CN113844892A - Transfer method and needle transfer apparatus - Google Patents
Transfer method and needle transfer apparatus Download PDFInfo
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- CN113844892A CN113844892A CN202111163075.8A CN202111163075A CN113844892A CN 113844892 A CN113844892 A CN 113844892A CN 202111163075 A CN202111163075 A CN 202111163075A CN 113844892 A CN113844892 A CN 113844892A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G49/00—Conveying systems characterised by their application for specified purposes not otherwise provided for
- B65G49/05—Conveying systems characterised by their application for specified purposes not otherwise provided for for fragile or damageable materials or articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/20—Earthquake protection
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
Abstract
The invention relates to a transfer method and a needle transfer device. The needle transfer device includes: the needle releasing mechanism can move to a needle releasing position to guide the needle tool to be installed on a needle seat on the carrier; the needle feeding mechanism is used for conveying the dispersed needles to a needle taking position; the needle moving mechanism comprises a first driving source and a needle moving unit which is connected with the first driving source in a follow-up manner; the transferring method comprises the following steps: the needle feeding mechanism drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position; the needle moving unit acquires a needle tool at a needle taking position, and the first driving source outputs forward power under the control of a preset starting instruction so as to drive the needle moving unit to move to a needle releasing position; the needle moving unit acquires a needle tool at a needle taking position, and the first driving source outputs forward power under the control of a preset starting instruction so as to drive the needle moving unit to move to a needle releasing position; the first driving source outputs reverse power under the control of the first braking instruction and stops when driving the needle moving unit to move continuously to the needle releasing position.
Description
Technical Field
The invention relates to the technical field of medical product production equipment, in particular to a transfer method and a needle transfer device.
Background
The transfer work of the medical needle requires high-precision motion control so that the needle can be accurately and harmlessly placed in the carrier. At present, the needle transfer equipment is mostly adopted to complete the operation. The transferring and carrying of the medical needle mainly comprises the steps of needle feeding, transferring and needle placing. The traditional needle transfer equipment has the following problems: the needle moving mechanism used for executing the moving and carrying steps in the needle moving and carrying equipment can generate vibration when moving in place, the vibration has large amplitude and long duration and is difficult to fade, the accuracy and the success rate of subsequent needle placing and next needle placing can be reduced, and the needle can be damaged in serious cases.
In order to solve the above problem, the current countermeasures are to set a waiting time between the transferring step and the stitch placing step, wait for the shock to be removed and then execute the subsequent steps, or set a buffer component for the stitch moving mechanism. However, the former method will increase the time consumption of the needle transferring operation, slow the operation cycle of the needle transferring operation, and reduce the transferring efficiency; the latter method can only eliminate the vibration of the needle moving mechanism, and other devices in the needle transferring equipment except the needle moving mechanism and the buffer component can still be impacted by the vibration, especially the needle releasing mechanism for guiding the needle to be installed on the needle seat, and the buffer component is only used for reducing the vibration amplitude, namely the buffer component only has the vibration buffering function and cannot absorb the vibration.
Disclosure of Invention
In view of the above, it is desirable to provide an improved medical needle transfer method and needle transfer apparatus.
The present invention provides a method for transferring a medical needle based on a needle transfer device, the needle transfer device including:
the needle releasing mechanism can move to a needle releasing position to guide the needle tool to be installed on a needle seat on the carrier;
the needle feeding mechanism is used for conveying the dispersed needles to a needle taking position;
the needle moving mechanism comprises a first driving source and a needle moving unit which is connected with the first driving source in a follow-up manner;
the transferring method comprises the following steps:
s1, the needle feeding mechanism drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position;
s2, the needle moving unit obtains a needle at the needle taking position, and the first driving source outputs forward power under the control of a preset starting instruction so as to drive the needle moving unit to move to the needle releasing position;
and S3, outputting reverse power by the first driving source under the control of the first braking instruction, and stopping when driving the needle moving unit to move continuously to the needle releasing position.
