Titanium nail assembling device

Abstract

The invention discloses a titanium nail assembling device, and relates to the field of medical instrument production. The mechanism comprises an anastomat carrier provided with an anastomat, a moving mechanism used for finely adjusting the position of the carrier, a plurality of sets of feeding and assembling clamping jaws and a multi-jaw opening and closing mechanism integrating a cam transmission assembly and a press-fitting assembly. The cam transmission assembly converts up-and-down movement of the Z-axis driving mechanism into synchronous opening and closing actions of the multiple sets of clamping jaws through cooperation of an installation frame body, symmetrical cam opening and clamping blocks, special-shaped guide through grooves in the symmetrical cam opening and clamping blocks, first idler wheels, sliding pins, guide sliding blocks and springs. The press-fitting assembly drives a strip-shaped pressing needle through a pressing air cylinder, synchronous pressing is conducted when the clamping jaw clamps the titanium nail, and precise assembling is completed. Synchronous taking and placing, accurate positioning and cooperative press fitting of multiple sets of titanium nails are achieved, the problems of low efficiency and poor consistency caused by single-claw sequential operation in the prior art are solved, and the automation level, the assembly precision and the production efficiency of anastomat titanium nail assembly are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of medical device manufacturing, and more specifically to a titanium nail assembly device. Background Technology

[0002] In the field of medical device manufacturing, especially in the assembly of minimally invasive surgical instruments, titanium screws are key components, and their assembly efficiency and precision directly affect the overall performance and safety of the surgical instruments. Medical staplers, as crucial instruments for achieving tissue anastomosis in surgery, require extremely high consistency and positional accuracy in titanium screw assembly. Even minor assembly deviations can lead to serious risks such as poor screw formation and anastomotic leakage during surgery. Therefore, optimizing the performance of titanium screw assembly has always been a key research focus in the field of medical device manufacturing.

[0003] In the prior art, automated assembly equipment for stapler components has gradually replaced traditional manual assembly methods. For example, Chinese invention patent CN209632458U discloses a titanium nail assembly equipment and system, which achieves automated feeding, grasping, and preliminary installation of titanium nails through the coordinated operation of a support mechanism, a titanium nail supply mechanism, and a gripping mechanism. In some embodiments, it incorporates visual inspection and pressing devices to improve the consistency and reliability of assembly. However, the gripping mechanism of this titanium nail assembly equipment mostly relies on a single claw for sequential operation, making it difficult to achieve synchronous assembly at multiple stations. This cannot meet the batch assembly requirements of multiple rows of titanium nails in staplers, resulting in limited improvement in production efficiency. Although sequential operation with a single claw can achieve multi-station assembly through step-by-step movement, the cumulative error is large during continuous assembly at multiple stations, making it difficult to ensure the consistency of titanium nail assembly and resulting in poor synchronization of batch assembly.

[0004] To address the aforementioned issues, there is an urgent need for a titanium staple assembly device that features precise positioning, excellent multi-claw synchronization, and high assembly consistency. This device would enable the synchronous picking and placing, precise positioning, and coordinated pressing of multiple sets of titanium staples, thereby further improving assembly efficiency, ensuring product quality, and adapting to the production needs of diverse stapler products. Summary of the Invention

[0005] The present invention overcomes the shortcomings of the above-mentioned technologies and provides a titanium nail assembly device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A titanium nail assembly device, comprising: Anastomosis carrier 1 equipped with an anastomosis device 100; The moving mechanism 2 is connected to the bottom of the stapler carrier 1 and is used to drive the stapler carrier 1 to adjust its position. Multiple sets of loading and assembly grippers 3 are located above the stapler carrier 1. Each set of loading and assembly grippers 3 includes two opposing clamping blocks. The clamping or loosening of the titanium nail 200 is achieved by the relative approach or distance of the two clamping blocks. The multi-jaw opening and closing mechanism 4 includes a cam drive assembly 5 and a pressing assembly 6; the cam drive assembly 5 is connected to each clamping block of the multiple sets of feeding assembly jaws 3, and is used to convert its own up and down movement into relative closeness or distance movement between pairs of opposing clamping blocks; the pressing assembly 6 is disposed inside the multi-jaw opening and closing mechanism 4, and is used to press the titanium nail downward into the stapler 100 when the titanium nail is clamped.

[0007] Preferably, the moving mechanism 2 includes a base 21, a lateral drive mechanism 22 mounted on the base 21, and a lifting drive mechanism 23 connected between the lateral drive mechanism 22 and the stapler carrier 1, wherein the lifting drive mechanism 23 is fixedly connected to the bottom of the stapler carrier 1.

