CN109623374B - Medical filter accessory and intelligent manufacturing method thereof - Google Patents
Medical filter accessory and intelligent manufacturing method thereof Download PDFInfo
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- CN109623374B CN109623374B CN201910140135.0A CN201910140135A CN109623374B CN 109623374 B CN109623374 B CN 109623374B CN 201910140135 A CN201910140135 A CN 201910140135A CN 109623374 B CN109623374 B CN 109623374B
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- upper cover
- film
- bottom cover
- feeding
- filter
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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
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
-
- 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
- B23P19/027—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 using hydraulic or pneumatic means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
- A61M1/14—Dialysis systems; Artificial kidneys; Blood oxygenators ; Reciprocating systems for treatment of body fluids, e.g. single needle systems for hemofiltration or pheresis
- A61M1/16—Dialysis systems; Artificial kidneys; Blood oxygenators ; Reciprocating systems for treatment of body fluids, e.g. single needle systems for hemofiltration or pheresis with membranes
-
- 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
- B23P19/001—Article feeders for assembling machines
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/004—Feeding the articles from hoppers to machines or dispensers
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/75—General characteristics of the apparatus with filters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2207/00—Methods of manufacture, assembly or production
- A61M2207/10—Device therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Urology & Nephrology (AREA)
- Biomedical Technology (AREA)
- Vascular Medicine (AREA)
- Anesthesiology (AREA)
- Emergency Medicine (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Casting Or Compression Moulding Of Plastics Or The Like (AREA)
- Filtering Materials (AREA)
- Moulds For Moulding Plastics Or The Like (AREA)
Abstract
The present invention relates to medical products and methods of manufacture, and more particularly, to filter products and methods of manufacture. The method comprises the following steps: the output port of the vibrating disc is connected to a bottom cover feeding rail, the bottom cover feeding rail is connected to the material preparing groove, and the bottom cover feeding rail is fixedly connected to the linear feeder; the rotary manipulator has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the bottom cover is placed in the tool while being taken out of the material preparation tank, so that the efficiency is doubled compared with that of the traditional manipulator; the upper cover correction paw cylinder clamps to enable the left finger and the right finger to be matched to clamp and correct the long shaft part on the upper cover, and the left finger and the right finger are matched to clamp and correct the long shaft part on the upper cover, so that the two upper covers can obtain correct positions at the same time; then, the upper cover correction gripper cylinder is released. The invention is used for providing a novel filter, and meanwhile, the automatic assembly production is carried out on part of the structure of the filter, so that the automatic level of the production of the dialysate filter and the product quality are improved.
Description
Technical Field
The application is a divisional application, and the application number of a parent application is as follows: 201810157891X. The present invention relates to medical products and methods of manufacture, and more particularly, to filter products and methods of manufacture.
Background
Hemodialysis (Hemodialysis), called Hemodialysis for short, is also called artificial kidney and kidney washing in popular terms, and is one of the blood purification technologies. The blood purification device utilizes the principle of a semipermeable membrane, and achieves the purposes of purifying blood and correcting water electrolyte and acid-base balance by dispersing and removing various harmful and redundant metabolic wastes and excessive electrolytes in the body.
The semipermeable membrane used for hemodialysis has a thickness of 10-20 microns, and the average pore diameter on the membrane is 3 nanometers, so that only small molecules with molecular weight of less than 1.5 ten thousand and partial medium molecular substances are allowed to pass through, but macromolecular substances with molecular weight of more than 3.5 ten thousand cannot pass through. Thus, proteins, pyrogens, viruses, bacteria, blood cells, etc. are all impermeable; most of urine components are water, and a large amount of water must be removed from blood to replace kidneys with artificial kidneys, which can remove excessive water only by osmotic pressure and ultrafiltration pressure. Currently used hemodialysis apparatuses, which are artificial kidneys, have these functions, and thus regulate the quality and quantity of blood to approximate physiological conditions.
Because dialysis treatment belongs to the very harsh medical treatment means of requirement, the dislysate filter is the key components and parts of dialysis treatment, belongs to the consumer. The unmanned assembly of the dialysis filter by the industrial automation technology is of great significance.
Disclosure of Invention
The invention aims to provide a medical filter accessory and an intelligent manufacturing method thereof, which are used for providing a novel filter, and meanwhile, a part of structure of the filter is automatically assembled and produced, so that the automation level of production of a dialysate filter and the product quality are improved.
