WO2023178717A1 - 物料移送装置及医疗器械生产线 - Google Patents
物料移送装置及医疗器械生产线 Download PDFInfo
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- WO2023178717A1 WO2023178717A1 PCT/CN2022/083754 CN2022083754W WO2023178717A1 WO 2023178717 A1 WO2023178717 A1 WO 2023178717A1 CN 2022083754 W CN2022083754 W CN 2022083754W WO 2023178717 A1 WO2023178717 A1 WO 2023178717A1
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- clamping
- assembly
- arm
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- clamping arm
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 16
- 230000000712 assembly Effects 0.000 claims description 11
- 238000000429 assembly Methods 0.000 claims description 11
- 230000007423 decrease Effects 0.000 claims description 7
- 125000004122 cyclic group Chemical group 0.000 claims description 4
- 238000011084 recovery Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 238000013459 approach Methods 0.000 description 6
- 230000005489 elastic deformation Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/907—Devices for picking-up and depositing articles or materials with at least two picking-up heads
Definitions
- This application relates to medical devices, and in particular, to a material transfer device and a medical device production line.
- the related material transfer device includes a first clamping component and a second clamping component.
- the initial state is that the first clamping component clamps the material and the second clamping component does not clamp the material.
- the first clamping component and the second clamping component first move relatively to the first clamping component and the second clamping component to simultaneously clamp the material, then the first clamping component releases the material, and finally the first clamping component and the second clamping component
- the clamping components move relatively until the first clamping component and the second clamping component move away from each other. As a result, the material transfer efficiency is slow and needs to be improved.
- an improved material transfer device and a medical device production line are provided.
- This application first provides a material transfer device, which includes a first clamping component and a second clamping component.
- the first clamping component and the second clamping component are both used to clamp and release materials.
- the first clamping component and the second clamping component can move relatively to the first clamping component and the second clamping component while clamping the material, and the second clamping component can elastically clamp the material.
- the first clamping component moves relative to the second clamping component and the first clamping component clamps and releases the material in steps.
- the first clamping assembly includes a first clamping arm and a second clamping arm
- the material transfer device further includes a first transfer drive assembly and a second transfer drive assembly
- the The first transfer driving assembly is used to drive the first clamping arm and the second clamping arm to move relative to clamp and release materials
- the second transfer driving assembly is used to drive the first clamping arm
- the second clamping arm moves relative to the second clamping assembly, and the first transfer drive assembly and the second transfer drive assembly can drive the first clamping arm and the second clamp step by step. Move with arms.
- the first transfer drive assembly includes a guide block, a first transfer drive member and a first reset member.
- the first transfer drive member can drive the guide block relative to the first clamp.
- the clamping assembly moves.
- the distance between the first clamping arm and the second clamping arm is determined by the guidance of the guide block and the second clamping arm. Under the action of a reset piece, it decreases to gradually clamp the material or increases to gradually loosen the material.
- the guide block is provided with a guide surface, the guide surface is in contact with the first clamping arm, and the guide surface is used to guide the first clamping arm relative to the The second clamping arm moves.
- the first clamping component moves relative to the second clamping component and the first clamping component releases the material simultaneously.
- the second clamping component includes a positioning space, and materials can enter the positioning space as the first clamping component moves relative to the second clamping component.
- materials can enter the positioning space as the first clamping component moves relative to the second clamping component.
- the material moves in the positioning space, it is clamped by the second clamping component.
- the first clamping component gradually releases the material.
- the first clamping assembly includes a first clamping arm and a second clamping arm
- the material transfer device further includes a second transfer drive assembly and a guide block
- the second transfer device The driving assembly is used to drive the first clamping arm and the second clamping arm to move relative to the second clamping assembly.
- the guide block begins to guide the distance between the first clamping arm and the second clamping arm to gradually increase to loosen the material.
- the guide block is provided with a guide surface, the guide surface is in contact with the first clamping arm, and the guide surface is used to guide the first clamping arm relative to the The second clamping arm moves.
- This application further provides a medical device production line, including the above-mentioned material transfer device.
- the medical device production line includes a first circulation line and a second circulation line
- the first circulation line includes a first circulation driving member
- the first clamping assembly is provided with a plurality of
- the first circulating driving member is used to drive a plurality of first clamping assemblies to circulate and move.
- the second circulating line includes a second circulating driving member.
- the second clamping assembly is provided with a plurality of first clamping assemblies.
- the two circulation driving parts are used to drive a plurality of second clamping assemblies to move in circulation.
- Figure 1 is a schematic structural diagram of the material transfer device in Embodiment 1 of the present application.
- Figure 2 is an enlarged view of area A in Figure 1;
- Figure 3 is a schematic structural diagram of the second clamping component in Embodiment 1 of the present application.
- Figure 4 is a schematic structural diagram of the guide block in Embodiment 1 of the present application.
- Figure 5 is a schematic connection diagram of the first reset component in Embodiment 1 of the present application.
- Figure 6 is a schematic connection diagram of the medical device production line in Embodiment 1 of the present application.
- a component when referred to as being “mounted on” another component, it can be mounted directly on the other component or intervening components may also be present.
- a component When a component is said to be “set on” another component, it can be directly set on the other component or there may be a centered component at the same time.
- a component When a component is said to be “anchored” to another component, it can be directly anchored to the other component or there may be an intermediate component present as well.
- the embodiment of the present application first provides a material transfer device 10 as shown in FIG. 1 , including a first clamping component 100 , a second clamping component 200 , a first transfer drive component 300 and a second transfer drive component 400 .
