CN113844892B - Transfer method and needle transfer equipment - Google Patents
Transfer method and needle transfer equipment Download PDFInfo
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- CN113844892B CN113844892B CN202111163075.8A CN202111163075A CN113844892B CN 113844892 B CN113844892 B CN 113844892B CN 202111163075 A CN202111163075 A CN 202111163075A CN 113844892 B CN113844892 B CN 113844892B
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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
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Abstract
The invention relates to a transfer method and needle transfer equipment. The needle transfer device comprises: the needle placing mechanism can move to a needle placing position to guide a needle tool to be mounted on a needle seat on a carrier; the needle feeding mechanism is used for conveying the scattered needle tools 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 way; the transfer 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 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 towards a needle placing position; the needle moving unit acquires a needle 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 towards a needle placing position; the first driving source outputs reverse power under the control of the first braking instruction and drives the needle moving unit to continue to move to the needle placing position and stop.
Description
Technical Field
The invention relates to the technical field of medical product production equipment, in particular to a transferring method and a needle transferring device.
Background
The transfer operation of the medical needle requires high-precision motion control so that the needle can be accurately and atraumatically placed in the carrier. At present, needle transfer equipment is adopted for completion. The medical needle transfer mainly comprises the steps of needle loading, transferring and needle placing. The conventional needle transfer equipment has the following problems: the needle moving mechanism used for executing the moving step in the needle moving equipment can generate vibration when moving in place, the vibration has large amplitude and long duration and is difficult to resolve, the accuracy and success rate of the subsequent needle placement and the next round of needle placement can be reduced, and the needle can be damaged when serious.
In order to solve the above problems, a waiting time is set between the transferring step and the needle placing step, a subsequent step is executed after the vibration is eliminated, or a buffer component is set for the needle transferring mechanism. However, the former method can lengthen the time consumption of the needle transferring operation, slow the operation beat of the needle transferring operation, and reduce the transferring efficiency; the latter way only can eliminate the vibration of the needle moving mechanism, other devices except the needle moving mechanism and the buffer component in the needle moving device still can be subjected to vibration impact, in particular to the needle placing mechanism for guiding the needle to be mounted on the needle seat, and the buffer component is only used for reducing the vibration amplitude, namely, the buffer component only has a vibration buffering function and cannot absorb vibration.
Disclosure of Invention
In view of the foregoing, there is a need for an improved medical needle transfer method and needle transfer apparatus.
The invention provides a medical needle transferring method based on needle transferring equipment, which is characterized in that the needle transferring equipment comprises:
the needle placing mechanism can move to a needle placing position to guide a needle tool to be mounted on a needle seat on a carrier;
the needle feeding mechanism is used for conveying the scattered needle tools 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 way;
the transfer method comprises the following steps:
s1, the needle feeding mechanism drives the needle to move to a needle taking position and stops when the needle reaches the needle taking position;
s2, the needle moving unit acquires a needle 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 towards a needle placing position;
s3, the first driving source outputs reverse power under the control of the first braking instruction and drives the needle moving unit to continue to move to the needle placing position and stop.
The method for transferring the medical needle 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 stops in place, and the needle moving mechanism starts to decelerate before reaching the needle placing position, so that the momentum of the needle moving mechanism is zero or approaches zero when reaching the needle placing position, and the impulse of the needle moving mechanism on other parts in the needle moving equipment can be reduced, and the vibration amplitude and the vibration duration are obviously reduced;
2) Because the momentum of the needle moving mechanism is zero or approaches zero when the needle moving mechanism reaches the needle placing position, the vibration generated by the needle moving mechanism is slight or even negligible, the waiting time is not required to be set between the transferring step and the needle placing step to wait for the vibration to subside, the required beat and the required operation efficiency of planning of the transferring operation of the needle can be maintained, and the planning productivity can be maintained;
3) The first driving source converts kinetic energy released by vibration into heat energy in the first driving source to be emitted by changing the direction of output power of the first driving source, and mechanical work can not be applied to parts except the needle moving mechanism in the needle moving equipment, so that the loss of the parts of the needle moving equipment is reduced, and the service life of the equipment is prolonged;
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 the parameter adjustment aiming at the first driving source can flexibly adapt to different loads or operation requirements, for example, when the load is increased or the required beat is shortened, the invention can shorten the time interval between the preset starting instruction and the first braking instruction, so that the first driving source can reach the peak value speed earlier, and the first driving source can output reverse power earlier, thereby having better use convenience.