The invention relates to a medical filter accessory and an intelligent manufacturing method thereof, which comprises the following steps:
(1) the output port of the vibrating disc is connected to the bottom cover feeding rail, the bottom cover feeding rail is connected to the material preparing groove, and the bottom cover feeding rail is fixedly connected to the linear feeder; the bottom cover is output from the vibrating disk and conveyed to the stock tank through the bottom cover feeding track;
(2) the rotary manipulator has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the bottom cover is placed in the tool while being taken out of the material preparation tank, so that the efficiency is doubled compared with that of the traditional manipulator;
(3) the bottom supporting mechanism is positioned at the lower part of the turntable and applies an upward supporting force to the turntable, so that the pressure of the turntable on the divider is reduced, and the deformation of the turntable under the action of gravity is avoided;
(4) the turntable is driven by the divider to rotate for a certain angle, so that the tool provided with the bottom cover reaches the position of the film feeding mechanism;
(5) the film moves between the fixed die cavity and the movable die cavity step by step under the pulling force of the pulling roll and the squeezing roll, and the movable die cavity enters the fixed die cavity under the pushing of the shearing cylinder and simultaneously shears and forms the film; the metal sucker enters the sucker guide hole and sucks the film from the sucker guide hole;
(6) the rotary manipulator has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the efficiency of the rotary manipulator is doubled compared with that of the traditional manipulator by taking the film out of the film forming mechanism and placing the film into the tool;
(7) because the tool is provided with the containing cavities capable of containing the two bottom covers, the turntable rotates for a certain angle under the driving of the divider, so that the tool provided with the bottom covers reaches the position of the film feeding mechanism, and the film feeding mechanism places the film on the other bottom cover;
(8) the turntable is driven by the divider to rotate for a certain angle, so that the tool provided with the bottom cover and the thin film reaches the position where the upper cover feeding mechanism is located;
(9) an output port of the upper cover conveying rail is connected to the upper cover material preparing groove, a gap is formed between the upper cover conveying rail and the upper cover material preparing groove, and the upper cover conveying rail conveys the upper cover to the upper cover material preparing groove; the upper cover correction paw cylinder clamps to enable the left finger and the right finger to be matched to clamp and correct the long shaft part on the upper cover, and the left finger and the right finger are matched to clamp and correct the long shaft part on the upper cover, so that the two upper covers can obtain correct positions at the same time; then, the upper cover correction paw cylinder is loosened; then the rotary mechanical arm is matched with the upper cover feeding paw to place the upper cover on the upper part of the film;
(10) the turntable is driven by the divider to rotate for a certain angle, so that the tool provided with the bottom cover, the film and the upper cover reaches the position where the riveting equipment is located;
(11) the riveting head of the riveting equipment is pressed downwards, and mechanical pressure is applied to the bottom cover and the upper cover, so that the bottom cover and the upper cover are riveted and combined to form the filter;
(12) the turntable is driven by the divider to rotate for a certain angle, so that the assembled filter reaches the position where the thin filter taking manipulator is located;
(13) the rotary manipulator has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the part taking paw grabs the filter from the tool and places the filter in an external container.
An intelligent manufacturing line for medical filters comprising: the device comprises a workbench, a turntable mechanism for driving the tool to rotate in an equal division manner, a bottom cover feeding mechanism for clamping two bottom covers onto the tool at the same time, a film feeding mechanism for cutting and molding a film and placing the film on the bottom cover, an upper cover feeding mechanism for clamping two upper covers onto the tool at the same time, riveting equipment for riveting and combining the bottom cover and the upper cover, and a filter taking manipulator for taking out an assembled filter, wherein the turntable mechanism is fixedly connected to the upper part of the workbench; the bottom cover feeding mechanism, the two film feeding mechanisms, the upper cover feeding mechanism, the riveting equipment and the filter taking manipulator are sequentially arranged around the turntable mechanism, the two bottom covers are placed on the tool by the bottom cover feeding mechanism, the films are respectively placed on the upper parts of the bottom covers by the film feeding mechanism, the upper covers are placed on the upper parts of the films by the upper cover feeding mechanism, the riveting equipment is used for realizing riveting combination of the bottom covers and the upper covers, and the filter taking manipulator takes out the filter from the tool;
the filter manipulator of getting includes: the rotary manipulator is fixedly connected with the workbench, the workpiece taking claws are fixedly connected with the rotary manipulator, the number of the workpiece taking claws is four, and the positions of the workpiece taking claws are matched with the positions of the tools; the rotary manipulator has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the part taking paw grabs the filter from the tool.
Preferably, the rivet pressing apparatus includes: the riveting device comprises a riveting support, a riveting guide rail, a riveting head, a riveting sliding plate and a riveting air cylinder, wherein the riveting support is fixedly connected to the workbench, the riveting guide rail is fixedly connected to the riveting support, the riveting guide rail is perpendicular to the rotary table, the riveting sliding plate is movably connected to the riveting guide rail, and the riveting head is fixedly connected to the tail end of the riveting sliding plate; the cylinder body of the riveting cylinder is fixedly connected with the riveting support, the tail end of a piston rod of the riveting cylinder is fixedly connected with the riveting sliding plate, and the riveting head is matched with the tool.
Preferably, the rivet pressing apparatus includes: the riveting device comprises a riveting support, a riveting guide rail, a riveting head, a riveting sliding plate and a riveting air cylinder, wherein the riveting support is fixedly connected to the workbench, the riveting guide rail is fixedly connected to the riveting support, the riveting guide rail is perpendicular to the rotary table, the riveting sliding plate is movably connected to the riveting guide rail, and the riveting head is fixedly connected to the tail end of the riveting sliding plate; the cylinder body of the riveting cylinder is fixedly connected with the riveting support, the tail end of a piston rod of the riveting cylinder is fixedly connected with the riveting sliding plate, and the riveting head is matched with the tool.
Preferably, the turntable mechanism comprises: the device comprises a divider, a rotary table, tools and a bottom supporting mechanism, wherein the rotary table is fixedly connected to a flange of the divider, and the tools are uniformly distributed in the circumferential direction of the rotary table; the lower part of carousel is provided with bottom sprag mechanism, bottom sprag mechanism includes: the supporting rod is fixedly connected with the workbench, the supporting bearing is movably connected with one end of the supporting rod, the supporting bearing is attached to the bottom of the turntable, and the supporting bearing is matched with the tool.
Preferably, the tool is provided with a cavity capable of accommodating two bottom covers.
Preferably, the upper cover feeding mechanism includes: the feeding mechanism comprises an upper cover conveying mechanism, a rotary mechanical arm and an upper cover feeding paw, wherein the upper cover feeding paw is fixedly connected to the rotary mechanical arm, the output end of the upper cover conveying mechanism is connected to the rotary mechanical arm, and the other end of the rotary mechanical arm is connected to the turntable mechanism; the rotary mechanical hand has the functions of up-and-down motion and one-hundred-eighty degree rotation, the upper cover feeding gripper grabs the upper cover in the upper cover conveying mechanism, then the rotary mechanical hand rotates one-hundred-eighty degree, and then the upper cover is placed in the tool.
