CN211658262U

CN211658262U - Spinal drilling operation auxiliary device

Info

Publication number: CN211658262U
Application number: CN201921044667.6U
Authority: CN
Inventors: 姚进; 徐邦杰; 李翔昱; 汤卿; 高文翔
Original assignee: Sichuan University
Current assignee: Sichuan University
Priority date: 2019-07-05
Filing date: 2019-07-05
Publication date: 2020-10-13
Anticipated expiration: 2029-07-05

Abstract

The utility model provides a spinal drill hole operation auxiliary device which characterized in that: comprises a base, a column and a seven-degree-of-freedom mechanical arm; the rotary joint in the seven-degree-of-freedom mechanical arm can change damping and can be locked; the seven-degree-of-freedom mechanical arm can realize gravity self-balance; the tail end of the seven-degree-of-freedom mechanical arm is a moving pair and the feeding motion is controllable; this spinal drilling operation auxiliary device simple structure, the function realizes easily, convenient operation can alleviate doctor's working strength, reduces the risk of operation failure.

Description

Spinal drilling operation auxiliary device

Technical Field

The utility model relates to a medical robot field specifically is a spinal drilling operation auxiliary device.

Background

Aiming at osteoporotic spine compression fracture, at present, China mainly adopts percutaneous pedicle screw internal fixation surgery for treatment, however, most of domestic hospitals still use a doctor to hold a bone drill for drilling operation when implementing percutaneous pedicle screw internal fixation surgery, and the possibility of operation errors is increased by fatigue caused by long-time operation of the doctor and physiological trembling of hands of the doctor; the use of the spinal drill surgery assistance device can greatly reduce the risk of surgery and reduce the burden on the surgeon. It is highly desirable that each rotational joint of the spinal drilling aid be capable of varying damping and locking. When a doctor carries out drilling positioning, the spine drilling auxiliary device needs to be directly dragged to reach a designated position, and in the dragging process, when the tail end of the mechanical arm is far away from the positioning point, the damping of each rotary joint is reduced, so that the tail end can quickly reach the position near the positioning point, and the operation efficiency is improved; when the tail end of the mechanical arm reaches the position near the positioning point, the damping of each rotary joint is increased so as to facilitate the positioning; when the tail end of the mechanical arm reaches a positioning point, locking each rotary joint and each movable joint to complete positioning; spinal drilling operation auxiliary device can be fine alleviate doctor's working strength, reduces the risk of operation.

