Telescopic self-rotating needling device

Abstract

The invention discloses a telescopic self-rotating needling device, which comprises a telescopic driving mechanism, a telescopic self-rotating mechanism, a needling execution tail end and a connecting assembly, and is characterized in that the telescopic self-rotating mechanism is arranged at one end of the telescopic driving mechanism and is used for telescopic self-rotating motion of needling equipment; the needling execution tail end is arranged on the telescopic self-rotating mechanism, and the connecting assembly is arranged at the other end of the telescopic driving mechanism and used for being connected with a mechanical arm. Through mutual cooperation of the telescopic driving mechanism, the telescopic self-rotating mechanism and the needling execution tail end, the telescopic and rotating double-degree-of-freedom superposition movement of the needling main shaft under the single-driving effect is achieved, meanwhile, the design of the needle distributing plate is matched, the irregularity and uniformity of needling density are improved, and the overall performance of a product is improved.

Description

Technical Field

[0001] The invention relates to a telescopic self-rotating acupuncture device. Background Art

[0002] The needling process is widely used in the textile industry and for the low-cost and efficient preparation of high-performance fiber preforms for composite materials due to its advantages such as easy forming, high efficiency and low cost. In order to improve the internal quality consistency of the needle-punched products, higher requirements are often placed on the irregularity and uniformity of the needle density in the needling forming process. Existing needling equipment generally designs the needle plate (within a certain area) of the needles. In the product preparation process, a needle plate of a certain area is used, and the number of needlings within the effective area of ​​the product is fully superimposed to achieve the needling density requirements. For a needle plate of a certain shape, although the overall needling density requirements can be met by simply superimposing the number of times, it often shows a certain regularity, resulting in local uneven needling density, which is not conducive to improving the overall performance of the product. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] The technical problem to be solved by the present invention is how to improve the randomness and uniformity of the needle punching density.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a telescopic self-rotating acupuncture device, which includes a telescopic driving mechanism, a telescopic self-rotating mechanism, an acupuncture execution end and a connecting component, wherein the telescopic self-rotating mechanism is arranged at one end of the telescopic driving mechanism and is used for the telescopic self-rotating movement of the acupuncture device, the acupuncture execution end is arranged on the telescopic self-rotating mechanism, and the connecting component is arranged at the other end of the telescopic driving mechanism and is used for connecting a manipulator.

[0006] As a preferred embodiment of the retractable self-rotating acupuncture device of the present invention, the retractable driving mechanism comprises a second housing, an eccentric disk main shaft, an eccentric driving disk, a driving frame, a guide slider, a mounting seat and a driving motor, the eccentric disk main shaft is arranged in the second housing, the eccentric driving disk is arranged on the eccentric disk main shaft, the driving frame is arranged on the eccentric driving disk, the guide slider is arranged in the second housing, the guide slider cooperates with the driving frame, the mounting seat is arranged at one end of the second housing, and the driving motor is arranged on the mounting seat.

[0007] As a preferred embodiment of the telescopic self-rotating acupuncture device described in the present invention, the telescopic self-rotating mechanism comprises a first housing, a telescopic self-rotating shaft, a guide sleeve, a rotating sleeve and a bearing seat, the first housing is arranged on the second housing, the telescopic self-rotating shaft is arranged on the first housing, the guide sleeve is arranged at one end of the telescopic self-rotating shaft located in the first housing, the rotating sleeve is arranged at the other end of the telescopic self-rotating shaft located in the first housing, and the end of the telescopic self-rotating shaft away from the guide sleeve is connected to the driving frame via the bearing seat.

[0008] As a preferred embodiment of the retractable self-rotating acupuncture device of the present invention, the acupuncture execution end includes a guide seat, a connecting column, a screen stripping plate, a needle clamping seat and a reset spring, the guide seat is arranged at one end of the retractable self-rotating shaft close to the guide sleeve, the screen stripping plate is connected to the guide seat through a connecting column, the needle clamping seat is arranged at one end of the retractable self-rotating shaft extending out of the guide seat, and the reset spring is arranged between the guide seat and the first box body.