In one embodiment, the first driving source is a servo motor, and the first driving source drives the needle moving unit to move in a decelerating manner under the control of the first braking instruction.
The first driving source has higher driving control precision, sensitive response and more convenient determination and adjustment of a preset starting instruction or a first braking instruction.
In one embodiment, the needle placing mechanism is provided with a plurality of needle placing channels, the carrier is provided with a plurality of needle seats, and the needle placing channels can be in one-to-one correspondence with the needle seats;
before the first driving source outputs reverse power under the control of the first braking instruction and drives the needle moving unit to continue to move to the needle placing position and stop, the method further comprises the following steps:
at the needle placing position, the needle placing mechanism enables the needle placing channels to correspond to the needle seats one by one, and waits for the needle moving unit to move to the needle placing position.
So set up, the needle can be put in order in the needle file of correspondence through corresponding needle placing passageway in needle placing position department to prevent that the needle from replaying or leaking.
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 way; the needle mechanism drives the needle to move to the needle taking position and stops when the needle reaches the needle taking position, comprising the following steps:
the second driving source is started and outputs forward power after the needle placing mechanism and the carrier reach the needle placing position so as to drive the thimble unit to move towards 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 to move to the needle taking position and stop.
The needle feeding mechanism can adopt the same conception as the needle moving mechanism to reduce the adverse effect of vibration, can give consideration to the shock absorption effect and the needle transferring beat requirement, and is particularly beneficial to ensuring that the needle cannot fall off and maintaining the normal placement form when the needle feeding mechanism reaches the needle taking position due to lighter vibration so as to facilitate the needle moving mechanism to reliably take the needle away.
In one embodiment, in the step of obtaining the needle 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 so as to drive the needle moving unit to move towards the needle placing position, the method includes:
the first driving source linearly increases forward power output under the control of a preset starting instruction to drive the needle moving unit to accelerate to a preset peak speed, and the acceleration of the needle moving unit is increased and then reduced.
In one embodiment, in the step, the first driving source outputs reverse power under the control of the first braking command and drives the needle moving unit to continue to move to the needle placing position for stopping, and the method further includes:
the first driving source drives the needle moving unit to move in a variable speed reducing mode under the control of the 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 a needle taking position and a needle placing 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 move in a decelerating mode under the control of the second braking instruction so as to stop when the needle moving unit moves to the needle taking position.
The needle transferring equipment can continuously perform needle feeding, needle moving and needle placing steps so as to transfer a large number of needles.
The present invention also provides a needle transfer apparatus for transferring a medical needle, comprising:
the needle placing mechanism can move to a needle placing position to guide a needle tool to be mounted on a needle seat on a carrier;
the needle feeding mechanism is used for conveying the scattered needle tools 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 way;
the first driving source is used for driving the needle moving unit to move from the needle taking position to the needle placing position, and in the process that the needle moving unit moves from the needle taking position to the needle placing 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 move in a variable speed under the control of the first braking instruction.
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 way, and the second driving source can be started and outputs forward power after the needle feeding mechanism reaches a needle feeding position so as to drive the thimble unit to move towards a 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 to move to the needle taking position and stop.
Drawings
Fig. 1 is a schematic perspective view of a needle transferring apparatus according to an embodiment of the present invention when a needle transferring unit is at a needle taking position;
fig. 2 is a schematic perspective view of a needle transferring apparatus according to an embodiment of the present invention when a needle transferring unit is at a needle placing position;
FIG. 3 is a partially enlarged schematic view of the needle transfer apparatus of FIG. 2 at X;
FIG. 4 is an enlarged view of a portion of the needle transfer apparatus of FIG. 2 at Y;
FIG. 5 is a schematic perspective view of the needle transfer apparatus of FIG. 2 from another perspective;
fig. 6 is a graph of movement rate versus time of a needle transfer unit in one embodiment of the invention.
Reference numerals illustrate:
100. needle transfer equipment;
10. a needle placing mechanism; 20. a needle feeding mechanism; 30. a needle moving mechanism; 40. a carrier;
21. a second driving source; 22. a thimble unit; 221. a needle holder;
31. a first driving source; 32. a needle moving unit; 321. and taking out the needle groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, are intended to fall 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. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.