[0008] Preferably, the number of the feeding assembly grippers 3 is eight sets, and the eight sets of grippers are evenly arranged along the length direction of the anastomosis carrier 1; each set of feeding assembly grippers 3 has a positioning opening groove 301 on the inner side of the two gripping blocks opposite to each other.

[0009] Preferably, the cam drive assembly 5 includes: The mounting frame 51 has a box-shaped structure, including a top plate 511 and a bottom frame 512 connected below the top plate 511; Two cam-opening clamping blocks 52 are symmetrically connected to the left and right sides of the bottom of the top plate 511; the cam-opening clamping blocks 52 have longitudinally extending irregularly shaped guide grooves 53 inside; Multiple first rollers 54, each first roller 54 is connected to a guide slider 56 via a sliding pin 55, and can roll along the irregular guide groove 53; The bottom of the guide slider 56 is fixedly connected to the clamping block of the feeding assembly gripper 3; The contour of the irregular guide groove 53 includes a vertical guide portion 531 and a horizontal guide portion 532 that are connected to each other.

[0010] Preferably, the vertical guide portion 531 is a straight channel that extends through the upper part; the horizontal guide portion 532 is an arc-shaped channel, and the groove wall corresponding to its arc-shaped surface is recessed to form a limiting groove 5320 for limiting the first roller 54 when the gripper is in the initial clamping state.

[0011] Preferably, the bottom wall of the irregular guide groove 53 forms a plurality of through holes 533 in the longitudinal direction, the guide slider 56 is provided with a vertical mounting groove 560 inside, the sliding pin 55 passes through the through holes 533 into the vertical mounting groove 560, and a first spring 57 is installed between the sliding pin 55 and the bottom wall of the vertical mounting groove 560. Among them, the outer peripheral surface of the part of the sliding pin 55 inside the vertical mounting groove 560 is fitted with an annular baffle 551 to facilitate the compression of the first spring 57.

[0012] Preferably, the cam drive assembly 5 further includes: Z-axis drive mechanism 58; The multi-claw push plate 59 has two symmetrically arranged claws, which are connected to the drive end of the Z-axis drive mechanism 58 and can move vertically. Each multi-claw pusher plate 59 has multiple second rollers 591 connected to its bottom end in the longitudinal direction; the guide slider 56 is provided with a guide slope 561, and the second rollers 591 roll along the guide slope 561 by vertical movement; the top plate 511 of the mounting frame 51 is provided with at least two guide strip-shaped openings 513, and the two claws of the multi-claw pusher plate 59 have a structure that is larger at the top and smaller at the bottom, and the bottom passes through the guide strip-shaped openings 513 and abuts against the guide slope 561.

[0013] Preferably, the Z-axis drive mechanism 58 includes a fixed plate 581 connected to an external transfer mechanism or external support, a first cylinder 582 mounted on the fixed plate 581, and multiple vertically parallel guide rods 583; the multiple vertical guide rods 583 are connected between the fixed plate 581 and the top of the multi-claw push plate 59, the drive rod of the first cylinder 582 is fixedly connected to the top of the multi-claw push plate 59, and the drive rod is parallel to the vertical guide rods 583; the fixed plate 581 has a first through hole 580 for the vertical guide rods 583 to pass through and guide, and the vertical guide rods 583 are used to slide synchronously along the first through hole 580 when the first cylinder 582 drives the multi-claw push plate 59 to move vertically.

[0014] Preferably, a longitudinal connecting seat 5121 is connected between the inner walls of the front and rear sides of the bottom frame 512 in its middle part, and multiple laterally extending guide bolts 60 are connected between the left and right sides of the bottom frame 512 of the mounting frame 51 and the longitudinal connecting seat 5121; the guide slider 56 is slidably sleeved on the guide bolts 60; and a second spring 8 is installed between the outer side wall of the guide slider 56 and the left and right inner walls of the bottom frame 512.

