CN106044198B - Catheter positioning device - Google Patents
Catheter positioning device Download PDFInfo
- Publication number
- CN106044198B CN106044198B CN201610584637.9A CN201610584637A CN106044198B CN 106044198 B CN106044198 B CN 106044198B CN 201610584637 A CN201610584637 A CN 201610584637A CN 106044198 B CN106044198 B CN 106044198B
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- gripper
- mechanical
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- fixed
- moving
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- 230000001105 regulatory effect Effects 0.000 claims description 20
- 238000003825 pressing Methods 0.000 claims description 11
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 abstract description 3
- 229910052782 aluminium Inorganic materials 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 6
- 239000003814 drug Substances 0.000 description 5
- 238000001802 infusion Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000001990 intravenous administration Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 210000003462 vein Anatomy 0.000 description 2
- 241001411320 Eriogonum inflatum Species 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004709 eyebrow Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The catheter positioning device comprises two long beams which are arranged in parallel, wherein the long beams are hollow aluminum profiles, and the self weight of the long beams is effectively reduced on the premise of ensuring the strength of the long beams, so that the catheter positioning device is lighter in moving, the load of a power source is reduced, and the energy is saved; the long cross beam is fixedly provided with two mutually parallel short cross beams, the distance between the two short cross beams is determined according to the length of the guide pipe, the short cross beams are mutually perpendicular to the long cross beam, the short cross beams are of a frame structure, the weight of the short cross beams is reduced as much as possible under the premise of ensuring the strength and the height of the short cross beams, the load of a power source is reduced, the energy is saved, the short cross beams are fixedly arranged below the long cross beams and are fixed at positions, close to the end parts, of the two ends of the long cross beams, the two short cross beams are respectively fixedly provided with an up-down operation cylinder, the two up-down operation cylinders are mutually parallel, and the two up-down operation cylinders are installed in an inverted mode.
Description
Technical Field
The invention belongs to the technical field of manufacturing of medical appliances, and relates to a production, assembly and positioning device for an infusion apparatus catheter, in particular to a catheter positioning device.
Background
The infusion apparatus is an auxiliary apparatus commonly used in medical treatment, is mainly used for intravenous infusion, and is an important disposable medical consumable material which is subjected to aseptic treatment and establishes a channel between a vein and liquid medicine; the device is generally formed by connecting a vein needle, a protective cap, a liquid medicine filter, a regulator for controlling the flow rate of the liquid medicine, a drip cup, a bottle stopper puncture outfit and an air inlet pipe air filter; all the components are connected through a conduit, and the liquid medicine circulates through the conduit; the regulator can regulate different liquid medicine input speeds for different people in different time, so that the safety and the comfort level of transfusion personnel are ensured while the efficiency is improved; in the production of an assembled infusion set, the regulator housing needs to be moved to an assembly station for assembly with the infusion set conduit.
The Chinese patent No. ZL201320657950.2 discloses a structure of a positioning device of a medical catheter; the device is mainly characterized in that the first fixing clamp and the second fixing clamp are used for positioning the winding part of the medical catheter, the guide blocks are used for supporting the two ends of the medical catheter, the two ends of the medical catheter are pressed against the first fixing plate and the second fixing plate to enable the two ends of the medical catheter to meet the set length, the medical catheter can be clamped accurately by the pipe clamp, and the subsequent automatic assembly requirement is met. The defects are that: 1. the lengths of the first fixing clamp and the second fixing clamp are too long, so that the volume of the positioning device is too large, and the production cost is increased; 2. when the catheter is clamped, the clamping force cannot be too average due to the fact that the length is too long, so that some catheters are flattened, and some catheters are too loose; 3. the fixing clamp is less, so that the deflection phenomenon of the catheter occurs during assembly, and the assembly precision and the production efficiency of the catheter are affected. Therefore, developing a positioning device with simple structure, good usability and accurate positioning is forced to be fast in eyebrows.
Disclosure of Invention
The invention mainly solves the technical problems existing in the prior art and provides a catheter positioning device.