Medical needles, such as insulin needles, indwelling needles, and the like, are commonly manufactured by mass-producing needles and then collectively transferred to a dispensing station for assembly into a finished product. In order to ensure the quality of the finished product, the transfer operation of the medical needle requires high-precision motion control and positioning so that the needle can be accurately and atraumatically placed in the needle holder. In order to improve the production efficiency and meet the automatic transfer requirement of a large number of needles, needle transfer equipment is adopted to finish the process.
The invention provides a needle transfer device 100, which comprises 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 a large number of scattered needle tools to a needle taking position; the needle moving mechanism 30 is used for intensively 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 the carrier 40 to guide the needle reaching the needle setting position such that the needle is mounted to a hub on the 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 follow-up manner, wherein the needle moving unit 32 is capable of responding to the power output of the first driving source 31 and moving along with the power output end of the first driving source 31.
In the present invention, the needle taking position and the needle placing position are two extreme positions within the movement stroke of the needle moving unit 32, that is, the first driving source 31 drives the needle moving unit 32 to move between the needle taking position and the needle placing position.
One complete transferring process of the needle is as follows: 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 acquires 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 the needle seat on the carrier 40 through the needle placing mechanism 10.
The medical needle transferring operation mainly comprises the steps of needle loading, transferring and needle placing. The conventional needle transfer equipment has the following problems: the needle moving mechanism used for executing the moving step in the needle moving equipment can generate vibration when moving in place, the vibration has large amplitude and long duration and is difficult to resolve, the accuracy and success rate of the subsequent needle placement and the next round of needle placement can be reduced, and the needle can be damaged when serious.
In order to solve the above problems, a waiting time is set between the transferring step and the needle placing step, a subsequent step is executed after the vibration is eliminated, or a buffer component is set for the needle transferring mechanism. However, the former method can lengthen the time consumption of the needle transferring operation, slow the operation beat of the needle transferring operation, and reduce the transferring efficiency; the latter way only can eliminate the vibration of the needle moving mechanism, other devices except the needle moving mechanism and the buffer component in the needle moving device still can be subjected to vibration impact, in particular to the needle placing mechanism for guiding the needle to be mounted on the needle seat, and the buffer component is only used for reducing the vibration amplitude, and the vibration is still absorbed by the needle moving device, namely the buffer component only has a buffer function and cannot absorb the vibration.
In view of this, in the needle transfer apparatus 100 provided by the present invention, the first driving source 31 can output forward power under the control of the preset start command and output reverse power under the control of the first brake command during the movement of the needle transfer unit 32 from the needle taking position to the needle placing 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 illustrating a needle transferring apparatus 100 according to an embodiment of the present invention when the needle transferring unit 32 is at a needle taking position; fig. 2 is a schematic perspective view of a needle transfer apparatus 100 according to an embodiment of the present invention when the needle transfer unit 32 is in the needle placing position;
FIG. 3 is a partially enlarged schematic view of the needle transfer apparatus 100 of FIG. 2 at X; FIG. 4 is an enlarged view of a portion of the needle transfer apparatus 100 of FIG. 2 at Y; fig. 5 is a schematic perspective view of the needle transfer apparatus 100 shown in fig. 2 in another view.
The present invention also provides a method for transferring a medical needle based on the needle transfer apparatus 100, wherein the medical needle may be an insulin needle, an indwelling needle or other injection needle, and the method comprises the following steps:
s1, the needle feeding mechanism 20 drives the needle to move to a needle taking position and stops when the needle reaches the needle taking position;
s2, the needle moving unit 32 acquires a needle at a 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 towards a needle placing position;
and S3, the first driving source 31 outputs reverse power under the control of the first braking instruction and drives the needle moving unit 32 to continue to move to the needle placing position and stop.
Wherein, the sending time of the preset starting instruction is earlier than the sending time of the first braking instruction.
The meaning of the first drive source 31 outputting forward power is: the power output end of the first drive source 31 applies a forward force to the needle moving unit 32, the forward force having an acceleration that causes the needle moving unit 32 to move from the needle taking position to the needle placing position; the meaning of the first drive 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 from the needle placing position to the needle taking position, in other words, the reverse force decelerates the needle moving unit 32 when the needle moving unit 32 moves from the needle taking position to the needle placing position.
