CN108608186B - Automatic assembly system for developing points of biodegradable bracket - Google Patents

Automatic assembly system for developing points of biodegradable bracket Download PDF

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Publication number
CN108608186B
CN108608186B CN201810619082.6A CN201810619082A CN108608186B CN 108608186 B CN108608186 B CN 108608186B CN 201810619082 A CN201810619082 A CN 201810619082A CN 108608186 B CN108608186 B CN 108608186B
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translation table
bracket
electric translation
support
dimensional electric
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CN108608186A (en
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倪中华
赵古田
程洁
张天宇
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Nanjing Haoyandingye Technology Co ltd
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Southeast University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/82—Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2240/00—Manufacturing or designing of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2240/001—Designing or manufacturing processes

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Biomedical Technology (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Cardiology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses an automatic assembly system for a developing point of a biodegradable bracket, belonging to the field of automatic micro-assembly of biomedical equipment. The micro-assembly system consists of five parts, namely a material tray, a support micro-adjustment mechanism, a three-axis electric translation table, an execution element, a feedback system and a monocular vision system. The assembly process comprises the following steps: the visual system judges whether the bracket hole is vertically upward or not, and the position of the bracket is circumferentially adjusted through the bracket fine adjustment mechanism; positioning the bracket hole and the noble metal developing point; the vacuum adsorption head adsorbs the developing points, the developing points are placed on the bracket holes, and the vision system judges whether the placing is successful; and pressing the developing point into the support hole by the pressing rod, and observing the pressing and riveting effect by the vision system. The invention has the characteristics of man-machine cooperation and modular design, and expands the practical space for flexible automatic assembly; the assembling method has the characteristics of high efficiency, high precision and low degree of freedom.

