WO2023173485A1 - Angle correction device and method for correcting angle of material - Google Patents

Abstract

An angle correction device and a method for correcting the angle of a material. The angle correction device comprises a carrier (10), a main adjusting member (20), and a calibration member (30), wherein the carrier (10) has a degree of freedom of rotation with a preset reference axis as a rotation center; the main adjusting member (20) is configured to change the rotation state of the carrier; and the calibration member (30) can move relative to the reference axis, and is connected to the carrier (10) in a rotation stopping manner when the calibration member reaches a preset offset position.

Description

Angle correction device and material angle correction method

Related applications

This application claims priority to the Chinese patent application filed on March 18, 2022, with the application number 202210270756.2 and the invention title "Angle Correction Device and Material Angle Correction Method", the entire content of which is incorporated into this application by reference.

Technical field

This application relates to the technical field of medical consumable production, and in particular to angle correction devices and material angle correction methods.

Background technique

In the field of automated production of medical consumables, adjusting and controlling the shape, position, and angle of medical consumables or accessories used to constitute the transfer consumables is one of the basic policies to improve production efficiency. In this way, it is possible to directly target the accessories or consumables with incoming materials. By implementing subsequent processes, the time required to adjust the accessories to the shape position/angle orientation required by the subsequent processes can be saved.

Taking the production process of dialyzers as an example, the container part of the dialyzer needs to be assembled with the cover, but before that, the container part needs to be rotated at high speed to redistribute the adhesive in the container part under centrifugal action. In this way, when the container part stops rotating, the orientation angle of its axis may not meet the morphological position/angular orientation required by the subsequent process, and it is difficult to keep the morphological angle of each container part consistent with the morphological angles of other container parts. That is, the adjustment amount corresponding to the preset shape angle of each container part that meets the process requirements is different, which undoubtedly increases the time and difficulty of adjusting each container part on the production line.

Of course, not only the production of dialyzers will face the above problems, but also the production of other types of medical consumables. For example, after accessories or consumables are transported to the production line, the original position/orientation angle of each accessory or consumable is inconsistent, and the amount of adjustment required to adjust it to a position that meets the post-process requirements is also different.

Contents of the invention

According to various embodiments of the present application, an angle correction device is provided, and the angle correction device includes:

The load-carrying part has a degree of freedom of adjustment, and the degree of freedom of adjustment is the freedom of the load-carrying part to rotate with the preset reference axis as the rotation center;

The main adjusting piece can be connected to and separated from the loading part, and is used to change the movement state of the loading part with respect to the degree of freedom of adjustment movement;

The calibration piece can move relative to the reference axis and is connected to the loading piece in a non-rotational manner when it reaches the preset offset position.

In one embodiment, the angle correction device further includes:

A sensing unit with an induction triggering area;

The marking unit is connected to the loading part;

The sensing unit can respond to the marking unit passing through the induction trigger area and generate an in-position signal. The main adjusting member can respond to the in-position signal and make the loading member stop rotating from a rotating state. The calibration member can respond to the in-position signal and/or the loading member stops rotating and stops. Movement towards the preset offset position.

In one embodiment, the marking unit is located outside the reference axis, and the sensing unit can park at a sensing position located outside the reference axis to wait for the marking unit to pass through the sensing trigger area.

In one embodiment, the angle correction device further includes a braking component that can respond to the in-position signal and be connected to the loading component at least at a position outside the reference axis, or to the power output of the main adjusting component.

In one embodiment, the load-carrying member includes at least two anti-rotation connectors with fixed relative positions. The calibration member can move close to the preset offset position and drive the load-carrying member to rotate by contacting one of the anti-rotation connectors until the calibration member Reach the preset offset position and contact another anti-rotation link.

In one embodiment, the calibration component includes a rotation-proof positioning surface that can move close to the reference axis and output a driving force with a component orthogonal to the reference axis to one of the rotation-limiting connectors; the movement direction of the calibration component is consistent with The anti-rotation positioning surface has an included angle.

In one embodiment, the calibration component includes an adjacent anti-rotation positioning surface and a correction bevel. The correction bevel is inclined relative to the anti-rotation positioning surface on a side away from the reference axis; the calibration component can move in a direction parallel to the anti-rotation positioning surface and A driving force with a component orthogonal to the reference axis is output to one of the anti-rotation connections via the correction bevel.

In one embodiment, the load-carrying member includes a rotation-proof connection member. The rotation-stop connection member includes two relatively fixed and integrally connected force-bearing parts. The calibration member can move close to the preset offset position and contact one of the force-bearing parts. To drive the loading part to rotate until the calibration part reaches the preset offset position and contacts another force-bearing part; or,

The calibration piece includes at least two anti-rotation contact parts, and the loading part includes a anti-rotation fitting part. The calibration piece can move close to the preset offset position, and contacts the anti-rotation fitting part through one of the anti-rotation contact parts to drive the loading part to rotate. So that the calibration piece contacts another anti-rotation contact part when it reaches the preset offset position.

In one embodiment, the main adjusting member is used to apply a braking torque to the load-carrying part so that the load-carrying part decelerates and rotates and tends to stop; the load-carrying part includes an anti-rotation connection portion located outside the reference axis, and the anti-rotation connection The trajectory of the rotation around the reference axis passes through the preset offset position.

In one embodiment, the angle correction device further includes a clutch mechanism, and the clutch mechanism can simultaneously connect the loading member and the main adjusting member.

