Multi-degree of freedom catheter guide

Abstract

The application discloses a multi-degree-of-freedom catheter device, which comprises a mechanical arm, a rotating driving element, a pipe feeder and an inclination angle adjusting element; the pipe feeder comprises a pipe feeder shell and a conveying mechanism, the pipe feeder shell is hinged to a movable end of the rotating driving element, the conveying mechanism is arranged in the pipe feeder shell and is used for conveying a charging pipe; and the inclination angle adjusting element is used for adjusting the included angle between the pipe feeder shell and the movable end of the rotating driving element. The technical scheme has the beneficial effects that the position of the pipe feeder shell is adjusted by the mechanical arm, the pipe feeder shell swings left and right by the rotating driving element, the pipe feeder shell swings up and down by the inclination angle adjusting element, so that the charging pipe clamped by the conveying mechanism can be aligned with a buried hole and coaxial with the buried hole, and the charging pipe can be moved into the buried hole by the conveying mechanism, without manually guiding the charging pipe into the buried hole, thereby greatly improving the safety of the charging pipe burying process.

Description

Technical Field

[0001] This invention relates to the field of drug loading trolley technology, and in particular to a multi-degree-of-freedom catheter. Background Technology

[0002] The charging trolley is a self-propelled device for loading explosives into blast holes in mines. The guide tube is the main component of the charging trolley. Its function is to transport the charging tube, so that the charging tube is inserted into the blast hole and pulled out of the blast hole. During the process of pulling the charging tube out of the blast hole, the explosive is injected into the blast hole through the charging tube by the pumping device, thereby realizing the loading of explosives into the blast hole.

[0003] Existing delivery systems typically require manual guidance of the propellant tube's tip to the borehole. Since the borehole is often located at a high position, workers usually operate on the lifting platform of the propellant loading trolley. When guiding the propellant tube, workers face the risk of falling from a height and are also prone to colliding with the surrounding rock walls, resulting in high safety risks. Summary of the Invention

[0004] In view of this, it is necessary to provide a multi-degree-of-freedom delivery device to solve the technical problem that existing delivery devices require manual guidance of the propellant tube head to the borehole, resulting in high safety risks.

[0005] To achieve the above objectives, the present invention provides a multi-degree-of-freedom catheter device, including a robotic arm, a rotation drive, a catheter feeder, and an angle adjustment component; The fixed end of the robotic arm is used to fix it to the drug loading trolley, and the movable end of the robotic arm is connected to the fixed end of the rotary drive component. The tube feeder includes a tube feeder housing and a conveying mechanism. The tube feeder housing is hinged to the movable end of the rotating drive component. The conveying mechanism is disposed inside the tube feeder housing and is used to transport the drug-filled tube. One end of the tilt adjustment member is hinged to the movable end of the rotation drive member, and the other end of the tilt adjustment member is hinged to the pipe feeder housing. The tilt adjustment member is used to adjust the included angle between the pipe feeder housing and the movable end of the rotation drive member.

[0006] In some embodiments, the robotic arm includes a base, an outer sleeve, an inner sleeve, a pitch adjustment component, a length adjustment component, a vertical tube, and an angle adjustment component. The base is fixed to a loading trolley. The outer sleeve is hinged to the base. The inner sleeve is partially slidably inserted into the outer sleeve. One end of the pitch adjustment component is hinged to the base, and the other end is hinged to the outer sleeve and used to adjust the angle between the base and the outer sleeve. One end of the length adjustment component is fixedly connected to the outer sleeve, and the other end is fixedly connected to the inner sleeve. The length adjustment component is used to adjust the overall length of the outer sleeve and the inner sleeve. One end of the vertical tube is hinged to the inner sleeve, and the other end is fixedly connected to the fixed end of the rotation drive component. One end of the angle adjustment component is hinged to the inner sleeve, and the other end is hinged to the vertical tube. The angle adjustment component is used to adjust the angle between the inner sleeve and the vertical tube.

