Pushing device

Abstract

The invention discloses a pushing device. The pushing device comprises an inclination angle adjusting seat; the driving wheel driving assembly is arranged on the inclination angle adjusting seat, the driving wheel is rotatably supported on the inclination angle adjusting seat, and the output end of the driving wheel driving assembly is in transmission connection with the driving wheel shaft; the driven wheel pressing assembly is used for pressing the driven wheel on the driving wheel, and a pushed piece passes through the space between the driving wheel and the driven wheel; the output end of the dip angle adjusting device is connected with the dip angle adjusting base. The dip angle adjusting seat is driven by the dip angle adjusting device to rotate by a corresponding angle, the dip angle adjusting seat can drive the driving wheel to rotate, and the included angle between the axis of the driving wheel and the axis of the driven wheel is larger than 0 degree. When the included angle between the axis of the driving wheel and the axis of the driven wheel is 90 degrees, the pushed piece can be driven by the driving wheel to only do rotary motion, and when the included angle between the axis of the driving wheel and the axis of the driven wheel is 0 degree, the pushed piece can be driven by the driving wheel to only do linear pushing motion.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically, to a pushing device. Background Art

[0002] With the development of medical technology, vascular interventional therapy has become an effective means for treating various vascular diseases. Among them, catheter thrombectomy technology plays an increasingly important role in the treatment of vascular diseases. The thrombectomy operation in vascular intervention is a minimally invasive treatment method that uses mechanical thrombectomy to remove thrombus, so as to achieve the effect of removing thrombus in blood vessels. And this interventional operation causes less physical damage to patients during the treatment process and has a faster postoperative recovery, so its development and application will be more extensive.

[0003] During the operation, doctors usually need to insert a catheter / wire into the patient's blood vessels for thrombus aspiration treatment. In addition, since the blood vessels of the human body are tortuously distributed, in order to more conveniently pass through the tortuous blood vessels, during the insertion process of the catheter, it sometimes needs to be rotated so that the catheter / wire can pass through the tortuous part of the blood vessel. Especially for the treatment of cerebral blood vessels, since the cerebral blood vessels are located distally, the interventional path of the catheter is long, resulting in a relatively high labor intensity for doctors.

[0004] Therefore, how to assist doctors in operation and reduce the labor intensity of doctors is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present application is to provide a pushing device to assist doctors in operation and reduce the labor intensity of doctors.

[0006] To achieve the above purpose, the present application provides the following technical solutions: The first aspect of the present application provides a pushing device, including: An inclination adjustment seat; A driving wheel and a driving wheel driving component, the driving wheel driving component is arranged on the inclination adjustment seat, the driving wheel is rotatably supported on the inclination adjustment seat through a driving wheel shaft, and the output end of the driving wheel driving component is in transmission connection with the driving wheel shaft; A driven wheel and a driven wheel pressing component, the driven wheel pressing component is used to press the driven wheel against the driving wheel, and the piece to be pushed passes between the driving wheel and the driven wheel; An inclination adjustment device, the output end of the inclination adjustment device is connected to the inclination adjustment seat to drive the inclination adjustment seat to drive the driving wheel to swing.

[0007] In a possible implementation manner, the rotation center of the inclination adjustment seat intersects with the axis of the driving wheel and passes through the middle part in the axial direction of the driving wheel.

[0008] In a possible implementation, the rotation range of the inclination adjustment seat satisfies that the driving wheel can be adjusted between the parallel and perpendicular states of the axis of the driving wheel and the axis of the driven wheel.

[0009] In a possible implementation, it further includes a driving housing and a roller housing; The roller housing is arranged above the driving housing, and the inclination adjustment seat is arranged on the roller housing; The driving wheel drive assembly and the inclination adjustment device are arranged in the driving housing, and the output end of the driving wheel drive assembly extends into the roller housing to be in shaft transmission connection with the driving wheel shaft. The output end of the inclination adjustment device extends into the roller housing to be connected with the inclination adjustment seat. Moreover, on the bottom wall of the roller housing, there is an orbital groove for avoiding the movement track of the output end of the driving wheel drive assembly.

[0010] In a possible implementation, the driven wheel pressing assembly includes: A guiding bracket arranged on the roller housing; A driven wheel mounting seat, and the driven wheel shaft of the driven wheel is supported on the driven wheel mounting seat; A pressing elastic assembly is respectively connected between the guiding bracket and the driven wheel mounting seat to push the driven wheel mounting seat to move towards the driving wheel.

[0011] In a possible implementation, the driven wheel is arranged above the driving wheel; and / or, The pressing elastic assembly includes a guiding shaft, a bushing and an elastic resetting member. The bushing is arranged on the driven wheel mounting seat. One end of the guiding shaft is fixed on the guiding bracket, and the other end is inserted into the bushing and is in sliding fit with the bushing. The elastic resetting member is sleeved on the guiding shaft, and one end abuts against the elastic resetting member, and the other end abuts against the driven wheel mounting seat.

[0012] In a possible implementation, it further includes a thrust driving device for pushing the driven wheel mounting seat to move away from the driving wheel.

[0013] In a possible implementation, a thrust seat is fixed on the driven wheel mounting seat, and the output end of the thrust driving device acts on the thrust seat; and / or, The thrust driving device is a thrust electromagnet.

[0014] In a possible implementation, a guide tube is provided on the roller housing. The axis of the guide tube passes through the contact portion of the driving wheel and the driven wheel and is perpendicular to the axis of the driven wheel.

[0015] In a possible implementation, it further includes a guide rail assembly and a pulley. The pulley slides along the guide rail assembly, and the driving wheel driving assembly is connected to the pulley.

[0016] In a possible implementation, the guide rail assembly includes an inner ring arc guide rail and an outer ring arc guide rail coaxially arranged with the inner ring arc guide rail. The pulley is arranged between the inner ring arc guide rail and the outer ring arc guide rail; and / or, The driving wheel driving assembly is connected to the pulley through a pulley shaft. The pulley shaft is coaxially arranged with the pulley and is rotationally connected.

