CN217430127U - Pitching fine adjustment mechanism for puncture device and puncture device - Google Patents

Abstract

The application discloses every single move fine-tuning for piercing depth, including fixed mounting be used for supporting with fixed mounting the regulation seat on the puncture mechanism of location an at least guide rail on the frame of location puncture mechanism, the axial of guide rail is unanimous with piercing depth's every single move side, it slides and sets up to adjust the seat on the guide rail, and set up be used for adjusting on the frame adjust the regulation unit of seat and guide rail relative position, arbitrary all the cover is served at least of guide rail and is equipped with and be used for keeping adjust the balanced spring of seat. The pitching fine adjustment mechanism provided by the invention can eliminate zero adjustment of the initial origin of the puncture mechanism after installation and installation errors, so that the initial positioning origin direction of the puncture device is overlapped with the vertical direction, installation errors cannot be introduced into any needle channel of the puncture device in the positioning puncture process, and the positioning puncture precision is improved.

Description

Pitching fine adjustment mechanism for puncture device and puncture device

Technical Field

The application relates to the technical field of mechanical equipment, in particular to a surgical instrument device for puncture diagnosis and treatment, and particularly relates to a pitching fine adjustment mechanism for a puncture device and the puncture device.

Background

Needle biopsy is the main method for obtaining pathological diagnosis of tissues from bone and soft tissue tumors. Bone and soft tissue tumors are diseases seriously harming human health and life, the incidence rate gradually rises in recent years, the onset age gradually declines, and early detection, correct diagnosis and timely treatment have important influence on prognosis. With the continuous improvement of examination means and methods, the diagnosis accuracy is gradually improved, but still a large part of tumors have no typical imaging characteristics and are difficult to diagnose. The correct diagnosis requires three combinations of clinical, imaging and pathology. Among them, pathological diagnosis plays a key role in the selection of a treatment regimen. Needle biopsy is the primary way to obtain a pathological diagnosis. However, prior to biopsy, as much attention as planning a surgical plan is paid, a careful plan is made. Since this is the first step of critical importance in the beginning of tumor therapy, incorrect biopsies can have disastrous consequences for the patient. Therefore, the key of biopsy lies in the accuracy of puncture, and most common in the prior art is to acquire an image of the affected part of a patient by means of CT, PET-CT, MRI, etc., and then obtain a target tissue by influencing and determining the puncture position and direction. Since the accuracy of the puncture plays an important role in needle biopsy, the puncture point and puncture angle of the puncture are of the utmost importance. Aiming at special parts, such as bone, blood vessels and densely distributed visceral organs, the difficulty of puncture is extremely high, which provides great challenge for accurate puncture.

Various minimally invasive treatments, such as microwave ablation, radiofrequency ablation, particle implantation, etc., can also be performed by puncturing. Puncture therapy has the characteristics of small wound, quick recovery and good curative effect, and is widely developed by more and more medical institutions in recent years. However, various minimally invasive treatments all require an operator to accurately puncture a treatment action source to a specific tumor position, and have higher precision requirements. The inaccurate puncture may result in incomplete ablation of the tumor target area, seriously affecting the curative effect, and possibly causing the risk of the puncture needle in the operation due to mistaken puncture of blood vessels and other organs at risk.

Therefore, in order to improve the accuracy of biopsy and minimally invasive treatment puncture, a device capable of reducing or even eliminating puncture deviation is needed to avoid or even avoid accidents caused by multiple times of puncture and even puncture deviation. The improvement of the accuracy of puncturing is a direction in which research and development engineers in this field are constantly striving and pursuing.

The puncture device is an improved design based on the patent number 202111576616X of the applicant, and the inclination of a pitching side exists mainly when the puncture device is installed, so that the puncture device cannot position a positioning angle in an absolute vertical direction during initialization, and the accurate positioning of a needle path is affected.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem that the inclination of pitching side of the puncture device during installation leads to inaccurate positioning, the application provides a pitching fine adjustment mechanism and a puncture device for eliminating the installation error of the pitching side, thereby ensuring the accuracy of positioning puncture.

In order to achieve the purpose, the technical scheme adopted by the application is as follows:

the utility model provides a every single move fine-tuning for piercing depth, is used for supporting including the regulation seat of fixed mounting on the puncture mechanism of location and fixed mounting at least a guide rail on the frame of location puncture mechanism, the axial of guide rail is unanimous with piercing depth's every single move side, it slides and sets up to adjust the seat on the guide rail, and set up be used for adjusting on the frame adjust the seat and the regulation unit of guide rail relative position, arbitrary all the cover is served at least of guide rail and is equipped with and is used for keeping adjust the balanced spring B of seat.

