CN218706340U - Rotating disc type heart stent reloading device based on truss structure - Google Patents

Abstract

The utility model belongs to the structure field of reloading, concretely relates to carousel formula heart support device of reloading based on truss structure. The device comprises a spiral material conveying mechanism, a rotary feeding mechanism, a clamping and cover screwing mechanism, a shifting mechanism, a detection platform, a three-dimensional positioning mechanism and a rotary manipulator. The number of the detection platforms is two, the two detection platforms can detect simultaneously, and the detection efficiency is improved. A three-dimensional positioning mechanism is arranged above the workbench, and a rotary manipulator is arranged on the three-dimensional positioning mechanism and used for completing the transfer action of the heart stent and the accommodating box in the detection process. The spiral conveying mechanism, the rotary feeding mechanism, the clamping and cover screwing mechanism, the three-dimensional positioning mechanism, the shifting mechanism and the detection platform are all connected with the control system, and the control system sends instructions in sequence to enable the material changing device to complete detection actions in sequence, so that the automation of the detection device is realized, the detection efficiency is improved, and the detection errors caused by manual operation are reduced.

Description

Rotating disc type heart stent reloading device based on truss structure

Technical Field

The utility model belongs to the structure field of reloading, concretely relates to carousel formula heart support device of reloading based on truss structure.

Background

The cardiac stent is a medical instrument commonly used in cardiac interventional surgery, and the manufacturing quality requirement is very high due to the importance of the cardiac stent function, so that the quality detection of 'zero defect' must be ensured. The heart stent surface defect visual detection platform detects the surface condition of a heart stent by means of an electron microscope, and such products exist in the market at present. However, in the process of examining the heart stent, the loading and unloading of the heart stent completely depend on manual work, the detection efficiency is low, and detection errors are easily caused by manual operation. Therefore, an automatic material changing device for heart stent detection is urgently needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome the above-mentioned not enough, provide a carousel formula heart support device of reloading based on truss structure, the device degree of automation is high, has promoted detection efficiency, has reduced the detection error that manual operation arouses.

In order to achieve the purpose, the utility model adopts the technical scheme as follows:

a turntable type heart stent reloading device based on a truss structure comprises a workbench, wherein a spiral conveying mechanism is arranged on the workbench and is communicated with a rotary feeding mechanism, a clamping rotary cover mechanism is arranged beside the rotary feeding mechanism, a first detection platform and a second detection platform are respectively arranged on two sides of the rotary feeding mechanism, a first shifting mechanism is arranged between the rotary feeding mechanism and the first detection platform, a first temporary placing platform is arranged between the rotary feeding mechanism and the first shifting mechanism, a second shifting mechanism is arranged between the rotary feeding mechanism and the second detection platform, a second temporary placing platform is arranged between the rotary feeding mechanism and the second shifting mechanism, a three-dimensional positioning mechanism is arranged above the workbench, and a rotary manipulator is arranged on the three-dimensional positioning mechanism;

the clamping and cap screwing mechanism comprises a first support, a z-axis linear transmission structure is arranged on the first support, a clamping manipulator module and a cap screwing clamping jaw structure module are arranged on the z-axis linear transmission structure, the clamping manipulator module comprises a first clamping manipulator and a second clamping manipulator, the cap screwing clamping jaw structure module comprises a first cap screwing clamping jaw structure and a second cap screwing clamping jaw structure, the cap screwing clamping jaw structure module is connected with the z-axis linear transmission structure through a rotating mechanism, and the clamping manipulator module and the cap screwing clamping jaw structure module are located above the rotary feeding mechanism;

the spiral conveying mechanism, the rotary feeding mechanism, the clamping and cover screwing mechanism, the three-dimensional positioning mechanism, the shifting mechanism and the detection platform are all connected with a control system.

The spiral conveying mechanism comprises a containing bin, the containing bin is communicated with a feeding inlet of the spiral conveying shaft through a feeding slideway, and the spiral conveying shaft is connected with a first motor through a transmission device.

The rotary feeding mechanism comprises a feeding turntable, the feeding turntable is connected with a second motor through a transmission device, a placing groove is formed in the feeding turntable, and the placing groove is located at the discharge port of the spiral conveying shaft.

The z-axis linear transmission structure comprises a bottom plate slide rail, wherein a third motor, a limiter, a bearing seat and a slide rail are arranged on the bottom plate slide rail, the output end of the third motor is connected with one end of a first lead screw, the other end of the first lead screw is connected with the bearing seat, a bearing is arranged between the bearing seat and the first lead screw, a first sliding table is arranged on the first lead screw, and the first sliding table is positioned on the slide rail.

The rotating mechanism comprises a horizontal bearing seat, the horizontal bearing seat is fixedly arranged on a first sliding table, a fifth motor is arranged on the horizontal bearing seat, the fifth motor is connected with a rotating connecting rod through a third coupler, a first screwing cover clamping jaw structure and a second screwing cover clamping jaw structure are fixedly arranged on the rotating connecting rod, the first screwing cover clamping jaw structure is the same as the second screwing cover clamping jaw structure, the first screwing cover clamping jaw structure comprises a connecting rod, a fourth motor and a clamping jaw base are arranged on the connecting rod, the output end of the fourth motor is connected with a second lead screw, a lead screw seat is arranged on the second lead screw, the lead screw seat is connected with a screwing cover clamping jaw through the second clamping jaw connecting rod, and the clamping jaw base is connected with a screwing cover clamping jaw through the first clamping jaw connecting rod.

The horizontal bearing seat is provided with a first clamping mechanical arm and a second clamping mechanical arm, the first clamping mechanical arm and the second clamping mechanical arm are identical in structure, and the first clamping mechanical arm and the second clamping mechanical arm are both provided with sixth motors.

The three-dimensional positioning mechanism comprises a second support, the second support is fixedly arranged on the workbench, an X-axis linear module is arranged on the second support and is positioned above the clamping and cover screwing mechanism, the X-axis linear module is connected with a y-axis linear module through a sliding device, the y-axis linear module is connected with a z-axis linear module through a sliding device, and a rotary manipulator is arranged on the z-axis linear module.

The second support comprises an X-axis first support and an X-axis second support, an X-axis linear module is arranged on the X-axis first support, the X-axis linear module comprises a seventh motor, the seventh motor is connected with a ball screw through a second coupler, a second sliding table is arranged on the ball screw, two sliding rails are arranged on the X-axis first support, the X-axis second support is provided with a sliding rail, the sliding rails on the X-axis first support and the X-axis second support are parallel to the ball screw, the second sliding table is connected with a y-axis linear module, a sliding block is arranged on the y-axis linear module, the sliding block on the y-axis linear module is located on the sliding rail of the X-axis linear module, the y-axis linear module and the z-axis linear module are identical in structure to the X-axis linear module, and the sliding table of the y-axis linear module is fixedly connected with the sliding table of the z-axis linear module.

The shifting mechanism comprises a linear lead screw module, an eighth motor is arranged on the linear lead screw module, the output end of the eighth motor is connected with an eighth lead screw, an eighth sliding table is arranged on the eighth lead screw, a sliding block swinging mechanism is arranged on the eighth sliding table, and a ninth motor and a swinging connecting rod are arranged on the sliding block swinging mechanism.

Compared with the prior art, the utility model discloses beneficial effect who has as follows:

the utility model discloses a workstation is provided with the defeated material mechanism of spiral on the workstation, and the defeated material mechanism of spiral communicates with rotatory feed mechanism, through the sustainable automation of the defeated material mechanism of spiral to the heart support that detects, hoisting device's automation level of rotatory feed mechanism transport. The rotary feeding mechanism is provided with a clamping and screwing mechanism beside for opening or screwing the accommodating box and the accommodating box cover, manual operation is replaced, the detection efficiency is improved, and detection errors caused by manual operation are avoided. Rotatory feed mechanism both sides are provided with first testing platform and second testing platform respectively, and first testing platform and second testing platform can detect simultaneously, have further promoted detection efficiency. A first shifting mechanism is arranged between the rotary feeding mechanism and the first detection platform, a second shifting mechanism is arranged between the rotary feeding mechanism and the second detection platform, and the shifting mechanism is used for assisting in completing feeding and discharging of the heart support. Rotatory feed mechanism and first dialling to be provided with the first platform of placeeing between the mechanism, rotatory feed mechanism and second are dialled to be provided with the second between the mechanism and temporarily place the platform, temporarily place the platform and be used for holding temporarily of box in the testing process and place. A three-dimensional positioning mechanism is arranged above the workbench, and a rotary mechanical arm is arranged on the three-dimensional positioning mechanism and used for completing the transfer action of the heart stent and the accommodating box in the detection process. The clamping and cap-screwing mechanism comprises a first support, a z-axis linear transmission structure is arranged on the first support, a clamping manipulator module and a cap-screwing clamping jaw structure module are arranged on the z-axis linear transmission structure, the z-axis linear transmission structure is used for realizing the up-and-down movement of the clamping manipulator module and the cap-screwing clamping jaw structure module, and the interference between the clamping manipulator module and the cap-screwing clamping jaw structure module and the rotary manipulator is prevented. The clamping manipulator module comprises a first clamping manipulator and a second clamping manipulator, the screw capping clamping jaw structure module comprises a first screw capping clamping jaw structure and a second screw capping clamping jaw structure, and the screw capping clamping jaw structure module is connected with the z-axis linear transmission structure through a rotating mechanism, so that the first screw capping clamping jaw structure and the second screw capping clamping jaw structure can be alternately operated, and the automation level of the device is improved. The clamping manipulator module and the screw-on cover clamping jaw structure module are positioned above the rotary feeding mechanism. The spiral conveying mechanism, the rotary feeding mechanism, the clamping and cover screwing mechanism, the three-dimensional positioning mechanism, the shifting mechanism and the detection platform are all connected with a control system, and the control system sends instructions in sequence to enable the material changing device to complete detection actions in sequence, so that the automation of the detection device is realized.

Furthermore, the spiral conveying mechanism comprises a containing bin, and all the heart supports to be detected are placed into the containing bin, so that the subsequent step of manual feeding is omitted. The containing bin is communicated with a feeding inlet of the spiral conveying shaft through a feeding slideway, feeding of the heart support to the rotary feeding mechanism is achieved through the spiral conveying shaft, and the spiral conveying shaft is connected with the first motor through a transmission device.

Furthermore, the transmission is realized through first lead screw to the linear transmission structure of z axle, and transmission precision is high, sets up first slip table and slide rail simultaneously, and transmission stability is good.

Furthermore, the three-dimensional positioning mechanism comprises a second support, the second support is fixedly arranged on the workbench, an X-axis linear module is arranged on the second support and located above the clamping and cover screwing mechanism, interference between the rotary manipulator and a device on the workbench is prevented, the X-axis linear module is connected with a y-axis linear module through a sliding device, the y-axis linear module is connected with a z-axis linear module through the sliding device, movement of the rotary manipulator in a three-dimensional space is achieved, and various grabbing and moving actions are completed. And a rotary manipulator is arranged on the z-axis linear module.

Drawings

FIG. 1 is a schematic view of the heart stent and its accommodation box of the present invention;

FIG. 2 is a schematic view of the screw feeding mechanism of the present invention;

fig. 3 is a schematic structural view of the rotary feeding mechanism of the present invention;

FIG. 4 is a schematic view of the screw cap clamping jaw structure of the present invention;

fig. 5 is a schematic structural view of the clamping manipulator of the present invention;

fig. 6 is a schematic view of the z-axis linear transmission structure of the present invention;

FIG. 7 is a schematic structural view of the clamping and cap screwing mechanism of the present invention;

fig. 8 is a schematic structural view of the three-dimensional positioning mechanism of the present invention;

fig. 9 is a schematic structural view of an X-axis linear module according to the present invention;

fig. 10 is a schematic structural view of the shifting mechanism of the present invention;

fig. 11 is a schematic structural view of the slider swing mechanism of the present invention;

fig. 12 is a schematic structural view of the spring damping device of the present invention;

fig. 13 is a schematic view of the overall three-dimensional structure of the present invention.

Wherein, 1, a workbench; 2. a spiral delivery mechanism; 201. a first motor; 202. a first coupling; 203. a first decelerator; 208. a feeding chute; 209. a screw conveying shaft; 211. an accommodating bin; 3. rotating the feeding mechanism; 301. a second motor; 302. a second coupling; 303. a second decelerator; 304. a turntable support; 305. a drive bevel gear; 312. a feeding turntable; 313. a placing groove; 4. a clamping and cover-rotating mechanism; 401. a first bracket; 402. clamping the manipulator module; 403. screwing and covering the clamping jaw structure module; 404. a z-axis linear transmission structure; 405. a rotation mechanism; 406. a third motor; 407. a bottom plate slide rail; 408. a stopper; 409. a bearing seat; 410. a bearing; 411. a first sliding table; 413. a first lead screw; 414. a slide rail; 415. a fourth motor; 416. a connecting rod; 417. a jaw base; 418. a first jaw link; 419. screwing a cover clamping jaw; 420. a second lead screw; 421. a screw base; 423. a second jaw link; 424. rotating the connecting rod; 425. a horizontal bearing seat; 426. a third coupling; 427. a fifth motor; 428. a first clamping manipulator; 429. a second clamping robot; 430. a first cover screwing clamping jaw structure; 431. a second screw-capping jaw arrangement; 432. a sixth motor; 433. a clamping jaw support plate; 434. a turntable; 435. a third jaw link; 436. a fourth jaw link; 437. a screw; 438. a spring; 439. a clamping jaw; 5. a three-dimensional positioning mechanism; 501. an X-axis linear module; 502. a y-axis linear module; 503. a z-axis linear module; 504. a rotary manipulator; 506. a second bracket; 507. an X-axis first support; 508. an X-axis second support; 509. a sliding device; 510. a seventh motor; 511. a second coupling; 512. a ball screw; 513. a second sliding table; 601. a swing link; 602. a linear screw rod module; 603. an eighth motor; 604. an eighth lead screw; 605. an eighth slipway; 606. a slider swing mechanism; 607. a ninth motor; 608. a first shifting mechanism; 609. a second shifting mechanism; 610. a tenth motor; 611. a swing slider; 612. swinging the slide bar; 613. a swing link shaft; 614. a slider swing mechanism frame; 615. swinging the turntable; 616. a spring damping device; 7. a heart scaffold; 701. accommodating the box; 702. a receiving box cover; 801. a first detection platform; 802. and a second detection platform.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings.

As shown in fig. 7 and 13, the turntable type heart stent refueling device based on the truss structure comprises a workbench 1, wherein a spiral conveying mechanism 2 is arranged on the workbench 1, the spiral conveying mechanism 2 is communicated with a rotary feeding mechanism 3, a clamping rotary cover mechanism 4 is arranged beside the rotary feeding mechanism 3, a first detection platform 801 and a second detection platform 802 are respectively arranged on two sides of the rotary feeding mechanism 3, a first shifting mechanism 608 is arranged between the rotary feeding mechanism 3 and the first detection platform 801, a first temporary placement platform is arranged between the rotary feeding mechanism 3 and the first shifting mechanism 608, a second shifting mechanism 609 is arranged between the rotary feeding mechanism 3 and the second detection platform 802, a second temporary placement platform is arranged between the rotary feeding mechanism 3 and the second shifting mechanism 609, a three-dimensional positioning mechanism 5 is arranged above the workbench 1, and a rotary manipulator 504 is arranged on the three-dimensional positioning mechanism 5;

the clamping and cover-screwing mechanism 4 comprises a first support 401, a z-axis linear transmission structure 404 is arranged on the first support 401, a clamping manipulator module 402 and a cover-screwing clamping jaw structure module 403 are arranged on the z-axis linear transmission structure 404, the clamping manipulator module 402 comprises a first clamping manipulator 428 and a second clamping manipulator 429, the cover-screwing clamping jaw structure module 403 comprises a first cover-screwing clamping jaw structure 430 and a second cover-screwing clamping jaw structure 431, the cover-screwing clamping jaw structure module 403 is connected with the z-axis linear transmission structure 404 through a rotating mechanism 405, and the clamping manipulator module 402 and the cover-screwing clamping jaw structure module 403 are positioned above the rotary feeding mechanism 3;

the spiral conveying mechanism 2, the rotary feeding mechanism 3, the clamping and cover screwing mechanism 4, the three-dimensional positioning mechanism 5, the shifting mechanism 6 and the detection platform 8 are all connected with a control system.

Preferably, the utility model discloses a workstation 1 is provided with the defeated material mechanism 2 of spiral on the workstation 1, and the defeated material mechanism 2 of spiral communicates with rotatory feed mechanism 3, and the heart support 7 that waits to detect, hoisting device's automation level is carried to rotatory feed mechanism 3 through the defeated material mechanism 2 sustainable automation of spiral. The clamping and cover-screwing mechanism 4 is arranged beside the rotary feeding mechanism 3 and used for opening or screwing the containing box 701 and the containing box cover 702, manual operation is replaced, the detection efficiency is improved, and detection errors caused by manual operation are avoided. The two sides of the rotary feeding mechanism 3 are respectively provided with a first detection platform 801 and a second detection platform 802, and the first detection platform 801 and the second detection platform 802 can detect at the same time, so that the detection efficiency is further improved. A first shifting mechanism 608 is arranged between the rotary feeding mechanism 3 and the first detection platform 801, a second shifting mechanism 609 is arranged between the rotary feeding mechanism 3 and the second detection platform 802, and the shifting mechanism is used for assisting in completing feeding and discharging of the heart stent 7, so that unsuccessful feeding of the heart stent 7 is avoided. Rotatory feed mechanism 3 and first group are provided with the first platform of temporarily putting between moving mechanism 608, and rotatory feed mechanism 3 and second are dialled and are provided with the second between moving mechanism 609 and temporarily put the platform, temporarily put the platform and be used for holding temporarily putting of box 701 in the testing process, and rotary manipulator 504 will detect hold box 701 and place the bench back temporarily, alright operation on next step. A three-dimensional positioning mechanism 5 is arranged above the workbench 1, and a rotary manipulator 504 is arranged on the three-dimensional positioning mechanism 5 and used for completing the actions of clamping, transferring, placing and the like of the heart support 7 and the accommodating box 701 in the detection process. The clamping and cap-screwing mechanism 4 comprises a first support 401, a z-axis linear transmission structure 404 is arranged on the first support 401, a clamping manipulator module 402 and a cap-screwing clamping jaw structure module 403 are arranged on the z-axis linear transmission structure 404, the z-axis linear transmission structure 404 is used for realizing the up-and-down movement of the clamping manipulator module 402 and the cap-screwing clamping jaw structure module 403, and the clamping manipulator module 402 and the cap-screwing clamping jaw structure module 403 are prevented from interfering with the rotary manipulator 504. The clamping manipulator module 402 comprises a first clamping manipulator 428 and a second clamping manipulator 429, the capping jaw structure module 403 comprises a first capping jaw structure 430 and a second capping jaw structure 431, the capping jaw structure module 403 is connected with the z-axis linear transmission structure 404 through the rotating mechanism 405, the first capping jaw structure 430 and the second capping jaw structure 431 can be operated alternately, the automation level of the device is improved, the capping jaw structure is matched with the clamping manipulator to realize the screwing and the unscrewing of the accommodating box 701 and the accommodating box cover 702, and the clamping manipulator module 402 and the capping jaw structure module 403 are located above the rotary feeding mechanism 3. The spiral conveying mechanism 2, the rotary feeding mechanism 3, the clamping and cover screwing mechanism 4, the three-dimensional positioning mechanism 5, the shifting mechanism 6 and the detection platform 8 are all connected with a control system, and the control system sends instructions in sequence to enable the material changing device to complete detection actions in sequence, so that the automation of the detection device is realized.

Further, as shown in fig. 1, the heart stent 7 is a part to be tested of the device, the heart stent 7 is placed in the accommodating box 701, and the heart stent 7 is placed inside the accommodating box 701 after the accommodating box 701 and the accommodating box cover 702 are screwed, so as to form protection.

As shown in fig. 2, the auger delivery mechanism 2 includes a containing bin 211, the containing bin 211 is communicated with a feeding inlet of an auger delivery shaft 209 through a feeding chute 208, and the auger delivery shaft 209 is connected with a first motor 201 through a transmission device.

Preferably, the spiral delivery mechanism 2 comprises an accommodating bin 211, and all the heart stents 7 to be detected are placed in the accommodating bin 211, so that the subsequent step of manual feeding is omitted. The containing bin 211 is communicated with a feeding inlet of a spiral conveying shaft 209 through a feeding slide way 208, feeding of the heart stent 7 to the rotary feeding mechanism 3 is achieved through the spiral conveying shaft 209, and the spiral conveying shaft 209 is connected with the first motor 201 through a transmission device.

Further, the first motor 201 is connected to a first speed reducer 203 through a first coupling 202, and the first speed reducer 203 is connected to a spiral conveying shaft 209 through a belt transmission device.

As shown in fig. 3, the rotary feeding mechanism 3 includes a feeding turntable 312, the feeding turntable 312 is connected to the second motor 301 through a transmission device, a placing groove 313 is disposed on the feeding turntable 312, and the placing groove 313 is located at the discharge port of the spiral conveying shaft 209.

Preferably, the second motor 301 is connected to the second reducer 303 through the second coupling 302, the second reducer 303 is connected to the feeding turntable 312 through the transmission bevel gear 305, and the feeding turntable 312 is disposed on the turntable support 304.

Further, the heart stent 7 is delivered by the following process: the heart stent 7 enters the material conveying channel of the spiral conveying shaft 209 from the containing bin 211 through the feeding slide way 208, and the spiral conveying shaft 209 conveys the heart stent 7 into the placing groove 313 of the feeding turntable 312, so that the material conveying process is completed.

As shown in fig. 6, the z-axis linear transmission structure 404 includes a bottom plate slide rail 407, a third motor 406, a stopper 408, a bearing seat 409 and a slide rail 414 are disposed on the bottom plate slide rail 407, an output end of the third motor 406 is connected to one end of a first lead screw 413, the other end of the first lead screw 413 is connected to the bearing seat 409, a bearing 410 is disposed between the bearing seat 409 and the first lead screw 413, a first sliding table 411 is disposed on the first lead screw 413, and the first sliding table 411 is located on the slide rail 414.

Preferably, the z-axis linear transmission structure 404 drives the first lead screw 413 to rotate through the third motor 406 so as to drive the first sliding table 411 to move, so that high-precision transmission is realized, and the first sliding table 411 drives the clamping manipulator module 402 and the screw cap clamping jaw structure module 403 to move up and down simultaneously while moving up and down. Meanwhile, the sliding rail 414 is arranged to ensure the stability in the transmission process. The stopper 408 is used to limit the range of the up-and-down movement of the first sliding table 411.

As shown in fig. 7 and 4, the rotating mechanism 405 includes a horizontal bearing seat 425, the horizontal bearing seat 425 is fixedly disposed on the first sliding table 411, a fifth motor 427 is disposed on the horizontal bearing seat 425, the fifth motor 427 is connected to a rotating link 424 through a third coupling 426, a first cover-screwing clamping jaw structure 430 and a second cover-screwing clamping jaw structure 431 are fixedly disposed on the rotating link 424, the first cover-screwing clamping jaw structure 430 and the second cover-screwing clamping jaw structure 431 have the same structure, the first cover-screwing clamping jaw structure 430 includes a connecting rod 416, a fourth motor 415 and a clamping jaw base 417 are disposed on the connecting rod 416, an output end of the fourth motor 415 is connected to a second screw rod 420, a screw rod seat 421 is disposed on the second screw rod 420, the screw rod seat is connected to a cover-screwing clamping jaw 419 through a second clamping jaw connecting rod 423, and the clamping jaw base 417 is connected to the cover-screwing clamping jaw 419 through a first clamping jaw connecting rod 418.

Further, the fifth motor 427 can drive the rotation link 424 to rotate, so as to exchange the positions of the first screwing gripper structure 430 and the second screwing gripper structure 431.

Further, the fourth motor 415 can drive the second screw rod 420 to rotate, so as to drive the screw rod seat 421 to move up and down, when the screw rod seat 421 moves down, the second clamping jaw link 423 pushes the cover-screwing clamping jaw 419 to open, and when the screw rod seat 421 moves up, the second clamping jaw link 423 drives the cover-screwing clamping jaw 419 to close.

As shown in fig. 5, the horizontal bearing housing 425 is provided with a first clamping robot 428 and a second clamping robot 429, the first clamping robot 428 and the second clamping robot 429 have the same structure, and the first clamping robot 428 and the second clamping robot 429 are provided with a sixth motor 432.

Preferably, the first clamping manipulator 428 comprises a jaw support plate 433, a rotary table 434 is arranged on the jaw support plate 433, the rotary table 434 is connected with a sixth motor 432 through a transmission shaft, the rotary table 434 is connected with two fourth jaw links 436 through a third jaw link 435, the fourth jaw links 436 are connected with jaws 439, the jaws 439 are fixed on the jaw support plate 433 through screws 437, the jaws 439 can rotate around the screws 437, and springs 438 are arranged between the jaws 439.

Further, the operation process of the first clamping mechanical arm 428 is that the sixth motor 432 drives the rotating disc 434 to rotate, and the rotating disc 434 drives the fourth clamping jaw link 436 and the clamping jaw 439 through the third clamping jaw link 435, so as to realize the actions of grabbing and releasing of the first clamping mechanical arm 428.

As shown in fig. 8, the three-dimensional positioning mechanism 5 includes a second bracket 506, the second bracket 506 is fixedly disposed on the worktable 1, an X-axis linear module 501 is disposed on the second bracket 506, the X-axis linear module 501 is located above the clamping and cover-rotating mechanism 4, the X-axis linear module 501 is connected to a y-axis linear module 502 through a sliding device, the y-axis linear module 502 is connected to a z-axis linear module 503 through a sliding device, and a rotary manipulator 504 is disposed on the z-axis linear module 503.

Preferably, the three-dimensional positioning mechanism 5 comprises a second support 506, the second support 506 is fixedly arranged on the workbench 1, an X-axis linear module 501 is arranged on the second support 506, the X-axis linear module 501 is positioned above the clamping and cover screwing mechanism 4 to prevent the rotary manipulator 504 from interfering with devices on the workbench 1, the X-axis linear module 501 is connected with a y-axis linear module 502 through a sliding device, and the y-axis linear module 502 is connected with a z-axis linear module 503 through a sliding device to realize the three-dimensional space movement of the rotary manipulator 504 and complete various grabbing and moving actions. The z-axis linear module 503 is provided with a rotary robot 504. The rotary manipulator 504 can rotate around the X axis direction, and the adjustment of the vertical position and the horizontal position of the heart support 7 is realized.

Further, the sliding devices between the X-axis linear module 501, the y-axis linear module 502 and the z-axis linear module 503 are a ball screw 512 and a second sliding table 513, and the motor drives the ball screw 512 to rotate so as to drive the second sliding table 513 to move.

As shown in fig. 8 and 9, the second bracket 506 includes an X-axis first bracket 507 and an X-axis second bracket 508, the X-axis first bracket 507 is provided with an X-axis linear module 501, the X-axis linear module 501 includes a seventh motor 510, the seventh motor 510 is connected to a ball screw 512 through a second coupling 511, the ball screw 512 is provided with a second sliding table 513, the X-axis first bracket 507 is provided with two sliding rails, the X-axis second bracket 508 is provided with one sliding rail, and the sliding rails on the X-axis first bracket 507 and the X-axis second bracket 508 are both parallel to the ball screw 512. The second sliding table 513 is connected with the y-axis linear module 502, a sliding block is arranged on the y-axis linear module 502, the sliding block on the y-axis linear module 502 is located on a sliding rail of the X-axis linear module 501, the y-axis linear module 502 and the z-axis linear module 503 have the same structure as the X-axis linear module 501, and the sliding table of the y-axis linear module 502 is fixedly connected with the sliding table of the z-axis linear module 503.

Preferably, bearing seats are arranged at two ends of the ball screw 512, sliding rails on the first X-axis support 507 and the second X-axis support 508 have the same height, the y-axis linear module 502 is connected with the sliding rails on the first X-axis support 507 and the second X-axis support 508 through a sliding table, and the z-axis linear module 503 is located between the first X-axis support 507 and the second X-axis support 508.

As shown in fig. 10, 11 and 12, the first shifting mechanism 608 and the second shifting mechanism 609 are the same, the first shifting mechanism 608 includes a linear lead screw module 602, an eighth motor 603 is disposed on the linear lead screw module 602, an output end of the eighth motor 603 is connected to an eighth lead screw 604, an eighth sliding table 605 is disposed on the eighth lead screw 604, a slider swing mechanism 606 is disposed on the eighth sliding table 605, and a ninth motor 607 and a swing link 601 are disposed on the slider swing mechanism 606.

Further, the eighth motor 603 drives the eighth sliding table 605 to move horizontally through the eighth lead screw 604, and the ninth motor 607 drives the swing link 601 to swing up and down through the slider swing mechanism 606.

Further, the slider swing mechanism 606 includes a slider swing mechanism frame 614, a swing turntable 615 is disposed on the slider swing mechanism frame 614, the swing turntable 615 is connected to the tenth motor 610 through a coupling, a swing slider 611 is disposed on the swing turntable 615, the swing slider 611 is connected to a swing link shaft 613 through a swing sliding rod 612, the swing link shaft 613 is connected to the swing link 601, the slider swing mechanism frame 614 is disposed on a swing mechanism base, and the swing mechanism base is disposed on the eighth sliding table 605. When the tenth motor 610 drives the swing turntable 615 to rotate, the swing slider 611 slides left and right on the swing slide rod 612, and simultaneously the swing slide rod 612 drives the swing link 601 to swing up and down.

Furthermore, the end part of the swing connecting rod 601 is provided with a spring damping device 616, so that damage to the heart support 7 caused by excessive force when the swing connecting rod 601 is in contact with the heart support 7 is reduced, and a damping and buffering effect is achieved.

A working method of a rotating disc type heart stent refueling device based on a truss structure comprises the following steps:

s1, conveying the heart support 7 and the containing box integrally to a rotary feeding mechanism 3 by a spiral conveying mechanism 2, and rotating the rotary feeding mechanism 3 to a corresponding station;

s2, the z-axis linear transmission structure 404 drives the clamping and screwing mechanism 4 to move downwards until the heart support 7 and the accommodating box are integrally positioned in the manipulator of the first clamping manipulator 428, then the first clamping manipulator 428 clamps the accommodating box 701, the first screwing and cover clamping claw structure 430 grasps the accommodating box cover 702 and screws the cover to separate the accommodating box 701 from the accommodating box cover 702, the first clamping manipulator 428 loosens the accommodating box 701, and the z-axis linear transmission structure 404 drives the clamping and screwing mechanism 4 to return to the original position;

s3, the rotary mechanical arm 504 moves to the opened accommodating box 701 and grabs the opened accommodating box 701, the rotary mechanical arm 504 moves upwards along the Z axis to draw out the accommodating box 701 from the rotary feeding mechanism 3, the rotary mechanical arm 504 moves the accommodating box 701 to the first detection platform 801, the rotary mechanical arm 504 rotates the accommodating box 701 by ninety degrees in the moving process, after the accommodating box 701 is placed on the first detection platform 801, the first poking mechanism 608 fixes the heart support 7 on the first detection platform 801, the rotary mechanical arm 504 draws out the accommodating box 701 and places the accommodating box 701 on the first temporary placing table, and meanwhile the first detection platform 801 starts to detect the heart support 7;

s4, repeating the step S1, enabling the screwing-on clamping jaw structure module 403 to rotate one hundred eighty degrees around the Z axis, enabling the positions of the first screwing-on clamping jaw structure 430 and the second screwing-on clamping jaw structure 431 to be exchanged, enabling the Z-axis linear transmission structure 404 to drive the clamping and screwing mechanism 4 to move downwards until the heart support 7 and the containing box are integrally located inside a manipulator of the first clamping manipulator 428, then enabling the first clamping manipulator 428 to clamp the containing box 701, enabling the second screwing-on clamping jaw structure 431 to clamp the containing box cover 702 and screw the containing box cover to separate the containing box 701 from the containing box cover 702, enabling the first clamping manipulator 428 to loosen the containing box 701, and enabling the Z-axis linear transmission structure 404 to drive the clamping and screwing mechanism 4 to return to the original position;

s5, the rotary mechanical arm 504 moves to the opened accommodating box 701 and grabs the opened accommodating box 701, the rotary mechanical arm 504 moves upwards along the Z axis to draw the accommodating box 701 out of the rotary feeding mechanism 3, the rotary mechanical arm 504 moves the accommodating box 701 towards the second detection platform 802, the rotary mechanical arm 504 rotates the accommodating box 701 by ninety degrees in the moving process, after the accommodating box 701 is placed on the second detection platform 802, the second poking mechanism 609 fixes the heart support 7 on the second detection platform 802, the rotary mechanical arm 504 draws the accommodating box 701 out and places the accommodating box 701 on the second temporary placing table, and meanwhile the second detection platform 802 starts to detect the heart support 7;

s6, after the heart support 7 is detected by the first detection platform 801, the rotary mechanical arm 504 draws out the accommodating box 701 on the first temporary placing table and places the accommodating box 701 on the first detection platform 801, the first shifting mechanism 608 pushes the heart support 7 into the accommodating box 701, the rotary mechanical arm 504 places the accommodating box 701 and the detected heart support 7 on the rotary feeding mechanism 3, the z-axis linear transmission structure 404 drives the clamping and screwing mechanism 4 to move downwards until the heart support 7 and the accommodating box are wholly located inside a mechanical arm of the first clamping mechanical arm 428, then the first clamping mechanical arm 428 clamps the accommodating box 701, the first screwing and clamping claw structure 430 aligns the accommodating box cover 702 with the accommodating box 701 and screws the accommodating box cover, the first screwing and clamping claw structure 430 and the first clamping mechanical arm 428 are loosened, the clamping and screwing mechanism 4 retracts, and the rotary mechanical arm retracts 504;

s7, repeating the step S1, rotating the screw capping clamping jaw structure module 403 by one hundred eighty degrees around the Z axis, exchanging the positions of the first screw capping clamping jaw structure 430 and the second screw capping clamping jaw structure 431, and repeating the steps S2 and S3;

s8, after the heart support 7 is detected by the second detection platform 802, the rotary mechanical arm 504 draws out the accommodating box 701 on the second temporary placing table and places the accommodating box 701 on the second detection platform 802, the second shifting mechanism 609 pushes the heart support 7 into the accommodating box 701, the rotary mechanical arm 504 places the accommodating box 701 and the detected heart support 7 on the rotary feeding mechanism 3, the z-axis linear transmission structure 404 drives the clamping and screwing mechanism 4 to move downwards until the heart support 7 and the accommodating box are wholly located inside a mechanical arm of the second clamping mechanical arm 429, then the second clamping mechanical arm 429 clamps the accommodating box 701, the first screwing and clamping jaw structure 430 aligns the accommodating box cover 702 with the accommodating box 701 and screws the accommodating box cover, the second screwing and clamping jaw structure 431 and the second clamping mechanical arm 429 are loosened, the clamping and screwing mechanism 4 retracts, and the rotary mechanical arm 504 retracts;

and S9, repeating the steps S4, S5, S6, S7, S8 and S4 until the heart support 7 is detected.

Preferably, the utility model discloses a whole testing process of method is accomplished by control system control, has guaranteed the orderly cooperation of each part during operation, has improved the stability in the device working process, has promoted the automation level of device, has reduced inspection error and the cost of labor that manual operation leads to. Spiral delivery mechanism 2 and rotatory feed mechanism 3 are used for lasting the material loading, press from both sides tight spiral cover mechanism 4 and be used for opening or screw and hold box 701 and hold lid 702, rotation type manipulator 504 on the three-dimensional positioning mechanism 5 is used for accomplishing heart support 7 in the testing process and holds snatching and shifting action of box 701, it is used for supplementary unloading to dial the mechanism of moving, first testing platform 801 and second testing platform 802 are used for accomplishing the testing operation of heart support 7, in the whole course of work, two testing platforms detect simultaneously, each mechanism mutually supports, work in proper order, thereby accomplish the testing operation of heart support 7, whole course of work is reciprocal to circulate in addition, can once only accomplish the detection of all heart supports, degree of automation and detection efficiency are high.

In summary, the above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (9)

1. The turntable type heart stent reloading device based on the truss structure is characterized by comprising a workbench (1), wherein a spiral conveying mechanism (2) is arranged on the workbench (1), the spiral conveying mechanism (2) is communicated with a rotary feeding mechanism (3), a clamping rotary cover mechanism (4) is arranged beside the rotary feeding mechanism (3), a first detection platform (801) and a second detection platform (802) are respectively arranged on two sides of the rotary feeding mechanism (3), a first shifting mechanism (608) is arranged between the rotary feeding mechanism (3) and the first detection platform (801), a first temporary placing platform is arranged between the rotary feeding mechanism (3) and the first shifting mechanism (608), a second shifting mechanism (609) is arranged between the rotary feeding mechanism (3) and the second detection platform (802), a second temporary placing platform is arranged between the rotary feeding mechanism (3) and the second shifting mechanism (609), a three-dimensional positioning mechanism (5) is arranged above the workbench (1), and a rotary manipulator (504) is arranged on the three-dimensional positioning mechanism (5);

the clamping and cover-screwing mechanism (4) comprises a first support (401), a z-axis linear transmission structure (404) is arranged on the first support (401), a clamping manipulator module (402) and a cover-screwing clamping jaw structure module (403) are arranged on the z-axis linear transmission structure (404), the clamping manipulator module (402) comprises a first clamping manipulator (428) and a second clamping manipulator (429), the cover-screwing clamping jaw structure module (403) comprises a first cover-screwing clamping jaw structure (430) and a second cover-screwing clamping jaw structure (431), the cover-screwing clamping jaw structure module (403) is connected with the z-axis linear transmission structure (404) through a rotating mechanism (405), and the clamping manipulator module (402) and the cover-screwing clamping jaw structure module (403) are positioned above the rotary feeding mechanism (3);

the spiral conveying mechanism (2), the rotary feeding mechanism (3), the clamping and cover screwing mechanism (4), the three-dimensional positioning mechanism (5), the shifting mechanism (6) and the detection platform (8) are all connected with a control system.

2. The turntable type heart stent reloading device based on the truss structure is characterized in that the spiral conveying mechanism (2) comprises a containing bin (211), the containing bin (211) is communicated with a feeding inlet of a spiral conveying shaft (209) through a feeding slide way (208), and the spiral conveying shaft (209) is connected with a first motor (201) through a transmission device.

3. The rotating disc type heart stent reloading device based on the truss structure as defined in claim 1, wherein the rotating feeding mechanism (3) comprises a feeding rotating disc (312), the feeding rotating disc (312) is connected with the second motor (301) through a transmission device, a placement groove (313) is arranged on the feeding rotating disc (312), and the placement groove (313) is positioned at the discharge port of the spiral conveying shaft (209).

4. The turntable type heart stent reloading device based on the truss structure as defined in claim 1, wherein the z-axis linear transmission structure (404) comprises a bottom plate slide rail (407), a third motor (406), a stopper (408), a bearing seat (409) and a slide rail (414) are arranged on the bottom plate slide rail (407), an output end of the third motor (406) is connected with one end of a first lead screw (413), the other end of the first lead screw (413) is connected with the bearing seat (409), a bearing (410) is arranged between the bearing seat (409) and the first lead screw (413), a first sliding table (411) is arranged on the first lead screw (413), and the first sliding table (411) is positioned on the slide rail (414).

5. The rotating disc type heart stent reloading device based on the truss structure is characterized in that the rotating mechanism (405) comprises a horizontal bearing seat (425), the horizontal bearing seat (425) is fixedly arranged on a first sliding table (411), a fifth motor (427) is arranged on the horizontal bearing seat (425), the fifth motor (427) is connected with a rotating connecting rod (424) through a third coupler (426), a first screwing cover clamping jaw structure (430) and a second screwing cover clamping jaw structure (431) are fixedly arranged on the rotating connecting rod (424), the first screwing cover clamping jaw structure (430) is identical to the second screwing cover clamping jaw structure (431), the first screwing cover clamping jaw structure (430) comprises a connecting rod (416), a fourth motor (415) and a clamping jaw base (417) are arranged on the connecting rod (416), the output end of the fourth motor (415) is connected with a second screw rod (420), a screw rod base (421) is arranged on the second screw rod (420), the screw rod base (421) is connected with a screwing cover clamping jaw (419) through the second screwing cover clamping jaw connecting rod (423), and the clamping jaw base (417) is connected with a clamping jaw base (419) through the first screwing cover clamping jaw base (418).

6. The truss structure-based turntable type heart support refueling device is characterized in that a first clamping mechanical arm (428) and a second clamping mechanical arm (429) are arranged on the horizontal bearing seat (425), the first clamping mechanical arm (428) and the second clamping mechanical arm (429) are identical in structure, and a sixth motor (432) is arranged on each of the first clamping mechanical arm (428) and the second clamping mechanical arm (429).

7. The truss structure-based rotating disc type heart stent reloading device is characterized in that the three-dimensional positioning mechanism (5) comprises a second support (506), the second support (506) is fixedly arranged on the workbench (1), an X-axis linear module (501) is arranged on the second support (506), the X-axis linear module (501) is positioned above the clamping and rotating cover mechanism (4), the X-axis linear module (501) is connected with a y-axis linear module (502) through a sliding device, the y-axis linear module (502) is connected with a z-axis linear module (503) through a sliding device, and a rotary manipulator (504) is arranged on the z-axis linear module (503).

8. The turntable type heart support reloading device based on the truss structure as claimed in claim 7, wherein the second support (506) comprises a first X-axis support (507) and a second X-axis support (508), an X-axis linear module (501) is arranged on the first X-axis support (507), the X-axis linear module (501) comprises a seventh motor (510), the seventh motor (510) is connected with a ball screw (512) through a second coupler (511), a second sliding table (513) is arranged on the ball screw (512), two sliding rails are arranged on the first X-axis support (507), a sliding rail is arranged on the second X-axis support (508), the sliding rails on the first X-axis support (507) and the second X-axis support (508) are both parallel to the ball screw (512), the second sliding table (513) is connected with a y-axis linear module (502), a sliding block is arranged on the y-axis linear module (502), the sliding block on the y-axis linear module (502) is located on the X-axis linear module (501), the sliding rail (503) and the z-axis linear module (501) is fixed with the same structure.

9. The rotating disc type heart stent reloading device based on the truss structure as claimed in claim 1, wherein the shifting mechanism (6) comprises a linear lead screw module (602), an eighth motor (603) is arranged on the linear lead screw module (602), an output end of the eighth motor (603) is connected with an eighth lead screw (604), an eighth sliding table (605) is arranged on the eighth lead screw (604), a slider swinging mechanism (606) is arranged on the eighth sliding table (605), and a ninth motor (607) and a swinging connecting rod (601) are arranged on the slider swinging mechanism (606).

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