The medical needle transfer method provided by the invention has the following beneficial effects:
1) the first driving source brakes the needle moving mechanism by outputting reverse power in advance before the needle moving mechanism is in place and stops, and the needle moving mechanism starts to decelerate before reaching the needle releasing position so that momentum of the needle moving mechanism when reaching the needle releasing position is zero or approaches to zero, and further impulse of the needle moving mechanism on other parts in the needle transferring equipment can be reduced, and both the vibration amplitude and the vibration duration are obviously reduced;
2) because the momentum of the needle moving mechanism when reaching the needle releasing position is zero or approaches to zero, and the vibration generated by the needle moving mechanism is slight or even negligible, the invention does not need to set waiting time between the transferring step and the needle releasing step to wait for the vibration to subside, can maintain the beat and the operation efficiency required at the beginning of the needle transferring operation planning, and is favorable for maintaining the planning productivity;
3) the first driving source converts the kinetic energy released by vibration into the heat energy in the first driving source by changing the direction of the output power of the first driving source, and the heat energy is dissipated without applying mechanical work to the parts except the needle moving mechanism in the needle transferring equipment, so that the part loss of the needle transferring equipment is reduced, and the service life of the equipment is prolonged;
4) the invention can adjust the sending time of the first brake instruction and the time interval between the first brake instruction and the preset starting instruction according to actual needs, and the parameter adjustment aiming at the first driving source can flexibly adapt to different loads or operation requirements.
In one embodiment, the first driving source is a servo motor, and the first driving source drives the needle moving unit to perform deceleration movement under the control of the first braking instruction.
By the arrangement, the driving control precision of the first driving source is higher, the response is sensitive, and the determination and adjustment of the preset starting instruction or the first braking instruction are more convenient.
In one embodiment, a plurality of needle placing channels are formed in the needle placing mechanism, a plurality of needle seats are arranged on the carrier, and the plurality of needle placing channels can correspond to the plurality of needle seats one by one;
before the first driving source outputs reverse power under the control of the first braking instruction and stops when driving the needle moving unit to move continuously to the needle releasing position, the method further comprises the following steps:
and at the needle releasing position, the needle releasing mechanism enables the needle releasing channels to correspond to the needle seats one by one and waits for the needle moving unit to move to the needle releasing position.
So arranged, the needle can be orderly placed in the corresponding needle seat through the corresponding needle placing channel at the needle placing position to prevent the needle from being replayed or leaked.
In one embodiment, the needle feeding mechanism comprises a second driving source and a thimble unit which is connected with the second driving source in a follow-up manner; in the step, the needle feeding mechanism drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position, and the method comprises the following steps:
the second driving source is started and outputs positive power after the needle placing mechanism and the carrier reach the needle placing position so as to drive the thimble unit to move to the needle taking position;
the second driving source outputs reverse power under the control of a preset slow stop instruction so as to drive the thimble unit to continue moving to the needle taking position and stop.
So set up, go up needle mechanism and can adopt and move the same conception of needle mechanism and alleviate the adverse effect of vibrations, can compromise shock attenuation effect and the needle utensil and move and carry the beat requirement, especially when going up needle mechanism and reacing the position of getting the needle, more slight vibrations are more favorable to guaranteeing that the needle utensil can not drop, maintain normal form of placing to move needle mechanism and reliably take away the needle utensil.
In one embodiment, in the step of acquiring the needle tool at the needle taking position by the needle moving unit, the first driving source outputs forward power under the control of a preset starting instruction to drive the needle moving unit to move to the needle releasing position, and the method includes:
the first driving source linearly increases the forward power output under the control of a preset starting instruction, drives the needle moving unit to accelerate to a preset peak speed, and the acceleration of the needle moving unit is increased firstly and then reduced.
In one embodiment, in the step that the first driving source outputs reverse power under the control of the first braking instruction and drives the needle moving unit to move continuously to the needle releasing position and stop, the method further comprises the following steps:
the first driving source drives the needle moving unit to perform deceleration movement under the control of a first braking instruction, and the absolute value of the deceleration of the needle moving unit is increased and then reduced.
In one embodiment, the first driving source drives the needle moving unit to reciprocate between the needle taking position and the needle releasing position;
the first driving source can output power to drive the needle moving unit to reset to the needle taking position after the needle is placed on the carrier, and can drive the needle moving unit to decelerate under the control of a second braking instruction so as to stop when the needle moving unit moves to the needle taking position.
With the arrangement, the needle transferring equipment can continuously carry out the steps of needle feeding, needle transferring and needle releasing so as to transfer a large quantity of needles.