The technical problems of the invention are mainly solved by the following technical proposal: the catheter positioning device comprises two long beams which are arranged in parallel, wherein the long beams are hollow aluminum profiles, and the self weight of the long beams is effectively reduced on the premise of ensuring the strength of the long beams, so that the catheter positioning device is lighter in moving, the load of a power source is reduced, and the energy is saved; the long cross beam is fixedly provided with two mutually parallel short cross beams, the distance between the two short cross beams is determined according to the length of a guide pipe, the short cross beams are mutually perpendicular to the long cross beam, the short cross beams are of a frame structure, the weight of the short cross beams is reduced as much as possible under the premise of ensuring the strength and the height of the short cross beams, the power source is reduced, the energy is saved, the short cross beams are fixedly arranged below the long cross beams and are fixed at positions, close to the end parts, of the two ends of the long cross beams, the two short cross beams are respectively fixedly provided with an up-down operation cylinder, the two up-down operation cylinders are mutually parallel, the two up-down operation cylinders are installed in an inverted mode, the cylinder rods of the two up-down operation cylinders face downwards vertically, the two up-down operation cylinders are respectively fixedly connected with a first mechanical gripper and a second mechanical gripper, the first mechanical gripper and the second mechanical gripper are connected with the cylinder rods of the up-down operation cylinders, the up-down operation cylinders can drive the first mechanical gripper and the second mechanical gripper to move vertically, the first mechanical gripper is used for gripping the guide pipe and the regulating valve, and the second mechanical gripper is used for gripping the guide pipe.
Further, the second mechanical gripper comprises a fourth cylinder, and the fourth cylinder is fixed on the up-and-down operation cylinder through a cylinder rod of the up-and-down operation cylinder, so that the fourth cylinder and the cylinder rod of the up-and-down operation cylinder synchronously move; the first mounting plate and the second mounting plate are fixedly arranged on the fourth cylinder, the first mounting plate and the second mounting plate are parallel to each other, the second mounting plate is fixed on a cylinder rod of the fourth cylinder, the first mounting plate is directly fixed on the fourth cylinder, and relative displacement can be produced between the first mounting plate and the second mounting plate; a fixed mechanical gripper mounting plate which is vertically arranged is arranged on the first mounting plate, and a second fixed mechanical gripper is fixedly arranged on the fixed mechanical gripper mounting plate; the second mechanical gripper mounting plate is fixedly arranged on the second mounting plate, a second mechanical gripper is arranged on the mechanical gripper mounting plate, the second fixed mechanical gripper and the second mechanical gripper are arranged between the fixed mechanical gripper mounting plate and the mechanical gripper mounting plate, the fixed mechanical gripper mounting plate and the mechanical gripper mounting plate can be used for mounting the second fixed mechanical gripper and the second mechanical gripper, and the second fixed mechanical gripper and the second mechanical gripper can be protected from being scratched by other parts when in motion, so that the service life and the safety of the mechanical gripper are prolonged; the fourth cylinder is used for driving the second mounting plate to move left and right, the second mounting plate drives the moving mechanical gripper mounting plate to move left and right, the moving mechanical gripper mounting plate drives the second moving mechanical gripper to move left and right, and at the moment, relative movement is generated between the second moving mechanical gripper and the second fixed mechanical gripper and used for clamping or releasing the catheter.
Further, the second fixed mechanical gripper is fixedly arranged on the fixed mechanical gripper mounting plate, the second fixed mechanical grippers are arranged in two rows, the structures and the mounting modes of the two rows of second fixed mechanical grippers are the same, the distance between the two rows of second fixed mechanical grippers is 5-15cm, the second fixed mechanical grippers are enabled to be firmer when grabbing the catheter, the second fixed mechanical grippers are U-shaped, stress points of the second fixed mechanical grippers when grabbing the catheter are increased, the second fixed mechanical grippers are enabled to be firmer when grabbing the catheter, the second fixed mechanical grippers are arranged in twelve, and the second fixed mechanical grippers are matched with the second moving mechanical grippers and are used for grabbing and releasing the catheter.
Further, the second moving mechanical gripper is fixedly arranged on the moving mechanical gripper mounting plate, two rows of second moving mechanical grippers are arranged, the structures and mounting modes of the two rows of second moving mechanical grippers are the same, the distance between the two rows of second moving mechanical grippers is 5-15cm, the second moving mechanical grippers are firmer when grabbing the catheter, the second moving mechanical grippers are U-shaped, stress points of the second moving mechanical grippers when grabbing the catheter are increased, the shape of the second moving mechanical grippers is the same as that of the second fixed mechanical grippers, the second moving mechanical grippers are firmer when grabbing the catheter, twelve second moving mechanical grippers are arranged, and the second moving mechanical grippers are matched with the second fixed mechanical grippers and are used for grabbing and releasing the catheter.
Further, the second fixed mechanical gripper and the second moving mechanical gripper are on the same horizontal plane, so that the catheter can be positioned horizontally when the second fixed mechanical gripper and the second moving mechanical gripper grasp the catheter.
