Ultrasonic imaging apparatus with high-low speed conversion function

Abstract

The application discloses an ultrasonic imaging device with high-low speed conversion function and a use method thereof, which comprises a low-speed slip ring assembly and a high-speed rotary grinding assembly for ultrasonic imaging, the slip ring assembly and the rotary grinding assembly are connected through a feeder joint, the rotary grinding assembly is fixed on a driving device for providing high-low speed conversion; the application further comprises a ball screw for controlling the high-low speed conversion, so as to realize joint connection and disconnection of the rotary grinding assembly and the slip ring assembly between high speed and low speed; the high-low speed conversion driving device and the slip ring assembly are installed on a driving base, so that the axial movement of the ultrasonic imaging part in the low speed state is realized by controlling the ball screw on the base; since a joint shell capable of realizing blind insertion is designed on the joint of the ultrasonic slip ring assembly and the rotary grinding assembly, the rotor and the transmission shaft can realize blind insertion assembly, and the problem of conversion hysteresis existing in high-low speed conversion is solved. The application can achieve the purpose of speed conversion in the ultrasonic imaging process.

Description

Technical Field

[0001] The present invention relates to the technical field of ultrasonic imaging, in particular to an ultrasonic imaging device with a high-low speed conversion function. Background Art

[0002] By combining ultrasonic detection with a atherectomy device, ultrasonic signals can provide feedback on the specific location of plaques within arteries. Current intravascular atherectomy devices require the grinding head to rotate at a speed of 135,000 to 180,000 rpm. However, the ultrasonic signal feedback device must operate at low speeds to ensure adequate resolution, and the rotor edge of the slip ring in the ultrasonic device must also operate at low speeds to ensure smooth signal transmission. In the removal of calcified vascular tissue, if the ultrasonic atherectomy device is controlled at high speed, ultrasound images may be lost and the slip ring may become damaged. If it is controlled at low speed, calcified tissue cannot be removed. Therefore, an ultrasonic imaging device with high-to-low speed conversion capability is urgently needed to address this issue. Summary of the Invention

[0003] In view of this, the present invention aims to provide an ultrasonic imaging device with high-low speed conversion function. The rotor and drive shaft can be assembled blindly, solving the conversion hysteresis problem of high-low speed conversion. The present invention can achieve the purpose of speed conversion during ultrasonic imaging.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical solution: an ultrasonic imaging device with a high-low speed conversion function, comprising a low-speed slip ring assembly (1) and a high-speed pulverization assembly (3) for ultrasonic imaging, wherein the slip ring assembly (1) is connected to the pulverization assembly (3) via a feeder connector, and the pulverization assembly (3) is fixed on a driving device (4) for providing high-low speed conversion; the high-low speed conversion driving device (4) and the slip ring assembly (1) are mounted on a driving base (5); and a connector housing (2) capable of blind insertion is designed on the connector of the ultrasonic slip ring assembly (1) and the pulverization assembly (3).

[0005] In a preferred embodiment, the first motor (6) for generating drive in the high-speed atherectomy assembly (3) is driven by a gear matching (9), and the first motor (6) is mounted on the atherectomy support plate (8); the atherectomy assembly (3) is fixed on the slide rail (20);

[0006] The atherectomy assembly (3) is provided with a slot connected to the flexible rotating shaft (7) of the grinding head, and the guide wire is introduced from the slot; the rear end of the slot is connected to the SMB connector.

[0007] In a preferred embodiment, the slip ring assembly (1) is connected by a slip ring part and a second motor drive part via a synchronous belt drive (14), the slip ring part includes a rotor side (15) and a stator side (12), the front end of the slip ring rotor side (15) is connected to an SMA male to SMB female adapter, and the signal is output from the adapter to the ultrasonic imaging part and converted into an image display.

[0008] In a preferred embodiment, the housing (11) of the SMB connector at the slotted rear end of the atherectomy assembly (3) has a cylindrical inner cavity (29), and a positioning protrusion (30) is provided on the cavity wall of the cylindrical inner cavity (29).