Disclosure of Invention

The utility model provides a solve above-mentioned problem and provide a spinal drilling operation auxiliary device, its characterized in that: comprises a base, a column and a seven-degree-of-freedom mechanical arm; the rotary joint in the seven-degree-of-freedom mechanical arm can be controlled in damping change and can be locked; the seven-degree-of-freedom mechanical arm can realize gravity self-balance; the tail end of the seven-degree-of-freedom mechanical arm is a moving pair, and the feeding motion of a rotary joint in the seven-degree-of-freedom mechanical arm can be controlled, the damping can be changed and controlled, and the rotary joint can be locked through a magnetic powder clutch arranged in the rotary joint; specifically, the damping torque of the magnetic powder clutch is changed by changing the current input to the magnetic powder clutch so as to realize variable damping of the rotary joint, and when the current is large enough to enable the damping torque provided by the magnetic powder clutch to be larger than the load torque, the locking of the rotary joint is realized; the seven-degree-of-freedom mechanical arm can realize gravity self-balance by hanging a heavy object; the feed motion of the moving pair at the tail end of the seven-degree-of-freedom mechanical arm is controllable through a linear module; the base comprises a box body (1), an object stage (2), moving elements (22) and object stage fixing elements (202), the four moving elements (22) are fixedly connected with four corners at the bottom of the box body (1), the auxiliary device for the spinal drilling operation can move freely on the ground through the moving elements (22), and the side surface of the box body (1) is connected with the side surface of the object stage (2) through the object stage fixing elements (202); the stand column comprises a stand column main body (3), guide rails (4), a ball screw (5), a ball screw seat (7), an electromagnetic clutch (23), pulleys (8), a rope (6) and a balance weight (24), wherein the lower end of the stand column main body (3) is fixedly connected with the upper surface of a box body (1), the ball screw (5) is arranged on the stand column main body (3), the ball screw seats (7) are arranged on the upper side and the lower side of the ball screw (5), the ball screw seat (7) is fixedly connected with the stand column main body (3), the two guide rails (4) are fixedly connected with the stand column main body (3), the pulleys (8) are fixedly connected with the upper end of the stand column main body, and the electromagnetic clutch (23) is fixedly connected with the lower end of the ball screw (; the seven-degree-of-freedom mechanical arm comprises a first joint arm (9), a second joint arm (11), a third joint arm (12), a fourth joint arm (13), a fifth joint arm (14), a sixth joint arm (15), a first rotary joint (21), a second rotary joint (20), a third rotary joint (19), a fourth rotary joint (18), a fifth rotary joint (17), a first moving joint (25), a second moving joint (26), a slider (16) and a bone drill or puncture tool (27), wherein the right end of the first joint arm (9) and two guide rails (4) on the upright post main body (3) form a moving pair, the first joint arm (9) and the second joint arm (11) rotate around the vertical direction through the first rotary joint (21), and the second joint arm (11) and the third joint arm (12) rotate around the vertical direction through the second rotary joint (20), the third joint arm (12) and the fourth joint arm (13) are rotated around a horizontal direction by the third rotary joint (19), the fourth joint arm (13) and the fifth joint arm (14) are rotated around a fourth rotary joint axis by the fourth rotary joint (18), the fifth joint arm (14) and the sixth joint arm (15) are rotated around a fifth rotary joint axis by a fifth rotary joint (17), and the slider (16) and the sixth joint arm (15) form a second moving joint (26); the slide block (16) is connected with the bone drill or puncture tool (27); when the auxiliary device for spinal drilling operation is needed to puncture, the sliding block is connected with a puncture tool, and the specific connection form is determined according to the situation; when the auxiliary device for the spinal drilling operation is required to be used for drilling, the sliding block is connected with the bone drill, and the specific connection form is determined according to the situation; the variable damping of the rotary joint is controllable and can be locked, and the rotary joint can be realized by using a magnetic powder brake, a power supply, a magnetic powder brake driver and a single chip microcomputer; when the tail end of the mechanical arm is far away from the operation positioning point, the single chip microcomputer controls the magnetic powder driver to output smaller current to the magnetic powder clutch, so that the damping torque is smaller; when the tail end of the mechanical arm is away from the position near the operation positioning point, the single chip microcomputer controls the magnetic powder clutch driver to output larger current to the magnetic powder clutch, so that the damping torque is increased; when the tail end of the mechanical arm reaches an operation positioning point, the single chip microcomputer controls the current output to the magnetic powder clutch by the magnetic powder clutch driver to be increased, so that the damping torque is larger than the load torque, and the rotary joint is locked; the feeding of the second movable joint is controllable by using a linear module.

The utility model provides a pair of spinal drill hole operation auxiliary device, its characterized in that: the upper end of the upright post main body (3) is fixedly connected with two pulleys (8), one pulley (8) is positioned on the front side of the upright post main body (3), the other pulley (8) is positioned on the rear side of the upright post main body (3), a hole (301) is formed in the upper portion of the upright post main body, the left end of the rope (6) is connected with a first joint arm (9), the right end of the rope (6) penetrates through the pulley on the front side of the upright post main body, penetrates out of the hole (301), and penetrates through the pulley on the rear side of the upright post main body, and finally the right end of the rope (6) is connected with a balance weight on the rear side of; the utility model discloses a height of adjusting objective table, including box (1), object table fixed element (202), box (1) side is equipped with two guide slots (101) that are used for object table (2) to go up and down, the one side that object table (2) and box (1) hug closely is equipped with two object table guide slots (201), object table (2) are connected through object table fixed element (202) with box (1), object table fixed element (202) pass guide slot (101) and object table guide slot (201), adjust object table fixed element and make object table (2) can slide so that the height of adjusting object table about the box.

The utility model provides a pair of spinal drill hole operation auxiliary device, its characterized in that: the two guide rails (4) are fixedly connected with the upright post main body (3), the two guide rails (4) are arranged along the vertical direction, and the two guide rails (4) are parallel; two guide grooves (92) at the right end of the first joint arm form a moving pair with the guide rail (4), a nut hole at the right end of the first joint arm (9) and a nut (91) are connected with the ball screw (5) to form a screw-nut pair, and the moving pair formed by the guide grooves (92) and the guide rail (4) and the screw-nut pair formed by the nut hole at the right end of the first joint arm (9) and the nut (91) connected with the ball screw (5) form a first moving joint (25).