Preferably, the upper cover conveying mechanism includes: the device comprises an upper cover conveying rail, an upper cover material preparing groove and an upper cover correcting paw cylinder, wherein an output port of the upper cover conveying rail is connected to the upper cover material preparing groove; the cylinder block of upper cover correction hand claw cylinder link firmly in the lower part of upper cover reserve tank, left finger, right finger have been linked firmly on the upper cover correction hand claw cylinder, be provided with left side first finger and left second finger on the finger of a left side, be provided with right side first finger, right second finger on the finger of the right side, left side first finger and right finger phase-match realize carrying out the centre gripping and rectifying to the upper cover long axial region, left side second finger and right second finger phase-match realize carrying out the centre gripping and rectifying to the upper cover long axial region.
The upper cover includes: a disc portion and a long shaft portion.
Preferably, the bottom cover feeding mechanism includes: the feeding device comprises a feeding pneumatic paw, a rotary manipulator, a vibrating disc, a bottom cover feeding rail, a linear feeder and a standby trough, wherein an output port of the vibrating disc is connected to the bottom cover feeding rail, the bottom cover feeding rail is connected to the standby trough, and the bottom cover feeding rail is fixedly connected to the linear feeder; the bottom cover is output from the vibrating disk and conveyed to the stock tank through the bottom cover feeding track; a gap is formed between the material preparing groove and the bottom cover feeding rail; the feeding pneumatic claw is fixedly connected to two ends of a swing arm of the rotary manipulator, and the material preparing groove, the tool and the feeding pneumatic claw are clamped; the rotary mechanical hand has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the bottom cover can be taken away and put down.
Preferably, the film feeding mechanism includes: the metal suckers are positioned at two ends of a swing arm of the rotary manipulator and respectively correspond to the tool and the film forming mechanism; the rotary mechanical arm has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the metal sucker sucks the film generated in the film forming mechanism and places the film on the upper part of the bottom cover.
Preferably, the film forming mechanism includes: the automatic winding device comprises a forming support, a material placing disc, a waste material receiving disc, an adjusting disc, a tension roller, a squeezing roller, a fixed die cavity, a movable die guide cavity, a tension motor and a material receiving motor, wherein the forming support is fixedly connected to a workbench; the fixed die cavity and the movable die guide cavity are fixedly connected to the forming support, and the movable die cavity is movably connected to the movable die guide cavity; the cylinder body of the shearing cylinder is fixedly connected with the forming support, and the tail end of a piston rod of the shearing cylinder is fixedly connected with the movable die cavity; the outer diameter of the movable die cavity is matched with the sucker guide hole of the fixed die cavity; one end of the tension roller is connected to an output shaft of the tension motor; the sucking disc guiding hole is matched with the metal sucking disc.
Preferably, the film extends from the material placing disc, passes through the lower part of the adjusting disc, passes through the middle parts of the fixed die cavity and the movable die cavity, passes through the upper part of the tension roller, passes through the middle parts of the tension roller and the extrusion roller, and is wound on the waste material collecting disc.
Preferably, the extrusion roller is movably connected to a sliding groove of the forming support through a square shaft, an extrusion spring is arranged in the sliding groove, and the extrusion roller is extruded to the tension roller through the extrusion spring.
Preferably, the tension motor works in a position mode state, so that each movement of the tension roller has a determined angle; the material receiving motor works in a torque mode state, so that the waste material receiving plate is in a certain tension state.
Preferably, the swing robot includes: the gantry type lifting device comprises a gantry support, a guide sleeve, a guide pillar, a lifting table, a rotary cylinder, a frame, a mandrel, a swing arm and a base lifting cylinder, wherein the gantry support is fixedly connected to the workbench, the guide sleeve is fixedly connected to the gantry support, the guide pillar is movably connected to the guide sleeve, and the tail end of the guide pillar is fixedly connected to the lifting table; the cylinder body of the base lifting cylinder is fixedly connected with the gantry support, and the tail end of a piston rod of the base lifting cylinder is fixedly connected with the lifting table; the cylinder block of revolving cylinder, frame link firmly in the elevating platform, dabber swing joint in the frame, revolving cylinder's rotary flange link firmly in through the shaft coupling in the one end of dabber, the swing arm link firmly in the other end of dabber.
Drawings
FIG. 1 is a schematic diagram of an intelligent manufacturing line for medical filters according to the present invention;
FIG. 2 is a schematic view of a portion of an intelligent manufacturing line for a medical filter according to the present invention;
fig. 3 and 4 are schematic structural diagrams of a bottom cover feeding mechanism of an intelligent manufacturing assembly line of the medical filter;
FIGS. 5 and 6 are schematic structural views of a film feeding mechanism of an intelligent manufacturing line of a medical filter according to the present invention;
FIG. 7 is a schematic view of the structure of the film forming mechanism of the intelligent manufacturing line of the medical filter of the present invention;
FIGS. 8 and 11 are schematic views showing a partial structure of an intelligent manufacturing line of the medical filter according to the present invention;
FIG. 9 is a schematic structural view of the upper cover conveying mechanism of the intelligent manufacturing line of the medical filter according to the present invention;
FIG. 10 is a schematic view showing a partial structure of the upper cover feeding mechanism of the intelligent manufacturing line of the medical filter according to the present invention;
fig. 12 is a schematic structural view of a riveting apparatus in an intelligent manufacturing line of a medical filter according to the present invention.
