Push rod driving mechanism capable of being disassembled quickly

Abstract

The utility model discloses a push rod driving mechanism capable of being disassembled quickly. The push rod driving mechanism comprises a push rod driving mechanism body, a mounting base and a butt joint pipeline. The push rod driving mechanism is used for driving the push rod to reciprocate; the mounting seat is mounted at a push rod output port of the push rod driving mechanism, one end of the butt joint pipeline is communicated with external equipment, the other end of the butt joint pipeline is mounted on the mounting seat through a quick connecting structure, and the butt joint pipeline is communicated with the push rod output port of the push rod driving mechanism; the quick connecting structure facilitates disassembly and assembly between the push rod driving mechanism and the butt joint pipeline; or the mounting seat is mounted on external equipment, one end of the butt joint pipeline is communicated with the external equipment, the other end of the butt joint pipeline is mounted on the mounting seat through a quick connecting structure, and the butt joint pipeline is aligned with the push rod output port of the push rod driving mechanism in a spaced manner, so that the push rod directly enters the butt joint pipeline after being output from the push rod output port; and the quick connecting structure is convenient for disassembly and assembly between the external equipment and the butt-joint pipeline.

Description

Technical Field

[0001] The utility model relates to the field of medical equipment, in particular to a push rod driving mechanism which can be quickly disassembled. Background Art

[0002] Radioactive particle implantation therapy technology mainly relies on stereotactic system to accurately implant radioactive particles into the tumor, and emits continuous, short-distance radiation through micro-radiation sources, which causes maximum damage to tumor tissue while leaving normal tissue undamaged or only slightly damaged. This technology has the characteristics of strong targeting, less trauma, fast efficacy, and fewer side effects.

[0003] Radioactive substances are implanted into the human body through a particle implantation device. The front end of the particle implantation device is equipped with a puncture needle, and the rear end is equipped with a push rod for particle implantation. The particle implantation device is provided with a particle clip interface. The particle clip is connected to the particle implantation device through the interface. The radioactive particles are pushed into the puncture needle through the push rod, and then the particles are further implanted into the lesion site.

[0004] Before surgery, the push rod drive mechanism needs to be sterilized and disinfected, especially the disposable docking pipes and push rods that are not easy to clean, so they need to be able to be quickly replaced. Therefore, the push rod drive mechanism needs to be able to be quickly disassembled and installed with these instruments to improve the efficiency of pre-operative preparation. Utility Model Content

[0005] The purpose of the utility model is to provide a method to solve the existing technical defects and unattainable technical requirements.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a push rod driving mechanism that can be quickly disassembled, comprising a push rod driving mechanism, a mounting seat and a docking pipe;

[0007] The push rod driving mechanism is used to drive the push rod to reciprocate;

[0008] The mounting seat is installed at the push rod output port of the push rod driving mechanism, one end of the docking pipe is connected to the external device, and the other end of the docking pipe is installed on the mounting seat through a quick connection structure, so that the docking pipe is connected to the push rod output port of the push rod driving mechanism, and the quick connection structure facilitates the disassembly and assembly between the push rod driving mechanism and the docking pipe;

[0009] Alternatively, the mounting seat is mounted on an external device, one end of the docking pipe is connected to the external device, and the other end of the docking pipe is mounted on the mounting seat through a quick connection structure, and the docking pipe is aligned with the push rod output port of the push rod driving mechanism in the air, so that the push rod directly enters the docking pipe after being output from the push rod output port, and the quick connection structure facilitates disassembly and assembly between the external device and the docking pipe.

[0010] Preferably, the quick connection structure is one or a combination of a threaded connection structure, a snap connection structure, and a lock connection structure;

[0011] When the quick connection structure is a threaded connection structure, the quick connection structure includes a butt joint, the butt joint is connected to the butt pipe, and the butt joint is connected to the mounting seat through a threaded connection;

[0012] When the quick connection structure is a snap-on connection structure, the quick connection structure includes a docking joint, a snap-on piece and a first elastic element. The docking joint is connected to the docking pipe, and the snap-on piece can be slidably or rotatably arranged on the mounting seat. The snap-on piece is provided with a first snap-on hole that cooperates with the docking joint. The first elastic element has a certain thrust on the snap-on piece. When the docking joint passes through the first snap-on hole of the snap-on piece, the first elastic element drives the snap-on piece to move or rotate so that the snap-on piece clamps the docking joint, so that the docking joint and the mounting seat are fixed together.

[0013] Preferably, when the quick connection structure is a snap connection structure, a guide groove for guiding the snap piece to slide is provided on the mounting seat, a first accommodating cavity is provided on the outer side surface of the mounting seat, the first elastic element is a first spring, the first spring is arranged in the first accommodating cavity, a resisting portion is extended from the snap piece to a side close to the first accommodating cavity, one end of the first spring is abutted against the resisting portion, and the other end of the first spring is abutted against the bottom surface of the first accommodating cavity, and a limiting structure for limiting the snap piece from being separated from the mounting seat is provided on the mounting seat;

[0014] The limiting structure includes a limiting pin, which is slidably arranged in the mounting seat, and the limiting pin is provided with an inwardly concave limiting step, and the limiting step is divided into a first limiting step and a second limiting step, and the diameter of the first limiting step is larger than that of the second limiting step, and the buckle piece is provided with a first notch and a second notch corresponding to the first limiting step and the second limiting step respectively, and the buckle piece is clamped on different limiting steps to control the buckle piece to clamp or loosen the joint;

[0015] A second elastic element is provided in the mounting seat, and the second elastic element exerts a certain thrust on the limit pin through its own elasticity to prevent the notch of the buckle piece from detaching from the corresponding limit step;

[0016] A third elastic element is provided in the mounting seat. When the docking head is connected to the mounting seat, the third elastic element is in a compressed state. When the docking head is separated from the mounting seat, the third elastic element recovers its deformation, exerts a force on the docking head to move outward, and quickly separates the docking head from the mounting seat.

[0017] Preferably, the end of the docking pipe close to the mounting seat is connected with a docking joint;

[0018] A cleaning block is provided inside the joint, and a soft rubber tube is installed inside the cleaning block. The diameter of the center hole of the soft rubber tube is smaller than the outer diameter of the push rod. When the push rod is pushed out, the push rod can open the center hole of the soft rubber tube to allow the push rod to pass smoothly; when the push rod is retracted, the dirt or blood stains on the push rod will be scraped clean by the soft rubber tube due to the expansion and squeezing effect of the soft rubber tube.

[0019] Preferably, a rotating power shaft is provided on the push rod driving mechanism, and the rotating power shaft is used to drive the push rod driving mechanism to move. The push rod driving mechanism is directly connected and fixed to the external host through a second quick release mechanism. When the push rod driving mechanism is directly connected and fixed to the external host, the rotating power shaft of the push rod driving mechanism is docked with the rotating drive shaft on the external host, thereby realizing torque transmission and driving the push rod driving mechanism to move.

[0020] Preferably, the second quick-release mechanism includes a buckle and a fourth elastic element, the buckle is rotatably arranged on the push rod driving mechanism, and a second bayonet is provided on the external host. When the hook of the buckle passes through the second buckle, under the elastic force of the fourth elastic element, the hook of the buckle hooks the second bayonet to prevent the buckle from detaching from the second bayonet.

