CN-122009918-A - Preforming device and method based on three-dimensional pipeline constraint

CN122009918ACN 122009918 ACN122009918 ACN 122009918ACN-122009918-A

Abstract

The invention discloses a preformed knot device and method based on three-dimensional pipeline constraint, the device comprises a space zoom connecting rod mechanism, a plurality of local pipeline modules, a first rotating rod, a second rotating rod and an elastic reset piece, wherein the first rotating rod, the second rotating rod and the elastic reset piece are arranged corresponding to each local pipeline module. The preformed knot device realizes flexible construction and accurate control of a rope path through radial expansion and contraction of the space expansion and contraction link mechanism and dynamic opening and closing of the local pipeline module. The device can dynamically adjust the constraint pipeline according to the structure types of different knots, automatically release the knots after the knots are formed, effectively overcome the limitation of the conventional knotting equipment in the aspects of universality, reconfigurability and adaptability, and provide a high-efficiency and multifunctional knot forming solution for the fields of petroleum, medical treatment, spinning, packaging and the like.

Inventors

FENG PEI
Wei Dashun
ZHANG JUNPING
WANG BAIYANG
YANG YUNNA
ZHANG RONGGEN
YU HONGZHOU
YANG CHONGCHANG

Assignees

东华大学
上海羿展仪器有限公司

Dates

Publication Date: 20260512
Application Date: 20260214

Claims (7)

1. A preformed knot device based on stereoscopic pipeline constraints, comprising: the space zoom link mechanism comprises a plurality of hinged space links, gaps are reserved at the hinged positions, smooth rotation of all the space links is ensured, and the space zoom link mechanism is configured to be capable of performing telescopic motion along the radial direction; A plurality of partial pipeline modules arranged along the circumferential direction of the space-zoom linkage mechanism, each partial pipeline module comprising a first portion and a second portion which can be mutually contacted or separated, when the first portion is contacted with the second portion, the partial pipeline modules are in a closed state to jointly form a section of continuous rope-line constraint pipeline, and all the partial pipeline modules jointly form a three-dimensional constraint pipeline in a rope-like structure in the closed state; A first rotating rod and a second rotating rod which are arranged corresponding to each local pipeline module, wherein the first rotating rod is connected with the first part, and the second rotating rod is connected with the second part; The inclined plane guide blocks are fixedly arranged and are in sliding fit with the first rotating rod and the second rotating rod, and are configured to be matched with the guide surfaces of the first rotating rod and the second rotating rod through inclined planes of the inclined plane guide blocks in a first stage of radial opening of the space zooming connecting rod mechanism so as to guide the whole local pipeline module corresponding to the first rotating rod and the second rotating rod to move radially and keep closed; The elastic reset piece is arranged between the first rotating rod and the second rotating rod; When the space zooming linkage mechanism is stretched to the second stage, after the guide surfaces of the first rotating rod and the second rotating rod are separated from the inclined surfaces of the inclined surface guide blocks, the first rotating rod and the second rotating rod are driven by the elastic resetting piece to move oppositely, and then the first part and the second part of the local pipeline module are driven to execute shearing movement to separate from each other, so that the three-dimensional constraint pipeline is opened and the rope is released.
2. The stereoscopic tube constraint based pre-knotting device of claim 1, wherein the spatial scaling linkage comprises a plurality of sets of local scaling links arranged alternately in a circumferential direction, each local scaling link being connected by a hinge having a gap configured to allow the hinge to rotate during telescoping of the spatial scaling linkage.
3. The preformed knot device based on three-dimensional pipe constraint of claim 1, wherein the three-dimensional constraint pipe is composed of two or more vertical surface pipes in a staggered manner, the number and the spatial arrangement mode of the vertical surface pipes are determined according to the structural mode of a target knot, and the vertical surface pipes are coincident with the central radial cross section of the spatial zoom linkage mechanism.
4. The preformed knot device based on three-dimensional pipeline constraint of claim 1, wherein the elastic reset element is a compression spring, and the compression spring is arranged between the first rotating rod and the second rotating rod.
5. The stereoscopic duct constraint-based pre-knotting device of claim 1, wherein the stereoscopic constraint duct has a cord inlet and a cord outlet, the cord outlet being positioned with a negative pressure generating device configured to create a negative pressure inside the stereoscopic constraint duct to draw a cord from the inlet along the stereoscopic constraint duct and wind into a cord configuration.
6. A preformed knot method based on three-dimensional pipeline constraint, adopting the device as claimed in any one of claims 1 to 5, comprising the following steps: the step of drawing the rope line, namely under the initial state, the circular telescopic connecting rod is in a contracted state, the local pipeline module is closed to form a continuous constraint pipeline, and the rope line is drawn by a drawing device to move along the pipeline from an inlet, so that the rope line is wound into a rope-like structure; Applying pulling force to the two ends of the circular telescopic mechanism to enable the circular telescopic mechanism to be outwards opened, driving the local pipeline modules to radially move, and separating the local pipeline modules; The step of disconnecting the rope comprises the steps of continuously applying pulling force to the two ends of the circular telescopic mechanism to enable the circular telescopic mechanism to be completely opened, separating the guide surfaces of the first rotating rod and the second rotating rod from the inclined surface of the inclined surface guide block, and enabling the local pipeline module to be opened in a shearing mode under the action of the elastic reset piece to disconnect the rope; and (3) a step of recovering the local pipeline module to be closed, namely operating according to the reverse process to recover the local pipeline module to be closed.
7. The preformed knot method based on three-dimensional pipeline constraint of claim 6, wherein the traction device is a vacuum generating device and the rope is pulled by means of negative pressure.

