Disclosure of Invention
The invention provides a tube wire roller driving mechanism and a tube wire control device for interventional therapy, aiming at solving the technical problem that the existing tube wire control device can generate extra resistance to a tube wire when in use, so that the tube wire is difficult to finely control.
In order to achieve the above-mentioned purpose, the invention provides a tube wire roller driving mechanism for interventional therapy, comprising a first driving component, a second driving component, a first limiting component, a second limiting component and a driving unit, wherein the first driving component comprises a first driving ring and a first roller rotationally sleeved on the first driving ring, the first driving ring is provided with a first transmission tooth for driving the first roller to automatically rotate, the second driving component comprises a second driving ring which is arranged in pairs with the first driving ring and a second roller rotationally sleeved on the second driving ring, the second driving ring is provided with a second transmission tooth for driving the second roller to automatically rotate, the second roller is aligned with the first roller at radial intervals and used for clamping two sides of a tube wire, the first limiting component is used for limiting the displacement of the second roller relative to the ring center of the first driving ring, the driving unit is used for driving the first limiting component to drive the second roller relative to the ring center of the second driving ring, the driving unit is used for driving the first limiting component and the second limiting component to synchronously rotate together, and the second limiting component is used for driving the first limiting component and the second limiting component to synchronously rotate together, and the second driving ring and the second limiting component are used for independently limiting the first driving ring and the limiting component to rotate synchronously.
In the embodiment of the invention, the first roller and the second roller have the same structure, the first roller is provided with a sleeve hole which axially penetrates, the sleeve hole is used for being sleeved on the first driving ring, the wall of the sleeve hole is provided with a groove which extends spirally, and the groove is used for being in transmission engagement with the first transmission gear.
In an embodiment of the present invention, the first driving gear includes a plurality of unit teeth protruding from a surface of the first driving ring, the plurality of unit teeth are spaced apart along a circular direction of the first driving ring, and the plurality of unit teeth are configured to sequentially enter the groove of the first roller when the first driving ring rotates relative to the first limiting component.
In an embodiment of the invention, the distance between any two adjacent unit teeth is less than or equal to the axial length of the first roller.
In the embodiment of the invention, the first limiting assembly and the second limiting assembly have the same structure, the first limiting assembly comprises a first rotating base capable of rotating around the central axis of the first base and a first limiting piece arranged on the first rotating base, the first driving ring is coaxially arranged on the first rotating base and can independently rotate relative to the first rotating base, and the first limiting piece is used for limiting and abutting against the end face of the first roller; the driving unit is used for driving the first rotating base to rotate around the central axis of the first base and is used for driving the first driving ring to rotate independently relative to the first rotating base.
In the embodiment of the invention, the first rollers and the first limiting pieces are multiple in number, the first limiting pieces are uniformly arranged at intervals along the circumferential direction of the central axis of the base, and the first rollers are sequentially arranged along the annular direction of the first driving ring and are correspondingly and limitedly clamped between two adjacent first limiting pieces one by one.
In an embodiment of the present invention, a first ring gear is provided on the first rotating base, a central axis of the first ring gear coincides with a central axis of the first base, and the driving unit includes a first driving gear for driving engagement with the first ring gear and a first driving member for driving the first driving gear to rotate.
In the embodiment of the invention, the first driving ring and the second driving ring have the same structure, the first driving ring comprises a plurality of first positive magnetic pole ring sections and a plurality of first negative magnetic pole ring sections which are alternately distributed in sequence, the driving unit also comprises a magnetic ring coaxially sleeved in the first driving ring and a second driving piece for driving the magnetic ring to rotate, the magnetic ring comprises a plurality of second positive magnetic pole ring sections and a plurality of second negative magnetic pole ring sections which are alternately distributed in sequence, the plurality of second positive magnetic pole ring sections and the plurality of first negative magnetic pole ring sections are in one-to-one correspondence and are radially aligned, and the plurality of second negative magnetic pole ring sections and the plurality of first positive magnetic pole ring sections are in one-to-one correspondence and are radially aligned.