[0009] As a preferred solution of the retractable self-rotating acupuncture device of the present invention, the connecting assembly includes a connecting shaft and a flange, one end of the connecting shaft is arranged on the mounting seat, and the flange is arranged on the other end of the connecting shaft.

[0010] As a preferred embodiment of the telescopic self-rotating acupuncture device of the present invention, the telescopic self-rotating shaft is provided with a guide boss, both ends of the guide boss are provided with guide helical surfaces, a guide groove is provided in the guide sleeve, one end of the guide groove is provided with a guide inclined surface, the rotating sleeve is provided with guide rotating teeth, and the guide helical surfaces on the telescopic self-rotating shaft are alternately matched with the guide inclined surfaces on the guide sleeve and the guide rotating teeth on the rotating sleeve.

[0011] As a preferred solution of the telescopic self-rotating acupuncture device of the present invention, a check bearing is arranged in the bearing seat.

[0012] As a preferred solution of the telescopic self-rotating acupuncture device of the present invention, the number of guide bosses on the telescopic self-rotating shaft is ≥4, the number of guide grooves in the guide sleeve is ≥4, and the number of guide spiral teeth on the rotating sleeve is ≥4.

[0013] The beneficial effects of the present invention are as follows: through the mutual cooperation between the telescopic driving mechanism, the telescopic self-rotating mechanism and the needling execution end, the superimposed movement of the telescopic and rotating dual-degree-of-freedom of the needling main shaft under the action of a single drive is realized, and at the same time, the design of the cloth needle plate is coordinated to improve the irregularity and uniformity of the needling density, thereby improving the overall performance of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0015] Figure 1 It is a schematic diagram of the overall structure of a retractable self-rotating acupuncture device.

[0016] Figure 2 The present invention is a schematic structural diagram of a telescopic self-rotating mechanism of a telescopic self-rotating acupuncture device.

[0017] Figure 3 The present invention is a schematic diagram of the position structure of the telescopic drive mechanism and the mounting base flange of the telescopic and self-rotating acupuncture device.

[0018] Figure 4 The present invention is a schematic structural diagram of a guide sleeve of a retractable and self-rotating acupuncture device.

[0019] Figure 5 The present invention is a schematic diagram of the structure of a retractable and self-rotating rotating sleeve of acupuncture device.

[0020] Figure 6 The present invention is a schematic structural diagram of a telescopic self-rotating shaft of a telescopic self-rotating acupuncture device.

[0021] In the figure: 1. acupuncture execution end; 101. stripping plate; 102. connecting column; 103. needle clamping seat; 104. guide seat; 105. reset spring; 106. needle seat; 107. needle pressing piece; 2. telescopic self-rotating mechanism; 201. guide sleeve; 2011. guide groove; 2012. guide inclined surface; 202. rotating sleeve; 2021. guide rotating tooth; 203. telescopic self-rotating shaft; 2031. guide boss; 2032. guide spiral surface; 204. check bearing; 205. bearing seat; 206. first housing; 3. telescopic driving mechanism; 301. eccentric driving disk; 302. eccentric disk main shaft; 303. driving frame; 304. guide slider; 305. driving motor; 306. second housing; 4. connecting assembly; 401. mounting seat; 402. connecting shaft; 403. flange. DETAILED DESCRIPTION

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0025] Example

[0026] Reference Figures 1 to 6 The present embodiment provides a telescopic self-rotating acupuncture device, which includes a telescopic driving mechanism 3, a telescopic self-rotating mechanism 2, an acupuncture execution terminal 1 and a connecting component 4. The telescopic self-rotating mechanism 2 is arranged at one end of the telescopic driving mechanism 3 and is used for the telescopic self-rotating movement of the acupuncture device. The acupuncture execution terminal 1 is arranged on the telescopic self-rotating mechanism 2, and the connecting component 4 is arranged at the other end of the telescopic driving mechanism 3 and is used for connecting a manipulator.

