CN116118174A - Automatic thermal shrinkage wire for minimally invasive tube - Google Patents
Automatic thermal shrinkage wire for minimally invasive tube Download PDFInfo
- Publication number
- CN116118174A CN116118174A CN202211681504.5A CN202211681504A CN116118174A CN 116118174 A CN116118174 A CN 116118174A CN 202211681504 A CN202211681504 A CN 202211681504A CN 116118174 A CN116118174 A CN 116118174A
- Authority
- CN
- China
- Prior art keywords
- heat
- clamping
- shrinkage
- pipe
- clamp
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C61/00—Shaping by liberation of internal stresses; Making preforms having internal stresses; Apparatus therefor
- B29C61/02—Thermal shrinking
- B29C61/025—Thermal shrinking for the production of hollow or tubular articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2023/00—Tubular articles
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Shaping By String And By Release Of Stress In Plastics And The Like (AREA)
Abstract
The invention discloses an automatic heat shrinkage wire of a minimally invasive tube, which is characterized by comprising a feeding line, a clamping line, a heat shrinkage wire, a discharging line and a processing system, wherein the feeding line is used for conveying heat shrinkage tube raw materials, the clamping line comprises a clamping station and a clamping manipulator arranged at one side of the clamping station, the clamping manipulator is provided with a clamp, the clamping manipulator is used for controlling the clamp to clamp the heat shrinkage tube raw materials on the material placing station to the clamping station, the heat shrinkage wire comprises a heat shrinkage conveying station, a heat shrinkage manipulator and a heat shrinkage machine, the heat shrinkage machine is arranged at one side of the heat shrinkage conveying station, the heat shrinkage manipulator is arranged at one side of the heat shrinkage conveying station and is used for conveying the clamp clamped with the heat shrinkage tube raw materials to the heat shrinkage machine for heat shrinkage, and the processing system is used for controlling the feeding line, the clamping line, the heat shrinkage wire and the operation of the discharging line.
Description
Technical Field
The invention relates to the technical field of endoscope minimally invasive tube processing, in particular to an automatic thermal shrinkage wire for a minimally invasive tube.
Background
With the continuous development of medicine, endoscopes commonly used in medical treatment are also continuously improved, the conventional hard endoscope is gradually developed into an endoscope with a soft pipe fitting, and with the deepening of research on optical fibers, an optical fiber endoscope is also generated, so that the endoscope can be widely applied in medical treatment.
The heat shrinkage tube (heat shrinkage wire) for wiring the wire harness in the endoscope also becomes an important component part in the endoscope, currently, the heat shrinkage wire is clamped by a manual control clamp in the production process of the heat shrinkage wire and placed into a heat shrinkage machine for heat shrinkage, the clamp and the heat shrinkage wire are taken out after reaching the time according to the set heat shrinkage time, but the heat shrinkage wire can not necessarily reach the standard requirement of the heat shrinkage tube after being subjected to heat shrinkage of the heat shrinkage machine, and the heat shrinkage tube is required to be manually detected after being taken out, so that whether the heat shrinkage tube meets the standard is judged, defective products can be generated, the use of the endoscope is influenced when the heat shrinkage tube is applied to the endoscope, even the situation that the endoscope is damaged by mistake during detection can occur, and the automatic production line system applied to the heat shrinkage wire is needed to be solved.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an automatic thermal shrinkage wire for a minimally invasive tube, which has the effects of automatically producing and detecting the thermal shrinkage wire.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a minimally invasive tube automatic heat shrink wire comprising:
the feeding line is provided with a plurality of groups of material placing stations, and the material placing stations are used for placing heat-shrinkable tube raw materials;
the clamping line comprises a clamping station and a clamping manipulator arranged on one side of the clamping station, wherein a clamp is arranged on the clamping manipulator, and the clamping manipulator is used for controlling the clamp to clamp the heat-shrinkable tube raw material on the material placing station to the clamping station;
the heat shrinkage wire comprises a heat shrinkage conveying station, a heat shrinkage manipulator and a heat shrinkage machine, wherein the heat shrinkage machine is arranged on one side of the heat shrinkage conveying station, and the heat shrinkage manipulator is arranged on one side of the heat shrinkage conveying station and is used for conveying a clamp clamping a heat shrinkage pipe raw material into the heat shrinkage machine for heat shrinkage;
the processing system comprises a positioning subsystem, a control subsystem and a heat shrinkage subsystem, wherein the positioning subsystem comprises a marking module and a pre-detection module, a positioning detection strategy is configured in the positioning subsystem, the positioning detection strategy comprises the steps of identifying heat shrinkage pipe raw materials on a material placing station, performing code spraying marking on two sides of the heat shrinkage pipe raw materials, and controlling the pre-detection module to detect the pipe diameter of the heat shrinkage pipe raw materials on the material placing station to generate initial pipe diameter data when the code spraying marking is generated;