In one embodiment, the clutch mechanism includes a mating transmission component and a propulsion component. The mating transmission component is connected to the driving end of the main adjustment member and has freedom of movement in the extension direction of the rotation center. The propulsion component can drive the mating transmission component. The component is separated from or comes into contact with the carrier.

In one embodiment, the material carrier includes multiple sets of material mounting elements. The multiple sets of material mounting elements respectively define multiple material positioning center lines orthogonal to the reference axis; at least one material positioning datum intersects with other material positioning datums. .

This application also provides a material angle correction method, which includes the following steps:

A. Drive the loading part to rotate with the reference axis as the center of rotation, so that the loading part reaches at least the preset position;

B. Through the preset position, the sensing unit generates an in-position signal to instruct the main adjusting member to prevent the loading member from rotating with the reference axis as the rotation center;

C. By the in-position signal or the loading part stopping rotating, the calibration part moves to the preset offset position and connects to the loading part until the calibration part reaches the preset offset position;

D. The sensing unit senses whether the marking unit exists in the induction trigger area, and completes the angle correction of the material when the marking unit is in the induction trigger area.

In one embodiment, step A, that is, driving the loading member to rotate with the reference axis as the center of rotation so that the loading member reaches at least a preset position, includes:

A1. The main adjusting member drives the loading part to rotate with the reference axis as the center of rotation, so that the loading part reaches at least the preset position; and/or,

Step C, that is, by the in-position signal or the loading part stopping rotation, the calibration part moves to the preset offset position and connects the loading part until the calibration part reaches the preset offset position, including:

C1. When the loading part is in a stationary state, obtain the relative position difference between the marking unit and the sensing unit;

C2. Compare the relative position difference with the preset reference position difference. When the relative position difference is less than the reference position difference, instruct the calibration component to move to the preset offset position and drive the loading component to rotate until the calibration component reaches the preset offset position.

In one embodiment, in step C2, when the relative position difference is greater than or equal to the reference position difference, the loading member is driven to rotate again, and steps A to C are repeated.

In one embodiment, in step D, when the marking unit is not in the induction triggering area, the calibration component is instructed to drive the loading member to rotate until the marking unit is in the induction triggering area.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the application will become apparent from the description, drawings and claims.

Description of the drawings

To better describe and illustrate embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be construed as limiting the scope of any of the disclosed inventions, the embodiments and/or examples presently described, and the best modes currently understood of these inventions.

Figure 1 is a first partial structural diagram of an angle correction device according to one or more embodiments/some embodiments.

Figure 2 is a second partial structural diagram of an angle correction device according to one or more embodiments/some embodiments.

Figure 3 is a partially enlarged schematic view of the second part of the structure of the angle correction device shown in Figure 2 at position A.

Figure 4 is a schematic structural diagram of a third part of an angle correction device according to one or more embodiments/some embodiments.

Figure 5 is an analytical diagram of the first motion state of the angle correction device according to one or more embodiments/some embodiments.

Figure 6 is an analytical diagram of the second motion state of the angle correction device according to one or more embodiments/some embodiments.

Figure 7 is an analytical diagram of a third motion state of the angle correction device according to one or more embodiments/some embodiments.

Figure 8 is a first structural schematic diagram of an angle correction device according to one or more embodiments/some embodiments.

Figure 9 is a first morphological analysis diagram of the angle correction device of one or more embodiments/some embodiments.

Figure 10 is a second morphological analysis diagram of the angle correction device of one or more embodiments/some embodiments.

Figure 11 is a second structural schematic diagram of the angle correction device of one or more embodiments/some embodiments.

Figure 12 is a schematic diagram of a third structure of an angle correction device according to one or more embodiments/some embodiments.

10. Loading parts; 11. Anti-rotation connectors; 12. Material installation components; 13. Anti-overflow parts; 14. Anti-rotation connection parts; 111. Forced parts; 112. Anti-rotation matching parts; 20. Main adjustment 21. Drive end; 30. Calibration piece; 31. Anti-rotation positioning surface; 32. Correction slope; 33. Anti-rotation contact part; 40. Sensing unit; 41. Induction trigger area; 50. Marking unit; 60. Clutch mechanism; 61. Cooperating transmission component; 62. Propulsion component; 70. Sensing propulsion component; 80. Brake component.

Detailed ways

This application provides an angle correction device and a material angle correction method for correcting and limiting the shape position/orientation angle of materials (hereinafter referred to as material position). The purpose of material angle correction is to make the materials leaving the station where the angle correction device is located have a uniform position when they arrive at the subsequent station, so that these materials can be directly processed for subsequent processes, such as assembly, cleaning, bonding or lubrication, etc. . This application does not limit the type of material, nor does it limit the subsequent process of the material. The following takes the angle correction of the dialyzer container as an example to introduce the structural composition and principle of the angle correction device.