In the figure: 1 workbench, 2 turnplate mechanism, 21 splitter, 22 turnplate, 23 tooling, 24 bottom support mechanism, 25 support bearing, 26 support rod, 30 bottom cover feeding mechanism, 31 feeding pneumatic paw, 32 rotary manipulator, 33 vibrating disk, 34 bottom cover feeding track, 35 linear feeder, 36 stock groove, 37 bottom cover, 38 gantry support, 39 guide sleeve, 40 guide post, 41 lifting platform, 42 rotary cylinder, 43 frame, 44 mandrel, 45 swing arm, 46 rotary flange, 47 coupler, 48 base lifting cylinder, 50 film feeding mechanism, 51 metal suction cup, 52 film forming mechanism, 53 forming support, 54 discharging tray, 55 waste collecting tray, 56 adjusting tray, 57 tension roller, 58 extrusion roller, 59 film, 60 fixed die cavity, 61 movable die cavity, 62 movable die guide cavity, 63 suction cup guide hole, 64 tension motor, 65 square shaft, 66 extrusion spring, 67 sliding groove, 68 collecting motor, 69 shearing cylinders, 70 upper cover feeding mechanisms, 71 upper cover conveying mechanisms, 72 upper cover feeding claws, 73 upper covers, 74 upper cover conveying rails, 75 upper cover preparation tanks, 76 upper cover correction claw cylinders, 77 left fingers, 78 right fingers, 79 left fingers, 80 left fingers, 81 right fingers, 82 right fingers, 83 disc parts, 84 long shaft parts, 90 riveting equipment, 91 riveting supports, 92 riveting guide rails, 93 riveting heads, 94 riveting sliding plates, 95 riveting cylinders, 100 filter taking manipulators and 101 taking claws.
Detailed Description
The present invention will be described in further detail below, but without limiting the invention in any way, with reference to the following figures, wherein like reference numerals represent like elements. As described above, the invention provides a medical filter accessory and an intelligent manufacturing method thereof, which are used for automatically assembling and producing part of structures of a dialysate filter, and improving the automation level and the product quality of the dialysate filter production.
Fig. 1 is a schematic structural view of an intelligent manufacturing line of a medical filter of the present invention, fig. 2 is a schematic partial structural view of the intelligent manufacturing line of the medical filter of the present invention, fig. 3 and 4 are schematic structural views of a bottom cover feeding mechanism of the intelligent manufacturing line of the medical filter of the present invention, fig. 5 and 6 are schematic structural views of a film feeding mechanism of the intelligent manufacturing line of the medical filter of the present invention, fig. 7 is a schematic structural view of a film forming mechanism of the intelligent manufacturing line of the medical filter of the present invention, fig. 8 and 11 are schematic partial structural views of the intelligent manufacturing line of the medical filter of the present invention, fig. 9 is a schematic structural view of an upper cover conveying mechanism of the intelligent manufacturing line of the medical filter of the present invention, fig. 10 is a schematic partial structural view of an upper cover conveying mechanism of the intelligent manufacturing line of the medical filter of, fig. 12 is a schematic structural view of a riveting apparatus in an intelligent manufacturing line of a medical filter according to the present invention.
The invention discloses an intelligent manufacturing assembly line of a medical filter, which comprises: the device comprises a workbench 1, a turntable mechanism 2 for driving a tool 23 to rotate in an equal division manner, a bottom cover feeding mechanism 30 for simultaneously clamping two bottom covers 37 onto the tool 23, a film feeding mechanism 50 for cutting and molding a film 59 and placing the film on the bottom cover 37, an upper cover feeding mechanism 70 for simultaneously clamping two upper covers 73 onto the tool 23, riveting equipment 90 for riveting and combining the bottom cover 37 and the upper cover 73, and a filter taking manipulator 100 for taking out an assembled filter, wherein the turntable mechanism 2 is fixedly connected to the upper part of the workbench 1; the bottom cover feeding mechanism 30, the two film feeding mechanisms 50, the upper cover feeding mechanism 70, the riveting device 90 and the filter taking manipulator 100 are sequentially arranged around the turntable mechanism 2, the bottom cover feeding mechanism 30 places the two bottom covers 37 on the tool 23, the film feeding mechanisms 50 respectively place the films 59 on the upper portions of the bottom covers 37, the upper cover feeding mechanism 70 places the upper covers 73 on the upper portions of the films 59, the riveting device 90 is used for realizing riveting combination of the bottom covers 37 and the upper covers 73, and the filter taking manipulator 100 takes out the filters from the tool 23;
the filter pick-up robot 100 includes: the rotary manipulator 32 and the workpiece taking gripper 101 are fixedly connected to the workbench 1, the workpiece taking gripper 101 is fixedly connected to the rotary manipulator 32, the number of the workpiece taking grippers 101 is four, and the position of the workpiece taking gripper 101 is matched with that of the tool 23; the swing manipulator 32 has the functions of moving up and down and rotating by one hundred eighty degrees, and the taking-out gripper 101 grabs the filter from the tool 23.
More specifically, the rivet pressing apparatus 90 includes: the riveting device comprises a riveting support 91, a riveting guide rail 92, a riveting head 93, a riveting sliding plate 94 and a riveting cylinder 95, wherein the riveting support 91 is fixedly connected to the workbench 1, the riveting guide rail 92 is fixedly connected to the riveting support 91, the riveting guide rail 92 is perpendicular to the turntable 22, the riveting sliding plate 94 is movably connected to the riveting guide rail 92, and the riveting head 93 is fixedly connected to the tail end of the riveting sliding plate 94; the cylinder body of the riveting cylinder 95 is fixedly connected to the riveting support 91, the tail end of the piston rod of the riveting cylinder 95 is fixedly connected to the riveting sliding plate 94, and the riveting head 93 is matched with the tool 23.