Description

Automatic assembly system for developing points of biodegradable bracket
Technical Field
The invention relates to an automatic assembly system for a developing point of a biodegradable bracket, belonging to the field of automatic assembly of biomedical equipment.
Background
Since the advent of stent intervention, the interventional stent implantation technology can expand stenotic, occluded vessels or lumens, with the characteristics of small trauma, high efficacy, and low risk. At this stage, biodegradable stents have been regarded as the fourth major revolution in interventional therapy, and are a research direction with much attention. Based on the clinical application requirements of the stent, the stent should be formed to ensure good mechanical properties, biocompatibility and the like. Be different from traditional metal stent, biodegradable support body material is high molecular polymer, and when implanting, should have good location nature in pathological change part, consequently for making things convenient for doctor's operation in-process, discernment biodegradable support's position under the X-ray, accurate positioning support, the noble metal developing point is installed respectively at biodegradable support both ends. At present, in the preparation process of the biodegradable stent, the assembly work of a developing point is mostly manually operated. The manual operation generally places a certain amount of noble metal developing points in a material tray, judges the positions of the noble metal developing points through human eyes, sucks and places the noble metal developing points at the assembling holes of the biodegradable bracket by holding a vacuum suction pen by hands, and finally completely presses the noble metal developing points into the holes. Due to the particularity of the noble metal developing point and the biodegradable support material and structure, the size of the noble metal developing point is hundreds of microns, the biodegradable support body is required to be prevented from being damaged during assembly operation, and the manual operation efficiency is difficult to guarantee in batch production. Therefore, the development of an automatic assembly system for the developing point of the biodegradable bracket has great significance for improving the production efficiency and keeping the consistency of products.
Disclosure of Invention
In order to solve the problems, the invention discloses an automatic assembly system for a developing point of a biodegradable bracket, which improves the production efficiency of developing point assembly.
In order to achieve the purpose, the technical scheme of the invention is as follows:
an automatic assembly system for a biodegradable bracket developing point comprises a material tray, a bracket fine adjustment mechanism, a three-axis electric translation table, an execution element, a feedback system and a monocular vision system;
the material tray is a developing point containing platform;
the bracket fine adjustment mechanism comprises a bracket sleeve shaft, a V-shaped block fixing clamp, a stepping motor, a motor mounting seat, a coupler and a speed reducer;
the three-axis electric translation table comprises a Z1 one-dimensional electric translation table, an XY two-dimensional electric translation table, a portal frame and an installation bottom plate;
the actuating element and feedback system comprises a pressure sensor, a pressing rod, a vacuum adsorption head, a vacuum gas circuit feedback system and a pressure riveting force feedback system;
the monocular vision system comprises a CCD camera, a lens, a light source and a precise guide rail.
The assembly flow of the developing point assembly system of the invention is as follows:
sleeving a biodegradable support on a support sleeve shaft, moving an XY two-dimensional electric translation table to enable the support to be located in the visual field range of a CCD camera, adjusting the heights of the CCD camera and a light source to enable a lens to be focused at the height of an assembly hole, and driving a speed reducer to drive the support sleeve shaft and the support to rotate circumferentially through a stepping motor to enable the assembly hole to be vertically upward;
secondly, collecting images and recording the coordinate value of the assembling hole in the horizontal direction;
moving the XY two-dimensional electric translation table to enable the material tray to be positioned under the visual field of the CCD camera, shooting a picture, and carrying out XY direction positioning on the small ball according to an image processing algorithm;
fourthly, moving the small ball to the position right below a vacuum adsorption head of the execution element according to the positioning coordinate of the small ball, vertically moving a Z1 one-dimensional electric translation table, opening an electromagnetic valve, sucking the small ball through the vacuum adsorption head, judging whether the small ball is adsorbed or not through the change of a value collected by a pressure transmitter in a gas path, and moving the Z1 one-dimensional electric translation table to lift up the whole execution element after the small ball is successfully adsorbed so as to avoid the interference of the next action;
moving the two-dimensional integral electric translation table to enable the assembly holes to be located under the vacuum adsorption head according to the coordinate value of the assembly holes in the horizontal direction, and placing small balls;
moving the XY two-dimensional electric translation table to enable the assembling hole to be in the visual field range of the camera, and judging whether the small ball is assembled in the hole or not;
moving the XY two-dimensional electric translation table to enable the assembly hole to be located under the pressing rod, taking the pressure sensor as pressing and riveting force feedback and setting a pressing and riveting force threshold value, and pressing the small ball into the hole through moving the Z1 one-dimensional electric translation table in the vertical direction;
and step eight, moving the bracket assembling hole to the camera view range, driving the stepping motor to drive the bracket sleeve shaft and the bracket to rotate in the circumferential direction through the speed reducer, and judging whether the installation of the developing point is qualified.
Advantageous effects
The automatic assembling system for the developing points of the biodegradable bracket provides a high-precision assembling method for assembling the developing points in the bracket, and has the following beneficial effects:
A) the micro-assembly system has the characteristics of man-machine cooperation and modular construction, expands the practical range of flexible automatic assembly, and can be used for assembling other micro-scale elements by changing the execution element;
