CN113500479B - Automatic processing robot for steel wire guide hook for orthopedic operation - Google Patents
Automatic processing robot for steel wire guide hook for orthopedic operation Download PDFInfo
- Publication number
- CN113500479B CN113500479B CN202110768094.7A CN202110768094A CN113500479B CN 113500479 B CN113500479 B CN 113500479B CN 202110768094 A CN202110768094 A CN 202110768094A CN 113500479 B CN113500479 B CN 113500479B
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- station
- thin straight
- workbench
- placing groove
- straight pipe
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 23
- 239000010959 steel Substances 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 title claims abstract description 19
- 230000000399 orthopedic effect Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 88
- 238000005452 bending Methods 0.000 claims abstract description 52
- 238000005498 polishing Methods 0.000 claims abstract description 36
- 239000000463 material Substances 0.000 claims abstract description 24
- 238000001356 surgical procedure Methods 0.000 claims abstract description 4
- 238000007599 discharging Methods 0.000 claims description 11
- 238000013519 translation Methods 0.000 claims description 6
- 238000013459 approach Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000000717 retained effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 208000010392 Bone Fractures Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/007—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor for end faces of tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D45/00—Ejecting or stripping-off devices arranged in machines or tools dealt with in this subclass
- B21D45/02—Ejecting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D9/00—Bending tubes using mandrels or the like
- B21D9/05—Bending tubes using mandrels or the like co-operating with forming members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
- B24B41/067—Work supports, e.g. adjustable steadies radially supporting workpieces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention provides an automatic processing robot for a steel wire guide hook in orthopedic surgery, which comprises: a work table; the feeding mechanism is arranged on the workbench and positioned at the feeding station and used for feeding the thin straight pipe; the polishing mechanism is arranged on the workbench and positioned at the polishing station and is used for polishing the end part of the thin straight pipe; the bending mechanism is arranged on the workbench and positioned at the bending station and used for bending the polished thin straight pipe; the blanking mechanism is arranged on the workbench and positioned at a blanking station and used for blanking the bent thin straight pipe; the material moving mechanism is arranged on the workbench and can receive the thin straight pipe on the feeding mechanism and drive the thin straight pipe to sequentially pass through the polishing station, the bending station and the blanking station; and the feeding mechanism, the grinding mechanism, the bending mechanism, the blanking mechanism and the material moving mechanism are in signal connection with the controller. The robot can realize automatic processing of the guide hook.
Description
Technical Field
The invention relates to the field of medical machinery processing, in particular to an automatic processing robot for a steel wire guide hook in an orthopedic operation.
Background
In the orthopedic surgery, for the treatment of bone fracture and unsafe fracture, the steel wire winding ligation is a common means, and doctors need to rely on their experience to wind the steel wire, which results in great winding difficulty. At present, adopt steel wire guide hook to assist the guide usually to steel wire winding operation among the orthopedic operation, steel wire guide hook is hollow structure, and its front end has crook portion, and the handheld steel wire guide hook tail of doctor stretches the crook portion of steel wire guide hook forward to the back of the bone that needs the winding ligature, passes the steel wire from the hollow structure of steel wire guide hook and wears out from the front end of crook portion, realizes the action that the steel wire walked around from the bone back. Greatly improves the efficiency of the steel wire winding ligation operation and reduces the difficulty of operating by the experience and the hand feeling of doctors.
The steel wire guide hook is usually made of medical grade stainless steel materials, the diameter of a hook body of the guide hook is small, and the bending processing of a hook part of the steel wire guide hook is improper, so that the steel wire guide hook can be directly broken, or the internal channel of the steel wire guide hook is blocked in the bending process. In addition, the front end of the hook part is in reducing arrangement, namely the tail end of the hook is closer to the outlet of the channel of the device, and the diameter of the tail end of the hook is smaller. Therefore, when the wire guide hook is processed, the front end of the wire guide hook needs to be ground in advance before being bent.
The manual manufacturing cost of the hook guide hook is high, the consistency of the manually manufactured product is poor, and the yield of batch production cannot be guaranteed.
Based on the above circumstances, the present application proposes an apparatus for mass-producing a steel wire guide hook for orthopedic surgery.
Disclosure of Invention
In order to solve the technical problem, an automatic processing robot for the steel wire guide hook in the orthopedic operation is provided.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
an automatic processing robot of an orthopedic wire guide hook, comprising:
a work table;
the feeding mechanism is arranged on the workbench and positioned at the feeding station and used for feeding the thin straight pipe;
the polishing mechanism is arranged on the workbench and positioned at the polishing station and is used for polishing the end part of the thin straight pipe;
the bending mechanism is arranged on the workbench and positioned at the bending station and used for bending the polished thin straight pipe;
the blanking mechanism is arranged on the workbench and positioned at a blanking station and used for blanking the bent thin straight pipe; and
the material moving mechanism is arranged on the workbench and can receive the thin straight pipe on the feeding mechanism and drive the thin straight pipe to sequentially pass through a polishing station, a bending station and a discharging station;
and the feeding mechanism, the grinding mechanism, the bending mechanism, the blanking mechanism and the material moving mechanism are in signal connection with the controller.
