Axial tube feeding mechanism

Abstract

The present invention discloses an axial tube delivery mechanism, comprising at least one pair of friction wheels arranged opposite to each other and a friction wheel driving mechanism for driving the friction wheels; and a spacing adjustment mechanism for adjusting the distance between the at least one pair of friction wheels; and a catheter axial delivery channel is formed between the at least one pair of friction wheels. The axial tube delivery mechanism of the present invention forms a catheter axial delivery channel by arranging at least one pair of friction wheels, and arranging the spacing adjustment mechanism. When installing the catheter, the spacing between the friction wheels is enlarged by the spacing adjustment mechanism, so as to facilitate the insertion of the catheter, and then the catheter is clamped by the friction wheels, and the friction force of the rotation of the friction wheels drives the catheter to be axially delivered, thereby ensuring reliability.

Description

Technical Field

[0001] The present invention relates to the field of interventional technology, and in particular to an axial tube delivery mechanism. Background Art

[0002] Interventional technology is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging, special catheters, guidewires and other precision instruments are introduced into the human body to diagnose and locally treat lesions in the body. Most interventional treatments are performed within blood vessels. It does not require surgery. It only requires making a tiny incision on the blood vessels or skin, and inserting special catheters and guidewires into the blood vessels to treat diseases that were previously untreatable and required surgical treatment or poor medical treatment, such as tumors, hemangiomas, various hemorrhages, cerebrovascular malformations, etc.

[0003] For certain types of disease, such as arteriosclerosis, an image of the patient's heart may show that one or more coronary arteries are blocked. After the diagnostic procedure, the patient may undergo a catheter-based interventional treatment. Interventional treatment methods are usually performed by inserting a guidewire into the blood vessel and then pushing the guidewire to the desired location. The catheter is then inserted over the guidewire and reaches the patient's lesion location. In some treatments, the catheter is equipped with a stent for installation in the human body and the balloon required to install the stent. In tumor treatment, chemotherapy drugs can be infused through the catheter, as well as embolic agents for embolization.

[0004] For manual insertion of the guidewire, the doctor applies axial thrust and torque to the proximal end of the guidewire to control the guidewire to the desired position. During this operation, the doctor needs the assistance of imaging equipment to help the doctor determine the position of the guidewire in the blood vessel. The commonly used imaging equipment is DSA, which uses X-rays with radiation damage to humans for imaging. Long-term exposure to X-rays can cause irreversible damage to the doctor's eyes, skin, and reproductive system. The use of remote-controlled robots can isolate doctors from the radiation environment to avoid radiation.

[0005] At present, vascular interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from radiation. The guidewire delivery device in patent US7887549B2 is designed for cardiovascular surgery. Its catheter and guidewire are Y-shaped. The guidewire has two degrees of freedom of rotation and axial movement. The catheter enters from one side and merges with the guidewire before entering the blood vessel. In the guidewire catheter used in peripheral vascular interventional surgery, the guidewire needs to be inserted from the tail of the catheter. This patent cannot solve this problem. Patent 2017208089972 discloses an interventional surgical robot slave end and its mobile platform that can solve the problem of collaboration between the catheter and the guidewire, but the patent has a complex structure, inconvenient catheter installation, and unreliable driving method. Summary of the invention

[0006] The invention provides an axial pipe delivery mechanism which is easy to install and reliable to drive.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] According to one aspect of the present invention, an axial tube delivery mechanism is provided, which includes at least one pair of friction wheels arranged opposite to each other and a friction wheel driving mechanism for driving the friction wheels; and a spacing adjustment mechanism for adjusting the distance between at least one pair of friction wheels; an axial tube delivery channel is formed between at least one pair of friction wheels.

[0009] Furthermore, the friction wheel driving mechanism includes a driving shaft and an active motor driving the driving shaft, and the driving shaft is provided with a reversing gear and a synchronous pulley; the friction wheel located on the first side of at least one pair of friction wheels is driven by the reversing gear on the driving shaft, and the friction wheel located on the second side is driven by the synchronous pulley on the driving shaft.