B) the micro-assembly system has the characteristics of simplicity and convenience in operation, high precision and low degree of freedom, and the production efficiency is greatly improved by replacing manual operation with a machine.
Drawings
FIG. 1 is a schematic diagram of an automated assembly system for a visualization site of a biodegradable stent;
wherein 1 is a Z1 one-dimensional electric translation stage; 2 is a portal frame; 3 is an actuator clamp; 4 is a pressure sensor; 5 is a press bar; 6 is a stepping motor 1; 7 is an XY two-dimensional motorized translation stage; 8, mounting a bottom plate; 9 is a coupling; 10 is a speed reducing mechanism; 11 is a support sleeve shaft; 12 is a light source; 13 is a lens; 14 is a CCD camera; 15 is a precision guide rail; 20 is a material tray;
FIG. 2 is a schematic diagram of the actuator of the mounting system;
wherein 4 is a pressure sensor; 5 is a press bar; 16 is a vacuum adsorption head;
FIG. 3 is a schematic diagram of a vacuum gas circuit;
FIG. 4 is a schematic view of a vision system;
FIG. 5 is a schematic diagram of a circumferential fine adjustment mechanism of the stent;
wherein 6 is a stepper motor; 17 is a motor mounting seat; 9 is a coupling 1; 11 is a support sleeve shaft; 10 is a speed reducer; 18 is a fixed coupling; 19 is a V-shaped block fixing clamp;
fig. 6 is a schematic diagram of a control system according to an embodiment of the present invention.
Detailed description of the invention
The invention is described in detail below with reference to the accompanying drawings and the embodiments.
The invention relates to an automatic assembly system facing a biodegradable bracket developing point, which comprises an XY two-dimensional electric translation table 7, wherein the XY two-dimensional electric translation table 7 is arranged on an installation bottom plate 8, a speed reducer 10, a V-shaped block fixing clamp 19, a stepping motor 6 and a precious metal developing point material tray 20 are arranged on the XY two-dimensional electric translation table 7, a bracket is sleeved on a bracket sleeve shaft 11, the bracket sleeve shaft 11 is connected with the speed reducer 10 through a fixed coupler 18, a portal frame 2 is arranged on the installation bottom plate 8 through an angle piece, a bolt and a nut, a Z1 one-dimensional electric translation table 1 is connected with a portal frame 2 cross beam, an executive component clamp 3 is arranged on the Z1 one-dimensional electric translation table 1, one end of a pressure sensor 4 is fixed on the executive component clamp 3 through a bolt and a flange nut, and the other end of the pressure sensor is connected with a pressing rod.
A stepping motor 6 in the support circumferential fine adjustment mechanism and an electric translation table servo motor are externally connected with a driver, the driver is directly connected with a motion control card through a control box, and the motion control card is installed in a computer.
The precision guide rail 15 is installed on the installation bottom plate 8, and the CCD camera 14 and the light source 12 are installed on the guide rail slide block.
The noble metal developing dot pellets are placed in the grooves of the tray 20 in batches.
Before the movement starts, the support is sleeved on the support sleeve shaft 11, the XY two-dimensional electric translation table 7 is moved to enable the support to be located in the visual field range of the CCD camera 14, the height of the CCD camera 14 and the height of the light source 12 are adjusted to enable the lens 13 to be focused at the height of the assembly hole, and the output shaft of the stepping motor 6 drives the sleeve shaft and the support to rotate in the circumferential direction through the speed reducer 10 to enable the assembly hole to be vertically upward.
Control system scheme
In this embodiment, a scheme of a control system based on the present invention is shown in fig. 6, and an open overall architecture of "PC + motion controller + data acquisition card" is adopted to form distributed control using an industrial personal computer as an upper computer and using the motion controller and the data acquisition card as lower computers.
The three-degree-of-freedom displacement table of the macro-motion module comprises a Z1 one-dimensional electric translation table 1 and an XY two-dimensional electric translation table 7 in the embodiment, and is used for moving the material tray 20 and the assembling hole to corresponding positions according to a flow; a stepping motor 6 of the micro-motion module is driven, and the assembly hole is ensured to be positioned at the top end of a bracket sleeve shaft 11 through a speed reducer 10; the adsorption clamp of the clamping module comprises a small ball adsorption clamp, namely a vacuum adsorption head 16, the switch of an adsorption gas path of the small ball adsorption clamp is controlled by an electromagnetic valve, and whether the small ball is adsorbed or not is judged according to the change of the numerical value of a pressure transmitter in the vacuum gas path so as to provide a control signal; the light source 12 of the auxiliary module controls the brightness and the on-off state through the light source driver.
The motion controller adopts a multi-axis motion control card to control the Z1 one-dimensional electric translation table 1, the XY integral electric translation table 7 and the stepping motor 6 in the speed reducing mechanism in the micro assembly system, adopts a GigE gigabit Ethernet interface to collect images of the CCD camera 14, and adopts a data acquisition card to collect information of the pressure sensor 4 of the pressing rod module, the pressure transmitter in the small ball adsorption gas path and the light source driver of the auxiliary module. The control system comprises four sets of driving systems which are respectively used for driving the Z1 one-dimensional electric translation table 1, the XY integral electric translation table 7 and the stepping motor 6 in the speed reducing mechanism in the system provided by the invention. The motion controller obtains image information and coordinate positioning of the CCD camera 14 through the PC, drive signals to each motion table and the rotating shaft motor are generated through the four drivers respectively, and the motor drivers control the motors to rotate to drive the driving translation table of the ball screw to move after receiving the coordinate signals, so that the purpose of completing assembly through XYZ three-axis motion is achieved.
The above description is only exemplary of the present invention, and is not intended to limit the present invention in any way, and all equivalents and modifications that are made according to the spirit of the present invention are within the scope of the present invention.