The transfer method is realized by the needle transfer apparatus 100. In the process of moving the needle moving unit 32 from the needle taking position to the needle placing position, the first driving source 31 firstly accelerates the needle moving unit 32 to a preset peak speed under the control of a preset starting instruction, and when the needle moving unit 32 keeps the preset peak speed to run for a period of time and does not reach the needle placing position yet, the first driving source 31 starts decelerating the needle moving unit 32 under the control of a first braking instruction, and when the needle moving unit 32 reaches the needle placing position, the speed of the needle moving unit is just zero or approaches to zero.
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 placing position, which momentum reduction trend continues during the approaching of the needle moving unit 32 to the needle placing position, and which momentum reduction trend is obtained spontaneously by the needle moving mechanism 30, rather than acting on the needle moving unit 32 or the first drive source 31 by means of an external device so that the needle moving unit 32 is forced to reduce the momentum itself.
It should be noted that, the operation of the needle moving unit 32 to maintain the preset peak speed for a period of time is not necessarily performed in the transferring method provided by the present invention. In some embodiments, the needle moving unit 32 may be set to slow down immediately after reaching the preset peak speed, and the time for maintaining the motion of the preset peak speed may be long or short, and the specific maintaining time 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 which are arranged at intervals, each needle taking groove 321 is a V-shaped groove, any two adjacent needle taking grooves 321 are all arranged in parallel, the needle moving unit 32 carries a needle through the needle taking groove 321, and each V-shaped groove can only accommodate one needle.
A plurality of needle placing frames 221 which are arranged at intervals are arranged on the needle feeding mechanism 20 and are matched with the needle taking groove 321, and any two adjacent needle placing frames 221 are also 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 between two inner walls of one needle taking groove 321.
Further, at least one suction hole is formed in the bottom wall of each needle taking groove 321, and a negative pressure lower than the atmospheric pressure of the environment where the needle transferring device 100 is located can be formed in the suction hole, so that the needle transferring unit 32 transfers the needle from the needle placing frame 221 into the needle taking groove 321 in an adsorption manner.
It will be appreciated that in other embodiments, the needle transfer unit 32 may also be configured to remove and carry the needle from the needle feeding mechanism 20 in other ways, 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 connected to the second driving source 21 in a follow-up manner, and the needle unit 22 is capable of moving 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 holders 221 are arranged on the distal end of the needle unit 22. In the preferred embodiment of the present invention, the second driving source 21 drives the ejector pin unit 22 to translate along the vertical direction near the needle picking position, so that the needle moving unit 32 can pick up the needles at the needle picking position, and after the needle moving unit 32 picks up the needles, the second driving source 21 drives the ejector pin unit 22 to translate along the vertical direction downwards and leave the needle picking position, so as to obtain the next batch of needles to be transferred. Thus, the needle-taking position may also be regarded as one of the extreme positions in the travel of ejector pin unit 22, and as the one of the two extreme positions that is farther from the ground.
In accordance therewith, in the preferred embodiment of the present invention, the first driving source 31 drives the needle moving unit 32 to rotate about the horizontal axis, and when both the needle moving unit 32 and the ejector pin unit 22 reach the needle taking position, the needle on the needle placing rack 221 is placed horizontally while the needle taking groove 321 is extended in the horizontal direction.
In order to continuously carry out the needle transferring operation in a period of time, the first driving source 31 drives the needle transferring unit 32 to reciprocate between the needle taking position and the needle placing 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 to drive the needle moving unit 32 to reset in a direction approaching 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 command to drive the needle moving unit 32 to perform deceleration motion until the needle moving unit 32 returns to the needle taking position again.
Therefore, after the 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 so as to drive the needle moving unit 32 to reset to the needle taking position;
s5, the first driving source 31 outputs forward power under the control of the second braking instruction and drives the needle moving unit 32 to continue to move to the needle taking position and stop.
Thus, from steps S2 to S5, the needle transfer unit 32 undergoes a back-and-forth linked needle transfer-reset motion.
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 speed and deceleration under the control of the first braking command. The servo motor is adopted 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 is conveniently adjusted according to the actual production takt requirement, 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 movement rate versus time of the needle shifting unit 32 according to an embodiment of the present invention. Wherein the movement rate refers to the rotational speed of the servo motor.
As a preferred embodiment, in the step S2, the method includes the steps of:
the first driving source 31 linearly increases forward output power under the control of a preset starting instruction to drive the needle moving unit 32 to accelerate to a preset peak speed, and the acceleration of the needle moving unit 32 is increased and then reduced;
in the above step S3, the steps of:
the first driving source 31 drives the needle moving unit 32 to move in a speed reducing manner under the control of the first braking instruction, and the absolute value of the speed reducing of the needle moving unit 32 is increased and then reduced.