[0017] In a possible implementation, the inclination angle adjusting device includes: An inclination angle adjusting motor, which is arranged inside the driving housing; An inclination angle adjusting rotating shaft, which is rotatably supported on the bottom wall of the roller housing and is connected to the inclination angle adjusting seat; A first coupling assembly, which connects the output shaft of the inclination angle adjusting motor and the inclination angle adjusting rotating shaft respectively.

[0018] In a possible implementation, the first coupling assembly includes: A first lower magnetic coupling fixed on the output shaft of the inclination angle adjusting motor; A first upper magnetic coupling fixed on the inclination angle adjusting rotating shaft.

[0019] In a possible implementation, the pushing device further includes: A limiting plate, which rotates synchronously with the output shaft of the inclination angle adjusting motor; A first position sensor and a second position sensor. When the first position sensor senses the limiting plate, the inclination angle adjusting seat is at a first limit angle. When the second position sensor senses the limiting plate, the inclination angle adjusting seat is at a second limit angle. The inclination angle adjusting seat rotates between the first limit angle and the second limit angle.

[0020] In a possible implementation, when the inclination angle adjusting seat is at one of the first limit angle and the second limit angle, the axis of the driving wheel is parallel to the axis of the driven wheel; When the inclination angle adjusting seat is at the other of the first limit angle and the second limit angle, the axis of the driving wheel is perpendicular to the axis of the driven wheel.

[0021] In a possible implementation, the active wheel driving assembly includes: A roller drive motor is slidably fitted in the drive housing; A driving wheel drive shaft is rotatably supported on the bottom wall of the roller housing and is transmission-connected to the driving wheel shaft via a gear mechanism; The second coupling assembly is used to connect the output shaft of the roller drive motor and the driving wheel drive shaft respectively.

[0022] In a possible implementation, the second coupling assembly includes: a second lower magnetic coupling fixed to the output shaft of the roller drive motor; A second upper magnetic coupling is fixed on the driving shaft of the driving wheel.

[0023] In a possible implementation manner, the pushed member is a guide wire or a catheter.

[0024] The push device provided by the present application can be used to assist doctors in pushing a pushed member such as a guide wire or a catheter to the lesion position of a blood vessel. When in use, a pushed member such as a guide wire or a catheter is clamped between a driving wheel and a driven wheel, and the driving wheel driving assembly drives the driving wheel to rotate. As the driving wheel rotates, under the action of friction, the pushed member is driven to be transported forward. According to the rotation direction of the driving wheel, the forward and backward directions of the pushed member can be controlled. When the pushed member needs to rotate, the inclination adjustment seat is driven to rotate a corresponding angle by the inclination adjustment device. Since the driving wheel and the driving wheel driving assembly are both arranged on the inclination adjustment seat, the driving wheel and the driving wheel driving assembly will be driven to rotate accordingly, so that the angle between the axis of the driving wheel and the axis of the driven wheel is greater than 0°. When the angle between the axis of the driving wheel and the axis of the driven wheel is 90°, the pushed member can be driven by the driving wheel to only perform rotational motion. When the angle between the axis of the driving wheel and the axis of the driven wheel is between 0° and 90°, the pushed member can be driven by the driving wheel to push forward or backward and perform rotational motion at the same time. When the pushed member does not need to rotate, it is only necessary to adjust the angle between the axis of the driving wheel and the axis of the driven wheel to 0°. The present application can assist doctors in pushing guide wires or catheters, etc., and can reduce the labor intensity of doctors. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1Schematic diagram of the pushing device disclosed in the embodiment of the present application when in the pushing angle; Figure 2 Exploded view of the pushing device disclosed in the embodiment of the present application; Figure 3 Front view of the pushing device disclosed in the embodiment of the present application; Figure 4 For Figure 3 Cross-sectional view along line A-A; Figure 5 Side view of the pushing device disclosed in the embodiment of the present application; Figure 6 For Figure 5 Cross-sectional view along line B-B; Figure 7 For Figure 5 Cross-sectional view along line C-C; Figure 8 For Figure 6 Cross-sectional view along line D-D; Figure 9 Top view of the pushing device disclosed in the embodiment of the present application; Figure 10 Schematic diagram of the pushing device disclosed in the embodiment of the present application when in the rotating angle; Figure 11 Schematic diagram of the pushing device disclosed in the embodiment of the present application when in the pushing and rotating angles.

[0027] The meanings of the reference numerals in the figures are as follows: 101 - roller housing; 1011 - track groove; 102 - drive housing; 103 - inclination adjustment motor; 104 - limit plate; 105 - first lower magnetic coupling; 106 - first upper magnetic coupling; 107 - first bearing seat; 108 - inclination adjustment rotating shaft; 109 - inclination adjustment seat; 110 - driving wheel; 111 - driven wheel; 112 - thrust driving device; 113 - bushing; 114 - thrust seat; 115 - driven wheel mounting seat; 116 - guiding bracket; 1161 - limit projection; 117 - guiding shaft; 118 - elastic reset member; 119 - guiding tube; 120 - second bevel gear; 121 - first bevel gear; 122 - driving wheel drive shaft; 123 - second bearing seat; 124 - second upper magnetic coupling; 125 - second lower magnetic coupling; 126 - output shaft; 127 - roller drive motor; 128 - motor seat; 129 - pulley shaft; 130 - inner ring arc-shaped guide rail; 131 - pulley; 132 - outer ring arc-shaped guide rail; 133 - first position sensor; 134 - second position sensor. Detailed implementation manners

[0028] The core of this application lies in providing a pushing device to assist doctors in their operations and reduce the labor intensity of doctors.

[0029] Hereinafter, embodiments will be described with reference to the accompanying drawings. In addition, the embodiments shown below do not impose any limitation on the application content described in the claims. Moreover, all the contents of the configurations shown in the following embodiments are not limited to those necessary for the solution of the application described in the claims. It should be noted that for the sake of convenience in description, only the parts related to the relevant application are shown in the drawings. Without conflict, the embodiments in this application and the features in the embodiments can be combined with each other.