The utility model provides a pair of spinal drill hole operation auxiliary device, its characterized in that: the rotation axis of the first rotary joint (21) is vertically downward, the axis of the second rotary joint (20) is vertically downward, the rotation axis of the third rotary joint (19) is in the horizontal direction and is perpendicular to and perpendicular to the rotation axis of the second rotary joint (20) at a point, and the rotation axis of the fourth rotary joint (18) is perpendicular to and perpendicular to the rotation axis of the third rotary joint (19) at a point; the rotation axis of the fifth rotary joint (17) is perpendicular to the rotation axis of the fourth rotary joint (18) at one point; the rotation axis of the third rotary joint, the rotation axis of the fourth rotary joint, and the rotation axis of the fifth rotary joint intersect at a point; and the tail end angle fine adjustment mechanism formed by the third rotary joint, the fourth rotary joint and the fifth rotary joint can be adjusted within 20 degrees around the vertical direction.

Drawings

Fig. 1 is a schematic perspective view of a spinal drill assisting device according to the present invention.

Fig. 2 is a schematic perspective view of a spinal drilling auxiliary device according to the present invention.

Fig. 3 is a schematic perspective view of a column part of an auxiliary device for spinal drilling operation according to the present invention.

Fig. 4 is a schematic perspective view of a mechanical arm of the auxiliary device for spinal drilling operation away from a column part.

Fig. 5 is a schematic perspective view of a mechanical arm of the auxiliary device for spinal drilling operation near a column part.

FIG. 6 is a perspective view of a base portion of an auxiliary device for spinal drilling of the present invention.

In the figure: 1 box, 101 guide slot, 2 object stage, 201 object stage guide slot, 202 object stage fixing element, 3 column main body, 301 hole, 4 guide rail, 5 lead screw, 6 rope, 7 lead screw seat, 8 pulley, 9 first joint arm, 91 nut hole and nut, 92 guide slot, 11 second joint arm, 12 third joint arm, 13 fourth joint arm, 14 fifth joint arm, 15 sixth joint arm, 151 guide rail, 16 slide block, 17 fifth rotary joint, 18 fourth rotary joint, 19 third rotary joint, 20 second rotary joint, 21 first rotary joint, 22 caster, 23 electromagnetic clutch, 24 balance weight, 25 first movable joint, 26 second movable joint, 27 bone drill or puncture tool.

Detailed Description

Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings, wherein like elements or structures are designated by the same reference numerals throughout.

In the description of the present invention, some terms of direction or positional relationship, such as "side", "lower", "upper", "right", "left", "upper", "both", "front", "rear", etc., are given according to the orientation or positional relationship shown in the drawings; in addition, other terms that are not specifically limited should be construed broadly, such as "fixedly coupled" merely to say that there is no relative movement, and two items that are "fixedly coupled" may also be uncoupled, i.e., detachably coupled; the bone drill or the puncture tool (27) is specially determined according to the situation, when the spinal drilling operation auxiliary device performs the spinal drilling operation, the bone drill or the puncture tool (27) is a bone drill; when the spinal drilling assisting device is used for spinal puncture operation, the bone drill or puncture tool (27) is a puncture tool.