the thermal shrinkage subsystem comprises a thermal shrinkage detection module and an identification module, wherein a thermal shrinkage detection strategy and a standard pipe diameter threshold value are configured in the thermal shrinkage subsystem, the thermal shrinkage detection strategy comprises that a completion signal is generated when thermal shrinkage is completed on a thermal shrinkage pipe raw material, the thermal shrinkage detection module is controlled to detect whether the pipe diameter of the thermal shrinkage pipe after the thermal shrinkage is completed meets the standard pipe diameter threshold value, a qualified mark is generated when the thermal shrinkage meets the standard pipe diameter threshold value, a defective mark is generated when the thermal shrinkage pipe does not meet the standard pipe diameter, the identification module is controlled to identify whether thermal cracks appear on the outer surface of the thermal shrinkage pipe, and a scrapped mark is generated on the thermal shrinkage pipe with the thermal cracks;
the control subsystem comprises a clamping module, a finishing module, a wire feeding module and a discharging module, wherein a control strategy and a detection threshold are configured in the control subsystem, the detection threshold characterizes the time for detecting the heat-shrinkable tube by the identification module, the control strategy comprises that a clamping signal is generated when initial tube diameter data are generated, a heat-shrinkable tube raw material on a material placing station of the clamping manipulator is controlled to be clamped and conveyed to the clamping station, the finishing module controls the clamping manipulator to finish the arrangement of five heat-shrinkable tube raw materials at the clamping station, the wire feeding signal is generated after finishing the arrangement, the heat-shrinkable manipulator clamping fixture is controlled to drive the heat-shrinkable tube raw material to be conveyed to a heat-shrinkable machine for heat shrinkage, and when the detection threshold is reached, the discharging module controls the heat-shrinkable tube after the heat-shrinkable tube raw material is clamped and heat-shrunk to be discharged to a discharging line.
As a further improvement of the invention, a positioning threshold value is configured in the marking module, the positioning threshold value characterizes the length value from the end part of the heat shrinkage tube raw material to the code spraying mark, and the positioning detection strategy forms the code spraying mark specifically as follows:
the method comprises the steps of identifying the length of a heat-shrinkable tube raw material at a material placing station, and determining the position of a code spraying mark according to the length of a positioning threshold, wherein the code spraying mark comprises a clamping mark and a digital mark, the clamping mark represents a position mark for clamping by a clamp, and the digital mark represents a mark for sequencing the heat-shrinkable tube raw material in the sequence of clamping and takes incremental numbers as the mark.
As a further improvement of the invention, the positioning detection strategy control pre-detection module detects the raw materials of the heat shrinkage pipe specifically comprises the following steps:
the feeding line is provided with the light source detector towards the tip of group's clamp station, the light source detector aims at the axis position of pyrocondensation pipe raw materials in the material station is put, initial pipe diameter data includes internal diameter value, external diameter value and wall thickness value the tip of pyrocondensation pipe raw materials just is located internal diameter and external diameter and spouts the sign indicating number respectively and have photosensitive mark, and through light source detector emission detection light, regard the axis position of pyrocondensation pipe raw materials as the centre of a circle, obtain internal diameter value, external diameter value and the wall thickness value of pyrocondensation pipe raw materials with photosensitive mark received the position of detection light to the position of centre of a circle.
As a further improvement of the present invention, a clamping sub-strategy is configured in the clamping module, a clamp library is further provided in the group of clamping wires, clamps with different sizes are placed in the clamp library, and the clamping sub-strategy includes:
the pre-inspection module further forms pipe body data when generating initial pipe diameter data, the pipe body data comprises a pipe body model and a pipe body length, the clamping manipulator is used for selecting a clamp corresponding to the pipe body model from the clamp library according to the pipe body data, controlling the clamp to move to a material placing station to clamp the heat-shrinkable pipe raw material, and when clamping, the clamping position of the clamp is a clamping mark position in the code spraying mark.
As a further improvement of the present invention, the clamping sub-strategy further includes:
when the selected clamp clamps the heat-shrinkable tube raw material, a correction signal is generated when the selected clamp can only correspond to the clamping mark position at one end along the length direction of the tube body, the deviation value of the end part, which does not correspond to the clamping mark position, of the clamp from the clamping mark position is obtained, whether the clamp capable of clamping the clamping marks at the two ends of the tube body exists in the clamp library is adjusted according to the deviation value, if the clamp corresponds to the clamp, the clamp manipulator is controlled to replace the clamp, if the clamp does not correspond to the clamp, a rechecking signal is generated, the clamp manipulator is controlled to send the heat-shrinkable tube raw material clamped at the material placing station to a rechecking product area, and a rechecking data table is generated, wherein the rechecking data table is used for recording the model number, the detection time, the deviation value and the clamp.