Preferably, the material moving mechanism comprises:
the linear module is arranged on the workbench, and the moving direction of the output end of the linear module is parallel to the arrangement direction of the feeding station, the polishing station, the bending station and the discharging station;
the translation plate is arranged at the output end of the linear module;
the first rectangular box is arranged on the translation plate;
the first placing block is supported on the first rectangular box, a first placing groove is formed in the upper surface of the first placing block, the first placing groove extends along the moving direction, the cross section of the first placing groove is semicircular, the diameter of the first placing groove is equivalent to that of the thin straight pipe, the portions, located on two sides of the first placing groove, of the upper surface of the first placing block are inclined planes, and the heights of the two inclined planes are gradually reduced along with the gradual approach of the two inclined planes to the first placing groove.
Preferably, further, the material moving mechanism further comprises:
a first screw rotatably supported on the first rectangular box, an axis of the first screw being parallel to the moving direction;
the first sleeve is sleeved on the first screw rod and is in threaded connection with the first screw rod;
the first vertical plate is arranged at one end, far away from the first screw, of the first sleeve; and
a first push rod arranged on the same side of the first vertical plate as the first sleeve, wherein the axis of the first push rod is parallel to the moving direction, and the first push rod is aligned with the first placing groove when viewed along the moving direction;
and the first motor is arranged on the first rectangular box, is electrically connected with the controller and is used for driving the first screw to rotate by controlling the first screw.
Preferably, the grinding mechanism comprises:
the rotating roller can move up and down and is rotatably supported at a grinding station of the workbench, when the first placing block moves to the grinding station, the thin straight pipe positioned in the first placing groove is positioned right below the rotating roller, and during grinding, the rotating roller abuts against the thin straight pipe and drives the thin straight pipe to rotate;
the polishing head can move up and down and can rotate and is used for polishing one end, exposed out of the first placing block, of the thin straight pipe.
Preferably, the grinding mechanism further comprises:
the first linear driver is vertically arranged at a polishing station of the workbench and is electrically connected with the controller;
a first plate disposed on an output terminal of the first linear driver;
the inverted U-shaped frame is arranged on the lower surface of the first flat plate, the opening of the U shape of the inverted U-shaped frame faces downwards, the plane where the U shape is located is parallel to the moving direction, and the rotating roller is rotatably arranged in the U shape of the inverted U-shaped frame;
the second motor is arranged on the inverted U-shaped frame, a driving wheel is arranged on an output shaft of the second motor, a driven wheel is arranged at one end of the rotating roller, the driving wheel is in transmission connection with the driven wheel through a belt, and the second motor is electrically connected with the controller;
the second linear driver is vertically arranged at the polishing station on the workbench and is electrically connected with the controller;
and the third motor is arranged on the second linear driver, the polishing head is arranged on an output shaft of the third motor, and the output shaft of the third motor is parallel to the moving direction. The first linear driver and the second linear driver are arranged along the moving direction, and the third motor is electrically connected with the controller.
Preferably, the bending mechanism includes:
the third linear driver is vertically arranged at the bending station of the workbench and is electrically connected with the controller;
the L-shaped plate comprises a vertical part and a horizontal part arranged at the lower end of the vertical part, and the vertical part is arranged at the output end of the third linear driver;
a first abutment post disposed vertically and rotatably on the horizontal portion about a first axis of rotation, the first axis of rotation being collinear with an axis of the first abutment post;
a second abutment post vertically disposed on the horizontal portion, an axis of the second abutment post being eccentrically disposed with respect to the first axis of rotation, the second abutment post being rotatable about the first axis of rotation, the thin straight tube being insertable into a gap between the first abutment post and the second abutment post.
Preferably, a first positioning block is further arranged below the horizontal portion, when the first placing block moves to the bending station, the first positioning block is located right above the first placing block, and when the first placing block is bent, the first positioning block can abut against the thin straight pipe on the first placing block.