[0009] In a preferred embodiment, the outer shell of the slip ring assembly (1) connected to the SMA male to SMB female adapter at the front end has a circumferential outer wall (31) adapted to be inserted into the cylindrical inner cavity (29), and a positioning groove (32) adapted to the positioning protrusion (30) is provided on the circumferential outer wall (31), and the positioning groove (32) is connected to one end of the cylindrical inner cavity (29) with a gradual opening (33) for guiding the positioning protrusion (30) to slide into the positioning groove (32).

[0010] In a preferred embodiment: the high-low speed conversion drive device (4) is composed of two parts: a first ball screw (22) and a linear slide rail (20);

[0011] A rotary grinding assembly (3) is mounted on the linear slide rail (20), and the first ball screw (22) and the slip ring assembly (1) are placed together on a slide table (34).

[0012] In a preferred embodiment: the first ball screw (22) is driven by a third motor (28), and the third motor (28) is mounted on a slide (34);

[0013] The ball screw nut seat (23) is mounted with a screw connecting piece (18) and a grinding assembly support plate (8).

[0014] In a preferred embodiment, the third motor (28) drives the movement of the first ball screw (22) to connect and disconnect the joint (2) that switches the gyratory assembly (3) and the slip ring assembly (1) between high speed and low speed.

[0015] In a preferred embodiment, the high-low speed conversion drive device (4) and the slip ring assembly (1) are installed on a drive base (5), and the drive base (5) is composed of a fourth motor (35) driving a second ball screw (36). Therefore, the second ball screw (36) is driven by the fourth motor (35), thereby realizing axial movement of the ultrasonic imaging part in a low-speed state.

[0016] The present invention provides a method for using an ultrasonic imaging device with a high-speed to low-speed conversion function, based on the ultrasonic imaging device with a high-speed to low-speed conversion function, comprising the following steps:

[0017] Step S1: The blind plug connector (2) is connected, and the driving base (5) controls the fourth motor (35) to move the ultrasound imaging part through the femoral artery / radial artery and along the guide wire in the blood vessel to the affected area;

[0018] Step S2: the slip ring assembly (1) controls the motor according to the speed required for ultrasonic detection, drives the ultrasonic imaging part to rotate at a low speed, and obtains the position and morphology of the intravascular plaque;

[0019] Step S3: the high-low speed conversion device (4) controls the third motor (28) to drive the atherectomy assembly (3) forward to disconnect the blind plug connector (2);

[0020] Step S4: the atherectomy component (3) controls the first motor (6) according to the rotational speed required for atherectomy, driving the atherectomy part to rotate at a high speed, and the atherectomy component (3) simultaneously moves back and forth on the slide rail (20) to atherectomize the plaque;

[0021] Step S5: After a short period of rotational ablation, the high-speed first motor (6) is turned off, and the high-low speed conversion device (4) controls the third motor (28) to drive the rotational ablation assembly (3) back to the blind plug connector (2), and controls the motor according to the speed required for ultrasound detection to drive the ultrasound imaging unit to rotate at a low speed to obtain intravascular plaque information after rotational ablation, and compare and evaluate it with the previous imaging results;

[0022] Step S6: Repeat steps S1 to S5 until the intravascular plaque imaging result meets the requirements.

[0023] Compared with the prior art, the present invention has the following beneficial effects: it solves the speed switching problem of ultrasonic signal detection equipment used in arterial atherectomy, and uses a more convenient way to achieve mode conversion between ultrasonic detection and atherectomy equipment. It realizes the combination of ultrasonic signal feedback of specific plaque location information in the artery and the atherectomy process of removing calcified tissue, which is convenient for doctors to judge and operate during the operation, greatly reduces the risk of arterial atherectomy, and avoids damage to arteries and even surgical failure due to special cases. The high-low speed conversion device combines the ultrasonic feedback part with the atherectomy device, and realizes the high-low speed conversion of the two working modes through motor control. Using the ultrasonic feedback device to evaluate the atherectomy situation each time during arterial atherectomy can avoid atherectomy accidents caused by excessive atherectomy or special circumstances. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is an axial schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 3 Schematic diagram of the structure of the rotational atherectomy assembly of the present invention;