[0030] As Figure 1 and Figure 2 shown, the pushing device disclosed in the embodiment of this application includes an inclination adjustment seat 109, a driving wheel 110, a driving wheel driving assembly, a driven wheel 111, a driven wheel pressing assembly, and an inclination adjustment device.

[0031] The driving wheel driving assembly is arranged on the inclination adjustment seat 109, and the driving wheel 110 is rotatably supported on the inclination adjustment seat 109 through a driving wheel shaft. The output end of the driving wheel driving assembly is in transmission connection with the driving wheel shaft, so as to drive the driving wheel shaft and the driving wheel 110 on the driving wheel shaft to rotate. Since both the driving wheel driving assembly and the driving wheel 110 are installed on the inclination adjustment seat 109, the axial angle of the driving wheel 110 can be changed by adjusting the angle of the inclination adjustment seat 109, and at the same time when changing the axial angle of the driving wheel 110, the power transmission relationship between the driving wheel driving assembly and the driving wheel 110 can be not affected.

[0032] The driven wheel pressing assembly is used to press the driven wheel 111 against the driving wheel 110, and the pressing force of the driven wheel 111 acting on the driving wheel 110 is provided by the driven wheel pressing assembly. When the piece to be pushed (the piece to be pushed can be a guide wire or a catheter) passes between the driving wheel 110 and the driven wheel 111, the pressing force output by the driven wheel pressing assembly can press the piece to be pushed between the driving wheel 110 and the driven wheel 111. Under the action of the pressing force, it is ensured that there is corresponding friction between the driving wheel 110 and the driven wheel 111 and the piece to be pushed, so as to complete the conveying action of the piece to be pushed.

[0033] When the piece to be pushed is a catheter, after the catheter is inserted into the thrombus position in the blood vessel, a negative pressure suction device can be used to make the catheter generate negative pressure, and the thrombus in the blood vessel is sucked into the catheter under the action of the negative pressure, so as to achieve the purpose of removing the thrombus.

[0034] The output end of the inclination angle adjustment device is connected to the inclination angle adjustment seat 109 to drive the inclination angle adjustment seat 109 to drive the driving wheel 110 to swing. As the driving device for the rotation of the inclination angle adjustment seat 109, the inclination angle adjustment device will also change the axial angle of the driving wheel 110 while driving the inclination angle adjustment seat 109 to rotate. When the axis of the driving wheel 110 is perpendicular to the conveying direction of the pushed member, the driving wheel 110 can push the pushed member forward / backward by rotation; when the axis of the driving wheel 110 is parallel to the conveying direction of the pushed member, the driving wheel 110 can drive the pushed member to rotate by rotation; when the axis of the driving wheel 110 is between parallel and perpendicular to the conveying direction of the pushed member, the driving wheel 110 can drive the pushed member to rotate while pushing the pushed member forward / backward, that is, the pushed member moves forward / backward in a spiral manner.

[0035] The pushing device disclosed in the embodiment of the present application can be used to assist a doctor in pushing a pushed member such as a guide wire or a catheter to a diseased position of a blood vessel. When in use, the pushed member such as a guide wire or a catheter is clamped between the driving wheel 110 and the driven wheel 111, and the driving wheel driving assembly drives the driving wheel 110 to rotate. As the driving wheel 110 rotates, under the action of friction, the pushed member is driven to be conveyed forward, and the forward and backward directions of the pushed member can be controlled according to the rotation direction of the driving wheel 110.

[0036] When the blood vessel with a circuitous path of the pushed member needs to be rotated, the inclination angle adjustment device is used to drive the inclination angle adjustment seat 109 to rotate by a corresponding angle. Since the driving wheel 110 and the driving wheel driving assembly are both arranged on the inclination angle adjustment seat 109, the driving wheel 110 and the driving wheel driving assembly will be driven to rotate accordingly, so that the included angle between the axis of the driving wheel 110 and the axis of the driven wheel 111 is greater than 0°.

[0037] As Figure 10 shown, when the included angle between the axis of the driving wheel 110 and the axis of the driven wheel 111 is 90°, that is, the axis of the driving wheel 110 is parallel to the pushing direction of the pushed member. Since the frictional force generated by the rotation of the driving wheel 110 is perpendicular to the axis of the pushed member, the pushed member cannot be pushed forward and backward, and only the pushed member can be driven to rotate.

[0038] As Figure 11As shown, when the angle between the axis of the driving wheel 110 and the axis of the driven wheel 111 is between 0° and 90°, the driving wheel 110 can drive the pushed member to be pushed forward or backward (forward or backward is related to the rotation direction of the driving wheel 110, forward pushing means that the pushed member moves in the direction of the blood vessel, and backward pushing means that the pushed member moves in the direction of withdrawing from the blood vessel), and rotate at the same time. When the angle between the axis of the driving wheel 110 and the axis of the driven wheel 111 is between 0° and 90°, the friction force generated by the rotation of the driving wheel 110 and the axial direction of the pushed member is also between 0° and 90°. That is, the friction force can drive the pushed member to move forward or backward, and can also drive the pushed member to rotate around its own axis.

[0039] like Figure 1 As shown, when the pushed member does not need to rotate, it is only necessary to adjust the angle between the axis of the driving wheel 110 and the axis of the driven wheel 111 to 0°, that is, to adjust the axis of the driving wheel 110 and the axis of the driven wheel 111 to be parallel. The present application can assist doctors in pushing guide wires or catheters, etc., and can reduce the labor intensity of doctors.

[0040] like Figure 3 and Figure 4 As shown, those skilled in the art can understand that the output end of the tilt adjustment device is connected to the tilt adjustment seat 109 and drives the tilt adjustment seat 109 to rotate. The rotation center of the tilt adjustment seat 109 is generally the connection between the output end of the tilt adjustment device and the tilt adjustment seat 109.