Further, the first mechanical gripper comprises a mounting fixing plate, wherein the mounting fixing plate is fixed on the up-and-down operation cylinder through a cylinder rod of the up-and-down operation cylinder, so that the mounting fixing plate and the cylinder rod of the up-and-down operation cylinder synchronously move; a first cylinder and a third cylinder are fixedly arranged below the mounting fixing plate, the first cylinder is fixed at one end of the mounting fixing plate, a cylinder mounting plate is fixedly arranged on the side surface of the other end of the mounting fixing plate, and the third cylinder is fixed between the first cylinder and the cylinder mounting plate and is deviated to the position of the first cylinder, because a third cylinder mechanical gripper on the third cylinder is used for grabbing the regulating valve, the third cylinder mechanical gripper has larger volume and needs more space for mounting the regulating valve; the second cylinder is fixedly arranged on the cylinder mounting plate in the direction towards the third cylinder, the second cylinder mechanical gripper is fixedly arranged on the second cylinder in the direction towards the third cylinder, the second cylinder mechanical gripper comprises a first moving mechanical gripper and a first fixed mechanical gripper, the first moving mechanical gripper is fixedly arranged on a push rod of the second cylinder, the first fixed mechanical gripper is directly fixed on the second cylinder, and when the second cylinder works, relative movement is generated between the first moving mechanical gripper and the first fixed mechanical gripper and used for clamping or releasing a guide pipe.
Further, a third cylinder mechanical gripper is fixedly arranged on the third cylinder, the third cylinder mechanical gripper faces the direction of the second cylinder and is fixed on the third cylinder, the third cylinder mechanical gripper comprises a moving gripper and a fixed gripper, the moving gripper is fixed on a push rod of the third cylinder, the fixed gripper is directly fixed on the third cylinder, the third cylinder mechanical gripper is the same as the second cylinder mechanical gripper in principle, but because the third cylinder mechanical gripper is used for clamping or releasing the regulating valve, the moving gripper and the fixed gripper are different from the first moving gripper and the first fixed gripper in structure, the moving gripper and the fixed gripper are both L-shaped, and the moving gripper and the fixed gripper are symmetrically arranged, so that the moving gripper and the fixed gripper form a U shape together, the U shape is consistent with the section of the regulating valve, the moving gripper and the fixed gripper are firmer when the regulating valve is gripped, and the regulating valve is prevented from sliding out or deviating; and the third cylinder is also fixedly provided with a pipe pressing flat plate which is directly fixed below the third cylinder, the pipe pressing flat plate is L-shaped, and the pipe pressing flat plate is used for keeping the horizontal height of the guide pipe on the first mechanical grab consistent.
Further, a mechanical grabbing installation block is fixedly arranged on the first air cylinder, the structure of the mechanical grabbing installation block is identical to that of the first installation plate, a first air cylinder mechanical grabbing device is fixedly arranged on the mechanical grabbing installation block, the mechanical grabbing principle of the first air cylinder mechanical grabbing device is identical to that of the first mechanical grabbing device, and the first air cylinder mechanical grabbing device is used for clamping or releasing a catheter.
Further, the first moving mechanical gripper and the first fixed mechanical gripper are arranged in pairs, the first moving mechanical gripper and the first fixed mechanical gripper are mutually spaced, and the maximum spacing distance between the first moving mechanical gripper and the first fixed mechanical gripper is larger than the outer diameter of the catheter, so that the first moving mechanical gripper and the first fixed mechanical gripper can easily grasp the catheter; twelve pairs of first moving mechanical grippers and twelve pairs of first fixed mechanical grippers are arranged, each pair of first moving mechanical grippers and each pair of first moving mechanical grippers are mutually matched with each other, are independent of each other and work in a linkage mode, and can simultaneously grasp and release twelve guide pipes at the same time, so that the working efficiency of the guide pipe positioning device is improved.
Further, the third cylinder mechanical gripper comprises a moving gripper and a fixed gripper, the moving gripper and the fixed gripper are arranged in pairs, the moving gripper and the fixed gripper are mutually spaced, the maximum spacing distance between the moving gripper and the fixed gripper is larger than the section of the regulating valve, the moving gripper and the fixed gripper can easily grasp the regulating valve, twelve pairs of moving grippers and twelve pairs of fixed grippers are arranged together, the moving gripper and twelve pairs of fixed grippers are mutually matched, are independent of each other and work in a linkage mode, and can simultaneously grasp and release twelve regulating valves at the same time, so that the working efficiency is improved.