In order to explain the technical problems and the structural subtleties solved by the present application in detail, before explaining the operation principle, the operation principle and the application scenario of the conventional puncturing device will be explained first, so as to explain the principle in detail and pertinently. The whole puncture device is fixedly installed on the ground through the frame, after the installation is finished, due to the reason of ground level or other installation reasons, the frame may incline or deflect to a certain extent, although the installation error which may exist can be reduced or reduced after the adjustment as much as possible, the frame still exists, and particularly after the embedded part of the fixed frame is arranged on the ground, the problem of linear error cannot be solved through the adjustment of increasing or reducing the gasket mode when the frame is fixed on the embedded part; in view of this, it is necessary to precisely adjust the mounted position state of the puncture device, and the best target after adjustment is that the positioning or puncturing direction is a vertical direction when the puncture device is in an initial state or position.

In practical situations, the direction of the deviation may be in any direction and at any angle, and if it is desired to zero the initial position so that the initial position positioning direction is absolutely vertical, two adjustable directions perpendicular to each other are required. Because the puncture device can realize left-right sliding to realize angle deviation in order to realize puncture at any angle, the puncture device can initialize any point in the stroke range as an initial origin through a system in the left-right inclined direction; however, the fine adjustment of the pitch side cannot be realized in the above manner, and the structure peculiar to the present application is invented for this purpose. After the application background is clear, people can easily know that the guide rail and the adjusting seat which slide relative to each other can realize linear adjustment in an adjustable stroke range through the action of the adjusting unit, so that installation and leveling errors caused by the fact that the frame is fixedly installed on the ground in the process are eliminated, the initial origin direction of positioning can be coincided with the vertical direction by the puncture device, and the purpose of accurate positioning is achieved.

As one of the structural design of compatible precision and regulation convenience simultaneously, preferably, the regulating unit includes the spherical seat of fixed mounting on the frame, with spherical seat articulated accommodate the lead screw, accommodate the lead screw free end runs through adjust the seat and outwards extend and second adjusting nut threaded connection, it still is provided with first adjusting nut to lie in on the accommodate the lead screw between seat and the spherical seat to adjust. From structural speaking, the equilibrium of all can realizing power with spring B's cooperation of single first adjusting nut or second adjusting nut, it is in controlled state to keep adjusting the seat, nevertheless because spring B can take place deformation after receiving change external force, consequently, avoid leading into again because of other exogenic actions after reaching to predetermine zero set precision, need first adjusting nut and second adjusting nut to set up simultaneously, the relative position of adjusting seat and frame is injectd after fixing through two-way adjusting the seat like this, relative movement can not take place, thereby solve the problem that the error probably is reintroduced.

In order to eliminate the internal stress between regulation seat and the guide rail, improve the smooth and easy degree of adjusting the seat, reduce and adjust the resistance, preferably, the guide rail is two, distribute in adjust the both ends of seat, adopt transition fit between guide rail and the regulation seat, the guide rail is the arc guide rail. The purpose of transition fit of the guide rail and the adjusting seat is to ensure that two opposite components can freely slide relatively and simultaneously limit the position of the adjusting seat from shaking in directions except for the constraint of the guide rail.

As another preferable scheme that can be used, the guide rails are two and distributed at two ends of the adjusting seat, the upper surface and the lower surface of the guide rail are in clearance fit with the adjusting seat, the left surface and the right surface of the guide rail are in transition fit with the adjusting seat, and the guide rails are linear guide rails. The purpose that the gap exists between the upper surface and the lower surface of the guide rail and the adjusting seat is to accommodate the deviation of the arc-shaped track generated in the vertical direction when the adjusting seat drives the puncturing mechanism to move at the pitching side, so that the sliding adjustment of the adjusting seat is not limited. The purpose of transition fit between the left and right surfaces of the guide rail and the adjusting seat is to ensure that the adjusting seat does not generate redundant offset shaking in the left and right directions to introduce new errors; so far, as the ordinary skilled person in the art has understood, in order to realize the above structural functions, the cross-sectional shape of the wire guide can be variously set, such as a square, a rectangle, a circle, and the like, all of which can limit the left and right movement, and the structural fit allowing the up and down movement should be included in the explanation range of the technical solution, which is not listed here.