The first embodiment is as follows: the first embodiment is described with reference to fig. 2 to 4. The specific embodiment completes the operations of positioning, drilling and the like of the bone drill, and the puncture is completed by other devices. First, the patient lies flat on the back of the bed, facing up, and the doctor has used other devices to perform spinal access, mainly by the C-arm and access tools. Before the drilling operation is carried out, the parts which need to be strictly sterile are sterilized, and the parts with bacteria are allowed to be coated by sterile plastic paper, so that the operation field area is sterile. The bone drill is fixed on the sliding block (16) to complete preoperative preparation. When the tail end of the drill bit is far away from the puncture point, the damping of each rotary joint is reduced, the electromagnetic clutch is released, a doctor can drag the drill boom too fast to enable the tail end of the bone drill to reach the position (the previous spinal puncture point) nearby the operation positioning point, and the process mainly comprises the steps of dragging the first movable joint up and down, and rotating the first rotary joint and the second rotary joint to enable the tail end of the drill bit to reach the position (the previous spinal puncture point) nearby the operation positioning point; when the tail end of the drill bit reaches the position near the puncture point, the damping of each rotary joint is properly increased to facilitate the positioning of the drill boom, and the tail end of the mechanical arm is slightly dragged and the third rotary joint, the fourth rotary joint and the fifth rotary joint are finely adjusted to enable the tail end of the drill bit to reach the puncture point and the axis of the drill bit to be coaxial with the puncture hole; when the tail end of the drill reaches a puncture point and the axis of the drill is coaxial with the puncture hole, the damping of all the rotary joints is rapidly increased, so that the damping torque is greater than the load torque, and the rotary joints are locked; and the electromagnetic clutch is electrified to ensure that the screw rod cannot rotate, so that the first joint arm cannot slide up and down along the guide rail, and the first movable joint is locked. After the positioning and locking operation is completed, the second movable joint at the tail end of the mechanical arm can automatically feed to the depth given by a doctor, and the automatic feeding of the second movable joint can be realized by a linear module, a driver, a power supply and a single chip microcomputer. In the drilling process, the C-arm is used for detecting the position and the position of the drill bit at any time, when deviation occurs in the position or the position, the drilling is stopped immediately, the drill bit is withdrawn, the positioning and the drilling are carried out again, when the drill bit is drilled to a proper position, the drill bit is withdrawn, the bone drill bit is away from the puncture point by a certain safety distance, the damping of each joint is properly reduced, the electromagnetic clutch is loosened, the drill arm is dragged to enable the tail end of the drill arm to be away from the puncture point, and therefore the whole drilling operation is completed.

The second embodiment is as follows: the second embodiment will be described with reference to fig. 2 to 4. The second embodiment can complete spinal puncture and spinal drilling. Firstly, a patient lies on the back of a sickbed and faces upwards, before spinal puncture, the part needing strict sterility is strictly disinfected, and the part with the sterility is allowed to be coated by sterile paper, so that the surgical field is aseptic; fixing a puncture tool (such as a puncture sleeve) on a sliding block (16), reducing the damping of each rotary joint and releasing an electromagnetic clutch when the puncture tool is far away from a puncture point, dragging a mechanical arm to enable the puncture tool to be close to the puncture point, increasing the damping of each rotary joint to facilitate positioning when the puncture tool reaches the puncture point, and rapidly increasing the damping of each rotary joint to enable the damping torque to be larger than a load torque (and have a certain safety factor, for example, the damping torque is larger than 1.5 times of the load torque) to enable each rotary joint to be locked when the puncture tool reaches the puncture point and the position of the puncture tool is the same as the position needing puncture; meanwhile, the electromagnetic clutch is electrified to lock the electromagnetic clutch so as to lock the first movable joint, and the second movable joint does not feed; after the puncture tool is positioned, the Kirschner wire is used for puncturing, the C-arm is used for observing the depth direction of the puncture, after the puncture tool reaches the specified depth, the Kirschner wire is withdrawn, the damping of each rotary joint is reduced, the electromagnetic clutch is released to pull the mechanical arm to be away from the puncture point, the puncture sleeve is taken down, and the puncture process is completed. The spinal drilling procedure is then completed. Before the spinal drilling operation is performed, the parts which need to be strictly sterile are sterilized, and the parts with bacteria are allowed to be coated by sterile plastic paper, so that the surgical field area is sterile. The bone drill is fixed on the sliding block (16) to complete preoperative preparation. When the tail end of the bone drill bit is far away from a puncture point, the damping of each rotary joint is reduced, the electromagnetic clutch is released, a doctor can drag the mechanical arm too fast to enable the tail end of the drill bit to reach the position near the puncture point, and the process mainly includes the steps of dragging the first movable joint up and down to rotate the first rotary joint and the second rotary joint; when the tail end of the drill bit reaches the position near the puncture point, the damping of each rotary joint is properly increased to facilitate the positioning of the mechanical arm, and the mechanical arm is slightly dragged and the third rotary joint, the fourth rotary joint and the fifth rotary joint are finely adjusted to enable the tail end of the drill bit to reach the puncture point and the axis of the drill bit to be coaxial with the puncture hole; when the tail end of the drill bit reaches a puncture point and the axis of the drill bit is coaxial with the puncture hole, damping of each rotary joint is rapidly increased to enable damping torque to be larger than load torque, so that the rotary joints are locked; and the electromagnetic clutch is electrified to ensure that the screw cannot rotate, so that the first joint arm cannot slide up and down along the guide rail, and locking is realized. After positioning and locking operations are completed, the second movable joint at the tail end of the machine automatically feeds to the depth given by a doctor, the automatic feeding of the second movable joint can be realized by a linear module, a driver, a power supply and a single chip microcomputer, in the drilling process, the position and the direction of a drilled hole are detected at any time by using a C-arm, when deviation occurs in the position or the direction, the drilled hole is immediately stopped and withdrawn, then positioning and drilling are performed again, when a proper position is drilled, the drill is withdrawn, the drill bit of the bone drill is away from a puncture point by a certain safety distance, the electromagnetic clutch is properly reduced, the damping of each joint is properly reduced, the mechanical arm is dragged to enable the tail end of the bone drill to be away from the puncture point, and therefore the whole drilling operation.