Wherein, the rotation speed is positive value, which means that the first driving source drives the needle moving unit 32 to move from the needle taking position to the needle placing position, and the needle moving unit is a moving and carrying movement corresponding to the needle moving step; a negative rotation speed means that the first driving source 31 drives the needle moving unit 32 to reset from the needle placing position to the needle taking position.
In this embodiment, since the needle moving unit 32 receives the first braking command or the second braking command immediately after moving to the preset peak speed, it can be considered that the needle moving unit 32 is rapidly decelerating while reaching the preset peak speed, the speed-time curve representing the transfer motion/reset motion is approximately triangular, and the duration of the transfer motion/reset motion is controlled within 0.55 seconds.
It will be appreciated that if the acceleration of the preset start command is increased to make the needle moving unit 32 reach the preset peak speed faster, the uniform motion can be maintained for a period of time after the needle moving unit 32 reaches the preset peak speed, and then the deceleration motion is started again, at this time, the speed-time curve of the transfer motion/reset 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 placing mechanism 10 moves to the needle placing position, the plurality of needle placing channels are in one-to-one correspondence with the plurality of needle seats.
Wherein the movement of the needle release mechanism 10 to the needle release position is controlled independently of the movement of the needle movement mechanism 30 and the needle release mechanism 10 reaches the needle release position earlier than the needle movement mechanism 30 reaches the needle release position.
Before the step S3, the method further includes the following steps:
at the needle placing position, the needle placing mechanism 10 makes a plurality of the needle placing channels correspond to a plurality of needle holders one by one, and waits for the needle moving unit 32 to move to the needle placing position.
Specifically, the needle placing mechanism 10 in this embodiment includes a first closing plate and a second closing plate, which can be mutually combined to jointly enclose a plurality of needle placing channels arranged at intervals, and the plurality of needle placing channels extend in the vertical direction and are arranged in the horizontal direction. The needle placing mechanism 10 and the carrier 40 carrying the needle seats can be stopped at the needle placing position before the needle moving unit 32 reaches the needle placing position, and the needle placing mechanism and the carrier 40 are matched with each other so that each needle placing channel corresponds to one needle seat and jointly wait for the needle moving unit 32 to rotate in place.
In accordance therewith, in a preferred embodiment of the invention, the first drive source 31 drives the needle transfer unit 32 through an angular travel of 90 ° from the needle picking position to the needle placing 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, the two V-shaped inner wall surfaces on each needle taking groove 321 extend along the vertical direction, and then the negative pressure in each needle sucking hole is relieved, so that the needle can enter the needle placing channel along 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 above-mentioned rotation angle travel of the needle moving unit 32 is not necessarily limited to 90 ° and the rotation of the needle moving unit 32 may be formed at other angles in other embodiments.
Further, in the step S1, the method includes the following steps:
the second driving source 21 is started and outputs forward power after the needle placing mechanism 10 and the carrier 40 reach the needle placing position, so as to drive the ejector pin unit 22 to move towards the needle taking position;
the second driving source 21 outputs reverse power under the control of a preset slow stop command to drive the ejector pin unit 22 to continue to move to the needle taking position and stop.
Specifically, the second drive source 21 outputting forward power means that: the power output end of the second driving source 21 applies a forward force to the ejector pin unit 22, and the forward force can drive the ejector pin unit 22 to accelerate along the direction close to the needle taking position; the second driving source 21 outputting reverse power means that: 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 accelerate in a direction away from the needle taking position, in other words, the reverse force decelerates the ejector pin unit 22 when the ejector pin unit 22 moves toward the needle taking position.
By this 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 achieve both the achievement of the vibration reduction effect and the needle transfer beat requirement, particularly, when the needle feeding mechanism 20 reaches the needle taking position, the needle can be prevented from falling off due to vibration, and the normal placement form is maintained, so that the needle moving mechanism 30 can reliably take the needle.
Of course, in other embodiments, the second driving source 21 may be started and output forward power before the needle placing mechanism 10 and the carrier reach the needle placing position, so as to drive the ejector pin unit 22 to move to the needle taking position. That is, the order of arrival of the ejector pin unit 22 at the needle picking position and the arrival of the needle releasing mechanism 10 at the needle releasing position is not mandatory, as long as it is ensured that the needle releasing mechanism 10 arrives at the needle releasing position earlier than the needle moving unit 32.