Further, the first cylinder mechanical gripper, the second cylinder mechanical gripper and the third cylinder mechanical gripper are on the same horizontal plane, and the first cylinder mechanical gripper, the second cylinder mechanical gripper and the third cylinder mechanical gripper are also on the same horizontal plane as the second fixed mechanical gripper and the second moving mechanical gripper, so that the guide pipe is in a horizontal state when the first mechanical gripper and the second mechanical gripper grip the guide pipe, the positioning precision of the guide pipe is increased, and misoperation is reduced.
Compared with the prior art, the invention has the following advantages and effects:
(1) The lengths of the first mechanical gripper and the second mechanical gripper are smaller, so that the positioning device can keep smaller volume, and the production cost is reduced;
(2) When the first mechanical gripper and the second mechanical gripper grip the catheter, the gripping force can be evenly distributed on each guide rod due to the short length, so that the phenomenon that some catheters are flattened and some catheters are too loose is avoided;
(3) The mechanical grippers with different functions are arranged, so that the straight line state of the catheter can be always kept and the same horizontal height can be kept in the process of grabbing and releasing the catheter, and sufficient preparation work is made for subsequent installation.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a right side view of the present invention.
Fig. 3 is a perspective view of the present invention.
Fig. 4 is a front view of a second mechanical gripper of the present invention.
Fig. 5 is a perspective view of one of the second mechanical gripper of the present invention.
FIG. 6 is a second perspective view of a second mechanical gripper of the present invention.
Fig. 7 is a front view of the first mechanical gripper of the present invention.
Fig. 8 is a perspective view of one of the first mechanical gripper of the present invention.
FIG. 9 is a second perspective view of the first mechanical gripper of the present invention
In the figure: 1. a long beam; 2. a short cross beam; 3. a cylinder is operated up and down; 4. a first mechanical gripper; 5. a second mechanical gripper; 6. a conduit; 7. a regulating valve; 8. installing a fixing plate; 9. a cylinder mounting plate; 10. a first cylinder; 11. a second cylinder; 12. a third cylinder; 13. a first motion mechanical gripper; 14. a first stationary mechanical gripper; 15. the second cylinder is mechanically grasped; 16. a third cylinder mechanical gripper; 161. a sports grab; 162. a fixed claw; 19. a mechanical gripper mounting block; 20. a first cylinder mechanical gripper; 21. pressing a pipe flat plate; 22. a fourth cylinder; 23. a first mounting plate; 231. a second mounting plate; 24. fixing a mechanical grab mounting plate; 25. a second fixed mechanical gripper; 26. a moving mechanical gripper mounting plate; 27. a second motion mechanical gripper.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples:
fig. 1 is a front view of the present invention, fig. 2 is a right side view of the present invention, fig. 3 is a perspective view of the present invention, and as shown in fig. 1, 2 and 3, a catheter 6 positioning device for medical accessories provided in this embodiment is used as a delivery device for medical accessories for safety intravenous needles, the catheter 6 positioning device includes two long beams 1 arranged in parallel; the long beam 1 is fixedly provided with two short beams 2 which are parallel to each other, the short beams 2 are fixedly arranged below the long beam 1 and are fixed at positions, close to the end parts, of two ends of the long beam 1, the two short beams 2 are respectively fixedly provided with an up-down operation cylinder 3, the two up-down operation cylinders 3 are mutually parallel, the two up-down operation cylinders 3 are installed in an inverted mode, cylinder rods of the two up-down operation cylinders 3 are vertically downward, the two up-down operation cylinders 3 are respectively fixedly connected with a first mechanical gripper 4 and a second mechanical gripper 5, the first mechanical gripper 4 and the second mechanical gripper 5 are connected with cylinder rods of the up-down operation cylinders 3, the up-down operation cylinders 3 can drive the first mechanical gripper 4 and the second mechanical gripper 5 to vertically move, the first mechanical gripper 4 is used for gripping a guide pipe 6 and an adjusting valve 7, and the second mechanical gripper 5 is used for gripping the guide pipe 6.
As shown in fig. 2, the long beam 1 is a hollow aluminum profile, so that the self weight of the long beam 1 is effectively reduced on the premise of ensuring the strength of the long beam 1, the long beam 1 is lighter during movement, the load of a power source is reduced, and the energy is saved.