As a further improvement of the present invention, the arrangement module is configured with an arrangement sub-strategy, and the arrangement sub-strategy includes:
and (3) calling initial pipe diameter data and pipe body data, arranging five heat-shrinkable pipe raw materials which belong to the same pipe body type number and the same pipe body length and have the same pipe diameter data along the width direction of the fixture in an array manner, and placing code spraying marks on the heat-shrinkable pipe raw materials at the same horizontal position during the array arrangement.
As a further improvement of the invention, a threshold detection strategy and a thermal shrinkage proportion are configured in the thermal shrinkage detection module, the thermal shrinkage proportion is a standardized thermal shrinkage proportion value set according to the pipe body type number, a thermal shrinkage detection light source is arranged in the thermal shrinkage machine, the thermal shrinkage detection light source is arranged along the thermal shrinkage pipe axis, and the threshold detection strategy comprises:
when a finishing signal is received, controlling a heat shrinkage detection light source to detect the inner diameter value, the outer diameter value and the wall thickness value of the heat shrinkage tube after heat shrinkage, multiplying the initial tube diameter data by the heat shrinkage proportion value to obtain proportion tube diameter data, if the inner diameter value, the outer diameter value and the wall thickness value after heat shrinkage are in the proportion tube diameter data range, characterizing as qualified, giving a qualified mark, and if the inner diameter value, the outer diameter value and the wall thickness value are not in the proportion tube diameter data range, giving a defective mark.
As a further improvement of the present invention, the threshold detection strategy further includes:
if the heat shrinkage pipe only detects other pipe diameter values except the inner diameter value and the outer diameter value under the irradiation of the heat shrinkage detection light source, the heat shrinkage pipe is characterized by heat shrinkage bending deformation, if the other pipe diameter values are larger than the outer diameter value, the heat shrinkage pipe is characterized by bending outwards, and if the other pipe diameter values are smaller than the inner diameter value, the heat shrinkage pipe is characterized by bending inwards.
As a further improvement of the present invention, the identification module includes a camera unit and an identification sub-strategy, the thermal shrinkage machine is further provided with a code sprayer, and the identification sub-strategy includes:
when a finishing signal is generated, the camera unit is controlled to shoot the heat-shrinkable tube and generate a heat-shrinkable texture map, the heat-shrinkable texture map is used for reflecting a surface shape image of the outer wall of the heat-shrinkable tube, a tube texture map corresponding to a tube model is called from a cloud end, the heat-shrinkable texture map is compared with the tube texture map, if different textures appear, the heat-shrinkable tube is characterized in that the heat-shrinkable tube is thermally cracked, the position of the heat-shrinkable tube is marked in the heat-shrinkable texture map, and a code sprayer in a heat-shrinkable machine is controlled to mark the heat-shrinkable tube marked with the heat-shrinkable tube for scrapping.
The invention has the beneficial effects that: the heat-shrinkable tube raw materials are placed through the material placing station on the feeding line, along with feeding and conveying of the feeding line, code spraying marks are formed on two sides of the heat-shrinkable tube raw materials under the action of the marking module, tube diameter data of the heat-shrinkable tube raw materials are obtained, the code spraying marks can be accurately clamped when the heat-shrinkable tube raw materials are clamped by the clamping mechanical arm, the heat-shrinkable tube raw materials are arranged in groups of five under the action of the arranging module, the heat-shrinkable mechanical arm can place a group of heat-shrinkable tube raw materials into the heat-shrinkable machine for heat shrinkage treatment when heat shrinkage is carried out, the heat-shrinkable tube after heat shrinkage is detected under the action of the heat-shrinkable detection module and the identification module, qualified marks are marked on the heat-shrinkable tube which does not reach the standard, rejected marks are marked on the heat-shrinkable tube which is hot-cracked, and the heat-shrinkable tube marks are conveyed to the discharging line through the mechanical arm after heat shrinkage is finished, and therefore the effects of automatic production and detection of the heat-shrinkable tube from feeding and the heat-shrinkable tube are achieved.
Drawings
FIG. 1 is an overall view of a heat shrink wire embodying the present invention;
FIG. 2 is a block diagram showing a feed line and a clamp line;
FIG. 3 is a block diagram showing a group clip line;
fig. 4 is a block diagram showing a group clip line and a heat shrink line.
Reference numerals: 1. feeding lines; 2. a heat shrinkage tube raw material; 3. assembling and clamping wires; 31. a clamping station; 32. a clamping mechanical arm; 4. heat shrinking lines; 41. a heat shrinkage conveying station; 42. a thermal shrinkage manipulator; 43. a thermal shrinkage machine; 5. and a material outlet line.