[0010] Furthermore, there are two pairs of friction wheels, which are arranged along the axial conveying direction of the catheter; the axial tube conveying mechanism also includes a fixed frame, and the driving shaft and the axle of the friction wheel located on the first side are arranged on the fixed frame; the spacing adjustment mechanism includes an adjustment seat arranged on the fixed frame and an adjustment frame that can move relative to the adjustment seat in a direction perpendicular to the conveying direction of the catheter; the axle of the friction wheel located on the second side is arranged on the adjustment frame.

[0011] Furthermore, the driving shaft is provided with a reversing gear, a first synchronous pulley and a second synchronous pulley, and the driving motor is connected to the first synchronous pulley through the driving pulley and the first synchronous belt; the axles of the friction wheels located on the first side are respectively provided with driven gears, and the reversing gears are meshed with the driven gears; the axles of the friction wheels located on the second side are provided with driven pulleys, and the second synchronous pulley is connected to the driven pulley through the second synchronous belt; the spacing adjustment mechanism also includes a tensioning mechanism for tensioning the second synchronous belt.

[0012] Furthermore, the tensioning mechanism includes a tensioning seat, a tensioning frame and a tensioning spring; the tensioning frame is slidably arranged on the tensioning seat along a preset direction, and both ends of the tensioning spring are respectively abutted against the tensioning seat and the tensioning frame; a tensioning wheel is arranged at the end of the tensioning frame, and the tensioning wheel is pressed against the outer side of the second synchronous belt.

[0013] Furthermore, the spacing adjustment mechanism also includes a manual adjustment mechanism, which includes an adjustment handle arranged on the adjustment seat and a first cam fixedly connected to the adjustment handle, and a first adjustment protrusion cooperating with the first cam is arranged on the adjustment frame.

[0014] Furthermore, the spacing adjustment mechanism also includes an automatic adjustment mechanism, which includes a second cam arranged on the adjustment seat and an adjustment motor driving the second cam, and a second adjustment groove cooperating with the second cam is arranged on the adjustment frame.

[0015] Furthermore, the axial pipe feeding mechanism also includes a limit clamp arranged at the inlet end of the friction wheel and a pipe clamp arranged at the outlet end of the friction wheel.

[0016] Furthermore, the axial tube feeding mechanism also includes a mounting plate detachably arranged on the fixing frame; the limit clamp, the tube clamp and the friction wheel are arranged on the mounting plate, and the friction wheel is detachably connected to the corresponding wheel axle.

[0017] Furthermore, a first limiting clamp is provided at the inlet end of the friction wheel; a second limiting clamp is provided at the outlet end of the friction wheel; a guide plate located at the outlet end of the friction wheel is also provided on the mounting plate, and the pipe clamp is provided on the free end of the guide plate.

[0018] Furthermore, the guide plate is tilted downward at a preset angle, or the tilting angle is adjustable; or the length of the guide plate is adjustable.

[0019] Furthermore, a fixing plate is provided on the fixing frame, a buckle extending upward is provided on the fixing plate, and a slot or a hole cooperating with the buckle is provided on the side surface of the mounting plate.

[0020] Furthermore, the friction wheel drive mechanism also includes a torque measuring device for measuring the torque of the active motor, the torque measuring device includes a torque sensor and a motor fixing seat; the motor stator of the active motor is rotatably arranged on the motor fixing seat; the first end of the torque sensor is fixed on the motor fixing seat, and the second end of the torque sensor is fixed on the motor stator.

[0021] In summary, the axial tube delivery mechanism of the present invention forms an axial delivery channel for the catheter by setting at least one pair of friction wheels, and sets a spacing adjustment mechanism. When installing the catheter, the spacing between the friction wheels is enlarged by the spacing adjustment mechanism, thereby facilitating the insertion of the catheter. The catheter is then clamped by the friction wheels, and the friction force generated by the rotation of the friction wheels drives the catheter to be axially delivered, thereby ensuring reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0023] Figure 1 is a first exploded structural schematic diagram of the axial pipe delivery mechanism according to the present invention;

[0024] Figure 2 2 is a schematic diagram of a second exploded structure of the axial pipe feeding mechanism according to the present invention.