A puncture device, comprising the pitching fine-tuning mechanism for the puncture device; the puncture positioning device comprises a frame fixedly arranged on the ground, wherein an arc-shaped arm is hinged to the frame, an arc-shaped guide rail is arranged on the arc-shaped arm, and the puncture positioning mechanism is slidably arranged on the arc-shaped guide rail;

the positioning puncture mechanism comprises a driving mechanism, a first linear moving mechanism, a second linear moving mechanism and a first mounting plate, wherein the driving mechanism, the first linear moving mechanism, the second linear moving mechanism and the first mounting plate are arranged on an arc-shaped guide rail in a sliding mode;

still install first linear movement mechanism on the first mounting panel, first linear movement mechanism includes reciprocating motion's first slide, still fixed mounting on the first slide with the perpendicular second linear movement mechanism that sets up of first linear movement mechanism, second linear movement mechanism includes reciprocating motion and is used for installing the second slide of needle holder.

Furthermore, the first linear moving mechanism comprises at least one first linear guide rail fixedly mounted on the first mounting plate and a first motor, the first motor is connected with a first lead screw in a driving manner, the first lead screw is connected with the first sliding seat in a driving manner, and the first sliding seat is arranged on the first linear guide rail in a sliding manner; the second linear moving mechanism comprises at least one second linear guide rail fixedly connected with the first sliding seat, a second motor fixedly installed at one end of the second linear guide rail, a second lead screw in driving connection with the second motor, and a second sliding seat which is in driving connection with the second lead screw and is arranged on the second linear guide rail in a sliding mode and used for installing a needle holder.

Still further preferably, the gear backlash mechanism comprises a backlash elimination mechanism arranged on the first mounting plate, and the backlash elimination mechanism comprises at least one elastic component used for eliminating the meshing bounce clearance between the driving gear and the arc-shaped rack; a second mounting plate for fixedly mounting the driving mechanism is hinged to the first mounting plate, at least one through hole is further formed in the second mounting plate, a fastening piece which penetrates through the through hole and is used for limiting the swing amplitude of the second mounting plate is fixedly mounted on the first mounting plate, and an annular gap is formed between the fastening piece and the through hole; the elastic component is a spring A, one end of the spring A is connected with the second mounting plate, and the other end of the spring A is connected with the first mounting plate.

As one of the preferable settings of the gear clearance eliminating mechanism, the second mounting plate extends outwards along the radial direction to form a convex part for mounting the first mounting seat, the second mounting seat is mounted on the first mounting plate, a guide rod for mounting the spring A is arranged on the second mounting seat, an adjuster capable of moving back and forth along the guide rod is mounted on the guide rod, and the spring A sleeved on the guide rod is arranged between the adjuster and the first mounting seat.

As another parallel arrangement scheme, a hinged point of the second mounting plate and the first mounting plate is positioned below the second mounting plate, the first mounting seat is positioned on the left side of the hinged point, and the spring a is always in a compressed state; or the hinge point of the second mounting plate and the first mounting plate is positioned above the second mounting plate, the first mounting plate is positioned on the left side of the hinge point, and the spring A is always in a stretched state.

Has the advantages that:

the pitching fine adjustment mechanism provided by the invention can eliminate zero adjustment of the initial origin of the puncture mechanism after installation and installation errors, so that the initial positioning origin direction of the puncture device is overlapped with the vertical direction, installation errors cannot be introduced into any needle channel of the puncture device in the positioning puncture process, and the positioning puncture precision is improved.

The invention also provides a gear backlash eliminating mechanism which can always keep the mutual meshing state of the gear and the arc-shaped rack, and overcome the problem of reduction of transmission precision caused by meshing abnormality or tooth jumping due to arc-shaped rack radian abnormality caused by processing or installation errors.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a perspective view of the puncture apparatus of the present application.

Fig. 2 is an isometric view of another visual structure of fig. 1.

Fig. 3 is an isometric view of another visual structure of fig. 1.

Fig. 4 is an enlarged view of the structure of region a in fig. 3.

Fig. 5 is an enlarged view of the structure of region B in fig. 4.

Fig. 6 is a side view of the second linear motion mechanism.

Fig. 7 is a rear view of the assembled state of the arc-shaped guide rail and the positioning puncture mechanism.

Fig. 8 is a front view of fig. 7.

Fig. 9 is an enlarged view of the structure of region C in fig. 8.

Fig. 10 is a sectional view taken along a section symbol E-E in fig. 8.

Fig. 11 is an enlarged view of the structure of region D in fig. 10.

Fig. 12 is a schematic view of a mounting structure of the pitch fine adjustment mechanism on the puncture device.

Fig. 13 is an enlarged view of the structure of region F in fig. 12.

Fig. 14 is a structural perspective view of the pitch trimming mechanism.