[0027] The device is mainly composed of a telescopic driving mechanism 3, a telescopic self-rotating mechanism 2, an acupuncture execution terminal 1 and a connecting component 4. The telescopic driving mechanism 3 provides power for the device. The telescopic self-rotating mechanism 2 is installed at the left end of the telescopic driving mechanism 3. The telescopic self-rotating mechanism 2 can be driven by the telescopic driving mechanism 3 to perform a telescopic self-rotating movement. The acupuncture execution terminal 1 is installed at the left end of the telescopic self-rotating mechanism 2. The telescopic self-rotating mechanism 2 can drive the acupuncture execution terminal 1 to perform a telescopic self-rotating movement, thereby realizing the superimposed movement of the telescopic and rotational double degrees of freedom of the acupuncture main axis, thereby improving the irregularity and uniformity of the acupuncture density, so as to improve the overall performance of the product. A connecting component 4 is also installed at the right end of the telescopic driving mechanism 3, through which it can be connected to a robot arm, so as to better use the device, and the overall mechanism is compact and ingenious, and the design is novel.

[0028] Specifically, the telescopic driving mechanism 3 includes a second box body 306, an eccentric disk main shaft 302, an eccentric driving disk 301, a driving frame 303, a guide slider 304, a mounting seat 401 and a driving motor 305. The eccentric disk main shaft 302 is arranged in the second box body 306, the eccentric driving disk 301 is arranged on the eccentric disk main shaft 302, the driving frame 303 is arranged on the eccentric driving disk 301, the guide slider 304 is arranged in the second box body 306, the guide slider 304 cooperates with the driving frame 303, the mounting seat 401 is arranged at one end of the second box body 306, and the driving motor 305 is arranged on the mounting seat 401.

[0029] The telescopic driving mechanism 3 is mainly composed of a second box body 306, an eccentric disk spindle 302, an eccentric driving disk 301, a driving frame 303, a guide slider 304, a mounting seat 401 and a driving motor 305. The second box body 306 is a rectangular parallelepiped structure as a whole, which serves as the installation base of the telescopic driving mechanism 3. The eccentric disk spindle 302 is installed in the middle position of the second box body 306, and the input end of the eccentric disk spindle 302 is outside the second box body 306 to facilitate connection with the driving motor 305. An eccentric driving disk 301 is installed on one end of the eccentric disk spindle 302 that is inside the second box body 306. The eccentric driving disk 301 can be driven to rotate by the eccentric disk spindle 302. A driving frame 303 is mounted outside the eccentric driving disk 301, and guide sliders 304 are symmetrically installed on the upper and lower inner walls inside the second box body 306. Toward the slider 304, the driving frame 303 is slidably connected with the guide slider 304, so that the guide slider 304 can constrain the driving frame 303 to prevent the driving frame 303 from slipping in the axial direction of the eccentric disk main shaft 302. A mounting seat 401 is installed on the right side outside the second box body 306, and a driving motor 305 is installed on the top of the mounting seat 401. The output end of the driving motor 305 is directly above the input end of the eccentric disk main shaft 302. The driving motor 305 and the eccentric disk main shaft 302 are driven by a synchronous belt. The driving motor 305 is started, and the driving motor 305 drives the eccentric disk main shaft 302 to rotate through the synchronous belt. The eccentric disk main shaft 302 drives the eccentric driving disk 301 to rotate, and the eccentric driving disk 301 drives the driving frame 303 to reciprocate in the guide groove of the guide slider 304.

[0030] Specifically, the telescopic self-rotating mechanism 2 includes a first box body 206, a telescopic self-rotating shaft 203, a guide sleeve 201, a rotating sleeve 202 and a bearing seat 205. The first box body 206 is arranged on the second box body 306, the telescopic self-rotating shaft 203 is arranged on the first box body 206, the guide sleeve 201 is arranged at one end of the telescopic self-rotating shaft 203 in the first box body 206, the rotating sleeve 202 is arranged at the other end of the telescopic self-rotating shaft 203 in the first box body 206, and the end of the telescopic self-rotating shaft 203 away from the guide sleeve 201 is connected to the driving frame 303 through the bearing seat 205; further, a check bearing 204 is arranged in the bearing seat 205.