[0025] Figure 3 It is a schematic diagram of the three-dimensional structure of the torque measuring device of the axial pipe feeding mechanism according to the present invention. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0027] Combination Figure 1 and 2 As shown, the present invention provides an axial tube delivery mechanism 50, including at least one pair of friction wheels 51 arranged opposite to each other and a friction wheel driving mechanism 52 for driving the friction wheels 51; and a spacing adjustment mechanism 53 for adjusting the distance between the at least one pair of friction wheels 51; a catheter axial delivery channel is formed between the at least one pair of friction wheels 51, and the friction wheels 51 on both sides of the channel rotate in opposite directions, thereby driving the catheter to move forward and backward through friction. When installing the catheter, the spacing between the friction wheels 51 is enlarged by the spacing adjustment mechanism, thereby facilitating the insertion of the catheter, and then the friction wheel 51 is used to clamp the catheter, and the friction force of the rotation of the friction wheel drives the catheter to be axially delivered, thereby ensuring reliability.

[0028] Generally, the axial tube delivery mechanism 50 is arranged at the front end of the fixed platform, and is used to clamp the catheter sheath and drive the catheter to move along the axial direction, so as to cooperate with the guide rail and the delivery mechanism on the fixed platform to realize the movement of the catheter and the guide wire. Of course, the axial tube delivery mechanism 50 can also be used to clamp one layer of the multi-layer catheter, for example, it is common to clamp the outermost catheter in the aorta during hepatic artery embolism.

[0029] As required, a groove that matches the conduit can be provided on the outer circumferential surface of the friction wheel 51, thereby increasing the contact area between the friction wheel 51 and the conduit and ensuring reliable transmission. Figure 1 and 2 As shown, there are two pairs of friction wheels 51, and the two pairs of friction wheels 51 are arranged along the axial conveying direction of the catheter. Among the two pairs of friction wheels 51, the outer circumferences of the two friction wheels 51 located on the first side are provided with grooves that cooperate with the catheter, and the outer circumferences of the two friction wheels 51 located on the second side are planar structures.

[0030] Furthermore, the friction wheel driving mechanism 52 includes a driving shaft 521 and an active motor 525 driving the driving shaft 521. The driving shaft 521 is provided with a reversing gear 521a and a synchronous pulley. The friction wheel 51 on the first side is driven by the reversing gear 521a on the driving shaft 521, and the friction wheel 51 on the second side is driven by the synchronous pulley on the driving shaft 521. That is, through the characteristics of the synchronous belt driving in the same direction and the gear driving in the opposite direction, the friction wheels 51 on both sides rotate in opposite directions and drive the catheter to move together.

[0031] In addition, in order to measure the resistance of the catheter and the friction wheel 51, the friction wheel driving mechanism also includes a torque measuring device 60 for measuring the torque of the active motor 525, thereby measuring the axial resistance of the catheter. Figure 2 and Figure 3 As shown, the torque measuring device includes a torque sensor 61 and a motor fixing seat 62, the motor fixing seat is fixedly arranged, the motor stator of the active motor 525 is rotatably arranged on the motor fixing seat 62, the first end of the torque sensor 61 is fixed on the motor fixing seat 62, and the second end is fixed on the motor stator. That is, the motor stator and the rotor are coaxially rotatably arranged on the motor fixing seat 62, and the two ends of the torque sensor 61 are respectively fixed on the motor fixing seat 62 and the motor stator. That is, the motor stator is fixed in the circumferential direction only by the torque sensor 61. When the active motor 525 is working, the motor rotor of the active motor 525 is subjected to the electromagnetic torque applied by the motor stator and the resistance torque applied by the load. According to the laws of physics, when the rotor of the active motor 525 moves at a uniform speed, the sum of the external forces is zero. At this time, the two torques in opposite directions on the active motor 525 are equal, that is, the electromagnetic torque is equal to the load resistance torque. At this time, the stator is subjected to the electromagnetic torque reaction force from the rotor, which is equal to the electromagnetic torque on the rotor. At the same time, the stator is also subjected to the reaction torque transmitted by the motor fixing base 62 through the torque sensor 61. The balance of these two torques ensures that the stator does not move. The reaction torque can be obtained by multiplying the force measured by the torque sensor 61 with the lever arm.