Fig. 15 is a top view of fig. 14.

Fig. 16 is a schematic view of a left-right skew angle r and a pitch skew angle a of the puncture device.

In the figure: 1-a base; 2-a frame; 3-an arc-shaped arm; 4-arc guide rail; 41-arc rack; 5-positioning the puncture mechanism; 51-a drive mechanism; 511-a third motor; 512-a drive gear; 513-a pulley; 52-a first linear movement mechanism; 521-a first motor; 522-first lead screw; 523-first linear guide; 524-a first carriage; 53-a second linear movement mechanism; 531-a second motor; 532-second lead screw; 533-a second linear guide; 534-a second carriage; 54-a first mounting plate; 6-a gap eliminating mechanism; 61-a second mounting plate; 62-a first mount; 63-spring A; 64-a regulator; 65-a guide bar; 66-a second mount; 67-a sleeve; 68-a fastener; 69-annular gap; 7-pitching fine adjustment mechanism; 71-a guide rail; 72-spring B; 73-an adjusting seat; 74-adjusting screw rod; 75-a spherical seat; 76-a first adjusting nut; 77-second adjusting nut.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, the description is only for convenience and simplicity, and the indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the present application. Furthermore, the appearances of the terms "first," "second," and the like in the description herein are only used for distinguishing between similar elements and are not intended to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical" and the like when used in the description of the present application do not require that the components be absolutely horizontal or overhanging, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, e.g., as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Example 1:

with reference to fig. 12-16 in the specification, the present embodiment provides a pitching fine adjustment mechanism for a puncturing device, which includes an adjusting seat 73 fixedly installed on a positioning puncturing mechanism 5 and at least one guide rail 71 fixedly installed on a frame 2 for supporting the positioning puncturing mechanism 5, an axial direction of the guide rail 71 is consistent with a pitching side of the puncturing device, the adjusting seat 73 is slidably disposed on the guide rail 71, and an adjusting unit disposed on the frame 2 for adjusting a relative position of the adjusting seat 73 and the guide rail 71, and at least one end of any one of the guide rails 71 is sleeved with a spring B72 for keeping the adjusting seat 73 balanced.

In order to explain the technical problems and the structural subtleties solved by the present application in detail, before explaining the operation principle, the operation principle and the application scenario of the conventional puncturing device will be explained first, so as to explain the principle in detail and pertinently. The whole puncture device is fixedly installed on the ground through the frame 2, after the installation is finished, due to the reason of ground level or other installation reasons, the frame 2 may incline or deflect to a certain extent, although the installation error which may exist can be reduced or reduced after the adjustment as much as possible, the problem of linear error still exists, particularly after the embedded part of the fixed frame is arranged on the ground, the frame 2 is fixed on the embedded part, and the problem of linear error cannot be solved through the adjustment of increasing or reducing the gasket mode; in view of this, a precise adjustment of the mounted position state of the puncturing device is required, and the optimal target after the adjustment is that the positioning or puncturing direction is a vertical direction when the puncturing device is in the initial state or position.

In practical situations, the direction of the deviation may be in any direction, and any angle appears, and if it is desired to realize zero adjustment of the initial position, so that the positioning direction of the initial position is in an absolute vertical direction, two adjustable directions perpendicular to each other are needed for realization, specifically referring to the deflection around the y axis in the x-z plane shown in fig. 16, that is, the left and right deflection angles r; and also yaw about the x-axis in the y-z plane, i.e., pitch yaw angle a; only after the left-right deflection angle r and the pitching deflection angle a are adjusted to be 0, the preset highest precision is achieved, and the installation error is eliminated. Because the puncture device can realize left-right sliding to realize angle deviation in order to realize puncture at any angle, the puncture device can initialize any point in the stroke range as an initial origin through a system in the left-right inclined direction; however, the fine adjustment of the pitch side cannot be realized in the above manner, and the structure peculiar to the present application is invented for this purpose. After the application background is clear, it is easy to know that the guide rail 71 and the adjusting seat 73 which slide relatively can realize linear adjustment in an adjustable stroke range through the action of the adjusting unit, so that installation and leveling errors caused by the fixed installation of the frame 2 on the ground are eliminated, the initial origin direction of the positioning can be coincided with the vertical direction by the puncture device, and the purpose of accurate positioning is achieved.