Preferably, still including setting up the inside lining assembly devices of the inside lining assembly station department at the workstation, inside lining assembly station is located polish between station and the station of bending, inside lining assembly devices is used for to thin straight tube in the assembly inside lining, the inside lining is the tubulose and adopts elastic rubber materials to make, assembles its position department that need bend to thin straight tube to the inner wall of thin straight tube is hugged closely to the inside lining, inside lining assembly devices includes:
the third linear driver is vertically arranged and is electrically connected with the controller;
a second extension plate disposed on an output end of the third linear driver;
the second placing block is arranged on the second extending plate, a second placing groove is formed in the second placing block, the second placing groove extends along the moving direction, the second placing groove is aligned with the first placing groove along the moving direction, the portions, located on two sides of the second placing groove, of the upper surface of the second placing block are inclined surfaces, the heights of the two inclined surfaces are gradually reduced along the direction close to the second placing groove, a guide sleeve is arranged on the upper surface of the second placing block, the axis of the guide sleeve is collinear with the axis of the second placing groove, and the guide sleeve is arranged on one side, far away from the second vertical plate, of the second placing groove.
Preferably, a second positioning block is provided on the second extension plate, the second positioning block being configured to just press against the thin straight tube when the first placing block is moved to the liner assembling station with the second placing groove aligned with the first placing groove, and a positioning groove extending in the moving direction and having a semicircular cross section of a size corresponding to the diameter of the thin straight tube is provided on a lower surface of the second positioning block, and an upper half portion of the thin straight tube is retained in the positioning groove when the second positioning block is moved downward to a certain distance.
Preferably, the blanking mechanism comprises:
the first telescopic cylinder is arranged on the workbench, the first telescopic cylinder and the linear module are arranged along the moving direction, and a cylinder rod of the first telescopic cylinder faces the direction of the linear module;
the first clamping jaw air cylinder is arranged on an air cylinder rod of the first telescopic air cylinder, and two clamping jaws of the first clamping jaw air cylinder are arranged up and down;
the second telescopic cylinder is arranged on the workbench, and the telescopic direction of a cylinder rod of the second telescopic cylinder is perpendicular to the moving direction;
the second clamping jaw cylinder is arranged on a cylinder rod of the second telescopic cylinder, the two clamping jaws of the second clamping jaw cylinder are arranged up and down, and the position of the second telescopic cylinder on the workbench is configured to be capable of clamping the lining exposed from the guide hook to pull out the lining when the cylinder rod of the first telescopic cylinder retracts and when the cylinder rod of the second telescopic cylinder extends.
Compared with the prior art, the invention has the following beneficial effects:
1) the invention can realize the full-automatic processing of the guide hook;
2) when bending, insert the inside lining to the department of bending of thin straight tube earlier, can avoid thin straight tube to take place indent etc. because the pipe wall is extrudeed at the in-process of bending like this.
Drawings
FIG. 1 is a first perspective view of the present invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a partial perspective view of a first thin tube end grinding mechanism of the present invention;
FIG. 5 is an enlarged view taken at A of FIG. 4 in accordance with the present invention;
FIG. 6 is a partial perspective view of a second thin straight tube end grinding mechanism of the present invention;
FIG. 7 is a partial perspective view of a third embodiment of the thin tube end grinding mechanism of the present invention;
FIG. 8 is a partial perspective view of a thin tube end grinding mechanism of the present invention
FIG. 9 is a partial perspective view of the liner assembly mechanism of the present invention
FIG. 10 is an enlarged view at B of FIG. 9 in accordance with the present invention;
FIG. 11 is a second partial perspective view of the liner assembly mechanism of the present invention;
FIG. 12 is an enlarged view at C of FIG. 11 of the present invention;
FIG. 13 is a partial first perspective view of the bending mechanism of the present invention;
FIG. 14 is a second partial perspective view of the bending mechanism of the present invention;
FIG. 15 is a partial perspective view of the bending mechanism of the present invention;
FIG. 16 is a partial perspective view of the blanking mechanism of the present invention;
FIG. 17 is a partial perspective view of the thin straight tube directional material moving mechanism of the present invention;
FIG. 18 is a partial perspective view of the tubular lining material guiding jig of the present invention;
fig. 19 is a front view of a guide hook of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1 to 19, an automatic processing robot of an orthopedic wire guide hook includes: the automatic feeding device comprises a workbench 2, a feeding mechanism 3 which is arranged on the workbench 2 and located at a feeding station and used for feeding thin straight pipes, a polishing mechanism 5 which is arranged on the workbench 2 and located at a polishing station and used for polishing the end parts of the thin straight pipes, a bending mechanism 6 which is arranged on the workbench 2 and located at a bending station and used for bending the polished thin straight pipes, a discharging mechanism 7 which is arranged on the workbench 2 and located at a discharging station and used for discharging the bent thin straight pipes and a material moving mechanism 4, wherein the material moving mechanism 4 can receive the thin straight pipes on the feeding mechanism 3 and drive the thin straight pipes to sequentially pass through the polishing station, the bending station and the discharging station so as to sequentially achieve feeding, end part polishing, bending and discharging of the thin straight pipes. The feeding mechanism 3, the polishing mechanism 5, the bending mechanism 6, the blanking mechanism 7 and the material moving mechanism 4 are all in signal connection with the controller.
