoration process is usually the reverse of the opening process described above. That is, by contracting the space scaling linkage mechanism 1, the first rotating rod 3 and the second rotating rod 4 are brought closer together and closed again under the guidance of the inclined guide block 5, so that the first part 21 and the second part 22 of the partial pipe module 2 re-contact, forming a continuous three-dimensional constrained pipe 23.

[0062] Through the above technical solution, this application provides a systematic pre-knotting method. This method effectively solves the problem of incoordination in the rope traction, pipe separation, and restoration processes by controlling the movement of the spatial scaling linkage mechanism 1 and the opening and closing of the local pipe module 2 in stages and steps. Overall, this method enables the pre-knotting device based on three-dimensional pipe constraints to efficiently and reliably complete the formation and release of knots, significantly improving knotting efficiency and the versatility and adaptability of the device.

[0063] This application further proposes that the traction device is a vacuum generating device, which pulls the rope by means of negative pressure.

[0064] By employing the above technical solution, a vacuum generator is used to pull the rope using negative pressure, effectively solving the problems of low efficiency and insufficient versatility of traditional traction methods. This non-contact traction mechanism applies negative pressure inside the three-dimensional constraint pipe 23 or along the rope path, causing the rope to move passively along the preset pipe under the action of pressure difference, avoiding friction, entanglement, or damage that may be caused by traditional mechanical traction.

Claims

1. A pre-formed structure device based on three-dimensional pipe constraints, characterized in that, include: A spatial scaling linkage mechanism includes multiple hinged spatial links with gaps at the hinges to ensure that all spatial links can rotate smoothly. The spatial scaling linkage mechanism is configured to perform radial telescopic motion. Multiple local pipe modules are arranged along the circumferential direction of the spatial scaling linkage mechanism. Each local pipe module includes a first part and a second part that can contact or separate from each other. When the first part contacts the second part, the local pipe module is in a closed state to form a continuous rope-constrained pipe. All the local pipe modules together constitute a rope-like three-dimensional constraint pipe in the closed state. A first rotating rod and a second rotating rod are provided corresponding to each of the local pipe modules, wherein the first rotating rod is connected to the first part and the second rotating rod is connected to the second part; Multiple pairs of inclined guide blocks are fixedly installed and slidably engaged with the first rotating rod and the second rotating rod. The inclined guide blocks are configured such that, in the first stage when the spatial scaling linkage mechanism opens radially, their inclined surfaces engage with the guide surfaces of the first rotating rod and the second rotating rod to guide the corresponding local pipe modules of the first rotating rod and the second rotating rod to move radially as a whole and remain closed; in the second stage when the spatial scaling linkage mechanism continues to open, the guide surfaces of the first rotating rod and the second rotating rod disengage from the inclined surfaces of the inclined guide blocks. An elastic reset element is disposed between the first rotating rod and the second rotating rod; When the spatial scaling linkage mechanism is stretched to the second stage, after the guide surfaces of the first and second rotating rods disengage from the inclined surface of the inclined guide block, the first and second rotating rods move in opposite directions under the drive of the elastic reset member, thereby driving the first and second parts of the local pipeline module to perform scissor motion and separate from each other, so as to open the three-dimensional constraint pipeline and release the rope.

2. The pre-formed structure device based on three-dimensional pipe constraint according to claim 1, characterized in that, The spatial scaling linkage mechanism includes multiple sets of locally scaling linkages arranged alternately along the circumferential direction. Each of the locally scaling linkages is connected by a hinge with a gap, the gap being configured to allow the hinge to rotate during the extension and retraction of the spatial scaling linkage mechanism.

3. The pre-formed structure device based on three-dimensional pipe constraint according to claim 1, characterized in that, The three-dimensional constraint pipeline is composed of two or more intersecting vertical surface pipelines. The number and spatial arrangement of the vertical surface pipelines are determined according to the structural type of the target knot. The vertical surface pipelines coincide with the central radial cross-section of the spatial scaling linkage mechanism.

4. The pre-formed structure device based on three-dimensional pipe constraint according to claim 1, characterized in that, The elastic reset element is a compression spring, which is disposed between the first rotating rod and the second rotating rod.

5. The pre-formed structure device based on three-dimensional pipe constraint according to claim 1, characterized in that, The three-dimensional restraint pipe has a rope inlet and a rope outlet. A negative pressure generating device is arranged at the rope outlet. The negative pressure generating device is configured to create a negative pressure inside the three-dimensional restraint pipe to pull the rope from the inlet along the three-dimensional restraint pipe and wind it into a rope structure.

6. A pre-formed structure method based on three-dimensional pipe constraints, employing the apparatus described in any one of claims 1-5, characterized in that, Includes the following steps: Traction rope procedure: In the initial state, the circular telescopic connecting rod is in a retracted state, the local pipe module is closed to form a continuous constraint pipe, and the traction device pulls the rope from the inlet along the pipe to make the rope wind into a rope-like structure. The process of dispersing the local pipe modules in a straight line is as follows: a pulling force is applied to both ends of the circular telescopic mechanism to make it open outward, which drives the local pipe modules to move radially, and the local pipe modules separate. The partial pipe module is scissor-opened and the rope is released in the following steps: Continue to apply tension to both ends of the circular telescopic mechanism to make it fully open. The guide surfaces of the first rotating rod and the second rotating rod separate from the inclined surface of the inclined guide block. The partial pipe module is scissor-opened under the action of the elastic reset member, and the rope is released. Local pipe module restoration procedure: Perform the reverse process to restore the local pipe module to its closed state.

7. The pre-formed structure method based on three-dimensional pipe constraints according to claim 6, characterized in that, The traction device is a vacuum generator that pulls the rope by means of negative pressure.

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