[0015] Preferably, the pressing assembly 6 includes one or more pressing cylinders 61 driven by the Z-axis driving mechanism 58 to move up and down, a pressing needle mounting structure driven by the pressing cylinders 61 to move up and down, and a plurality of strip-shaped pressing needles 63 mounted on the pressing needle mounting structure and extending vertically; the pressing cylinders 61 are mounted between the top of the multi-claw push plate 59 and the top of the mounting frame 51, and each strip-shaped pressing needle 63 penetrates the mounting frame 51 and extends to the symmetrical center position of the two clamping blocks of the corresponding set of clamping claws; the pressing needle mounting structure includes one or more pressing needle connecting blocks 621 fixedly connected to the driving end of the corresponding pressing cylinder 61, and a pressing needle connecting seat 62 snapped into the pressing needle connecting block 621. 2, and a first slot 623 formed on the pressure needle connector 622; the top of the strip-shaped pressure needle 63 is provided with a first locking block 624 that matches the shape of the first slot 623; the pressure needle connector 622 is provided with one or more locking notches 625; the pressure needle connector 621 is provided with a locking groove 626 with a lower opening, and the two sides of the locking groove 626 protrude inward to form locking protrusions 6260; the pressure needle connector 621 passes through the pressure needle connector 622 through the locking groove 626 and is fixed by being locked into the locking notch 625 by the locking protrusions 6260; the first locking block 624 is locked in the first slot 623.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention employs multiple sets of feeding and assembly grippers in conjunction with a cam drive assembly to achieve synchronous action, enabling the simultaneous clamping and pressing of multiple rows of titanium staples in one operation. Unlike the existing technology that uses a single gripper to assemble one staple at a time, this invention significantly reduces the total assembly time for multiple titanium staples, eliminating the need for frequent waiting for carrier repositioning and single-gripper reset, thus significantly improving assembly efficiency and enabling rapid response to the surging production capacity demands in the stapler market. This invention also incorporates a moving mechanism for precise position adjustment of the stapler carrier, further enhancing positioning accuracy in conjunction with the carrier's own precise positioning capabilities. Moreover, the multi-gripper opening and closing mechanism integrates the cam drive assembly and the pressing assembly, achieving coordinated action between gripper clamping and titanium staple pressing through a single transmission link. This solves the problems of structural complexity, response lag, and timing discrepancies caused by the independent setup of the gripping mechanism and pressing device in existing equipment, optimizing action coordination and ensuring assembly consistency. Meanwhile, because multiple sets of loading and assembly grippers are driven by the same cam transmission component, the opening and closing actions of all grippers are completely synchronized, ensuring that the pressing position and embedding depth of multiple titanium nails are highly uniform, further guaranteeing assembly consistency. In addition, the pressing component is located inside the multi-jaw opening and closing mechanism, which can press down after the grippers clamp the titanium nails, achieving a natural connection between clamping and pressing actions; the design of the pressing component being located inside the multi-jaw opening and closing mechanism utilizes internal space and is conducive to aligning the central axis position of the titanium nails, resulting in more precise assembly. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the titanium nail assembly device in this case.

[0018] Figure 2 This is a schematic diagram of the anastomosis device carrier mounted on the mobile mechanism in this case.

[0019] Figure 3 This is a partial structural diagram of the multiple sets of feeding and assembly grippers connected to the multi-claw opening and closing mechanism in this case, which hides the bottom frame of the mounting frame.

[0020] Figure 4 This is the case Figure 3 A schematic diagram showing the grippers in a clamped state.

[0021] Figure 5 This is the case Figure 3 A schematic diagram showing the gripper in the released state.

[0022] Figure 6 This is a schematic diagram of the cam opening block in this case.

[0023] Figure 7 This is a structural diagram of the multi-claw push plate connected to the pressing assembly in this case.

[0024] Figure 8 This is a schematic diagram of the released state of a single set of grippers mounted on a cam-opening block via guide sliders and other components.

[0025] Figure 9 This is a schematic diagram showing that some cam assemblies or some press-fit assemblies are installed on the mounting frame.

[0026] Figure 10 This is a structural diagram of the bottom frame of the mounting frame.

[0027] Figure 11 This is a schematic diagram of a pressure needle connector block installed on a pressure needle connector seat. Detailed Implementation

[0028] The following examples further illustrate the features and other related characteristics of the present invention in detail, to facilitate understanding by those skilled in the art: like Figures 1 to 11 A titanium nail assembly device, comprising: The stapler carrier 1 is equipped with the stapler 100. Specifically, the stapler carrier 1 of this invention adopts a contour-following structure design, and its upper end face has a positioning groove 101 that precisely matches the outer contour of the stapler 100, which can stably limit the position of the stapler 100. The stapler 100 is fitted into the positioning groove 101. After assembly, the staple cartridge of the stapler 100 is set upward, and each staple slot of the staple cartridge corresponds one-to-one with the loading and assembly claw 3 above, ensuring that the titanium staples 200 are accurately aligned and assembled.