Detailed Description
The invention will now be described in further detail with reference to the drawings and examples. Wherein like parts are designated by like reference numerals. It should be noted that the words "front", "back", "left", "right", "upper" and "lower" used in the following description refer to directions in the drawings, and the words "bottom" and "top", "inner" and "outer" refer to directions toward or away from, respectively, the geometric center of a particular component.
Referring to fig. 1 to 4, an embodiment of an automatic thermal shrinkage wire 4 for a minimally invasive tube according to the present invention includes a feeding wire 1, a clamping wire 3, a thermal shrinkage wire 4, and a discharging wire 5:
the feeding line 1 is provided with a plurality of groups of material placing stations, the material placing stations are used for placing the heat-shrinkable tube raw materials 2, the group clamping work line comprises a group clamping station 31 and a group clamping manipulator 32 arranged on one side of the group clamping station 31, a clamp is arranged on the group clamping manipulator 32, the group clamping manipulator 32 is used for controlling the clamp to clamp the heat-shrinkable tube raw materials 2 arranged on the material placing station onto the group clamping station 31, the heat-shrinkable wire 4 comprises a heat-shrinkable conveying station 41, a heat-shrinkable manipulator 42 and a heat-shrinkable machine 43, the heat-shrinkable machine 43 is arranged on one side of the heat-shrinkable conveying station 41, and the heat-shrinkable manipulator 42 is arranged on one side of the heat-shrinkable conveying station 41 and is used for conveying the clamp clamped with the heat-shrinkable tube raw materials 2 to the heat-shrinkable machine 43 for heat shrinkage.
The automatic thermal shrinkage pipe detection system comprises a thermal shrinkage pipe raw material storage station, and is characterized by further comprising a processing system, wherein the processing system comprises a positioning subsystem, a control subsystem and a thermal shrinkage subsystem, the positioning subsystem comprises a marking module and a pre-detection module, a positioning detection strategy is configured in the positioning subsystem, the positioning detection strategy comprises the steps of identifying the thermal shrinkage pipe raw material 2 on the material storage station, performing code spraying marking on two sides of the thermal shrinkage pipe raw material 2, and controlling the pre-detection module to detect the pipe diameter of the thermal shrinkage pipe raw material 2 on the material storage station to generate initial pipe diameter data when the code spraying marking is generated.
The thermal shrinkage subsystem comprises a thermal shrinkage detection module and an identification module, wherein a thermal shrinkage detection strategy and a standard pipe diameter threshold value are configured in the thermal shrinkage subsystem, the thermal shrinkage detection strategy comprises that a completion signal is generated when thermal shrinkage is completed on a thermal shrinkage pipe raw material 2, the thermal shrinkage detection module is controlled to detect whether the pipe diameter of the thermal shrinkage pipe after the thermal shrinkage is completed meets the standard pipe diameter threshold value, a qualified mark is generated when the thermal shrinkage meets the standard pipe diameter threshold value, a defective mark is generated when the thermal shrinkage pipe does not meet the standard pipe diameter, the identification module is controlled to identify whether thermal cracks appear on the outer surface of the thermal shrinkage pipe, and a scrapped mark is generated on the thermal shrinkage pipe with the thermal cracks.
The control subsystem comprises a clamping module, a finishing module, a wire feeding module and a discharging module, wherein a control strategy and a detection threshold are configured in the control subsystem, the detection threshold characterizes the time for detecting the heat-shrinkable tube by the identification module, the control strategy comprises that a clamping signal is generated when initial tube diameter data are generated, the clamping manipulator 32 is controlled to clamp and convey the heat-shrinkable tube raw material 2 on the material arranging station to the clamping station 31, the finishing module controls the clamping manipulator 32 to finish and arrange the heat-shrinkable tube raw material 2 on the clamping station 31 in a group of five groups, the wire feeding signal is generated after finishing and grouping, the clamping manipulator 42 is controlled to clamp and drive the heat-shrinkable tube raw material 2 to be conveyed into the heat-shrinkable machine 43 for heat shrinkage, and after the completion signal is received and when the detection threshold is reached, the discharging module is controlled to clamp the heat-shrinkable tube finished by the heat-shrinkable manipulator 42 for discharging to the discharging wire 5.
The marking module is provided with a positioning threshold value, the positioning threshold value characterizes the length value from the end part of the heat shrinkage pipe raw material 2 to the code spraying mark, and the positioning detection strategy forms the code spraying mark specifically as follows:
the length of the heat-shrinkable tube raw material 2 at the material placing station is identified, the position of a code spraying mark is determined according to the length of the positioning threshold, the code spraying mark comprises a clamping mark and a digital mark, the clamping mark represents a position mark for clamping by a clamp, and the digital mark represents a mark for sequencing the heat-shrinkable tube raw material 2 in the sequence of clamping and takes increasing numbers as the mark. So that the heat shrinkable tube raw material 2 positioned on the feeding line 1 is marked in sequence.