[0007] In some embodiments, the robotic arm further includes a first protective sleeve fixed to the inner sleeve, the vertical tube hinged to the first protective sleeve, one end of the angle adjusting member hinged to the first protective sleeve, and the other end of the angle adjusting member hinged to the vertical tube.

[0008] In some embodiments, the movable end of the rotation drive is fixed with a second protective sleeve, one end of the tilt adjustment member is hinged to the second protective sleeve, and the other end of the tilt adjustment member is hinged to the pipe feeder housing.

[0009] In some embodiments, a channel for the passage of a drug delivery tube is formed within the tube delivery device housing; The conveying mechanism includes several pairs of driving wheels, several pairs of driven wheels, and several drive motors. The driving wheels and the driven wheels are rotatably disposed inside the tube feeder housing. Each pair of driving wheels abuts against both sides of the drug loading tube, and each pair of driven wheels abuts against both sides of the drug loading tube. The drive motors are connected to the driving wheels and are used to drive the driving wheels to rotate.

[0010] In some embodiments, an outlet hole for the passage of the drug delivery tube is provided on the other side of the tube delivery device housing. A guide sleeve is fixed inside the outlet hole, and an outlet tube is coaxially fixed on the guide sleeve. In use, the drug delivery tube is discharged through the outlet tube.

[0011] In some embodiments, the multi-degree-of-freedom catheter further includes a drug delivery tube movement distance detection mechanism, which includes an encoder mounted on the driven wheel.

[0012] In some embodiments, the multi-degree-of-freedom catheter further includes a crimping mechanism, which includes a crimping housing, a plurality of pairs of first limiting wheels, and a plurality of pairs of second limiting wheels. The crimping housing is coaxially fixed to the mounting ring. Each pair of first limiting wheels is rotatably disposed within the crimping housing. The two first limiting wheels of each pair of first limiting wheels are used to clamp the drug delivery tube. Each pair of second limiting wheels is rotatably disposed within the crimping housing. The axial direction of the second limiting wheel is perpendicular to the axial direction of the first limiting wheel. The two second limiting wheels of each pair of second limiting wheels are used to clamp the drug delivery tube.

[0013] Compared with existing technologies, the beneficial effects of the technical solution proposed in this invention are as follows: In use, firstly, a burial hole is drilled in the inner wall of the mine tunnel. Then, the burial tube is installed into the conveying mechanism. A robotic arm drives a rotating drive to move the tube near the burial hole. The robotic arm then fine-tunes the position of the tube feeder housing so that the head of the burial tube reaches the burial hole. The rotating drive then causes the tube feeder housing to swing left and right, while the tilt adjustment mechanism causes it to swing up and down, ensuring the burial tube is as coaxial as possible with the burial hole. Finally, the conveying mechanism is activated, moving the burial tube into the burial hole, thus achieving the burial of the burial tube. In this invention, the position of the tube feeder housing is adjusted by the robotic arm, the rotating drive causes it to swing left and right, and the tilt adjustment mechanism causes it to swing up and down. This ensures that the burial tube held by the conveying mechanism is aligned with and coaxial with the burial hole. Subsequently, the conveying mechanism moves the burial tube into the hole, eliminating the need for manual insertion of the burial tube, greatly improving the safety of the burial process. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the multi-degree-of-freedom catheter provided by the present invention; Figure 2 yes Figure 1 Top view of a multi-degree-of-freedom catheter; Figure 3 yes Figure 2 Sectional view of section AA; Figure 4 yes Figure 1 A schematic diagram of the tube feeder, the drug delivery tube movement distance detection mechanism, and the tube pressing mechanism in the process; Figure 5 yes Figure 1 A schematic diagram of the tube feeder in the middle; Figure 6 yes Figure 1 A three-dimensional structural diagram of the compression mechanism in the middle; Figure 7 yes Figure 6An exploded view of a module of the compression mechanism in the image; In the diagram: 1-robotic arm, 11-base, 12-outer sleeve, 13-inner sleeve, 14-pitch adjustment component, 15-length adjustment component, 16-vertical tube, 17-angle adjustment component, 18-first protective sleeve, 2-rotation drive component, 21-second protective sleeve, 3-tube feeder, 31-tube feeder housing, 313-guide sleeve, 314-outlet tube, 32-conveying mechanism, 321-drive wheel, 322-driven wheel, 4-tilt adjustment component, 5-front and rear position adjustment mechanism, 51-adjustment frame, 52-optical axis, 53-connecting block, 6-pipe pressing mechanism, 61-pipe pressing housing, 62-first limit wheel, 63-second limit wheel. Detailed Implementation