The present invention also provides a needle transfer device for transferring medical needles, comprising:
the needle releasing mechanism can move to a needle releasing position to guide the needle tool to be installed on a needle seat on the carrier;
the needle feeding mechanism is used for conveying the dispersed needles to a needle taking position;
the needle moving mechanism comprises a first driving source and a needle moving unit which is connected with the first driving source in a follow-up manner;
the first driving source is used for driving the needle moving unit to move from the needle taking position to the needle releasing position, and in the process that the needle moving unit moves from the needle taking position to the needle releasing position, the first driving source can output forward power under the control of a preset starting instruction and can output reverse power under the control of a first braking instruction.
In one embodiment, the first driving source is a servo motor, and the first driving source drives the needle moving unit to perform the deceleration movement under the control of the first braking instruction.
In one embodiment, the needle feeding mechanism comprises a second driving source and an ejector pin unit which is connected with the second driving source in a follow-up mode, and the second driving source can be started after the needle placing mechanism reaches the needle placing position and outputs positive power to drive the ejector pin unit to move to the needle taking position;
the second driving source outputs reverse power under the control of a preset slow stop instruction so as to drive the thimble unit to continue moving to the needle taking position and stop.
Drawings
Fig. 1 is a schematic perspective view of a needle transfer apparatus according to an embodiment of the present invention, when a needle moving unit is located at a needle taking position;
fig. 2 is a schematic perspective view of the needle transferring device in an embodiment of the present invention when the needle moving unit is in the needle releasing position;
FIG. 3 is an enlarged view of a portion of the needle transfer apparatus shown in FIG. 2 at X;
FIG. 4 is an enlarged view of a portion of the needle transfer apparatus shown in FIG. 2 at Y;
fig. 5 is a schematic perspective view of the needle transferring apparatus shown in fig. 2 from another view angle;
fig. 6 is a graph of the movement rate of the needle moving unit versus time in one embodiment of the invention.
Description of reference numerals:
100. a needle transfer device;
10. a needle releasing mechanism; 20. a needle feeding mechanism; 30. a needle moving mechanism; 40. a carrier;
21. a second drive source; 22. a thimble unit; 221. placing a needle frame;
31. a first drive source; 32. a needle moving unit; 321. a needle taking groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.
Medical needles, such as insulin needles and indwelling needles, are generally assembled by transferring needles produced in large quantities to a separate packaging station. In view of ensuring the quality of the finished product, the transfer work of the medical needle requires high-precision motion control and positioning so that the needle can be accurately and harmlessly placed into the needle holder. In order to improve the production efficiency and meet the automatic transferring demand of a large quantity of needles, needle transferring equipment is mostly adopted at present.
The invention provides a needle transfer device 100, comprising a needle placing mechanism 10, a needle feeding mechanism 20 and a needle transferring mechanism 30. The needle feeding mechanism 20 is used for conveying large-batch and dispersed needles to a needle taking position; the needle moving mechanism 30 is used for collectively moving the needles on the needle feeding mechanism 20 from the needle taking position to the needle placing position at one time; the needle setting mechanism 10 is movable to a needle setting position and cooperates with carrier 40 to guide a needle set to the needle setting position with the needle set mounted to a needle hub on carrier 40.
The needle moving mechanism 30 includes a first driving source 31 and a needle moving unit 32 connected to the first driving source 31 in a following manner, wherein the needle moving unit 32 can respond to the power output of the first driving source 31 and move along with the power output end of the first driving source 31.
In the invention, the needle taking position and the needle releasing position are respectively two extreme positions in the movement stroke of the needle moving unit 32, namely the first driving source 31 drives the needle moving unit 32 to move between the needle taking position and the needle releasing position.
A complete transfer process of the needle tool comprises the following steps: the needle feeding mechanism 20 reaches the needle taking position, meanwhile, the needle placing mechanism 10 and the carrier 40 wait at the needle placing position together, then the needle moving unit 32 obtains the needle at the needle taking position, then the first driving source 31 drives the needle moving unit 32 and the needle to move from the needle taking position to the needle placing position together, and finally the needle falls to a needle seat on the carrier 40 through the needle placing mechanism 10.
The transferring operation of the medical needle mainly comprises the steps of needle feeding, transferring and needle placing. The traditional needle transfer equipment has the following problems: the needle moving mechanism used for executing the moving and carrying steps in the needle moving and carrying equipment can generate vibration when moving in place, the vibration has large amplitude and long duration and is difficult to fade, the accuracy and the success rate of subsequent needle placing and next needle placing can be reduced, and the needle can be damaged in serious cases.