In the embodiment of the invention, the center of the magnetic ring is provided with a second annular gear, the central axis of the second annular gear coincides with the central axis of the first base, the driving unit further comprises a second driving gear which is used for being in transmission engagement with the second annular gear, and the second driving piece is used for driving the second driving gear to rotate.
In order to achieve the above object, the present invention further provides a tube filament control device, which includes the tube filament roller driving mechanism for interventional therapy and a tube filament, wherein the tube filament is sandwiched between the first roller and the second roller.
Through the technical scheme, the tube wire roller driving mechanism for interventional therapy provided by the embodiment of the invention has the following beneficial effects:
when the driving unit drives the first driving ring and the second driving ring to rotate relative to the first limiting component and the second limiting component respectively, the driving unit continuously drives the first driving ring and the second driving ring to rotate relative to the first limiting component and the second limiting component respectively, so that the tube wire can advance and retreat simultaneously and rotate. The driving force of the tube wire is always provided by the roller only no matter how the tube wire moves, and the single-contact-position driving mode can ensure that the force applied by the roller to the tube wire is used as the driving force, so that the generation of extra friction resistance is avoided, and the accurate control of the tube wire is ensured.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Detailed Description
Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration and explanation only and are not intended to limit the present invention.
The tube filament roller driving mechanism for interventional therapy of the present invention is described below with reference to the accompanying drawings.
The invention provides a tube wire roller driving mechanism for interventional therapy, which is shown in fig. 1 and 2 and comprises:
the first driving assembly 1 comprises a first driving ring 11 and a first roller 12 rotationally sleeved on the first driving ring 11, and a first transmission gear 13 for driving the first roller 12 to rotate automatically is arranged on the first driving ring 11;
the second driving assembly 2 comprises a second driving ring 21 and second rollers 22, the second driving ring 21 is arranged in pairs with the first driving ring 11, the second rollers 22 are rotatably sleeved on the second driving ring 21, second transmission teeth 23 for driving the second rollers 22 to rotate automatically are arranged on the second driving ring 21, and the second rollers 22 are arranged in radial interval alignment with the first rollers 12 and are used for clamping two sides of the tube wire 6;
the first limiting assembly 3 is used for limiting the displacement of the first roller 12 relative to the center of the first driving ring 11;
the second limiting assembly 4 is used for limiting the displacement of the second roller 22 relative to the center of the second driving ring 21;
the driving unit is used for driving the first driving ring 11 and the second driving ring 21 to respectively drive the first limiting assembly 3 and the second limiting assembly 4 to synchronously rotate together, and driving the first driving ring 11 and the second driving ring 21 to respectively and independently rotate relative to the first limiting assembly 3 and the second limiting assembly 4.
When the driving unit drives the first driving ring 11 and the second driving ring 21 to respectively drive the first limiting component 3 and the second limiting component 4 to rotate together, the first driving ring 12 and the second driving ring 22 also move together under the action of the limiting components, so that the driving of the advancing and retreating direction of the tube wire 6 is realized, and when the driving unit drives the first driving ring 11 and the second driving ring 21 to respectively rotate relative to the first limiting component 3 and the second limiting component 4, the first driving ring 12 and the second driving ring 22 can respectively rotate relative to the first driving ring 11 and the second driving ring 21 due to the action of the first driving teeth 13 and the second driving teeth 23, so that the tube wire 6 is driven to rotate, and the first driving ring 11 and the second driving ring 21 continuously drive the first driving ring 11 and the second driving ring 21 to rotate relative to the first limiting component 3 and the second limiting component 4 simultaneously. However, no matter how the tube wire 6 moves, the driving force of the tube wire 6 is always provided by the roller only, that is, in the mechanism, the force applied by the roller to the tube wire 6 is all used as the driving force, so that the generation of extra friction resistance is avoided, and the precise control of the tube wire 6 is ensured.