Description

Preforming device and method based on three-dimensional pipeline constraint Technical Field The invention relates to a preformed knot device and method based on three-dimensional pipeline constraint. Background The knotting technique is widely applied to various fields of medical treatment, textile, packaging, fishery, aerospace and daily life. Conventional knotting devices rely primarily on mechanical transmission or preprogrammed trajectory control to guide the cord through a specific actuator (e.g., a crochet, a jaw, a rotary head, etc.) to perform the knotting action. In the prior art, a common feature of knotting devices is that their motion trajectories are strongly correlated with the target knot pattern, and the mechanical structure or control logic is usually cured, resulting in a device that can only accomplish one or a few fixed knot patterns. If a new complex knot needs to be processed, a mechanical module needs to be redesigned or a control algorithm needs to be thoroughly modified, the cost is high, the period is long, and the equipment lacks of reconfigurability and adaptability. Therefore, there is an urgent need for a universal knot forming apparatus and method capable of flexibly and efficiently forming a plurality of complex knots, so as to break through the limitations of versatility, adaptability and reconfigurability in the prior art. Disclosure of Invention The invention aims to overcome the defects in the prior art and provides a preformed knot device and method based on three-dimensional pipeline constraint. The invention solves the technical problems by the following technical scheme: A preformed knot device based on stereoscopic tubing constraints, comprising: the space zoom link mechanism comprises a plurality of hinged space links, gaps are reserved at the hinged positions, smooth rotation of all the space links is ensured, and the space zoom link mechanism is configured to be capable of performing telescopic motion along the radial direction; A plurality of partial pipeline modules arranged along the circumferential direction of the space-zoom linkage mechanism, each partial pipeline module comprising a first portion and a second portion which can be mutually contacted or separated, when the first portion is contacted with the second portion, the partial pipeline modules are in a closed state to jointly form a section of continuous rope-line constraint pipeline, and all the partial pipeline modules jointly form a three-dimensional constraint pipeline in a rope-like structure in the closed state; A first rotating rod and a second rotating rod which are arranged corresponding to each local pipeline module, wherein the first rotating rod is connected with the first part, and the second rotating rod is connected with the second part; The inclined plane guide blocks are fixedly arranged and are in sliding fit with the first rotating rod and the second rotating rod, and are configured to be matched with the guide surfaces of the first rotating rod and the second rotating rod through inclined planes of the inclined plane guide blocks in a first stage of radial opening of the space zooming connecting rod mechanism so as to guide the whole local pipeline module corresponding to the first rotating rod and the second rotating rod to move radially and keep closed; The elastic reset piece is arranged between the first rotating rod and the second rotating rod; When the space zooming linkage mechanism is stretched to the second stage, after the guide surfaces of the first rotating rod and the second rotating rod are separated from the inclined surfaces of the inclined surface guide blocks, the first rotating rod and the second rotating rod are driven by the elastic resetting piece to move oppositely, and then the first part and the second part of the local pipeline module are driven to execute shearing movement to separate from each other, so that the three-dimensional constraint pipeline is opened and the rope is released. Preferably, the spatial scaling linkage mechanism comprises a plurality of groups of local scaling links alternately arranged along the circumferential direction, and each local scaling link is connected by a hinge with a gap, and the gap is configured to allow the hinge to rotate during the expansion and contraction process of the spatial scaling linkage mechanism. Preferably, the three-dimensional constraint pipeline is formed by interlacing two or more vertical plane pipelines, the number and the spatial arrangement mode of the vertical plane pipelines are determined according to the structural type of the target knots, and the vertical plane pipelines are coincident with the central radial cross section of the spatial zoom link mechanism. Preferably, the elastic restoring member is a compression spring, and the compression spring is disposed between the first rotating rod and the second rotating rod. Preferably, the three-dimensional restraint duct has a string inlet a