[0041] If the position of the driving wheel 110 deviates from the rotation center of the inclination adjustment seat 109, when the inclination adjustment seat 109 rotates along its rotation center, the driving wheel 110 will rotate around the above rotation center. When the distance between the driving wheel 110 and the rotation center of the inclination adjustment seat 109 is large, when the inclination adjustment seat 109 rotates, the driving wheel 110 is driven to deviate from the position of the driven wheel 111, resulting in the driving wheel 110 and the driven wheel 111 being unable to form a driving force for the pushed member.

[0042] Based on this, in this embodiment, the rotation center of the inclination adjustment seat 109 intersects with the axis of the driving wheel 110 and passes through the middle of the axial direction of the driving wheel 110. That is, in this embodiment, the rotation center of the inclination adjustment seat 109 passes through the driving wheel 110, so when the inclination adjustment seat 109 rotates along its rotation center, the driving wheel 110 rotates along its axial midpoint and will not be separated from the matching relationship with the driven wheel 111. It should be noted that even if there is a certain deviation between the rotation center of the inclination adjustment seat 109 and the driving wheel 110, as long as the driving wheel 110 and the driven wheel 111 are not completely separated, the driving force can be output to the pushed member.

[0043] In this embodiment, the rotation range of the inclination adjustment seat 109 satisfies that the driving wheel 110 can be adjusted between the parallel and perpendicular states of the axis of the driving wheel 110 and the axis of the driven wheel 111. The rotational degree of freedom of the inclination adjustment seat 109 needs to ensure that the driving wheel 110 can be adjusted to output only the pushing force and only the rotational force.

[0044] As Figure 2 , Figure 4 and Figure 6 shown, in a specific embodiment of the present application, the pushing device may further include a driving housing 102 and a roller housing 101. Among them, in addition to providing protection for each component, the driving housing 102 and the roller housing 101 can also provide an installation basis for some components. The roller housing 101 is arranged above the driving housing 102. Specifically, the upper part of the driving housing 102 is in an open state, and the roller housing 101 is supported on the upper side of the driving housing 102, and the two can be fixed by fasteners. Of course, the roller housing 101 and the driving housing 102 can also be fixed by means of buckles, etc. The present embodiment does not limit the fixing method of the roller housing 101 and the driving housing 102.

[0045] The inclination adjustment seat 109 is arranged in the roller housing 101. It should be noted that the inclination adjustment seat 109 needs to perform a rotation action, so the inclination adjustment seat 109 cannot be fixed in the roller housing 101 and needs to have a rotational degree of freedom.

[0046] The driving wheel drive assembly and the inclination adjustment device are arranged in the driving housing 102. Since the driving wheel drive assembly and the inclination adjustment device have a large mass, arranging the two in the lower driving housing 102 can reduce the overall center of gravity of the pushing device and improve the stability of the pushing device.

[0047] In order to ensure that the driving wheel drive assembly located in the driving housing 102 can transmit power to the driving wheel 110, the output end of the driving wheel drive assembly needs to extend into the roller housing 101 to be in transmission connection with the driving wheel shaft.

[0048] Similarly, in order to ensure that the inclination adjustment device located in the driving housing 102 can transmit power to the inclination adjustment seat 109, the output end of the inclination adjustment device needs to extend into the roller housing 101 to be connected to the inclination adjustment seat 109.

[0049] When the inclination adjustment device drives the inclination adjustment seat 109 to rotate, the driving wheel drive assembly will rotate accordingly. Since the output end of the driving wheel drive assembly passes through the bottom wall of the roller housing 101 and extends into the roller housing 101, in order to prevent the bottom wall of the roller housing 101 from interfering with the driving wheel drive assembly, in this embodiment, as Figure 6 and Figure 8As shown, on the bottom wall of the roller housing 101, there is an orbital groove 1011 that avoids the movement track of the output end of the driving assembly of the driving wheel. It should be noted that since the movement track of the driving assembly of the driving wheel is a circular motion along the rotation center of the inclination adjustment seat 109, the orbital groove 1011 is formed as an arc with the rotation center of the inclination adjustment seat 109 as the axis.

[0050] As Figures 1 - 3 shown, in this embodiment, the driven wheel pressing assembly may include a guiding bracket 116, a driven wheel mounting seat 115, and a pressing elastic assembly. Among them, the guiding bracket 116 is arranged on the roller housing 101. Specifically, the guiding bracket 116 can be arranged on the upper side of the roller housing 101. For example, the guiding bracket 116 can be fixed on the side wall of the roller housing 101 through fasteners.

[0051] The guiding bracket 116 can be a bracket with a U-shaped structure, which has two side walls and a top wall connecting the two side walls. The two side walls of the guiding bracket 116 can be respectively fixed on the two opposite side walls of the roller housing 101 through fasteners.

[0052] Limit protrusions 1161 can be arranged on the inner sides of the side walls of the guiding bracket 116. The two side walls of the guiding bracket 116 can respectively embrace the outer sides of the two side walls of the roller housing 101. During installation, the guiding bracket 116 can be inserted downward from the top of the roller housing 101. When the limit protrusions 1161 abut against the top of the roller housing 101, it indicates that the guiding bracket 116 is installed in place in the height direction. At this time, only need to move the guiding bracket 116 in the front-rear direction to align the fastener holes on the guiding bracket 116 with the fastener holes on the roller housing 101, and then pass through the fasteners for fixation.

[0053] The driven wheel shaft of the driven wheel 111 is supported on the driven wheel mounting seat 115. It should be noted that the driven wheel 111 needs to rotate around its axis. It can be rotatably connected to the driven wheel shaft or fixed on the driven wheel shaft, and the driven wheel shaft is rotatably supported on the driven wheel mounting seat 115. This embodiment does not limit the cooperation relationship between the driven wheel 111 and the driven wheel shaft, as long as the driven wheel 111 can rotate around its axis.