As one of the structural designs compatible with precision and convenience of adjustment, preferably, the adjusting unit includes a spherical seat 75 fixedly mounted on the frame 2, and an adjusting screw 74 hinged to the spherical seat 75, a free end of the adjusting screw 74 penetrates through the adjusting seat 73 and extends outwards to be in threaded connection with a second adjusting nut 77, and a first adjusting nut 76 is further disposed on the adjusting screw 74 between the adjusting seat 73 and the spherical seat 75. Structurally, the force balance can be realized by the cooperation of the single first adjusting nut 76 or the single second adjusting nut 77 and the spring B72, the adjusting seat 73 is kept in a controlled state, but the spring B72 can deform after being subjected to a changing external force, so that the first adjusting nut 76 and the second adjusting nut 77 are required to be arranged at the same time in order to avoid the error from being reintroduced due to other external force actions after reaching the preset zero setting precision, and thus, the relative position of the adjusting seat 73 and the frame 2 is limited after the adjusting seat 73 is fixed through the bidirectional adjusting seat 73, and the relative movement cannot occur, so that the problem that the error can be reintroduced is solved. As an alternative to this, as shown in FIG. 15, spring B72 is mounted on the adjustment block 73 on the side of the first adjustment nut 76 and spring B72 is in a compressed state. When the adjusting seat 73 needs to be adjusted downwards along the direction shown in the drawing, the first adjusting nut 76 is firstly loosened, the second adjusting nut 77 is slowly adjusted until the preset ideal position is reached, the position of the adjusting seat 73 cannot be changed due to the elastic force of the spring B72, the first adjusting nut 76 is adjusted upwards at the moment until the adjusting seat 73 is fixed, after the first adjusting nut 76 and the second adjusting nut 77 are both in a fastening state, the position of the adjusting seat 73 is fixed, and the later-period anti-loosening effect can be achieved by adopting double-nut adjustment. If the adjusting seat 73 needs to be adjusted upwards, only the operation is required to be performed according to the above manner, that is, the second adjusting nut 77 is adjusted first, and after the preset ideal position is reached, the first adjusting nut 76 is fastened.

As a preferred structural arrangement of the pitch fine adjustment mechanism of the present application, the present embodiment also provides two different implementation schemes for the specific design of the guide rail 71:

the first scheme is as follows: in order to eliminate the internal stress between the adjusting seat 73 and the guide rail 71, improve the smoothness of the adjusting seat 73 and reduce the adjusting resistance, preferably, the guide rails 71 are two and distributed at two ends of the adjusting seat 73, the guide rails 71 and the adjusting seat 73 are in transition fit, and the guide rails 71 are arc-shaped guide rails. The purpose of the transition fit of the guide rail 71 and the adjusting seat 73 is to ensure the relative free sliding between the two opposite members and limit the position of the adjusting seat 73 from shaking in directions other than the direction constrained by the guide rail 71.

Scheme II: the two guide rails 71 are distributed at two ends of the adjusting seat 73, the upper surface and the lower surface of each guide rail 71 are in clearance fit with the adjusting seat 73, the left surface and the right surface of each guide rail 71 are in transition fit with the adjusting seat 73, and the guide rails 71 are linear guide rails. The purpose of the gap arrangement between the upper and lower surfaces of the guide rail 71 and the adjusting seat 73 is to accommodate the deviation of the arc-shaped track generated in the vertical direction when the adjusting seat 73 drives the puncture mechanism 5 to move in the pitching side, so that the sliding adjustment of the adjusting seat 73 is not limited. The purpose of transition fit between the left and right surfaces of the guide rail 71 and the adjusting seat 73 is to ensure that the adjusting seat 73 does not generate redundant offset shaking in the left and right direction to introduce new errors; to this end, as is obvious to those skilled in the art, in order to achieve the above structural functions, the cross-sectional shape of the blow guide 71 may be variously set, such as a square, a rectangle, a circle, and the like, which can restrict the left and right movement, and the structural matching that allows the up and down movement should be included in the explanation scope of the technical solution, which is not listed here.

Example 2:

the embodiment also provides a puncture device, which is shown in the attached drawings 1-6 of the specification, and comprises a pitching fine-tuning mechanism for the puncture device provided by the embodiment 1; the puncture positioning device comprises a frame 2 fixedly installed on the ground, wherein an arc-shaped arm 3 is hinged to the frame 2, an arc-shaped guide rail 4 is installed on the arc-shaped arm 3, and a positioning puncture mechanism 5 is installed on the arc-shaped guide rail 4 in a sliding mode;