[0015] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0016] Please refer to Figure 1 The present invention provides a multi-degree-of-freedom catheter device, including a robotic arm 1, a rotation drive 2, a catheter feeder 3, and an angle adjustment component 4; The fixed end of the robotic arm 1 is used to fix it to the drug loading trolley, and the movable end of the robotic arm 1 is connected to the fixed end of the rotary drive component 2; in this embodiment, the rotary drive component 2 is a rotary hydraulic cylinder.

[0017] The tube feeder 3 includes a tube feeder housing 31 and a conveying mechanism 32. The tube feeder housing 31 is hinged to the movable end of the rotating drive 2. The conveying mechanism 32 is disposed inside the tube feeder housing 31 and is used to transport the drug-filled tube. One end of the tilt adjustment component 4 is hinged to the movable end of the rotation drive component 2, and the other end of the tilt adjustment component 4 is hinged to the pipe feeder housing 31. The tilt adjustment component 4 is used to adjust the included angle between the pipe feeder housing 31 and the movable end of the rotation drive component 2. In this embodiment, the tilt adjustment component 4 is a tilt adjustment cylinder.

[0018] In use, firstly, a hole for embedding the explosive is drilled in the inner wall of the mine tunnel. Then, the explosive tube is installed in the conveying mechanism 32. The mechanical arm 1 drives the rotating drive 2 to move it to the vicinity of the hole. Then, the mechanical arm 1 finely adjusts the position of the tube feeder housing 31 so that the head end of the explosive tube reaches the position of the hole. Then, the rotating drive 2 drives the tube feeder housing 31 to swing left and right. At the same time, the tilt adjustment component 4 drives the tube feeder housing 31 to swing up and down so that the explosive tube is as coaxial as possible with the hole. Then, the conveying mechanism 32 is started to move the explosive tube into the hole, thereby realizing the embedding of the explosive tube. In this invention, the position of the tube feeder housing 31 is adjusted by the robotic arm 1, the tube feeder housing 31 is swung left and right by the rotating drive component 2, and the tube feeder housing 31 is swung up and down by the tilt adjustment component 4. This allows the drug-filled tube held by the conveying mechanism 32 to be aligned with the drug-filling hole and coaxial with the drug-filling hole. Subsequently, the drug-filled tube is moved into the drug-filling hole by the conveying mechanism 32. There is no need for manual insertion of the drug-filled tube into the drug-filling hole, which greatly improves the safety of the drug-filled tube burying process.

[0019] To implement the specific functions of robotic arm 1, please refer to... Figures 1-3 In a preferred embodiment, the robotic arm 1 includes a base 11, an outer sleeve 12, an inner sleeve 13, a pitch adjustment component 14, a length adjustment component 15, a vertical tube 16, and an angle adjustment component 17. The base 11 is used to fix the robotic arm to the loading trolley. The outer sleeve 12 is hinged to the base 11. The inner sleeve 13 is partially slidably inserted into the outer sleeve 12. One end of the pitch adjustment component 14 is hinged to the base 11, and the other end of the pitch adjustment component 14 is hinged to the outer sleeve 12 and used to adjust the angle between the base 11 and the outer sleeve 12. The length adjustment component 16... One end of the length adjusting member 15 is fixedly connected to the outer sleeve 12, and the other end of the length adjusting member 15 is fixedly connected to the inner sleeve 13. The length adjusting member 15 is used to adjust the overall length of the outer sleeve 12 and the inner sleeve 13. One end of the vertical tube 16 is hinged to the inner sleeve 13, and the other end of the vertical tube 16 is fixedly connected to the fixed end of the rotation drive member 2. One end of the angle adjusting member 17 is hinged to the inner sleeve 13, and the other end of the angle adjusting member 17 is hinged to the vertical tube 16. The angle adjusting member 17 is used to adjust the included angle between the inner sleeve 13 and the vertical tube 16.