[0031] Specifically, a guide boss 2031 is provided on the telescopic self-rotating shaft 203, and guide spiral surfaces 2032 are provided at both ends of the guide boss 2031. A guide groove 2011 is provided in the guide sleeve 201, and a guide inclined surface 2012 is provided at one end of the guide groove 2011. A guide rotating tooth 2021 is provided on the rotating sleeve 202. The guide spiral surface 2032 on the telescopic self-rotating shaft 203 is alternately matched with the guide inclined surface 2012 on the guide sleeve 201 and the guide rotating teeth 2021 on the rotating sleeve 202 respectively; specifically, the number of the guide bosses 2031 on the telescopic self-rotating shaft 203 is ≥4, the number of the guide grooves 2011 in the guide sleeve 201 is ≥4, and the number of teeth of the guide spiral teeth on the rotating sleeve 202 is ≥4.

[0032] The telescopic self-rotating mechanism 2 is mainly composed of a first box body 206, a telescopic self-rotating shaft 203, a guide sleeve 201, a rotating sleeve 202 and a bearing seat 205. The first box body 206 is a square structure. The first box body 206 is installed on the left side of the second box body 306 by screws. As the installation basis of the telescopic self-rotating mechanism 2, a telescopic self-rotating shaft 203 is installed on the first box body 206. The telescopic self-rotating shaft 203 runs through the entire first box body 206. A guide sleeve 201 is installed on the side of the first box body 206 away from the second box body 306. A rotating sleeve 202 is installed on the side of the first box body 206 close to the second box body 306. 203 runs through the entire guide sleeve 201 and the rotating sleeve 202, and the guide sleeve 201 and the rotating sleeve 202 are respectively located at the left and right ends of the telescopic self-rotating shaft 203 in the first box body 206, and the telescopic self-rotating shaft 203 cooperates with the guide sleeve 201 and the rotating sleeve 202. One end of the telescopic self-rotating shaft 203 extending out of the first box body 206 and close to the rotating sleeve 202 is installed with a bearing seat 205, and the bearing seat 205 is installed on the driving frame 303, so that the driving frame 303 can drive the telescopic self-rotating shaft 203 to perform telescopic movement through the bearing seat 205. Further, a check bearing 204 is installed in the bearing seat 205 for the telescopic self-rotating shaft 203 to perform telescopic movement. The shaft 203 provides a unidirectional rotational degree of freedom, thereby realizing the self-rotational movement of the main shaft; specifically, in this embodiment, four guide bosses 2031 are evenly arranged on the telescopic self-rotating shaft 203, and the left and right ends of the four guide bosses 2031 are each provided with a guide spiral surface 2032, and four guide grooves 2011 are evenly arranged inside the guide sleeve 201, and one end of the four guide grooves 2011 close to the rotating sleeve 202 is provided with a guide inclined surface 2012, and four guide rotating teeth 2021 are evenly arranged on the rotating sleeve 202, and the four guide rotating teeth 2021 should be in a certain angle with the guide inclined surfaces 2012 on the four guide grooves 2011. The telescopic self-rotating shaft 203 is installed at an angle. During the telescopic self-rotating shaft 203 is extended and retracted, the guide spiral surface 2032 on the telescopic self-rotating shaft 203 is alternately matched with the guide inclined surface 2012 on the guide sleeve 201 and the guide rotating tooth 2021 on the rotating sleeve 202, thereby realizing the self-rotation of the telescopic self-rotating shaft 203. It should be noted that the present embodiment does not limit the specific number of the guide boss 2031, the guide groove 2011 and the guide rotating tooth 2021. In other embodiments, the number of bosses of the guide boss 2031, the number of guide grooves of the guide groove 2011 and the number of teeth of the guide rotating tooth 2021 may also be 5, 6, 7, etc. respectively.