The angle correction device includes a carrier part 10 for carrying and fixedly connecting the dialyzer container part, and also includes a main adjusting part 20 that can be detached from the carrier part 10 to change the movement state of the carrier part 10 . Among them, the loading part 10 has a preset reference axis h, and has a degree of freedom to rotate with the reference axis h as the rotation center. This degree of freedom is defined here as the freedom of adjustment movement; the main adjusting part 20 can connect the loading part 10. It can also be detached from the load-carrying part 10, and the main adjusting part 20 has various structures. Its purpose is to change the movement state of the load-carrying part 10 with respect to the degree of freedom of adjustment movement by applying a driving force to the load-carrying part 10. It may be to drive the load-carrying part 10. The material carrier 10 starts and then rotates around the reference axis h, or it can also drive the material carrier 10 to decelerate and rotate around the reference axis h, that is, the material carrier 10 that is in a rotating state about the reference axis h is braked so that the material carrier 10 tend to be still. The container part can thus follow the rotation of the loading member 10 and synchronously change the state of the container part itself rotating around the reference axis h; in addition, the angle correction device also includes a calibration piece 30, which can move relative to the reference axis h, and when the calibration piece When 30 reaches the preset preset offset position, it forms an anti-rotation connection with the loading part 10 to prevent the loading part 10 and the container part from continuing to rotate synchronously, and to keep the loading part 10 until the loading part 10 completely stops rotating. Momentary position. Therefore, once the calibration piece 30 and the loading piece 10 form a rotation-proof connection, it marks that the angle correction of the container part is completed, and the container part reaches the position required by the subsequent process.

Embodiment 1

Please refer to Figures 1 to 4. The main adjusting member 20 can not only provide braking force for the rotation of the loading member 10, but also drive the loading member 10 to rotate around the reference axis h; the loading member 10 includes a spring for the main adjusting member 20. Multiple sets of material installation elements 12 connected to the power output part can respectively fixedly carry multiple sets of container parts. Each set of material installation elements 12 defines a material positioning center line orthogonal to the reference axis h. When the container part passes through a set of material installation When the element 12 is fixedly loaded, the axis of the container part coincides with the material positioning center line. In this embodiment, each group of material installation elements 12 includes two oppositely arranged material connection parts, which are respectively used to fixedly connect the two ends of the container part. The connection between the two is the material positioning center line. Multiple groups of material installation parts Multiple material positioning center lines of the component 12 intersect with each other.

Optionally, the material installation element 12 can also fix the container part by connecting to the side wall of the container part. For example, the material installation element 12 is provided with a cylinder that matches the side wall of the container part, and the axis of the cylinder is the material positioning center. Wire.

Optionally, the material carrying part 10 also includes an overflow prevention part 13 for accommodating the material installation element 12 and the container part. The overflow prevention part 13 has a cylindrical shape. One end of the overflow prevention part 13 is open toward the main adjustment part 20 for the material installation element 12 and the container part to enter. The overflow prevention part 13 is away from the main adjustment part 20 One end is closed, and the side wall of the overflow prevention member 13 is used to prevent the adhesive from splashing outward during high-speed rotation of the container part. During the material angle correction operation, the material installation element 12 can be fixedly connected to the overflow prevention part 13 to rotate synchronously. The reference axis h is the cylinder axis of the overflow prevention part 13. Multiple container parts are in the overflow prevention part. The parts 13 are spaced apart along the cylinder axis of the overflow prevention part 13 . It should be noted that the overflow prevention part 13 is set according to the requirements of the dialyzer production process, because the container part needs to change the adhesive distribution inside the container part through centrifugation under high-speed rotation, so the overflow prevention part 13 is provided to prevent adhesion. It is necessary to prevent agent splashing, but when correcting other types of materials, the overflow prevention component 13 is not necessarily necessary.

Referring again to FIGS. 1 to 4 , the angle correction device also includes a sensing unit 40 and a marking unit 50 connected to the carrier 10 . The sensing unit 40 has a sensing trigger area 41 with a specific spatial shape. As long as the marking unit 50 As the loading member 10 moves through or is at least partially located in the induction triggering area 41 when rotating, the sensing unit 40 can learn the movement of the marking unit 50 or the situation of the movement into place and generate an in-position signal. The in-position signal can be used as an instruction to instruct the main adjusting member 20 to stop driving the loading member 10, or to instruct the main adjusting member to apply a braking force to the loading member 10 to stop the rotation of the loading member 10. In short, the main adjusting member 20 can In response to the in-position signal, the loading member 10 tends to stop from the rotating state. In the first embodiment, the specific function of the in-position signal is to instruct the main adjusting member 20 to stop driving the rotation of the loading part 10; the control system can also record the rotational displacement below the loading part 10: from the marking unit 50 through the induction trigger area 41 , the displacement amount of the rotation of the loading part 10 during the time period until the loading part 10 completely stops rotating. For ease of explanation, the displacement amount is defined as the redundant displacement amount of the loading member 10 . Obviously, the sending time of the above-mentioned in-position signal can be used as the recording start time of the redundant displacement amount. The calibration component 30 can respond to the in-position signal and/or respond to the complete stop of rotation of the loading component 10 and move toward the preset bias position. However, whether the calibration component 30 reaches the preset bias position depends on the redundant displacement. The size of the amount, the detailed principles and reasons will be explained below.

Specifically, the marking unit 50 is located outside the reference axis h and has a fixed circular motion trajectory. The sensing unit 40 can stay at a sensing position also located outside the reference axis h to wait for the marking unit 50 to move past or to reach the sensing position. Trigger area 41. Therefore, the above-mentioned redundant displacement amount can either be the length of the arc-shaped trajectory that the marking unit 50 has rotated from passing through the induction trigger area 41 to completely stopping its movement, or it can be the position from the position of the marking unit 50 when it completely stops moving to the reference axis. The line connecting h, and the central angle between the line connecting the sensing position to the reference axis h.

