CN113200283B - Size-adaptive force decoupling type catheter conveying device and working method thereof - Google Patents

Size-adaptive force decoupling type catheter conveying device and working method thereof Download PDF

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Publication number
CN113200283B
CN113200283B CN202110557225.7A CN202110557225A CN113200283B CN 113200283 B CN113200283 B CN 113200283B CN 202110557225 A CN202110557225 A CN 202110557225A CN 113200283 B CN113200283 B CN 113200283B
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roller
catheter
force
rollers
shaft
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CN113200283A (en
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邓震
郑晓春
何炳蔚
张胜战
林龙盛
郑艇
陈晓辉
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Xiamen Qianqian Medical Technology Co ltd
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Fuzhou University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0214—Articles of special size, shape or weigh

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

The invention relates to a size self-adaptive force decoupling type catheter conveying device which comprises an elastic closed-loop support, wherein the elastic closed-loop support is used for radially expanding outwards or contracting inwards and is used for penetrating a catheter in the elastic closed-loop support, a plurality of rollers which are driven to rotate by a motor are uniformly distributed on the circumference of the elastic closed-loop support, and the rollers are in contact with and drive the catheter. The distance between the rollers can be conveniently adjusted through the elastic closed-loop support which expands outwards or contracts inwards in the radial direction, the device is suitable for catheters with any size, appropriate pressing force is provided, the stability of catheter conveying is improved, and the application range of the device is expanded.