It should be noted that, when the tube filament 6 moves, the first roller 12 and the second roller 22 need to be guaranteed to move synchronously and cooperatively, that means, if the tube filament 6 needs to be guaranteed to move forward and backward smoothly, the first driving ring 11 and the second driving ring 21 need to be guaranteed to rotate synchronously in mirror images at the same rotation speed, and further, the linear velocity components of the two rollers in the forward and backward directions are guaranteed to be identical in size and direction, and if the tube filament 6 needs to be guaranteed to rotate smoothly, the linear velocity components of the two rollers in the tangential direction of the tube filament 6 need to be guaranteed to be identical in size and opposite in direction.
As shown in fig. 1, 2 and 4, in the embodiment of the present invention, the first roller 12 and the second roller 22 have the same structure, the first roller 12 is provided with a sleeve hole 121 that penetrates axially, the sleeve hole 121 is used for being sleeved on the first driving ring 11, a groove 122 extending spirally is provided on the wall of the sleeve hole 121, and the groove 122 is used for being meshed with the first driving gear 13 in a driving manner. Similarly, the second roller 22 is also provided with a sleeve hole 121 penetrating axially, and the wall of the sleeve hole 121 of the second roller 22 is also provided with a groove 122 extending spirally. Through driving tooth and recess 122 transmission engagement to and through spacing the subassembly to the spacing abutment of the terminal surface of gyro wheel, can drive the gyro wheel and rotate around its own axle center when the drive ring is for spacing subassembly autogenous rotation, thereby make the gyro wheel can have the tangential direction's of tube silk 6 linear velocity component, it should be noted that spacing subassembly only limits the gyro wheel displacement, but can not restrict the gyro wheel rotation.
As shown in fig. 1, in the embodiment of the present invention, the first driving teeth 13 and the second driving teeth 23 have the same structure, the first driving teeth 13 may include a plurality of unit teeth 131 protruding from the surface of the first driving ring 11, the plurality of unit teeth 131 are spaced along the annular direction of the first driving ring 11, and the plurality of unit teeth 131 are used to sequentially enter the grooves 122 of the first roller 12 when the first driving ring 11 rotates relative to the first limiting assembly 3. Specifically, the plurality of unit teeth 131 may be located on the same plane and distributed at intervals along the annular direction, and the unit teeth 131 may sequentially enter different grooves 122 through the self-rotation of the first driving ring 11 relative to the first limiting component 3, so as to realize the self-rotation driving of the first roller 12. The unit teeth 131 may have various shapes, such as a cylinder shape, a bar shape, etc.
As shown in fig. 4, in the embodiment of the present invention, the number of the grooves 122 is plural, and the plural grooves 122 are uniformly distributed along the circumferential direction of the socket hole 121.
In the embodiment of the invention, the groove 122 can be arranged on the driving ring, and the transmission teeth can be arranged on the wall of the sleeve joint hole 121 of the roller, so that the same transmission effect can be achieved.
In the embodiment of the present invention, the distance between any two adjacent unit teeth 131 is less than or equal to the axial length of the first roller 12. By setting the distance between two adjacent unit teeth 131 to be less than or equal to the axial length of the roller, the next adjacent unit tooth 131 can enter the next groove 122 before the previous unit tooth 131 comes out of the groove 122, so that continuous engagement between the unit tooth 131 and the groove 122 is realized, and the situation that the groove 122 and the transmission tooth are staggered to cause no transmission is avoided.
As shown in fig. 2 and 3, in the embodiment of the present invention, the first limiting assembly 3 and the second limiting assembly 4 have the same structure, the first limiting assembly 3 includes a first rotating base 31 rotatable about a first base central axis 311 and a first limiting member 32 provided on the first rotating base 31, the first driving ring 11 is coaxially mounted on the first rotating base 31 and is rotatable independently with respect to the first rotating base 31, the first limiting member 32 is for limiting abutment against an end face of the first roller 12; the driving unit is for driving the first rotary base 31 to self-rotate about the first base center axis 311, and for driving the first driving ring 11 to independently rotate with respect to the first rotary base 31.
Likewise, the second limiting assembly 4 includes a second rotating base 41 rotatable about a second base center axis 411 and a second limiting piece 42 provided on the second rotating base 41, the second driving ring 21 being coaxially mounted on the second rotating base 41 and being capable of self-rotation with respect to the second rotating base 41, the second limiting post being for limiting abutment against an end face of the second roller 22; the drive unit is for driving the second rotary base 41 to self-rotate about the second base center axis 411, and for driving the second drive ring 21 to self-rotate relative to the second rotary base 41.
Through setting up swivel base and locating part, drive unit only need drive swivel base rotate, can realize the advance and retreat drive of gyro wheel pair pipe silk 6, and drive unit only need control the drive ring for swivel base autogiration can realize the rotary drive of gyro wheel pair pipe silk 6.
As shown in fig. 2, in the embodiment of the present invention, the number of the first rollers 12 and the first limiting members 32 is plural, the plural first limiting columns are uniformly arranged at intervals along the circumferential direction of the central axis of the base, and the plural first rollers 12 are sequentially arranged along the annular direction of the first driving ring 11 and are correspondingly and limitedly clamped between two adjacent first limiting members 32 one by one. Likewise, the number of the second rollers 22 and the second stoppers 42 is plural. The first limiting members 32 are engaged with the first rollers 12, so that the first driving ring 11 is mounted and fixed on the first favorite rotary base, and the first rollers 12 can continuously drive the tube filament 6 in the advancing and retreating directions.
As shown in fig. 2 and 3, in the embodiment of the present invention, the first limiting member 32 and the second limiting member 42 may be vertically disposed limiting columns, and of course, the limiting members may be disposed in other shapes, such as a rhombus shape, an ear plate shape, and the like.
In the embodiment of the invention, the limiting piece can be further provided with a support column which horizontally extends, the support column can be used for supporting the driving ring or the roller from the bottom, and of course, the driving ring or the roller can be supported by adopting magnetic suspension and other technologies.
As shown in fig. 2 and 3, in the embodiment of the present invention, a first ring gear 312 is provided on the first rotary base 31, a central axis of the first ring gear 312 coincides with the first base central axis 311, and the driving unit includes a first driving gear 51 for driving engagement with the first ring gear 312 and a first driving member for driving the first driving gear 51 to rotate. The first driving member may be a motor, and the rotation driving of the first rotation base 31 is achieved through transmission among the motor, the first driving gear 51, and the first ring gear 312. Of course, the first rotating base 31 may also be driven by external gear transmission, belt transmission, synchronous belt transmission, friction wheel transmission, etc.
In the embodiment of the present invention, the structure of the second rotating base 41 is the same as that of the first rotating base 31, and the description thereof will not be repeated here.
As shown in fig. 2, 3 and 5, in the embodiment of the present invention, the first driving ring 11 and the second driving ring 21 have the same structure, the first driving ring 11 includes a plurality of first positive magnetic pole ring segments 111 and a plurality of first negative magnetic pole ring segments 112 that are alternately distributed in turn, the driving unit further includes a magnetic ring 52 coaxially sleeved in the first driving ring 11 and a second driving member for driving the magnetic ring 52 to rotate, the magnetic ring 52 includes a plurality of second positive magnetic pole ring segments 521 and a plurality of second negative magnetic pole ring segments 522 that are alternately distributed in turn, the plurality of second positive magnetic pole ring segments 521 and the plurality of first negative magnetic pole ring segments 112 are in one-to-one correspondence and are radially aligned, and the plurality of second negative magnetic pole ring segments 522 and the plurality of first positive magnetic pole ring segments 111 are in one-to-one correspondence and are radially aligned. By the opposite attraction of the second positive pole ring segment 521 with the first negative pole ring segment 112 and by the opposite attraction of the second negative pole ring segment 522 with the first positive pole ring segment 111, a contactless driving of the drive ring can be achieved. And the multi-segment pole ring segments may increase the driving force of the magnetic ring 52 to the drive ring. It should be noted that, in order to ensure continuous driving of the tube wire 6, multiple rollers need to be sleeved on the two groups of driving rings, so that the space of the driving rings is compact, if the driving rings adopt a transmission mode of contact transmission, the distribution of the rollers on the driving rings is necessarily affected, and the driving of the driving rings can be realized on the premise of not affecting the distribution of the roller bodies through the matching of multiple pairs of positive magnetic pole ring segments and negative magnetic pole ring segments.
In embodiments of the invention, the drive ring may also be driven by other means, such as a gear drive, a friction wheel drive, etc.
As shown in fig. 2 and fig. 5, in the embodiment of the present invention, the center of the magnetic ring 52 is provided with a second annular gear 523, the central axis of the second annular gear 523 coincides with the central axis 311 of the first base, and the driving unit further includes a second driving gear 53 for driving and meshing with the second annular gear 523, and the second driving member is used for driving the second driving gear 53 to rotate. Of course, the magnetic ring 52 may be driven in other ways as well, as the rotating base.
To achieve the above object, the present invention further provides a tube filament handling apparatus including a tube filament roller driving mechanism for interventional therapy and a tube filament 6 according to the above, the tube filament 6 being sandwiched between a first roller 12 and a second roller 22.
When the tube wire control device is used, mirror images of two groups of driving components are required to be arranged on two sides of the tube wire 6, at least one group of rollers on each driving component is in contact with the tube wire 6, the tube wire 6 is clamped by the first roller 12 and the second roller 22, when the rotating bases on the two sides rotate in a mirror image mode at the same speed, the first roller 12 and the second roller 22 on the two sides synchronously rotate and are sequentially in contact with the tube wire 6, and accordingly continuous driving force in the continuous advancing and retreating direction is provided for the tube wire 6, and when the first driving ring 11 and the second driving ring 21 rotate relative to the rotating bases respectively, the first roller 12 and the second roller 22 rotate circumferentially around the axes of the first driving ring 11 and the second driving ring 22 respectively due to clamping of the limiting components, and continuous rotating torque is provided for the tube wire 6.
In an embodiment of the present invention, the tube filament handling apparatus may include a plurality of tube filament driving units.
To further explain the principle of operation of the tube strand control device of the present invention, the first roller 12 and the second roller 22 are subjected to the following analysis.
As shown in fig. 1 and 2, the rotation of the rotating base can provide speed components in the advancing and retreating directions for the first roller 12 and the second roller 22, the rotation of the two groups of driving rings relative to the respective rotating base can provide speed components in the tangential directions of the tube filament for the first roller 12 and the second roller 22, when the first roller 12 and the second roller 22 synchronously and coordinately move, the first roller 12 and the second roller 22 can respectively apply a first driving resultant force Fa and a second driving resultant force Fb to the tube filament, the first driving resultant force Fa and the second driving resultant force Fb can be decomposed into a first driving component Fa1 and a second driving component Fb1 in the advancing and retreating directions, and a third driving component Fa2 and a fourth driving component Fb2 in the tangential directions of the tube filament, the first driving component Fa1 and the second driving component Fb1 are equal in size, the directions are the same, driving force Fa in the advancing and retreating directions of the tube filament can be realized through the first driving component Fa1 and the second driving component Fb1, the third driving component Fa2 and the fourth driving component Fb2 can be respectively applied to the tube filament, and the tube filament can be more precisely and forcedly driven by the rotating base, and the tube filament can be prevented from being inserted into the tube rotation through the rotation of the tube rotation base, thereby realizing the tube driving force can be more precisely formed by the rotation and tube driving component.
It should be noted that, the first driving component force Fa1 and the second driving component force Fb1 may be zero, or the third driving component force Fa2 and the fourth driving component force Fb2 may be zero, and the tube filament performs a pure advancing and retreating or pure rotating motion.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.