[0020] In this embodiment, the pitch adjustment component 14 is a pitch adjustment cylinder, the length adjustment component 15 is a length adjustment cylinder, and the angle adjustment component 17 is an angle adjustment cylinder.

[0021] In use, the angle between the base 11 and the outer sleeve 12 can be adjusted by adjusting the length of the pitch adjustment component 14. The overall length of the outer sleeve 12 and the inner sleeve 13 can be adjusted by adjusting the length of the length adjustment component 15, thereby driving the tube feeder housing 31 to move forward. The angle between the inner sleeve 13 and the vertical tube 16 can be adjusted by adjusting the length of the angle adjustment component 17.

[0022] For specific instructions on installing the angle adjustment component 17, please refer to... Figures 1-3 In a preferred embodiment, the robotic arm 1 further includes a first protective sleeve 18, which is fixed to the inner sleeve 13. The vertical tube 16 is hinged to the first protective sleeve 18, one end of the angle adjusting member 17 is hinged to the first protective sleeve 18, and the other end of the angle adjusting member 17 is hinged to the vertical tube 16.

[0023] For specific instructions on installing the tilt adjustment component 4, please refer to... Figures 1-3 In a preferred embodiment, the movable end of the rotation drive 2 is fixed with a second protective sleeve 21, one end of the tilt adjustment member 4 is hinged to the second protective sleeve 21, and the other end of the tilt adjustment member 4 is hinged to the pipe feeder housing 31. To understand the specific functions of the conveying mechanism 32, please refer to [reference needed]. Figures 3-6 In a preferred embodiment, a channel for the passage of the drug delivery tube is formed inside the tube delivery device housing 31; the conveying mechanism 32 includes several pairs of driving wheels 321, several pairs of driven wheels 322, and several drive motors. The driving wheels 321 and the driven wheels 322 are rotatably disposed inside the tube delivery device housing 31. Each pair of driving wheels 321 abuts against both sides of the drug delivery tube, and each pair of driven wheels 322 abuts against both sides of the drug delivery tube. The drive motors are connected to the driving wheels 321 and are used to drive the driving wheels 321 to rotate. In use, the rotation of the driving wheels 321 drives the drug delivery tube to move, thereby realizing the pipeline conveying function.

[0024] Preferably, the other side of the tube feeder housing 31 is provided with an outlet hole for the passage of the drug delivery tube. A guide sleeve 313 is fixed in the outlet hole, and an outlet tube 314 is coaxially fixed on the guide sleeve 313. In use, the drug delivery tube is discharged through the outlet tube 314.

[0025] To facilitate obtaining the distance traveled by the propellant charge tube, please refer to... Figures 4-5In a preferred embodiment, the multi-degree-of-freedom delivery device further includes a drug-load tube movement distance detection mechanism, which includes an encoder mounted on the driven wheel 322. In use, when the conveying mechanism 32 moves the drug-load tube, the movement of the drug-load tube causes the driven wheel 322 to rotate. The driven wheel 322 then rotates the encoder's detection shaft. The encoder can detect the number of rotations of its detection shaft. Based on the number of rotations and the outer diameter of the driven wheel 322, the movement distance of the drug-load tube can be calculated. Therefore, in practical applications, since the depth of the drug-filling hole is known, when the drug-load tube just touches the opening of the hole, the encoder is zeroed. Then, the conveying mechanism 32 moves the drug-load tube into the drug-filling hole, and the encoder detects the movement distance. When the movement distance approaches the depth of the drug-filling hole, the conveying mechanism is shut off to stop further delivery. By setting up a drug-load tube movement distance detection mechanism, the movement distance of the drug-load tube can be detected, preventing the drug-load tube from hitting the bottom and causing danger when it penetrates deep into the drug-filling hole.