[0054] The pressing elastic component is respectively connected between the guiding bracket 116 and the driven wheel mounting seat 115 to push the driven wheel mounting seat 115 to move towards the driving wheel 110. Specifically, the pressing elastic component can be respectively connected between the top wall of the guiding bracket 116 and the driven wheel mounting seat 115 to apply a pressing force to the driven wheel mounting seat 115 from above the driven wheel mounting seat 115, so as to press the driven wheel 111 mounted on the driven wheel mounting seat 115 against the driving wheel 110. It should be noted that when it is mentioned in this article that the driven wheel 111 is pressed against the driving wheel 110, it means that when the workpiece to be pushed is not inserted, and when the workpiece to be pushed is inserted, the driven wheel 111 presses the workpiece to be pushed against the driving wheel 110.

[0055] For the convenience of installation, the driven wheel 111 can be arranged above the driving wheel 110. Of course, the driven wheel 111 and the driving wheel 110 can also be arranged at the same height, or even the driving wheel 110 can be arranged above the driven wheel 111, so that the driven wheel 111 presses the driving wheel 110 from below. The spatial position relationship between the driven wheel 111 and the driving wheel 110 in this embodiment is not limited, as long as the two can press the workpiece to be pushed.

[0056] As Figure 2 shown, the pressing elastic component can include a guiding shaft 117, a bushing 113 and an elastic reset member 118. Two pressing elastic components can be provided and symmetrically arranged on both sides of the axis of the driven wheel 111.

[0057] The bushing 113 is arranged on the driven wheel mounting seat 115. An installation hole is formed on the driven wheel mounting seat 115, and the bushing 113 is inserted into the installation hole. The bushing 113 can include a bushing body and an end plate located at one end of the bushing body. The bushing body is inserted into the installation hole, and the end plate is fixed on the driven wheel mounting seat 115 through fasteners, so as to realize the fixation of the bushing 113 on the driven wheel mounting seat 115.

[0058] One end of the guiding shaft 117 is fixed on the guiding bracket 116, and the other end is inserted into the bushing 113 and is in sliding fit with the bushing 113. It should be noted that the pressing elastic component may not be provided with the bushing 113, then the guiding shaft 117 is directly inserted into the installation hole of the driven wheel mounting seat 115. The bushing 113 can be used as a sliding bearing, and the friction coefficient of the guiding shaft 117 is reduced by low-friction materials (such as copper alloy, plastic). As a replaceable wearing part, the bushing 113 bears the main friction and avoids damage to the driven wheel mounting seat 115.

[0059] The elastic reset member 118 is sleeved on the guide shaft 117, with one end abutted against the elastic reset member 118 and the other end abutted against the driven wheel mounting seat 115. The elastic reset member 118 can be a spiral spring or other elastic components. The elastic reset member 118 can generate a thrust force on the driven wheel mounting seat 115, pushing the driven wheel mounting seat 115 to move towards the direction close to the driving wheel 110, so that the driven wheel 111 and the driving wheel 110 are pressed against each other.

[0060] When threading the pushed member, it is necessary to move the driven wheel 111 away from the driving wheel 110 to form a gap between the driven wheel 111 and the driving wheel 110, so as to facilitate the pushed member to be threaded between the driven wheel 111 and the driving wheel 110.

[0061] As Figure 4 shown, in order to facilitate the pushing of the driven wheel 111, in this embodiment, the pushing device may further include a thrust driving device 112 that pushes the driven wheel mounting seat 115 to move away from the driving wheel 110. The thrust driving device 112 can be a thrust electromagnet, that is, after the thrust driving device 112 is powered on, it can generate a thrust force on the driven wheel mounting seat 115, thereby pushing the driven wheel mounting seat 115 to move away from the driving wheel 110, and then creating a gap between the driven wheel 111 and the driving wheel 110.

[0062] In order to facilitate the thrust driving device 112 to apply the thrust force on the driven wheel mounting seat 115. In this embodiment, a thrust seat 114 is fixed on the driven wheel mounting seat 115, and the output end of the thrust driving device 112 acts on the thrust seat 114.

[0063] The thrust seat 114 can be fixed on the driven wheel mounting seat 115 through fasteners. The thrust seat 114 has an acting end extending towards the thrust driving device 112, thereby reducing the distance between the thrust driving device 112 and the thrust seat 114, so that the push rod of the thrust driving device 112 does not need a large stroke to complete the pushing of the driven wheel mounting seat 115.

[0064] When it is necessary to install a pushed member such as a guide wire / catheter, the push rod of the thrust driving device 112 acts to push the thrust seat 114 to drive the driven wheel mounting seat 115 and the driven wheel 111 to lift upward together. At this time, the driven wheel 111 and the driving wheel 110 are separated, and the pushed member such as the guide wire / catheter can be threaded through the gap between the driven wheel 111 and the driving wheel 110; when the installation of the pushed member such as the guide wire / catheter is completed, the thrust driving device 112 is powered off, the push rod of the thrust driving device 112 retracts, and the driven wheel 111 is pressed back onto the driving wheel 110 under the action of the pressing elastic component. At this time, the driving and driven wheels will clamp the pushed member such as the guide wire / catheter.

[0065] Since there is a certain span between the two side walls of the roller housing 101, when a pushed member such as a guide wire / catheter straddles the roller housing 101, only the driven wheel 111 and the driving wheel 110 support the pushed member, resulting in the part of the pushed member inside the roller housing 101 being collapsed and deformed, which is not conducive to the forward and backward conveyance and rotation of the pushed member. In addition, it is not convenient to install a pushed member such as a guide wire / catheter.

[0066] Based on this, as Figures 5 - 10 shown, in a specific embodiment of the present application, a guide tube 119 is provided on the roller housing 101. The axis of the guide tube 119 passes through the contact portion of the driving wheel 110 and the driven wheel 111 and is perpendicular to the axis of the driven wheel 111. It should be noted that the guide tube 119 cannot extend between the driving wheel 110 and the driven wheel 111 to ensure that the driving wheel 110 and the driven wheel 111 can apply frictional force to the pushed member.

[0067] When installing the pushed member, the pushed member can be inserted into the guide tube 119 and inserted forward along the guide tube 119 until the pushed member straddles the entire roller housing 101, and then the thrust driving device 112 is powered off. Since the axis of the guide tube 119 passes through the contact portion of the driving wheel 110 and the driven wheel 111 and is perpendicular to the axis of the driven wheel 111, when the pushed member straddles the entire roller housing 101, it will necessarily pass through the contact portion of the driving wheel 110 and the driven wheel 111. After the thrust driving device 112 is powered off, the driven wheel 111 returns to its initial position, and the driving wheel 110 and the driven wheel 111 will clamp the pushed member.

[0068] Moreover, by providing the guide tube 119, it also has a supporting effect on the flexible pushed member. When the pushed member moves forward and backward or rotates, the part of the pushed member adjacent to the driving wheel 110 and the driven wheel 111 can be kept inside the guide tube 119, and the alignment relationship between the pushed member and the driving wheel 110 and the driven wheel 111 will not be changed due to the forward and backward movement and rotational movement, resulting in the inability to continue the pushing work.

[0069] The guide tube 119 can include two parts, that is, the guide tube 119 is arranged on two opposite side walls of the roller housing 101, that is, the guide tube 119 is provided on both sides of the contact portion of the driving wheel 110 and the driven wheel 111 to further improve the supporting effect on the pushed member.

[0070] The side wall of the roller housing 101 is provided with mounting holes. The first end of the guide tube 119 is provided with a flange. The second end of the guide tube 119 is inserted into the mounting hole. After the flange fits against the outer side wall of the roller housing 101, the flange can be fixed to the roller housing 101 by fasteners. That is to say, the guide tube 119 has a cantilever beam structure and is fixed to the roller housing 101, and no other supporting components are required inside the roller housing 101 to prevent the guide tube 119 from occupying too much space inside the roller housing 101.

[0071] The inclination adjustment device can be suspended and supported on the inclination adjustment seat 109. When the driving wheel driving assembly rotates driven by the inclination adjustment device, the inclination adjustment seat 109 drives the driving wheel driving assembly to rotate. In this way, the driving wheel driving assembly acts all its weight on the inclination adjustment seat 109, which easily causes the inclination adjustment seat 109 to deform, thus affecting the position of the driving wheel 110.

[0072] Based on this, as Figure 2 and Figure 7 shown, in a specific embodiment of the present application, the pushing device may further include a guide rail assembly and a pulley 131. The pulley 131 slides along the guide rail assembly, and the driving wheel driving assembly is connected to the pulley 131. In this embodiment, the driving wheel driving assembly mainly acts its weight on the pulley 131, and the pulley 131 is supported on the guide rail assembly. The guide rail assembly can be fixed to the bottom wall of the driving housing 102. Therefore, the driving wheel driving assembly finally acts its weight on the driving housing 102, and will not cause the inclination adjustment seat 109 to deform and affect the position accuracy of the driving wheel 110.

[0073] The shape of the guide rail assembly should match the movement track of the driving wheel driving assembly. Its position can correspond to the track groove 1011 on the bottom wall of the roller housing 101, and the shapes can also be the same.

[0074] The guide rail assembly may include an inner ring arc guide rail 130 and an outer ring arc guide rail 132 coaxially arranged with the inner ring arc guide rail 130. The pulley 131 is arranged between the inner ring arc guide rail 130 and the outer ring arc guide rail 132. It should be noted that in order to reduce friction and improve the smoothness of the pulley 131 sliding along the guide rail assembly, the pulley 131 does not contact the bottom wall of the driving housing 102, and only contacts the inner ring arc guide rail 130 and the outer ring arc guide rail 132.

[0075] Both the inner ring arc guide rail 130 and the outer ring arc guide rail 132 have support ribs pointing at each other. The outer peripheral surface of the pulley 131 has rolling grooves, and the rolling grooves are supported on the support ribs of the inner ring arc guide rail 130 and the outer ring arc guide rail 132, so that the pulley 131 is supported on the inner ring arc guide rail 130 and the outer ring arc guide rail 132 and does not contact the bottom wall of the driving housing 102.

[0076] When the pulley 131 slides along the inner arc guide rail 130 and the outer arc guide rail 132, due to the influence of the frictional force between the inner arc guide rail 130 and the outer arc guide rail 132, there is a situation of sliding and rolling at the same time. When the pulley 131 rolls, it will drive the driving wheel drive assembly to rotate. In order to prevent the driving wheel drive assembly from rotating, in this embodiment, the driving wheel drive assembly is connected to the pulley 131 through the pulley shaft 129. The pulley shaft 129 is coaxially arranged with the pulley 131 and is rotatably connected. With this setting, when the pulley 131 rolls, it will not drive the pulley shaft 129 to rotate, and the driving wheel drive assembly is fixed on the pulley shaft 129, so it will not drive the driving wheel drive assembly to rotate.

[0077] As Figure 2 、 Figure 4 and Figure 6 shown, in a specific embodiment of the present application, the inclination angle adjustment device may include an inclination angle adjustment motor 103, an inclination angle adjustment rotating shaft 108, and a first coupling assembly.

[0078] Among them, the inclination angle adjustment motor 103 is arranged in the driving housing 102. The inclination angle adjustment rotating shaft 108 is rotatably supported on the bottom wall of the roller housing 101 and is connected to the inclination angle adjustment seat 109. The inclination angle adjustment rotating shaft 108 can be supported on the bottom wall of the roller housing 101 through the first bearing seat 107, and can be connected to the inclination angle adjustment seat 109 by means of key connection to drive the inclination angle adjustment seat 109 to rotate. Of course, it can also be connected to the inclination angle adjustment seat 109 by other means to achieve torque transmission, not limited to key connection.