[0032] Therefore, according to the above analysis, it can be known that the torque exerted on the rotor of the active motor 525 during uniform motion can be calculated based on the force measured by the torque sensor 61, and the axial resistance exerted on the catheter 3 can be obtained, which solves the problem of the complicated structure caused by the need to pass the slip ring lead in the prior art, and the measurement accuracy is higher and more reliable.

[0033] In addition, when the rotor accelerates or decelerates, the rotational inertia of the rotor can be considered accordingly for compensation. The torque measuring device of the present invention eliminates the slip ring mechanism and utilizes the existing torque sensor 61, making it easier to ensure the stability of the system.

[0034] Combination Figure 3 As shown, the motor fixing seat 62 is provided with a support having an annular portion, the annular portion has a bearing hole 621, and the motor stator is fixed in the bearing hole 621 through a bearing 63, thereby ensuring that the circumferential force between the electronic stator and the motor fixing seat 62 is only applied through the torque sensor 61.

[0035] Preferably, in order to facilitate installation and processing, the torque measuring device 60 further includes a rotating seat 64, which is fixedly connected to the motor stator and has a shaft portion that matches the inner hole of the bearing. That is, by providing a rotating seat 64 to match the bearing 63, direct processing on the motor stator is avoided, which can effectively reduce the processing complexity.

[0036] Combination Figure 3 As shown, the torque measuring device also includes a first bracket 65 fixed on the annular portion and a second bracket 66 fixed on the rotating seat 64; the two ends of the torque sensor 61 are respectively fixed on the first bracket 65 and the second bracket 66. By providing the first bracket 65 and the second bracket 66, it is convenient to install and fix the torque sensor 61. Preferably, in combination with Figure 1 and Figure 2 As shown, the first bracket 65 and the second bracket 66 are respectively fixed to two opposite sides of the torque sensor 61 to improve the reliability of installation and fixing.

[0037] Combination Figure 1 and 2 As shown, the axial tube delivery mechanism 50 also includes a fixed frame 54, the drive shaft 521 and the axle of the friction wheel 51 on the first side are arranged on the fixed frame 54, and the spacing adjustment mechanism 53 includes an adjustment seat 531 arranged on the fixed frame 54 and an adjustment frame 532 that can move relative to the adjustment seat 531 in a direction perpendicular to the tube delivery direction; the axle of the friction wheel 51 on the second side is arranged on the adjustment frame 532. That is, the positions of the drive shaft 521 and the friction wheel 51 on the first side are fixed, and the friction wheel 51 on the second side moves through the adjustment frame 532, so as to adjust the distance relative to the friction wheel 51 on the first side to adapt to tubes 3 of different diameters. Preferably, in order to ensure the stability and reliability of the movement of the adjustment frame 532, mutually matching slide grooves and slide rails can be provided on the adjustment frame 532 and the adjustment seat 531.