The third concrete implementation mode: the third embodiment only completes the spinal puncture process, and the drilling operation is manually completed by the doctor. Firstly, a patient lies on the back of a sickbed and faces upwards, before spinal puncture, the part needing strict sterility is strictly disinfected, and the part with the sterility is allowed to be coated by sterile paper, so that the surgical field is aseptic; fixing a puncture tool (such as a puncture sleeve) on a sliding block (16), reducing the damping of each rotary joint and releasing an electromagnetic clutch when the puncture tool is far away from a puncture point, dragging a mechanical arm to enable the puncture tool to be close to the puncture point, increasing the damping of each rotary joint to facilitate positioning when the puncture tool reaches the puncture point, and rapidly increasing the damping of each rotary joint to enable the damping torque to be larger than a load torque (and have a certain safety factor, for example, the damping torque is larger than 1.5 times of the load torque) to enable each rotary joint to be locked when the puncture tool reaches the puncture point and the position of the puncture tool is the same as the position needing puncture; the electromagnetic clutch is electrified to lock the electromagnetic clutch so as to lock the first movable joint, and meanwhile, the second movable joint does not feed; after the puncture tool is positioned, the Kirschner wire is used for puncturing, the C-arm is used for observing the depth direction of the puncture, after the puncture tool reaches the specified depth, the Kirschner wire is withdrawn, the damping of each rotary joint is reduced, the electromagnetic clutch is released to pull the mechanical arm to be away from the puncture point, the puncture sleeve is taken down, and the puncture process is completed.

Claims

1. The utility model provides a spinal drill hole operation auxiliary device which characterized in that: comprises a base, a column and a seven-degree-of-freedom mechanical arm; the rotary joint in the seven-degree-of-freedom mechanical arm can change damping and can be locked; the seven-degree-of-freedom mechanical arm can realize gravity self-balance; the tail end of the seven-degree-of-freedom mechanical arm is a moving pair and the feeding motion is controllable;

the rotary joint in the seven-degree-of-freedom mechanical arm can be controlled in damping change and can be locked through a magnetic powder clutch arranged in the rotary joint; specifically, the damping torque of the magnetic powder clutch is changed by changing the current input to the magnetic powder clutch so as to realize variable damping of the rotary joint, and when the current is large enough to ensure that the damping torque provided by the magnetic powder clutch is larger than the load torque, the locking of the rotary joint is realized; the seven-degree-of-freedom mechanical arm realizes gravity self-balance by hanging a heavy object; the feed motion of the moving pair at the tail end of the seven-degree-of-freedom mechanical arm is controllable through a linear module;

the base comprises a box body (1), an object stage (2), moving elements (22) and object stage fixing elements (202), the four moving elements (22) are fixedly connected with four corners at the bottom of the box body (1), the auxiliary device for the spinal drilling operation can move on the ground through the moving elements (22), and the side surface of the box body (1) is connected with the side surface of the object stage (2) through the object stage fixing elements (202);