In order to solve the above problem, the current countermeasures are to set a waiting time between the transferring step and the stitch placing step, wait for the shock to be removed and then execute the subsequent steps, or set a buffer component for the stitch moving mechanism. However, the former method will increase the time consumption of the needle transferring operation, slow the operation cycle of the needle transferring operation, and reduce the transferring efficiency; the latter method can only eliminate the vibration of the needle moving mechanism, and other devices in the needle transferring equipment except the needle moving mechanism and the buffer component can still be impacted by the vibration, especially the needle placing mechanism for guiding the needle to be installed on the needle seat, and the buffer component is only used for reducing the amplitude of the vibration, and the vibration is still absorbed by the needle transferring equipment, namely the buffer component only has the buffer function and can not absorb the vibration.
In view of this, in the needle transfer device 100 according to the present invention, the first driving source 31 can output the forward power under the control of the preset start command and can output the reverse power under the control of the first brake command in the process of the needle transfer unit 32 moving from the needle-taking position to the needle-releasing position, and the preset start command is issued prior to the first brake command.
Referring to fig. 1 to 5, fig. 1 is a schematic perspective view of a needle transferring apparatus 100 when a needle moving unit 32 is at a needle taking position according to an embodiment of the present invention; fig. 2 is a schematic perspective view of the needle transferring apparatus 100 according to the embodiment of the present invention when the needle transferring unit 32 is in the needle releasing position;
fig. 3 is a partially enlarged schematic view of the needle transfer apparatus 100 shown in fig. 2 at X; fig. 4 is a partially enlarged schematic view of the needle transfer apparatus 100 shown in fig. 2 at Y; fig. 5 is a schematic perspective view of the needle transferring apparatus 100 shown in fig. 2 from another perspective.
The present invention also provides a method for transferring a medical needle based on the needle transfer apparatus 100, the medical needle may be an insulin needle, an indwelling needle, or another injection needle, the method including the steps of:
s1, the needle feeding mechanism 20 drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position;
s2, the needle moving unit 32 obtains a needle at the needle taking position, and the first driving source 31 outputs forward power under the control of a preset starting instruction to drive the needle moving unit 32 to move towards the needle releasing position;
and S3, the first driving source 31 outputs reverse power under the control of the first braking instruction, and stops when driving the needle moving unit 32 to move continuously to the needle releasing position.
The sending time of the preset starting command is prior to the sending time of the first braking command.
The first drive source 31 outputs forward power in the sense that: the power output end of the first driving source 31 applies positive force to the needle moving unit 32, and the positive force has acceleration which enables the needle moving unit 32 to move from the needle taking position to the needle releasing position; the meaning of the first driving source 31 outputting reverse power is: the power output end of the first drive source 31 applies a reverse force to the needle moving unit 32, the reverse force having an acceleration that moves the needle moving unit 32 in the direction from the needle release position to the needle take-up position, in other words, the reverse force decelerates the needle moving unit 32 when the needle moving unit 32 moves from the needle take-up position to the needle release position.
The transfer method is realized based on the pin transfer apparatus 100. During the movement of the needle moving unit 32 from the needle withdrawing position to the needle releasing position, the first driving source 31 first accelerates the needle moving unit 32 to a preset peak speed under the control of a preset starting instruction, when the needle moving unit 32 keeps the preset peak speed for a period of time and does not reach the needle releasing position, the first driving source 31 starts to decelerate the needle moving unit 32 under the control of a first braking instruction, and when the needle moving unit 32 reaches the needle releasing position, the speed of the needle moving unit is just zero or approaches to a zero speed.
The conception of the invention is as follows: the momentum of the needle moving unit 32 itself is reduced when the needle moving unit 32 has not reached the needle release position, the trend of the momentum reduction is continued during the approach of the needle moving unit 32 to the needle release position, and the trend of the momentum reduction is obtained by the needle moving mechanism 30 itself, rather than by acting on the needle moving unit 32 or the first drive source 31 by means of an external device to force the needle moving unit 32 to reduce its own momentum.
It should be noted that the operation of the needle moving unit 32 for a period of time at the preset peak speed is not necessarily performed in the transferring method provided by the present invention. In some embodiments, the needle moving unit 32 may be configured to decelerate immediately after reaching the preset peak speed, and the time for maintaining the movement at the preset peak speed may be long or short, and the specific maintaining time period is determined according to the needle moving beat requirement.