Description

Size-adaptive force decoupling type catheter conveying device and working method thereof
Technical Field
The invention relates to a size self-adaptive force decoupling type catheter conveying device and a working method thereof.
Background
The traditional catheter conveying device is used for contacting and driving the catheter to be fixed in roller spacing and cannot be self-adaptive to conveying of catheters with different pipe diameters.
Disclosure of Invention
In view of the shortcomings of the prior art, the technical problem to be solved by the invention is to provide a size-adaptive force decoupling type catheter delivery device and a working method thereof.
In order to solve the technical problems, the technical scheme of the invention is as follows: a size self-adaptive force decoupling type catheter conveying device comprises an elastic closed-loop support which is used for radially expanding outwards or contracting inwards and penetrates through a catheter from the inside, a plurality of rollers which are driven to rotate by a motor are evenly distributed on the circumference of the elastic closed-loop support, and the rollers are in contact with and drive the catheter.
Preferably, elasticity closed loop support includes the cube frame, and the last perpendicular to pipe axial side arris of cube frame all comprises left arris pole and right arris pole, all is as an organic whole through spring coupling between left arris pole and the right arris pole, and the extension of spring is for extending to of corresponding arris pole.
Preferably, left arris pole is the square bar with right arris pole, and the spring periphery cover between left arris pole and right arris pole is equipped with square sleeve, square sleeve wherein left arris pole or right arris pole are fixed to one end, the other end and right arris pole or left arris pole sliding fit.
Preferably, the cubic frame is provided with rollers on four frame surfaces on the periphery of the guide pipe, and the axles of the rollers are positioned on the diagonal lines of the frame surfaces.
Preferably, the wheel axle diagonals of two adjacent frame surfaces are two wheels which are intersected with each other on the same frame surface.
Preferably, all be equipped with motor support, axle support on the double-phase diagonal angle of frame face, the motor support all installs through the rotatory left pivot of motor drive, and the axle support all installs the right pivot, and the gyro wheel is inside to be equipped with the shaft hole along the axial, and the shaft hole is inserted along the left side in the left pivot, and the shaft hole is inserted along the right side in the right pivot, and the shaft hole cooperation is all followed with the keyway through key and the same shaft hole in the left pivot and the right pivot, and the shaft hole axial displacement telescopic adjustment is all followed with the right pivot in the left pivot.
Preferably, the roller consists of a roller I, a roller II, a roller III and a roller IV in sequence along the clockwise direction.
Preferably, a base is arranged below the bottommost lateral edge of the cubic frame, which is parallel to the axial direction of the guide pipe, a telescopic rod is arranged at the top of the base, and the top end of the telescopic rod is fixedly connected with the bottommost lateral edge.
Preferably, the lower part of the base is connected with a plurality of vacuum chucks through supporting diagonal rods.
A working method of a size self-adaptive force decoupling type catheter conveying device comprises the following steps: (1) the rollers drive the guide pipe to move through resultant force generated by friction, and the feed motion, the rotation motion or the feed and rotation combined motion of the guide pipe can be realized by adjusting the steering directions of 4 rollers: when the roller I rotates anticlockwise, friction force F1 is generated on the guide pipe, the roller II rotates clockwise, friction force F2 is generated on the guide pipe, resultant force F generated by F1 and F2 points to the axial direction of the guide pipe, and similarly, resultant force in the same direction as F is generated on the roller III and the roller IV, so that the guide pipe is driven to realize feeding motion; when the first roller rotates anticlockwise, friction force F1 is generated on the guide pipe, the second roller also rotates anticlockwise, friction force F2 is generated on the guide pipe, resultant force F generated by F1 and F2 points to the radial direction of the guide pipe, similarly, the third roller and the fourth roller also generate force pointing to the radial direction of the guide pipe, but the direction of the force is opposite to the direction of the force F, so that torque is generated to drive the guide pipe to rotate; when the first roller and the second roller rotate anticlockwise and clockwise or clockwise and anticlockwise respectively, and the third roller and the fourth roller rotate anticlockwise or clockwise, the feeding and rotating combined motion of the guide pipe can be realized; when the third roller and the fourth roller rotate anticlockwise and rotate clockwise or rotate clockwise and anticlockwise respectively, the first roller and the second roller rotate anticlockwise or rotate clockwise simultaneously, and the feeding and rotating combined motion of the guide pipe can be realized; (2) the distance between the rollers can be conveniently adjusted through the elastic closed-loop support which expands outwards or contracts inwards in the radial direction, the device is suitable for catheters with any size, appropriate pressing force is provided, the stability of catheter conveying is improved, and the application range of the device is expanded while the stability is ensured by matching the liftable base; (3) when the elastic closed-loop support expands or contracts radially outwards, the spring is stretched or contracted, the left ridge rod and the right ridge rod are guided by the square sleeve, are not easy to twist or deflect and only extend and retract along the left ridge rod and the right ridge rod, and simultaneously, the left rotating shaft and the right rotating shaft can move axially along the axle hole to be adjusted in a telescopic manner; the plurality of vacuum chucks facilitate installation of the device.
Compared with the prior art, the invention has the following beneficial effects: the distance between the rollers can be conveniently adjusted through the elastic closed-loop support which expands outwards or contracts inwards in the radial direction, the device is suitable for catheters with any size, appropriate pressing force is provided, the stability of catheter conveying is improved, and the application range of the device is expanded.