the stand column comprises a stand column main body (3), guide rails (4), a ball screw (5), a ball screw seat (7), an electromagnetic clutch (23), pulleys (8), a rope (6) and a balance weight (24), wherein the lower end of the stand column main body (3) is fixedly connected with the upper surface of a box body (1), the ball screw (5) is arranged on the stand column main body (3), the ball screw seats (7) are arranged on the upper side and the lower side of the ball screw (5), the ball screw seat (7) is fixedly connected with the stand column main body (3), the two guide rails (4) are fixedly connected with the stand column main body (3), the pulleys (8) are fixedly connected with the upper end of the stand column main body, and the electromagnetic clutch (23) is fixedly connected with the lower end of the ball screw (;

the seven-degree-of-freedom mechanical arm comprises a first joint arm (9), a second joint arm (11), a third joint arm (12), a fourth joint arm (13), a fifth joint arm (14), a sixth joint arm (15), a first rotary joint (21), a second rotary joint (20), a third rotary joint (19), a fourth rotary joint (18), a fifth rotary joint (17), a first moving joint (25), a second moving joint (26), a slider (16) and a bone drill or puncture tool (27), wherein the right end of the first joint arm (9) and two guide rails (4) on the upright post main body (3) form a moving pair, the first joint arm (9) and the second joint arm (11) rotate around the vertical direction through the first rotary joint (21), and the second joint arm (11) and the third joint arm (12) rotate around the vertical direction through the second rotary joint (20), the third joint arm (12) and the fourth joint arm (13) are rotated around a horizontal direction by the third rotary joint (19), the fourth joint arm (13) and the fifth joint arm (14) are rotated around a fourth rotary joint axis by the fourth rotary joint (18), the fifth joint arm (14) and the sixth joint arm (15) are rotated around a fifth rotary joint axis by a fifth rotary joint (17), and the slider (16) and the sixth joint arm (15) form a second moving joint (26); the slide (16) is connected to the bone drill or puncture tool (27).

2. The spinal drill surgery assisting device according to claim 1, wherein: the upper end of the upright post main body (3) is fixedly connected with two pulleys (8), one pulley (8) is positioned on the front side of the upright post main body (3), the other pulley (8) is positioned on the rear side of the upright post main body (3), a hole (301) is formed in the upper portion of the upright post main body, the left end of the rope (6) is connected with a first joint arm (9), the right end of the rope (6) penetrates through the pulley on the front side of the upright post main body, penetrates out of the hole (301), and penetrates through the pulley on the rear side of the upright post main body, and finally the right end of the rope (6) is connected with a balance weight on the rear side of; the utility model discloses a height of adjusting objective table, including box (1), object table fixed element (202), box (1) side is equipped with two guide slots (101) that are used for object table (2) to go up and down, the one side that object table (2) and box (1) hug closely is equipped with two object table guide slots (201), object table (2) are connected through object table fixed element (202) with box (1), object table fixed element (202) pass guide slot (101) and object table guide slot (201), adjust object table fixed element and make object table (2) can slide so that the height of adjusting object table about the box.

3. The spinal drill surgery assisting device according to claim 1, wherein: the two guide rails (4) are fixedly connected with the upright post main body (3), the two guide rails (4) are arranged along the vertical direction, and the two guide rails (4) are parallel; two guide grooves (92) at the right end of the first joint arm form a moving pair with the guide rail (4), a nut hole at the right end of the first joint arm (9) and a nut (91) are connected with the ball screw (5) to form a screw-nut pair, and the moving pair formed by the guide grooves (92) and the guide rail (4) and the screw-nut pair formed by the nut hole at the right end of the first joint arm (9) and the nut (91) connected with the ball screw (5) form a first moving joint (25).

4. The spinal drill surgery assisting device according to claim 1, wherein: the rotation axis of the first rotary joint (21) is vertically downward, the axis of the second rotary joint (20) is vertically downward, the rotation axis of the third rotary joint (19) is in the horizontal direction and is perpendicular to and perpendicular to the rotation axis of the second rotary joint (20) at a point, and the rotation axis of the fourth rotary joint (18) is perpendicular to and perpendicular to the rotation axis of the third rotary joint (19) at a point; the rotation axis of the fifth rotary joint (17) is perpendicular to the rotation axis of the fourth rotary joint (18) at one point; the rotation axis of the third rotary joint, the rotation axis of the fourth rotary joint, and the rotation axis of the fifth rotary joint intersect at a point; and a tail end angle fine adjustment mechanism formed by the third rotary joint, the fourth rotary joint and the fifth rotary joint realizes that the tail end feeding device can be adjusted within 20 degrees in the vertical direction.