[0027] Figure 4 This is a schematic structural diagram of the ultrasonic slip ring assembly of the present invention;

[0028] Figure 5 This is a schematic structural diagram of the high-low speed conversion device of the present invention;

[0029] Figure 6 This is a structural diagram of a blind-plug connector according to the present invention;

[0030] Figure 7 The ultrasonic imaging effects of the present invention on lumen size and morphology are shown. (a) 4.5mm ID ex vivo vascular tissue membrane, (b) 4.5mm ID ex vivo porcine aorta tissue front-view intravascular ultrasound image, (c) 6.5mm ID ex vivo vascular tissue membrane, (d) 6.5mm ID ex vivo porcine aorta tissue front-view intravascular ultrasound image;

[0031] Figure 8 The ultrasonic imaging effect of calcified tissue morphology in the present invention. (a, c) Images of bone blocks with different morphologies and simulated vascular tissue membranes, (b, d) corresponding forward-looking intravascular ultrasound images;

[0032] Among them, 1. Slip ring assembly; 2. Rotary grinding assembly; 3. Blind plug connector; 4. High-low speed conversion drive device; 5. Drive base; 6. Rotary grinding motor; 7. Drive shaft; 8. Rotary grinding support plate; 9. Gear meshing device; 10. Joint coupling; 11. Rotary grinding end joint; 12. Slip ring stator side; 13. Mounting plate; 14. Synchronous belt drive; 15. Slip ring rotor side; 16. Ultrasonic end joint; 17. Ultrasonic base; 18. Rotary grinding screw connector; 19. Rotary grinding slider; 20. 21. High-low speed conversion support plate; 22. High-low speed conversion ball screw; 23. High-low speed conversion screw nut seat; 24. Shaft collar; 25. Rotary grinding support; 26. High-low speed conversion coupling; 27. High-low speed conversion motor seat; 28. High-low speed conversion motor; 29. ​​Cylindrical inner cavity; 30. Positioning protrusion; 31. Circumferential outer wall; 32. Positioning groove; 33. Involute; 34. Drive base slide; 35. Drive base motor; 36. Drive base ball screw. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present application belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application; as used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or their combinations.

[0036] Reference Figure 1-8 The present invention provides an ultrasonic imaging device with high-low speed conversion function, including a low-speed slip ring assembly 1 and a high-speed atherectomy assembly 3 for ultrasonic imaging. The slip ring assembly 1 is connected to the atherectomy assembly 3 through a feeder connector, and the atherectomy assembly 3 is fixed on a driving device 4 for providing high-low speed conversion; the high-low speed conversion driving device 4 and the slip ring assembly 1 are installed on a driving base 5; a connector shell 2 that can realize blind insertion is designed on the connector of the ultrasonic slip ring assembly 1 and the atherectomy assembly 3.

[0037] At the beginning of the atherectomy procedure, the blind-slot connector 2 is plugged in, and the control motor 35 of the drive base 5 drives the ultrasound imaging unit through the femoral / radial artery, passing it along the guidewire within the blood vessel to the affected area. Before the atherectomy unit begins plaque removal, the slip ring assembly 1 is first controlled to rotate the motor at a low speed according to the speed required for ultrasonic detection, driving the ultrasound imaging unit to rotate at a low speed. This determines the location and morphology of the intravascular plaque and produces a cross-sectional image of the vessel before atherectomy. Next, atherectomy is performed. The high-low speed conversion device 4 first controls the motor 28 to drive the atherectomy unit 3 forward, thereby disconnecting the blind-slot connector 2. The atherectomy unit 3 then controls the motor 6 to rotate the atherectomy unit at a high speed according to the speed required for atherectomy. Simultaneously, the atherectomy unit 3 moves back and forth on the slide rail 20 to atherectomize the plaque. After a brief atherectomy, the high-speed motor 6 is turned off, and the high-low speed conversion device 4 controls the motor 28 to drive the atherectomy unit 3 back, thereby connecting the blind-slot connector 2. The motor is then controlled to rotate the ultrasound imaging unit at a low speed according to the speed required for ultrasonic detection, obtaining information about the intravascular plaque after atherectomy and comparing it with the previous imaging results. Plan ahead for subsequent atherectomy until the plaque imaging results meet the expected results and the atherectomy procedure is completed.

[0038] The ultrasonic imaging device comprises a low-speed slip ring assembly 1 and a high-speed atherectomy assembly 3 for ultrasonic imaging. The slip ring assembly 1 and the atherectomy assembly 3 are connected via a feeder connector.

[0039] The rotational atherectomy assembly 3 is fixed to a driving device 4 for providing high-low speed conversion.

[0040] The atherectomy assembly 3 is fixed to the driving device 4 for providing high-low speed conversion so that the forward and backward movement of the atherectomy assembly 3 can be independently controlled, thereby achieving both speed conversion and the forward and backward movement function required for atherectomy.

[0041] The high-low speed conversion drive device 4 and the slip ring assembly 1 are installed on the drive base 5 .

[0042] The high-low speed conversion drive device 4 and the slip ring assembly 1 are installed on the same slide 34, which can ensure the coaxial position of the transmission shaft 7 and the slip ring rotor edge 15, and also facilitate the control of the ultrasound imaging part entering the blood vessel.

[0043] The slip ring assembly 1 for ultrasonic imaging is composed of a slip ring part and a motor drive part connected by a synchronous belt drive 14.

[0044] The slip ring part includes a rotor side 15 and a stator side 12. The front end of the slip ring rotor side 15 is connected to the SMA male to SMB female adapter. The signal is output from the connector to the ultrasonic imaging part and converted into an image display.

[0045] There is a slot in the high-speed atherectomy assembly 3 that is connected to the flexible rotating shaft of the grinding head, and the rear end of the slot is connected to the SMB connector.

[0046] A coaxial line is provided in the transmission shaft, one end of the coaxial line is fixedly connected to the SMB connector, one end of the SMB connector is connected to the transmission shaft by a coupling 10, and the other end is matched with the SMA male to SMB female adapter connected to the slip ring rotor edge 15.

[0047] A joint housing 2 is designed on the joint between the ultrasonic slip ring assembly 1 and the atherectomy assembly 3 to enable blind insertion.

[0048] The housing 11 of the SMB connector at the slotted rear end of the atherectomy assembly 3 has a cylindrical inner cavity 29 , and a positioning protrusion 30 is provided on the cavity wall of the cylindrical inner cavity 29 .

[0049] The signal connection portion of the SMB connector is located at the axial center of the cylindrical inner cavity 29 .

[0050] The outer shell 16 of the slip ring assembly 1 connected to the SMA male to SMB female adapter at the front end has a circumferential outer wall 31 that is adapted to be inserted into the cylindrical inner cavity 29. A positioning groove 32 that is adapted to the positioning protrusion 30 is provided on the circumferential outer wall 31, and the positioning groove 32 is connected to one end of the cylindrical inner cavity 29 with a gradual opening 33 for guiding the positioning protrusion 30 to slide into the positioning groove 32.

[0051] The outer wall of the SMA male to SMB female adapter is interference fit with the inner cavity of the housing 16 .

[0052] When the positioning protrusion 30 slides into the positioning groove 32 along the involute, the signal connection portion of the SMB connector and the SMA male to SMB female adapter are aligned and matched. When the positioning protrusion 30 is engaged with the positioning groove 32, the signal connection portion of the connector is inserted and installed.

[0053] The high-low speed conversion drive device 4 is composed of two parts: a ball screw 22 and a linear guide rail 20.

[0054] The ball screw nut seat 23 is mounted with a screw connector 18 and a atherectomy assembly support plate 8 to control the linear motion of the atherectomy assembly 3 .

[0055] The motor 28 drives the ball screw 22 to move, thereby realizing the connection and disconnection of the joints of the atherectomy assembly 3 and the slip ring assembly 1 between high speed and low speed.