More specifically, the turntable mechanism 2 includes: the device comprises a divider 21, a rotary table 22, tools 23 and a bottom supporting mechanism 24, wherein the rotary table 22 is fixedly connected to a flange of the divider 21, and the tools 23 are uniformly distributed in the circumferential direction of the rotary table 22; the bottom support mechanism 24 is disposed at a lower portion of the turntable 22, and the bottom support mechanism 24 includes: support bearing 25, bracing piece 26, the bracing piece 26 link firmly in workstation 1, support bearing 25 swing joint in the one end of bracing piece 26, support bearing 25 paste in the bottom of carousel 22, support bearing 25 with frock 23 phase-match.
More specifically, the fixture 23 is provided with a cavity capable of accommodating two bottom covers 37.
More specifically, the upper lid feeding mechanism 70 includes: the automatic feeding device comprises an upper cover conveying mechanism 71, a rotary manipulator 32 and an upper cover feeding paw 72, wherein the upper cover feeding paw 72 is fixedly connected to the rotary manipulator 32, the output end of the upper cover conveying mechanism 71 is connected to the rotary manipulator 32, and the other end of the rotary manipulator 32 is connected to the rotary mechanism 2; the rotary manipulator 32 has the functions of up-and-down movement and one-hundred-eighty degree rotation, the upper cover feeding paw 72 grabs the upper cover 73 from the upper cover conveying mechanism 71, then the rotary manipulator 32 rotates one-hundred-eighty degree, and then the upper cover 73 is placed in the tool 23.
More specifically, the upper lid conveying mechanism 71 includes: the device comprises an upper cover conveying rail 74, an upper cover stock groove 75 and an upper cover correcting paw cylinder 76, wherein the output port of the upper cover conveying rail 74 is connected to the upper cover stock groove 75, a gap is arranged between the upper cover conveying rail 74 and the upper cover stock groove 75, and the upper cover conveying rail 74 conveys the upper cover 73 to the upper cover stock groove 75; the cylinder block of upper cover correction hand claw cylinder 76 link firmly in the lower part of upper cover stock preparation groove 75, left finger 77, right finger 78 have been linked firmly on the upper cover correction hand claw cylinder 76, be provided with left first finger 79 and left second finger 80 on the left finger 77, be provided with right finger 81, right second finger 82 on the right finger 78, left first finger 79 and right finger 81 phase-match realize carrying out the centre gripping and rectifying to the long axial region 84 on the upper cover 73, left second finger 80 and right second finger 82 phase-match realize carrying out the centre gripping and rectifying to the long axial region 84 on the upper cover 73.
The upper cover 73 includes: disc portion 83 and long shaft portion 84.
More specifically, the bottom cover feeding mechanism 30 includes: the feeding device comprises a feeding pneumatic claw 31, a rotary manipulator 32, a vibration disc 33, a bottom cover feeding rail 34, a linear feeder 35 and a material preparation tank 36, wherein an output port of the vibration disc 33 is connected to the bottom cover feeding rail 34, the bottom cover feeding rail 34 is connected to the material preparation tank 36, and the bottom cover feeding rail 34 is fixedly connected to the linear feeder 35; the bottom cover 37 is output from the vibrating disk 33 and conveyed to the stock groove 36 through the bottom cover feeding track 34; a gap is arranged between the stock groove 36 and the bottom cover feeding rail 34; the feeding pneumatic claw 31 is fixedly connected to two ends of a swing arm 45 of the swing manipulator 32, and the material preparing groove 36, the tooling 23 and the feeding pneumatic claw 31 are clamped at positions; the swing manipulator 32 has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the bottom cover 37 can be taken away and put down.
More specifically, the film feeding mechanism 50 includes: the device comprises a rotary manipulator 32, metal suckers 51 and a film forming mechanism 52, wherein the metal suckers 51 are positioned at two ends of a swing arm 45 of the rotary manipulator 32, and the metal suckers 51 respectively correspond to the tool 23 and the film forming mechanism 52; the swing robot 32 has the functions of moving up and down and rotating one hundred eighty degrees, and the metal suction cup 51 sucks the film 59 formed in the film forming mechanism 52 and places the film on the upper portion of the bottom cover 37.
More specifically, the film forming mechanism 52 includes: the automatic film forming device comprises a forming support 53, a discharging tray 54, a waste material collecting tray 55, an adjusting tray 56, a tension roller 57, a squeezing roller 58, a fixed mold cavity 60, a movable mold cavity 61, a movable mold guide cavity 62, a tension motor 64 and a material collecting motor 68, wherein the forming support 53 is fixedly connected to the workbench 1, an unprocessed film in a rolled state is placed on the discharging tray 54, the waste material collecting tray 55 is fixedly connected to the lower part of the forming support 53, the adjusting tray 56, the tension roller 57 and the squeezing roller 58 are movably connected to the forming support 53, and the tension roller 57 and the squeezing roller 58 are in a mutual squeezing state; the fixed die cavity 60 and the movable die guide cavity 62 are fixedly connected to the forming support 53, and the movable die cavity 61 is movably connected to the movable die guide cavity 62; the cylinder body of the shearing cylinder 69 is fixedly connected with the forming support 53, and the tail end of the piston rod of the shearing cylinder 69 is fixedly connected with the movable die cavity 61; the outer diameter of the movable die cavity 61 is matched with the sucker guide hole 63 of the fixed die cavity 60; one end of the tension roller 57 is connected to an output shaft of the tension motor 64; the suction cup guide hole 63 is matched with the metal suction cup 51.