The method for transferring the medical needle 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 stops in place, and the needle moving mechanism 30 starts to decelerate before reaching the needle placing position, so that the momentum of the needle moving mechanism 30 when reaching the needle placing position is zero or approaches zero, and the impulse of the needle moving mechanism 30 on other components in the needle transferring device 100 can be reduced, and the vibration amplitude and the vibration duration are obviously reduced;
2) Because the momentum of the needle moving mechanism 30 is zero or approaches zero when reaching the needle placing position, the vibration generated by the needle moving mechanism 30 is slight and even negligible, so the invention does not need to set waiting time between the transferring step and the needle placing step to wait for the vibration to subside, can maintain the required beat and the required operation efficiency at the beginning of the needle transferring operation planning, and is beneficial to maintaining the planning productivity;
3) The first driving source 31 converts the kinetic energy released by vibration into internal energy of the first driving source 31 to be emitted by changing the direction of the output power, so that mechanical work can not be performed on components except the needle moving mechanism 30 in the needle moving device 100, the component loss of the needle moving device 100 is reduced, and the service life of the device can be prolonged;
4) According to the invention, the sending time of the first braking instruction and the time interval between the first braking instruction and the preset starting instruction can be adjusted according to actual needs, and the corresponding acceleration of the preset starting instruction and the corresponding acceleration of the first braking instruction can be also adjusted. This parameter adjustment for the first drive source 31 creates the possibility of adapting the needle transfer apparatus to different loads or operating requirements. For example, when the load increases or the required beat shortens, the time interval between the preset start command and the first brake command may be shortened, so that the first drive source 31 reaches the peak speed faster and also outputs the reverse power earlier, so as to reduce the momentum of the needle moving unit 32 as soon as possible;
5) Because the needle moving unit 32 no longer produces vibration interference to other components in the needle transferring device 100, in practical application, the transferring method of the present invention allows the first mold closing plate and the second mold closing plate to move to the needle placing position in advance, and at the same time, the needle moving unit 32 is controlled to move to the needle placing position (the needle placing mechanism 10 can be stopped at the needle placing position in this step), then the first mold closing plate and the second mold closing plate are combined to form a needle placing channel, and finally the needle moving unit 32 releases the limit of the needle to enable the needle to fall into the needle placing channel. Therefore, the transferring method of the invention can obviously reduce the time consumption of needle transferring and obviously accelerate the transferring operation.
The technical features of the above-described embodiments may be combined in any manner, and for brevity, all of the possible combinations of the technical features of the above-described embodiments are not described, however, all of the combinations of the technical features should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
It will be appreciated by persons skilled in the art that the above embodiments have been provided for the purpose of illustrating the invention and are not to be construed as limiting the invention, and that suitable modifications and variations of the above embodiments are within the scope of the invention as claimed.
Claims (10)
1. A medical needle transfer method by a needle transfer apparatus, the needle transfer apparatus comprising:
a needle placing mechanism (10) capable of moving to a needle placing position to guide a needle mount of a needle to a needle mount on a carrier (40);
an upper needle mechanism (20) for transporting the scattered needle tools to a needle taking position;
a needle moving mechanism (30) comprising a first driving source (31) and a needle moving unit (32) which is connected with the first driving source (31) in a follow-up way;
the transfer method comprises the following steps:
the needle feeding mechanism (20) drives the needle to move towards 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 towards the needle placing position;
the first driving source (31) outputs reverse power under the control of a first braking instruction and drives the needle moving unit (32) to continue to move to the needle placing position and stop;
wherein, the sending time of the preset starting instruction is earlier than the sending time of the first braking instruction.
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 moving unit (32) to move in a decelerating manner under the control of the first braking instruction.
3. The transfer method according to claim 1, wherein a plurality of needle placing channels are formed in the needle placing mechanism (10), a plurality of needle holders are arranged on the carrier (40), and the plurality of needle placing channels can be in one-to-one correspondence with the plurality of needle holders;
before the first driving source (31) outputs reverse power under the control of a first braking instruction and drives the needle moving unit (32) to continue to move to the needle placing position and stop, the method further comprises the following steps:
at the needle placing position, the needle placing mechanism (10) enables a plurality of needle placing channels to correspond to a plurality of needle seats one by one, and waits for the needle moving unit (32) to move to the needle placing position.