- the first clamping assembly 100 includes a mounting member 110 , a first clamping arm 120 , a second clamping arm 130 and a first reset member 140 .
- the first clamping arm 120 includes a connected clamping part 121 and an adjusting part 122 .
- the connection between the clamping part 121 and the adjustment part 122 is rotationally connected to the mounting member 110 , and the clamping part 121 and the adjustment part 122 can rotate around the connection between the clamping part 121 and the adjustment part 122 .
- the second clamping arm 130 is fixedly connected to the mounting member 110 .
- the clamping portion 121 and the second clamping arm 130 cooperate to clamp and release materials.
- the adjusting part 122 is used to drive the distance between the clamping part 121 and the second clamping arm 130 to change so as to switch the state between the clamping part 121 and the second clamping arm 130 between clamping and releasing the material.
- the distance between the clamping part 121 and the second clamping arm 130 increases to gradually loosen the material.
- the distance between the clamping part 121 and the second clamping arm 130 decreases to gradually clamp the material.
- the two ends of the first reset member 140 are respectively connected to the adjustment part 122 and the second clamping arm 130 .
- the adjusting part 122 and the second clamping arm 130 When the adjusting part 122 and the second clamping arm 130 are close to each other, they will act on the first reset part 140, so that the degree of elastic deformation of the first reset part 140 increases.
- the first reset part 140 acts on the adjustment part 122 to reset the adjustment part 122, the degree of elastic deformation of the first reset part 140 decreases.
- the second clamping assembly 200 includes a first clamping part 210 , a second clamping part 220 , a connecting part 230 , a main body part 240 and a limiting part 250 .
- One end of the first clamping part 210 and one end of the second clamping part 220 are connected to two ends of the connecting part 230 respectively.
- the other end of the first clamping part 210 is far away from the connecting part 230 and the second clamping part 220 is far away from the connection.
- the other end of the portion 230 is spaced apart.
- the main body part 240 surrounds the first clamping part 210, the connecting part 230 and the second clamping part 220.
- the main body part 240 is connected to the first clamping part 210, the main body part 240 and the second clamping part 220 are spaced apart, and the main body part 240 and the connecting part 230 are also spaced apart.
- the second clamping part 220 includes a limiting section 221 and a clamping section 222 .
- the two ends of the clamping section 222 are connected to the connecting portion 230 and the limiting section 221 respectively.
- the minimum distance between the limiting section 221 and the first clamping part 210 is smaller than the distance between the clamping section 222 and the first clamping part 210 .
- the end of the limiting section 221 away from the clamping section 222 can guide the material to enter between the clamping section 222 and the first clamping part 210 .
- one end of the limiting part 250 is connected to the first clamping part 210 , and the other end of the limiting part 250 is spaced apart from the clamping section 222 .
- a first positioning space 260 and a second positioning space 270 are formed between the clamping section 222 and the first clamping part 210 .
- the limiting part 250 is located between the first positioning space 260 and the second positioning space 270 . Since the other end of the limiting part 250 is spaced apart from the clamping section 222, the first positioning space 260 and the second positioning space 270 are in a connected state.
- the first positioning space 260 and the second positioning space 270 are connected to form a complete positioning space.
- the side of the limiting portion 250 facing the first positioning space 260 is smoothly connected to the first clamping portion 210
- the side of the limiting portion 250 facing the second positioning space 270 is smoothly connected to the first clamping portion 210 .
- the first clamping part 210 and the second clamping part 220 clamp materials.
- the first clamping part 210 and the second clamping part 220 can elastically maintain the relative positions of the first clamping part 210 and the second clamping part 220 .
- the second clamping component 200 elastically clamps the material, so whether the material moves from the first clamping component 100 to the second clamping component 200 or the material moves from the second clamping component 200 to the first clamping component 100, the second The clamping component 200 can clamp and release the material synchronously with the movement of the material relative to the second clamping component 200, thereby eliminating the need to wait for the second clamping component 200 to switch to the releasing state or the clamping state, thus speeding up material transfer. efficiency.
- the first transfer drive assembly 300 includes a guide block 310 and a first transfer drive member 320 .
- the guide block 310 is provided with a guide groove 311 , and the inner wall of the side where the guide groove 311 contacts the adjustment portion 122 is a guide surface 312 .
- the guide surface 312 includes a guide section 312a, a constant section 312b and a recovery section 312c connected in sequence. Wherein, the distance between the constant section 312b and the second clamping arm 130 remains constant, and the distance between the guide section 312a and the second clamping arm 130 gradually changes from the end far away from the constant section 312b to the end close to the constant section 312b.
- the first transfer driving member 320 drives the guide block 310 to move relative to the adjustment portion 122 , so that the adjustment portion 122 contacts the guide section 312 a and moves along the guide groove 311 .
- the adjustment portion 122 will gradually approach the second clamping arm 130 and gradually move away from the second clamping arm 130 when in contact with the guide section 312a and the recovery section 312c, respectively.
- the clamping portion 121 and the second clamping arm 130 loosen and clamp the material.
- the second transfer drive assembly 400 includes a driving wheel 410 , a driven wheel 420 , a guide rail 430 , a guide member 440 , a second reset member 450 and a second transfer drive member 460 .
- the second transfer driving member 460 is used to drive the driving wheel 410 to rotate eccentrically, and the driven wheel 420 is located on the rotation path of the driving wheel 410 . Therefore, the driving wheel 410 will contact the driven wheel 420 during the eccentric rotation.