[0033] Specifically, the acupuncture execution terminal 1 includes a guide seat 104, a connecting column 102, a screen stripping plate 101, a needle clamping seat 103 and a reset spring 105. The guide seat 104 is arranged at one end of the telescopic self-rotating shaft 203 close to the guide sleeve 201, the screen stripping plate 101 is connected to the guide seat 104 through the connecting column 102, the needle clamping seat 103 is arranged at one end of the telescopic self-rotating shaft 203 extending out of the guide seat 104, and the reset spring 105 is arranged between the guide seat 104 and the first box body 206.

[0034] The acupuncture execution terminal 1 is mainly composed of a guide seat 104, a connecting column 102, a stripping plate 101, a needle clamping seat 103 and a reset spring 105. The inner hole of the guide seat 104 is connected to the end of the telescopic self-rotating shaft 203 protruding from the first box body 206 close to the guide sleeve 201 through a spline. The telescopic self-rotating shaft 203 penetrates the guide seat 104, and the guide seat 104 and the telescopic self-rotating shaft 203 are matched in the form of a spline, which can ensure the axial movement of the guide seat 104 along the telescopic self-rotating shaft 203, and can constrain the guide seat 104 so that it does not rotate relative to the telescopic self-rotating shaft 203 in the circumferential direction. Four connecting columns 105 are respectively installed at the four corners of the guide seat 104. 2. A stripping plate 101 is installed on the four connecting columns 102, so that the stripping plate 101 can make a reciprocating telescopic motion along the direction of the telescopic self-rotating shaft 203. A needle clamping seat 103 is installed at one end of the telescopic self-rotating shaft 203 extending out of the guide seat 104. The needle clamping seat 103 is mainly composed of a needle seat 10 and a needle pressing piece 107. The needle pressing piece 107 can firmly clamp the needle on the needle seat to ensure that the needle will not fall off during the operation. A reset spring 105 is installed on the telescopic self-rotating shaft 203 between the guide seat 104 and the first box body 206, so that the stripping plate 101 is reset by the elastic force of the reset spring 105, ensuring that the needle and the fabric can be separated.

[0035] Specifically, the connecting assembly 4 includes a connecting shaft 402 and a flange 403 . One end of the connecting shaft 402 is disposed on the mounting seat 401 , and the flange 403 is disposed on the other end of the connecting shaft 402 .

[0036] The connecting component 4 is mainly composed of a connecting shaft 402 and a flange 403. The connecting shaft 402 is installed on the outside of the mounting seat 401. The connecting shaft 402 is coaxial with the telescopic self-rotating shaft 203. A flange 403 is installed on the end of the connecting shaft 402 away from the mounting seat 401. The acupuncture device can be directly connected to the manipulator through the flange 403 on the connecting shaft 402 to facilitate better use of the acupuncture device.

[0037] When in use, the drive motor 305 is started, and the drive motor 305 drives the eccentric disk main shaft 302 to rotate through the synchronous belt, and the eccentric disk main shaft 302 drives the eccentric drive disk 301 to rotate, and the eccentric drive disk 301 drives the drive frame 303 to reciprocate in the guide groove of the guide slider 304, and the drive frame 303 drives the telescopic self-rotating shaft 203 to do reciprocating telescopic motion through the bearing seat 205. In this process, the guide spiral surface 2032 on the guide boss 2031 on the telescopic self-rotating shaft 203 is respectively aligned with the guide groove 211 in the guide sleeve 201. The guide bevel 2012 and the guide rotating teeth 2021 on the rotating sleeve 202 are alternately matched, so that the telescopic self-rotating shaft 203 can perform self-rotation while performing reciprocating telescopic motion. Driven by the telescopic self-rotating shaft 203, the acupuncture execution terminal 1 can perform reciprocating acupuncture action, and can also perform telescopic self-rotation under the drive of the telescopic self-rotating shaft 203, so as to realize the rotation of the needle plate under a single drive state, so as to achieve the purpose of constantly changing the needle arrangement state during the acupuncture process, thereby improving the irregularity and uniformity of the acupuncture density and improving the overall performance of the product.

[0038] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A retractable self-rotating acupuncture device, characterized in that: The invention comprises a telescopic driving mechanism (3), a telescopic self-rotating mechanism (2), an acupuncture execution end (1) and a connecting component (4); the telescopic self-rotating mechanism (2) is arranged at one end of the telescopic driving mechanism (3) and is used for the telescopic self-rotating movement of the acupuncture device; the acupuncture execution end (1) is arranged on the telescopic self-rotating mechanism (2); and the connecting component (4) is arranged at the other end of the telescopic driving mechanism (3) and is used for connecting a manipulator.

2. The retractable self-rotating acupuncture device according to claim 1, characterized in that: The telescopic driving mechanism (3) comprises a second housing (306), an eccentric disk main shaft (302), an eccentric driving disk (301), a driving frame (303), a guide slider (304), a mounting seat (401) and a driving motor (305); the eccentric disk main shaft (302) is arranged in the second housing (306); the eccentric driving disk (301) is arranged on the eccentric disk main shaft (302); the driving frame (303) is arranged on the eccentric driving disk (301); the guide slider (304) is arranged in the second housing (306); the guide slider (304) cooperates with the driving frame (303); the mounting seat is arranged at one end of the second housing (306); and the driving motor (305) is arranged on the mounting seat.

3. The retractable self-rotating acupuncture device according to claim 2, characterized in that: The telescopic self-rotating mechanism (2) comprises a first housing (206), a telescopic self-rotating shaft (203), a guide sleeve (201), a rotating sleeve (202) and a bearing seat (205); the first housing (206) is arranged on the second housing (306); the telescopic self-rotating shaft (203) is arranged on the first housing (206); the guide sleeve (201) is arranged at one end of the telescopic self-rotating shaft (203) located in the first housing (206); the rotating sleeve (202) is arranged at the other end of the telescopic self-rotating shaft (203) located in the first housing (206); and the end of the telescopic self-rotating shaft (203) away from the guide sleeve (201) is connected to the driving frame (303) via the bearing seat (205).

4. The retractable self-rotating acupuncture device according to claim 3, characterized in that: The acupuncture execution end (1) comprises a guide seat (104), a connecting column (102), a stripping plate (101), a needle clamping seat (103) and a reset spring (105); the guide seat (104) is arranged at one end of the telescopic self-rotating shaft (203) close to the guide sleeve (201); the stripping plate (101) is connected to the guide seat (104) via the connecting column (102); the needle clamping seat (103) is arranged at one end of the telescopic self-rotating shaft (203) extending out of the guide seat (104); and the reset spring (105) is arranged between the guide seat (104) and the first box body (206).

5. The retractable self-rotating acupuncture device according to claim 2, characterized in that: The connecting assembly (4) comprises a connecting shaft (402) and a flange (403), one end of the connecting shaft (402) is arranged on the mounting seat (401), and the flange (403) is arranged on the other end of the connecting shaft (402).

6. The retractable self-rotating acupuncture device according to claim 3, characterized in that: The telescopic self-rotating shaft (203) is provided with a guide boss (2031), both ends of the guide boss (2031) are provided with guide helical surfaces (2032), the guide sleeve (201) is provided with a guide groove (2011), one end of the guide groove (2011) is provided with a guide inclined surface (2012), the rotating sleeve (202) is provided with a guide rotating tooth (2031), and the guide helical surface (2032) on the telescopic self-rotating shaft (203) is alternately matched with the guide inclined surface (2012) on the guide sleeve (201) and the guide rotating tooth (2021) on the rotating sleeve (202).

7. The retractable self-rotating acupuncture device according to claim 3, characterized in that: A check bearing (204) is arranged in the bearing seat (205).

8. The retractable self-rotating acupuncture device according to claim 6, characterized in that: The number of guide bosses on the telescopic self-rotating shaft (203) is ≥4, the number of guide grooves in the guide sleeve (201) is ≥4, and the number of guide helical teeth on the rotating sleeve (202) is ≥4.

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