[0056] The driving base 5 is composed of a motor 35 driving a ball screw 36 , and the motor 35 drives the ultrasonic imaging part to move axially at a low speed.

[0057] A method for using an ultrasonic imaging device with a high-low speed conversion function, using the ultrasonic imaging device with a high-low speed conversion function, comprises the following steps:

[0058] Step S1: Connect the blind plug connector (2), and drive the base (5) to control the fourth motor (35) to move the ultrasound imaging part through the femoral artery / radial artery and pass along the guide wire in the blood vessel to the affected area;

[0059] Step S2: the slip ring assembly (1) controls the motor according to the speed required for ultrasound detection, drives the ultrasound imaging to rotate at a low speed, and obtains the location and morphology of the intravascular plaque;

[0060] Step S3: the high-low speed conversion device (4) controls the third motor (28) to drive the atherectomy assembly (3) forward to disconnect the blind-plug connector (2);

[0061] Step S4: the atherectomy component (3) controls the first motor (6) according to the rotational speed required for atherectomy, driving the atherectomy part to rotate at a high speed, and the atherectomy component (3) simultaneously moves back and forth on the slide rail (20) to atherectomize the plaque;

[0062] Step S5: After a short period of atherectomy, the high-speed first motor (6) is turned off, and the high-low speed conversion device (4) controls the third motor (28), driving the atherectomy assembly (3) to return to the blind plug connector (2), and controlling the motor according to the speed required for ultrasound detection, driving the ultrasound imaging unit to rotate at a low speed to obtain intravascular plaque information after atherectomy, and comparing and evaluating it with the previous imaging results;

[0063] Step S6: Repeat S1-S5 until the intravascular plaque imaging result meets the requirements.

[0064] The present invention operates as follows: At the start of the atherectomy procedure, the blind-plug connector 2 is inserted, and the control motor 35 of the drive base 5 directs the ultrasound imaging unit through the femoral / radial artery, passing the guidewire within the blood vessel to the affected area. Before the atherectomy unit begins plaque removal, the slip ring assembly 1 is first controlled by the motor at the speed required for ultrasonic detection, driving the ultrasound imaging unit to rotate at a low speed to determine the location and morphology of the intravascular plaque and obtain a cross-sectional image of the blood vessel before atherectomy. Next, atherectomy is performed. The high-low speed conversion device 4 first controls the motor 28 to drive the atherectomy assembly 3 forward, thereby disconnecting the blind-plug connector 2. The atherectomy assembly 3 then controls the motor 6 to drive the atherectomy unit at a high speed, at the speed required for atherectomy. Simultaneously, the atherectomy assembly 3 moves back and forth on the slide rail 20 to atherectomize the plaque. After a brief period of rotational atherectomy, high-speed motor 6 is turned off. High-to-low speed conversion device 4 controls motor 28 to retract rotational atherectomy assembly 3, thereby connecting to blind-plug connector 2. The motor then controls the ultrasound imaging unit to rotate at a low speed, at the speed required for ultrasound detection, to obtain post-atherectomy intravascular plaque information. This information is then compared and evaluated with the previous imaging results. Subsequent rotational atherectomy is planned in advance until the desired plaque imaging results are achieved and the atherectomy procedure is complete.

[0065] To verify the imaging performance of the ultrasound imaging device with high-speed and low-speed conversion function for lumen size and morphology, two ex vivo porcine aortic tissue samples with relatively uniform inner diameters of 4.5 mm and 6.5 mm were selected for comparative imaging analysis. The prepared gelatin shell mold and the ex vivo porcine aortic tissue phantom were immersed in deionized water and subjected to forward-looking intravascular ultrasound imaging. The forward-looking intravascular ultrasound imaging of the ex vivo porcine aortic tissue with different inner diameters of 4.5 mm and 6.5 mm was as follows: Figure 7 shown.

[0066] The imaging capabilities of the ultrasound imaging device with high-speed to low-speed conversion function were evaluated by testing the device on ex vivo porcine aorta tissue. The device demonstrated accuracy and reliability in speed switching.