[0079] The first coupling assembly is respectively connected to the output shaft of the inclination angle adjustment motor 103 and the inclination angle adjustment rotating shaft 108. In this embodiment, the output shaft of the inclination angle adjustment motor 103 is disconnected from the inclination angle adjustment rotating shaft 108 and is connected through the first coupling assembly to achieve torque transmission, which can prevent the situation that the output shaft of the inclination angle adjustment motor 103 is designed to be too long and causes the output shaft to deform.

[0080] Specifically, the first coupling assembly may include a first lower magnetic coupling 105 and a first upper magnetic coupling 106. The first lower magnetic coupling 105 is fixed on the output shaft of the inclination angle adjustment motor 103, and the first upper magnetic coupling 106 is fixed on the inclination angle adjustment rotating shaft 108. That is, the first coupling assembly disclosed in this embodiment is a magnetic coupling, and the magnetic coupling is a flexible coupling, which can compensate for axial, radial, and angular deviations and can reduce the installation difficulty.

[0081] Further, the pushing device may further include a limiting plate 104, a first position sensor 133, and a second position sensor 134. The limiting plate 104 rotates synchronously with the output shaft of the inclination adjustment motor 103. For example, the limiting plate 104 may be fixed to the output shaft of the inclination adjustment motor 103, or may be fixed to the first lower magnetic coupling 105 or the first upper magnetic coupling 106.

[0082] The first position sensor 133 and the second position sensor 134 may be photoelectric switches, or other types of position sensors. The specific types of the first position sensor 133 and the second position sensor 134 are not limited in this embodiment.

[0083] The limit rotation angle of the inclination adjustment seat 109 can be limited by the set positions of the first position sensor 133 and the second position sensor 134, and then the limit angle of the axis of the driving wheel 110 can be limited. For example, the adjustment range of the included angle between the axes of the driving wheel 110 and the driven wheel 111 is set to 0~90°.

[0084] When the first position sensor 133 senses the limiting plate 104, the inclination adjustment seat 109 is at the first limit angle. When the second position sensor 134 senses the limiting plate 104, the inclination adjustment seat 109 is at the second limit angle. The inclination adjustment seat 109 rotates between the first limit angle and the second limit angle. When the inclination adjustment seat 109 is at one of the first limit angle and the second limit angle, the axes of the driving wheel 110 and the driven wheel 111 are parallel; when the inclination adjustment seat 109 is at the other of the first limit angle and the second limit angle, the axes of the driving wheel 110 and the driven wheel 111 are perpendicular.

[0085] At the same time, the inclination adjustment motor 103 is equipped with an encoder, which can synchronously calculate the included angle between the axes of the driving wheel 110 and the driven wheel 111. In other words, medical staff can control the inclination adjustment motor 103 to output a corresponding rotation range through a control command, and adjust the axes of the driving wheel 110 and the driven wheel 111 to the corresponding included angle.

[0086] In a specific embodiment of the present application, the driving wheel driving assembly may include a roller driving motor 127, a driving wheel driving shaft 122, and a second coupling assembly.

[0087] Among them, the roller driving motor 127 is slidably fitted within the driving housing 102. For example, the roller driving motor 127 can be connected to the pulley 131 through the motor base 128. The driving shaft 122 of the driving wheel is rotatably supported on the bottom wall of the roller housing 101 and is in transmission connection with the driving wheel shaft through a gear mechanism. Specifically, the driving shaft 122 of the driving wheel can be supported on the bottom wall of the roller housing 101 through the second bearing seat 123. A first bevel gear 121 is provided on the driving shaft 122 of the driving wheel, and a second bevel gear 120 is provided on the driving wheel shaft. The driving connection between the driving shaft 122 of the driving wheel and the driving wheel shaft is realized through the meshing of the first bevel gear 121 and the second bevel gear 120.

[0088] The second coupling assembly is respectively connected to the output shaft 126 of the roller driving motor 127 and the driving shaft 122 of the driving wheel. In this embodiment, the output shaft 126 of the roller driving motor 127 is disconnected from the driving shaft 122 of the driving wheel and is connected through the second coupling assembly to achieve torque transmission, which can prevent the situation that the output shaft 126 of the roller driving motor 127 is designed to be too long and causes the output shaft to deform.

[0089] Specifically, the second coupling assembly may include a second lower magnetic coupling 125 and a second upper magnetic coupling 124. The second lower magnetic coupling 125 is fixed to the output shaft of the roller driving motor 127, and the second upper magnetic coupling 124 is fixed to the driving shaft 122 of the driving wheel. That is, the second coupling assembly disclosed in this embodiment is a magnetic coupling, and the magnetic coupling is a flexible coupling, which can compensate for axial, radial, and angular deviations and can reduce the installation difficulty.

[0090] As shown in this application and the claims, unless the context clearly indicates an exception, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. A method or device may also include other steps or elements. Elements defined by the statement "comprising one..." do not exclude the existence of other identical elements in the process, method, commodity, or device including the elements.

[0091] In the description of this application, unless otherwise clearly defined, words such as "set", "installed", and "connected" should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above words in this application in combination with the specific content of the technical solution.

[0092] In this specification, the various embodiments are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0093] In this text, specific examples are used to elaborate on the principles and implementation manners of this application. The descriptions of the above embodiments are only used to help understand the method of this application and its core idea. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principles of this application, several improvements and modifications can still be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A pushing device, characterized in that, Comprising: An inclination adjustment seat (109); A driving wheel (110) and a driving wheel drive assembly, the driving wheel drive assembly being arranged on the inclination adjustment seat (109), the driving wheel (110) being rotatably supported on the inclination adjustment seat (109) by a driving wheel shaft, and an output end of the driving wheel drive assembly being in transmission connection with the driving wheel shaft; A driven wheel (111) and a driven wheel pressing assembly, the driven wheel pressing assembly being used for pressing the driven wheel (111) against the driving wheel (110), and the workpiece to be pushed passing between the driving wheel (110) and the driven wheel (111); An inclination adjustment device, an output end of the inclination adjustment device being connected to the inclination adjustment seat (109) to drive the inclination adjustment seat (109) to drive the driving wheel (110) to swing.