[0026] Preferably, to facilitate fine-tuning of the front and rear positions of the tube feeder 3, the multi-degree-of-freedom tube feeder further includes a front and rear position adjustment mechanism 5. The front and rear position adjustment mechanism 5 includes an adjustment frame 51, an optical axis 52, a connecting block 53, and a telescopic cylinder. The adjustment frame 51 is fixed to the other end of the tilt adjustment component 4. An insertion hole is provided on the adjustment frame 51. The optical axis 52 is slidably inserted into the insertion hole. The connecting block 53 is fixed to the optical axis 52 and is fixedly connected to the tube feeder 3. The telescopic cylinder is connected to the optical axis 52 and is used to drive the optical axis 52 to move back and forth, thereby driving the tube feeder 3 to move back and forth.

[0027] To improve the stability of the propellant delivery process, please refer to... Figure 4 , Figure 6 and Figure 7 In a preferred embodiment, the multi-degree-of-freedom catheter further includes a clamping mechanism 6. The clamping mechanism 6 includes a clamping housing 61, several pairs of first limiting wheels 62, and several pairs of second limiting wheels 63. The clamping housing 61 is coaxially fixed to the mounting ring 311. Each pair of first limiting wheels 62 is rotatably disposed within the clamping housing 61, and the space between the two first limiting wheels 62 in each pair is used to clamp the drug delivery tube. Each pair of second limiting wheels 63 is rotatably disposed within the clamping housing 61, and the axial direction of the second limiting wheels 63 is perpendicular to the axial direction of the first limiting wheels 62. The space between the two second limiting wheels 63 in each pair is also used to clamp the drug delivery tube. In use, the drug delivery tube is clamped in two different directions by the several pairs of first limiting wheels 62 and the several pairs of second limiting wheels 63, preventing the drug delivery tube from shifting during movement, which would increase delivery resistance or cause the drug delivery tube to bend.

[0028] To better understand this invention, the following is combined with... Figures 1-7 The working process of the multi-degree-of-freedom delivery device provided by the present invention will be described in detail below: In use, firstly, a burying hole is drilled in the inner wall of the mine tunnel, and then the burying tube is installed in the delivery mechanism 32. The mechanical arm 1 drives the rotating drive 2 to move to the vicinity of the burying hole. Then, the mechanical arm 1 finely adjusts the position of the delivery device housing 31 so that the end of the outlet tube 314 reaches the position of the burying hole. Then, the rotating drive 2 drives the delivery device housing 31 to swing left and right, and at the same time, the tilt adjustment component 4 drives the delivery device housing 31 to swing up and down so that the outlet tube 314 is as coaxial as possible with the burying hole. Then, the delivery mechanism 32 is started to drive the burying tube to move into the burying hole through the outlet tube 314, thereby realizing the burying of the burying tube. In this invention, the position of the tube feeder housing 31 is adjusted by the robotic arm 1, the tube feeder housing 31 is swung left and right by the rotation drive 2, and the tube feeder housing 31 is swung up and down by the tilt adjustment 4. This allows the outlet tube 314 to be aligned with the drug-laying hole and coaxial with the drug-laying hole. Subsequently, the drug-loading tube is moved into the drug-laying hole by the conveying mechanism 32. There is no need for manual insertion of the drug-loading tube into the drug-laying hole, which greatly improves the safety of the drug-loading tube laying process.