[0067] According to the ultrasonic imaging device with high-low speed conversion function, in order to verify the imaging performance of the ultrasonic imaging device with high-low speed conversion function on the morphology of calcified tissue, the bone was processed into a customized shape and fixed on the inner wall of the simulated tissue membrane to simulate calcified tissue. The corresponding forward-looking intravascular ultrasonic image is as follows Figure 8 shown.

[0068] By verifying the use of the ultrasonic imaging device with high-speed and low-speed conversion functions on bone blocks with different morphologies and simulated vascular tissue phantoms, it can be evaluated that the ultrasonic imaging device with high-speed and low-speed conversion functions can perform a good match for the recessed areas formed by grinding on the regular surface of bone blocks.

[0069] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0070] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. An ultrasonic imaging device with high-speed and low-speed conversion function, characterized in that: The invention comprises a low-speed slip ring assembly (1) and a high-speed atherectomy assembly (3) for ultrasonic imaging, wherein the slip ring assembly (1) is connected to the atherectomy assembly (3) via a feeder connector, and the atherectomy assembly (3) is fixed on a driving device (4) for providing high-low speed conversion; the high-low speed conversion driving device (4) and the slip ring assembly (1) are mounted on a driving base (5); and a connector housing (2) capable of blind plugging is provided on the connector between the slip ring assembly (1) and the atherectomy assembly (3); The first motor (6) generating drive in the atherectomy assembly (3) is driven by a gear matching (9), and the first motor (6) is mounted on the atherectomy support plate (8); the atherectomy assembly (3) is fixed on the linear slide rail (20); the atherectomy assembly (3) is provided with a slot connected to the flexible rotating shaft (7) of the grinding head, and the guide wire is introduced from the slotted portion; The slotted rear end connects to the SMB connector; The slip ring assembly (1) is connected by a slip ring part and a second motor drive part via a synchronous belt drive (14), the slip ring part includes a rotor side (15) and a stator side (12), the front end of the rotor side (15) is connected to an SMA male to SMB female adapter, and a signal is output from the adapter to an ultrasonic imaging part and converted into an image for display; The high-low speed conversion drive device (4) is composed of a first ball screw (22) and a linear slide rail (20); the rotary grinding assembly (3) is mounted on the linear slide rail (20), and the first ball screw (22) and the slip ring assembly (1) are placed together on a slide table (34); The first ball screw (22) is driven by a third motor (28), and the third motor (28) is mounted on a slide (34); a screw connecting member (18) and a gyratory assembly support plate (8) are mounted on the ball screw nut seat (23); The high-low speed conversion drive device (4) and the slip ring assembly (1) are mounted on a drive base (5). The drive base (5) is composed of a second ball screw (36). The second ball screw (36) is driven by a fourth motor (35), thereby achieving axial movement of the ultrasonic imaging part in a low-speed state.

2. The ultrasonic imaging device with high-speed and low-speed conversion function according to claim 1, characterized in that: The outer shell (11) of the SMB joint at the slotted rear end of the rotational ablation assembly (3) has a cylindrical inner cavity (29), and a positioning protrusion (30) is provided on the cavity wall of the cylindrical inner cavity (29).

3. The ultrasonic imaging device with high-speed and low-speed conversion function according to claim 2, characterized in that: The outer shell of the slip ring assembly (1) connected to the SMA male to SMB female adapter at the front end has a circumferential outer wall (31) adapted to be inserted into the cylindrical inner cavity (29), and a positioning groove (32) adapted to the positioning protrusion (30) is provided on the circumferential outer wall (31), and the positioning groove (32) is connected to one end facing the cylindrical inner cavity (29) with a gradual opening (33) for guiding the positioning protrusion (30) to slide into the positioning groove (32).

4. The ultrasonic imaging device with high-speed and low-speed conversion function according to claim 1, characterized in that: The third motor (28) drives the movement of the first ball screw (22), thereby realizing the connection and disconnection of the joints of the rotational grinding assembly (3) and the slip ring assembly (1) when switching between high speed and low speed.

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