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Drawings
Fig. 1 is a first schematic structural diagram of an embodiment of the present invention.
FIG. 2 is a second schematic structural diagram of an embodiment of the present invention.
Fig. 3 is a schematic configuration diagram of the base.
Fig. 4 is an exploded view of the roller.
Fig. 5 is a force analysis diagram of the driving mode.
Fig. 6 is a force analysis diagram of the driving mode.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
As shown in fig. 1-6, the embodiment provides a size self-adaptive force decoupling type conduit conveying device, which comprises an elastic closed-loop support 2 which is used for radially expanding outwards or contracting inwards and penetrates through a conduit 1 along the inside, wherein a plurality of rollers which are driven to rotate by a motor are uniformly distributed on the elastic closed-loop support along the circumference, and the rollers are in contact with and drive the conduit.
In the embodiment of the invention, the elastic closed-loop support comprises a cubic frame, the lateral edges of the cubic frame, which are perpendicular to the axial direction of the guide pipe, are respectively composed of a left edge rod 4 and a right edge rod 5, the left edge rod and the right edge rod are connected into a whole through a spring 6, and the extension direction of the spring is the extension direction of the corresponding edge rod.
In the embodiment of the invention, the left prismatic bar and the right prismatic bar are both square bars, a square sleeve 7 is sleeved on the periphery of the spring between the left prismatic bar and the right prismatic bar, one end of the square sleeve is fixedly provided with the left prismatic bar or the right prismatic bar, and the other end of the square sleeve is in sliding fit with the right prismatic bar or the left prismatic bar.
In the embodiment of the invention, the four frame surfaces of the cubic frame, which are positioned on the periphery of the guide pipe, are respectively provided with the roller, and the wheel shafts of the rollers are positioned on the diagonal lines of the frame surfaces.
In the embodiment of the invention, the diagonal lines of the wheel shafts of two adjacent frame surfaces are two wheels which are intersected with each other on the same frame surface.
In the embodiment of the invention, a motor support 8 and a shaft support 9 are arranged on two opposite corners of the frame surface, a left rotating shaft 10 driven by a motor to rotate is arranged on each motor support, a right rotating shaft 11 is arranged on each shaft support, a shaft hole 12 is axially arranged in each roller, the left rotating shaft is inserted into the shaft hole along the left side, the right rotating shaft is inserted into the shaft hole along the right side, the left rotating shaft and the right rotating shaft are matched with the shaft hole through a key 13 and a key groove 14 to transmit torque, and the left rotating shaft and the right rotating shaft can move, stretch and adjust along the shaft hole axially.
In the embodiment of the invention, the roller is sequentially composed of a first roller 15, a second roller 16, a third roller 17 and a fourth roller 18 along the clockwise direction.
In the embodiment of the invention, a base 19 is arranged below the bottommost lateral edge parallel to the axial direction of the guide pipe in the cubic frame, a telescopic rod 20 is arranged at the top of the base, and the top end of the telescopic rod is fixedly connected with the bottommost lateral edge.
In the embodiment of the invention, a plurality of vacuum chucks 3 are connected to the lower part of the base through supporting inclined rods 21.
A working method of a size self-adaptive force decoupling type catheter conveying device comprises the following steps: (1) the rollers drive the guide pipe to move through resultant force generated by friction, and the feed motion, the rotation motion or the feed and rotation combined motion of the guide pipe can be realized by adjusting the steering directions of 4 rollers: when the roller I rotates anticlockwise, friction force F1 is generated on the guide pipe, the roller II rotates clockwise, friction force F2 is generated on the guide pipe, resultant force F generated by F1 and F2 points to the axial direction of the guide pipe, and similarly, resultant force in the same direction as F is generated on the roller III and the roller IV, so that the guide pipe is driven to realize feeding motion; when the first roller rotates anticlockwise, friction force F1 is generated on the guide pipe, the second roller also rotates anticlockwise, friction force F2 is generated on the guide pipe, resultant force F generated by F1 and F2 points to the radial direction of the guide pipe, similarly, the third roller and the fourth roller also generate force pointing to the radial direction of the guide pipe, but the direction of the force is opposite to the direction of the force F, so that torque is generated to drive the guide pipe to rotate; when the first roller and the second roller rotate anticlockwise and clockwise or clockwise and anticlockwise respectively, and the third roller and the fourth roller rotate anticlockwise or clockwise, the feeding and rotating combined motion of the guide pipe can be realized; when the third roller and the fourth roller rotate anticlockwise and rotate clockwise or rotate clockwise and anticlockwise respectively, the first roller and the second roller rotate anticlockwise or rotate clockwise simultaneously, and the feeding and rotating combined motion of the guide pipe can be realized; (2) the distance between the rollers can be conveniently adjusted through the elastic closed-loop support which expands outwards or contracts inwards in the radial direction, the device is suitable for catheters with any size, appropriate pressing force is provided, the stability of catheter conveying is improved, and the application range of the device is expanded while the stability is ensured by matching the liftable base; (3) when the elastic closed-loop support expands or contracts radially outwards, the spring is stretched or contracted, the left ridge rod and the right ridge rod are guided by the square sleeve, are not easy to twist or deflect and only extend and retract along the left ridge rod and the right ridge rod, and simultaneously, the left rotating shaft and the right rotating shaft can move axially along the axle hole to be adjusted in a telescopic manner; the plurality of vacuum chucks facilitate installation of the device.
The foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims (1)