The positioning detection strategy control pre-detection module detects the heat shrinkage pipe raw material 2 specifically comprises the following steps:
the end of the feeding line 1 facing the clamping station 31 is provided with a light source detector, the light source detector is aligned to the axis position of the heat shrinkage tube raw material 2 in the material placing station, the initial tube diameter data comprise an inner diameter value, an outer diameter value and a wall thickness value, photosensitive marks are respectively sprayed on the end of the heat shrinkage tube raw material 2 and on the inner diameter and the outer diameter, detection light is emitted through the light source detector, the axis position of the heat shrinkage tube raw material 2 is used as a circle center, and the inner diameter value, the outer diameter value and the wall thickness value of the heat shrinkage tube raw material 2 are obtained from the position of the photosensitive marks, which receives the detection light, to the circle center.
The clamping module is internally provided with a clamping sub-strategy, the group clamping line 3 is also provided with a clamp library, clamps with different sizes are placed in the clamp library, and the clamping sub-strategy comprises the following steps:
the pre-inspection module further forms pipe body data when generating initial pipe diameter data, the pipe body data comprises a pipe body model and a pipe body length, the clamping manipulator 32 selects a clamp corresponding to the pipe body model from the clamp library according to the pipe body data, and controls the clamp to move to a material placing station to clamp the heat-shrinkable pipe raw material 2, and when clamping, the clamping position of the clamp is a clamping mark position in the code spraying mark.
The clamping sub-strategy further comprises the following steps:
when the selected clamp clamps the heat-shrinkable tube raw material 2, a correction signal is generated when the selected clamp can only correspond to the clamping mark position at one end along the length direction of the tube body, the deviation value of the end part, which does not correspond to the clamping mark position, of the clamp from the clamping mark position is obtained, whether the clamp capable of clamping the clamping marks at the two ends of the tube body exists in the clamp library is adjusted according to the deviation value, if the corresponding clamp exists, the clamp assembling manipulator 32 is controlled to replace the clamp, if the corresponding clamp does not generate a rechecking signal, the clamp assembling manipulator 32 is controlled to clamp the heat-shrinkable tube raw material 2 on the material placing station to a rechecking product area, and a rechecking data table is generated, wherein the rechecking data table is used for recording the type of the tube body, the detection time, the deviation value and the clamp.
The arrangement module is internally configured with an arrangement sub-strategy, and the arrangement sub-strategy comprises:
and calling initial pipe diameter data and pipe body data, arranging five heat-shrinkable pipe raw materials 2 which belong to the same pipe body type number and the same pipe body length and have the same pipe diameter data along the width direction of the fixture in an array manner, and placing code spraying marks on the heat-shrinkable pipe raw materials 2 at the same horizontal position during the array arrangement.
The shrinkage inspection module is internally provided with a threshold detection strategy and a shrinkage proportion, the shrinkage proportion is a standardized shrinkage proportion value set according to the tube type number, a shrinkage detection light source is arranged in the shrinkage machine 43, the shrinkage detection light source is arranged along a shrinkage tube axis, and the threshold detection strategy comprises:
when a finishing signal is received, controlling a heat shrinkage detection light source to detect the inner diameter value, the outer diameter value and the wall thickness value of the heat shrinkage tube after heat shrinkage, multiplying the initial tube diameter data by the heat shrinkage proportion value to obtain proportion tube diameter data, if the inner diameter value, the outer diameter value and the wall thickness value after heat shrinkage are in the proportion tube diameter data range, characterizing as qualified, giving a qualified mark, and if the inner diameter value, the outer diameter value and the wall thickness value are not in the proportion tube diameter data range, giving a defective mark.
The threshold detection strategy further comprises:
if the heat shrinkage pipe only detects other pipe diameter values except the inner diameter value and the outer diameter value under the irradiation of the heat shrinkage detection light source, the heat shrinkage pipe is characterized by heat shrinkage bending deformation, if the other pipe diameter values are larger than the outer diameter value, the heat shrinkage pipe is characterized by bending outwards, and if the other pipe diameter values are smaller than the inner diameter value, the heat shrinkage pipe is characterized by bending inwards.
The recognition module includes a camera unit and a recognition sub-strategy, the thermal shrinkage machine 43 is further provided with a code sprayer, and the recognition sub-strategy includes:
when a finishing signal is generated, the camera unit is controlled to shoot the heat-shrinkable tube and generate a heat-shrinkable texture map, the heat-shrinkable texture map is used for reflecting a surface shape image of the outer wall of the heat-shrinkable tube, a tube texture map corresponding to a tube model is called from a cloud end, the heat-shrinkable texture map is compared with the tube texture map, if different textures appear, the occurrence of hot cracks is represented, the positions of the hot cracks are marked in the heat-shrinkable texture map, and a code sprayer in the heat-shrinkable machine 43 is controlled to mark the heat-shrinkable tube marked with the hot cracks for scrapping.
