CN218800278U - Automatic assembling equipment for medical catheter - Google Patents

Abstract

The utility model relates to an automatic assembly technical field discloses a medical pipe automatic assembly equipment, and the fixed bolster includes first mounting panel and second mounting panel, and first centre gripping subassembly is located on the first mounting panel for the centre gripping pipe. The second clamping assembly is arranged on the second mounting plate and used for clamping the protective shell. The driving assembly comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, and the first driving mechanism, the second driving mechanism and the third driving mechanism can respectively drive the first mounting plate to move along the X direction, the Y direction and the Z direction. The control module can control the opening and closing of the first driving mechanism, the second driving mechanism and the third driving mechanism according to the position information of the guide pipe and the protective shell detected by the identification module, so that the guide pipe can be moved to be connected with the protective shell in an inserting mode. Through the cooperation of the identification module, the control module and the driving assembly, the automatic assembly of the medical catheter is realized, the assembly efficiency of the catheter is effectively improved, the labor is saved, the assembly quality of the catheter can be ensured while the production cost is reduced, and the product percent of pass is improved.

Description

Automatic assembling equipment for medical catheter

Technical Field

The utility model relates to an automatic assembly technical field especially relates to a medical catheter automatic assembly equipment.

Background

At present, sensors or other components for therapeutic purposes are delivered into the human body through natural orifices, skin or completely implanted, so as to achieve the purposes of measurement, monitoring and the like. Sensors are typically mounted on medical catheters, such as mapping catheters for cardiac rf ablation, pressure guide wires to measure the pressure ratio before and after the narrowing of the coronary vessel to calculate the fractional coronary flow reserve (FFR), pressure catheters, urinary catheters to measure bladder pressure, intracranial multi-parameter probes to measure intracranial pressure, temperature, cerebral oxygen, glucose, etc. Sensors on such catheters are typically located at the tip of the catheter, and a protective sheath is required at the tip to prevent damage to the sensor during manufacture or use due to the catheter being subjected to external mechanical forces.

Because the installation standard of the sensor on the medical catheter is higher, and the shapes of the protective shell and the catheter are not flat, in the prior art, the medical catheter is usually assembled in a manual assembly mode, an operator manually sleeves the protective shell outside the sensor at the front end of the catheter under a microscope, so that a section of the protective shell is overlapped with the outer surface of the front end of the catheter, and then the protective shell and the sensor are bonded and fixed by using an adhesive. The manual assembly mode has low production efficiency, high assembly requirement and higher requirement on operators, so that the production cost is increased, and the assembly quality is not easy to control and the yield is lower due to the manual assembly mode.

Therefore, there is a need for an automatic assembling apparatus for medical catheters to solve the above problems.

SUMMERY OF THE UTILITY MODEL

Based on above problem, an object of the utility model is to provide a medical pipe automatic assembly equipment can realize the automatic assembly of medical pipe, improves the assembly efficiency of medical pipe, reduction in production cost, and can guarantee assembly quality, improves the product percent of pass.

In order to achieve the purpose, the utility model adopts the following technical proposal:

provided is an automatic assembling device for medical catheters, comprising:

the fixing support comprises a base, a first mounting plate and a second mounting plate, wherein the first mounting plate and the second mounting plate are arranged on the base;

the first clamping assembly is arranged on the first mounting plate and used for clamping a conduit, and the conduit extends along the X direction;

the second clamping assembly is arranged on the second mounting plate and used for clamping a protective shell, and the protective shell extends along the X direction;

the driving assembly is in transmission connection with the first mounting plate and comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism can drive the first mounting plate to move along the X direction, the second driving mechanism can drive the first mounting plate to move along the Y direction, and the third driving mechanism can drive the first mounting plate to move along the Z direction, so that the first clamping assembly clamps the guide pipe to be spliced with the protective shell;

an identification module to detect positional information of the catheter and the protective shell;

and the control module can control the opening and closing of the first driving mechanism, the second driving mechanism and the third driving mechanism according to the position information detected by the identification module so as to enable the first clamping assembly to clamp the conduit to move to be inserted into the protective shell.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, first actuating mechanism includes first driving piece and the first seat that removes, be provided with the first guide rail that extends along the X direction on the base, first remove the seat with first guide rail sliding connection, the output of first driving piece with first removal seat transmission is connected, with the drive first removal seat is followed first guide rail slides.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, second actuating mechanism includes that second driving piece and second remove the seat, the second driving piece install in first removal is on the seat, first removal is provided with the second guide rail that extends along the Y direction on the seat, the second remove the seat with second guide rail sliding connection, the output of second driving piece with the second removes a transmission and connects, with the drive the second removes the seat and follows the second guide rail slides.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, third actuating mechanism includes third driving piece, mount pad and follows the first guide bar that the Z direction extends, the one end of first guide bar with the mount pad is connected, and other end activity runs through first mounting panel and with the second removes the seat and connects, the third driving piece is fixed in on the mount pad, the output of third driving piece with first mounting panel transmission is connected, with the drive first mounting panel is followed first guide bar removes.

As a preferred embodiment of the medical catheter automatic assembly equipment of the present invention, the identification module includes a camera and an image processing unit, the camera is disposed on the second mounting plate, and the mounting position along the X direction on the second mounting plate is adjustable, the camera can collect the image information of the sensor at the end of the catheter and the image information of the protective housing, and transmit to the image processing unit, the image processing unit can receive and process the image information and transmit to the control module, so that the control module controls the opening and closing of the driving assembly.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, be provided with the mounting bracket on the second mounting panel, be provided with the second guide bar that extends along the X direction on the mounting bracket, medical catheter automatic assembly equipment still includes fourth actuating mechanism, fourth actuating mechanism includes that fourth drive piece and third remove the seat, the third remove the seat with second guide bar sliding connection, the camera install in on the third removes the seat, the output of fourth drive piece with the transmission of third removal seat is connected, with the drive the third removes the seat and follows the second guide bar removes.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, identification module still includes the range unit, the range unit is used for detecting the sensor of catheter end with distance between the protective housing, the range unit detects the sensor of catheter end with when distance between the protective housing reaches the default, the drive of fourth drive piece the camera is kept away from second centre gripping subassembly.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, first centre gripping subassembly include first fixing base and rotate set up in first clamp plate on the first fixing base, first fixing base is fixed in on the first mounting panel, first fixing base with first clamp plate all is provided with first spacing groove towards one side each other, first clamp plate can with the pipe compress tightly in first spacing inslot.

As the utility model discloses a medical catheter automatic assembly equipment's preferred scheme, second centre gripping subassembly include the second fixing base and rotate set up in second clamp plate on the second fixing base, the second fixing base is fixed in on the second mounting panel, the second fixing base with one side of second clamp plate towards each other all is provided with the second spacing groove, the second clamp plate can with the protective housing compress tightly in the second spacing inslot.

As an optimized scheme of the medical catheter automatic assembly device of the present invention, the medical catheter automatic assembly device further includes a display module electrically connected to the identification module, the display module can display the catheter and the position information of the protective housing.

The utility model has the advantages that:

the utility model provides a medical catheter automatic assembly equipment, when assembling the protective housing on the pipe, utilize first centre gripping subassembly centre gripping pipe, second centre gripping subassembly centre gripping protective housing, the current position of identification module automated inspection pipe and protective housing (specifically the current position of the sensor of detection pipe front end), and use the current position of protective housing as the target position, second actuating mechanism and third actuating mechanism are controlled respectively to the current position of pipe that control module detected according to identification module, in order to adjust the position of first mounting panel at Y direction and Z direction, adjust the position of the pipe of first centre gripping subassembly centre gripping at Y direction and Z direction promptly, the protective housing on sensor and the second centre gripping subassembly of pipe front end is just right. Then, the control module controls the first driving mechanism to drive the first mounting plate to move along the X direction, so that the first clamping assembly clamps the guide pipe to be inserted into the protective shell, and then the inserted guide pipe is adhered to the protective shell through the automatic dispensing equipment, and then the guide pipe and the protective shell are assembled. This automatic assembly equipment of medical catheter, through identification module, control module and drive assembly's cooperation, realized the automatic alignment grafting of pipe with the protective housing, realized the automatic assembly of medical catheter promptly, compared in the method of manual equipment pipe among the prior art, effectively improved the assembly efficiency of pipe, production efficiency improves greatly, and saves the manual work, and manufacturing cost reduces. In addition, through the mode of automatic discernment pipe of identification module and protective housing position, can make pipe and protective housing aim at, guarantee the assembly quality of pipe and protective housing, improve the product percent of pass.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a first structural schematic diagram of an automatic assembling device for medical catheters according to an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

fig. 3 is a second structural schematic diagram of an automatic assembling device for medical catheters according to an embodiment of the present invention;

FIG. 4 is a schematic view of a first clamping assembly and a second clamping assembly of the present invention after clamping a catheter and a protective shell, respectively;

fig. 5 is a schematic view illustrating an installation of a camera on a second mounting plate according to an embodiment of the present invention.

In the figure:

1-fixing a bracket; 2-a first clamping assembly; 3-a second clamping assembly; 5-a camera; 6-fourth drive machine

Structuring; 7-a display module; 8-power supply control line; 9-a connection line;

11-a base; 12-a first mounting plate; 13-a second mounting plate;

111-a first guide rail; 112-a first support; 121-a third nut seat;

131-a mounting frame; 132-a second guide bar;

21-a first fixed seat; 22-a first platen; 221-a first limiting groove;

31-a second fixed seat; 311-a connecting portion; 32-a second platen; 321-a second limit groove;

41-a first drive mechanism; 42-a second drive mechanism; 43-a third drive mechanism;

411 — first drive member; 412-a first locomotion station; 413-a first screw;

4121-a second rail; 4122-first slider; 4123-a second support; 4124-a first nut seat;

421-a second driving member; 422-a second movable seat; 423-second screw;

4221-a second slider; 4222-a second nut seat;

431-a third drive member; 432-a mount; 433 — a first guide bar; 434-third screw;

61-a fourth drive; 62-a third movable seat; 63-a fourth screw;

100-a catheter; 101-a sensor; 200-protective shell.

Detailed Description

In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may include, for example, a fixed connection or a detachable connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.

As shown in fig. 1 and fig. 3, the present embodiment provides an automatic assembling apparatus for medical catheters, which includes a fixing support 1, a first clamping assembly 2, a second clamping assembly 3, a driving assembly, an identification module, and a control module.

Wherein, fixed bolster 1 includes base 11 and sets up first mounting panel 12 and the second mounting panel 13 on base 11, and the relative position of first mounting panel 12 and second mounting panel 13 is adjustable. A first clamping assembly 2 is disposed on the first mounting plate 12, the first clamping assembly 2 being configured to clamp a conduit 100, the conduit 100 extending in the X-direction. The second clamping assembly 3 is disposed on the second mounting plate 13, the second clamping assembly 3 is used for clamping the protective shell 200, and the protective shell 200 extends along the X direction. The driving assembly is in transmission connection with the first mounting plate 12, the driving assembly comprises a first driving mechanism 41, a second driving mechanism 42 and a third driving mechanism 43, the first driving mechanism 41 can drive the first mounting plate 12 to move along the X direction, the second driving mechanism 42 can drive the first mounting plate 12 to move along the Y direction, and the third driving mechanism 43 can drive the first mounting plate 12 to move along the Z direction, so that the first clamping assembly 2 clamps the conduit 100 to be plugged with the protective shell 200. The identification module is used for detecting the position information of the conduit 100 and the protective shell 200, and the control module can control the opening and closing of the first driving mechanism 41, the second driving mechanism 42 and the third driving mechanism 43 according to the position information detected by the identification module, so that the first clamping assembly 2 clamps the conduit 100 and moves to be inserted into the protective shell 200.

Optionally, the automatic assembling device for medical catheters further comprises an automatic dispensing device, and after the front end of the catheter 100 is inserted into the protective shell 200, the catheter 100 and the protective shell 200 are bonded by the automatic dispensing device, so that the protective shell 200 is firmly connected with the catheter 100, and a good protection effect is achieved. The automatic dispensing device may be an existing automatic dispenser, etc., as long as it can cooperate to achieve automatic adhesion between the conduit 100 and the protective casing 200.

It is understood that in other embodiments, if the conduit 100 and the protective case 200 are in welded connection, the welding of the conduit 100 and the protective case 200 may be accomplished using an automated welding device (e.g., a welding robot).

Referring to fig. 1 and 2, when the catheter 100 and the protective housing 200 are assembled by using the automatic assembly device for medical catheters, the first clamping assembly 2 clamps the catheter 100, the second clamping assembly 3 clamps the protective housing 200, the identification module automatically detects the current positions of the catheter 100 and the protective housing 200 (specifically, the current position of the sensor 101 at the front end of the catheter 100), and takes the current position of the protective housing 200 as a target position, and the control module controls the second driving mechanism 42 and the third driving mechanism 43 according to the current position of the catheter 100 detected by the identification module, so as to adjust the positions of the first mounting plate 12 in the Y direction and the Z direction, that is, adjust the positions of the catheter 100 clamped by the first clamping assembly 2 in the Y direction and the Z direction until the sensor 101 at the front end of the catheter 100 is aligned with the protective housing 200 on the second clamping assembly 3. Then, the control module controls the first driving mechanism 41 to drive the first mounting plate 12 to move along the X direction, so that the first clamping assembly 2 clamps the conduit 100 to be inserted into the protective shell 200, and then the inserted conduit 100 and the protective shell 200 are bonded by the automatic dispensing device, thereby completing the assembly of the conduit 100 and the protective shell 200. This automatic assembly equipment of medical catheter, through the cooperation of identification module, control module and drive assembly, realized the automatic alignment grafting of pipe 100 with protective housing 200, realized the automatic assembly of medical catheter 100 promptly, compare in the method of manual equipment pipe 100 among the prior art, effectively improved the assembly efficiency of pipe 100, production efficiency improves greatly, and saves the manual work, and manufacturing cost reduces. In addition, through the mode of automatic discernment pipe 100 of identification module and protective housing 200 position, can make pipe 100 and protective housing 200 align, guarantee the assembly quality of pipe 100 and protective housing 200, improve the product percent of pass.

Optionally, referring to fig. 1 and fig. 2, the first clamping assembly 2 includes a first fixing seat 21 and a first pressing plate 22 rotatably disposed on the first fixing seat 21, the first fixing seat 21 is fixed on the first mounting plate 12, first limiting grooves 221 are disposed on sides of the first fixing seat 21 and the first pressing plate 22 facing each other, and the first pressing plate 22 can press the conduit 100 into the first limiting grooves 221. In this embodiment, the conduit 100 is a cylindrical structure, and correspondingly, the first limiting grooves 221 on the first fixing seat 21 and the first pressing plate 22 are both semi-circular-arc-shaped grooves to adapt to the shape of the conduit 100. When the first pressing plate 22 and the first fixing base 21 are pressed together, the two first limiting grooves 221 form a cylindrical cavity, and the conduit 100 is limited in the cylindrical cavity. The first pressing plate 22 is rotatably connected to the first fixing base 21 by a pin, and the rotation of the first pressing plate 22 relative to the first fixing base 21 can be driven by a rotary driving member (e.g., a motor) to rotate the first pressing plate 22 relative to the first fixing base 21 to open or close, so as to release or clamp the conduit 100 (see fig. 2 and 4). Illustratively, the front end of the catheter 100 extends out of the first fixed seat 21 by about 10mm to 20mm, so that the sensor 101 at the front end of the catheter 100 can be smoothly inserted into the protective shell 200.

In other embodiments, an electrically controlled magnetic attraction element may be disposed between the first pressing plate 22 and the first fixing base 21, and an elastic restoring element is disposed at the pin, when the catheter 100 is placed in the first limiting groove 221 of the first fixing base 21, the electrically controlled magnetic attraction element is powered on to attract the first pressing plate 22 and the first fixing base 21, and when the catheter 100 and the protective shell 200 are assembled in an inserting manner, the electrically controlled magnetic attraction element is powered off to automatically rotate and open the first pressing plate 22 under the elastic force of the elastic restoring element. Certainly, a fixed magnetic block may be disposed on the first pressing plate 22, an electrically controlled magnetic attraction member is disposed on the first fixing base 21, and a magnetic pole of the electrically controlled magnetic attraction member is adjusted to generate attraction or repulsion between the electrically controlled magnetic attraction member and the fixed magnetic block, so that the first pressing plate 22 rotates to close or open relative to the first fixing base 21.

Optionally, referring to fig. 1 and fig. 2, the second clamping assembly 3 includes a second fixing seat 31 and a second pressing plate 32 rotatably disposed on the second fixing seat 31, the second fixing seat 31 is fixed on the second mounting plate 13, a second limiting groove 321 is disposed on each side of the second fixing seat 31 and the second pressing plate 32 facing each other, and the second pressing plate 32 can press the protective shell 200 in the second limiting groove 321. In this embodiment, the protective shell 200 has a cylindrical structure, and correspondingly, the second limiting grooves 321 on the second fixing seat 31 and the second pressing plate 32 are both semi-circular-arc-shaped grooves to stably clamp the protective shell 200. When the second pressing plate 32 and the second fixing seat 31 are pressed together, the two second limiting grooves 321 form a cylindrical cavity, and the protective shell 200 is limited in the cylindrical cavity. The second pressing plate 32 and the second fixing seat 31 may also be rotatably connected by a pin, and the rotation of the second pressing plate 32 relative to the second fixing seat 31 is driven by a rotary driving member (e.g., a motor) to rotate the second pressing plate 32 relative to the second fixing seat 31 to open or close, so as to loosen or clamp the protective casing 200 (as shown in fig. 2 and 4).

In other embodiments, the rotation of the second pressing plate 32 relative to the second fixing base 31 can also be realized by a magnetic attraction manner of the electrically controlled magnetic attraction member, which is similar to the magnetic attraction rotation driving manner of the first pressing plate 22 and the first fixing base 21, and is not described herein again.

In this embodiment, referring to fig. 4, the second fixing seat 31 is provided with a connecting portion 311, and the connecting portion 311 is fastened and fixed on the second mounting plate 13 by a fastener such as a screw, so as to firmly mount the second clamping assembly 3 on the second mounting plate 13.

Further, the guide tube 100 and the protective shell 200 can be respectively placed in the corresponding first limiting groove 221 and the second limiting groove 321 through a manipulator, so that the full-automatic assembly of the guide tube 100 and the protective shell 200 is realized. Of course, the catheter 100 and the protective sheath 200 may also be placed manually.

Alternatively, referring to fig. 1 and fig. 3, the first driving mechanism 41 includes a first driving member 411 and a first moving seat 412, the base 11 is provided with a first guide rail 111 extending along the X direction, the first moving seat 412 is slidably connected to the first guide rail 111, and an output end of the first driving member 411 is in transmission connection with the first moving seat 412 to drive the first moving seat 412 to slide along the first guide rail 111. As shown in fig. 1, the first driving member 411 is fixed on the base 11 through a bracket, a first slider 4122 is disposed at the bottom of the first moving seat 412, the first slider 4122 is slidably connected to the first guide rail 111, and when the first driving member 411 drives the first moving seat 412 to move, the first slider 4122 slides along the first guide rail 111. The cooperation of the first guide rail 111 and the first slider 4122 enables the first movable base 412 to be always moved in the X direction to adjust the position of the guide tube 100 in the X direction. Preferably, the first guide rail 111 is provided with two spaced apart first guide rails on the base 11, and correspondingly, two first sliding blocks 4122 are provided at the bottom of the first movable base 412 to ensure the sliding stability of the first movable base 412 relative to the base 11.

In this embodiment, referring to fig. 1, the first driving member 411 is preferably a first motor, an output end of the first motor is connected to a first screw 413, a first nut seat 4124 is disposed at a bottom of the first moving seat 412 between the two first sliding blocks 4122, and the first screw 413 is in threaded connection with the first nut seat 4124. When the first motor drives the first screw 413 to rotate, the first nut seat 4124 drives the first moving seat 412 to slide relative to the first guide rail 111, so as to realize the movement of the first moving seat 412 along the X direction, and further adjust the position of the guide pipe 100 on the first mounting plate 12 in the X direction. Further, referring to fig. 3, the base 11 is provided with a first supporting member 112 at each of two ends of the first screw 413, and the two first supporting members 112 are rotatably connected to the first screw 413 (for example, rotatably connected by a bearing) to support the first screw 413 on the base 11, so as to prevent the first screw 413 from interfering with the base 11. The first support 112 is preferably an L-shaped plate, one plate of which is fixedly connected to the base 11 and the other plate is adapted to be rotatably connected to the first screw 413.

In other embodiments, the first driving member 411 may be an air cylinder, an electric cylinder of a hydraulic cylinder, or the like, for example, the air cylinder has an output rod fixedly connected to the first movable base 412, and the output rod of the air cylinder can extend and contract to drive the first movable base 412 to move along the X direction relative to the base 11.

Optionally, referring to fig. 1 and fig. 3, the second driving mechanism 42 includes a second driving member 421 and a second movable base 422, the second driving member 421 is mounted on the first movable base 412, a second guide rail 4121 extending along the Y direction is disposed on the first movable base 412, the second movable base 422 is slidably connected to the second guide rail 4121, and an output end of the second driving member 421 is drivingly connected to the second movable base 422 to drive the second movable base 422 to slide along the second guide rail 4121. As shown in fig. 1, the second driving member 421 is fixed on the first movable base 412 through a bracket, as shown in fig. 3, a second slider 4221 is disposed at the bottom of the second movable base 422, the second slider 4221 is slidably connected with the second guide rail 4121, and when the second driving member 421 drives the second movable base 422 to move, the second slider 4221 slides along the second guide rail 4121. The cooperation of the second guide rail 4121 and the second slider 4221 enables the second movable base 422 to be always moved in the Y direction to adjust the position of the catheter 100 in the Y direction. Preferably, the second guide rail 4121 is spaced apart from the first movable base 412 by two, and correspondingly, two second sliders 4221 are disposed at the bottom of the second movable base 422 to ensure the sliding stability of the second movable base 422 with respect to the first movable base 412.

In this embodiment, referring to fig. 3, the second driving element 421 is preferably a second motor, an output end of the second motor is connected to a second screw 423, a second nut seat 4222 is disposed at the bottom of the second moving seat 422 between the two second sliding blocks 4221, and the second screw 423 is in threaded connection with the second nut seat 4222. When the second motor drives the second screw 423 to rotate, the second nut seat 4222 drives the second moving seat 422 to slide relative to the second guide rail 4121, so as to realize the movement of the second moving seat 422 along the Y direction, and further adjust the position of the guide pipe 100 on the first mounting plate 12 in the Y direction. Further, referring to fig. 1 and 3, a second supporting member 4123 is respectively disposed at two ends of the second screw 423 on the first movable base 412, and the two second supporting members 4123 are both rotatably connected to the second screw 423 (e.g., rotatably connected through a bearing) so as to support the second screw 423 on the first movable base 412 and prevent the second screw 423 from interfering with the first movable base 412. The second supporting member 4123 is also an L-shaped plate member, one plate of which is fixedly coupled to the first moving base 412 and the other plate is adapted to be rotatably coupled to the second screw 423.

In other embodiments, the second driving unit 421 may also be an air cylinder, an electric cylinder of a hydraulic cylinder, or the like, for example, the air cylinder has an output rod fixedly connected to the second movable base 422, and the output rod of the air cylinder can extend and contract to drive the second movable base 422 to move in the Y direction relative to the first movable base 412.

Alternatively, referring to fig. 1 and 3, the third driving mechanism 43 includes a third driving member 431, a mounting seat 432, and a first guiding rod 433 extending along the Z direction, one end of the first guiding rod 433 is connected to the mounting seat 432, the other end of the first guiding rod 433 movably penetrates through the first mounting plate 12 and is connected to the second moving seat 422, the third driving member 431 is fixed to the mounting seat 432, and an output end of the third driving member 431 is in transmission connection with the first mounting plate 12 to drive the first mounting plate 12 to move along the first guiding rod 433. As shown in fig. 1, the mounting base 432, the first mounting plate 12, and the second moving base 422 are sequentially arranged in parallel and at intervals from top to bottom, the third driving member 431 is fixed on the mounting base 432 through a bracket, a through hole is formed in the first mounting plate 12, the first guiding rod 433 movably penetrates through the first mounting plate 12 through the through hole, and when the third driving member 431 drives the first mounting plate 12 to move, the first guiding rod 433 can be matched with the through hole to limit the first mounting plate 12 to move along the Z direction all the time, so as to adjust the position of the guide pipe 100 in the Z direction. Preferably, the number of the first guide rods 433 is two, and correspondingly, two through holes are formed in the first mounting plate 12 to ensure the stability of the movement of the first mounting plate 12 along the Z direction.

In this embodiment, referring to fig. 3, the third driving member 431 is preferably a third motor, an output end of the third motor is connected to a third screw 434, a third nut seat 121 is disposed between the two first guide rods 433 on the first mounting plate 12, the third screw 434 is in threaded connection with the third nut seat 121, wherein one end of the third screw 434 connected to the third motor movably penetrates through the mounting seat 432 to avoid interference between the third screw 434 and the mounting seat 432, and one end of the third screw 434 away from the third motor is rotatably connected to the second moving seat 422 to avoid interference between the third screw 434 and the second moving seat 422. When the third motor drives the third screw 434 to rotate, the third nut seat 121 drives the first mounting plate 12 to slide relative to the first guide rod 433, so as to realize the movement of the first mounting plate 12 along the Z direction, and further adjust the position of the guide tube 100 in the Z direction.

In other embodiments, the third driving member 431 may be an air cylinder, an electric cylinder with a hydraulic cylinder, etc., and taking the air cylinder as an example, an output rod of the air cylinder is fixedly connected to the first mounting plate 12, and the output rod of the air cylinder drives the first mounting plate 12 to move along the Z direction when expanding or contracting.

Optionally, referring to fig. 1 and 2, the identification module includes a camera 5 and an image processing unit (not shown), the camera 5 is disposed on the second mounting plate 13, and the mounting position of the camera on the second mounting plate 13 along the X direction is adjustable, the camera 5 can collect image information of the sensor 101 at the end of the conduit 100 and image information of the protective casing 200 and transmit the image information to the image processing unit, and the image processing unit can receive and process the image information and transmit the image information to the control module, so that the control module controls the on/off of the driving assembly. In this embodiment, the camera 5 is preferably an optical fiber lens, the second fixing seat 31 and the second pressing plate 32 are both provided with an avoiding groove communicated with the second limiting groove 321, the avoiding groove extends along the X direction, the lens of the camera 5 and the axis of the avoiding groove are located on the same straight line, and the camera 5 can move along the X direction to be opposite to the avoiding groove, so that the optical fiber at the front end of the camera 5 passes through the avoiding groove to detect the positions of the sensor 101 at the front end of the protective shell 200 and the front end of the catheter 100.

Specifically, after the camera 5 moves to be opposite to the avoidance groove, the camera 5 collects image information of the protective shell 200 and the sensor 101 at the front end of the conduit 100, the image processing unit automatically identifies the image information of the protective shell 200 and the sensor 101 according to an algorithm, converts the image information into digital information, identifies and quantifies key features of the image, such as position, number, area and the like, through an internal processor thereof, and finally transmits the data information to the control module, and a control program in the control module makes a judgment according to the received data information, wherein the control module correspondingly adjusts the position of the conduit 100 by taking the position of the protective shell 200 as a reference so as to align the axis of the conduit 100 with the axis of the protective shell 200, and then controls the conduit 100 to be plugged into the protective shell 200. In the process of adjusting the position of the guide tube 100, the control module first adjusts the positions of the first mounting plate 12 in the Y direction and the Z direction through the second driving element 421 and the third driving element 431, so that the axis of the guide tube 100 coincides with the axis of the protective shell 200, and then drives the guide tube 100 to move in the X direction through the first driving element 411 until the sensor 101 at the front end of the guide tube 100 is inserted into the protective shell 200.

Optionally, referring to fig. 4 and 5, a mounting frame 131 is disposed on the second mounting plate 13, a second guide rod 132 extending along the X direction is disposed on the mounting frame 131, the automatic assembly machine for medical catheters further includes a fourth driving mechanism 6, the fourth driving mechanism 6 includes a fourth driving member 61 and a third movable base 62, the third movable base 62 is slidably connected to the second guide rod 132, the camera 5 is mounted on the third movable base 62, and an output end of the fourth driving member 61 is in transmission connection with the third movable base 62 to drive the third movable base 62 to move along the second guide rod 132.

As shown in fig. 5, the mounting frame 131 is mounted on the second mounting plate 13 through fasteners such as screws, the housing of the fourth driving element 61 is fixed on the mounting frame 131, the mounting frame 131 includes a bottom plate, and a first supporting plate and a second supporting plate respectively disposed at two ends of the bottom plate, two ends of the second guiding rod 132 are respectively fixedly connected with the first supporting plate and the second supporting plate, a through hole is disposed on the third moving seat 62, the second guiding rod 132 movably penetrates through the third moving seat 62 through the through hole, when the fourth driving element 61 drives the third moving seat 62 to move, the second guiding rod 132 is in sliding fit with the through hole, so that the third moving seat 62 drives the camera 5 to move along the X direction, thereby adjusting the position of the camera 5 in the X direction. Preferably, two second guide rods 132 are provided, and correspondingly, two through holes are opened on the third movable seat 62 to ensure the stability of the movement of the camera 5 along the X direction.

In this embodiment, referring to fig. 5, the fourth driving member 61 is preferably a fourth motor, an output end of the fourth motor is connected to a fourth screw 63, a fourth nut seat (not shown) is disposed on the third moving seat 62 between the two second guide rods 132, and the fourth screw 63 is in threaded connection with the fourth nut seat. When the fourth motor drives the fourth screw 63 to rotate, the fourth nut seat drives the third moving seat 62 to slide relative to the second guide rod 132, so as to move the camera 5 along the X direction, and adjust the distance between the camera 5 and the protective shell 200 on the second clamping assembly 3.

In another embodiment, the fourth driving member 61 may be an air cylinder, a hydraulic cylinder electric cylinder, or the like, for example, the air cylinder has an output rod fixedly connected to the third movable base 62, and the output rod of the air cylinder drives the third movable base 62 to move in the X direction when expanding or contracting.

Optionally, the identification module further includes a distance measuring unit, the distance measuring unit is configured to detect a distance between the sensor 101 at the end of the conduit 100 and the protective casing 200, and when the distance measuring unit detects that the distance between the sensor 101 at the end of the conduit 100 and the protective casing 200 reaches a preset value, the fourth driving unit 61 drives the camera 5 to move away from the second clamping assembly 3. When the distance between the sensor 101 at the front end of the catheter 100 and the protective shell 200 reaches a preset value, it indicates that the positions of the sensor 101 and the protective shell 200 are aligned, and the two only need to be plugged. At this time, the camera 5 is driven away from the second clamping unit 3, so that the camera 5 can be prevented from interfering with the insertion and bonding process of the catheter 100 and the protective case 200.

In this embodiment, the distance measuring unit may be a laser sensor or an ultrasonic sensor, or may measure the distance by using a grating or a capacitive grating principle, as long as the distance between the sensor 101 at the end of the catheter 100 and the protective case 200 can be measured.

Optionally, referring to fig. 1 and 3, the automatic assembling device for medical catheters further comprises a display module 7 electrically connected with the identification module, wherein the display module 7 can display the position information of the catheter 100 and the protective shell 200. The current positions and images of the catheter 100 and the protective case 200 can be intuitively obtained through the display module 7, so that a worker can conveniently check the assembly state of the catheter 100 and the protective case 200 at any time. In this embodiment, the display module 7 is an upper computer, the upper computer is connected with the host through a power control line 8, and the control module is located in the host.

Further, referring to fig. 2 and 3, the first driving member 411, the second driving member 421, the third driving member 431, the fourth driving member 61 and the camera 5 are electrically connected to the power control line 8 through corresponding connection lines 9, so as to control the first driving member 411, the second driving member 421, the third driving member 431, the fourth driving member 61 and the camera 5 by the control module.

The assembling steps of the automatic assembling equipment for the medical catheter provided by the embodiment are as follows:

s1, placing a guide pipe 100 in a first limiting groove 221 of a first fixing seat 21 by using a manipulator, enabling a first pressing plate 22 and the first fixing seat 21 to clamp the guide pipe 100, placing a protective shell 200 in a second limiting groove 321 of a second fixing seat 31, and enabling a second pressing plate 32 and the second fixing seat 31 to clamp the protective shell 200;

s2, the control module drives the camera 5 to be close to the second clamping assembly 3 through the fourth driving piece 61, so that the camera 5 is aligned to the avoidance groove, and the positions of the protective shell 200 and the guide pipe 100 are automatically identified;

s3, the control module respectively controls the second driving piece 421 and the third driving piece 431 according to the position of the conduit 100 by taking the position of the protective shell 200 as reference so as to adjust the position of the conduit 100 in the Y direction and the Z direction until the axis of the conduit 100 coincides with the axis of the protective shell 200, and then controls the conduit 100 to approach the protective shell 200 along the X direction through the first driving piece 411;

s4, when the distance measuring part detects that the distance between the sensor 101 at the front end of the guide pipe 100 and the protective shell 200 reaches a preset value, the control module controls the camera 5 to be far away from the second clamping component 3 along the X direction through the fourth driving part 61, and simultaneously controls the guide pipe 100 to continuously approach the protective shell 200 along the X direction through the first driving part 411 until the sensor 101 at the front end of the guide pipe 100 is inserted in the protective shell 200;

s5, starting automatic dispensing equipment, and fixedly bonding the protective shell 200 and the guide pipe 100;

s6, enabling the first pressing plate 22 to rotate and open relative to the first fixing seat 21, enabling the second pressing plate 32 to rotate and open relative to the second fixing seat 31, and taking down the assembled guide pipe 100 by using a manipulator;

and S7, repeating the steps S1 to S6.

It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious modifications, rearrangements and substitutions without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.

Claims (10)

1. Medical catheter automatic assembly equipment, characterized in that includes:

the fixing support (1) comprises a base (11), a first mounting plate (12) and a second mounting plate (13) which are arranged on the base (11), wherein the position of the first mounting plate (12) relative to the second mounting plate (13) is adjustable;

a first clamping assembly (2) disposed on the first mounting plate (12), the first clamping assembly (2) being configured to clamp a conduit (100), the conduit (100) extending in an X direction;

the second clamping assembly (3) is arranged on the second mounting plate (13), the second clamping assembly (3) is used for clamping a protective shell (200), and the protective shell (200) extends along the X direction;

the driving assembly is in transmission connection with the first mounting plate (12) and comprises a first driving mechanism (41), a second driving mechanism (42) and a third driving mechanism (43), the first driving mechanism (41) can drive the first mounting plate (12) to move along the X direction, the second driving mechanism (42) can drive the first mounting plate (12) to move along the Y direction, and the third driving mechanism (43) can drive the first mounting plate (12) to move along the Z direction, so that the first clamping assembly (2) clamps the guide pipe (100) and is connected with the protective shell (200) in an inserted mode;

an identification module for detecting positional information of the catheter (100) and the protective case (200);

the control module can control the opening and closing of the first driving mechanism (41), the second driving mechanism (42) and the third driving mechanism (43) according to the position information detected by the identification module, so that the first clamping assembly (2) clamps the conduit (100) and moves to be inserted into the protective shell (200).

2. The automatic assembly equipment for medical catheters according to claim 1, wherein the first driving mechanism (41) comprises a first driving member (411) and a first movable seat (412), the base (11) is provided with a first guide rail (111) extending along the X direction, the first movable seat (412) is slidably connected with the first guide rail (111), and the output end of the first driving member (411) is drivingly connected with the first movable seat (412) to drive the first movable seat (412) to slide along the first guide rail (111).

3. The automatic assembly equipment for medical catheters according to claim 2, wherein the second driving mechanism (42) comprises a second driving member (421) and a second movable seat (422), the second driving member (421) is mounted on the first movable seat (412), a second guide rail (4121) extending along the Y direction is provided on the first movable seat (412), the second movable seat (422) is slidably connected with the second guide rail (4121), and the output end of the second driving member (421) is drivingly connected with the second movable seat (422) to drive the second movable seat (422) to slide along the second guide rail (4121).

4. The automatic assembly equipment for medical catheters as claimed in claim 3, wherein the third driving mechanism (43) comprises a third driving member (431), a mounting seat (432) and a first guiding rod (433) extending along the Z direction, one end of the first guiding rod (433) is connected with the mounting seat (432), the other end of the first guiding rod movably penetrates through the first mounting plate (12) and is connected with the second moving seat (422), the third driving member (431) is fixed on the mounting seat (432), and the output end of the third driving member (431) is in transmission connection with the first mounting plate (12) so as to drive the first mounting plate (12) to move along the first guiding rod (433).

5. The automatic assembling equipment for medical catheters according to claim 1, wherein the identification module comprises a camera (5) and an image processing unit, the camera (5) is arranged on the second mounting plate (13) and is adjustable in the mounting position along the X direction on the second mounting plate (13), the camera (5) can collect the image information of the sensor (101) at the end of the catheter (100) and the image information of the protective shell (200) and transmit the image information to the image processing unit, and the image processing unit can receive, process and transmit the image information to the control module, so that the control module controls the on-off of the driving assembly.

6. The automatic assembling device for medical catheters according to claim 5, characterized in that a mounting frame (131) is disposed on the second mounting plate (13), a second guiding rod (132) extending along the X direction is disposed on the mounting frame (131), the automatic assembling device for medical catheters further comprises a fourth driving mechanism (6), the fourth driving mechanism (6) comprises a fourth driving member (61) and a third moving seat (62), the third moving seat (62) is slidably connected with the second guiding rod (132), the camera (5) is mounted on the third moving seat (62), and an output end of the fourth driving member (61) is in transmission connection with the third moving seat (62) to drive the third moving seat (62) to move along the second guiding rod (132).

7. The automatic assembly equipment of a medical catheter according to claim 6, wherein the identification module further comprises a distance measuring component for detecting the distance between the sensor (101) at the end of the catheter (100) and the protective shell (200), and when the distance measuring component detects that the distance between the sensor (101) at the end of the catheter (100) and the protective shell (200) reaches a preset value, the fourth driving component (61) drives the camera (5) to be away from the second clamping component (3).

8. The automatic assembly equipment for medical catheters according to any one of claims 1 to 7, wherein the first clamping assembly (2) comprises a first fixing seat (21) and a first pressing plate (22) rotatably arranged on the first fixing seat (21), the first fixing seat (21) is fixed on the first mounting plate (12), a first limiting groove (221) is formed in each of the sides of the first fixing seat (21) and the first pressing plate (22) facing each other, and the first pressing plate (22) can press the catheter (100) into the first limiting groove (221).

9. The automatic assembly equipment for medical catheters according to any one of claims 1 to 7, wherein the second clamping assembly (3) comprises a second fixing seat (31) and a second pressing plate (32) rotatably arranged on the second fixing seat (31), the second fixing seat (31) is fixed on the second mounting plate (13), a second limiting groove (321) is formed in each of the sides of the second fixing seat (31) and the second pressing plate (32) facing each other, and the second pressing plate (32) can press the protective shell (200) into the second limiting groove (321).

10. The automated medical catheter assembling apparatus according to any one of claims 1 to 7, further comprising a display module (7) electrically connected to the identification module, wherein the display module (7) is capable of displaying the position information of the catheter (100) and the protective housing (200).

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