Please refer to fig. 2 to fig. 4 again. In one embodiment, the needle moving unit 32 is provided with a plurality of needle taking grooves 321 arranged at intervals, each needle taking groove 321 is a V-shaped groove, any two adjacent needle taking grooves 321 are arranged in parallel, the needle moving unit 32 carries needles through the needle taking grooves 321, and each V-shaped groove can only accommodate one needle.
The needle feeding mechanism 20 is provided with a plurality of needle placing frames 221 which are arranged at intervals and are matched with the needle taking groove 321, and any two adjacent needle placing frames 221 are arranged in parallel; when the needle moving unit 32 drives the plurality of needle taking grooves 321 to move to the needle taking position, each needle taking groove 321 corresponds to one needle placing frame 221, and each needle placing frame 221 can extend into a space between two inner walls of one needle taking groove 321.
Further, the bottom wall of each needle taking groove 321 is opened with at least one needle suction hole, and a negative pressure lower than the atmospheric pressure of the environment where the needle transferring apparatus 100 is located can be formed in the needle suction hole, so that the needle transferring unit 32 transfers the needle from the needle placing rack 221 to the needle taking groove 321 in an absorption manner.
It is understood that in other embodiments, the needle moving unit 32 can take out the needle from the needle feeding mechanism 20 and carry it for transportation by other means, and is not limited to the above embodiments.
Further, the needle feeding mechanism 20 includes a second driving source 21 and a needle unit 22 follower-connected to the second driving source 21, and the needle unit 22 is movable in response to the power output of the second driving source 21 and following the movement of the power output end of the second driving source 21.
A plurality of needle setting frames 221 are arranged on the distal end of the ejector pin unit 22. In the preferred embodiment of the present invention, the second driving source 21 drives the thimble unit 22 to move horizontally along the vertical direction near the needle-taking position, so that the needle-moving unit 32 can obtain the needle at the needle-taking position, and after the needle-moving unit 32 obtains the needle, the second driving source 21 drives the thimble unit 22 to move horizontally along the vertical direction and leave the needle-taking position, so as to obtain the next batch of needles to be transferred. Therefore, the needle-taking position can also be regarded as one of the extreme positions in the movement stroke of the needle unit 22, and is one of the two extreme positions which is far from the ground.
Accordingly, in the preferred embodiment of the present invention, the first driving source 31 drives the needle moving unit 32 to rotate around the horizontal axis, and when the needle moving unit 32 and the thimble unit 22 reach the needle taking position, the needle set on the needle placing frame 221 is horizontally placed, and the needle taking groove 321 also extends in the horizontal direction.
In order to continue the needle transfer work for a while, the first driving source 31 reciprocates the needle transfer unit 32 between the needle taking position and the needle releasing position.
When the needle falls into the needle seat on the carrier 40, the first driving source 31 outputs reverse power under the control of a preset reset instruction, and drives the needle moving unit 32 to reset to move towards the direction close to the needle taking position; then, before the needle moving unit 32 reaches the needle taking position, the first driving source 31 outputs forward power under the control of the second braking instruction, and drives the needle moving unit 32 to perform deceleration movement until the needle moving unit 32 returns to the needle taking position again.
Therefore, after step S3, the transfer method further includes the steps of:
s4, the first driving source 31 outputs reverse power under the control of a preset reset instruction to drive the needle moving unit 32 to reset to the needle taking position;
and S5, the first driving source 31 outputs forward power under the control of a second braking instruction, and stops when driving the needle moving unit 32 to move continuously to the needle taking position.
Thus, from steps S2 to S5, the hand-setting unit 32 undergoes a back-and-forth hand-setting-resetting movement.
In one embodiment, the first driving source 31 is a servo motor, and the first driving source 31 drives the needle moving unit 32 to perform variable deceleration movement under the control of the first braking instruction. The servo motor is used as the first driving source 31, so that the driving control precision is higher, the response is more sensitive, the time of the preset starting instruction and/or the first braking instruction can be adjusted conveniently according to the actual production beat, and the time interval between the preset starting instruction and the first braking instruction is changed.
Referring to fig. 6, fig. 6 is a graph of the movement rate of the needle moving unit 32 versus time according to an embodiment of the present invention. Wherein the movement rate refers to the rotation speed of the servo motor.