The thin straight tube feeding mechanism 3 can adopt belt conveying, the thin straight tube is placed on the belt, the conveying direction of the thin straight tube feeding mechanism 3 is perpendicular to the moving direction of the material moving mechanism 4, in addition, the placing direction of the thin straight tube on the belt is parallel to the moving direction, and the thin straight tube can fall onto the material moving mechanism 4 positioned on a feeding station when moving to the tail end of the thin straight tube feeding mechanism 3 under the driving of the belt.
Move material mechanism 4 including setting up sharp module 8 on workstation 2 and setting up translation board 9 on the output of sharp module 8. The moving direction of the output end of the linear module 8 is parallel to the arrangement direction of the feeding station, the polishing station, the bending station and the discharging station.
The material moving mechanism 4 further comprises a first rectangular box 19 arranged on the translation plate 9 and a first placing block 10 supported on the first rectangular box 19, a first placing groove 12 is arranged on the upper surface of the first placing block 10, the first placing groove 12 extends along the moving direction, the cross section of the first placing groove 12 is semicircular, and the diameter of the first placing groove is equivalent to that of the thin and straight pipe. The portions of the upper surface of the first placement block 10, which are located on both sides of the first placement groove 12, are inclined surfaces, and the two inclined surfaces gradually decrease in height as they gradually approach the first placement groove 12, so that when a thin straight pipe falls onto the upper surface of the first placement block 10, the thin straight pipe automatically enters the first placement groove 12 along with the inclined surfaces.
Further, the material moving mechanism 4 further includes a first screw 21 rotatably supported on the first rectangular box 19, a first sleeve 23 sleeved on the first screw 21 and in threaded connection with the first screw 21, a first vertical plate 25 disposed at one end of the first sleeve 23 far away from the first screw 21, and a first push rod 11 disposed at one side of the first vertical plate 25, which is the same as the first sleeve 23, wherein an axis of the first screw 21 is parallel to the moving direction, an axis of the first push rod 11 is also parallel to the moving direction, and when viewed along the moving direction, the first push rod 11 is aligned with the first placing groove 12, and the first push rod 11 can be driven to move back and forth by controlling the rotation of the first screw 21, so that the thin straight pipe located in the first placing groove 12 can be pushed by the first push rod 11.
Preferably, a first limiting sleeve 22 is arranged on the first rectangular box 19 and corresponding to one end of the first screw rod 19 inserted into the first sleeve 23, a first abutting strip 24 is arranged on the first sleeve 23, the first abutting strip 24 extends along the moving direction, a limiting groove 221 is arranged on the inner side wall of the first limiting sleeve 22, and the first abutting strip 24 can be inserted into the limiting groove 221, so that the first sleeve 23 is prevented from rotating. The first screw 21 is driven by a first motor 20 mounted on the first rectangular box 19.
The grinding mechanism 5 comprises a rotating roller 13 and a grinding head 14 which can move up and down and are rotatably supported at a grinding station of the workbench, when the first placing block 10 moves to the grinding station, the thin straight pipe located in the first placing groove 12 is located right below the rotating roller 13, at the moment, the first push rod 11 pushes the thin straight pipe to move for a certain distance so that one end of the thin straight pipe, opposite to the first push rod 11, is exposed out of the first placing block 10, then, the rotating roller 13 moves downwards to be in contact with the thin straight pipe, and after the contact, the rotating roller 13 rotates to drive the thin straight pipe to rotate. The polishing head 14 is used for polishing one end of the thin straight tube exposed from the first placing block 10, and the polishing head 14 is rotated when polishing. Preferably, the rotating roller 13 is sleeved with a rubber sleeve 33, and the rubber sleeve 33 can increase friction on one hand and protect the thin straight pipe and the rotating roller 13 on the other hand.
Specifically, the grinding mechanism 5 further comprises a first linear driver 26 vertically arranged at the grinding station of the workbench 2, a first flat plate 27 arranged at the output end of the first linear driver 26, and an inverted U-shaped frame 29 arranged on the lower surface of the first flat plate 27, wherein the opening of the U shape of the inverted U-shaped frame 29 faces downwards, the plane where the U shape is located is parallel to the moving direction, and the rotating roller 13 is rotatably arranged in the U shape of the inverted U-shaped frame 29. A second motor 28 is further arranged on the inverted U-shaped frame 29, a driving wheel 30 is arranged on an output shaft of the second motor 28, a driven wheel 31 is arranged at one end of the rotating roller 13, and the driving wheel 30 and the driven wheel 31 are in transmission connection by a belt 32.