[0029] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom catheter device, characterized in that, Includes robotic arm, rotary drive, pipe feeder, and tilt adjustment components; The fixed end of the robotic arm is used to fix it to the drug loading trolley, and the movable end of the robotic arm is connected to the fixed end of the rotary drive component. The tube feeder includes a tube feeder housing and a conveying mechanism. The tube feeder housing is hinged to the movable end of the rotating drive component. The conveying mechanism is disposed inside the tube feeder housing and is used to transport the drug-filled tube. One end of the tilt adjustment member is hinged to the movable end of the rotation drive member, and the other end of the tilt adjustment member is hinged to the pipe feeder housing. The tilt adjustment member is used to adjust the included angle between the pipe feeder housing and the movable end of the rotation drive member. The robotic arm includes a base, an outer sleeve, an inner sleeve, a pitch adjustment component, a length adjustment component, a vertical tube, and an angle adjustment component. The base is used to fix the arm to a loading trolley. The outer sleeve is hinged to the base. The inner sleeve is partially slidably inserted into the outer sleeve. One end of the pitch adjustment component is hinged to the base, and the other end is hinged to the outer sleeve, and is used to adjust the angle between the base and the outer sleeve. One end of the length adjustment component is fixedly connected to the outer sleeve, and the other end is fixedly connected to the inner sleeve. The length adjustment component is used to adjust the overall length of the outer sleeve and the inner sleeve. One end of the vertical tube is hinged to the inner sleeve, and the other end is fixedly connected to the fixed end of the rotation drive component. One end of the angle adjustment component is hinged to the inner sleeve, and the other end is hinged to the vertical tube. The angle adjustment component is used to adjust the angle between the inner sleeve and the vertical tube. The tube feeder housing has a channel for the passage of the drug delivery tube; The conveying mechanism includes several pairs of driving wheels, several pairs of driven wheels, and several drive motors. The driving wheels and the driven wheels are rotatably disposed inside the tube feeder housing. Each pair of driving wheels abuts against both sides of the loading tube, and each pair of driven wheels abuts against both sides of the loading tube. The drive motors are connected to the driving wheels and are used to drive the driving wheels to rotate. It also includes a tube pressing mechanism, which includes a tube pressing housing, several pairs of first limiting wheels and several pairs of second limiting wheels. The tube pressing housing is coaxially fixed on the mounting ring. Each pair of first limiting wheels is rotatably disposed within the tube pressing housing. The two first limiting wheels of each pair of first limiting wheels are used to clamp the drug-filled tube. Each pair of second limiting wheels is rotatably disposed within the tube pressing housing. The axial direction of the second limiting wheel is perpendicular to the axial direction of the first limiting wheel. The two second limiting wheels of each pair of second limiting wheels are used to clamp the drug-filled tube. During use, the loading tube is pressed in two different directions by several pairs of first limit wheels and several pairs of second limit wheels to prevent the loading tube from shifting during movement, which would increase the conveying resistance or cause the loading tube to be bent.

2. The multi-degree-of-freedom catheter device according to claim 1, characterized in that, The robotic arm also includes a first protective sleeve, which is fixed to the inner sleeve. The vertical tube is hinged to the first protective sleeve, one end of the angle adjustment member is hinged to the first protective sleeve, and the other end of the angle adjustment member is hinged to the vertical tube.

3. The multi-degree-of-freedom catheter device according to claim 1, characterized in that, The movable end of the rotation drive is fixed with a second protective sleeve, one end of the tilt adjustment component is hinged to the second protective sleeve, and the other end of the tilt adjustment component is hinged to the pipe feeder housing.

4. The multi-degree-of-freedom catheter device according to claim 1, characterized in that, The tube feeder housing has an outlet hole for the passage of the drug delivery tube. A guide sleeve is fixed inside the outlet hole, and an outlet tube is coaxially fixed on the guide sleeve. In use, the drug delivery tube is discharged through the outlet tube.

5. The multi-degree-of-freedom catheter device according to claim 1, characterized in that, It also includes a charging tube movement distance detection mechanism, which includes an encoder mounted on the driven wheel.

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