Working principle and effect:
the heat-shrinkable tube raw material 2 is placed through the material placing station on the feeding line 1, along with feeding and conveying of the feeding line 1, code spraying marks are formed on two sides of the heat-shrinkable tube raw material 2 under the action of the marking module, pipe diameter data of the heat-shrinkable tube raw material 2 are obtained, the code spraying marks can be accurately clamped when the heat-shrinkable tube raw material 2 is clamped by the clamping mechanical arm 32, the heat-shrinkable tube raw material 2 is clamped by the clamping mechanical arm 32 under the action of the arranging module, the heat-shrinkable tube raw material 2 is arranged in groups of five groups, so that when heat shrinkage is carried out, the heat-shrinkable mechanical arm 42 can place the heat-shrinkable tube raw material 2 into the heat-shrinkable machine 43 for heat shrinkage treatment at one time, and the heat-shrinkable tube after heat shrinkage is subjected to heat shrinkage is detected under the action of the heat-shrinkage detection module and the identification module, qualified marks are marked on the heat-shrinkable tube which are not qualified, and scrapped marks are marked on the heat-shrinkable tube which are not qualified, and are conveyed to the heat-shrinkable tube 5 through the mechanical arm 42 after heat shrinkage is finished, thereby realizing automatic production and detection of the heat-shrinkable tube from the feeding and the heat shrinkage to the heat shrinkage.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (9)
1. A minimally invasive tube automatic heat shrink wire, comprising:
the feeding line (1), a plurality of groups of material placing stations are arranged on the feeding line (1), and the material placing stations are used for placing the heat-shrinkable tube raw materials (2);
the clamping assembly line (3) comprises a clamping assembly station (31) and a clamping assembly manipulator (32) arranged on one side of the clamping assembly station (31), a clamp is arranged on the clamping assembly manipulator (32), and the clamping assembly manipulator (32) is used for controlling the clamp to clamp the heat-shrinkable tube raw material (2) on the material placing station onto the clamping assembly station (31);
the heat shrinkage wire (4), the heat shrinkage wire (4) comprises a heat shrinkage conveying station (41), a heat shrinkage manipulator (42) and a heat shrinkage machine (43), the heat shrinkage machine (43) is arranged on one side of the heat shrinkage conveying station (41), and the heat shrinkage manipulator (42) is arranged on one side of the heat shrinkage conveying station (41) and is used for conveying a clamp clamping a heat shrinkage tube raw material (2) into the heat shrinkage machine (43) for heat shrinkage;
the processing system comprises a positioning subsystem, a control subsystem and a heat shrinkage subsystem, wherein the positioning subsystem comprises a marking module and a pre-detection module, a positioning detection strategy is configured in the positioning subsystem, the positioning detection strategy comprises the steps of identifying a heat shrinkage pipe raw material (2) on a material placing station, performing code spraying marking on two sides of the heat shrinkage pipe raw material (2) according to the identification, and controlling the pre-detection module to detect the pipe diameter of the heat shrinkage pipe raw material (2) on the material placing station to generate initial pipe diameter data when the code spraying marking is generated;
the thermal shrinkage subsystem comprises a thermal shrinkage detection module and an identification module, wherein a thermal shrinkage detection strategy and a standard pipe diameter threshold value are configured in the thermal shrinkage subsystem, the thermal shrinkage detection strategy comprises that a completion signal is generated when thermal shrinkage is completed on a thermal shrinkage pipe raw material (2), the thermal shrinkage detection module is controlled to detect whether the pipe diameter of the thermal shrinkage pipe after the thermal shrinkage is completed meets the standard pipe diameter threshold value, a qualified mark is generated when the thermal shrinkage meets the standard pipe diameter threshold value, a defective mark is generated when the thermal shrinkage pipe does not meet the standard pipe diameter, the identification module is controlled to identify whether thermal cracks appear on the outer surface of the thermal shrinkage pipe, and a scrapped mark is generated on the thermal shrinkage pipe which generates the thermal cracks;
the control subsystem comprises a clamping module, a finishing module, an upper line module and a blanking module, wherein a control strategy and a detection threshold value are configured in the control subsystem, the detection threshold value characterizes the time of detection of the heat-shrinkable tube by the identification module, the control strategy comprises that a clamping signal is generated when initial tube diameter data are generated, a clamping mechanical arm (32) is controlled to clamp and convey the heat-shrinkable tube raw material (2) on a material arranging station to the clamping station (31), the finishing module controls the clamping mechanical arm (32) to finish and arrange the heat-shrinkable tube raw material (2) on the clamping station (31) in groups of five groups, an upper line signal is generated after finishing, a clamping clamp of the heat-shrinkable mechanical arm (42) is controlled to drive the heat-shrinkable tube raw material (2) to be conveyed to the heat-shrinkable machine (43) for heat shrinkage, and after the completion signal is received and when the detection threshold value is reached, the blanking module is controlled to clamp the heat-shrinkable tube finished by the heat-shrinkable tube raw material (2) to be fed to the material discharging line (5).