4. A transfer method according to claim 3, wherein the needle feeding mechanism (20) includes a second drive source (21) and a needle unit (22) connected to the second drive source (21) in a follower manner; in the step, the needle feeding mechanism (20) drives the needle to move towards 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 (21) is started and outputs forward power after the needle placing mechanism (10) and the carrier (40) reach the needle placing position so as to drive the ejector pin unit (22) to move towards 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 ejector pin unit (22) to continue to move to the needle taking position and stop.
5. The transfer method according to claim 1, wherein in the step of the needle moving unit (32) acquiring a needle at the needle taking position, the first driving source (31) outputs forward power under a preset start command to drive the needle moving unit (32) to move toward the needle placing position, comprising:
the first driving source (31) linearly increases forward power output under the control of a preset starting instruction to drive the needle moving unit (32) to accelerate to a preset peak speed, and the acceleration of the needle moving unit (32) is increased and then reduced.
6. The transfer method according to claim 1, wherein in the step of the first drive source (31) outputting reverse power under the control of a first braking instruction and driving the needle transfer unit (32) to continue to move to the needle placement position, further comprising:
the first driving source (31) drives the needle moving unit (32) to move in a variable speed reducing mode under the control of a first braking instruction, and the absolute value of the speed reducing of the needle moving unit (32) is increased and then reduced.
7. The transfer method according to claim 1, wherein the first drive source (31) drives the needle transfer unit (32) to reciprocate between the needle taking position and the needle placing position;
the first driving source (31) can output power to drive the needle moving unit (32) to reset to the needle taking position after the needle is placed on the carrier (40), and can drive the needle moving unit (32) to move in a decelerating mode under the control of the second braking instruction, so that the needle moving unit (32) stops when moving to the needle taking position.
8. A needle transfer apparatus for transferring a medical needle, the apparatus comprising:
a needle placing mechanism (10) capable of moving to a needle placing position to guide a needle mount mounted to a needle mount on a carrier (40);
an upper needle mechanism (20) for transporting the scattered needle tools to a needle taking position;
a needle moving mechanism (30) comprising a first driving source (31) and a needle moving unit (32) which is connected with the first driving source (31) in a follow-up way;
the first driving source (31) is used for driving the needle moving unit (32) to move from the needle taking position to the needle placing position, and 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 in the process of moving the needle moving unit (32) from the needle taking position to the needle placing position; wherein, the sending time of the preset starting instruction is earlier than the sending time of the first braking instruction.
9. The needle transfer apparatus according to claim 8, wherein the first driving source (31) is a servo motor, and the first driving source (31) drives the needle transfer unit (32) to move in a speed-reducing manner under the control of the first braking command.
10. The needle transfer apparatus according to claim 8, wherein the needle loading mechanism (20) includes a second driving source (21) and a needle ejector unit (22) connected to the second driving source (21) in a follow-up manner, and the second driving source (21) is capable of being started and outputting forward power after the needle placing mechanism (10) reaches the needle placing position so as to drive the needle ejector unit (22) to move toward 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 ejector pin unit (22) to continue to move to the needle taking position and stop.
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| CN202111163075.8A CN113844892B (en) | 2021-09-30 | 2021-09-30 | Transfer method and needle transfer equipment |
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| CN202111163075.8A CN113844892B (en) | 2021-09-30 | 2021-09-30 | Transfer method and needle transfer equipment |
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| CN104609172B (en) * | 2014-12-31 | 2017-01-25 | 迈得医疗工业设备股份有限公司 | Discharging device for medical accessory assembling machine |
| KR101738756B1 (en) * | 2015-07-06 | 2017-05-23 | 박갑식 | Apparatus for container line up and infuse liquid |
| CN105197577B (en) * | 2015-09-30 | 2018-03-09 | 迈得医疗工业设备股份有限公司 | A kind of conveying device of carrier |
| CN205418963U (en) * | 2015-11-26 | 2016-08-03 | 叶建华 | Syringe needle is automatic put mould machine put mould mechanism |
| CN106044139A (en) * | 2016-07-20 | 2016-10-26 | 梁启明 | Rotating shifting device of medical parts |
| CN107009120B (en) * | 2017-05-27 | 2023-10-27 | 江苏台正数控设备有限公司 | Feeding mechanism for assembling puncture type bare needle protection cover |
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