[0038] Combination Figure 1 and 2As shown, the driving shaft 521 is provided with a reversing gear 521a, a first synchronous pulley 521b and a second synchronous pulley 521c, and the driving motor 525 is connected to the first synchronous pulley 521b through the driving pulley 522 and the first synchronous belt 523; the axles of the friction wheels 51 on the first side are respectively provided with driven gears 511, and the reversing gear 521a is meshed with the driven gear 511; the axle of the friction wheel 51 on the second side is provided with a driven pulley 512, and the second synchronous pulley 521c is connected to the driven pulley 512 through the second synchronous belt 524. That is, the driving motor 525 drives the driving shaft 521 through the first synchronous belt 523, and the reversing gear 521a on the driving shaft 521 drives the two friction wheels 51 on the first side; the second synchronous pulley 521c on the driving shaft 521 drives the two friction wheels 51 on the second side through the second synchronous belt 524. By separately arranging the first synchronous belt 523 and the second synchronous belt 524, when the spacing of the friction wheels 51 is adjusted, the transmission of the first synchronous belt 523 and the friction wheels 51 on the first side are not affected, and only the transmission of the second synchronous belt 524 is changed, thereby improving the reliability of the entire mechanism.

[0039] Combination Figure 1 and Figure 2 As shown, the spacing adjustment mechanism 53 also includes a tensioning mechanism 537 for tensioning the second synchronous belt 524, that is, through the cooperation of the tensioning mechanism 537, it is ensured that when the position of the second side friction wheel 51 is adjusted, reliable transmission can still be achieved. Specifically, the tensioning mechanism 537 includes a tensioning seat 537a, a tensioning frame 537b and a tensioning spring (not shown in the figure); the tensioning frame 537b is slidably arranged on the tensioning seat 537a along a preset direction, and the two ends of the tensioning spring are respectively abutted on the tensioning seat 537a and the tensioning frame 537b, and the end of the tensioning frame 537b is provided with a tensioning wheel 537c, and the tensioning wheel 537c is pressed against the outer side of the second synchronous belt 524. That is, through the pre-compression elastic force of the tensioning spring, the tensioning wheel 537c is always pressed against the second synchronous belt 524 during the spacing adjustment process, thereby ensuring that the second synchronous belt 524 is tensioned and the friction wheel 51 on the second side can be reliably driven.

[0040] Preferably, the spacing adjustment mechanism 53 also includes a manual adjustment mechanism 533, which includes an adjustment handle 533a arranged on the adjustment seat 531 and a first cam 533b fixedly connected to the adjustment handle 533a, and a first adjustment protrusion 533c or a first adjustment groove cooperating with the first cam 533b is arranged on the adjustment frame 532; that is, the first cam 533b is rotated by the adjustment handle 533a, and the first cam 533b is squeezed with the first adjustment protrusion 533c or the side wall of the first adjustment groove, thereby pushing the entire adjustment frame 532 to move, thereby adjusting the spacing of the friction wheel 51 on the second side relative to the friction wheel 51 on the first side to adapt to catheters of different diameter specifications.

[0041] As needed, the spacing adjustment mechanism 53 may also include an automatic adjustment mechanism 534, which may also adopt a cam groove mechanism similar to the manual adjustment mechanism 533, that is, the automatic adjustment mechanism 534 includes a second cam 534a arranged on the adjustment seat 531 and an adjustment motor 534d driving the second cam 534a, and a second adjustment groove 534b cooperating with the second cam 534a is arranged on the adjustment frame 532, and the adjustment motor 534d drives the second cam 534a through the gear set 534c, thereby realizing automatic adjustment of the spacing.

[0042] In addition, in order to further improve stability and reliability, the axial tube delivery mechanism 50 further includes a limit clamp 55 provided at the inlet end of the friction wheel 51 and a tube clamp 56 provided at the outlet end of the friction wheel 51. By providing the limit clamp 55 at the inlet end, the catheter is limited within a certain range to ensure that the position of the catheter is relatively stable and to prevent interference from causing the catheter to fall off between the friction wheels 51. The tube clamp 56 is provided at the outlet end to clamp the catheter sheath or catheter to keep the catheter stable.

[0043] Preferably, the axial tube delivery mechanism 50 further comprises a mounting plate 57 detachably mounted on the fixing frame 54; the limit clamp 55, the tube clamp 56 and the friction wheel 51 are mounted on the mounting plate 57, and the friction wheel 51 is detachably connected to the corresponding wheel axle. The above structures can be made of plastic parts and be disposable to meet the requirements of medical treatment.