2. A minimally invasive tube automatic heat shrink wire (4) according to claim 1, characterized in that: the marking module is provided with a positioning threshold value, the positioning threshold value characterizes the length value from the end part of the heat shrinkage pipe raw material (2) to the code spraying mark, and the positioning detection strategy forms the code spraying mark specifically as follows:
the length of the heat-shrinkable tube raw material (2) at the material placing station is identified, the position of the code spraying mark is determined according to the length of the positioning threshold, the code spraying mark comprises a clamping mark and a digital mark, the clamping mark represents the position mark for clamping by a clamp, and the digital mark represents the mark for sequencing the heat-shrinkable tube raw material (2) according to the sequence of clamping and takes the increasing number as the mark.
3. A minimally invasive tube automatic heat shrink wire (4) according to claim 1, characterized in that: the positioning detection strategy control pre-detection module detects the raw material (2) of the heat shrinkage pipe specifically comprises the following steps:
the feeding line (1) is provided with a light source detector towards the end part of the clamping station (31), the light source detector is aligned with the axis position of the heat shrinkage pipe raw material (2) in the material placing station, initial pipe diameter data comprise an inner diameter value, an outer diameter value and a wall thickness value, photosensitive marks are respectively sprayed on the end part of the heat shrinkage pipe raw material (2) and on the inner diameter and the outer diameter, detection light is emitted through the light source detector, the axis position of the heat shrinkage pipe raw material (2) is used as a circle center, and the inner diameter value, the outer diameter value and the wall thickness value of the heat shrinkage pipe raw material (2) are obtained from the position of the photosensitive marks, which receives the detection light, to the position of the circle center.
4. A minimally invasive tube automatic heat shrink wire (4) according to claim 3, characterized in that: the clamping module is internally provided with a clamping sub-strategy, the group clamping line (3) is also provided with a clamp library, clamps with different sizes are placed in the clamp library, and the clamping sub-strategy comprises the following steps:
the pre-inspection module further forms pipe body data when generating initial pipe diameter data, the pipe body data comprises a pipe body model and a pipe body length, the clamping manipulator (32) selects a clamp corresponding to the pipe body model from the clamp library according to the pipe body data, the clamp is controlled to move to a material placing station to clamp the heat-shrinkable pipe raw material (2), and the clamping position of the clamp is a clamping mark position in the code spraying mark during clamping.
5. A minimally invasive tube automatic heat shrink wire (4) according to claim 4, characterized in that: the clamping sub-strategy further comprises the following steps:
and if the selected clamp clamps the heat-shrinkable tube raw material (2), generating a correction signal along the length direction of the tube body when the selected clamp clamps the heat-shrinkable tube raw material (2) and the clamping mark position of one end of the selected clamp corresponds to the clamping mark position, acquiring the deviation value of the end part, which does not correspond to the clamping mark position, of the clamp, which is away from the clamping mark position, and according to the deviation value, adjusting whether the clamp capable of clamping the clamping marks at the two ends of the tube body exists in the clamp library, if the selected clamp corresponds to the selected clamp, controlling the clamping manipulator (32) to replace the clamp, and if the selected clamp does not generate a reinspection signal, controlling the clamping manipulator (32) to clamp the heat-shrinkable tube raw material (2) on the material placing station to a reinspection product area, and generating a reinspection data table, wherein the reinspection data table is used for recording the type of the tube body, the detection time, the deviation value and the clamp.
6. A minimally invasive tube automatic heat shrink wire (4) according to claim 5, characterized in that: the arrangement module is internally configured with an arrangement sub-strategy, and the arrangement sub-strategy comprises:
and (3) calling initial pipe diameter data and pipe body data, arranging five heat-shrinkable pipe raw materials (2) which belong to the same pipe body type number and the same pipe body length and have the same pipe diameter data along the width direction of the fixture in an array manner, and placing code spraying marks on the heat-shrinkable pipe raw materials (2) at the same horizontal position during the array arrangement.
7. The automatic heat shrink wire (4) for minimally invasive tubes according to claim 6, characterized in that: the shrinkage inspection module is internally provided with a threshold detection strategy and a shrinkage proportion, the shrinkage proportion is a standardized shrinkage proportion value set according to the tube type number, a shrinkage detection light source is arranged in a shrinkage machine (43), the shrinkage detection light source is arranged along a shrinkage tube axis, and the threshold detection strategy comprises:
when a finishing signal is received, controlling a heat shrinkage detection light source to detect the inner diameter value, the outer diameter value and the wall thickness value of the heat shrinkage tube after heat shrinkage, multiplying the initial tube diameter data by the heat shrinkage proportion value to obtain proportion tube diameter data, if the inner diameter value, the outer diameter value and the wall thickness value after heat shrinkage are in the proportion tube diameter data range, characterizing as qualified, giving a qualified mark, and if the inner diameter value, the outer diameter value and the wall thickness value are not in the proportion tube diameter data range, giving a defective mark.