As shown in fig. 3, the distance between the two short beams 2 is determined according to the length of the guide pipe 6, the short beams 2 are perpendicular to the long beam 1, the short beams 2 are of a frame structure, the weight of the short beams 2 is reduced as much as possible on the premise of ensuring the strength and the height of the short beams, the load of a power source is reduced, and the energy is saved.
Fig. 4 is a front view of the second mechanical gripper 5 of the present invention, fig. 5 is one of the body diagrams of the second mechanical gripper 5 of the present invention, fig. 6 is the second of the body diagrams of the second mechanical gripper 5 of the present invention, and as shown in fig. 4, 5 and 6, the second mechanical gripper 5 includes a fourth cylinder 22, the fourth cylinder 22 being fixed to the up-down operation cylinder 3 by the cylinder rod of the up-down operation cylinder 3 so that the fourth cylinder 22 moves in synchronization with the cylinder rod of the up-down operation cylinder 3; the first mounting plate 23 and the second mounting plate 231 are fixedly arranged on the fourth air cylinder 22, the first mounting plate 23 and the second mounting plate 231 are parallel to each other, the second mounting plate 231 is fixedly arranged on the air cylinder rod of the fourth air cylinder 22, the first mounting plate 23 is directly fixedly arranged on the fourth air cylinder 22, and relative displacement can be produced between the first mounting plate 23 and the second mounting plate 231; the first mounting plate 23 is provided with a fixed mechanical gripper mounting plate 24 which is vertically arranged, and the fixed mechanical gripper mounting plate 24 is fixedly provided with a second fixed mechanical gripper 25; the second mounting plate 231 is fixedly provided with a vertically mounted moving mechanical grab mounting plate 26, the moving mechanical grab mounting plate 26 is provided with a second moving mechanical grab 27, the second fixed mechanical grab 25 and the second moving mechanical grab 27 are mounted between the fixed mechanical grab mounting plate 24 and the moving mechanical grab mounting plate 26, the fixed mechanical grab mounting plate 24 and the moving mechanical grab mounting plate 26 can be used for mounting the second fixed mechanical grab 25 and the second moving mechanical grab 27, and the second fixed mechanical grab 25 and the second moving mechanical grab 27 can be protected from being scratched by other parts in the moving process, so that the service life and the safety of the moving mechanical grab are prolonged; the fourth cylinder 22 will drive the second mounting plate 231 to move left and right when working, the second mounting plate 231 will drive the moving gripper mounting plate 26 to move left and right, and the moving gripper mounting plate 26 will drive the second moving gripper 27 to move left and right, at this time, a relative movement is generated between the second moving gripper 27 and the second fixed gripper 25, for gripping or releasing the catheter 6.
As shown in fig. 4, the second fixed mechanical grippers 25 are fixedly arranged on the fixed mechanical gripper mounting plate 24, two rows of second fixed mechanical grippers 25 are arranged, the structures and mounting modes of the two rows of second fixed mechanical grippers 25 are the same, the distance between the two rows of second fixed mechanical grippers 25 is 5-15cm, the second fixed mechanical grippers 25 are more stable when grabbing the catheter 6, the second fixed mechanical grippers 25 are U-shaped, stress points when grabbing the catheter 6 are increased by the second fixed mechanical grippers 25, the second fixed mechanical grippers 25 are more stable when grabbing the catheter 6, twelve second fixed mechanical grippers 25 are arranged, and the second fixed mechanical grippers 25 are matched with the second moving mechanical grippers 27 and are used for grabbing and releasing the catheter 6.
As shown in fig. 5 and 6, the second mechanical gripper 27 is fixedly arranged on the mechanical gripper mounting plate 26, the second mechanical grippers 27 are arranged in two rows, the two rows of second mechanical grippers 27 are identical in structure and mounting mode, the distance between the two rows of second mechanical grippers 27 is 5-15cm, the second mechanical grippers 27 are more stable when grabbing the catheter 6, the second mechanical grippers 27 are U-shaped, stress points when grabbing the catheter 6 are increased by the second mechanical grippers 27, the shape of the second mechanical grippers 27 is identical to that of the second fixed mechanical grippers 25, the second mechanical grippers 27 are more stable when grabbing the catheter 6, twelve second mechanical grippers 27 are arranged in total, and the second mechanical grippers 27 are matched with the second fixed mechanical grippers 25 and are used for grabbing and releasing the catheter 6.
As shown in fig. 6, the second fixed gripper 25 and the second moving gripper 27 are on the same horizontal plane, so that the second fixed gripper 25 and the second moving gripper 27 enable the catheter 6 to be horizontal when gripping the catheter 6.
Fig. 7 is a front view of the first mechanical gripper 4 of the present invention, fig. 8 is one of the body diagrams of the first mechanical gripper 4 of the present invention, fig. 9 is the second body diagram of the first mechanical gripper 4 of the present invention, and as shown in fig. 7, 8 and 9, the first mechanical gripper 4 includes a mounting fixing plate 8, the mounting fixing plate 8 being fixed to the up-down operation cylinder 3 by the cylinder rod of the up-down operation cylinder 3 so that the mounting fixing plate 8 moves in synchronization with the cylinder rod of the up-down operation cylinder 3; a first cylinder 10 and a third cylinder 12 below the mounting and fixing plate 8, wherein the first cylinder 10 is fixed at one end of the mounting and fixing plate 8, a cylinder mounting plate 9 is fixedly arranged on the side surface of the other end of the mounting and fixing plate 8, and the third cylinder 12 is fixed between the first cylinder 10 and the cylinder mounting plate 9 and is deviated to the position of the first cylinder 10, because a third cylinder mechanical gripper 16 on the third cylinder 12 is used for gripping the regulating valve 7, the third cylinder mechanical gripper 16 is large in size and requires more space for mounting; the second cylinder 11 is fixedly arranged on the cylinder mounting plate 9 in the direction facing the third cylinder 12, the second cylinder mechanical gripper 15 is fixedly arranged on the second cylinder 11 in the direction facing the third cylinder 12, the second cylinder mechanical gripper 15 comprises a first moving mechanical gripper 13 and a first fixed mechanical gripper 14, the first moving mechanical gripper 13 is fixedly arranged on a push rod of the second cylinder 11, the first fixed mechanical gripper 14 is directly fixed on the second cylinder 11, and when the second cylinder 11 works, relative movement is generated between the first moving mechanical gripper 13 and the first fixed mechanical gripper 14 and is used for clamping or releasing the guide pipe 6.
As shown in fig. 7, a third cylinder mechanical gripper 16 is fixedly arranged on the third cylinder 12, the third cylinder mechanical gripper 16 faces the direction of the second cylinder 11 and is fixed on the third cylinder 12, the third cylinder mechanical gripper 16 comprises a moving gripper 161 and a fixed gripper 162, the moving gripper 161 is fixed on a push rod of the third cylinder 12, the fixed gripper 162 is directly fixed on the third cylinder 12, the gripping principle of the third cylinder mechanical gripper 16 is the same as that of the second cylinder mechanical gripper 15, however, because the third cylinder mechanical gripper 16 is used for gripping or releasing the regulating valve 7, the moving gripper 161 and the fixed gripper 162 are different from the structures of the first moving gripper 13 and the first fixed gripper 14, the moving gripper 161 and the fixed gripper 162 are both in an L shape, the moving gripper 161 and the fixed gripper 162 are symmetrically arranged, the moving gripper 161 and the fixed gripper 162 form a U shape together, the U shape is consistent with the cross section of the regulating valve 7, and the moving gripper 161 and the fixed gripper 162 are enabled to be more firm or prevented from sliding out of the regulating valve 7 when gripping the regulating valve 7; the third cylinder 12 is further fixedly provided with a pipe pressing flat plate 21, the pipe pressing flat plate 21 is directly fixed below the third cylinder 12, the pipe pressing flat plate 21 is L-shaped, and the pipe pressing flat plate 21 is used for keeping the horizontal height of the guide pipe 6 on the first mechanical gripper 4 consistent.
As shown in fig. 7 and 9, a mechanical gripper mounting block 19 is fixed on the first cylinder 10, the structure of the mechanical gripper mounting block 19 is identical to that of the first mounting plate 23, a first cylinder mechanical gripper 20 is fixed on the mechanical gripper mounting block 19, the gripping principle of the first cylinder mechanical gripper 20 is identical to that of the first mechanical gripper 4, and the first cylinder mechanical gripper 20 is used for gripping or releasing the catheter 6.
As shown in fig. 7, 8 and 9, the first moving gripper 13 and the first fixed gripper 14 are provided in pairs, the first moving gripper 13 and the first fixed gripper 14 are spaced apart from each other, and the maximum spacing distance between the first moving gripper 13 and the first fixed gripper 14 is greater than the outer diameter of the catheter 6, so that the first moving gripper 13 and the first fixed gripper 14 can easily grip the catheter 6; twelve pairs of first moving mechanical grippers 13 and twelve pairs of first fixed mechanical grippers 14 are arranged, each pair of first moving mechanical grippers 13 and each pair of first fixed mechanical grippers 14 are mutually matched and independent, and work in a linkage mode, twelve guide pipes 6 can be simultaneously gripped and released at the same time, and the working efficiency of the guide pipe 6 positioning device is improved.
As shown in fig. 9, the third cylinder mechanical gripper 16 includes a moving gripper 161 and a fixed gripper 162, the moving gripper 161 and the fixed gripper 162 are arranged in pairs, the moving gripper 161 and the fixed gripper 162 are spaced from each other, the maximum spacing distance between the moving gripper 161 and the fixed gripper 162 is larger than the section of the regulating valve 7, so that the moving gripper 161 and the fixed gripper 162 can easily grip the regulating valve 7, twelve pairs of moving grippers 161 and the fixed gripper 162 are arranged, the moving gripper 161 and the fixed gripper 162 are mutually matched and are independent, but work in a linkage manner, and twelve regulating valves 7 can be simultaneously gripped and released at the same time, thereby increasing the working efficiency.
As shown in fig. 1 and 7, the first cylinder gripper 20, the second cylinder gripper 15 and the third cylinder gripper 16 are on the same horizontal plane, and the first cylinder gripper 20, the second cylinder gripper 15 and the third cylinder gripper 16 are also on the same horizontal plane as the second fixed gripper 25 and the second moving gripper 27, so that the first gripper 4 and the second gripper 5 are in a horizontal state when grabbing the catheter 6, the positioning precision of the catheter 6 is increased, and misoperation is reduced.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the invention is not limited to the above-described embodiments, but many variations are possible. Any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present invention should be considered to be within the scope of the present invention.
Claims (5)
1. The catheter positioning device comprises two long beams (1) which are arranged in parallel, and is characterized in that two short beams (2) which are parallel to each other are fixedly arranged on the long beams (1), the short beams (2) are mutually perpendicular to the long beams (1), the short beams (2) are of a frame structure, the short beams (2) are fixedly arranged below the long beams (1), upper and lower operation cylinders (3) are respectively fixedly arranged on the two short beams (2), the two upper and lower operation cylinders (3) are mutually parallel, the two upper and lower operation cylinders (3) are reversely arranged, the two upper and lower operation cylinders (3) are respectively fixedly connected with a first mechanical gripper (4) and a second mechanical gripper (5), and the first mechanical gripper (4) and the second mechanical gripper (5) are connected with cylinder rods of the upper and lower operation cylinders (3);
the second mechanical gripper (5) comprises a fourth cylinder (22), and the fourth cylinder (22) is fixed on the up-and-down operation cylinder (3) through a cylinder rod of the up-and-down operation cylinder (3); the fourth air cylinder (22) is fixedly provided with a first mounting plate (23) and a second mounting plate (231), and the first mounting plate (23) and the second mounting plate (231) are parallel to each other; a fixed mechanical gripper mounting plate (24) which is vertically arranged is arranged on the first mounting plate (23), and a second fixed mechanical gripper (25) is fixedly arranged on the fixed mechanical gripper mounting plate (24); a vertically installed moving mechanical gripper mounting plate (26) is fixedly arranged on the second mounting plate (231), a second moving mechanical gripper (27) is arranged on the moving mechanical gripper mounting plate (26), and a second fixed mechanical gripper (25) and a second moving mechanical gripper (27) are arranged between the fixed mechanical gripper mounting plate (24) and the moving mechanical gripper mounting plate (26);
the fixed mechanical grabbing mounting plate (24) is fixedly provided with second fixed mechanical grabs (25), the second fixed mechanical grabs (25) are arranged in two rows, the structures and the mounting modes of the two rows of second fixed mechanical grabs (25) are the same, the second fixed mechanical grabs (25) are U-shaped, the number of the second fixed mechanical grabs (25) is twelve, and the second fixed mechanical grabs (25) are matched with the second moving mechanical grabs (27);
the second moving mechanical grippers (27) are fixedly arranged on the moving mechanical gripper mounting plate (26), two rows of the second moving mechanical grippers (27) are arranged in total, the structures and mounting modes of the two rows of the second moving mechanical grippers (27) are the same, the second moving mechanical grippers (27) are U-shaped, stress points are increased when the second moving mechanical grippers (27) grip a catheter, the shape of the second moving mechanical grippers (27) is the same as that of the second fixed mechanical grippers (25), twelve second moving mechanical grippers (27) are arranged in total, and the second moving mechanical grippers (27) are matched with the second fixed mechanical grippers (25);
the first mechanical gripper (4) comprises a mounting fixing plate (8), and the mounting fixing plate (8) is fixed on the up-and-down operation cylinder (3) through a cylinder rod of the up-and-down operation cylinder (3); a first air cylinder (10) and a third air cylinder (12) are fixedly arranged below the mounting and fixing plate (8), the first air cylinder (10) is fixed at one end of the mounting and fixing plate (8), an air cylinder mounting plate (9) is fixedly arranged on the side surface of the other end of the mounting and fixing plate (8), and the third air cylinder (12) is fixed at a position between the first air cylinder (10) and the air cylinder mounting plate (9) and deviated to the first air cylinder (10); a second cylinder (11) is fixedly arranged on the cylinder mounting plate (9) towards the direction of the third cylinder (12), a second cylinder mechanical gripper (15) is fixedly arranged on the second cylinder (11) towards the direction of the third cylinder (12), and the second cylinder mechanical gripper (15) comprises a first moving mechanical gripper (13) and a first fixed mechanical gripper (14);
the third cylinder (12) is fixedly provided with a third cylinder mechanical gripper (16), the third cylinder mechanical gripper (16) is fixed on the third cylinder (12) towards the direction of the second cylinder (11), the third cylinder mechanical gripper (16) comprises a moving gripper (161) and a fixed gripper (162), the moving gripper (161) is fixed on a push rod of the third cylinder (12), the fixed gripper (162) is directly fixed on the third cylinder (12), the moving gripper (161) and the fixed gripper (162) are L-shaped, and the moving gripper (161) and the fixed gripper (162) are symmetrically arranged; and a pipe pressing flat plate (21) is further fixedly arranged on the third air cylinder (12), the pipe pressing flat plate (21) is directly fixed below the third air cylinder (12), and the pipe pressing flat plate (21) is L-shaped.
2. Catheter positioning device according to claim 1, characterized in that the second stationary mechanical gripper (25) and the second moving mechanical gripper (27) are on the same horizontal plane.
3. Catheter positioning device according to claim 1, characterized in that the first moving gripper (13) and the first stationary gripper (14) are arranged in pairs, the first moving gripper (13) and the first stationary gripper (14) being spaced apart from each other, the maximum spacing distance between the first moving gripper (13) and the first stationary gripper (14) being larger than the catheter outer diameter; twelve pairs of first moving mechanical grippers (13) and twelve pairs of first fixed mechanical grippers (14) are arranged, and each pair of first moving mechanical grippers (13) are matched with each other with the first fixed mechanical grippers (14).
4. The catheter positioning device according to claim 1, wherein the third cylinder mechanical gripper (16) comprises a moving gripper (161) and a fixed gripper (162), the moving gripper (161) and the fixed gripper (162) are arranged in pairs, the moving gripper (161) and the fixed gripper (162) are mutually spaced, the maximum spacing distance between the moving gripper (161) and the fixed gripper (162) is larger than the section of the regulating valve (7), twelve pairs of moving gripper (161) and the fixed gripper (162) are arranged together, and the moving gripper (161) and the fixed gripper (162) are mutually matched.
5. Catheter positioning device according to claim 1, characterized in that the first cylinder gripper (20), the second cylinder gripper (15) and the third cylinder gripper (16) are on the same horizontal plane and that the first cylinder gripper (20), the second cylinder gripper (15) and the third cylinder gripper (16) are also on the same horizontal plane as the second stationary gripper (25), the second moving gripper (27).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610584637.9A CN106044198B (en) | 2016-07-20 | 2016-07-20 | Catheter positioning device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610584637.9A CN106044198B (en) | 2016-07-20 | 2016-07-20 | Catheter positioning device |
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| CN106044198B true CN106044198B (en) | 2023-10-27 |
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| CN106742241A (en) * | 2016-12-27 | 2017-05-31 | 浙江理工大学 | A kind of feeding device of blood taking needle automatic packaging machine |
| CN111099344A (en) * | 2019-11-19 | 2020-05-05 | 湖南东亿电气股份有限公司 | Material taking device for production of lighter assembly line |
| CN113102962A (en) * | 2021-03-16 | 2021-07-13 | 烟台凯博机械自动化设备有限公司 | Assembly post-processing system of tee junction pipe assembly |
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| CN106044198A (en) | 2016-10-26 |
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