[0044] In order to facilitate disassembly, the mounting plate 57 is snap-fitted with the fixing frame 54. Specifically, a fixing plate 541 may be provided on the fixing frame 54, and a buckle 542 extending upward may be provided on the fixing plate 541. A slot or a hole 572 cooperating with the buckle 542 may be provided on the side of the mounting plate 57. As required, corresponding positioning hole columns may be provided to improve connection reliability and facilitate disassembly. In addition, in order to prevent the detachable friction wheel 51 from axial movement with the counter-axle, a corresponding elastic protrusion may be provided on the axle to limit the axial position of the friction wheel 51.

[0045] like Figure 1 and 2As shown, in order to further improve reliability, a first limiting clamp 551 can be provided at the inlet end of the friction wheel 51; a second limiting clamp 552 can be provided at the outlet end of the friction wheel 51, so as to limit the catheter within a certain range. The mounting plate 57 has a guide plate 571 extending forward a certain distance, that is, the guide plate 571 is located at the outlet end of the friction wheel 51 and extends forward a certain distance, and the tube clamp 56 is provided on the free end of the guide plate 571, that is, the tube clamp 56 is closer to the intervention operation port, which is conducive to improving the accuracy of the operation. Preferably, the guide plate 571 is tilted downward at a preset angle, and the preset angle matches the natural angle of the intervention operation port, further improving the accuracy of the intervention operation. In addition, as needed, the tilt angle can be adjusted or the length of the guide plate 571 can be adjusted to meet different intervention operation requirements.

[0046] Combination Figures 1 to 2 The catheter loading process of the axial tube delivery mechanism of the present invention is described below, which specifically includes:

[0047] 1. First, open the tube clamp 56 at the front end of the axial tube delivery mechanism 50, insert the catheter sheath into the tube clamp 56, and fasten it.

[0048] 2. Insert the front end of the catheter 3 into the catheter sheath, operate the adjustment handle 533a of the manual adjustment mechanism 533, so that the adjustment frame 532 moves relative to the adjustment seat 531, so that the gap between the friction wheels 51 on both sides is large enough, clamp the limit clamps 55 at the inlet and outlet ends of the friction wheel 51, and place the catheter into the gap between the friction wheels.

[0049] 3. Hold the remaining part of the catheter 3, loosen the adjustment mechanism 133, and allow the friction wheel to clamp the catheter. The catheter of the axial tube feeding mechanism is installed.

[0050] The above is only a specific embodiment of the present invention. Under the above teachings of the present invention, those skilled in the art can make other improvements or modifications on the basis of the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the purpose of the present invention, and the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An axial pipe delivery mechanism, characterized in that: The axial tube delivery mechanism comprises at least one pair of friction wheels arranged opposite to each other and a friction wheel driving mechanism for driving the friction wheels; and a spacing adjustment mechanism for adjusting the distance between the at least one pair of friction wheels; The at least one pair of friction wheels forms a catheter axial delivery channel; The friction wheel driving mechanism comprises a driving shaft and an active motor driving the driving shaft, wherein the driving shaft is provided with a reversing gear and a synchronous pulley; The friction wheel located on the first side of the at least one pair of friction wheels is driven by the reversing gear on the driving shaft, and the friction wheel located on the second side is driven by the synchronous pulley on the driving shaft; The friction wheel driving mechanism also includes a torque measuring device for measuring the active motor, and the torque measuring device includes a torque sensor and a motor fixing seat; The motor stator of the active motor is rotatably arranged on the motor fixing seat; The first end of the torque sensor is fixed on the motor fixing seat, and the second end of the torque sensor is fixed on the motor stator; The motor fixing seat is provided with a support having an annular portion, the annular portion has a bearing hole, and the motor stator is fixed in the bearing hole through a bearing. The torque measuring device further comprises a rotating seat, the rotating seat is fixedly connected to the motor stator, and the rotating seat has a shaft portion matched with the inner hole of the bearing; The torque measuring device further comprises a first bracket fixed on the annular portion and a second bracket fixed on the rotating seat; two ends of the torque sensor are respectively fixed on the first bracket and the second bracket.