The reasons for the above-mentioned redundant displacement include: 1) The main adjusting member 20 stops driving the loading member 10 and lags in time after the control system receives the in-position signal. The main adjusting member 20 additionally drives the loading member 10 to rotate to form a redundant displacement. ; 2) Since the rotation speed of the loading part 10 is relatively fast, the loading part 10 cannot stop rotating immediately due to the action of inertia.

In this embodiment, the marking unit 50 is connected to the bottom wall of the end of the overflow prevention member 13 relatively away from the main adjusting member 20 , and the sensing unit 40 is connected to the sensing pusher 70 installed on the conveyor line. The sensing pusher 70 Preferably a cylinder, the sensing pusher 70 can push the sensing unit 40 to extend to move to the sensing position, and can also drive the sensing unit 40 to retract to exit the sensing position after the angle correction of the container part is completed. The distance from the marking unit 50 to the reference axis h is consistent with the distance from the sensing position to the reference axis h. The sensing unit 40 has an avoidance space. When the sensing unit 40 is pushed out by the sensing pusher 70 and stops at the sensing position, After being positioned, the marking unit 50 can follow the overflow prevention member 13 to rotate and pass through the avoidance space, which is the above-mentioned induction triggering area 41 . The sensing unit 40 can also be fixedly arranged on the conveyor line, and the sensing pusher 70 is omitted.

Optionally, the material carrying part 10 also includes: at least two anti-rotation connecting parts 11 that are fixed in relative position and can be fixedly arranged relative to the material installation element 12 during the material angle correction process; the calibration part 30 includes a anti-rotation positioning surface 31 , and the calibration piece 30 can move close to the preset offset position and first contact one of the anti-rotation connectors 11 through the anti-rotation positioning surface 31, and then output a driving force to the anti-rotation connector 11, thereby driving the material installation element 12, preventing The overflow parts 13 rotate together around the reference axis h until the anti-rotation positioning surface 31 contacts the other anti-rotation connection part 11. At this time, the calibration part 30 is in the preset offset position, and at least two anti-rotation connection parts 11 are in contact with each other. Connected to the anti-rotation positioning surface 31, the loading member 10 cannot continue to rotate. The driving force output by the calibration component 30 to the anti-rotation connecting component 11 has a component orthogonal to the reference axis h. For the convenience of explanation, the driving force exerted by the calibration member 30 on the anti-rotation connecting member 11 will be referred to as the position correction torque in the following.

In this embodiment, the anti-rotation connecting piece 11 is fixedly installed on the bottom wall of the end of the overflow prevention piece 13 relatively away from the main adjusting piece 20, and includes four relatively fixed positioning pins and four corresponding positioning pins. Pin bearing. The preset preset offset position is located outside the reference axis h. When the calibration member 30 moves close to the preset offset position, the anti-rotation positioning surface 31 moves close to the reference axis h. The anti-rotation positioning surface 31 is preferably set as a flat surface, and the direction in which the calibration component 30 moves close to the preset offset position is perpendicular to the anti-rotation positioning surface 31 . Of course, the direction in which the calibration component 30 moves toward the preset offset position can also form other angles with the anti-rotation positioning surface 31 .

Specifically, four anti-rotation connectors 11 are evenly distributed on the bottom wall of the overflow prevention component 13 around the reference axis h. If the bottom wall of the anti-overflow component 13 is observed along the extension direction of the reference axis h, when the calibration component 30 reaches the preset offset position, the line segment used to represent the anti-rotation positioning surface 31 and the four anti-rotation connectors 11 are located Circles cut into each other. In this embodiment, the calibration member 30 translates close to the reference axis h along the radial direction of the barrel of the overflow prevention member 13 . As mentioned above, whether the calibration component 30 moves close to the preset offset position depends on the size of the redundant displacement.

Please refer to FIGS. 5 to 7 . The relative positional relationship between the anti-rotation connector 11 - the marking unit 50 - the sensing unit 40 shown in FIG. The connectors 11 are in contact at the same time, and the freedom of rotation of the loading member 10 around the reference axis h is limited. At this time, the marking unit 50 is just located in the sensing trigger area 41 of the sensing unit 40 that is parked at the sensing position, marking the material. Angle correction completed. Figures 6 and 7 show that after the main adjusting member 20 drives the material carrying part 10 to rotate at an arbitrary angle for the first time, when the material carrying part 10 stops rotating, the relative relationship between the anti-rotation connecting piece 11 - the marking unit 50 - the sensing unit 40 There are two possible results of the positional relationship. The angle β in Figure 6 represents the central angle corresponding to the redundant displacement at this time, and the angle α in Figure 7 represents the central angle corresponding to the redundant displacement at this time.

In the situation shown in FIG. 6 , the calibration piece 30 can continue to move to the preset offset position, and the anti-rotation positioning surface 31 can first contact the anti-rotation connecting piece 11a marked with a shadow, and then drive the loading member 10 to rotate counterclockwise for a certain amount. angle until the anti-rotation positioning surface 31 contacts the anti-rotation connector 11b, and finally the relative positional relationship between the anti-rotation connector 11-marking unit 50-sensing unit 40 is switched to the state shown in Figure 5. It can be seen that for the situation shown in Figure 6, the calibration component 30 drives the loading component 10 to rotate to the angular displacement correction amount corresponding to the situation shown in Figure 5, which is exactly the angular displacement stroke corresponding to the redundant displacement amount, that is, as shown in Figure 6 In this case, the redundant displacement can be directly offset by moving the calibration member 30 close to the preset offset position.

In the situation shown in FIG. 7 , if the calibration piece 30 continues to move toward the preset offset position, the anti-rotation positioning surface 31 first contacts the hatched anti-rotation connection 11 a , and then drives the loading member 10 to rotate clockwise. At a certain angle, until the anti-rotation positioning surface 31 contacts the anti-rotation connector 11c, the relative positional relationship between the final anti-rotation connector 11, the marking unit 50 and the sensing unit 40 cannot be switched to the state shown in FIG. 5 . Therefore, for the situation shown in FIG. 7 , after the main adjusting member 20 stops driving the loading member 10 , the calibration member 30 does not immediately move to the preset bias position. The control system will record the redundant displacement shown in Figure 7 and calculate the angular displacement required for the loading part 10 from the state shown in Figure 7 to Figure 5 (for ease of explanation, referred to as the compensation angular displacement), and indicate The main adjusting member 20 drives the loading member 10 to rotate clockwise or counterclockwise for the second time. The main adjusting member 20 can either drive the loading member 10 to rotate clockwise (2π-α) or drive the loading member 10 to rotate counterclockwise. After α, until the relative positional relationship between the anti-rotation connecting piece 11 - the marking unit 50 - the sensing unit 40 switches to the state shown in Figure 5 or Figure 6, due to system delay or inertia, the main adjusting member 20 adjusts the compensation angle according to the After the displacement drives the loading part 10 to rotate twice, it is still difficult to reach the state shown in Figure 5. Therefore, at this time, the control system also needs to record a new redundant displacement, and determine whether the calibration part 30 moves to the preset position based on the new redundant displacement. If the new redundant displacement is larger than the offset position, the calibration component 30 still cannot move to the preset offset position, and the above steps need to be repeated again.

It should be noted that in this embodiment, four anti-rotation connectors 11 evenly distributed around the reference axis h are only a preferred embodiment, and the number of anti-rotation connectors 11 is not limited to four, and it is not necessarily necessary. They are evenly distributed around the reference axis h; the anti-rotation positioning surface 31 does not have to be set as a plane. The anti-rotation connecting piece 11 can also be set in other structures. The use of bearing sleeves to set positioning pins is to reduce the wear caused by multiple contacts between the calibration piece 30 and the load-carrying piece 10, and to improve the relationship between the load-carrying piece 10 and the calibration piece 30. Feedback sensitivity of drive contacts.

Optionally, a correction slope 32 can also be provided for the calibration piece 30 , and the correction slope 32 is adjacent to the anti-rotation positioning surface 31 . As shown in FIGS. 9 and 10 , the calibration piece 30 can move relative to the reference axis h in a direction parallel to the anti-rotation positioning surface 31 , and can push the anti-rotation connecting piece 11 laterally through the corrective slope 32 to output the position to the loading member 10 state correction torque. If the bottom wall of the overflow prevention member 13 is viewed along the extension direction of the reference axis h, the line segment used to represent the anti-rotation positioning surface 31 is secant to the circle where the four anti-rotation connectors 11 are located, and the line segment used to represent the correction slope 32 is The side of the anti-rotation positioning surface 31 away from the reference axis h is inclined relative to the anti-rotation positioning surface 31 . During the movement of the calibration piece 30 relative to the reference axis h, the correction slope 32 first contacts one of the anti-rotation connectors 11, and then drives the loading member 10 to rotate, as shown in Figure 9, until the anti-rotation positioning surface 31 contacts the other anti-rotation connector. to connector 11, as shown in Figure 10.

Optionally, as shown in FIG. 12 , the calibration piece 30 may include at least two anti-rotation contact parts 33 , the loading part 10 includes a anti-rotation fitting part 112 , and the calibration piece 30 can move close to the preset bias position and pass therethrough. One anti-rotation contact part 33 first contacts the anti-rotation matching part 112, and then drives the loading member 10 to rotate around the reference axis h, until the calibration member 30 reaches the preset offset position and contacts another anti-rotation contact part 33, thereby contacting the carrier. The material piece 10 forms a rotation-proof connection. The working principle of this embodiment is basically the same as that of the embodiment represented by FIGS. 1 to 7 .

Optionally, as shown in FIG. 11 , the structure of the anti-rotation connector 11 can also be different from the previous embodiment. The anti-rotation connector 11 includes two relatively fixed and integrally formed or integrally connected force-bearing parts 111 , the calibration member 30 It can move close to the preset offset position and first contact one of the force-receiving parts 111, and then drive the loading member 10 to rotate to the reference axis h until the calibration member 30 reaches the preset offset position. At this time, the calibration member 30 and the two The force-receiving parts 111 are all kept in contact.

Optionally, the angle correction device also includes a braking member 80, which can respond to the in-position signal generated when the marking unit 50 passes through the induction trigger area 41, and then be connected to the power output part of the main adjusting member 20, or at least The position outside the reference axis h is connected to the loading part 10 , thereby providing the loading part 10 with a braking torque opposite to the driving direction of the main adjusting part 20 . From the time when the in-position signal is sent to when the loading part 10 stops rotating, the angular displacement of the loading part 10 during this period is the above-mentioned redundant displacement. It should be noted that the braking member 80 may be provided with the main adjusting member 20 itself, or may be independent of the main adjusting member 20 . The purpose of the braking member 80 connecting the power output part of the main adjusting member 20 or the loading member 10 outside the reference axis h is to provide as large a braking torque as possible, thereby reducing redundant displacement.

Optionally, the angle correction device also includes a clutch mechanism 60 , which can simultaneously connect the material carrying member 10 and the main adjusting member 20 so that the main adjusting member 20 outputs driving torque to the material carrying member 10 . Please refer to Figure 1. In this embodiment, the clutch mechanism 60 includes a matching transmission component 61 and a propulsion component 62. The matching transmission component 61 is connected to the driving end 21 of the main adjusting member 20. The matching transmission component 61 includes a component for directly abutting on the The wear-resistant part of the load-carrying part 10 is preferably a polyurethane ring body. The propulsion assembly 62 can drive the mating transmission assembly 61 along the extension direction of the reference axis h to abut or disengage from the load-carrying part 10, including having the function of occurring in the extension direction of the reference axis h. Elastically deformable telescopic elements. After the main adjusting member 20 drives the loading member 10 to rotate and stop for the first time, if the redundant displacement of the loading member 10 is small, the propulsion mechanism drives the matching transmission assembly 61 to separate from the loading member 10 , thus releasing the main adjusting member. 20 is connected to the drive of the loading part 10, so that the calibration part 30 can push the loading part 10 without hindrance; if the redundant displacement of the loading part 10 is large, the propulsion mechanism continues to connect the main adjusting part 20 and The state of the loading member 10 is such that the main adjusting member 20 drives the loading member 10 to rotate for the second time.

Embodiment 2

Referring to FIG. 8 , different from the first embodiment, the main function of the main adjusting member 20 in the second embodiment is to apply a braking torque to the loading member 10 so that the rotating loading member 10 stops rotating as soon as possible. The power source that drives the loading member 10 to rotate can be generated by the main adjusting member 20 or provided by a driver independent of the main adjusting member 20 . Therefore, in the second embodiment, the main adjusting member 20 suppresses the rotation of the loading member 10 so that the loading member 10 moves from a rotating state to a stationary state. Similar to Embodiment 1, the angle correction device also includes a marking unit 50 that is connected to the carrier 10 and a sensing unit 40 with an induction trigger area 41. The marking unit 50 follows the rotation trajectory of the carrier 10 and happens to pass through the location where the carrier 10 rotates. At a sensing position outside the reference axis h, the sensing unit 40 can pause and reside at the sensing position to wait for the marking unit 50 to pass through the sensing trigger area 41 of the sensing unit 40 .

The angle correction device also includes an anti-rotation connection part 14 installed on the loading part 10. Different from the at least two anti-rotation connection parts 11 provided in the first embodiment, the number of the anti-rotation connection part 14 can be one, as long as the anti-rotation part 11 is provided. The connecting portion 14 only needs to be located outside the reference axis h. The anti-rotation connecting portion 14 follows the rotation trajectory of the loading member 10 around the reference axis h, and also happens to pass through the preset offset position. The operation process of the angle correcting device of the second embodiment will be introduced below with reference to FIG. The rotation direction of the anti-rotation connecting portion 14 of the material piece 10 points to Y, indicating the direction in which the calibration piece 30 moves to the preset offset position.

First, the loading part 10 is in a rotating state, and the loading part 10 drives the marking unit 50 to pass through the induction trigger area 41 of the sensing unit 40. The sensing unit 40 senses that the marking unit 50 passes by and sends out a position signal, and the main adjusting member 20 rings. The in-position signal should be applied and a braking torque is applied to the loading part 10. At this time, the calibration part 30 responds to the in-place signal and moves in the Y direction close to the preset offset position. When the anti-rotation connection part 14 abuts against the calibration part 30, then The position adjustment of the dialyzer container section is completed.

Optionally, the carrier 10 can first rotate at an extremely fast initial speed. At this time, the driver that drives the rotation of the carrier 10 has been separated from the carrier 10. The carrier 10 rotates under the action of inertia and drives the marking unit 50. The sensing unit 40 passes through the sensing unit 40 multiple times. The sensing unit 40 not only senses the passing of the marking unit 50, but also records the time when the marking unit 50 passes. The control determines the carrier based on the length of several time intervals when the marking unit 50 passes through the sensing trigger area 41 multiple times. The speed of the material 10 changes. When the rotation speed of the material carrying part 10 drops below a certain threshold, the sensing unit 40 sends out the last in-position signal, and the main adjusting member 20 responds to this in-position signal and brakes the material carrying part 10. The calibration component 30 responds to this final position signal and moves to the preset bias position. The sensing unit 40 may use an encoder to implement the above functions.

The following introduces the material angle correction method, which includes the following steps:

S10. Drive the material carrying part 10 to rotate with the reference axis h as the rotation center, so that the material carrying part 10 reaches at least the preset position;

S20. Through the preset position, the sensing unit 40 generates an in-position signal to instruct the main adjusting member 20 to prevent the loading member 10 from rotating with the reference axis h as the rotation center;

S30. By the in-position signal or the stop of rotation of the loading part 10, the calibration part 30 moves to the preset offset position and connects to the loading part 10 until the calibration part 30 reaches the preset offset position;

S40. The sensing unit 40 senses whether the marking unit 50 exists in the induction triggering area 41, and completes the angle correction of the material when the marking unit 50 is in the induction triggering area 41.

Specifically, the preset position mentioned in step S10 means: during the synchronous rotation of the marking unit 50 following the loading member 10 , the position of the loading member 10 at the moment when the marking unit 50 reaches the sensing position. The calibration piece 30 has been parked at the sensing position in advance to wait for the marking unit 50 to arrive and pass through the sensing trigger area 41 of the sensing unit 40 . Therefore, although the material angle correction method does not specifically limit the specific angular displacement of the main adjusting member 20 for the first time driving the loading member 10 to rotate, the driving stroke should be large enough to cover the above-mentioned preset position of the loading member 10 situation.

Driving the material-carrying member 10 to rotate may be accomplished by the main adjusting member 20 , or an external driver may be used to drive the material-carrying member 10 to rotate. If an external driver is used to drive the load-carrying part 10 to rotate, as in the second embodiment above, the specific function of the main adjusting member 20 at this time is to apply braking torque to the load-carrying part 10 so as to make the load-carrying part 10 return from the rotational state as quickly as possible. tends to stop. Therefore, for the above embodiment 1, step S10 includes: S11. The main adjusting member 20 drives the loading member 10 to rotate about the reference axis h as the rotation center, so that the loading member 10 reaches at least the preset position.

Optionally, step S30 includes:

S31. When the loading member 10 is in a stationary state, obtain the relative position difference between the marking unit 50 and the sensing unit 40;

S32. Compare the relative position difference with the preset reference position difference. When the relative position difference is smaller than the reference position difference, instruct the calibration component 30 to move to the preset offset position and drive the loading component 10 to rotate until the calibration component 30 reaches the preset offset position. when the relative position difference is greater than or equal to the reference position difference, drive the loading member 10 to rotate again, and repeat steps S10 to S30.

The in-position signal can be used as a condition for triggering step S20, and the time at which the in-position signal is issued is also the initial time for recording the redundant displacement amount. From when the in-position signal is sent to when the loading part 10 stops rotating and reaches a stationary state, the angular displacement of the loading part 10 during this period is the redundant displacement, that is, the difference between the marking unit 50 and the sensor at the sensing position in step S31 The relative position difference of the sensing unit 40, in this case, the relative position difference represents the angle between the line connecting the marking unit 50 and the reference axis h, and the line connecting the sensing position to the reference axis h.

For step S32, as mentioned above, whether the calibration member 30 moves to the preset offset position depends on the size of the redundant displacement, that is, the relative position of the marking unit 50 and the sensing unit 40 at the sensing position. Difference. The reference position difference mentioned therein is a preset judgment standard. When the redundant displacement is greater than the reference position difference, the system controls the calibration member 30 to move to the preset offset position, so that the container part only needs to pass through the main adjustment member respectively. 20 and the calibration piece 30 can each be driven once to reach the required position. Otherwise, the main adjusting member 20 needs to drive the loading member 10 to rotate for the second time, that is, in step S32, when the relative position difference is greater than or equal to the reference position difference, drive the loading member 10 to rotate again, and repeat steps S10-S30. , the purpose is to make the loading member 10 reach the preset position again, and to minimize the redundant displacement after the second rotation. Generally speaking, the loading part 10 can complete the angle correction of the container part through at most two drives of the main adjusting part 20 and one driving of the calibration part 30. Of course, there is a very low possibility that the loading part 10 needs to be driven by the main adjustment part 20 once. The adjustment member 20 needs to be driven three times or more, and the attached calibration member 30 needs to be driven once to complete the angle correction. If the main adjusting member 20 uses a servo motor, the possibility that the redundant displacement is greater than the reference position difference will be significantly reduced, and there will be no need to drive the loading member 10 to rotate again and repeat steps S10 to S30.

Optionally, in step S40 , when the marking unit 50 is not in the induction triggering area 41 , the instruction calibration component 30 drives the loading member 10 to rotate until the marking unit 50 is within the induction triggering area 41 . Specifically, step S40 also includes the following steps: S41: Obtain the relative position difference between the marking unit 50 and the sensing unit 40 again, and complete the material angle correction when the relative position difference is less than or equal to the preset critical deviation.

For step S41, the preset critical deviation provides an allowable error range for the container part angle correction, that is, after the calibration part 30 drives the loading part 10 to rotate, the difference between the marking unit 50 and the sensing unit 40 at the sensing position If the relative position difference does not exceed the preset critical deviation, it can be considered that the position of the container part has reached the final desired ideal position.

Optionally, in step S41, when the relative position difference is greater than the preset critical deviation, the calibration piece 30 is instructed to drive the loading member 10 to rotate again until the relative position difference is less than the preset critical deviation. It should be noted that here, the The calibration component 30 that drives the loading part 10 to rotate may be the calibration component 30 that drives the loading component 10 in step S30 , or it may be another independent calibration component 30 . For example, two opposing calibration parts 30 can be provided at the container part angle correction station. Both have anti-rotation positioning surfaces 31 arranged opposite each other, and can be used to drive the loading part 10 to rotate in the clockwise or counterclockwise direction. To eliminate the error amount where the relative position difference is greater than the preset critical deviation.

This application includes the following advantages:

Regardless of the shape, position/orientation angle of the transported materials, the angle correction device can be used to adjust the position of each material to a unified and ideal position that meets the process requirements of the post-station. Therefore, there is no need to individually adjust the position of each material. The position of each material is adjusted before the post-processing is performed. Therefore, the materials that have passed through the angle correction device can be directly subjected to post-processing operations, which is beneficial to improving the production capacity and production efficiency of medical consumable products, and significantly reducing the material debugging and detection ratio. Right time consuming.

The technical features of the above-described embodiments can be combined in any way. To simplify the description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, All should be considered to be within the scope of this manual.