2. The push device according to claim 1, characterized in that, A rotation center of the inclination adjustment seat (109) intersects an axis of the driving wheel (110) and passes through a middle part in an axial direction of the driving wheel (110).

3. The push device according to claim 2, characterized in that A rotation range of the inclination adjustment seat (109) satisfies that: the driving wheel (110) can be adjusted between a state where an axis of the driving wheel (110) is parallel to an axis of the driven wheel (111) and a state where the axis of the driving wheel (110) is perpendicular to the axis of the driven wheel (111).

4. The pushing device according to claim 1, characterized in that It further comprises a driving housing (102) and a roller housing (101); The roller housing (101) is arranged above the driving housing (102), and the inclination adjustment seat (109) is arranged on the roller housing (101); The driving wheel drive assembly and the inclination adjustment device are arranged in the driving housing (102), and an output end of the driving wheel drive assembly extends into the roller housing (101) to be in transmission connection with the driving wheel shaft, an output end of the inclination adjustment device extends into the roller housing (101) to be connected to the inclination adjustment seat (109), and a track groove (1011) for avoiding a movement track of the output end of the driving wheel drive assembly is formed in a bottom wall of the roller housing (101).

5. The pushing device according to claim 4, wherein, The driven wheel pressing assembly comprises: A guiding bracket (116) arranged on the roller housing (101); A driven wheel mounting seat (115), a driven wheel shaft of the driven wheel (111) being supported on the driven wheel mounting seat (115); A pressing elastic assembly respectively connected between the guiding bracket (116) and the driven wheel mounting seat (115) to push the driven wheel mounting seat (115) to move towards the driving wheel (110).

6. The push device according to claim 5, characterized in that The driven wheel (111) is arranged above the driving wheel (110); And / or The pressing elastic component includes a guide shaft (117), a bushing (113), and an elastic reset member (118). The bushing (113) is arranged on the driven wheel mounting seat (115). One end of the guide shaft (117) is fixed to the guide bracket (116), and the other end is inserted into the bushing (113) and is in sliding fit with the bushing (113). The elastic reset member (118) is sleeved on the guide shaft (117), and one end abuts against the elastic reset member (118), and the other end abuts against the driven wheel mounting seat (115).

7. The pushing device according to claim 5, characterized in that, It further includes a thrust driving device (112) for pushing the driven wheel mounting seat (115) to move away from the driving wheel (110).

8. The pushing device according to claim 7, characterized in that, A thrust seat (114) is fixed on the driven wheel mounting seat (115), and the output end of the thrust driving device (112) acts on the thrust seat (114); and / or, The thrust driving device (112) is a thrust electromagnet.

9. The pushing device according to claim 4, characterized in that A guide tube (119) is arranged on the roller housing (101). The axis of the guide tube (119) passes through the contact portion of the driving wheel (110) and the driven wheel (111), and is perpendicular to the axis of the driven wheel (111).

10. The pushing device according to any one of claims 1-9, characterized in that, It further includes a guide rail assembly and a pulley (131). The pulley (131) slides along the guide rail assembly, and the driving wheel driving assembly is connected to the pulley (131).

11. The push device according to claim 10, wherein, The guide rail assembly includes an inner ring arc guide rail (130) and an outer ring arc guide rail (132) arranged coaxially with the inner ring arc guide rail (130). The pulley (131) is arranged between the inner ring arc guide rail (130) and the outer ring arc guide rail (132); and / or, The driving wheel driving assembly is connected to the pulley (131) through a pulley shaft (129). The pulley shaft (129) is arranged coaxially with the pulley (131) and is rotatably connected.

12. The pushing device according to any one of claims 4-9, characterized in that, The inclination angle adjusting device includes: An inclination angle adjusting motor (103) arranged in the driving housing (102); An inclination angle adjusting rotating shaft (108) rotatably supported on the bottom wall of the roller housing (101) and connected to the inclination angle adjusting seat (109); A first coupling assembly respectively connecting the output shaft of the inclination angle adjusting motor (103) and the inclination angle adjusting rotating shaft (108).

13. The pushing device according to claim 12, wherein The first coupling assembly includes: A first lower magnetic coupling (105) fixed on the output shaft of the inclination angle adjusting motor (103); A first upper magnetic coupling (106) fixed on the inclination angle adjusting rotating shaft (108).

14. The pushing device according to claim 12, characterized in that, It further includes: A limiting plate (104) rotating synchronously with the output shaft of the inclination angle adjusting motor (103); A first position sensor (133) and a second position sensor (134); when the first position sensor (133) senses the limit plate (104), the inclination adjustment seat (109) is at a first limit angle; when the second position sensor (134) senses the limit plate (104), the inclination adjustment seat (109) is at a second limit angle; and the inclination adjustment seat (109) rotates between the first limit angle and the second limit angle.

15. The pushing device according to claim 14, characterized in that, When the inclination adjustment seat (109) is at one of a first limit angle and a second limit angle, the axis of the driving wheel (110) is parallel to the axis of the driven wheel (111); When the inclination adjustment seat (109) is at the other of the first limit angle and the second limit angle, the axis of the driving wheel (110) is perpendicular to the axis of the driven wheel (111).

16. The pushing device according to any one of claims 4-9, characterized in that, The active wheel drive assembly comprises: A roller drive motor (127) slidably fitted in the drive housing (102); A driving wheel drive shaft (122) is rotatably supported on the bottom wall of the roller housing (101) and is transmission-connected to the driving wheel shaft via a gear mechanism; The second coupling assembly is respectively connected to the output shaft of the roller drive motor (127) and the driving wheel drive shaft (122).

17. The pushing device according to claim 16, characterized in that, The second coupling assembly comprises: A second lower magnetic coupling (125) fixed to the output shaft of the roller drive motor (127); A second upper magnetic coupling (124) fixed on the driving wheel drive shaft (122).

18. The pushing device according to any one of claims 1-9, characterized in that, The pushed member is a guide wire or a catheter.

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