[0021] Preferably, when the rotary drive shaft and the rotary power shaft are directly connected in transmission, a first transmission part is provided on the rotary power shaft, and a second transmission part connected to the first transmission part is provided at one end of the rotary drive shaft, and the first transmission part and the second transmission part cooperate to realize torque transmission;

[0022] The first transmission part and the second transmission part are structures in which a transmission shaft cooperates with a transmission hole; or, the first transmission part and the second transmission part are structures in which a transmission shaft cooperates with a transmission hole; or, the first transmission part and the second transmission part adopt a docking plate structure with a pin hole or a pin groove and a pin shaft to realize torque transmission;

[0023] The rotating drive shaft and / or the rotating power shaft adopts a telescopic structure;

[0024] When the rotary power shaft adopts a telescopic structure, the telescopic structure is that the first transmission part is telescopically arranged on the rotary power shaft, the rotary power shaft and the first transmission part are synchronously rotated in the circumferential direction and slidably matched in the axial direction, a fifth elastic element is arranged in the rotary power shaft, the fifth elastic element gives the first transmission part an elastic force to extend outward, the fifth elastic element pushes the first transmission part and the second transmission part to move toward each other to complete docking, and the docking parts of the two are provided with matching anti-backlash inclined surfaces or conical surfaces, and the anti-backlash inclined surfaces of the two are fitted to each other after the docking is completed to eliminate the gap of the docking, and the fifth elastic element is one or a combination of a spring, an elastic block, a spring, a coil spring, and a torsion spring;

[0025] When the rotating drive shaft adopts a telescopic structure, the telescopic structure is that the second transmission part is telescopically arranged on the rotating drive shaft, and the rotating drive shaft and the second transmission part are synchronously rotated circumferentially and axially slidably matched, and a sixth elastic element is arranged in the rotating drive shaft, and the sixth elastic element gives the second transmission part an elastic force to extend outward, and the sixth elastic element pushes the second transmission part and the first transmission part to move toward each other to complete docking, and the docking parts of the two are provided with matching anti-gap inclined surfaces or conical surfaces, and the anti-gap inclined surfaces of the two are fitted with each other after the docking is completed to eliminate the docking gap, and the sixth elastic element is one or a combination of a spring, an elastic block, a spring, a coil spring, and a torsion spring.

[0026] Preferably, the push rod driving mechanism adopts a friction driving mechanism, and the friction driving mechanism includes a power component and a transmission component; the power component is used to provide power for the push rod to move, and the transmission component is used to convert the power of the power component into a friction force on the push rod, and the push rod is driven to move by the friction force;

[0027] The power component adopts a motor, and an internal displacement sensor is connected to the power component or the transmission component to measure the theoretical displacement of the push rod driven by the power component;

[0028] The transmission component includes a friction wheel or a friction belt, and the friction wheel or the friction belt drives the push rod. The friction wheel or the friction belt clamps the push rod through a clamping mechanism, and the clamping mechanism adopts a passive clamping mechanism or an active clamping mechanism; or the friction wheel or the friction belt itself is an elastic structure, and the push rod is clamped by its own extrusion;

[0029] When the clamping mechanism adopts a passive clamping mechanism, the passive clamping mechanism realizes the clamping of the push rod by the elastic deformation of the elastic element. The passive clamping mechanism also includes a clamping adjustment component, which can adjust the clamping or loosening of the friction wheel or friction belt on the push rod. When the clamping adjustment component is in the state of loosening the friction wheel or friction belt, even if the elastic deformation of the elastic element is completely released, the friction wheel or friction belt still has a disassembly and assembly space, which is convenient for putting the push rod in or out. When the clamping adjustment component is in the state of clamping the friction wheel or friction belt, the elastic element is squeezed or stretched by the clamping adjustment component to produce elastic deformation. The clamping adjustment component includes a cam mechanism or a connecting rod mechanism, which can realize rapid switching of loose and tight states.

[0030] Preferably, the push rod driving mechanism is further provided with a position detection component, which includes a rotary encoder and / or a travel switch matched with the measuring wheel; one side of the measuring wheel is in contact with the push rod, and when the push rod moves forward and backward, the measuring wheel will be driven to rotate, and the displacement of the push rod can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder;

[0031] Or the travel switch is installed on one side of the push rod output channel, and the position signal is triggered when the push rod passes through the travel switch;

[0032] The travel switch is a conductive travel switch, which includes elastic contacts or spring pins and uses conductive on / off to determine the position of the push rod; or the travel switch is a mechanical switch, a photoelectric switch, a Hall switch, an inductive switch, a capacitive switch or a combination thereof;

[0033] When the travel switch is a mechanical switch, a triggering member slidably or rotatably arranged outside the mechanical switch contacts the push rod and triggers the travel switch, one end of the triggering member is arranged in the push rod output channel, and the other end abuts against the mechanical switch; the triggering member is a triggering lever, a triggering sheet or a triggering needle, or a roller is arranged at one end of the triggering member;

[0034] The rotary encoder is arranged outside the push rod driving mechanism, and a magnetic element is provided on the push rod driving mechanism. The magnetic element is connected to the measuring wheel and rotates as the measuring wheel rotates. When the push rod driving mechanism is connected and fixed to the external host through the second quick release mechanism, the magnetic element is opposite to the sensing part of the rotary encoder, and the distance between the two is 0.1-5mm. The rotary encoder is used to sense and measure the rotation angle of the magnetic element through air, so as to measure the rotation angle of the measuring wheel, which is convenient for converting the rotation angle into the movement displacement of the push rod, and at the same time avoids cleaning and sterilization of the rotary encoder.

[0035] Preferably, the push rod driving mechanism also includes a storage assembly for storing the push rod, and the storage assembly is provided with a locking mechanism at the docking point with the push rod driving mechanism, and the locking mechanism controls the clamping and loosening of the push rod. When the storage assembly is not installed on the push rod driving mechanism, the locking mechanism clamps the push rod to prevent the push rod from popping out of the storage assembly; when the storage assembly is installed on the push rod driving mechanism, the locking mechanism can be unlocked to loosen the push rod.

[0036] Preferably, the storage assembly comprises a wheel frame and a storage wheel, the wheel frame is connected and fixed to the push rod driving mechanism via a third quick release mechanism, the storage wheel is mounted on the wheel frame, the push rod is wound on the storage wheel, or the storage wheel has an inner groove for accommodating the push rod;

[0037] The locking mechanism includes a guide seat, a clamping piece and a seventh elastic element. The guide seat is installed on the wheel frame. A guide channel for guiding the push rod is provided in the guide seat. The clamping piece is rotatably or translationally arranged on the guide seat, and a clamping portion is provided at one end of the clamping piece, and a pressing operation portion is provided at the other end. When the storage assembly is not installed in the push rod driving mechanism, the seventh elastic element exerts a certain thrust on the clamping piece through its own elasticity, so that the clamping piece rotates or translates and presses the push rod through the clamping portion; when the storage assembly is installed in the quick clamping position of the push rod driving mechanism, the pressing portion on the push rod driving mechanism is aligned with the pressing operation portion for pressing, thereby pushing the pressing operation portion, so that the clamping piece rotates in the opposite direction or translates to release the push rod.

[0038] Compared with the prior art, the beneficial effects of the utility model are as follows: 1. The push rod drive mechanism can be quickly separated from the external device and consumables through the quick connection structure, so as to facilitate separate replacement or cleaning and disinfection and sterilization; 2. When the push rod is not clamped, there is a certain gap between the friction wheels through the clamping adjustment component, which is convenient for putting in or taking out the push rod. After the push rod is put in, the friction wheel is controlled by the clamping adjustment component to quickly clamp the push rod, thereby improving the assembly efficiency; 3. The encoder is arranged outside the push rod drive mechanism, and only a magnet is arranged on the push rod drive mechanism. The encoder senses the magnet in the air to realize the rotation angle measurement of the measuring wheel. During the sterilization and disinfection of the push rod drive mechanism, the function of the encoder will not be affected; 4. The storage assembly of the push rod can be quickly disassembled and assembled as an integral consumable, thereby eliminating the need for cleaning and disinfection and sterilization of the push rod, and the storage assembly clamps the push rod through the locking mechanism, effectively preventing the push rod in the storage assembly from automatically popping out, and when the storage assembly is installed on the push rod drive mechanism, the locking mechanism simultaneously unlocks and releases the push rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a structural schematic diagram of the quick connection structure of Example 1;

[0040] Figure 2 This is a schematic structural diagram of the snap-on piece of the quick connection structure of Example 1 in a pressed state;

[0041] Figure 3 This is a schematic diagram of the structure in which the first pair of connectors of Example 1 are installed on a mounting base;

[0042] Figure 4 This is a schematic diagram of the structure of the buckle piece in the released state of Example 1;

[0043] Figure 5 Schematic diagram of the structure of the flexible second push rod driving mechanism of Example 2;

[0044] Figure 6 It is a structural schematic diagram of another side of the flexible second push rod driving mechanism of Example 2;

[0045] Figure 7 A top view of the flexible second push rod driving mechanism of Example 2;

[0046] Figure 8 for Figure 7 The structural cross-sectional view at AA;

[0047] Fig. 9 for Figure 7 The structural cross-sectional view at BB;

[0048] Fig.10 This is an internal structural diagram of the second push rod driving mechanism of Example 2;

[0049] Fig.11 This is a schematic diagram of the cam handle structure of Example 2;

[0050] Fig.12 This is a schematic diagram of the encoder group structure of Example 2;

[0051] Fig.13 is a cross-sectional view of a host module of Example 2;

[0052] Fig.14 It is a schematic diagram of the structure of the rotating sleeve of Example 2;

[0053] Fig.15 This is a schematic diagram of the base structure of Example 2;

[0054] Fig.16 It is an exploded view of the base structure of Example 2;

[0055] Fig.17 This is a schematic diagram of the structure of the storage wheel assembly of Example 2;

[0056] Fig.18 It is a schematic diagram of the back structure of the storage wheel assembly of Example 2;

[0057] Fig.19 This is a schematic diagram of the mounting block structure of the storage wheel assembly of Example 2;

[0058] Fig. 20 This is a schematic diagram of the locking block structure of the storage wheel assembly of Example 2;

[0059] Fig.21 This is a schematic diagram of the structure of the compression adjustment assembly of Example 2;

[0060] Fig. 22 This is a schematic diagram of the cleaning block structure of Example 3;

[0061] Fig.23 is a side cross-sectional view of a cleaning block of Example 3;

[0062] Fig.24This is a schematic diagram of the structure of the flexible guide wire passing through the soft rubber tube in Example 3. DETAILED DESCRIPTION

[0063] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0064] Example 1

[0065] A push rod driving mechanism that can be quickly disassembled comprises a push rod driving mechanism, a mounting seat and a docking pipe;

[0066] The push rod driving mechanism is used to drive the push rod to reciprocate;

[0067] The mounting seat is installed at the push rod output port of the push rod driving mechanism, one end of the docking pipe is connected to the external device, and the other end of the docking pipe is installed on the mounting seat through a quick connection structure, so that the docking pipe is connected to the push rod output port of the push rod driving mechanism, and the quick connection structure facilitates the disassembly and assembly between the push rod driving mechanism and the docking pipe;

[0068] Alternatively, the mounting seat is mounted on an external device, one end of the docking pipe is connected to the external device, and the other end of the docking pipe is mounted on the mounting seat through a quick connection structure, and the docking pipe is aligned with the push rod output port of the push rod driving mechanism in the air, so that the push rod directly enters the docking pipe after being output from the push rod output port, and the quick connection structure facilitates disassembly and assembly between the external device and the docking pipe.

[0069] The quick connection structure is one or a combination of a threaded connection structure, a snap connection structure, and a lock connection structure;

[0070] The quick connection structure is one or a combination of a threaded connection structure, a snap connection structure, and a lock connection structure;

[0071] When the quick connection structure is a threaded connection structure, the quick connection structure includes a butt joint, the butt joint is connected to the butt pipe, and the butt joint is connected to the mounting seat through a threaded connection;

[0072] When the quick connection structure is a snap-on connection structure, the quick connection structure includes a docking joint, a snap-on piece and a first elastic element. The docking joint is connected to the docking pipe, and the snap-on piece can be slidably or rotatably arranged on the mounting seat. The snap-on piece is provided with a first snap-on hole that cooperates with the docking joint. The first elastic element has a certain thrust on the snap-on piece. When the docking joint passes through the first snap-on hole of the snap-on piece, the first elastic element drives the snap-on piece to move or rotate so that the snap-on piece clamps the docking joint, so that the docking joint and the mounting seat are fixed together.

[0073] When the quick connection structure is a snap connection structure, the mounting seat is provided with a guide groove for guiding the snap piece to slide, the outer surface of the mounting seat is provided with a first accommodating cavity, the first elastic element is a first spring, the first spring is arranged in the first accommodating cavity, the snap piece extends to a side close to the first accommodating cavity with a resisting portion, one end of the first spring is abutted against the resisting portion, and the other end of the first spring is abutted against the bottom surface of the first accommodating cavity, and the mounting seat is provided with a limiting structure for limiting the snap piece from being separated from the mounting seat;

[0074] The limiting structure includes a limiting pin, which is slidably arranged in the mounting seat, and the limiting pin is provided with an inwardly concave limiting step, and the limiting step is divided into a first limiting step and a second limiting step, and the diameter of the first limiting step is larger than that of the second limiting step, and the buckle piece is provided with a first notch and a second notch corresponding to the first limiting step and the second limiting step respectively, and the buckle piece is clamped on different limiting steps to control the buckle piece to clamp or loosen the joint;

[0075] A second elastic element is provided in the mounting seat, and the second elastic element exerts a certain thrust on the limit pin through its own elasticity to prevent the notch of the buckle piece from detaching from the corresponding limit step;

[0076] A third elastic element is provided in the mounting seat. When the docking head is connected to the mounting seat, the third elastic element is in a compressed state. When the docking head is separated from the mounting seat, the third elastic element recovers its deformation, exerts a force on the docking head to move outward, and quickly separates the docking head from the mounting seat.

[0077] like Figures 1 to 4The quick connection structure of this embodiment adopts a snap connection structure, the mounting seat 20281104 is installed on the flexible first push rod driving mechanism 20281101, the snap piece 20281102 is installed on the mounting seat 20281104, the spring A20281107 is installed in the mounting seat 20281104, one head is tightly pressed against the snap piece 20281102, the spring B 20281109 is installed on the mounting seat 20281104, the spring C 20281110 is installed on the mounting seat 20281104, the limit pin 20281108 is installed in the mounting seat 20281104, the tail is tightly pressed against the spring C 20281110, and the first docking pipe 20281106 is installed on the first pair of joints 20281105.

[0078] Press the snap-in piece 20281102 to the bottom, and the snap-in piece 20281102 slides downward to the bottom along the guide groove of the mounting seat 20281104. When the snap-in piece 20281102 moves downward, the small step of the limit pin 20281108 loses the limit of the small notch of the snap-in piece 20281102 and is pushed outward by the spring C 20281110 until the large step of the limit pin 20281108 hits the large notch of the snap-in piece 20281102. Due to the limiting effect of the large step of the limit pin 20281108 on the large notch of the snap-in piece 20281102, the snap-in piece 20281102 will maintain this position. When docking, the first pair of connectors 20281105 is inserted into the mounting seat 20281104 to the bottom, and the step on the first pair of connectors 20281105 pushes the limit pin 20281108 to press backward into the mounting seat 20281104. When the first pair of connectors 20281105 is inserted to the bottom, the large step of the stopper piece 20281102 that is stuck by the stopper pin 20281108 is replaced by a small step. At this time, the large notch of the stopper piece 20281102 loses its limiting function, and the stopper piece 20281102 is ejected upward by the spring A 20281107 until the small notch of the stopper piece 20281102 is stuck by the small step on the stopper pin 20281108, completing the cycle. As the snap sheet 20281102 is misaligned, the lower half of the waist hole of the snap sheet 20281102 is just stuck in the slot of the first pair of connectors 20281105, and the heads of the first pair of connectors 20281105 are pushed by the spring B 20281109, so that the first pair of connectors 20281105 and the snap structure are quickly connected. Pressing the snap sheet 20281102 again can release the clamping connection.

[0079] Example 2

[0080] A rotating power shaft is provided on the push rod driving mechanism, and the rotating power shaft is used to drive the push rod driving mechanism to move. The push rod driving mechanism is directly connected and fixed to the external host through a second quick release mechanism. When the push rod driving mechanism is directly connected and fixed to the external host, the rotating power shaft of the push rod driving mechanism is docked with the rotating drive shaft on the external host, thereby realizing torque transmission and driving the push rod driving mechanism to move.

[0081] The second quick-release mechanism includes a buckle and a fourth elastic element. The buckle is rotatably arranged on the push rod driving mechanism. A second bayonet is provided on the external host. When the hook of the buckle passes through the second buckle, under the elastic force of the fourth elastic element, the hook of the buckle hooks the second bayonet to prevent the buckle from detaching from the second bayonet.

[0082] When the rotary drive shaft and the rotary power shaft are directly connected in transmission, a first transmission part is provided on the rotary power shaft, and a second transmission part connected to the first transmission part is provided at one end of the rotary drive shaft, and the first transmission part and the second transmission part cooperate to realize torque transmission;

[0083] The first transmission part and the second transmission part are structures in which a transmission shaft cooperates with a transmission hole; or, the first transmission part and the second transmission part are structures in which a transmission shaft cooperates with a transmission hole; or, the first transmission part and the second transmission part adopt a docking plate structure with a pin hole or a pin groove and a pin shaft to realize torque transmission;

[0084] The rotating drive shaft and / or the rotating power shaft adopts a telescopic structure;

[0085] When the rotary power shaft adopts a telescopic structure, the telescopic structure is that the first transmission part is telescopically arranged on the rotary power shaft, the rotary power shaft and the first transmission part are synchronously rotated in the circumferential direction and slidably matched in the axial direction, a fifth elastic element is arranged in the rotary power shaft, the fifth elastic element gives the first transmission part an elastic force to extend outward, the fifth elastic element pushes the first transmission part and the second transmission part to move toward each other to complete docking, and the docking parts of the two are provided with matching anti-backlash inclined surfaces or conical surfaces, and the anti-backlash inclined surfaces of the two are fitted to each other after the docking is completed to eliminate the gap of the docking, and the fifth elastic element is one or a combination of a spring, an elastic block, a spring, a coil spring, and a torsion spring;

[0086] When the rotating drive shaft adopts a telescopic structure, the telescopic structure is that the second transmission part is telescopically arranged on the rotating drive shaft, and the rotating drive shaft and the second transmission part are synchronously rotated circumferentially and axially slidably matched, and a sixth elastic element is arranged in the rotating drive shaft, and the sixth elastic element gives the second transmission part an elastic force to extend outward, and the sixth elastic element pushes the second transmission part and the first transmission part to move toward each other to complete docking, and the docking parts of the two are provided with matching anti-gap inclined surfaces or conical surfaces, and the anti-gap inclined surfaces of the two are fitted with each other after the docking is completed to eliminate the docking gap, and the sixth elastic element is one or a combination of a spring, an elastic block, a spring, a coil spring, and a torsion spring.

[0087] The push rod driving mechanism adopts a friction driving mechanism, which includes a power component and a transmission component; the power component is used to provide power for the push rod to move, and the transmission component is used to convert the power of the power component into friction force on the push rod, and the push rod is driven to move by the friction force;

[0088] The power component adopts a motor, and an internal displacement sensor is connected to the power component or the transmission component to measure the theoretical displacement of the push rod driven by the power component;

[0089] The transmission component includes a friction wheel or a friction belt, and the friction wheel or the friction belt drives the push rod. The friction wheel or the friction belt clamps the push rod through a clamping mechanism, and the clamping mechanism adopts a passive clamping mechanism or an active clamping mechanism; or the friction wheel or the friction belt itself is an elastic structure, and the push rod is clamped by its own extrusion;

[0090] When the clamping mechanism adopts a passive clamping mechanism, the passive clamping mechanism realizes the clamping of the push rod by the elastic deformation of the elastic element. The passive clamping mechanism also includes a clamping adjustment component, which can adjust the clamping or loosening of the friction wheel or friction belt on the push rod. When the clamping adjustment component is in the state of loosening the friction wheel or friction belt, even if the elastic deformation of the elastic element is completely released, the friction wheel or friction belt still has a disassembly and assembly space, which is convenient for putting the push rod in or out. When the clamping adjustment component is in the state of clamping the friction wheel or friction belt, the elastic element is squeezed or stretched by the clamping adjustment component to produce elastic deformation. The clamping adjustment component includes a cam mechanism or a connecting rod mechanism, which can realize rapid switching of loose and tight states.

[0091] The push rod driving mechanism is also provided with a position detection component, which includes a rotary encoder and / or a travel switch matched with the measuring wheel; one side of the measuring wheel is in contact with the push rod, and when the push rod moves forward and backward, it drives the measuring wheel to rotate, and the displacement of the push rod can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder;

[0092] Or the travel switch is installed on one side of the push rod output channel, and the position signal is triggered when the push rod passes through the travel switch;

[0093] The travel switch is a conductive travel switch, which includes elastic contacts or spring pins and uses conductive on / off to determine the position of the push rod; or the travel switch is a mechanical switch, a photoelectric switch, a Hall switch, an inductive switch, a capacitive switch or a combination thereof;

[0094] When the travel switch is a mechanical switch, a triggering member slidably or rotatably arranged outside the mechanical switch contacts the push rod and triggers the travel switch, one end of the triggering member is arranged in the push rod output channel, and the other end abuts against the mechanical switch; the triggering member is a triggering lever, a triggering sheet or a triggering needle, or a roller is arranged at one end of the triggering member;

[0095] The rotary encoder is arranged outside the push rod driving mechanism, and a magnetic element is provided on the push rod driving mechanism. The magnetic element is connected to the measuring wheel and rotates as the measuring wheel rotates. When the push rod driving mechanism is connected and fixed to the external host through the second quick release mechanism, the magnetic element is opposite to the sensing part of the rotary encoder, and the distance between the two is 0.1-5mm. The rotary encoder is used to sense and measure the rotation angle of the magnetic element through air, so as to measure the rotation angle of the measuring wheel, which is convenient for converting the rotation angle into the movement displacement of the push rod, and at the same time avoids cleaning and sterilization of the rotary encoder.

[0096] The push rod driving mechanism also includes a storage assembly for storing the push rod. The storage assembly is provided with a locking mechanism at the docking point with the push rod driving mechanism. The locking mechanism controls the clamping and loosening of the push rod. When the storage assembly is not installed in the push rod driving mechanism, the locking mechanism clamps the push rod to prevent the push rod from popping out of the storage assembly; when the storage assembly is installed in the push rod driving mechanism, the locking mechanism can be unlocked to loosen the push rod.

[0097] The storage assembly includes a wheel frame and a storage wheel. The wheel frame is connected and fixed to the push rod driving mechanism through a third quick release mechanism. The storage wheel is installed on the wheel frame. The push rod is wound on the storage wheel, or the storage wheel has an inner groove for storing the push rod.

[0098] The locking mechanism includes a guide seat, a clamping piece and a seventh elastic element. The guide seat is installed on the wheel frame. A guide channel for guiding the push rod is provided in the guide seat. The clamping piece is rotatably or translationally arranged on the guide seat, and a clamping portion is provided at one end of the clamping piece, and a pressing operation portion is provided at the other end. When the storage assembly is not installed in the push rod driving mechanism, the seventh elastic element exerts a certain thrust on the clamping piece through its own elasticity, so that the clamping piece rotates or translates and presses the push rod through the clamping portion; when the storage assembly is installed in the quick clamping position of the push rod driving mechanism, the pressing portion on the push rod driving mechanism is aligned with the pressing operation portion for pressing, thereby pushing the pressing operation portion, so that the clamping piece rotates in the opposite direction or translates to release the push rod.

[0099] like Figure 5-Figure 21 As shown, the flexible second push rod driving mechanism is composed of: 240801-second push rod driving mechanism, 240802-quick-connect buckle assembly, 240803-storage wheel assembly, 240804-base, 240805-host module, 240806-guide assembly, 240807-encryption chipset, 240808-pin assembly, 240809-encoder assembly, 2408010-flexible push rod. The base 240804 is installed on the host module 240805 through the quick-connect buckle assembly 240802, the second push rod drive mechanism 240801, the storage wheel assembly 240803 and the encryption chipset 240807 are installed on the base 240804, the spring needle group 240808 and the encoder group 240809 are installed on the host module 240805, the guide assembly 240806 can guide the flexible push rod 2408010 in the storage wheel assembly 240803 to the second push rod drive mechanism 240801, the host module 240805 supplies power or transmits signals to the second push rod drive mechanism 240801 through the spring needle group 240808, and the host module 240805 provides power to the second push rod drive mechanism 240801.

[0100] The second push rod driving mechanism 240801 includes 2408011-housing, 2408012-friction wheel, 2408013-friction wheel shaft, 24080131-docking block, 2408014-first clamping seat, 2408015-first clamping wheel, 2408016-first clamping wheel shaft, 2408017-second clamping seat, 2408018-second clamping wheel, 2408019-second clamping wheel shaft, 2408020-clamping adjustment assembly, 2408021-measuring wheel, 2408022-measuring wheel shaft, 2408023-magnet, 2408024-travel switch, 2408025-gear set, 2408026-handwheel. The friction wheel 2408012 and the measuring wheel 2408021 are arranged in sequence along the conveying direction of the flexible push rod 2408010. The friction wheel 2408012 is rotatably arranged in the housing 2408011 through the friction wheel shaft 2408013. The first clamping wheel 2408015 is rotatably arranged on the first clamping seat 2408014 through the first clamping wheel shaft 2408016. The first clamping seat 2408014 is located in the housing 2408011. The first clamping wheel 2408014 is arranged opposite to the friction wheel 2408012 and the first The pressing seat 2408014 is arranged on the housing and can move in a direction close to or away from the friction wheel 2408012. The measuring wheel 2408021 is rotatably arranged in the housing 2408011 through the measuring wheel shaft 2408022. The second pressing wheel 2408018 is rotatably arranged on the second pressing seat 2408017 through the second pressing wheel shaft 2408019. The second pressing seat 2408017 is located in the housing 2408011. The second pressing wheel 2408018 is arranged opposite to the measuring wheel 2408021 and the second pressing seat ... 08017 is arranged on the housing and can move in the direction close to or away from the measuring wheel 2408021. The magnet 2408023 is installed on the end of the measuring wheel shaft 2408022 close to the host module 240805. The clamping adjustment component 2408020 is used to drive the first clamping seat 2408014 and the second clamping seat 2408017 to move, so as to adjust the clamping and loosening of the first clamping wheel 2408015 and the second clamping wheel 2408018 on the flexible push rod 2408010. One end of the friction wheel shaft 2408013 is provided with a docking Block 24080131, the friction wheel shaft 2408013 drives the first clamping wheel shaft 2408016 and the second clamping wheel shaft 2408019 to rotate through the gear set 2408025, and drives the flexible push rod 2408010 to transmit through the friction force, and the measuring wheel 2408021 is driven to rotate by the second clamping wheel 2408018 after clamping, thereby driving the measuring wheel shaft 2408022 and the magnet 2408023 to rotate together, so that it is convenient for the encoder to sense its rotation angle, thereby converting the real displacement of the flexible push rod 2408010,The handwheel 2408026 is located outside the housing 2408011 and is sleeved on the friction wheel shaft 2408013. The handwheel 2408026 can drive the friction wheel shaft 2408013 to rotate, so that each wheel shaft rotates synchronously, so that when the equipment is installed and debugged, a flexible push rod 2408010 of a certain length can manually enter the second push rod driving mechanism 240801 first, and the travel switch 2408024 is located in the housing 2408011 and close to the output port of the flexible push rod 2408010. The travel switch 2408024 can detect the flexible push rod 2408010. Current position and moving state. When the travel switch 2408024 detects the flexible push rod 2408010, it means that the flexible push rod 2408010 has successfully entered the second push rod driving mechanism 240801. This position can also be used as the zero position of the flexible push rod 2408010. When the flexible push rod 2408010 is recovered, the travel switch 2408024 suddenly fails to detect the flexible push rod 2408010, and the second push rod driving mechanism 240801 stops recovering to prevent the flexible push rod 2408010 from completely separating from the friction wheel set of the second push rod driving mechanism 240801. At this time, a certain length of the flexible push rod 2408010 will remain inside the second push rod driving mechanism 240801 and prepare for the next particle pushing work.

[0101] The housing 2408011 includes 240801101-upper cover, 240801102-lower cover, 240801103-dust cover, 240801104-pressing guide plate, 240801105-hand screw bolt A, 240801106-guide block, and the dust cover 240801103 is clamped between the upper cover 240801101 and the lower cover 24080110 2. The pressing guide plate 240801104 and the guide block 240801106 are located in the housing and placed on the lower cover 240801102. The pressing guide plate 240801104 is guided and slidably matched with the first pressing seat 2408014 and the second pressing seat 2408017. The travel switch 2408024 is set on the guide block 240801106 and is 01106 A cleaning groove is provided on the other side of the position where the travel switch 2408024 is installed, which is convenient for cleaning residual blood stains, and the center distance between the upper cover 240801101 and the base 240804 is 0.6mm~0.8mm. The upper cover 240801101 is connected to the base 240804 by bolts, the upper cover 240801101 is connected to the clamping guide plate 240801104 by bolts, the lower cover 240801102 is connected to the clamping guide plate 240801104 by bolts, and the dust cover 240801103 is connected to the clamping guide plate 240801104 by hand-tightening bolts A240801105. The hand-tightening bolts A240801105 can be manually loosened to remove the dust cover 240801103, which is convenient for cleaning the components inside the 2408011 housing.

[0102] The clamping adjustment assembly 2408020 includes 24080201-a first pressure rod, 24080202-a second pressure rod, 24080203-a first spring, 24080204-a second spring, 24080205-a cam handle, 240802051-a first cam portion, 240802052-a second cam portion, and 24080206-a pin A. The first pressure rod 24080201 and the second pressure rod 24080202 pass through the clamping guide plate 240801104 and the upper cover 240801101 in sequence. One end of the first spring 24080203 The first spring 24080204 is disposed on the first pressure rod 24080201 and the other end is disposed on the first pressing seat 2408014. One end of the second spring 24080204 is disposed on the second pressure rod 24080202 and the other end is disposed on the second pressing seat 2408017. The cam handle 24080205 is rotatably disposed on the upper cover 240801101 through the pin A24080206. The first cam portion 240802051 is disposed on the end of the cam handle 24080205 and is always in conflict with the first pressure rod 24080201. The second cam portion 240802052 is disposed on the cam The end of the wheel handle 24080205 is always in conflict with the second pressure rod 24080202. When the cam handle 24080205 is rotated, the distance between the conflict position between the first cam portion 240802051 and the first pressure rod 24080201 and the rotation center of the cam handle 24080205 changes. At the same time, the distance between the conflict position between the second cam portion 240802052 and the second pressure rod 24080202 and the rotation center of the cam handle 24080205 changes, which can drive the first pressure rod 24080201 and the second pressure rod 24080202 to move, thereby realizing The first clamping seat 2408014 and the second clamping seat 2408017 perform clamping or loosening operations at the same time; thereby quickly installing or disassembling the flexible push rod 2408010, the ends of the first clamping rod 24080201 and the second clamping rod 24080202 are provided with arc-shaped surfaces to reduce friction loss, and the outer surfaces of the first cam portion 240802051 and the second cam portion 240802052 are provided with grooves adapted to the arc-shaped surfaces, so that when the first clamping seat 2408014 and the second clamping seat 2408017 are clamped at the same time, the arc-shaped surfaces enter the grooves and can always maintain the clamped state.

[0103] The host module 240805 includes 2408051-motor seat, 2408052-motor, 2408053-docking plate, 2408054-rotating sleeve, 24080541-guide groove, 2408055-telescopic sleeve, 24080551-docking groove, 2408056-fifth spring, 2408057-moving shaft, the docking plate 2408053 is fixed above the motor seat 2408051, the motor 2408052 is installed on the motor seat 2408051, the axial direction of the output shaft of the motor 2408052 is parallel to the axial direction of the friction wheel shaft 2408013, the rotating sleeve 2408054 is synchronously sleeved on the output shaft of the motor 2408052, the rotating sleeve 2408054 is rotatably set on the host module 240805 through the bearing, and the inner sleeve of the telescopic sleeve 2408055 is On the rotating sleeve 2408054, the telescopic sleeve 2408055 moves along the central axis of the rotating sleeve 2408054 through the moving shaft 2408057, a guide groove 24080541 is provided on the inner wall of the rotating sleeve 2408054, the end of the moving shaft 2408057 is placed in the guide groove 24080541, one end of the fifth spring 2408056 is abutted on the rotating sleeve 2408054, and the other end is abutted on the telescopic sleeve 2408055, and the telescopic sleeve 2408055 is provided with a docking groove 24080551 that is adapted to the shape of the docking block 24080131 of the friction wheel shaft 2408013 at one end close to the friction wheel shaft 2408013. When the docking block 24080131 is docked with the docking groove 24080551, the output shaft of the motor 2408052 drives the friction wheel shaft 2408013.

[0104] The quick-connect buckle assembly 240802 includes 24080211-buckle, 24080212-torsion spring, 24080213-pin B, 24080214-operating block, the lower end of the base 240804 is provided with a positioning ring 2408041 around the friction wheel shaft 2408013, the docking plate 2408053 is provided with a positioning hole 24080531 for inserting the positioning ring, and the upper end surface of the docking plate 2408053 is also provided with a positioning block 24080532, and the base 240804 is provided with a positioning groove 2408042 that matches the shape of the positioning block 24080532, which plays a positioning and guiding role, and the buckle 24080211 is provided through the pin B 24080213 is rotatably arranged on the base 240804, the operating block 24080214 is fixedly connected to the buckle 24080211 and is extended outwardly, the torsion spring 24080212 is sleeved on the pin B24080213, one end of which is against the base 240804 and the other end is against the buckle 24080211, and the docking plate 2408053 is provided with a bayonet 2 for the hook portion of the buckle 24080211 to pass through 4080533, a clamping block 24080534 is provided on the inner side of the bayonet 24080533. When quick connection is required, the base 240804 is pressed in a direction perpendicular to the docking plate 2408053, so that the hook of the buckle 24080211 can pass through the bayonet 24080533, and the hook of the buckle 24080211 hooks the clamping block 24080534 under the action of the torsion spring 24080212, and is quickly locked. When the lock needs to be canceled, the operating block 24080214 is manually held, and the buckle 24080211 is pressed and rotated to a certain angle, so that the clamping block 24080534 removes the stopper on the hook of the buckle 24080211, and the base 240804 is lifted to separate.

[0105] The storage wheel assembly 240803 includes 2408031-storage wheel, 2408032-wheel frame, 24080321-mounting block, 24080322-locking groove, 24080323-guide ramp, 2408033-connecting frame, 24080331-mounting groove, 2408034-hand screw bolt B, 2408035-sliding block, 2408036-locking block, 2408037-third spring. The storage wheel 2408031 is a concave structure with an inner groove for storing the flexible push rod 2408010. The storage wheel 2408031 is connected to the wheel frame by the hand screw bolt B. 2408032, the connecting frame 2408033 is fixed on the base 240804, the inner side of the connecting frame 2408033 is provided with a mounting groove 24080331, the wheel frame 2408032 is provided with a mounting block 24080321 on the side close to the connecting frame 2408033, the mounting block 24080321 is provided with a locking groove 24080322, the mounting block 24080321 of the wheel frame 2408032 is transversely inserted into the mounting groove 24080331 of the connecting frame 2408033, the slider 2408035 is slidably arranged on the outer side of the connecting frame 2408033, and the third spring 2408 One end of 037 is against the slider 2408035, and the other end is against the connecting frame 2408033. The third spring 2408037 always gives the slider 2408035 an elastic force to move upward. The locking block 2408036 is fixedly connected to the slider 2408035 and is located on the inner side of the connecting frame 2408033. The end of the mounting block 24080321 is provided with a guide slope 24080323. When the mounting block 24080321 is installed in the mounting groove 24080331, the guide slope 24080323 conflicts with the locking block 2408036. When the locking block 2408036 moves downward and compresses the third spring 2408037, and when the mounting block 24080321 moves to the locking groove 24080322 on it and is opposite to the locking block 2408036, the third spring 2408037 drives the locking block 2408036 to move into the locking groove 24080322, thereby locking the wheel frame 2408032 and the connecting frame 2408033. When the wheel frame 2408032 needs to be removed, the slider 2408035 only needs to be pressed in the reverse direction to compress the third spring 2408037, so that the locking block 2408036 is separated from the locking groove 24080322, thereby realizing separation. The locking groove 24080322 and the locking block 2408036 structure can also be replaced by other quick-connect structures.

[0106] The guide assembly 240806 includes a guide seat 2408061, a guide channel 2408062, a pressing member 2408063, a pressing portion 24080631, an operating portion 24080632, and a fourth spring 2408064. The guide seat 2408061 is fixedly arranged on the wheel frame 2408032. The guide seat 2408061 is provided with a guide channel 2408062 for the flexible push rod 2408010 to pass through. The pressing member 2408063 is rotatably arranged on the guide seat 2408061. The pressing member 2408063 is rotatably arranged on the guide seat 2408061. 8063 is provided with a pressing portion 24080631 at one end, and the pressing portion 24080631 is located on one side of the guide channel 2408062. One end of the fourth spring 2408064 is abutted against the pressing member 2408063 and the other end is abutted against the guide seat 2408061. The fourth spring 2408064 always allows the pressing member 2408063 to rotate in the direction of the pressing portion 24080631 pressing the flexible push rod 2408010. One end of the pressing member 2408063 is provided with an operating portion 24080632 and extends out of the guide seat 2408 061, by pressing the operating part 24080632, the pressing member 2408063 can be rotated in the opposite direction, and the pressing part 24080631 removes the pressure on the flexible push rod 2408010, so that the flexible push rod 2408010 outputs a certain length from the guide seat 2408061. After completion, the pressing of the operating part 24080632 is removed. When the flexible push rod 2408010 of a certain length is installed into the second push rod driving mechanism 240801, the pressing part 24080631 of the pressing member 2408063 is pressed against the fourth spring 2408064. Under the action of , the flexible push rod 2408010 is pressed so that the other parts of the flexible push rod 2408010 will not pop out from the storage wheel 2408031. After the installation and debugging of the flexible push rod 2408010 is completed, the connecting frame 2408033 is fixed on the base 240804. At this time, the operating part 24080632 keeps contacting and pressing with the shell 2408011, so that the pressing part 24080631 always removes the pressure on the flexible push rod 2408010, so that the flexible push rod 2408010 can pass smoothly during subsequent use.

[0107] The encryption chipset 240807 is composed of an encryption chip, a sealing gasket A, and a spring pin A. Its function is to record the product model, usage time, number of replacements, and other information of the internal module for record keeping and reminder.

[0108] The spring needle group 240808 is composed of: 2408081-connecting plate A, 2408082-spring needle B, the spring needle 2408082 is fixed on the docking plate 2408053 through the connecting plate A2408081, and the spring needle B2408082 is arranged opposite to the spring needle A2408073.

[0109] The encoder group 240809 is composed of: 2408091-connecting plate B, 2408092-encoder. The encoder 2408092 is fixed on the docking plate 2408053 through the connecting plate B2408091. The encoder 2408092 is arranged opposite to the magnet 2408023. Its function is to measure the stroke and feedback data of the flexible push rod 2408010 running in the second push rod driving mechanism 240801.

[0110] Working principle: After the second push rod driving mechanism 240801 is installed on the host module 240805, the output shaft of the motor 2408052 is connected with the friction wheel shaft 2408013, and then the output shaft of the motor 2408052 drives the friction wheel shaft 2408013 to rotate, and the rotation of the friction wheel shaft 2408013 drives the gear set 2408025 to rotate, so that the friction wheel 2408012, the first clamping wheel 2408015 and the second clamping wheel 2408018 rotate synchronously. After the flexible push rod 2408010 is installed, when the flexible push rod 2408010 moves, the friction force drives the measuring wheel 2408021 and the measuring wheel shaft 2408022 to rotate. The encoder 2408092 corresponding to the encoder records the rotation stroke of the magnet 2408023 on the measuring wheel axle 2408022 at this time, that is, the stroke of the flexible push rod 2408010. Since the encoder group 240809 is arranged on the host module 240805 instead of the second push rod driving mechanism 240801, there is no need to process the encoder group 240809 when the second push rod driving mechanism 240801 is cleaned, disinfected and sterilized, so as to avoid water ingress or high temperature damage to the encoder group 240809. The encryption chip group 240807 communicates with the host module 240805 through the spring needle group 240808, and sends the information inside the module to the host.

[0111] When a certain length of flexible push rod 2408010 is loaded into the second push rod driving mechanism 240801, the emergency stop switch 2408024 can detect the current position and movement state of the flexible push rod 2408010 during this process. When the emergency stop switch 2408024 detects the flexible push rod 2408010, it means that the flexible push rod 2408010 has successfully entered the second push rod driving mechanism 240801, and this position can also be used as the zero position of the flexible push rod 2408010; when the flexible push rod 2408010 is recovered, the emergency stop switch 2408024 suddenly fails to detect the flexible push rod 2408010, and the second push rod driving mechanism 240801 stops recovering to prevent the flexible push rod 2408010 from completely separating from the second push rod driving mechanism 240801. At this time, the certain length of flexible push rod 2408010 will remain inside the second push rod driving mechanism 240801 and be ready for the next particle pushing work.

[0112] Example 3

[0113] The end of the butt joint pipe close to the mounting seat is connected with a butt joint;

[0114] A cleaning block is provided inside the joint, and a soft rubber tube is installed inside the cleaning block. The diameter of the center hole of the soft rubber tube is smaller than the outer diameter of the push rod. When the push rod is pushed out, the push rod can open the center hole of the soft rubber tube to allow the push rod to pass smoothly; when the push rod is retracted, the dirt or blood stains on the push rod will be scraped clean by the soft rubber tube due to the expansion and squeezing effect of the soft rubber tube.

[0115] like Figure 22 to Figure 24 The cleaning block 2027103 is fixed to the second pair of joints 2027102, the second docking pipe 2027104 is fixed to the cleaning block 2027103, the soft hose 2027105 is installed in the cleaning block 2027103, and the threaded joint 2027106 is clamped between the step of the second pair of joints 2027102 and the cleaning block 2027103.

[0116] The second pair of joints 2027102 are fixed to the flexible guide wire drive mechanism 2027107 by the threaded joint 2027106. At this time, the flexible guide wire drive mechanism 2027107 drives the flexible guide wire 2027101 to move forward into the channel of the second pair of joints 2027102. The flexible guide wire 2027101 follows the channel of the second pair of joints 2027102 and enters the soft rubber tube 2027105 located in the cleaning block 2027103. Since the inner tube size of the soft rubber tube 2027105 is smaller than the outer diameter of the flexible guide wire 2027101, and the soft rubber tube

[0117] 2027105 is elastic. The inner tube of the soft rubber tube 2027105 will be squeezed and stretched open by the flexible guide wire 2027101 until the flexible guide wire 2027101 can pass through the soft rubber tube 2027105 smoothly. Finally, the flexible guide wire 2027101 passes smoothly into the channel of the second docking pipe 2027104. When the flexible guide wire 2027101 is retracted to the flexible guide wire driving mechanism 2027107, since the soft rubber tube 2027105 is always in a state of being squeezed and tightened by the flexible guide wire 2027101, the stains stuck on the outer surface during the retraction of the flexible guide wire 2027101 and the residual liquid in the channel of the second docking pipe 2027104 will be scraped clean by the retracted soft rubber tube 2027105, thereby achieving a cleaning effect.

[0118] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0119] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A push rod drive mechanism that can be quickly disassembled, characterized in that: It includes a push rod driving mechanism, a mounting seat and a docking pipe; The push rod driving mechanism is used to drive the push rod to reciprocate; The mounting seat is installed at the push rod output port of the push rod driving mechanism, one end of the docking pipe is connected to the external device, and the other end of the docking pipe is installed on the mounting seat through a quick connection structure, so that the docking pipe is connected to the push rod output port of the push rod driving mechanism, and the quick connection structure facilitates the disassembly and assembly between the push rod driving mechanism and the docking pipe; Alternatively, the mounting seat is mounted on an external device, one end of the docking pipe is connected to the external device, and the other end of the docking pipe is mounted on the mounting seat through a quick connection structure, and the docking pipe is aligned with the push rod output port of the push rod driving mechanism in the air, so that the push rod directly enters the docking pipe after being output from the push rod output port, and the quick connection structure facilitates disassembly and assembly between the external device and the docking pipe.

2. A quickly detachable push rod drive mechanism according to claim 1, characterized in that: The quick connection structure is one or a combination of a threaded connection structure, a snap connection structure, and a lock connection structure; When the quick connection structure is a threaded connection structure, the quick connection structure includes a butt joint, the butt joint is connected to the butt pipe, and the butt joint is connected to the mounting seat through a threaded connection; When the quick connection structure is a snap-on connection structure, the quick connection structure includes a docking joint, a snap-on piece and a first elastic element. The docking joint is connected to the docking pipe, and the snap-on piece can be slidably or rotatably arranged on the mounting seat. The snap-on piece is provided with a first snap-on hole that cooperates with the docking joint. The first elastic element has a certain thrust on the snap-on piece. When the docking joint passes through the first snap-on hole of the snap-on piece, the first elastic element drives the snap-on piece to move or rotate so that the snap-on piece clamps the docking joint, so that the docking joint and the mounting seat are fixed together.

3. A quickly detachable push rod drive mechanism according to claim 2, characterized in that: When the quick connection structure is a snap connection structure, the mounting seat is provided with a guide groove for guiding the snap piece to slide, the outer surface of the mounting seat is provided with a first accommodating cavity, the first elastic element is a first spring, the first spring is arranged in the first accommodating cavity, the snap piece extends to a side close to the first accommodating cavity with a resisting portion, one end of the first spring is abutted against the resisting portion, and the other end of the first spring is abutted against the bottom surface of the first accommodating cavity, and the mounting seat is provided with a limiting structure for limiting the snap piece from being separated from the mounting seat; The limiting structure includes a limiting pin, which is slidably arranged in the mounting seat, and the limiting pin is provided with an inwardly concave limiting step, and the limiting step is divided into a first limiting step and a second limiting step, and the diameter of the first limiting step is larger than that of the second limiting step, and the buckle piece is provided with a first notch and a second notch corresponding to the first limiting step and the second limiting step respectively, and the buckle piece is clamped on different limiting steps to control the buckle piece to clamp or loosen the joint; A second elastic element is provided in the mounting seat, and the second elastic element exerts a certain thrust on the limit pin through its own elasticity to prevent the notch of the buckle piece from detaching from the corresponding limit step; A third elastic element is provided in the mounting seat. When the docking head is connected to the mounting seat, the third elastic element is in a compressed state. When the docking head is separated from the mounting seat, the third elastic element recovers its deformation, exerts a force on the docking head to move outward, and quickly separates the docking head from the mounting seat.

4. The quickly detachable push rod drive mechanism according to claim 1, characterized in that: The end of the butt joint pipe close to the mounting seat is connected with a butt joint; A cleaning block is provided inside the joint, and a soft rubber tube is installed inside the cleaning block. The diameter of the center hole of the soft rubber tube is smaller than the outer diameter of the push rod. When the push rod is pushed out, the push rod can open the center hole of the soft rubber tube to allow the push rod to pass smoothly; when the push rod is retracted, the dirt or blood stains on the push rod will be scraped clean by the soft rubber tube due to the expansion and squeezing effect of the soft rubber tube.

5. The quickly detachable push rod driving mechanism according to claim 1, characterized in that: A rotating power shaft is provided on the push rod driving mechanism, and the rotating power shaft is used to drive the push rod driving mechanism to move. The push rod driving mechanism is directly connected and fixed to the external host through a second quick release mechanism. When the push rod driving mechanism is directly connected and fixed to the external host, the rotating power shaft of the push rod driving mechanism is docked with the rotating drive shaft on the external host, thereby realizing torque transmission and driving the push rod driving mechanism to move.

6. A quickly detachable push rod drive mechanism according to claim 5, characterized in that: The second quick-release mechanism includes a buckle and a fourth elastic element. The buckle is rotatably arranged on the push rod driving mechanism. A second bayonet is provided on the external host. When the hook of the buckle passes through the second buckle, under the elastic force of the fourth elastic element, the hook of the buckle hooks the second bayonet to prevent the buckle from detaching from the second bayonet.

7. The quickly detachable push rod driving mechanism according to claim 5, characterized in that: When the rotary drive shaft and the rotary power shaft are directly connected in transmission, a first transmission part is provided on the rotary power shaft, and a second transmission part connected to the first transmission part is provided at one end of the rotary drive shaft, and the first transmission part and the second transmission part cooperate to realize torque transmission; The first transmission part and the second transmission part are structures in which a transmission shaft cooperates with a transmission hole; or, the first transmission part and the second transmission part are structures in which a transmission shaft cooperates with a transmission hole; or, the first transmission part and the second transmission part adopt a docking plate structure with a pin hole or a pin groove and a pin shaft to realize torque transmission; The rotating drive shaft and / or the rotating power shaft adopts a telescopic structure; When the rotary power shaft adopts a telescopic structure, the telescopic structure is that the first transmission part is telescopically arranged on the rotary power shaft, the rotary power shaft and the first transmission part are synchronously rotated in the circumferential direction and slidably matched in the axial direction, a fifth elastic element is arranged in the rotary power shaft, the fifth elastic element gives the first transmission part an elastic force to extend outward, the fifth elastic element pushes the first transmission part and the second transmission part to move toward each other to complete docking, and the docking parts of the two are provided with matching anti-backlash inclined surfaces or conical surfaces, and the anti-backlash inclined surfaces of the two are fitted to each other after the docking is completed to eliminate the gap of the docking, and the fifth elastic element is one or a combination of a spring, an elastic block, a spring, a coil spring, and a torsion spring; When the rotating drive shaft adopts a telescopic structure, the telescopic structure is that the second transmission part is telescopically arranged on the rotating drive shaft, and the rotating drive shaft and the second transmission part are synchronously rotated circumferentially and axially slidably matched, and a sixth elastic element is arranged in the rotating drive shaft, and the sixth elastic element gives the second transmission part an elastic force to extend outward, and the sixth elastic element pushes the second transmission part and the first transmission part to move toward each other to complete docking, and the docking parts of the two are provided with matching anti-gap inclined surfaces or conical surfaces, and the anti-gap inclined surfaces of the two are fitted with each other after the docking is completed to eliminate the docking gap, and the sixth elastic element is one or a combination of a spring, an elastic block, a spring, a coil spring, and a torsion spring.

8. The quickly detachable push rod driving mechanism according to claim 1, characterized in that: The push rod driving mechanism adopts a friction driving mechanism, which includes a power component and a transmission component; the power component is used to provide power for the push rod to move, and the transmission component is used to convert the power of the power component into friction force on the push rod, and the push rod is driven to move by the friction force; The power component adopts a motor, and an internal displacement sensor is connected to the power component or the transmission component to measure the theoretical displacement of the push rod driven by the power component; The transmission component includes a friction wheel or a friction belt, and the friction wheel or the friction belt drives the push rod. The friction wheel or the friction belt clamps the push rod through a clamping mechanism, and the clamping mechanism adopts a passive clamping mechanism or an active clamping mechanism; or the friction wheel or the friction belt itself is an elastic structure, and the push rod is clamped by its own extrusion; When the clamping mechanism adopts a passive clamping mechanism, the passive clamping mechanism realizes the clamping of the push rod by the elastic deformation of the elastic element. The passive clamping mechanism also includes a clamping adjustment component, which can adjust the clamping or loosening of the friction wheel or friction belt on the push rod. When the clamping adjustment component is in the state of loosening the friction wheel or friction belt, even if the elastic deformation of the elastic element is completely released, the friction wheel or friction belt still has a disassembly and assembly space, which is convenient for putting the push rod in or out. When the clamping adjustment component is in the state of clamping the friction wheel or friction belt, the elastic element is squeezed or stretched by the clamping adjustment component to produce elastic deformation. The clamping adjustment component includes a cam mechanism or a connecting rod mechanism, which can realize rapid switching of loose and tight states.

9. The quickly detachable push rod driving mechanism according to claim 1, characterized in that: The push rod driving mechanism is also provided with a position detection component, which includes a rotary encoder and / or a travel switch matched with the measuring wheel; one side of the measuring wheel is in contact with the push rod, and when the push rod moves forward and backward, it drives the measuring wheel to rotate, and the displacement of the push rod can be converted by measuring the angular displacement of the measuring wheel through the rotary encoder; Or the travel switch is installed on one side of the push rod output channel, and the position signal is triggered when the push rod passes through the travel switch; The travel switch is a conductive travel switch, which includes elastic contacts or spring pins and uses conductive on / off to determine the position of the push rod; or the travel switch is a mechanical switch, a photoelectric switch, a Hall switch, an inductive switch, a capacitive switch or a combination thereof; When the travel switch is a mechanical switch, a triggering member slidably or rotatably arranged outside the mechanical switch contacts the push rod and triggers the travel switch, one end of the triggering member is arranged in the push rod output channel, and the other end abuts against the mechanical switch; the triggering member is a triggering lever, a triggering sheet or a triggering needle, or a roller is arranged at one end of the triggering member; The rotary encoder is arranged outside the push rod driving mechanism, and a magnetic element is provided on the push rod driving mechanism. The magnetic element is connected to the measuring wheel and rotates as the measuring wheel rotates. When the push rod driving mechanism is connected and fixed to the external host through the second quick release mechanism, the magnetic element is opposite to the sensing part of the rotary encoder, and the distance between the two is 0.1-5mm. The rotary encoder is used to sense and measure the rotation angle of the magnetic element through air, so as to measure the rotation angle of the measuring wheel, which is convenient for converting the rotation angle into the movement displacement of the push rod, and at the same time avoids cleaning and sterilization of the rotary encoder.

10. The quickly detachable push rod driving mechanism according to claim 1, characterized in that: The push rod driving mechanism also includes a storage assembly for storing the push rod. The storage assembly is provided with a locking mechanism at the docking point with the push rod driving mechanism. The locking mechanism controls the clamping and loosening of the push rod. When the storage assembly is not installed in the push rod driving mechanism, the locking mechanism clamps the push rod to prevent the push rod from popping out of the storage assembly; when the storage assembly is installed in the push rod driving mechanism, the locking mechanism can be unlocked to loosen the push rod.

11. A quickly detachable push rod drive mechanism according to claim 10, characterized in that: The storage assembly includes a wheel frame and a storage wheel. The wheel frame is connected and fixed to the push rod driving mechanism through a third quick release mechanism. The storage wheel is installed on the wheel frame. The push rod is wound on the storage wheel, or the storage wheel has an inner groove for storing the push rod. The locking mechanism includes a guide seat, a clamping piece and a seventh elastic element. The guide seat is installed on the wheel frame. A guide channel for guiding the push rod is provided in the guide seat. The clamping piece is rotatably or translationally arranged on the guide seat, and a clamping portion is provided at one end of the clamping piece, and a pressing operation portion is provided at the other end. When the storage assembly is not installed in the push rod driving mechanism, the seventh elastic element exerts a certain thrust on the clamping piece through its own elasticity, so that the clamping piece rotates or translates and presses the push rod through the clamping portion; when the storage assembly is installed in the quick clamping position of the push rod driving mechanism, the pressing portion on the push rod driving mechanism is aligned with the pressing operation portion for pressing, thereby pushing the pressing operation portion, so that the clamping piece rotates in the opposite direction or translates to release the push rod.

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