The grinding mechanism 5 further comprises a second linear driver 34 vertically arranged at a grinding station on the workbench 2 and a third motor 35 arranged on the second linear driver 34, the grinding head 14 is arranged on an output shaft of the third motor 35, and the output shaft of the third motor 35 is parallel to the moving direction. The first linear actuator 26 and the second linear actuator 34 are arranged along the moving direction.
The bending mechanism 6 comprises a third linear driver 48 vertically arranged on the workbench 2, an L-shaped plate 50 arranged on an output end of the third linear driver 48, a first abutting column 54 and a second abutting column 55 vertically and rotatably arranged on the L-shaped plate 50, wherein the first abutting column 54 and the second abutting column 55 rotate around a first rotation axis, an axis of the first abutting column 54 is collinear with the first rotation axis, an axis of the second abutting column 55 is eccentrically arranged relative to the first rotation axis, lower ends of the first abutting column 54 and the second abutting column 55 are consistent in height, and a gap is arranged between the first abutting column 54 and the second abutting column 55, the gap is configured to enable a thin straight pipe to pass through between the first abutting column 54 and the second abutting column 55, so that when the first abutting column 54 and the second abutting column 55 rotate around the first rotation axis, the thin straight tube passing through the gap can be bent. The L-shaped plate 50 includes a vertical portion fixed to an output end of the third linear driver 48, and a horizontal portion provided at a lower end of the vertical portion, and the first and second abutment posts 54 and 55 are rotatably provided on the horizontal portion.
Further, a sleeve 53 having an axis extending vertically is provided on the horizontal portion, the first and second abutment columns 54 and 55 are provided on the sleeve 53, and lower ends of the first and second abutment columns 54 and 55 pass through a lower end of the sleeve 53. An arc-shaped opening 58 is arranged at the bottom of the sleeve 53, the center of the arc-shaped opening 58 is located on the first rotating axis, and the length of the arc-shaped opening 58 is determined by the angle at which the thin straight pipe is bent. A driving block 57 is disposed on the upper portion of the first abutting column 54 located at the bottom of the sleeve 53, and the upper end of the second abutting column 55 passes through the arc-shaped opening 58 and is connected with the driving block 57. Preferably, the first abutment post 54 is driven by a fifth motor 52.
After the thin straight pipe reaches the bending station, the output end of the third driving driver 48 moves downward, so that the gap is aligned with the first placing groove 12 in the moving direction, the first push rod 11 pushes the thin straight pipe out by a certain length, and then the first abutting column 54 and the second abutting column 55 rotate by a certain angle to realize bending. After bending, the first abutment post 54 and the second abutment post 55 move upward, disengaging from the thin straight tube. The bent thin straight tube becomes the guide hook 100.
Further, a first positioning block 51 is further arranged below the horizontal portion, when the first placing block 10 moves to the bending station, the first positioning block 51 is located right above the first placing block 10, and when the first placing block 10 is bent, the first positioning block 51 can abut against the thin straight pipe on the first placing block 10 to play a role in positioning, so that the thin straight pipe is prevented from being separated from the first placing groove 12 in the bending process.
In order to avoid the pipe wall to produce crease, even break when bending, the robot is still including setting up the inside lining assembly devices who installs the station department at workstation 2's inside lining, inside lining assembly stations is located polish between station and the station of bending, inside lining assembly devices is used for to the intraductal inside lining of assembling of thin straight, the inside lining is the tubulose and adopts elastic rubber materials to make, assembles its position department that needs the bending to thin straight pipe to the inner wall of thin straight pipe is hugged closely to the inside lining, and at the in-process of bending like this, the inside lining can reduce thin straight pipe and produce the possibility of crease or rupture.
The liner fitting mechanism includes a third linear actuator 37 provided vertically, a second extension plate 38 provided on an output end of the third linear actuator 37, and a second placing block 15 provided on the second extension plate 38, a second placing groove 16 being provided on the second placing block 15, the second placing groove 16 extending in the moving direction and the second placing groove 16 being aligned with the first placing groove 12 in the moving direction. The upper surface of the second placing block 15 and the portions located at both sides of the second placing groove 16 are inclined surfaces, and the heights of the two inclined surfaces are gradually reduced along the direction close to the second placing groove 16, so that the lining falling on the upper surface of the second placing block 15 can be rolled into the second placing groove 16 under the action of self gravity. The second standing groove 16 is semicircular in cross section and corresponds to the size of the liner.