2. The axial pipe delivery mechanism according to claim 1, characterized in that: There are two pairs of friction wheels, and the two pairs of friction wheels are arranged along the axial conveying direction of the catheter; The axial tube delivery mechanism further comprises a fixing frame, on which the drive shaft and the axle of the friction wheel located on the first side are arranged; The spacing adjustment mechanism comprises an adjustment seat arranged on the fixing frame and an adjustment frame movable relative to the adjustment seat in a direction perpendicular to the conveying direction of the catheter; The wheel axle of the friction wheel located on the second side is arranged on the adjusting frame.

3. The axial pipe delivery mechanism according to claim 2, characterized in that: The driving shaft is provided with a reversing gear, a first synchronous pulley and a second synchronous pulley, and the driving motor is drivingly connected to the first synchronous pulley through a driving pulley and a first synchronous belt; The wheel shafts of the friction wheels on the first side are respectively provided with driven gears, and the reversing gears are meshed with the driven gears; A driven pulley is arranged on the axle of the friction wheel located on the second side, and the second synchronous pulley is drivingly connected to the driven pulley via a second synchronous belt; The spacing adjustment mechanism also includes a tensioning mechanism for tensioning the second synchronous belt.

4. The axial pipe delivery mechanism according to claim 3, characterized in that: The tensioning mechanism comprises a tensioning seat, a tensioning frame and a tensioning spring; the tensioning frame is slidably arranged on the tensioning seat along a preset direction, and two ends of the tensioning spring abut against the tensioning seat and the tensioning frame respectively; A tensioning wheel is arranged at the end of the tensioning frame, and the tensioning wheel is pressed against the outer side of the second synchronous belt.

5. The axial pipe delivery mechanism according to claim 4, characterized in that: The spacing adjustment mechanism also includes a manual adjustment mechanism, which includes an adjustment handle arranged on the adjustment seat and a first cam fixedly connected to the adjustment handle, and a first adjustment protrusion matched with the first cam is arranged on the adjustment frame.

6. The axial pipe delivery mechanism according to claim 2 or 5, characterized in that: The spacing adjustment mechanism also includes an automatic adjustment mechanism, which includes a second cam arranged on the adjustment seat and an adjustment motor driving the second cam, and a second adjustment slot matched with the second cam is arranged on the adjustment frame.

7. The axial pipe delivery mechanism according to claim 2, characterized in that: The axial pipe delivery mechanism further comprises a limit clamp arranged at the inlet end of the friction wheel and a pipe clamp arranged at the outlet end of the friction wheel.

8. The axial pipe delivery mechanism according to claim 7, characterized in that: The axial tube delivery mechanism also includes a mounting plate detachably arranged on the fixing frame; The limiting clamp, the pipe clamp and the friction wheel are arranged on the mounting plate, and the friction wheel is detachably connected to the corresponding wheel axle.

9. The axial pipe delivery mechanism according to claim 8, characterized in that: The inlet end of the friction wheel is provided with a first limiting clamp; the outlet end of the friction wheel is provided with a second limiting clamp; The mounting plate is also provided with a guide plate located at the outlet end of the friction wheel, and the pipe clamp is provided on the free end of the guide plate.

10. The axial pipe delivery mechanism according to claim 9, characterized in that: The guide plate is tilted downward at a preset angle, or the tilting angle is adjustable; or the length of the guide plate is adjustable.

11. The axial pipe delivery mechanism according to claim 8, characterized in that: The fixing frame is provided with a fixing plate, the fixing plate is provided with a buckle extending upward, and the side surface of the mounting plate is provided with a clamping groove or a clamping hole matched with the buckle.

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