8. A minimally invasive tube automatic heat shrink wire (4) according to claim 7, characterized in that: the threshold detection strategy further comprises:
if the heat shrinkage pipe only detects other pipe diameter values except the inner diameter value and the outer diameter value under the irradiation of the heat shrinkage detection light source, the heat shrinkage pipe is characterized by heat shrinkage bending deformation, if the other pipe diameter values are larger than the outer diameter value, the heat shrinkage pipe is characterized by bending outwards, and if the other pipe diameter values are smaller than the inner diameter value, the heat shrinkage pipe is characterized by bending inwards.
9. The automatic heat shrink wire (4) for minimally invasive tubes according to claim 8, characterized in that: the identification module comprises a camera unit and an identification sub-strategy, the thermal shrinkage machine (43) is also provided with a code sprayer, and the identification sub-strategy comprises:
when a finishing signal is generated, the camera unit is controlled to shoot the heat-shrinkable tube and generate a heat-shrinkable texture map, the heat-shrinkable texture map is used for reflecting a surface shape image of the outer wall of the heat-shrinkable tube, a tube texture map corresponding to a tube model is called from a cloud end, the heat-shrinkable texture map is compared with the tube texture map, if different textures appear, the heat-shrinkable tube is characterized in that the heat-shrinkable tube is hot-cracked, the position of the heat-shrinkable tube is marked in the heat-shrinkable texture map, and a code sprayer in a heat-shrinkable machine (43) is controlled to mark the heat-shrinkable tube marked with the heat-shrinkable tube for scrapping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211681504.5A CN116118174A (en) | 2022-12-27 | 2022-12-27 | Automatic thermal shrinkage wire for minimally invasive tube |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211681504.5A CN116118174A (en) | 2022-12-27 | 2022-12-27 | Automatic thermal shrinkage wire for minimally invasive tube |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116118174A true CN116118174A (en) | 2023-05-16 |
Family
ID=86303848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211681504.5A Pending CN116118174A (en) | 2022-12-27 | 2022-12-27 | Automatic thermal shrinkage wire for minimally invasive tube |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116118174A (en) |
-
2022
- 2022-12-27 CN CN202211681504.5A patent/CN116118174A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108765416B (en) | PCB surface defect detection method and device based on rapid geometric alignment | |
| CN111567989B (en) | Device for measuring rubber lines at rubber coating edge of shoe and measuring method thereof | |
| JP4584462B2 (en) | Method and apparatus for processing parts released from an injection molding machine | |
| CN106825958A (en) | Integrated welding is agreed to play and takes the photograph structure and battery core automatic welding detection means and method | |
| CN107133983B (en) | Bundled round steel end face binocular vision system and space orientation and method of counting | |
| CN112379109A (en) | Automatic detection system for surface of part | |
| US20060021208A1 (en) | Method for fastening a tool in a tool chuck | |
| CN113546869A (en) | Material sorting device, method and storage medium | |
| CN116118174A (en) | Automatic thermal shrinkage wire for minimally invasive tube | |
| CN205496098U (en) | Full -automatic ABS ring gear defect visual inspection device | |
| CN109945842B (en) | Method for detecting label missing and analyzing labeling error of end face of bundled round steel | |
| CN115078376A (en) | Method, system and equipment for detecting double-sided adhesive tape of bare cell and storage medium | |
| CN209156466U (en) | A kind of SSD hard disk discharging device | |
| US20230330780A1 (en) | Method and apparatus for automated quality control for cutting machines of flexible material parts | |
| CN117299599A (en) | OPW master-piece visual detection device and control method | |
| CN218657296U (en) | Integral type door ring projection welding workstation | |
| CN217432306U (en) | Ceramic high-voltage electric leakage detection visual system | |
| JP2022105581A (en) | Method of detecting molding failure | |
| CN115165898A (en) | Industrial component appearance defect detection method based on deep learning | |
| CN114022478A (en) | Bar chip counting method and device for full-automatic laser | |
| CN213154395U (en) | Device for measuring rubber edge rubber line of shoe brush | |
| CA2344307C (en) | Method and apparatus for sorting fluorescent lamps | |
| CN109773789B (en) | Plug wire box vision guide system | |
| CN113333887A (en) | Automatic maintenance system of MINI LED | |
| CN110618139A (en) | LED appearance detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |