CN116423196B - Automatic assembly system of absorbable hemostatic ligature clamp - Google Patents
Automatic assembly system of absorbable hemostatic ligature clamp Download PDFInfo
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- CN116423196B CN116423196B CN202310290630.6A CN202310290630A CN116423196B CN 116423196 B CN116423196 B CN 116423196B CN 202310290630 A CN202310290630 A CN 202310290630A CN 116423196 B CN116423196 B CN 116423196B
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- clip
- ligature
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- 230000002439 hemostatic effect Effects 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 210000000078 claw Anatomy 0.000 claims description 24
- 238000001514 detection method Methods 0.000 claims description 20
- 230000017105 transposition Effects 0.000 claims description 13
- 238000009434 installation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000012216 screening Methods 0.000 description 17
- 230000002950 deficient Effects 0.000 description 12
- 239000000463 material Substances 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 230000036544 posture Effects 0.000 description 5
- 238000003908 quality control method Methods 0.000 description 5
- 230000002441 reversible effect Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000011027 product recovery Methods 0.000 description 2
- 229920002994 synthetic fiber Polymers 0.000 description 2
- 238000011179 visual inspection Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000023597 hemostasis Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Surgical Instruments (AREA)
Abstract
The utility model discloses an automatic assembly system of an absorbable hemostatic ligature clamp, which comprises a dividing turntable and an assembly jig, wherein the dividing turntable is in intermittent motion, the assembly jig is arranged on the dividing turntable, a ligature clamp outer sleeve assembly mechanism is arranged outside the dividing turntable, a ligature clamp inner clamp assembly mechanism is arranged at the downstream of the ligature clamp outer sleeve assembly mechanism, a ligature clamp outer clamp assembly mechanism is arranged at the downstream of the ligature clamp inner clamp assembly mechanism, a ligature clamp piston assembly mechanism is arranged at the downstream of the ligature clamp outer clamp assembly mechanism, and all assembly mechanisms are arranged around the dividing turntable. The utility model can automatically assemble the absorbable hemostatic ligature clamp, thereby greatly improving the assembly efficiency of the absorbable hemostatic ligature clamp; eliminating the influence of human factors, thereby ensuring the production quality stability of the absorbable hemostatic ligature clip; obviously liberates manpower and reduces the labor intensity of personnel.
Description
Technical Field
The utility model relates to automatic assembling equipment for medical instrument parts, in particular to an automatic assembling system for an absorbable hemostatic ligature clip.
Background
The absorbable hemostatic ligature clip is used as a special medical instrument for vascular closure in surgical laparoscopic surgery, and consists of four parts, namely: the inner clip, the outer clip, the piston and the outer sleeve are made of two biodegradable synthetic materials, and are left in a human body for several months after closing a blood vessel, and finally are degraded into water and carbon dioxide. The piston and the outer sleeve assist the inner clip and the outer clip to close the blood vessel and then take out, which is medical engineering plastic. The biodegradable synthetic material is soft in texture, the shape of the inner clip is fine, and the absorbable hemostatic ligature clip part is difficult to automatically assemble based on the material characteristics and the appearance form. Therefore, the assembly of the parts of the product is usually carried out by full manual assembly, and then the overall visual inspection of the appearance state of the product is carried out after the assembly, and whether the assembly of each part is standard or not is confirmed through visual inspection. Therefore, the manual assembly process is inefficient, and the quality control is unstable and is susceptible to human factors. The utility model patent with publication number of CN218194906U discloses an absorbable ligature clamp assembling tool, but the working principle of the patent is that all parts of the absorbable ligature clamp are sequentially concentrated on an assembling rod, the assembling is completed on the assembling rod, the mechanical automatic assembly operation cannot be realized, the continuity of the assembling work is poor, and the assembling efficiency is still low.
Disclosure of Invention
The existing absorbable hemostatic ligature clip has the defects of high personnel working proportion, low automation degree, high labor intensity, low working efficiency and hidden danger of quality due to manual control in the assembly process of the existing absorbable hemostatic ligature clip. In order to overcome the defects, the utility model provides an automatic assembly system for the absorbable hemostatic ligature clamp, which can realize the automatic assembly of the absorbable hemostatic ligature clamp, greatly improve the assembly efficiency and the assembly quality, reduce the labor intensity of personnel and eliminate the hidden danger of quality control.
The technical scheme of the utility model is as follows: the utility model provides an automatic equipment system of absorbable hemostasis ligature clamp, includes intermittent type motion cut apart carousel and equipment tool, and the equipment tool is located and cuts apart on the carousel, cuts apart carousel peripheral hardware ligature clamp overcoat assembly devices, and ligature clamp overcoat assembly devices low reaches are equipped with ligature clamp inside callipers assembly devices, and ligature clamp inside callipers assembly devices low reaches are equipped with ligature clamp outside callipers assembly devices, and ligature clamp outside callipers assembly devices low reaches are equipped with ligature clamp piston assembly devices, each assembly devices sets up around cutting apart the carousel. The utility model is used for one-by-one input and step-by-step assembly of the parts such as the outer sleeve, the inner clip, the outer clip, the piston and the like of the absorbable hemostatic ligature clip. When the device works, the assembly jig sequentially passes through the ligature clamp outer sleeve assembly mechanism, the ligature clamp inner clamp assembly mechanism, the ligature clamp outer clamp assembly mechanism and the ligature clamp piston assembly mechanism along with the rotation of the dividing turntable, and is intermittently paused respectively, and the corresponding component input and installation are completed during the intermittent pause, and finally the assembly jig is unloaded from the dividing turntable after being assembled into a finished product. The automatic assembly system for the absorbable hemostatic ligature clamp can realize mechanical automation of assembly of the absorbable hemostatic ligature clamp parts, greatly improve the working efficiency, promote quality control, liberate manual work and reduce the labor intensity of personnel.
Preferably, each assembly device comprises a feeding vibration disc and a feeding gripper module, wherein a feeding track is connected to the feeding vibration disc, and the feeding gripper module is located at the terminal of the feeding track. The ligature clamp outer sleeve assembly mechanism, the ligature clamp inner clamp assembly mechanism, the ligature clamp outer clamp assembly mechanism and the ligature clamp piston assembly mechanism are similar in framework, all add parts from a feeding vibration disk and convey various parts along a feeding track through vibration of the feeding vibration disk, a feeding track terminal is grabbed by a feeding gripper module and transferred to an assembly jig stopped at each mechanism, and therefore in one rotation period of a segmentation turntable, all parts such as an outer sleeve, an inner clamp, an outer clamp and a piston are sequentially input and overlapped, and finally the absorbable hemostatic ligature clamp is assembled.
Preferably, the feeding gripper module comprises a feeding driving piece, a lifting driving piece and a pneumatic clamping jaw, wherein the feeding driving piece is fixed on a gripper bracket, the lifting driving piece is arranged at the output end of the feeding driving piece, and the pneumatic clamping jaw is arranged at the output end of the lifting driving piece. The pneumatic clamping jaw is used for clamping a part from the feeding track, the feeding driving piece is used for driving the pneumatic clamping jaw to advance and retreat, and the feeding clamping jaw reciprocates between a material grabbing position at the terminal of the feeding track and an assembly jig which is stopped at each mechanism and waits for the input of the part. The lifting driving piece is used for driving the pneumatic clamping jaw to lift. When the feeding gripper module works, at the feeding position of the feeding track terminal, the pneumatic clamping jaw is driven to descend by the lifting driving piece to grab the component reaching the feeding track terminal, then the pneumatic clamping jaw is driven to ascend by the lifting driving piece, the component grabbed by the pneumatic clamping jaw is driven by the feeding driving piece to reach the position above the suspended assembly jig by the lifting driving piece, and the pneumatic clamping jaw descends again to load the component into the assembly jig or other components already loaded into the assembly jig.
Preferably, the ligation clip inner clip assembly mechanism further comprises an inner clip reverse rotation air claw, and the inner clip reverse rotation air claw corresponds to a feeding track terminal of the ligation clip inner clip assembly mechanism. The inner clip of the ligature clip is V-shaped and elastic, in order to ensure the conveying stability, the inner clip is in an inverted state when conveyed in a feeding track of an inner clip assembling mechanism of the ligature clip, and an outer sleeve of the ligature clip is assembled in the assembling jig at the inner clip assembling mechanism of the ligature clip in the previous mechanism, the inner clip is required to be assembled in the outer sleeve in a furled state, the inner clip is inserted into the outer sleeve in an upright state, namely, the state that the sharp angle is downward and the opening is upward, the alignment is easier, and in the inserting process, the outer sleeve assembled in advance plays a guiding role in the inner clip assembling process, so that the furling is gradually completed when the inner clip is assembled. Therefore, the inner clamp reverse rotating air claw is arranged, so that the design of a feeding track of a front channel can be facilitated, and the assembly of an inner clamp of a rear channel is facilitated.
Preferably, the ligature clamp inner clip assembly mechanism further comprises an inner clip gathering plate and an inner clip gathering plate lifting cylinder, wherein the inner clip gathering plate is connected to the output end of the inner clip gathering plate lifting cylinder, an inner clip gathering groove and an outer sleeve anti-rotation step are arranged on the inner clip gathering plate, and the inner clip gathering groove corresponds to the feeding gripper module of the ligature clamp inner clip assembly mechanism in position. The hemostatic ligature clamp has the advantages that a phase difference exists between the outer sleeve and the inner clip relative to the axis of the outer sleeve in the hemostatic ligature clamp, so that the inner clip needs to keep a fixed relative position when assembled with the outer sleeve, the inner clip folding plate has the functions of guiding, folding the inner clip and positioning the outer sleeve to prevent deflection, the inner clip folding plate can position the outer sleeve through the surface matching between the outer sleeve rotation preventing step and the outer sleeve surface before the inner clip is assembled, the outer sleeve is not driven to deflect when the inner clip is assembled, the final inner clip and the outer sleeve are misplaced, and then the inner clip is forced to fold when passing through the inner clip folding groove, so that the outer sleeve can be assembled more accurately and smoothly.
Preferably, the assembling jig comprises an upright outer sleeve positioning cylinder and an inverted outer sleeve positioning cylinder, the upright outer sleeve positioning cylinder is adjacent to the inverted outer sleeve positioning cylinder, an outer sleeve inner clamp assembly inversion transposition mechanism is arranged between the ligation clamp inner clamp assembly mechanism and the ligation clamp outer clamp assembly mechanism, and the outer sleeve inner clamp assembly inversion transposition mechanism comprises an outer sleeve inner clamp assembly inversion rotating air claw, an outer sleeve inner clamp assembly lifting cylinder and an outer sleeve inner clamp assembly transposition cylinder for transferring the inverted outer sleeve inner clamp assembly from the upright outer sleeve positioning cylinder to the inverted outer sleeve positioning cylinder, the outer sleeve inner clamp assembly lifting cylinder is arranged at the output end of the outer sleeve inner clamp assembly transposition cylinder, and the outer sleeve inner clamp assembly inversion rotating air claw is arranged at the output end of the outer sleeve inner clamp assembly lifting cylinder. After the inner clamp and the outer sleeve are assembled, the outer clamp of the ligature clamp is assembled, the outer clamp is assembled from the other end of the outer sleeve, the diameters of the two ends of the outer sleeve are different, and the outer sleeve positioning cylinder and the inverted outer sleeve positioning cylinder with different apertures are required to be positioned in an adapting way, so that the turning of the inner sleeve clamp assembly can be completed through the reversing rotary air claw of the inner sleeve clamp assembly, the lifting cylinder of the inner sleeve clamp assembly and the transposition cylinder of the inner sleeve clamp assembly, and the transfer from the upright outer sleeve positioning cylinder to the inverted outer sleeve positioning cylinder.
Preferably, an inner card assembly image detection device is further arranged between the inner card assembly mechanism of the ligating clamp and the outer card assembly mechanism of the ligating clamp. The inner card assembly image detection device is used for detecting whether an inner card is installed in place on the outer sleeve, is free of deflection and outcrop, and can give an alarm once detecting an abnormal condition so as to process in time, ensure the assembly quality and avoid causing batch defective products.
Preferably, the ligature clip outer clip assembly mechanism and the ligature clip piston assembly mechanism also comprise an assembly instant image detection device. The real-time image detection device can be assembled to find abnormality in time after the outer card and the piston are assembled, and is beneficial to quality control.
Preferably, the dividing turntable is fixedly connected with the output end of a cam divider, and the cam divider is in transmission connection with a main motor. After the cam divider receives the power input by the main motor, the cam divider can intermittently output torque to drive the dividing turntable to intermittently rotate.
Alternatively, the dividing turntable is fixedly connected with the output end of a speed reduction motor. The speed reducing motor is matched with the encoder and the brake device, and can also intermittently output torque to drive the dividing turntable to intermittently rotate.
The beneficial effects of the utility model are as follows:
the utility model can fully automatically assemble the components of the absorbable hemostatic ligature clamp, greatly improve the assembly efficiency of the absorbable hemostatic ligature clamp and greatly improve the productivity.
Improving the quality control of absorbable hemostatic ligature clip product. The utility model replaces manual operation with automatic equipment, and can eliminate the influence of human factors, thereby ensuring the stability of the production quality of the absorbable hemostatic ligature clamp.
Saving labor and reducing labor intensity. Compared with the existing production process, the utility model can improve the automation degree of the absorbable hemostatic ligature clip production, can obviously liberate manpower and reduce the labor intensity of personnel.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model;
FIG. 2 is a schematic view of the structure of an absorbable hemostatic ligating clip of the present utility model;
FIG. 3 is an exploded view of the components of the absorbable hemostatic ligating clip of the present utility model;
FIG. 4 is a schematic diagram of a feeding gripper module according to the present utility model;
FIG. 5 is a schematic view of the ligating clip housing assembly mechanism of the present utility model;
FIG. 6 is a schematic view of the structure of the inner clip assembly mechanism of the ligating clip of the present utility model;
FIG. 7 is a schematic structural view of the reversing and shifting mechanism of the outer jacket inner card assembly of the present utility model;
FIG. 8 is a schematic view of the construction of the ligating clip outer clip assembly mechanism of the present utility model;
fig. 9 is a schematic structural view of a piston assembly mechanism of the ligating clip of the present utility model.
In the figure, a 1-split turntable, a 2-assembly jig, a 3-feeding vibration disk, a 301-outer sleeve feeding vibration disk, a 302-inner clip feeding vibration disk, a 303-outer clip feeding vibration disk, a 304-piston feeding vibration disk, a 4-feeding track, a 401-outer sleeve feeding track, a 402-inner clip feeding track, a 403-outer clip feeding track, a 404-piston feeding track, a 5-gripper bracket, a 6-feeding driving piece, a 7-lifting driving piece, an 8-pneumatic clamping jaw, a 9-lifting steering device, a 10-outer sleeve positioning seat, a 11-outer sleeve positioning groove, a 12-rotating air jaw driving cylinder, a 13-inner clip reversing air jaw, a 14-inner clip folding plate, a 15-inner clip folding plate lifting cylinder, a 16-inner clip folding groove, 17-inner card assembly image detection device, 18-outer inner card assembly reverse rotation air claw, 19-outer inner card assembly lifting cylinder, 20-outer inner card assembly transposition cylinder, 21-upright outer card positioning cylinder, 22-reverse outer card positioning cylinder, 23-cam divider, 24-rack, 25-piston positioning seat, 26-outer card steering rotation cylinder, 27-outer card positioning seat turnover shaft, 28-outer card positioning seat, 29-outer card positioning groove, 30-absorbable hemostatic ligature clamp, 3001-outer cover, 3002-inner card, 3003-outer card, 3004-piston, 31-final image detection device, 32-defective product gripper module, 33-defective product recovery box, 34-blanking gripper module, 35-finished product blanking hopper, 36-conveyor belt.
Detailed Description
The utility model will be further described with reference to specific embodiments in the drawings.
Example 1:
as shown in fig. 1 to 9, an absorbable hemostatic ligating clip automated assembly system for assembling an absorbable hemostatic ligating clip 30, the absorbable hemostatic ligating clip 30 consisting of four parts of an outer sleeve 3001, an inner clip 3002, an outer clip 3003, and a piston 3004. One end of the outer sleeve 3001 is cylindrical, the other end of the outer sleeve 3001 is in a flat V shape, the thickness of the end part of the V-shaped end is smaller than the diameter of the cylinder end, the width of the V-shaped end is slightly larger than the diameter of the cylinder end, and the thickness of the V-shaped end gradually increases in the direction extending from the V-shaped end to the cylinder end, namely, the V-shaped end is in a rectangle with a V-shaped opening when being observed from the front side or the back side, and the V-shaped end has taper when being observed from the side. The inner card 3002 has a V-shape. The outer card 3003 has a U-shape with a narrow open end and a wide closed end. The inner end and the outer end of the piston 3004 are cross-shaped columns, the two ends are integrally connected through a rod body, a pair of sweepback elastic fins are arranged on the two sides of the rod body, and the sweepback elastic fins sweepback towards the outer end direction of the piston 3004. The automatic assembly system of the absorbable hemostatic ligature clamp comprises a dividing turntable 1, an assembly jig 2, a rack 24, a ligature clamp outer sleeve assembly mechanism, a ligature clamp inner clamp assembly mechanism, a ligature clamp outer clamp assembly mechanism, a ligature clamp piston assembly mechanism, a finished product blanking mechanism and a defective product sorting mechanism which are in intermittent motion. The dividing turntable 1 is fixedly connected with the output end of a cam divider 23, and the cam divider 23 is in transmission connection with a main motor. The frame 24 includes a central frame and peripheral frames, the peripheral frames being distributed around the central frame, and the dividing carousel 1 being located on the central frame. The assembling jig 2 is arranged on the dividing turntable 1 in 10 groups, and the included angle between the adjacent groups relative to the center of the dividing turntable 1 is 36 degrees. The ligature clamp outer sleeve assembly mechanism, the ligature clamp inner clamp assembly mechanism, the ligature clamp outer clamp assembly mechanism, the ligature clamp piston assembly mechanism, the finished product blanking mechanism and the defective product sorting mechanism are sequentially arranged around the dividing turntable 1. The ligature clamp outer sleeve assembly mechanism, the ligature clamp inner clamp assembly mechanism, the ligature clamp outer clamp assembly mechanism and the ligature clamp piston assembly mechanism comprise a feeding vibration disc 3, a feeding track 4 and a feeding gripper module, the feeding vibration disc 3 is arranged on each peripheral frame, the feeding gripper module is arranged on the central frame, the feeding vibration disc 3 is communicated with the feeding track 4, vibration of the feeding vibration disc 3 is directly transmitted to the feeding track 4, and the feeding gripper module is located at the terminal of the feeding track 4. The ligature clamp outer sleeve assembly mechanism, the ligature clamp inner clamp assembly mechanism, the ligature clamp outer clamp assembly mechanism and the ligature clamp piston assembly mechanism are respectively provided with an outer sleeve feeding vibration disc 301, an inner clamp feeding vibration disc 302, an outer clamp feeding vibration disc 303 and a piston feeding vibration disc 304. Likewise, the feeding rails 4 of the ligature clip outer sleeve assembly mechanism, the ligature clip inner clip assembly mechanism, the ligature clip outer clip assembly mechanism and the ligature clip piston assembly mechanism are respectively an outer sleeve feeding rail 401, an inner clip feeding rail 402, an outer clip feeding rail 403 and a piston feeding rail 404. The jacket feeding vibration plate 301 is internally provided with a channel which only accommodates the jacket 3001 and is used for conveying along the axial direction, the jacket feeding track 401 is provided with a conveying guide groove, the front half section of the conveying guide groove is a bottomless through groove, the width of the conveying guide groove is smaller than the diameter of the cylindrical end of the jacket 3001 and the width of the V-shaped end and is larger than the thickness of the end part of the V-shaped end, the jacket 3001 which can be stably placed and conveyed on the jacket feeding track 401 is ensured to be in a posture that the V-shaped end is downwards inserted into the conveying guide groove, and the thickness of the V-shaped end is consistent with the width direction of the conveying guide groove. The notch direction of the conveying guide groove is gradually changed from vertical to horizontal and then gradually downward, a guide plate is arranged beside the outer sleeve feeding track 401, the surface direction of the guide plate is synchronously changed with the notch direction of the conveying guide groove, and the conveying guide groove at the position close to the terminal end of the outer sleeve feeding track 401 is provided with a groove bottom capable of supporting the cylindrical end of the outer sleeve 3001. The terminal of overcoat material loading track 401 is equipped with jacking steering gear 9, and the top of jacking steering gear 9 is equipped with overcoat positioning seat 10, is equipped with on the overcoat positioning seat 10 with overcoat material loading track 401 butt joint and with the overcoat constant head tank 11 of single overcoat 3001 adaptation, jacking steering gear 9 is formed by revolving cylinder and screw rod combination, can rotate 90 with the overcoat 3001 that gets into in the location hole, simultaneously with the ejecting certain height of overcoat 3001, exceeds the overcoat 3001 in the overcoat material loading track 401. The jacket feeding vibratory pad 301 and the jacket feeding track 401 are disposed within a jacket recovery pad such that the jacket 3001 that falls during transport of the jacket feeding vibratory pad 301 and transfer from the jacket feeding vibratory pad 301 to the jacket feeding track 401 may be recovered. The cross section of the inner card feeding rail 402 is wedge-shaped with a narrow upper part and a wide lower part, and is suitable for the inner card 3002 to ride down on the inner card feeding rail 402. The inner card feed vibratory deck 302 and the inner card feed rail 402 are disposed within an inner card recovery deck such that the inner card 3002 that is dropped during transport of the inner card feed vibratory deck 302 and transfer from the inner card feed vibratory deck 302 to the inner card feed rail 402 may be recovered. Be equipped with 3 to 5 outer card screening holes on the outer card material loading track 403, outer card screening hole front end is wide, and the rear end is narrow, and the front end width slightly is greater than outer card 3003 blind end width for the outer card 3003 that the blind end was forward all can fall from outer card screening hole because of losing the support of outer card material loading track face when passing through outer card screening hole in the transportation, and the outer card 3003 that the blind end was backward can obtain the support of outer card material loading track face all the time through outer card screening hole and can not fall from outer card screening hole. The outer card feed vibratory tray 303 and outer card feed rail 403 are disposed within an outer card recovery tray. Similar to the outer clip feeding rail 403, the piston feeding rail 404 is also provided with 3 to 5 piston screening holes, the piston screening holes are L-shaped, the piston screening holes can only accommodate the backward posture of the outer ends of the pistons 3004, but not the contrary, the pistons 3004 with the forward outer ends can all fall from the piston screening holes due to the suspension of the outer ends and the sweepback elastic fins on one side when passing through the piston screening holes, and the sweepback elastic fin tips are different from the inner ends and the outer ends of the pistons 3004, the inner ends and the sweepback elastic fin tips are not suspended at the same time, so that the pistons 3004 with the backward outer ends can always be supported by the sweepback feeding rail surfaces and cannot fall from the piston screening holes when passing through the piston screening holes.
The feeding gripper module comprises a gripper bracket 5, a feeding driving piece 6, a lifting driving piece 7 and a pneumatic clamping jaw 8, wherein the gripper bracket 5 is fixed on a frame 24, the feeding driving piece 6 is fixed on the gripper bracket 5, the lifting driving piece 7 is arranged at the output end of the feeding driving piece 6, and the pneumatic clamping jaw 8 is arranged at the output end of the lifting driving piece 7. The ligature clip inner clip assembly mechanism further comprises an inner clip reversing rotary air claw 13, an inner clip gathering plate 14 and an inner clip gathering plate lifting cylinder 15, wherein the inner clip reversing rotary air claw 13 is driven by the rotary air claw driving cylinder 12 and corresponds to the terminal of the inner clip feeding track 402. The inner card drawing plate 14 is connected to the output end of the inner card drawing plate lifting cylinder 15, the inner card drawing plate 14 is provided with an inner card drawing groove 16, the inner card drawing groove 16 corresponds to the feeding gripper module of the ligation clip inner card assembly mechanism, and the pneumatic clamping jaw 8 of the ligation clip inner card assembly mechanism overlaps with the inner card drawing groove 16 when reaching the feeding end point. Each group of assembly jig 2 comprises two upright outer sleeve positioning cylinders 21 and two inverted outer sleeve positioning cylinders 22, wherein the upright outer sleeve positioning cylinders 21 are adjacent to the inverted outer sleeve positioning cylinders 22, an outer sleeve inner clip assembly inversion transposition mechanism is arranged between the ligation clip inner clip assembly mechanism and the ligation clip outer clip assembly mechanism, and comprises an outer sleeve inner clip assembly inversion rotary air claw 18, an outer sleeve inner clip assembly lifting cylinder 19 and an outer sleeve inner clip assembly transposition cylinder 20 for transferring the inverted outer sleeve inner clip assembly from the upright outer sleeve positioning cylinders 21 to the inverted outer sleeve positioning cylinders 22, the outer sleeve inner clip assembly lifting cylinder 19 is arranged at the output end of the outer sleeve inner clip assembly transposition cylinder 20, and the outer sleeve inner clip assembly inversion rotary air claw 18 is arranged at the output end of the outer sleeve inner clip assembly lifting cylinder 19. An inner card assembly image detection device 17 is further arranged between the inner card assembly mechanism of the ligating clamp and the outer card assembly mechanism of the ligating clamp, and the inner card assembly image detection device 17 is fixed on the frame 24. The ligature clamp outer clamp assembly mechanism further comprises an outer clamp steering module, the outer clamp steering module comprises an outer clamp steering rotary cylinder 26 and an outer clamp positioning seat overturning shaft 27, the output end of the outer clamp steering rotary cylinder 26 is fixedly connected with the outer clamp positioning seat overturning shaft 27, an outer clamp positioning seat 28 is fixed on the outer clamp positioning seat overturning shaft 27 through a screw, and an outer clamp positioning groove 29 which is in butt joint with the feeding track 4 of the ligature clamp outer clamp assembly mechanism is formed in the outer clamp positioning seat 28. The ligature clamp outer clamp assembly mechanism and the ligature clamp piston assembly mechanism also comprise an assembly instant image detection device. The ligature clamp piston assembly mechanism is similar to the ligature clamp outer clamp assembly mechanism in structure, and when the piston 3004 is conveyed to the tail end of the piston feeding track 404, the piston 3004 is received and raised by a reversible piston positioning seat 25 arranged on the piston 3004, and then is grabbed and transferred by a pneumatic clamping jaw 8 of the ligature clamp piston assembly mechanism. The finished product unloading mechanism comprises a last image detection device 31, an unloading gripper module 34 and a finished product unloading hopper 35, and a conveying belt 36 is arranged below the finished product unloading hopper 35. The last image detection device 31, the blanking gripper module 34 and the finished product blanking hopper 35 are fixed on the frame 24, and the blanking gripper module 34 is similar to the feeding gripper module. The defective goods sorting mechanism comprises a defective goods gripper module 32 and a defective goods recycling box 33, wherein the defective goods gripper module 32 is fixed on the frame 24, and the defective goods gripper module 32 is similar to the feeding gripper module in structure.
The automatic assembly system of the absorbable hemostatic ligature clamp operates under the control of a PLC, and the working method comprises the following steps:
step one, respectively putting an outer sleeve 3001, an inner clamp 3002, an outer clamp 3003 and a piston 3004 into an outer sleeve feeding vibration disc 301, an inner clamp feeding vibration disc 302, an outer clamp feeding vibration disc 303 and a piston feeding vibration disc 304;
secondly, vibrating the feeding vibrating disk 3 to enable the outer sleeve 3001, the inner clamp 3002, the outer clamp 3003 and the piston 3004 to be in an unstable state, and continuously conveying the outer sleeve 3001, the inner clamp 3002, the outer clamp 3003 and the piston 3004 to the feeding track 4; when the outer sleeve 3001 enters the outer sleeve feeding track 401, under the action of the gravity center of the outer sleeve 3001, the V-shaped end of the outer sleeve 3001 automatically passes through the conveying guide groove of the outer sleeve feeding track 401 and drops, and the cylindrical end of the outer sleeve 3001 is clamped by the notch of the conveying guide groove, so that the outer sleeve 3001 automatically completes posture adjustment, the cylindrical end faces upwards, the V-shaped end faces downwards, and under the guidance of the conveying guide groove and the guide plate, the outer sleeve 3001 gradually completes posture inversion in the advancing process; when the inner card 3002 enters the inner card feeding track 402, the inner card 3002 can be stably transferred to the inner card feeding track 402 for continuous conveying only when the inner card 3002 with a downward opening rides on the inner card feeding track 402, and the inner card 3002 with other postures cannot be transferred to the inner card feeding track 402 and automatically falls down, so that the inner card 3002 on the inner card feeding track 402 is ensured to be all pointed upwards and the opening is downward through screening; after the outer card 3003 enters the outer card feeding track 403, the outer cards 3003 reaching the terminal of the outer card feeding track 403 are all closed ends backwards after being screened by the outer card screening holes, the outer cards 3003 are inserted into the outer card positioning groove 29 at the terminal of the outer card feeding track 403, and then the outer cards turn to the rotary cylinder 26 to turn 90 degrees, so that the outer cards 3003 in the outer card positioning groove 29 are converted into a vertical state along with the outer card positioning seat 28; after the piston 3004 enters the piston feeding track 404, the piston 3004 reaching the terminal end of the piston feeding track 404 is all outward and backward through screening of the piston screening holes, and is inserted into the piston positioning seat 25, and then the piston positioning seat 25 is turned 90 degrees, so that the piston 3004 is erected;
step three, the dividing turntable 1 rotates 36 degrees, a group of assembly jigs 2 reach the end of the jacket feeding track 401 and pause, the pneumatic clamping jaw 8 of the ligature jacket assembly mechanism is driven to descend by the lifting driving piece 7, grabs the jacket 3001 which reaches the end of the jacket feeding track 401 and is lifted by the lifting steering device 9 to rotate 90 degrees later, then is driven by the lifting driving piece 7 to ascend, the pneumatic clamping jaw 8 carries the grabbed jacket 3001 to reach the position above the pause assembly jigs 2 along with the driving of the lifting driving piece 7, the pneumatic clamping jaw 8 descends again, the jacket 3001 is loaded into the upright jacket positioning cylinder 21 of the assembly jigs 2, and the V-shaped end of the jacket 3001 faces upwards;
step four, the dividing turntable 1 rotates 36 degrees again, the assembly jig 2 for loading the outer sleeve 3001 reaches the terminal of the inner card feeding track 402 and pauses, the inner card reversing rotary air claw 13 grabs the inner card 3002 reaching the terminal of the inner card feeding track 402, then the inner card reversing rotary air claw 13 rotates 180 degrees to enable the inner card 3002 to be reversed into a sharp angle downward, the opening is upward, the pneumatic clamping jaw 8 of the ligation clip inner card assembly mechanism is driven to descend by the lifting driving piece 7 to grab the inner card 3002 on the inner card reversing rotary air claw 13, the inner card reversing rotary air claw 13 is loosened to finish transfer and connection of the inner card 3002, then the pneumatic clamping jaw 8 is driven to ascend by the lifting driving piece 7, the pneumatic clamping jaw 8 carries the grabbed inner card 3002 to reach the upper part of the assembly jig 2 for loading the outer sleeve 3001 along with the lifting driving piece 7, and the pneumatic clamping jaw 8 descends again to load the inner card 3002 into the V-shaped end of the outer sleeve 3001 through the guide of the inner card folding groove 16;
step five, the dividing turntable 1 rotates 36 degrees again, the assembly jig 2 for loading the assembly of the outer sleeve 3001 and the inner card 3002 reaches the inner card assembly image detection device 17 and is suspended, the assembly quality detection of the outer sleeve 3001 and the inner card 3002 is carried out, and once the unqualified assembly quality is detected, the assembly of the subsequent parts is stopped by the outer sleeve inner card assembly in the assembly jig 2;
step six, the dividing turntable 1 rotates 36 degrees again, the assembling jig 2 for loading the outer sleeve 3001 and the inner card 3002 combination arrives at the reversing and transposition mechanism of the outer sleeve inner card combination and pauses, the outer sleeve inner card combination reversing rotary air claw 18 descends under the driving of the outer sleeve inner card combination lifting cylinder 19 and grabs the outer sleeve 3001 and inner card 3002 combination, then the outer sleeve inner card combination reversing rotary air claw 18 ascends under the driving of the outer sleeve inner card combination lifting cylinder 19, at the same time, the output end of the outer sleeve inner card combination reversing rotary air claw 18 rotates to enable the outer sleeve 3001 to complete reversing in a vertical plane by 180 degrees, the outer sleeve inner card combination reversing cylinder 20 also drives the outer sleeve inner card combination lifting cylinder 19 to translate, the reversed outer sleeve inner card combination arrives above the adjacent reversed outer sleeve positioning cylinder 22, the outer sleeve inner card combination lifting cylinder 19 drives the outer sleeve inner card combination reversing rotary air claw 18 downwards again, and finally the reversed outer sleeve inner card combination is transferred from the upright outer sleeve positioning cylinder 21 to the reversed outer sleeve positioning cylinder 22, and the end of the outer sleeve 3001 faces upwards;
the split rotary table 1 rotates for 72 degrees twice, the assembly jig 2 for loading the inverted outer sleeve inner card assembly reaches the end of the outer card feeding track 403 and is suspended, the pneumatic clamping jaw 8 of the ligature clamp outer card assembly mechanism is driven by the lifting driving piece 7 to descend, the outer card 3003 in the outer card positioning groove 29 is grabbed, then the pneumatic clamping jaw 8 is driven by the lifting driving piece 7 to ascend, the grabbed outer card 3003 is driven by the feeding driving piece 6 to reach the upper side of the suspended assembly jig 2 along with the lifting driving piece 7, the pneumatic clamping jaw 8 descends again, the outer card 3003 is loaded into the cylinder end of the outer sleeve 3001, then the outer card pressing cylinder is started, the outer card 3003 is deeply pressed into the outer sleeve 3001, and the opening end of the outer card 3003 clamps the inner card 3002;
step eight, the dividing turntable 1 rotates 36 degrees again, the assembly jig 2 for loading the combination of the outer sleeve 3001, the inner clamp 3002 and the outer clamp 3003 reaches the position of the piston feeding track 404 and pauses, the pneumatic clamping jaw 8 of the ligature clamp piston assembly mechanism is driven to descend by the lifting driving piece 7 to grab the piston 3004 at the position of the piston feeding track 404, then the pneumatic clamping jaw 8 is driven to ascend by the lifting driving piece 7, the grabbed piston 3004 is driven by the feeding driving piece 6 to reach the position above the paused assembly jig 2 by the lifting driving piece 7, the pneumatic clamping jaw 8 descends again, the piston 3004 is loaded into the cylinder end of the outer sleeve 3001, then the piston pressing cylinder is started, the piston 3004 is deeply pressed into the outer sleeve 3001 to form a finished product, and the inner end of the piston 3004 is propped against the closed end of the inner clamp 3002;
step nine, the dividing turntable 1 rotates 36 degrees again, the assembly jig 2 for loading finished products reaches the finished product blanking mechanism and pauses, the finished product detection is carried out through the last image detection device 31, and if the detection is qualified, the finished product detection is grabbed by the blanking gripper module 34 and transferred to the finished product blanking hopper 35; if the detection is failed, the blanking gripper module 34 does not grab, the defective products are transferred to a defective product picking mechanism along with the rotation of the dividing turntable 1, picked out by the defective product gripper module 32 and thrown into the defective product recovery box 33.
Example 2:
the bottom end of the central shaft of the dividing turntable 1 is fixedly connected with the output end of a speed reducing motor, and the dividing turntable 1 can rotate by 36 degrees in one step per rotation through program setting. The procedure is as in example 1.
Claims (8)
1. An automatic assembly system of an absorbable hemostatic ligature clamp is used for inputting and step-by-step assembling of an outer sleeve, an inner clamp, an outer clamp and a piston of the absorbable hemostatic ligature clamp one by one, one end of the outer sleeve is V-shaped, the inner clamp is V-shaped, the automatic assembly system is characterized by comprising a dividing rotary table (1) and an assembly jig (2) which intermittently move, the assembly jig (2) is arranged on the dividing rotary table (1), a ligature clamp outer sleeve assembly mechanism is arranged outside the dividing rotary table (1), a ligature clamp inner clamp assembly mechanism is arranged at the downstream of the ligature clamp outer sleeve assembly mechanism, a ligature clamp outer clamp assembly mechanism is arranged at the downstream of the ligature clamp inner clamp assembly mechanism, each assembly mechanism is arranged around the dividing rotary table (1), each assembly mechanism comprises a feeding vibration disc (3) and a feeding gripper module, a feeding track (4) is connected to the feeding vibration disc (3), and the feeding gripper module is positioned at the terminal of the feeding track (4); the ligature clamp inner clip assembly mechanism further comprises an inner clip reversing rotary air claw (13), an inner clip folding plate (14) and an inner clip folding plate lifting cylinder (15), wherein the inner clip reversing rotary air claw (13) corresponds to the terminal of a feeding track (4) of the ligature clamp inner clip assembly mechanism, the inner clip folding plate (14) is connected to the output end of the inner clip folding plate lifting cylinder (15), an inner clip folding groove (16) is formed in the inner clip folding plate (14), and the inner clip folding groove (16) corresponds to the position of a feeding gripper module of the ligature clamp inner clip assembly mechanism; the assembling jig (2) comprises two upright outer sleeve positioning cylinders (21) and two inverted outer sleeve positioning cylinders (22), wherein an outer sleeve inner clip assembly inversion transposition mechanism is arranged between the ligation clip inner clip assembly mechanism and the ligation clip outer clip assembly mechanism, the assembling jig comprises an outer sleeve inner clip assembly inversion rotating air claw (18), an outer sleeve inner clip assembly lifting cylinder (19) and an outer sleeve inner clip assembly transposition cylinder (20) for transferring the inverted outer sleeve inner clip assembly from the upright outer sleeve positioning cylinder (21) to the inverted outer sleeve positioning cylinder (22), the outer sleeve inner clip assembly lifting cylinder (19) is arranged at the output end of the outer sleeve inner clip assembly transposition cylinder (20), the outer sleeve inner clip assembly inversion rotating air claw (18) is arranged at the output end of the outer sleeve inner clip assembly lifting cylinder (19), the upright outer sleeve positioning cylinder (21) is used for being arranged in an outer sleeve with an upward V-shaped end, and the inner clip gathering groove (16) is used for guiding the ligation clip inner clip assembly mechanism to be conveyed to the inner clip installation outer sleeve at the upright outer sleeve positioning cylinder (21); the ligature clamp outer clip assembly mechanism is used for loading the outer clip into a jacket in the inverted jacket inner clip assembly body and clamping the inner clip; the ligature clamp piston assembly mechanism is used for loading the piston into the outer sleeve in the outer sleeve, the inner clamp and the outer clamp assembly and supporting the inner clamp.
2. The automatic assembly system of the absorbable hemostatic ligating clip according to claim 1, wherein the feeding gripper module comprises a feeding driving member (6) and a lifting driving member (7), and a pneumatic clamping jaw (8), wherein the feeding driving member (6) is fixed on a gripper bracket (5), the lifting driving member (7) is arranged at the output end of the feeding driving member (6), and the pneumatic clamping jaw (8) is arranged at the output end of the lifting driving member (7).
3. The automated assembly system for absorbable hemostatic ligating clips of claim 1 wherein the inner clip gathering plate (14) is provided with an outer sleeve anti-rotation step.
4. The automated assembly system of absorbable hemostatic ligating clips of claim 1 wherein; the upright outer sleeve positioning cylinder (21) is adjacent to the inverted outer sleeve positioning cylinder (22).
5. The automatic assembly system of the absorbable hemostatic ligating clip according to claim 1, wherein an inner clip assembly image detection device (17) is further arranged between the inner clip assembly mechanism of the ligating clip and the outer clip assembly mechanism of the ligating clip.
6. The automated absorbable hemostatic ligating clip assembling system of claim 1 wherein said ligating clip outer clip assembly mechanism and ligating clip piston assembly mechanism each also comprise an assembly instant image detection device (18).
7. The automated assembly system for absorbable hemostatic ligating clips according to any one of claims 1 to 6, wherein the dividing turntable (1) is fixedly connected to an output of a cam divider, the cam divider being drivingly connected to a main motor.
8. The automated assembly system for absorbable hemostatic ligating clips according to any one of claims 1 to 6, characterized in that the dividing carousel (1) is fixedly connected to the output of a speed reducing motor.
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| CN111168375A (en) * | 2019-12-24 | 2020-05-19 | 东莞市蓉工自动化科技有限公司 | Assembling mechanism of motor bottom shell part |
| CN113894537A (en) * | 2021-10-11 | 2022-01-07 | 常州富鸿达电子有限公司 | Automatic assembling machine for buzzer |
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| CA1205618A (en) * | 1982-06-14 | 1986-06-10 | Richard A. Costolnick | Gang nail clip insertion and tool therefor |
| CN101518870A (en) * | 2009-03-20 | 2009-09-02 | 慈溪市福尔达实业有限公司 | Device for combining and assembling air conditioner discharge set |
| KR20110053695A (en) * | 2009-11-16 | 2011-05-24 | (주) 태웅메디칼 | A controll device for the medical instrument as a like the forcep |
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| CN113894537A (en) * | 2021-10-11 | 2022-01-07 | 常州富鸿达电子有限公司 | Automatic assembling machine for buzzer |
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| CN116423196A (en) | 2023-07-14 |
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