1.一种尺寸自适应的力解耦式导管输送装置，其特征在于：包括用以沿内部穿设导管的径向外扩或内缩的弹性闭环支架，弹性闭环支架上圆周均布有若干个经电机驱动旋转的滚轮，若干个滚轮接触并传动导管；弹性闭环支架包括立方体框架，立方体框架上垂直于导管轴向的侧棱均由左棱杆与右棱杆组成，左棱杆与右棱杆之间均经弹簧连接为一体，弹簧的延向为对应棱杆的延向；左棱杆与右棱杆均为方杆，左棱杆与右棱杆间的弹簧外周套设有方形套筒，方形套筒其中一端固定左棱杆或右棱杆，另一端与右棱杆或左棱杆滑动配合；立方体框架位于导管外周的四个框面上均设置滚轮，滚轮的轮轴位于所在框面的对角线上；两相邻框面的轮轴对角线在同一框面上为相互交叉的两根；框面的两相对角上均设有电机支座、轴支座，电机支座均安装经电机驱动旋转的左转轴，轴支座均安装有右转轴，滚轮内部沿轴向设有轮轴孔，左转轴沿左侧插入轮轴孔，右转轴沿右侧插入轮轴孔，左转轴与右转轴均经键与键槽同轮轴孔配合，左转轴与右转轴均可沿轮轴孔轴向移动伸缩调节；滚轮沿顺时针方向依次由滚轮一、滚轮二、滚轮三、滚轮四组成；立方体框架中平行于导管轴向的最底部侧棱下方设有底座，底座顶部设有伸缩杆，伸缩杆顶端与该最底部侧棱固连；底座的下方经支撑斜杆连接有若干个真空吸盘；该尺寸自适应的力解耦式导管输送装置的工作方法按以下步骤进行：（1）滚轮通过摩擦产生的合力驱动导管运动，通过调节4个滚轮的转向即可实现导管的进给运动、旋转运动或进给与旋转组合运动：当滚轮一为逆时针转动时，对导管产生摩擦力F1，滚轮二为顺时针转动，对导管产生摩擦力F2，F1与F2产生的合力F指向导管轴向，同理滚轮三、滚轮四也产生与F同向的合力，从而驱动导管实现进给运动；当滚轮一为逆时针转动时，对导管产生摩擦力F1，滚轮二也为逆时针转动，对导管产生摩擦力F2，F1与F2产生的合力F指向导管径向，同理滚轮三、滚轮四也产生指向导管径向的力，但此力方向与F相反，从而产生力矩驱动导管旋转；当滚轮一与滚轮二分别为逆时针转动与顺时针转动或顺时针转动与逆时针转动，滚轮三与滚轮四同为逆时针转动或同为顺时针转动时可实现导管的进给与旋转组合运动；当滚轮三与滚轮四分别为逆时针转动与顺时针转动或顺时针转动与逆时针转动，滚轮一与滚轮二同为逆时针转动或同为顺时针转动时可实现导管的进给与旋转组合运动；（2）通过径向外扩或内缩的弹性闭环支架方便调节滚轮间的距离，适应任意尺寸的导管，并且提供适当的压紧力，提高了导管输送的稳定性，配用可升降底座，保证稳定性的同时又扩展装置的适用范围；（3）弹性闭环支架径向外扩或内缩时，弹簧被拉伸或收缩，左棱杆与右棱杆受方形套筒导向，不易扭曲或偏摆，仅沿其延向伸缩，同时左转轴与右转轴均可沿轮轴孔轴向移动伸缩调节；若干个真空吸盘便于装置的安装。1. A size-adaptive force decoupling catheter delivery device is characterized in that: it comprises an elastic closed-loop support for expanding or shrinking in the radial direction along the inner piercing catheter, and the upper circumference of the elastic closed-loop support is evenly distributed with several A roller driven and rotated by a motor, and several rollers contact and drive the catheter; the elastic closed-loop support includes a cube frame, and the side edges of the cube frame perpendicular to the axis of the catheter are composed of a left edge rod and a right edge rod, and the left edge rod and the right edge rod are composed of The prisms are connected together by springs, and the extension direction of the spring is the direction of the corresponding prism; the left and right prisms are square bars, and the outer circumference of the spring between the left and right prisms is provided with a square Sleeve, one end of the square sleeve is fixed with the left or right prism, and the other end is slidingly matched with the right or left prism; On the diagonal of the frame surface; the axle diagonals of two adjacent frame surfaces are two intersecting on the same frame surface; the two opposite corners of the frame surface are provided with motor supports, shaft supports, and motor supports The seat is installed with a left shaft driven by a motor, and the shaft support is installed with a right shaft. The inside of the roller is provided with an axle hole along the axial direction. Both the right shaft and the right shaft are matched with the wheel shaft hole through the key and the keyway. The left shaft and the right shaft can be moved and adjusted axially along the shaft hole. A base is arranged under the bottommost side edge parallel to the axial direction of the conduit in the frame, a telescopic rod is arranged on the top of the base, and the top of the telescopic rod is fixedly connected with the bottommost side edge; the bottom of the base is connected with a plurality of vacuum suction cups through supporting inclined rods; The working method of the size-adaptive force decoupling catheter delivery device is as follows: (1) The roller drives the catheter movement through the resultant force generated by friction, and the feeding movement and rotation of the catheter can be realized by adjusting the steering of the four rollers. Motion or combined motion of feed and rotation: when the first roller rotates counterclockwise, the friction force F1 is generated on the catheter, the second roller rotates clockwise, and the friction force F2 is generated on the catheter, and the resultant force F generated by F1 and F2 points to the axial direction of the catheter , in the same way, the third and fourth rollers also generate a resultant force in the same direction as F, thereby driving the guide tube to realize the feeding movement; when the first roller rotates counterclockwise, the friction force F1 is generated on the guide tube, and the second roller also rotates The catheter generates friction force F2, and the resultant force F generated by F1 and F2 points to the radial direction of the catheter. Similarly, the third and fourth rollers also generate a force that points to the radial direction of the catheter, but the direction of this force is opposite to that of F, thus generating a torque to drive the catheter to rotate. ;When the roller 1 and roller 2 rotate counterclockwise and clockwise respectively or rotate clockwise and counterclockwise, and the roller 3 and roller 4 both rotate counterclockwise or both rotate clockwise, the feeding and rotation of the catheter can be realized. Combined motion; when the roller 3 and roller 4 rotate counterclockwise and clockwise respectively or rotate clockwise and counterclockwise, and the roller 1 and roller 2 both rotate counterclockwise or both rotate clockwise, the feeding of the catheter can be realized Combined movement with rotation; (2) It is convenient to adjust the distance between the rollers through the elastic closed-loop bracket that expands or contracts radially. It is suitable for catheters of any size, and provides appropriate pressing force, which improves the stability of catheter delivery. Equipped with a liftable base, it ensures stability and expands the scope of application of the device; (3) The elastic closed-loop stent expands radially outward. Or when retracted, the spring is stretched or contracted, and the left and right prisms are guided by the square sleeve, which is not easy to twist or yaw, and only expands and contracts along its extension direction. To move telescopic adjustment; several vacuum suction cups facilitate the installation of the device.
CN202110557225.7A 2021-05-21 2021-05-21 Size-adaptive force decoupling type catheter conveying device and working method thereof Active CN113200283B (en)

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CN202284604U (en) * 2011-05-10 2012-06-27 苏州晟成新能源科技有限公司 Transmission shaft
CN106932151A (en) * 2017-04-28 2017-07-07 安徽理工大学 A kind of gas pipe leakage detection device of self-propelled reducing
KR102103773B1 (en) * 2019-08-13 2020-04-23 박경숙 Roller for conveyor
CN210417963U (en) * 2019-08-20 2020-04-28 张家港市星光精密制管厂 A draw gear for steel pipe production
CN212221354U (en) * 2020-05-25 2020-12-25 广东启源建筑工程设计院有限公司 Pipe conveying device for pipeline installation

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