The above-described embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims (15)

1. An angle correction device used to correct and limit the position of materials. The angle correction device includes:

   The loading part has the degree of freedom to rotate with the preset reference axis as the center of rotation;

   The main adjusting member is used to change the rotation state of the loading member;

   The calibration component is capable of moving relative to the reference axis and is rotationally connected to the loading component when it reaches a preset offset position.
2. The angle correction device according to claim 1, wherein the angle correction device further includes:

   A sensing unit with an induction triggering area;

   A marking unit is connected to the loading part;

   The sensing unit can respond to the marking unit passing through the induction triggering area and generate an in-position signal, the main adjusting member can respond to the in-position signal and make the loading member tend to stop from the rotation state, and the calibration The component can stop rotating and move toward the preset bias position in response to the in-position signal and/or the loading component.
3. The angle correction device according to claim 2, wherein the marking unit is located outside the reference axis, and the sensing unit can park at a sensing position located outside the reference axis to wait for the mark. The unit passes through the induction trigger area.
4. The angle correction device according to claim 2, wherein the angle correction device further includes a braking member capable of responding to the in-position signal and being connected to the at least a position outside the reference axis. The load-carrying member, or the power output connected to the main adjusting member.
5. The angle correction device according to claim 1 or 2, wherein the loading member includes at least two anti-rotation connecting members that are fixed in relative positions, and the calibration member can move close to the preset offset position and pass through contact. One of the anti-rotation connectors drives the material carrying member to rotate until the calibration member reaches the preset offset position and contacts the other anti-rotation connector.
6. The angle correction device according to claim 5, wherein the calibration member includes a rotation-proof positioning surface, the rotation-locking positioning surface can move close to the reference axis and output a rotation-proof connection element orthogonal to the The driving force of the component of the reference axis.
7. The angle correction device according to claim 5, wherein the calibration member includes an adjacent anti-rotation positioning surface and a correction bevel, and the correction bevel is inclined relative to the anti-rotation positioning surface on a side away from the reference axis. ;

   The calibration piece can move in a direction parallel to the anti-rotation positioning surface and output a driving force with a component orthogonal to the reference axis to one of the anti-rotation connecting parts through the correction slope.
8. The angle correction device according to claim 1 or 2, wherein the load-carrying member includes a rotation-proof connection member, the rotation-stop connection member includes two relatively fixed and integrally connected force-bearing parts, and the calibration member can Move close to the preset bias position and drive the load-carrying member to rotate by contacting one of the force-receiving parts until the calibration component reaches the preset bias position and contacts the other force-receiving part; or,

   The calibration piece includes at least two anti-rotation contact portions, the loading piece includes a anti-rotation fitting portion, the calibration piece can move close to the preset bias position, and contacts the said anti-rotation contact portion through one of the anti-rotation contact portions. The anti-rotation fitting part drives the material carrying part to rotate, so that the calibration part contacts another anti-rotation contact part when it reaches the preset offset position.
9. The angle correction device according to claim 1 or 2, wherein the main adjusting member is used to apply braking torque to the material carrying member to decelerate the rotation of the material carrying member and tend to stop; the material carrying member The component includes an anti-rotation connecting portion located outside the reference axis, and a rotation trajectory of the anti-rotation connecting portion around the reference axis passes through the preset offset position.
10. The angle correction device according to claim 1, wherein the angle correction device further includes a clutch mechanism, and the clutch mechanism can simultaneously connect the loading member and the main adjusting member.
11. The angle correction device according to claim 10, wherein the clutch mechanism includes a cooperating transmission component and a propulsion component, the cooperating transmission component is connected to the driving end of the main adjustment member, and the propulsion component can drive all The matching transmission component is disengaged from or contacted with the material carrying member.
12. A material angle correction method includes the following steps:

    A. Drive the loading part to rotate with the reference axis as the center of rotation, so that the loading part reaches at least the preset position;

    B. Through the preset position, the sensing unit generates an in-position signal to instruct the main adjusting member to prevent the loading member from rotating with the reference axis as the rotation center;

    C. By the in-position signal or the loading part stopping rotating, the calibration part moves to the preset offset position and connects to the loading part until the calibration part reaches the preset offset position;

    D. The sensing unit senses whether the marking unit exists in the induction trigger area, and completes the angle correction of the material when the marking unit is in the induction trigger area.
13. The material angle correction method according to claim 12, wherein step A, that is, driving the material carrying member to rotate with the reference axis as the center of rotation, so that the material carrying member reaches at least a preset position, includes:

    A1. The main adjusting member drives the loading part to rotate with the reference axis as the center of rotation, so that the loading part reaches at least the preset position; and/or,

    Step C, that is, by the in-position signal or the loading part stopping rotation, the calibration part moves to the preset offset position and connects the loading part until the calibration part reaches the preset offset position, including:

    C1. When the loading part is in a stationary state, obtain the relative position difference between the marking unit and the sensing unit;

    C2. Compare the relative position difference with the preset reference position difference. When the relative position difference is less than the reference position difference, instruct the calibration component to move to the preset offset position and drive the loading component to rotate until the calibration component reaches the preset offset position.
14. The material angle correction method according to claim 12 or 13, wherein in step C2, when the relative position difference is greater than or equal to the reference position difference, the loading member is driven to rotate again, and steps A to C are repeated.
15. The material angle correction method according to claim 12 or 13, wherein in step D, when the marking unit is not in the induction triggering area, the calibration component is instructed to drive the loading member to rotate until the marking unit is in the induction triggering area.

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