Further, the lining assembling mechanism further includes a second rectangular box 40 disposed on the second extending plate 38, a second screw 44 rotatably disposed in the second rectangular box 40, a second sleeve 46 sleeved on the second screw 44 and in threaded connection with the second screw, a second riser 48 disposed on an end of the second sleeve 46 far from the second screw 44, and a second push rod 17 disposed on the second riser 48 and located on the same side as the second sleeve 46, wherein the second push rod 17 extends along the moving direction, and when viewed along the moving direction, the first push rod 11 and the second push rod 17 are located on the same straight line. And the pushing directions of the first push rod 11 and the second push rod 17 are configured to move opposite to the thin straight pipe when the thin straight pipe moves to the lining assembling station, in the actual production, the second push rod 17 pushes the lining to move towards the thin straight pipe and pushes the lining to a preset position in the thin straight pipe, and the first push rod 11 is kept still against the thin straight pipe. In order to facilitate the removal of the liner after the bending is completed, one end of the liner may be exposed from the thin straight tube.
Specifically, a second stop collar 45 is disposed on the second rectangular box 40 and corresponding to one end of the second screw 44 inserted into the second sleeve 46, the second stop collar 45 has the same structure as the first stop collar 22, a second abutting strip 47 extending along the moving direction is disposed on the outer side of the second sleeve 46, and the second sleeve 46 can be prevented from rotating by the cooperation of the second abutting strip 47 and the second stop collar 45. The second screw 44 is driven by a fourth motor 43 provided on the second rectangular box 40.
Further, a guide sleeve 41 is arranged on the upper surface of the second placing block 15, the axis of the guide sleeve 41 is collinear with the axis of the second placing groove 16, and the guide sleeve 41 is arranged on the side of the second placing groove 16 far away from the second vertical plate 48, namely, on the end of the second placing groove 16 close to the thin straight pipe. The part of the lining which does not enter the thin straight pipe can be placed to be turned up through the guide sleeve 41.
Further, a second positioning block 39 is disposed on the second extension plate 38, and the second positioning block 39 is configured such that when the first placing block 10 moves to the liner assembling station and the second placing groove 16 is aligned with the first placing groove 12, the second positioning block 39 just presses on the thin straight pipe, and the thin straight pipe is fixed. Preferably, a positioning groove 391 is provided on the lower surface of the second positioning block 39, the positioning groove 391 extends along the moving direction, and has a semicircular cross section with a size corresponding to the diameter of the thin straight tube, and when the second positioning block 39 moves downward to a certain distance, the upper half of the thin straight tube is retained in the positioning groove 391.
The liner assembly mechanism further includes a liner feeding mechanism 18, and the liner feeding mechanism 18 is conveyed by a belt in the prior art, which is not described in detail herein.
The blanking mechanism 7 comprises a first telescopic cylinder 60 arranged on the workbench 2 and a first clamping jaw cylinder 61 arranged on the first telescopic cylinder 60, the first telescopic cylinder 60 and the linear module 8 are arranged along the moving direction, a cylinder rod of the first telescopic cylinder 60 faces the direction of the linear module 8, the first clamping jaw cylinder 61 is arranged on the cylinder rod of the first telescopic cylinder 60, two clamping jaws of the first clamping jaw cylinder 61 are arranged up and down, when a bent guide hook at a bending station needs to be taken out, the cylinder rod of the first telescopic cylinder 60 extends forwards, the first clamping jaw cylinder 61 clamps the guide hook 1, and then the first telescopic cylinder 60 retracts. Unloading mechanism 7 is still including setting up guide hook unloading slide 59 on workstation 2, works as when first telescopic cylinder 60 withdraws, first clamping jaw cylinder 61 is located directly over guide hook unloading slide 59, loosens first clamping jaw cylinder 61 this moment, and guide hook 1 can fall on the guide hook unloading slide 59.
The blanking mechanism 7 further comprises a second telescopic cylinder 63 arranged on the workbench 2 and a second clamping jaw cylinder 64 arranged on a cylinder rod of the second telescopic cylinder 63, wherein the telescopic direction of the cylinder rod of the second telescopic cylinder 63 is perpendicular to the moving direction, two clamping jaws of the second clamping jaw cylinder 64 are arranged up and down, and the position of the second telescopic cylinder 63 on the workbench 2 is configured in such a way that when the cylinder rod of the first telescopic cylinder 60 retracts and when the cylinder rod of the second telescopic cylinder 63 extends, the second clamping jaw cylinder 64 can clamp the lining exposed from the guide hook 1, so that the lining can be pulled out. Preferably, the second telescopic cylinder 63 may be provided to be movable by a distance along the moving direction, and the liner may be pulled out in the bending direction by moving by a distance along the moving direction while the liner is gripped by the second chuck jaw cylinder 64. Further, a lining blanking slide way 66 is further arranged on the workbench 2, and when the lining is pulled out, the second clamping jaw air cylinder 64 is loosened, so that the lining falls onto the lining blanking slide way 66.
Further, a position sensor 67 is arranged at a position corresponding to each station on the workbench 2, and whether a corresponding structure is in place or not can be judged through the position sensor 67.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. An automatic processing robot of an orthopedic operation steel wire guide hook, comprising:
a work table;
the feeding mechanism is arranged on the workbench and positioned at the feeding station and used for feeding the thin straight pipe;
the polishing mechanism is arranged on the workbench and positioned at the polishing station and is used for polishing the end part of the thin straight pipe;
the bending mechanism is arranged on the workbench and positioned at the bending station and used for bending the polished thin straight pipe;
the blanking mechanism is arranged on the workbench and positioned at a blanking station and used for blanking the bent thin straight pipe; and
the material moving mechanism is arranged on the workbench and can receive the thin straight pipe on the feeding mechanism and drive the thin straight pipe to sequentially pass through a polishing station, a bending station and a discharging station;
the feeding mechanism, the polishing mechanism, the bending mechanism, the discharging mechanism and the material moving mechanism are in signal connection with the controller;
move material mechanism includes:
the linear module is arranged on the workbench, and the moving direction of the output end of the linear module is parallel to the arrangement direction of the feeding station, the polishing station, the bending station and the discharging station;
the translation plate is arranged at the output end of the linear module;
the first rectangular box is arranged on the translation plate;
a first placing block supported on a first rectangular box, wherein a first placing groove is arranged on the upper surface of the first placing block, the first placing groove extends along the moving direction, the cross section of the first placing groove is semicircular, the diameter of the first placing groove is equivalent to that of the thin straight pipe, the parts of the upper surface of the first placing block, which are positioned on two sides of the first placing groove, are inclined planes, and the heights of the two inclined planes are gradually reduced along with the gradual approach of the first placing groove;
move material mechanism still includes:
a first screw rotatably supported on the first rectangular box, an axis of the first screw being parallel to the moving direction;
the first sleeve is sleeved on the first screw rod and is in threaded connection with the first screw rod;
the first vertical plate is arranged at one end, far away from the first screw, of the first sleeve; and
a first push rod arranged on the same side of the first vertical plate as the first sleeve, wherein the axis of the first push rod is parallel to the moving direction, and the first push rod is aligned with the first placing groove when viewed along the moving direction;
the first motor is arranged on the first rectangular box, is electrically connected with the controller and is used for driving the first screw to rotate under the control of the first screw;
the automatic processing robot is still including setting up the inside lining assembly devices who assembles station department at the inside lining of workstation, inside lining assembly stations is located polish the station and bend between the station, inside lining assembly devices is used for assembling the inside lining to thin straight tube, the inside lining is the tubulose and adopts elastic rubber materials to make, assembles its position department that need bend to thin straight tube to the inner wall of thin straight tube is hugged closely to the inside lining, inside lining assembly devices includes:
the third linear driver is vertically arranged and is electrically connected with the controller;
a second extension plate disposed on an output end of the third linear driver;
the second placing block is arranged on the second extending plate, a second placing groove is formed in the second placing block, the second placing groove extends along the moving direction, the second placing groove is aligned with the first placing groove along the moving direction, the portions, located on two sides of the second placing groove, of the upper surface of the second placing block are inclined surfaces, the heights of the two inclined surfaces are gradually reduced along the direction close to the second placing groove, a guide sleeve is arranged on the upper surface of the second placing block, the axis of the guide sleeve is collinear with the axis of the second placing groove, and the guide sleeve is arranged on one side, far away from the second vertical plate, of the second placing groove.
2. The automatic processing robot for an orthopedic wire guide hook according to claim 1, wherein the grinding mechanism comprises:
the rotating roller can move up and down and is rotatably supported at a grinding station of the workbench, when the first placing block moves to the grinding station, the thin straight pipe positioned in the first placing groove is positioned right below the rotating roller, and during grinding, the rotating roller abuts against the thin straight pipe and drives the thin straight pipe to rotate;
the polishing head can move up and down and can rotate and is used for polishing one end, exposed out of the first placing block, of the thin straight pipe.