the positioning puncture mechanism 5 comprises a driving mechanism 51, a first linear moving mechanism 52, a second linear moving mechanism 53 and a first mounting plate 54 which are arranged on the arc-shaped guide rail 4 in a sliding manner, a plurality of pulleys 513 used for clamping the arc-shaped guide rail 4 are arranged on the first mounting plate 54, the arc-shaped guide rail 4 is fixedly connected with an arc-shaped rack 41, and the driving mechanism 51 comprises a driving gear 512 meshed with the arc-shaped rack 41; when deflection is needed, the driving mechanism 51 controls the driving gear 512 to be meshed with the arc-shaped rack 41, so that the puncture mechanism 5 is driven to slide back and forth along the arc-shaped guide rail 4, and the left and right deflection in the state shown in fig. 1 is realized. After the deflection to the preset angle, when the parallel movement is required at the preset angle, the first linear moving mechanism 52 and the second linear moving mechanism 53 are required to complete the operation, which is as follows:

the first mounting plate 54 is further provided with a first linear moving mechanism 52, the first linear moving mechanism 52 comprises a first sliding seat 524 which moves in a reciprocating manner, the first sliding seat 524 is further fixedly provided with a second linear moving mechanism 53 which is perpendicular to the first linear moving mechanism 52, and the second linear moving mechanism 53 comprises a second sliding seat 534 which moves in a reciprocating manner and is used for mounting a needle holder.

In this embodiment, the first linear moving mechanism 52 includes at least one first linear guide 523 and a first motor 521, which are fixedly mounted on the first mounting plate 54, the first motor 521 is connected with a first screw 522 in a driving manner, the first screw 522 is connected with the first sliding seat 524 in a driving manner, and the first sliding seat 524 is slidably disposed on the first linear guide 523; the second linear moving mechanism 53 includes at least one second linear guide 533 fixedly connected to the first slide block 524, a second motor 531 fixedly mounted at one end of the second linear guide 533, a second lead screw 532 drivingly connected to the second motor 531, and a second slide block 534 drivingly connected to the second lead screw 532 and slidably disposed on the second linear guide 533 for mounting the needle holder.

As further shown in fig. 2, 4 and 6 of the specification, since the first linear moving mechanism 52 and the second linear moving mechanism 53 are perpendicular to each other and the working principle of the first linear moving mechanism 52 and the second linear moving mechanism 53 is the same, the second motor 531 is used as a power supply device to drive the second lead screw 532 to rotate, so as to push the second sliding seat 534 to reciprocate on the second linear guide 533. Due to the simultaneous combined movement of the first linear movement mechanism 52 and the second linear movement mechanism 53, needle track positioning and puncture at any position can be realized within a rectangular range surrounded by the first linear guide 523 and the second linear guide 533 as long as possible.

In this embodiment, a gear backlash elimination mechanism is further included, and as further shown in fig. 7-11 in the specification, the gear backlash elimination mechanism includes a backlash elimination mechanism 6 mounted on the first mounting plate 54, and the backlash elimination mechanism 6 includes at least one elastic member for eliminating a meshing bounce backlash between the driving gear 512 and the arc-shaped rack 41; a second mounting plate 61 for fixedly mounting the driving mechanism 51 is hinged on the first mounting plate 54, at least one through hole is further arranged on the second mounting plate 61, a fastening piece 68 which penetrates through the through hole and is used for limiting the swing amplitude of the second mounting plate 61 is fixedly mounted on the first mounting plate 54, and an annular gap 69 is formed between the fastening piece 68 and the through hole; the elastic member is a spring A63, one end of the spring A63 is connected with the second mounting plate 61, and the other end of the spring A63 is connected with the first mounting plate 54.

The working principle of the gear backlash eliminating mechanism is as follows:

as shown in fig. 9, under the action of the spring a63, the entire second mounting plate 61 and the driving mechanism 51 will deflect around the hinge point between the second mounting plate 61 and the first mounting plate 54, and the deflection direction is the direction in which the driving gear 512 approaches the arc-shaped rack 41, so as to eliminate the problems of backlash and bounce. Since the manufacturing and assembly errors are slight, the deflection amplitude of the second mounting plate 61 must be limited, otherwise new errors will be additionally introduced. The second mounting plate 61 is restrained by the fasteners 68 and the through holes, the fasteners 68 are detachably and fixedly connected with the first mounting plate 54 and penetrate through the through holes, so that the maximum deflection amplitude of the second mounting plate 61 in the deflection process depends on the difference between the inner diameter of the through holes and the outer diameter of the fasteners 68, and the larger the difference is, the larger the deflection angle is, and the smaller the difference is. It should be noted that the angle or magnitude of the deflection is not limited to a particular size, but is flexibly configured and modified according to the actual size and schedule of the components in actual use, typically by replacing fasteners 68 of different diameters in a feasible and cost effective manner.