As a preferred embodiment, the step S2 includes the following steps:
the first driving source 31 linearly increases the forward output power under the control of a preset starting instruction, drives the needle moving unit 32 to accelerate to a preset peak speed, and the acceleration of the needle moving unit 32 is increased firstly and then reduced;
in the above step S3, the method includes the steps of:
the first driving source 31 drives the needle moving unit 32 to perform deceleration movement under the control of the first braking instruction, and the absolute value of the deceleration of the needle moving unit 32 is increased and then decreased.
Wherein, the positive rotation speed indicates that the first driving source drives the needle moving unit 32 to move from the needle taking position to the needle releasing position, and is the moving movement corresponding to the needle moving step; the negative rotation speed indicates that the first driving source 31 drives the needle moving unit 32 to reset from the needle releasing position to the needle taking position.
In this embodiment, since the first brake command or the second brake command is received quickly after the needle moving unit 32 moves to the preset peak speed, it can be considered that the needle moving unit 32 performs the deceleration movement quickly while reaching the preset peak speed, a speed-time curve representing the transferring movement/the resetting movement is approximately triangular, and the duration time of the transferring movement/the resetting movement is controlled within 0.55 seconds.
It can be understood that if the acceleration of the preset start command is increased to make the needle moving unit 32 reach the preset peak speed more quickly, the needle moving unit 32 may maintain a constant speed motion for a period of time after reaching the preset peak speed, and then start the deceleration motion, where the speed-time curve of the transferring motion/the resetting motion is trapezoidal.
In one embodiment, the needle placing mechanism 10 is provided with a plurality of needle placing channels, and the carrier 40 is provided with a plurality of needle seats. When the needle releasing mechanism 10 moves to the needle releasing position, the plurality of needle releasing channels correspond to the plurality of needle seats one to one.
Wherein the movement of the needle releasing mechanism 10 to the needle releasing position is independently controlled regardless of the movement of the needle moving mechanism 30, and the needle releasing mechanism 10 reaches the needle releasing position earlier than the needle moving mechanism 30 reaches the needle releasing position.
Before the step S3, the method further includes the following steps:
at the needle release position, the needle release mechanism 10 makes the needle release channels correspond to the needle seats one by one, and waits for the needle moving unit 32 to move to the needle release position.
Specifically, the needle releasing mechanism 10 in this embodiment includes a first closing plate and a second closing plate, which can be mutually opposed and jointly enclose a plurality of needle releasing channels arranged at intervals, and the plurality of needle releasing channels all extend in the vertical direction and are arranged in the horizontal direction. The needle setting mechanism 10 and the carrier 40 carrying the needle seats can stop at the needle setting position before the needle moving unit 32 reaches the needle setting position, and the needle setting mechanism and the carrier cooperate with each other to enable each needle setting channel to correspond to one needle seat and jointly wait for the needle moving unit 32 to rotate in place.
Accordingly, in the preferred embodiment of the present invention, the first driving source 31 drives the needle moving unit 32 to rotate through an angular stroke of 90 ° from the needle-taking position to the needle-releasing position. Therefore, after the needle moving unit 32 reaches the needle placing position, each needle taking groove 321 corresponds to each needle placing channel one by one, two V-shaped inner wall surfaces on each needle taking groove 321 extend in the vertical direction, and then the negative pressure in each needle suction hole is released, so that the needle can enter the needle placing channel in the vertical direction under the guidance of the inner wall of the needle taking groove 321 and fall to the needle seat on the carrier 40 through the needle placing channel.
The 90 ° rotation angle stroke of the needle moving unit 32 is not necessarily limited to implement the technical solution of the present invention, and in other embodiments, the rotation angle of the needle moving unit 32 may be formed in other angles.
Further, in the above step S1, the method includes the steps of:
the second driving source 21 is started after the needle placing mechanism 10 and the carrier 40 reach the needle placing position and outputs positive power to drive the ejector pin unit 22 to move to the needle taking position;
the second driving source 21 outputs reverse power under the control of a preset slow stop instruction to drive the thimble unit 22 to move continuously to the needle taking position and stop.
Specifically, the second drive source 21 outputs the forward power by: the power output end of the second driving source 21 applies a positive force to the ejector pin unit 22, and the positive force can drive the ejector pin unit 22 to move in an accelerating manner along a direction close to the needle taking position; the second drive source 21 outputs reverse power: the power output end of the second driving source 21 applies a reverse force to the ejector pin unit 22, and the reverse force can drive the ejector pin unit 22 to move in an accelerating manner in a direction away from the needle-taking position, in other words, the reverse force can decelerate the ejector pin unit 22 when the ejector pin unit 22 moves to the needle-taking position.