- One end of the guide rail 430 is connected to the axis center of the driven wheel 420, and the other end of the guide rail 430 passes through the guide member 440 and is connected to the first clamping assembly 100.
- the guide rail 430 and the guide member 440 are sleeved, so that the guide rail 430 can only move under the guidance of the guide member 440 .
- the driven wheel 420 will move under the action of the driving wheel 410 and the guidance of the guide 440, so that the first clamping assembly 100 and the second clamping assembly 200 are opposite to each other. move.
- the driven wheel 420 can overcome the action of the second reset member 450 under the action of the driving wheel 410, the driven wheel 420 will drive the first clamping assembly 100 and the second clamping assembly 200 to approach each other.
- the second reset member 450 The degree of elastic deformation increases.
- the driven wheel 420 When the effect of the driven wheel 410 on the driven wheel 420 is smaller than the effect of the second reset member 450, the driven wheel 420 will drive the first clamping assembly 100 and the second clamping assembly 200 away from each other under the action of the second reset member 450. , at this time, the degree of elastic deformation of the second reset member 450 decreases.
- the first transfer driving assembly 300 drives the first clamping arm 120 and the second clamping arm 130 to move to gradually clamp and release the material
- the second transfer driving assembly 400 drives the first clamping arm 120 and the second clamping arm 130 Approaching and moving away from the second clamping assembly 200 is performed in steps. More precisely, when the material is transferred from the first clamping assembly 100 to the second clamping assembly 200, the second transfer driving assembly 400 first drives the first clamping arm 120 and the second clamping arm 130 to approach the second clamping assembly. The second clamping assembly 200 clamps the material. The first transfer driving assembly 300 then drives the first clamping arm 120 and the second clamping arm 130 to move to gradually loosen the material.
- the second transfer driving assembly 400 first drives the first clamping arm 120 and the second clamping arm 130 to approach the second clamping assembly 200. After the driving assembly 300 is transferred, the first clamping arm 120 and the second clamping arm 130 are driven to move to the first clamping assembly 100 to clamp the material, and then the second clamping assembly 200 releases the material. Therefore, the first clamping component 100 and the second clamping component 200 will move relatively to the first clamping component 100 and the second clamping component 200 while clamping the material.
- the description is based on the material being transferred from the first clamping assembly 100 to the second clamping assembly 200 .
- the second transfer driving member 460 drives the driving wheel 410 to rotate eccentrically, so that the driving wheel 410 and the driven wheel 420 come into contact and drive the driven wheel 420 to move.
- the driven wheel 420 can overcome the action of the second reset member 450 under the action of the driving wheel 410, so that under the guidance of the guide member 440, the driven wheel 420 drives the guide rail 430 and the first clamping assembly 100 to move toward the second clamping assembly 200. At this time, the degree of elastic deformation of the second reset member 450 increases.
- the gap between the first clamping part 210 and the second clamping part 220 The distance increases so that the material can enter the positioning space, and the first clamping part 210 and the second clamping part 220 clamp the material. But at this time, the first clamping component 100 still clamps the material.
- the first transfer driving member 320 drives the guide block 310 to move toward the adjustment part 122, so that the adjustment part 122 contacts the guide section 312a and the constant section 312b in sequence.
- the adjusting part 122 moves in the guide groove 311, the adjusting part 122 gradually approaches the second clamping arm 130, so that the distance between the clamping part 121 and the second clamping arm 130 increases to gradually loosen the material.
- the first clamping component 100 no longer clamps the material.
- the second transfer driving member 460 continues to drive the driving wheel 410 to rotate eccentrically, so that the driven wheel 420 receives less force from the driving wheel 410 than the second reset member 450. At this time, the driven wheel 420 will be driven by the second return member 450. The guide rail 430 and the first clamping component 100 are driven to move away from the second clamping component 200. At this time, the degree of elastic deformation of the second reset member 450 is reduced. During the movement of the first clamping component 100 away from the second clamping component 200 , the adjusting portion 122 will contact the constant section 312b and the recovery section 312c in sequence and finally leave the guide groove 311 .
- the relative position of the adjusting part 122 and the second clamping arm 130 remains unchanged, so that the distance between the clamping part 121 and the second clamping arm 130 remains unchanged.
- a clamping assembly 100 still no longer clamps materials.
- the adjusting portion 122 gradually moves away from the second clamping arm 130, so that the distance between the clamping portion 121 and the second clamping arm 130 decreases.
- the clamping part 121 and the second clamping arm 130 cannot clamp the material again.
- the relative position of the adjusting part 122 and the second clamping arm 130 remains unchanged, so that the distance between the clamping part 121 and the second clamping arm 130 remains unchanged.
- the first moving driving member drives the guide block 310 to reset, completing the transfer of the material from the first clamping assembly 100 to the second clamping assembly 200 .
- an embodiment of the present application further provides a medical device production line 20 , including a first circulation line 500 , a second circulation line 600 and the above-mentioned material transfer device 10 .
- the production efficiency of the medical device production line using the material transfer device 10 is relatively high.
- the first circulation line 500 includes a rotating member 510 and a first circulation driving member 520 .
- Multiple guides 440, guide rails 430 and first clamping components 100 are provided.
- the plurality of guide members 440 are all fixedly connected to the rotating member 510 , and the plurality of guide members 440 , the plurality of guide rails 430 and the plurality of first clamping assemblies 100 correspond one to one.
- the first circulating driving member 520 drives the rotating member 510 to rotate in a circumferential direction, so that the rotating member 510 drives the plurality of first clamping assemblies 100 to rotate in a circumferential direction, thereby realizing the cyclic movement of the plurality of first clamping assemblies 100 .
- the second circulation line 600 includes a circulation belt 610 and a second circulation driving member 620 .
- a plurality of second clamping assemblies 200 are provided, and the plurality of second clamping assemblies 200 are connected to the endless belt 610 .
- the second circulation driving member 620 drives the circulation belt 610 to move, so that the circulation belt 610 drives the plurality of second clamping assemblies 200 to move in circulation.
- Embodiment 2 The difference between Embodiment 2 and Embodiment 1 lies in the way the material is transferred between the first clamping assembly 100 and the second clamping assembly 200 .
- the material enters the positioning space as the first clamping arm 120 and the second clamping arm 130 move relative to the second clamping assembly 200, and the material is affected by the second clamping assembly 200 when moving in the positioning space. of clamping.
- the first clamping arm 120 and the second clamping arm 130 move relative to the second clamping component 200 and the first clamping component 100 gradually releases the material simultaneously.
- the first transfer driving member 320 does not need to be provided, and the guide block 310 is in a fixed position.
- the adjusting portion 122 will enter the guide groove 311 and contact the recovery section 312c and the constant section 312b in sequence.
- the first clamping component 100 moving relative to the second clamping component 200 and the first clamping component 100 gradually releasing the material distribution gradually releases the material simultaneously, which can further speed up the material transfer efficiency.
- the material moves in the positioning space, it is clamped by the second clamping component 200. Therefore, even if the first clamping component 100 gradually releases the material while the material is moving, the material can still be clamped by the second clamping component 200. and be fixed. Before the material is moved to the position, the first clamping arm 120 and the second clamping arm 130 no longer clamp the material, and the second clamping component 200 has already clamped the material.
- fixing the guide block 310 at a position on the moving path of the first clamping arm 120 and the second clamping arm 130 after the material is clamped by the second clamping assembly 200 and before the material is moved into place can also ensure the first When the clamping arm 120 and the second clamping arm 130 no longer clamp the material, the material can be clamped by the second clamping assembly 200 . Therefore, the guide block 310 can be fixedly arranged.
- the material is transferred from the first clamping assembly 100 to the second clamping assembly 200 for illustration, and the differences from the working process in Embodiment 1 are mainly described.
- the adjusting portion 122 will enter the guide groove 311 and contact the recovery section 312c and the constant section 312b in sequence.
- the adjusting part 122 gradually approaches the second clamping arm 130, so that the distance between the clamping part 121 and the second clamping arm 130 increases to gradually loosen the material.
- the first clamping component 100 no longer clamps the material.
- the relative positions of the adjusting portion 122 and the second clamping arm 130 remain unchanged, so that the distance between the clamping portion 121 and the second clamping arm 130 remains unchanged.
- the first clamping assembly 100 no longer clamps the material at this time, the material is still in contact with the clamping part 121 and the second clamping arm 130 , so that the material is still pushed by the clamping part 121 and the second clamping arm 130 Ability to move within positioning space.
- the adjusting portion 122 will contact the constant section 312b and the recovery section 312c in sequence and exit the guide groove 311 .
- the relative positions of the adjusting portion 122 and the second clamping arm 130 remain unchanged, so that the distance between the clamping portion 121 and the second clamping arm 130 remains unchanged.
- the distance between the adjusting portion 122 and the second clamping arm 130 decreases.
- the clamping part 121 and the second clamping arm 130 cannot clamp the material again.
- the relative position of the adjusting part 122 and the second clamping arm 130 remains unchanged, so that the distance between the clamping part 121 and the second clamping arm 130 remains unchanged.
Abstract
一种物料移送装置及医疗器械生产线，该物料移送装置包括第一夹持组件 (100) 和第二夹持组件 (200)，所述第一夹持组件 (100) 和所述第二夹持组件 (200) 均用于夹持和松开物料，所述第一夹持组件 (100) 和所述第二夹持组件(200)相对移动至所述第一夹持组件 (100) 和所述第二夹持组件 (200) 同时夹持物料，所述第二夹持组件(200) 弹性夹持物料。
Description
相关申请
本申请要求2022年3月24日申请的，申请号为202210296735.8，发明名称为“物料移送装置及医疗器械生产线”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
本申请涉及医疗器械，尤其涉及一种物料移送装置及医疗器械生产线。
在医疗器械自动化生产过程中，受限于空间、成本等因素往往需要采用多个循环线来移送物料，而不同的循环线之间的物料需要依靠物料移送装置进行移送。相关的物料移送装置包括第一夹持组件和第二夹持组件。当物料在不同的循环线之间移送时，假设初始状态为第一夹持组件夹持物料，第二夹持组件并未夹持物料。第一夹持组件和第二夹持组件先相对移动至第一夹持组件和第二夹持组件同时夹持物料，然后第一夹持组件松开物料，最后第一夹持组件和第二夹持组件相对移动至第一夹持组件和第二夹持组件相互远离。如此一来，物料移送效率较慢，有待改进。
发明内容
根据本申请的各种实施例，提供一种改进的物料移送装置及医疗器械生产线。
本申请首先提供一种物料移送装置，包括第一夹持组件和第二夹持组件，所述第一夹持组件和所述第二夹持组件均用于夹持和松开物料，所述第一夹持组件和所述第二夹持组件能够相对移动至所述第一夹持组件和所述第二夹持组件同时夹持物料，所述第二夹持组件能够弹性夹持物料。
在本申请的一个实施方式中，所述第一夹持组件相对所述第二夹持组件移动和所述第一夹持组件夹持和松开物料分步进行。
在本申请的一个实施方式中，所述第一夹持组件包括第一夹持臂和第二夹持臂，所述物料移送装置还包括第一移送驱动组件和第二移送驱动组件，所述第一移送驱动组件用于驱动所述第一夹持臂和所述第二夹持臂相对运动以夹持和松开物料，所述第二移送驱动组 件用于驱动所述第一夹持臂和所述第二夹持臂相对所述第二夹持组件移动，所述第一移送驱动组件和所述第二移送驱动组件能够分步驱动所述第一夹持臂和所述第二夹持臂移动。
在本申请的一个实施方式中，所述第一移送驱动组件包括引导块、第一移送驱动件和第一复位件，所述第一移送驱动件能够驱动所述引导块相对所述第一夹持组件移动，当所述引导块相对所述第一夹持组件移动时，所述第一夹持臂和所述第二夹持臂之间的距离在所述引导块的引导和所述第一复位件的作用下减小以逐渐夹持物料或者增大以逐渐松开物料。
在本申请的一个实施方式中，所述引导块设置有引导面，所述引导面与所述第一夹持臂抵接，所述引导面用于引导所述第一夹持臂相对所述第二夹持臂移动。
在本申请的一个实施方式中，所述第一夹持组件相对所述第二夹持组件移动和所述第一夹持组件松开物料同步进行。
在本申请的一个实施方式中，所述第二夹持组件包括定位空间，物料能随着所述第一夹持组件相对所述第二夹持组件移动而进入所述定位空间，物料在所述定位空间内移动时受到所述第二夹持组件的夹持，物料在所述定位空间内移动的同时所述第一夹持组件逐渐松开物料。
在本申请的一个实施方式中，所述第一夹持组件包括第一夹持臂和第二夹持臂，所述物料移送装置还包括第二移送驱动组件和引导块，所述第二移送驱动组件用于驱动所述第一夹持臂和所述第二夹持臂相对所述第二夹持组件移动，当物料随着所述第一夹持臂和所述第二夹持臂移动而进入所述定位空间时，所述引导块开始引导所述第一夹持臂和所述第二夹持臂之间的距离逐渐增大以松开物料。
在本申请的一个实施方式中，所述引导块设置有引导面，所述引导面与所述第一夹持臂抵接，所述引导面用于引导所述第一夹持臂相对所述第二夹持臂移动。
本申请另外提供一种医疗器械生产线，包括上述的物料移送装置。
在本申请的一个实施方式中，所述医疗器械生产线包括第一循环线和第二循环线，所述第一循环线包括第一循环驱动件，所述第一夹持组件设置有多个，所述第一循环驱动件用于驱动多个所述第一夹持组件循环移动，所述第二循环线包括第二循环驱动件，所述第二夹持组件设置有多个，所述第二循环驱动件用于驱动多个所述第二夹持组件循环移动。
本申请的一个或多个实施例的细节在下面的附图和描述中提出。本申请的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
为了更好地描述和说明这里公开的那些申请的实施例和/或示例，可以参考一幅或多幅附图。用于描述附图的附加细节或示例不应当被认为是对所公开的申请、目前描述的实施例和/或示例以及目前理解的这些申请的最佳模式中的任何一者的范围的限制。
图1为本申请实施例1中物料移送装置的结构示意图；
图2为图1中A区域的放大图；
图3为本申请实施例1中第二夹持组件的结构示意图；
图4为本申请实施例1中引导块的结构示意图；
图5为本申请实施例1中第一复位件的连接示意图；
图6为本申请实施例1中医疗器械生产线的连接示意图。
附图标记：100、第一夹持组件；110、安装件；120、第一夹持臂；121、夹持部；122、调节部；130、第二夹持臂；200、第二夹持组件；210、第一夹持部；220、第二夹持部；221、限位段；222、夹持段；230、连接部；240、主体部；250、限位部；260、第一定位空间；270、第二定位空间；300、第一移送驱动组件；310、引导块；311、引导槽；312、引导面；312a、引导段；312b、恒定段；312c、恢复段；320、第一移送驱动件；400、第二移送驱动组件；410、主动轮；420、从动轮；430、导轨；440、导向件；450、第二复位件；460、第二移送驱动件；10、物料移送装置；20、医疗器械生产线；500、第一循环线；510、转动件；520、第一循环驱动件；600、第二循环线；610、循环带；620、第二循环驱动件。
下面将结合本申请实施方式中的附图，对本申请实施方式中的技术方案进行清楚、完整地描述，显然，所描述的实施方式仅仅是本申请一部分实施方式，而不是全部的实施方式。基于本申请中的实施方式，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施方式，都属于本申请保护的范围。
需要说明的是，当组件被称为“装设于”另一个组件，它可以直接装设在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。当一个组件被认为是“固定于”另一个组件，它可以是直接固定在另一个组件上或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“或/及”包括一个或多个相 关的所列项目的任意的和所有的组合。
实施例1
本申请的实施例首先提供如图1所示的一种物料移送装置10，包括第一夹持组件100、第二夹持组件200、第一移送驱动组件300和第二移送驱动组件400。
参照图1和图2，第一夹持组件100包括安装件110、第一夹持臂120、第二夹持臂130和第一复位件140。第一夹持臂120包括相连接的夹持部121和调节部122。夹持部121和调节部122的连接处和安装件110转动连接，而夹持部121和调节部122能够绕着夹持部121和调节部122连接处发生转动。第二夹持臂130和安装件110固定连接。夹持部121和第二夹持臂130配合用于夹持和松开物料。调节部122用于带动夹持部121和第二夹持臂130之间的距离变化以实现夹持部121和第二夹持臂130在夹持和松开物料之间状态的切换。当调节部122和第二夹持臂130相互靠近时，夹持部121和第二夹持臂130之间的距离增大以逐渐松开物料。当调节部122和第二夹持臂130相互远离时，夹持部121和第二夹持臂130之间的距离减小以逐渐夹持物料。如图5所示，第一复位件140的两端分别连接调节部122和第二夹持臂130。调节部122和第二夹持臂130在相互靠近时会作用于第一复位件140，使得第一复位件140的弹性形变程度增大。当第一复位件140对调节部122的作用使得调节部122复位时，第一复位件140的弹性形变程度减小。
参照图3，第二夹持组件200包括第一夹持部210、第二夹持部220、连接部230、主体部240和限位部250。第一夹持部210的一端和第二夹持部220的一端分别与连接部230的两端相连接，第一夹持部210远离连接部230的另一端和第二夹持部220远离连接部230的另一端间隔设置。主体部240环绕第一夹持部210、连接部230和第二夹持部220。主体部240和第一夹持部210连接，主体部240和第二夹持部220间隔设置，主体部240和连接部230也是间隔设置。
参照图3，第二夹持部220包括限位段221和夹持段222。夹持段222的两端分别连接连接部230与限位段221。限位段221和第一夹持部210之间的最小距离小于夹持段222和第一夹持部210之间的距离。限位段221远离夹持段222的一端能够引导物料进入夹持段222和第一夹持部210之间。
参照图3，限位部250的一端和第一夹持部210连接，限位部250的另一端和夹持段222间隔设置。夹持段222和第一夹持部210之间形成第一定位空间260和第二定位空间270。限位部250位于第一定位空间260和第二定位空间270之间。由于限位部250的另一端和夹持段222间隔设置，因此第一定位空间260和第二定位空间270处于连通状态。第一定位空间260和第二定位空间270连通之后构成完整的定位空间。限位部250朝向第 一定位空间260的一侧和第一夹持部210平滑连接，限位部250朝向第二定位空间270的一侧和第一夹持部210平滑连接。
参照图3，第一夹持部210和第二夹持部220夹持物料。第一夹持部210和第二夹持部220能够弹性保持第一夹持部210和第二夹持部220的相对位置。第二夹持组件200弹性夹持物料，因此无论物料从第一夹持组件100移动至第二夹持组件200，还是物料从第二夹持组件200移动至第一夹持组件100，第二夹持组件200夹持物料和松开物料都可以与物料相对第二夹持组件200移动同步进行，从而无需等待第二夹持组件200切换至松开状态或者夹持状态，因此能够加快物料移送效率。
参照图1和图4，第一移送驱动组件300包括引导块310和第一移送驱动件320。引导块310开设有引导槽311，引导槽311与调节部122抵接的一侧的内壁为引导面312。引导面312包括依次连接的引导段312a、恒定段312b和恢复段312c。其中，恒定段312b和第二夹持臂130之间的距离保持不变，引导段312a和第二夹持臂130之间的距离从远离恒定段312b的一端往靠近恒定段312b的一端逐渐变小，恢复段312c和第二夹持臂130之间的距离从远离恒定段312b的一端往靠近恒定段312b的一端逐渐变小。第一移送驱动件320驱动引导块310相对调节部122发生移动，使得调节部122与引导段312a接触并沿着引导槽311移动。在引导面312的引导和第一复位件的驱动下，调节部122在与引导段312a和恢复段312c接触时分别会逐渐靠近第二夹持臂130和逐渐远离第二夹持臂130，从而相应使得夹持部121和第二夹持臂130松开和夹持物料。
参照图1，第二移送驱动组件400包括主动轮410、从动轮420、导轨430、导向件440、第二复位件450和第二移送驱动件460。第二移送驱动件460用于驱动主动轮410偏心转动，而从动轮420位于主动轮410的转动路径上。因此，主动轮410偏心转动过程中会与从动轮420接触。导轨430的一端和从动轮420的轴心处连接，同时导轨430的另一端穿过导向件440后与第一夹持组件100连接。因此，导轨430和导向件440套接，从而导轨430只能在导向件440的引导下发生移动。当主动轮410偏心转动过程中与从动轮420接触时，从动轮420会在主动轮410的作用和导向件440的引导下发生移动，使得第一夹持组件100和第二夹持组件200相对移动。当从动轮420受到主动轮410的作用能够克服第二复位件450的作用，从动轮420便会带动第一夹持组件100和第二夹持组件200相互靠近，此时第二复位件450的弹性形变程度增大。当从动轮420受到主动轮410的作用小于第二复位件450的作用时，从动轮420便会在第二复位件450的作用下带动第一夹持组件100和第二夹持组件200相互远离，此时第二复位件450的弹性形变程度减小。
第一移送驱动组件300驱动第一夹持臂120和第二夹持臂130移动至逐渐夹持和松开 物料与第二移送驱动组件400驱动第一夹持臂120和第二夹持臂130靠近和远离第二夹持组件200分步进行。更准确地来说，当物料从第一夹持组件100移送至第二夹持组件200时，第二移送驱动组件400先驱动第一夹持臂120和第二夹持臂130靠近第二夹持组件200，使得第二夹持组件200夹持物料。第一移送驱动组件300后驱动第一夹持臂120和第二夹持臂130移动至逐渐松开物料。当物料从第二夹持组件200移送至第一夹持组件100时，第二移送驱动组件400先驱动第一夹持臂120和第二夹持臂130靠近第二夹持组件200，第一移送驱动组件300后驱动第一夹持臂120和第二夹持臂130移动至第一夹持组件100夹持物料，然后第二夹持组件200松开物料。因此，第一夹持组件100和第二夹持组件200会相对移动至第一夹持组件100和第二夹持组件200同时夹持物料。
工作过程：
以物料从第一夹持组件100移送至第二夹持组件200进行说明。
第二移送驱动件460驱动主动轮410偏心转动，从而使得主动轮410和从动轮420接触并驱动从动轮420移动。从动轮420受到主动轮410的作用能够克服第二复位件450的作用，从而在导向件440的引导下，从动轮420带动导轨430和第一夹持组件100朝向第二夹持组件200移动，此时第二复位件450的弹性形变程度增大。当物料随着第一夹持组件100移动至和第一夹持部210和第二夹持部220接触后，随着物料进一步移动，第一夹持部210和第二夹持部220之间的距离增大，使得物料能够进入定位空间，第一夹持部210和第二夹持部220夹持物料。但此时，第一夹持组件100仍然夹持物料。
第一移送驱动件320驱动引导块310朝向调节部122移动，使得调节部122依次和引导段312a和恒定段312b接触。随着调节部122在引导槽311中移动，调节部122逐渐靠近第二夹持臂130，从而使得夹持部121和第二夹持臂130之间的距离增大以逐渐松开物料。此时，第一夹持组件100不再夹持物料。
第二移送驱动件460继续驱动主动轮410偏心转动，从而使得从动轮420受到主动轮410的作用小于第二复位件450的作用，此时从动轮420便会在第二复位件450的作用下带动导轨430和第一夹持组件100背离第二夹持组件200移动，此时第二复位件450的弹性形变程度减小。在第一夹持组件100背离第二夹持组件200移动的过程中，调节部122会依次与恒定段312b和恢复段312c接触并最终离开引导槽311。在调节部122和恒定段312b接触过程中，调节部122和第二夹持臂130的相对位置保持不变，从而夹持部121和第二夹持臂130之间的距离保持不变，第一夹持组件100仍然不再夹持物料。在调节部122和恢复段312c接触过程中，调节部122逐渐远离第二夹持臂130，从而夹持部121和第二夹持臂130之间的距离减小。但此时，夹持部121和第二夹持臂130无法再次夹持物料。 在调节部122离开引导槽311之后，调节部122和第二夹持臂130的相对位置保持不变，从而夹持部121和第二夹持臂130之间的距离保持不变。
第一移动驱动件驱动引导块310复位，完成物料从第一夹持组件100移送至第二夹持组件200。
如图6所示，本申请的实施例另外提供一种医疗器械生产线20，包括第一循环线500、第二循环线600和上述的物料移送装置10。采用该物料移送装置10的医疗器械生产线生产效率较高。第一循环线500包括转动件510和第一循环驱动件520。导向件440、导轨430和第一夹持组件100均设置有多个。多个导向件440均和转动件510固定连接，多个导向件440、多个导轨430和多个第一夹持组件100一一对应。第一循环驱动件520驱动转动件510发生周向转动，从而转动件510带动多个第一夹持组件100周向转动，实现多个第一夹持组件100的循环移动。第二循环线600包括循环带610和第二循环驱动件620。第二夹持组件200设置有多个，多个第二夹持组件200和循环带610连接。第二循环驱动件620驱动循环带610移动，从而循环带610带动多个第二夹持组件200循环移动。
实施例2
实施例2与实施例1的区别在于物料在第一夹持组件100和第二夹持组件200之间的移送方式不同。
在实施例2中，物料随着第一夹持臂120和第二夹持臂130相对第二夹持组件200移动而进入定位空间，且物料在定位空间内移动时受到第二夹持组件200的夹持。当物料在定位空间内移动时，第一夹持臂120和第二夹持臂130相对第二夹持组件200移动和第一夹持组件100逐渐松开物料同步进行。第一移送驱动件320无需设置，引导块310处于固定位置。在第一夹持组件100朝向第二夹持组件200移动的过程中，调节部122会进入引导槽311并依次与恢复段312c和恒定段312b接触。相比于第一夹持组件100相对第二夹持组件200移动和第一夹持组件100逐渐松开物料分布进行，第一夹持组件100相对第二夹持组件200移动和第一夹持组件100逐渐松开物料同步进行，能够进一步加快物料移送效率。物料在定位空间内移动时受到第二夹持组件200的夹持，因此即便物料在移动的同时第一夹持组件100逐渐松开物料，物料也能够因为受到第二夹持组件200的夹持而得以固定。在物料移送到位前，第一夹持臂120和第二夹持臂130便不再夹持物料，而第二夹持组件200便已经夹持物料。因此，将引导块310固定设置于第一夹持臂120和第二夹持臂130的移动路径上位于第二夹持组件200夹持物料之后且物料移送到位之前的位置，也能够确保第一夹持臂120和第二夹持臂130不再夹持物料时，物料能够受到第二夹持组件200的夹持。因此，引导块310可以进行固定设置。
工作过程：
以物料从第一夹持组件100移送至第二夹持组件200进行说明，主要描述与实施例1工作过程的不同之处。
在第一夹持组件100朝向第二夹持组件200移动的过程中，随着物料在定位空间内移动，调节部122会进入引导槽311并依次与恢复段312c和恒定段312b接触。在调节部122和恢复段312c接触过程中，调节部122逐渐靠近第二夹持臂130，从而夹持部121和第二夹持臂130之间的距离增大以逐渐松开物料。此时，第一夹持组件100不再夹持物料。在调节部122和恒定段312b接触过程中，调节部122和第二夹持臂130的相对位置保持不变，从而夹持部121和第二夹持臂130之间的距离保持不变。虽然此时第一夹持组件100不再夹持物料，但是物料仍然与夹持部121和第二夹持臂130接触，从而物料在夹持部121和第二夹持臂130的推动下仍然能够在定位空间内移动。
在第一夹持组件100背离第二夹持组件200移动的过程中，调节部122会依次与恒定段312b和恢复段312c接触并退出引导槽311。在调节部122和恒定段312b接触过程中，调节部122和第二夹持臂130的相对位置保持不变，从而夹持部121和第二夹持臂130之间的距离保持不变。在调节部122和恢复段312c接触过程中，调节部122和第二夹持臂130之间的距离减小。但此时，夹持部121和第二夹持臂130无法再次夹持物料。在调节部122离开引导槽311之后，调节部122和第二夹持臂130的相对位置保持不变，从而夹持部121和第二夹持臂130之间的距离保持不变。
以上所述实施方式的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施方式中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
本技术领域的普通技术人员应当认识到，以上的实施方式仅是用来说明本申请，而并非用作为对本申请的限定，只要在本申请的实质精神范围内，对以上实施方式所作的适当改变和变化都落在本申请要求保护的范围内。
Claims (11)
- 一种物料移送装置，包括第一夹持组件和第二夹持组件，所述第一夹持组件和所述第二夹持组件均用于夹持和松开物料，所述第一夹持组件和所述第二夹持组件能够相对移动至所述第一夹持组件和所述第二夹持组件同时夹持物料，所述第二夹持组件能够弹性夹持物料。
- 根据权利要求1所述的物料移送装置，其中，所述第一夹持组件相对所述第二夹持组件移动和所述第一夹持组件夹持和松开物料分步进行。
- 根据权利要求2所述的物料移送装置，其中，所述第一夹持组件包括第一夹持臂和第二夹持臂，所述物料移送装置还包括第一移送驱动组件和第二移送驱动组件，所述第一移送驱动组件用于驱动所述第一夹持臂和所述第二夹持臂相对运动以夹持和松开物料，所述第二移送驱动组件用于驱动所述第一夹持臂和所述第二夹持臂相对所述第二夹持组件移动，所述第一移送驱动组件和所述第二移送驱动组件能够分步驱动所述第一夹持臂和所述第二夹持臂移动。
- 根据权利要求3所述的物料移送装置，其中，所述第一移送驱动组件包括引导块、第一移送驱动件和第一复位件，所述第一移送驱动件能够驱动所述引导块相对所述第一夹持组件移动，当所述引导块相对所述第一夹持组件移动时，所述第一夹持臂和所述第二夹持臂之间的距离在所述引导块的引导和所述第一复位件的作用下减小以逐渐夹持物料或者增大以逐渐松开物料。
- 根据权利要求4所述的物料移送装置，其中，所述引导块设置有引导面，所述引导面能与所述第一夹持臂抵接，所述引导面用于引导所述第一夹持臂相对所述第二夹持臂移动。
- 根据权利要求1所述的物料移送装置，其中，所述第一夹持组件相对所述第二夹持组件移动和所述第一夹持组件松开物料同步进行。
- 根据权利要求6所述的物料移送装置，其中，所述第二夹持组件包括定位空间，物料能随着所述第一夹持组件相对所述第二夹持组件移动而进入所述定位空间，物料在所述定位空间内移动时受到所述第二夹持组件的夹持，物料在所述定位空间内移动的同时所述第一夹持组件逐渐松开物料。
- 根据权利要求7所述的物料移送装置，其中，所述第一夹持组件包括第一夹持臂和第二夹持臂，所述物料移送装置还包括第二移送驱动组件和引导块，所述第二移送驱动组件用于驱动所述第一夹持臂和所述第二夹持臂相对所述第二夹持组件移动，当物料随着所 述第一夹持臂和所述第二夹持臂移动而进入所述定位空间时，所述引导块开始引导所述第一夹持臂和所述第二夹持臂之间的距离逐渐增大以松开物料。
- 根据权利要求8所述的物料移送装置，其中，所述引导块设置有引导面，所述引导面与所述第一夹持臂抵接，所述引导面用于引导所述第一夹持臂相对所述第二夹持臂移动。
- 一种医疗器械生产线，包括如权利要求1-9任意一项所述的物料移送装置。
- 根据权利要求10所述的医疗器械生产线，其中，所述医疗器械生产线包括第一循环线和第二循环线，所述第一循环线包括第一循环驱动件，所述第一夹持组件设置有多个，所述第一循环驱动件用于驱动多个所述第一夹持组件循环移动，所述第二循环线包括第二循环驱动件，所述第二夹持组件设置有多个，所述第二循环驱动件用于驱动多个所述第二夹持组件循环移动。
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