Further, in order to avoid wear of the through holes of the second mounting plate 61 and the fastening members 68 during repeated frictional contact and to limit the second mounting plate 61 from moving or tilting in the axial direction, it is preferable that the fastening members 68 are sleeved with sleeves 67, and an annular gap 69 is formed between the outer diameter of the sleeves 67 and the through holes, as shown in detail in fig. 11, and the sleeves 67 are further provided with an annular end cap disposed between the fastening members 68 and the second mounting plate 61. The second mounting plate 61 is prevented from deflecting in the axial direction by the annular end cap and fasteners 68 for abutting against the second mounting plate 61.

As a specific structure of the anti-backlash mechanism 6, as shown in fig. 9 in detail, the second mounting plate 61 extends radially outward to form a convex portion for mounting the first mounting seat 62, the first mounting plate 54 is mounted with the second mounting seat 66, the second mounting seat 66 is provided with a guide rod 65 for mounting the spring a63, the guide rod 65 is mounted with an adjuster 64 capable of reciprocating along the guide rod 65, and the spring a63 sleeved on the guide rod 65 is arranged between the adjuster 64 and the first mounting seat 62.

As another parallel arrangement scheme, the hinge point of the second mounting plate 61 and the first mounting plate 54 is located below the second mounting plate 61, the first mounting seat 62 is located on the left side of the hinge point, and the spring a63 is always in a compressed state; alternatively, the hinge point of the second mounting plate 61 and the first mounting plate 54 is located above the second mounting plate 61, the first mounting seat 62 is located on the left side of the hinge point, and the spring a63 is always in a stretched state.

It should be noted that, no matter which scheme is used, the general inventive concept is unchanged, and the positive pressure or the pulling force generated by the elastic member, such as the spring a63, does not generate any extra gap between the arc-shaped rack and the driving gear, so that the meshing between the driving gear 512 and the arc-shaped rack 41 generates abnormal jumping to introduce transmission errors. Under the action of an elastic member, such as a spring a63 or a spring plate, the driving gear 512 is always kept in a good meshing state with the arc-shaped rack 41, and in time, a slight machining or installation error exists in the arc-shaped rack 41, so that under the action of the elastic force of the elastic member, the driving gear 512 is in self-adaptive meshing with the arc-shaped rack 41, and the purpose of eliminating redundant gaps is achieved.

In light of the above inventive concepts, one skilled in the art can also achieve clearance elimination in a non-hinged manner, such as: the driving mechanism 51 with the driving gear 512 is slidably arranged on the first mounting plate 54, and a positive pressure is always applied to the driving mechanism 51 through a spring a63 or other elastic members, so that the driving gear 512 always keeps a good meshing state with the arc-shaped rack 41, and the purposes of stable meshing and clearance elimination are achieved. Similarly, the present embodiment is not only suitable for applications between gears and racks, but also can be applied to other structures involving gear engagement to avoid or reduce transmission errors.

In order to achieve linear adjustment, in the present embodiment, the adjuster 64 is screwed with the guide rod 65. Adjustment of the compression or tension of spring a63 is accomplished by changing the position of actuator 64 to meet the external force required to ensure engagement under different operating conditions.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A every single move fine-tuning for piercing depth which characterized in that: including regulation seat (73) and the fixed mounting of fixed mounting on location puncture mechanism (5) be used for supporting at least a guide rail (71) on frame (2) of location puncture mechanism (5), the axial of guide rail (71) is unanimous with piercing depth's every single move side, it slides and sets up to adjust seat (73) on guide rail (71), and set up be used for adjusting on frame (2) adjust the regulating unit of seat (73) and guide rail (71) relative position, arbitrary all overlap on at least one of guide rail (71) and be equipped with and be used for keeping adjust the balanced spring B (72) of seat (73).

2. A pitch fine adjustment mechanism for a puncturing device as claimed in claim 1, wherein: the adjusting unit comprises a spherical seat (75) fixedly mounted on the frame (2) and an adjusting screw rod (74) hinged to the spherical seat (75), the free end of the adjusting screw rod (74) penetrates through the adjusting seat (73) and extends outwards to be connected with a second adjusting nut (77) in a threaded manner, and a first adjusting nut (76) is further arranged between the adjusting seat (73) and the spherical seat (75) on the adjusting screw rod (74).

3. A pitch fine adjustment mechanism for a puncturing device as claimed in claim 1 or 2, wherein: the guide rail (71) are two and distributed at two ends of the adjusting seat (73), the guide rail (71) and the adjusting seat (73) are in transition fit, and the guide rail (71) is an arc-shaped guide rail.