With such an arrangement, the needle feeding mechanism 20 can adopt the same concept as the needle moving mechanism 30 to reduce the adverse effect of vibration on the needle transfer, and can meet both the achievement of the damping effect and the requirement of the needle transfer rhythm, and particularly, when the needle feeding mechanism 20 reaches the needle taking position, the needle falling caused by vibration can be avoided, and the normal placement form can be maintained, so that the needle moving mechanism 30 can reliably take the needle away.
Of course, in other embodiments, the second driving source 21 may be activated and output forward power before the needle placing mechanism 10 and the carrier reach the needle placing position, so as to drive the thimble unit 22 to move to the needle taking position. That is, there is no mandatory requirement for the order of the needle withdrawing position reached by the needle ejecting unit 22 and the needle releasing position reached by the needle releasing mechanism 10, as long as it is ensured that the needle releasing mechanism 10 can reach the needle releasing position earlier than the needle moving unit 32 reaches the needle releasing position.
The medical needle transfer method provided by the invention has the following beneficial effects:
1) the first driving source 31 brakes the needle moving mechanism 30 by outputting reverse power in advance before the needle moving mechanism 30 is stopped in place, and therefore the needle moving mechanism 30 starts to decelerate before reaching the needle releasing position, so that the momentum of the needle moving mechanism 30 when reaching the needle releasing position is zero or approaches zero, and the impulse of the needle moving mechanism 30 on other parts in the needle transferring device 100 can be reduced, and the vibration amplitude and the vibration duration are both significantly reduced;
2) because the momentum of the needle moving mechanism 30 when reaching the needle releasing position is zero or approaches to zero, and the vibration generated by the needle moving mechanism 30 is slight or even negligible, the invention does not need to set a waiting time between the transferring step and the needle releasing step to wait for the vibration to subside, can maintain the beat and the operation efficiency required at the beginning of the needle transferring operation planning, and is favorable for maintaining the planning productivity;
3) the first driving source 31 converts the kinetic energy released by vibration into the internal energy of the first driving source 31 to be dissipated by changing the direction of the output power of the first driving source 31, and does not apply mechanical work to the components of the needle transferring device 100 except the needle transferring mechanism 30, thereby reducing the loss of the components of the needle transferring device 100 and prolonging the service life of the device;
4) the invention can adjust the sending time of the first braking instruction and the time interval between the first braking instruction and the preset starting instruction according to actual needs, and can also adjust the acceleration corresponding to the preset starting instruction and the acceleration of the first braking instruction. Such parameter adjustment for the first driving source 31 makes it possible for the needle transfer apparatus to adapt to different loads or work requirements. For example, when the load increases or the tempo is required to be shortened, the time interval between the preset start command and the first brake command may be shortened, so that the first driving source 31 reaches the peak speed faster and outputs reverse power earlier, so as to reduce the momentum of the needle moving unit 32 as soon as possible;
5) since the needle moving unit 32 does not generate vibration interference to other components in the needle moving equipment 100, in practical application, the needle moving method of the present invention allows the first mold clamping plate and the second mold clamping plate to move to the needle releasing position in advance, and controls the needle moving unit 32 to move to the needle releasing position (which may be performed after the needle releasing mechanism 10 stops at the needle releasing position), and then the first mold clamping plate and the second mold clamping plate are closed to form a needle releasing channel, and finally the needle moving unit 32 releases the needle limiting, so that the needle falls into the needle releasing channel. Therefore, the transferring method of the invention can obviously reduce the time consumption of transferring the pin tool and obviously accelerate the transferring operation.
The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.
Claims (10)
1. A method for transferring a medical needle by a needle transfer facility, the needle transfer facility comprising:
a needle setting mechanism (10) capable of moving to a needle setting position to guide a needle tool to be mounted to a needle seat on the carrier (40);
a needle feeding mechanism (20) for transporting the dispersed needles to a needle taking position;
a needle moving mechanism (30) which comprises a first driving source (31) and a needle moving unit (32) which is connected with the first driving source (31) in a following manner;
the transferring method comprises the following steps:
the needle feeding mechanism (20) drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position;
the needle moving unit (32) acquires a needle at the needle taking position, and the first driving source (31) outputs forward power under the control of a preset starting instruction so as to drive the needle moving unit (32) to move to the needle releasing position;
the first driving source (31) outputs reverse power under the control of a first braking instruction, and stops when driving the needle moving unit (32) to move continuously to the needle releasing position.
2. The transfer method according to claim 1, wherein the first driving source (31) is a servo motor, and the first driving source (31) drives the needle transfer unit (32) to perform deceleration movement under the control of the first braking instruction.
3. The transfer method according to claim 1, wherein a plurality of needle release channels are formed on the needle release mechanism (10), a plurality of needle seats are formed on the carrier (40), and the plurality of needle release channels can correspond to the plurality of needle seats one by one;
before the first driving source (31) outputs reverse power under the control of a first braking instruction and stops when driving the needle moving unit (32) to move continuously to the needle releasing position, the method further comprises the following steps:
at the needle releasing position, the needle releasing mechanism (10) enables the needle releasing channels to correspond to the needle seats one by one, and waits for the needle moving unit (32) to move to the needle releasing position.
4. The transfer method according to claim 3, wherein the needle-up mechanism (20) includes a second drive source (21) and a needle unit (22) which is connected to the second drive source (21) in a following manner; when the needle feeding mechanism (20) drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position, the method comprises the following steps:
the second driving source (21) is started after the needle releasing mechanism (10) and the carrier (40) reach the needle releasing position and outputs positive power to drive the ejector pin unit (22) to move to the needle taking position;
the second driving source (21) outputs reverse power under the control of a preset slow stop instruction so as to drive the thimble unit (22) to continue moving to the thimble taking position and stop.
5. The transfer method according to claim 1, wherein the step of the needle moving unit (32) obtaining the needle at the needle taking position, the first driving source (31) outputting forward power under the control of a preset starting instruction to drive the needle moving unit (32) to move to the needle releasing position comprises:
the first driving source (31) linearly increases the forward power output under the control of a preset starting instruction, drives the needle moving unit (32) to accelerate to a preset peak speed, and the acceleration of the needle moving unit (32) is increased firstly and then reduced.
6. The transfer method according to claim 1, wherein the step of the first driving source (31) outputting reverse power under the control of the first braking command and driving the needle moving unit (32) to continue moving to the needle releasing position and stop further comprises:
the first driving source (31) drives the needle moving unit (32) to perform deceleration movement under the control of a first braking instruction, and the absolute value of the deceleration of the needle moving unit (32) is increased and then reduced.
7. The transfer method according to claim 1, wherein the first driving source (31) drives the needle moving unit (32) to reciprocate between the needle taking position and the needle releasing position;
the first driving source (31) can output power to drive the needle moving unit (32) to reset to the needle taking position after a needle is placed on the carrier (40), and can drive the needle moving unit (32) to decelerate under the control of a second braking instruction, so that the needle moving unit (32) stops when moving to the needle taking position.
8. An needle transfer device for transferring a medical needle, comprising:
a needle setting mechanism (10) movable to a needle setting position to guide a needle to be mounted to a needle bed on the carrier (40);
a needle feeding mechanism (20) for transporting the dispersed needles to a needle taking position;
a needle moving mechanism (30) which comprises a first driving source (31) and a needle moving unit (32) which is connected with the first driving source (31) in a following manner;
the first driving source (31) is used for driving the needle moving unit (32) to move from the needle taking position to the needle releasing position, and in the process that the needle moving unit (32) moves from the needle taking position to the needle releasing position, the first driving source (31) can output forward power under the control of a preset starting instruction and can output reverse power under the control of a first braking instruction.
9. The needle transfer apparatus according to claim 8, wherein the first drive source (31) is a servo motor, and the first drive source (31) drives the needle transfer unit (32) to perform a deceleration movement under the control of the first brake command.
10. The needle transfer apparatus according to claim 8, wherein the needle feeding mechanism (20) includes a second driving source (21) and a needle unit (22) connected to the second driving source (21) in a follow-up manner, the second driving source (21) being capable of being activated and outputting forward power to move the needle unit (22) to the needle taking position after the needle placing mechanism (10) reaches the needle placing position;
the second driving source (21) outputs reverse power under the control of a preset slow stop instruction so as to drive the thimble unit (22) to continue moving to the thimble taking position and stop.
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| CN114833567A (en) * | 2022-06-02 | 2022-08-02 | 烟台凯博机械自动化设备有限公司 | Device for assembling nut and needle seat |
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| CN113844892B (en) | 2023-04-25 |
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