3. The automatic processing robot for an orthopedic wire guide hook according to claim 2, wherein the grinding mechanism further comprises:
the first linear driver is vertically arranged at a polishing station of the workbench and is electrically connected with the controller;
a first plate disposed on an output terminal of the first linear driver;
the inverted U-shaped frame is arranged on the lower surface of the first flat plate, the opening of the U shape of the inverted U-shaped frame faces downwards, the plane where the U shape is located is parallel to the moving direction, and the rotating roller is rotatably arranged in the U shape of the inverted U-shaped frame;
the second motor is arranged on the inverted U-shaped frame, a driving wheel is arranged on an output shaft of the second motor, a driven wheel is arranged at one end of the rotating roller, the driving wheel and the driven wheel are in transmission connection through a belt, and the second motor is electrically connected with the controller;
the second linear driver is vertically arranged at the polishing station on the workbench and is electrically connected with the controller;
the third motor is arranged on the second linear driver, the polishing head is arranged on an output shaft of the third motor, the output shaft of the third motor is parallel to the moving direction, the first linear driver and the second linear driver are arranged along the moving direction, and the third motor is electrically connected with the controller.
4. The automatic processing robot of an orthopedic wire guide hook according to claim 1, wherein the bending mechanism comprises:
the fourth linear driver is vertically arranged at the bending station of the workbench and is electrically connected with the controller;
the L-shaped plate comprises a vertical part and a horizontal part arranged at the lower end of the vertical part, and the vertical part is arranged at the output end of the fourth linear driver;
a first abutment post disposed vertically and rotatably on the horizontal portion about a first axis of rotation, the first axis of rotation being collinear with an axis of the first abutment post;
a second abutment post vertically disposed on the horizontal portion, an axis of the second abutment post being eccentrically disposed with respect to the first axis of rotation, the second abutment post being rotatable about the first axis of rotation, the thin straight tube being insertable into a gap between the first abutment post and the second abutment post.
5. The automatic processing robot for the steel wire guide hook for the orthopedic surgery as claimed in claim 4, wherein a first positioning block is further provided below the horizontal portion, the first positioning block is located right above the first placing block when the first placing block moves to the bending station, and the first positioning block can abut against the thin straight pipe on the first placing block when the first placing block is bent.
6. An automatic processing robot for an orthopedic wire guide hook according to claim 5, wherein a second positioning block is provided on the second extension plate, the second positioning block is configured to be just pressed against the thin straight tube when the first placing block is moved to the lining assembling station and the second placing groove is aligned with the first placing groove, and a positioning groove is provided on a lower surface of the second positioning block, the positioning groove extends along the moving direction and has a semicircular cross section with a size corresponding to the diameter of the thin straight tube, and when the second positioning block is moved downward to a certain distance, the upper half of the thin straight tube is retained in the positioning groove.
7. The automatic processing robot for an orthopedic wire guide hook according to claim 1, wherein the blanking mechanism comprises:
the first telescopic cylinder is arranged on the workbench, the first telescopic cylinder and the linear module are arranged along the moving direction, and a cylinder rod of the first telescopic cylinder faces the direction of the linear module;
the first clamping jaw air cylinder is arranged on an air cylinder rod of the first telescopic air cylinder, and two clamping jaws of the first clamping jaw air cylinder are arranged up and down;
the second telescopic cylinder is arranged on the workbench, and the telescopic direction of a cylinder rod of the second telescopic cylinder is perpendicular to the moving direction;
the second clamping jaw cylinder is arranged on a cylinder rod of the second telescopic cylinder, the two clamping jaws of the second clamping jaw cylinder are arranged up and down, and the position of the second telescopic cylinder on the workbench is configured to be capable of clamping the lining exposed from the guide hook to pull out the lining when the cylinder rod of the first telescopic cylinder retracts and when the cylinder rod of the second telescopic cylinder extends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110768094.7A CN113500479B (en) | 2021-07-07 | 2021-07-07 | Automatic processing robot for steel wire guide hook for orthopedic operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110768094.7A CN113500479B (en) | 2021-07-07 | 2021-07-07 | Automatic processing robot for steel wire guide hook for orthopedic operation |
Publications (2)
| Publication Number | Publication Date |
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| CN113500479A CN113500479A (en) | 2021-10-15 |
| CN113500479B true CN113500479B (en) | 2022-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110768094.7A Expired - Fee Related CN113500479B (en) | 2021-07-07 | 2021-07-07 | Automatic processing robot for steel wire guide hook for orthopedic operation |
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| Country | Link |
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| CN (1) | CN113500479B (en) |
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| US9050445B2 (en) * | 2011-01-29 | 2015-06-09 | David Klebs | Tattoo needle stabilization device and method of use |
| US9066506B2 (en) * | 2011-12-28 | 2015-06-30 | Dee Thomas Fishing Llc | Tangle free tip top for fishing |
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| CN1286151A (en) * | 1999-08-27 | 2001-03-07 | 朴洪顺 | Apparatus for forming blade for cutting prints |
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|---|---|
| CN113500479A (en) | 2021-10-15 |
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