4. A pitch fine adjustment mechanism for a puncturing device as claimed in claim 1 or 2, wherein: the guide rail (71) are two, distribute in adjust the both ends of seat (73), adopt clearance fit between surface and the regulation seat (73) about guide rail (71), adopt transition fit between surface and the regulation seat (73) about guide rail (71), guide rail (71) are linear guide.

5. A lancing device comprising a pitch trimmer according to claim 1 or 2 for a lancing device.

6. The puncture device according to claim 5, characterized by comprising a frame (2) fixedly installed on the ground, wherein the frame (2) is hinged with an arc-shaped arm (3), the arc-shaped arm (3) is provided with an arc-shaped guide rail (4), and the positioning puncture mechanism (5) is slidably installed on the arc-shaped guide rail (4);

the positioning puncture mechanism (5) comprises a driving mechanism (51), a first linear moving mechanism (52), a second linear moving mechanism (53) and a first mounting plate (54), wherein the driving mechanism (51), the first linear moving mechanism (52), the second linear moving mechanism (53) and the first mounting plate (54) are arranged on an arc-shaped guide rail (4) in a sliding mode, a plurality of pulleys (513) used for clamping the arc-shaped guide rail (4) are arranged on the first mounting plate (54), the arc-shaped guide rail (4) is fixedly connected with an arc-shaped rack (41), and the driving mechanism (51) comprises a driving gear (512) meshed with the arc-shaped rack (41);

still install first straight line moving mechanism (52) on first mounting panel (54), first straight line moving mechanism (52) are including reciprocating motion's first slide (524), still fixed mounting have on first slide (524) with second straight line moving mechanism (53) that first straight line moving mechanism (52) set up perpendicularly, second straight line moving mechanism (53) are including reciprocating motion and be used for installing second slide (534) of needle holder.

7. The lancing device of claim 6, wherein: the first linear moving mechanism (52) comprises at least one first linear guide rail (523) fixedly mounted on the first mounting plate (54) and a first motor (521), the first motor (521) is connected with a first screw rod (522) in a driving manner, the first screw rod (522) is connected with a first sliding seat (524) in a driving manner, and the first sliding seat (524) is arranged on the first linear guide rail (523) in a sliding manner; the second linear movement mechanism (53) comprises at least one second linear guide rail (533) fixedly connected with the first slide carriage (524), a second motor (531) fixedly installed at one end of the second linear guide rail (533), a second lead screw (532) in driving connection with the second motor (531), and a second slide carriage (534) which is in driving connection with the second lead screw (532) and is arranged on the second linear guide rail (533) in a sliding manner and used for installing a needle holder.

8. The lancing device of claim 7, wherein: the gear backlash eliminating mechanism comprises a backlash eliminating mechanism (6) arranged on the first mounting plate (54), and the backlash eliminating mechanism (6) comprises at least one elastic component for eliminating the meshing jumping clearance of the driving gear (512) and the arc-shaped rack (41); a second mounting plate (61) used for fixedly mounting the driving mechanism (51) is hinged to the first mounting plate (54), at least one through hole is further formed in the second mounting plate (61), a fastening piece (68) penetrating through the through hole and used for limiting the swing amplitude of the second mounting plate (61) is fixedly mounted on the first mounting plate (54), and an annular gap (69) is formed between the fastening piece (68) and the through hole; the elastic component is a spring A (63), one end of the spring A (63) is connected with the second mounting plate (61), and the other end of the spring A (63) is connected with the first mounting plate (54).

9. The lancing device of claim 8, wherein: second mounting panel (61) radially outwards extend and form the convex part that is used for installing first mount pad (62), install second mount pad (66) on first mounting panel (54), be provided with on second mount pad (66) and be used for the installation guide bar (65) of spring A (63), install on guide bar (65) and follow guide bar (65) reciprocating motion's regulator (64), it establishes on guide bar (65) to be provided with the cover between regulator (64) and first mount pad (62) spring A (63).

10. The lancing device of claim 9, wherein: the hinge point of the second mounting plate (61) and the first mounting plate (54) is positioned below the second mounting plate (61), the first mounting seat (62) is positioned on the left side of the hinge point, and the spring A (63) is always in a compressed state; or the hinge point of the second mounting plate (61) and the first mounting plate (54) is positioned above the second mounting plate (61), the first mounting seat (62) is positioned on the left side of the hinge point, and the spring A (63) is always in a stretched state.

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