More specifically, the film 59 extends from the discharge tray 54, passes through the lower portion of the adjustment plate 56, passes through the middle portions of the fixed die cavity 60 and the movable die cavity 61, passes through the upper portion of the tension roller 57, passes through the middle portions of the tension roller 57 and the pressing roller 58, and is finally wound around the scrap collecting tray 55.
More specifically, the pressing roller 58 is movably connected to a sliding groove 67 of the forming bracket 53 through a square shaft 65, a pressing spring 66 is disposed in the sliding groove 67, and the pressing roller 58 is pressed against the tension roller 57 through the pressing spring 66.
More specifically, the tension motor 64 is operated in a position mode state such that the tension roller 57 has a certain angle per movement; the material receiving motor 68 operates in a torque mode to place the waste material receiving tray 55 under a certain tension.
More specifically, the swing robot 32 includes: the gantry type automatic lifting device comprises a gantry support 38, a guide sleeve 39, a guide post 40, a lifting platform 41, a rotary cylinder 42, a frame 43, a mandrel 44, a swing arm 45 and a base lifting cylinder 48, wherein the gantry support 38 is fixedly connected to the workbench 1, the guide sleeve 39 is fixedly connected to the gantry support 48, the guide post 40 is movably connected to the guide sleeve 39, and the tail end of the guide post 40 is fixedly connected to the lifting platform 41; the cylinder body of the base lifting cylinder 48 is fixedly connected to the gantry support 38, and the tail end of the piston rod of the base lifting cylinder 48 is fixedly connected to the lifting table 41; the cylinder bodies of the rotary cylinder 42 and the frame 43 are fixedly connected to the lifting table 41, the mandrel 44 is movably connected to the frame 43, the rotary flange 46 of the rotary cylinder 42 is fixedly connected to one end of the mandrel 44 through a coupler 47, and the swing arm 45 is fixedly connected to the other end of the mandrel 44.
The working process and working principle of the intelligent manufacturing line of the medical filter of the present invention are further described with reference to fig. 1 to 12:
the electromagnetic vibration of the vibratory pan 33 and the linear feeder 35 causes the bottom cover 37 to be output from the vibratory pan 33, passing through the bottom cover feed track 34. The bottom cover feeding rail 34 is fixedly connected to the linear feeder 35, and a vibration effect exists on the bottom cover feeding rail 34. The material preparing groove 36 is fixedly connected to the workbench 1, a gap is formed between the material preparing groove 36 and the bottom cover feeding rail 34, the vibration effect of the bottom cover feeding rail 34 is not conducted to the material preparing groove 36, so that the bottom cover 37 can be stably placed in the material preparing groove 36 to wait for the grabbing of the swing manipulator 32.
The intelligent manufacturing assembly line of the medical filter is used for realizing the automatic assembly of the structure of the dialysate filtering part, and comprises the following process steps:
(1) the output port of the vibrating disk 33 is connected to the bottom cover feeding rail 34, the bottom cover feeding rail 34 is connected to the stock groove 36, and the bottom cover feeding rail 34 is fixedly connected to the linear feeder 35; the bottom cover 37 is output from the vibrating disk 33 and conveyed to the stock groove 36 through the bottom cover feeding track 34;
(2) the swing manipulator 32 has the functions of moving up and down and rotating by one hundred eighty degrees, and the bottom cover 37 is placed in the tool 23 while the bottom cover 37 is taken out of the stock tank 36, so that the efficiency is doubled compared with that of the traditional manipulator;
(3) the bottom supporting mechanism 24 is located at the lower part of the rotary disc 22, and applies an upward supporting force to the rotary disc 22, so as to reduce the pressure of the rotary disc 22 on the divider 21 and avoid the deformation of the rotary disc 22 under the action of gravity;
(4) the turntable 22 is driven by the divider 21 to rotate by a certain angle, so that the tool 23 with the bottom cover 37 placed thereon reaches the position of the film feeding mechanism 50;
(5) the thin film 59 moves between the fixed die cavity 60 and a movable die cavity 61 step by step under the pulling force of the pulling roll 57 and the squeezing roll 58, and the movable die cavity 61 enters the fixed die cavity 60 under the pushing of the shearing air cylinder 69, and simultaneously the thin film 59 is subjected to shearing forming; the metal sucker 51 enters the sucker guide hole 63 to suck the film 59 from the sucker guide hole 63;
(6) the swing manipulator 32 has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the efficiency of the swing manipulator is doubled compared with that of the traditional manipulator, and the film 59 is placed in the tool 23 while the film 59 is taken out of the film forming mechanism 52;
(7) because the tool 23 is provided with a cavity capable of accommodating two bottom covers 37, the turntable 22 is driven by the divider 21 to rotate by a certain angle, so that the tool 23 with the bottom cover 37 placed thereon reaches the position of the film feeding mechanism 50, and the film feeding mechanism 50 places the film 59 on the other bottom cover 37;
(8) the turntable 22 is driven by the divider 21 to rotate for a certain angle, so that the tool 23 with the bottom cover 37 and the film 59 placed thereon reaches the position where the upper cover feeding mechanism 70 is thin;
(9) an output port of the upper cover conveying rail 74 is connected to the upper cover stock tank 75, a gap is formed between the upper cover conveying rail 74 and the upper cover stock tank 75, and the upper cover conveying rail 74 conveys the upper cover 73 into the upper cover stock tank 75; the upper cover correction paw cylinder 76 clamps the upper cover, so that the left finger 79 and the right finger 81 are matched to clamp and correct the long shaft part 84 on the upper cover 73, and the left finger 80 and the right finger 82 are matched to clamp and correct the long shaft part 84 on the upper cover 73, so that the two upper covers 73 can obtain correct positions at the same time; then, the upper cover correction gripper cylinder 76 is released; then the rotary manipulator 32 is matched with the upper cover feeding paw 72 to place the upper cover 73 on the upper part of the thin film 59;
(10) the turntable 22 is driven by the divider 21 to rotate for a certain angle, so that the tool 23 provided with the bottom cover 37, the film 59 and the upper cover 73 reaches the position where the riveting device 90 is thin;
(11) the riveting head 93 of the riveting device 90 is pressed downwards to apply mechanical pressure to the bottom cover 37 and the upper cover 73, so that the bottom cover 37 and the upper cover 73 are riveted and combined to form a filter;
(12) the turntable 22 is driven by the divider 21 to rotate for a certain angle, so that the assembled filter reaches the position where the filter taking manipulator 100 is thin;
(13) the swing manipulator 32 has the functions of moving up and down and rotating by one hundred eighty degrees, and the taking-out gripper 101 grabs the filter from the tool 23 and places the filter in an external container.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. It is obvious that the invention is not limited to the above-described embodiments, but that many variations are possible. Any simple modification, equivalent change and modification made to the above embodiments in accordance with the technical spirit of the present invention should be considered to be within the scope of the present invention.
Claims (1)
1. An intelligent manufacturing method of a medical filter comprises a production line and a manufacturing method, and is characterized in that: the filter comprises a bottom cover, a film and an upper cover;
the pipeline includes: the device comprises a workbench, a turntable mechanism for driving the tool to rotate in an equal division manner, a bottom cover feeding mechanism for clamping two bottom covers onto the tool at the same time, a film feeding mechanism for cutting and molding a film and placing the film on the bottom cover, an upper cover feeding mechanism for clamping two upper covers onto the tool at the same time, riveting equipment for riveting and combining the bottom cover and the upper cover, and a filter taking manipulator for taking out an assembled filter, wherein the turntable mechanism is fixedly connected to the upper part of the workbench; the bottom cover feeding mechanism, the two film feeding mechanisms, the upper cover feeding mechanism, the riveting equipment and the filter taking manipulator are sequentially arranged around the turntable mechanism, the two bottom covers are placed on the tool by the bottom cover feeding mechanism, the films are respectively placed on the upper parts of the bottom covers by the film feeding mechanism, the upper covers are placed on the upper parts of the films by the upper cover feeding mechanism, the riveting equipment is used for realizing riveting combination of the bottom covers and the upper covers, and the filter taking manipulator takes out the filter from the tool;
bottom feed mechanism includes: the feeding device comprises a feeding pneumatic paw, a rotary manipulator, a vibrating disc, a bottom cover feeding rail, a linear feeder and a standby trough, wherein an output port of the vibrating disc is connected to the bottom cover feeding rail, the bottom cover feeding rail is connected to the standby trough, and the bottom cover feeding rail is fixedly connected to the linear feeder; the feeding pneumatic claw is fixedly connected to two ends of a swing arm of the rotary manipulator, and the material preparing groove and the tooling are located at a clamping position of the feeding pneumatic claw;
the upper cover feed mechanism includes: the feeding mechanism comprises an upper cover conveying mechanism, a rotary mechanical arm and an upper cover feeding paw, wherein the upper cover feeding paw is fixedly connected to the rotary mechanical arm, the output end of the upper cover conveying mechanism is connected to the rotary mechanical arm, and the other end of the rotary mechanical arm is connected to the turntable mechanism;
the upper cover conveying mechanism comprises: the device comprises an upper cover conveying rail, an upper cover material preparing groove and an upper cover correcting paw cylinder, wherein an output port of the upper cover conveying rail is connected to the upper cover material preparing groove; the cylinder body of the upper cover correction paw cylinder is fixedly connected with the lower part of the upper cover material preparing groove;
the film feed mechanism includes: the metal suckers are positioned at two ends of a swing arm of the rotary manipulator and respectively correspond to the tool and the film forming mechanism;
the film forming mechanism includes: the automatic film forming device comprises a forming support, a material placing disc, a waste material receiving disc, an adjusting disc, a tension roller, a squeezing roller, a fixed die cavity, a movable die guide cavity, a tension motor and a material receiving motor, wherein the forming support is fixedly connected to a workbench; the fixed die cavity and the movable die guide cavity are fixedly connected to the forming support, and the movable die cavity is movably connected to the movable die guide cavity; the cylinder body of the shearing cylinder is fixedly connected with the forming support, and the tail end of a piston rod of the shearing cylinder is fixedly connected with the movable die cavity;
the manufacturing method of the filter comprises the following steps:
(1) the output port of the vibrating disc is connected to a bottom cover feeding rail, the bottom cover feeding rail is connected to the material preparing groove, and the bottom cover feeding rail is fixedly connected to the linear feeder; the bottom cover is output from the vibration disc and conveyed to the material preparation tank through a bottom cover feeding rail;
(2) the rotary manipulator at the bottom cover feeding mechanism has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the bottom cover is placed in the tool while being taken out of the material preparation tank;
(3) the bottom supporting mechanism is positioned at the lower part of the turntable and applies an upward supporting force to the turntable, so that the pressure of the turntable on the divider is reduced, and the deformation of the turntable under the action of gravity is avoided;
(4) the turntable is driven by the divider to rotate for a certain angle, so that the tool provided with the bottom cover reaches the position of the film feeding mechanism;
(5) the film moves between the fixed die cavity and the movable die cavity in a stepping manner under the pulling force of the pulling roll and the squeezing roll, the movable die cavity enters the fixed die cavity under the pushing of the shearing cylinder, and meanwhile, the film is sheared and molded; the metal sucker enters the sucker guide hole, and the film is sucked away from the sucker guide hole;
(6) the rotary mechanical arm at the film forming mechanism has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the film is placed in the tool while being taken out of the film forming mechanism;
(7) because the tool is provided with the containing cavities capable of containing the two bottom covers, the turntable rotates for a certain angle under the driving of the divider, so that the tool provided with the bottom covers reaches the position of the film feeding mechanism, and the film feeding mechanism places a film on the other bottom cover;
(8) the turntable is driven by the divider to rotate for a certain angle, so that the tool provided with the bottom cover and the film reaches the position of the upper cover feeding mechanism;
(9) an output port of the upper cover conveying rail is connected to the upper cover material preparing groove, a gap is formed between the upper cover conveying rail and the upper cover material preparing groove, and the upper cover conveying rail conveys the upper cover to the upper cover material preparing groove; the upper cover correction paw cylinder clamps to enable the left finger and the right finger to be matched to clamp and correct the long shaft part on the upper cover, and the left finger and the right finger are matched to clamp and correct the long shaft part on the upper cover, so that the two upper covers can obtain correct positions at the same time; then, the upper cover correction paw cylinder is loosened; then, the rotary manipulator is matched with an upper cover feeding paw to place the upper cover on the upper part of the film;
(10) the turntable is driven by the divider to rotate for a certain angle, so that the tool provided with the bottom cover, the film and the upper cover reaches the position of the riveting equipment;
(11) the riveting head of the riveting equipment is pressed downwards, and mechanical pressure is applied to the bottom cover and the upper cover, so that the bottom cover and the upper cover are riveted and combined to form the filter;
(12) the turntable is driven by the divider to rotate for a certain angle, so that the assembled filter reaches the position of the filter taking manipulator;
(13) and the rotary manipulator positioned between the riveting equipment and the bottom cover feeding mechanism has the functions of up-and-down movement and one-hundred-eighty degree rotation, and the part taking paw grabs the filter from the tool and places the filter in an external container.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910140135.0A CN109623374B (en) | 2018-02-25 | 2018-02-25 | Medical filter accessory and intelligent manufacturing method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910140135.0A CN109623374B (en) | 2018-02-25 | 2018-02-25 | Medical filter accessory and intelligent manufacturing method thereof |
| CN201810157891.XA CN108145422B (en) | 2018-02-25 | 2018-02-25 | The manufacturing method of medical filter component |
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| CN201810157891.XA Division CN108145422B (en) | 2018-02-25 | 2018-02-25 | The manufacturing method of medical filter component |
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| CN109623374A CN109623374A (en) | 2019-04-16 |
| CN109623374B true CN109623374B (en) | 2020-12-15 |
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| CN201810157891.XA Active CN108145422B (en) | 2018-02-25 | 2018-02-25 | The manufacturing method of medical filter component |
| CN201910140132.7A Active CN109623373B (en) | 2018-02-25 | 2018-02-25 | Production process of medical filter component |
| CN201910140135.0A Active CN109623374B (en) | 2018-02-25 | 2018-02-25 | Medical filter accessory and intelligent manufacturing method thereof |
| CN201910140159.6A Active CN109623375B (en) | 2018-02-25 | 2018-02-25 | Method for producing medical filter |
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| CN201810157891.XA Active CN108145422B (en) | 2018-02-25 | 2018-02-25 | The manufacturing method of medical filter component |
| CN201910140132.7A Active CN109623373B (en) | 2018-02-25 | 2018-02-25 | Production process of medical filter component |
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| CN110814729B (en) * | 2019-10-17 | 2020-10-30 | 合肥仨力机械制造有限公司 | Automatic assembling device and automatic assembling method for sealing cover of medical oxygen filter |
| CN110814728B (en) * | 2019-10-17 | 2020-10-30 | 合肥仨力机械制造有限公司 | Automatic assembling and welding method and device for medical oxygen filter bottle body and bottle cap |
| CN110814730B (en) * | 2019-10-17 | 2020-10-30 | 淮安惠而邦企业管理有限公司 | Automatic assembling production method and production equipment for medical oxygen filter |
| CN110900192B (en) * | 2019-12-18 | 2021-04-06 | 深圳科易设计服务有限公司 | Full-automatic assembling process of filter flask for experiment |
| CN110900191B (en) * | 2019-12-18 | 2021-10-15 | 深圳市阿尓法智慧科技有限公司 | Full-automatic equipment of filter flask for experiments |
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| CN112421328B (en) * | 2020-11-10 | 2022-09-30 | 常德富博智能科技有限公司 | Automatic equipment for automatically mounting shielding case on apple head connector |
| CN113457236B (en) * | 2021-07-20 | 2022-11-25 | 常州市龙吟塑业有限公司 | Filter screen production processingequipment |
| CN116511873B (en) * | 2023-07-05 | 2023-08-29 | 微网优联科技(成都)有限公司 | Assembling device and method for efficiently and precisely assembling camera and shell |
| CN118088543B (en) * | 2024-04-01 | 2024-08-02 | 广州市恒超自动化科技有限公司 | Filter screen assembly production line and assembly method |
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- 2018-02-25 CN CN201910140135.0A patent/CN109623374B/en active Active
- 2018-02-25 CN CN201910140159.6A patent/CN109623375B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109623375B (en) | 2021-03-19 |
| CN109623375A (en) | 2019-04-16 |
| CN108145422A (en) | 2018-06-12 |
| CN108145422B (en) | 2019-06-21 |
| CN109623373B (en) | 2020-12-08 |
| CN109623373A (en) | 2019-04-16 |
| CN109623374A (en) | 2019-04-16 |
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