Claims (2)

1. An automatic assembly system for developing points of biodegradable supports is characterized by comprising a material tray, a support fine adjustment mechanism, a three-axis electric translation table, an execution element, a feedback system and a monocular vision system, wherein developing point balls are placed in the material tray;
the support fine adjustment mechanism comprises a stepping motor (6), a coupler (9), a motor mounting seat (17), a speed reducer (10), a fixed coupler (18), a support sleeve shaft (11) and a V-shaped block fixing clamp (19), wherein the support is sleeved on the support sleeve shaft (11), receives a pulse signal through a stepping motor driver, drives the shaft of the stepping motor (6) to rotate, drives the support sleeve shaft (11) to rotate circumferentially through the coupler (9), the speed reducer (10) and the fixed coupler (18), judges through a vision system to ensure that a support micropore is at the highest position, the tail end of the support sleeve shaft (11) is arranged on the V-shaped block fixing clamp (19), and a material disc (20) is arranged below the support sleeve shaft (11);
the bracket is in transition fit with the bracket sleeve shaft (11), and the bracket sleeve shaft (11) does not rotate relative to the bracket when rotating at a low speed;
the three-axis electric translation table consists of a Z1 one-dimensional electric translation table (1) and an XY two-dimensional electric translation table (7), and a ball screw is driven to rotate by a servo motor to be converted into translation motion of the table top; an XY two-dimensional electric translation table (7) is fixed on an installation bottom plate (8) through bolts, a Z1 one-dimensional electric translation table (1) is vertically installed on a portal frame (2), and the support fine adjustment mechanism, the material tray (20) and the executing element clamp (3) are fixed on the XY two-dimensional electric translation table through bolts;
the actuator comprises an actuator clamp (3), a pressure sensor (4), a pressing rod (5) and a vacuum adsorption head (16), wherein one end of the pressure sensor (4) is fixed on the actuator clamp (3) through a bolt and a flange nut, and the other end of the pressure sensor is connected with the pressing rod (5) through a thread; the feedback system comprises a vacuum gas circuit feedback system and a pressure sensor feedback system; monitoring the air pressure value in the real-time air path through an air pressure transmitter in the vacuum air path to judge whether the developing point is adsorbed by the vacuum adsorption head or not; the real-time pressure riveting force value is collected through the pressure sensor (4), and a threshold value is set, so that the pressing effect is ensured, and the bracket is protected from being damaged due to overlarge force;
the monocular vision system comprises a CCD camera (14), a light source (12), a lens (13) and a precision guide rail (15); the precision guide rail (15) is vertically installed on the installation bottom plate, the CCD camera (14) and the light source (12) are installed on the guide rail sliding block, the vertical height of the CCD camera (1) and the light source (12) can be controlled, and the quality of collected images is guaranteed.
2. The utility model provides an assembly process towards automatic assembly system of biodegradable support development point which characterized in that: the method comprises the following steps:
sleeving a biodegradable support on a support sleeve shaft (11), moving an XY two-dimensional electric translation table (7) to enable the support to be positioned in a visual field range of a CCD camera (14), adjusting the heights of the CCD camera (14) and a light source (12) to enable a lens (13) to be focused at the height of a support assembly hole, and driving a speed reducer (10) through a stepping motor (6) to drive the support sleeve shaft (11) and the support to rotate circumferentially to enable the assembly hole to be vertically upward;
secondly, collecting images and recording the coordinate value of the assembling hole in the horizontal direction;
moving the XY two-dimensional electric translation table (7) to enable the material tray (20) to be positioned under the visual field of the CCD camera (14), shooting pictures, and carrying out XY direction positioning on the small balls in the material tray (20) according to an image processing algorithm;
fourthly, moving the small ball to the position right below a vacuum adsorption head (16) of an execution element according to the small ball positioning coordinate, vertically moving a Z1 one-dimensional electric translation table (1), opening an electromagnetic valve, sucking the small ball through the vacuum adsorption head (16), judging whether the small ball is adsorbed or not through the change of a value collected by a pressure transmitter in a gas path, and moving the Z1 one-dimensional electric translation table (1) to lift the whole execution element to avoid the interference of the next action after the adsorption is successful;
fifthly, moving the two-dimensional integral electric translation table (7) according to the coordinate value of the horizontal direction of the assembly hole to enable the assembly hole to be positioned under the vacuum adsorption head (16) for placing the small ball;
moving an XY two-dimensional electric translation table (7) to enable the assembling hole to be in the camera view range, and judging whether the small ball is assembled in the hole or not;
seventhly, moving the XY two-dimensional electric translation table (7) to enable the assembly hole to be located under the pressing rod (5), taking the pressure sensor (4) as pressure riveting force feedback and setting a pressure riveting force threshold value, and pressing the small ball into the hole through the Z1 one-dimensional electric translation table (1) moving in the vertical direction;
and step eight, moving the bracket assembly hole to the camera view range, driving the stepping motor (6) to drive the bracket sleeve shaft (11) and the bracket to rotate in the circumferential direction through the speed reducer (10), and judging whether the installation of the developing point is qualified.
CN201810619082.6A 2018-06-15 2018-06-15 Automatic assembly system for developing points of biodegradable bracket Active CN108608186B (en)

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CN109595239B (en) * 2019-01-17 2024-04-26 中国工程物理研究院激光聚变研究中心 Multi-sensor integrated complex multi-configuration micro-part automatic micro-assembly equipment
CN112206085B (en) * 2020-10-18 2022-06-03 南京浩衍鼎业科技技术有限公司 Rapid shearing and assembling system for developing points of intracranial biodegradable stent

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US6346074B1 (en) * 1993-02-22 2002-02-12 Heartport, Inc. Devices for less invasive intracardiac interventions
CN102873523B (en) * 2012-09-13 2014-10-22 中国科学院自动化研究所 Device for detecting micro-devices on line during assembly based on micro-vision
CN103128731B (en) * 2013-03-14 2015-02-18 中国科学院自动化研究所 Micro-assembly robot system
US9149897B2 (en) * 2013-03-14 2015-10-06 Depuy (Ireland) Assembly tool for use in assembling orthopaedic prosthetic components
CN103158161B (en) * 2013-03-29 2015-11-11 中国科学院自动化研究所 Microtubule microballoon based on monocular micro-vision is aimed at and assembling device and method
CN104723075B (en) * 2015-03-11 2017-01-18 中山市宇荣光学元件有限公司 Automatic lens locking and attaching machine

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