[0029] The moving mechanism 2, connected to the bottom of the stapler carrier 1, is used to drive the stapler carrier 1 for fine position adjustment. Specifically, the stapler carrier 1 is connected to the top of the moving mechanism 2 via the mounting base 102. The moving mechanism 2 includes a base 21, a lateral drive mechanism 22, and a lifting drive mechanism 23, which are stacked and fixed together. The lateral drive mechanism 22 is integrally fixed between the bottom of the base 21 and the mounting base 102. Specifically, the lateral drive mechanism 22 can be an X-axis electric displacement stage of model E-EHX01, which can drive the stapler carrier 1 to make precise horizontal displacement adjustment; the lifting drive mechanism 23 can be a Z-axis electric slide of model E-EHZ01, which can realize fine adjustment of the vertical height of the stapler carrier 1. In this way, the repeatability of the moving mechanism 2 can reach ±0.01mm, and the position of the stapler carrier 1 can be flexibly adjusted according to assembly requirements to ensure the precise docking of multiple sets of loading assembly grippers 3 with the staple cartridge.

[0030] Multiple sets of loading and assembly grippers 3 are transferred to the top of the stapler carrier 1 via an external transfer mechanism. Each set of loading and assembly grippers 3 includes two opposing clamping blocks. The clamping or loosening of the titanium staples 200 is achieved by the relative approach or distance of the two clamping blocks. Specifically, the number of loading and assembly grippers 3 is set to eight sets. The eight sets of grippers are evenly arranged along the length of the stapler carrier 1, and each set of grippers corresponds to an assembly station on the staple chamber of the stapler 100.

[0031] The multi-jaw opening and closing mechanism 4 includes a cam drive assembly 5 and a pressing assembly 6; the cam drive assembly 5 is connected to each clamping block of the multiple sets of feeding assembly jaws 3, and is used to convert its own up and down movement into relative closeness or distance movement between pairs of opposing clamping blocks; the pressing assembly is located inside the multi-jaw opening and closing mechanism 4, and is used to press the titanium nail into the stapler 100 by moving downward together with the clamping blocks when the titanium nail is clamped.

[0032] As described above, this invention employs multiple sets of feeding and assembly grippers in conjunction with a cam drive assembly to achieve synchronous action. This allows for the simultaneous clamping and pressing of multiple rows of titanium staples in a single operation. Unlike the existing technology that uses a single gripper to assemble each staple sequentially, this invention significantly reduces the total assembly time for multiple titanium staples, eliminating the need for frequent waiting for carrier repositioning and single-gripper reset. This significantly improves assembly efficiency and enables a rapid response to the surging production capacity demands in the stapler market. Furthermore, the invention incorporates a moving mechanism for precise position adjustment of the stapler carrier, further enhancing positioning accuracy in conjunction with the carrier's own precise positioning capabilities. Moreover, the multi-gripper opening and closing mechanism integrates the cam drive assembly and the pressing assembly, achieving coordinated action between gripper clamping and titanium staple pressing through a single transmission link. This solves the problems of structural complexity, response lag, and timing discrepancies caused by the independent setup of the gripping mechanism and pressing device in existing equipment, optimizing action coordination and ensuring assembly consistency. Meanwhile, because multiple sets of loading and assembly grippers are driven by the same cam transmission component, the opening and closing actions of all grippers are completely synchronized, ensuring that the pressing position and embedding depth of multiple titanium nails are highly uniform, further guaranteeing assembly consistency. In addition, the pressing component is located inside the multi-jaw opening and closing mechanism, which can press down after the grippers clamp the titanium nails, achieving a natural connection between clamping and pressing actions; the design of the pressing component being located inside the multi-jaw opening and closing mechanism utilizes internal space and is conducive to aligning the central axis position of the titanium nails, resulting in more precise assembly.

[0033] like Figures 3 to 6 As shown, in a preferred embodiment, the cam transmission assembly 5 is divided into a multi-jaw connection structure part that is directly connected to the feeding assembly jaws and a multi-jaw opening and closing structure part that drives the multi-jaw connection structure part to open and close. The multi-jaw opening and closing structure part includes: a mounting frame 51, a cam clamping block 52, an irregularly shaped guide groove 53, multiple first rollers 54, a sliding pin 55, and a guide slider 56; wherein, the mounting frame 51 has a box-shaped structure and is connected to the frame of the external moving mechanism, and moves to the top of the stapler carrier when pressing is required; the mounting frame 51 includes a top plate 511 and a bottom frame 512 connected below the top plate 511.

[0034] The top plate 511 is connected to a cam opening clamp 52 on both the left and right sides of its bottom. The two cam opening clamps 52 are symmetrically arranged and are placed on top of the bottom frame 512 after being connected to the top plate 511.

[0035] Each cam clamping block 52 has a longitudinally extending irregularly shaped guide groove 53 inside. Multiple first rollers 54 are evenly mounted on each irregularly shaped guide groove 53 along the longitudinal direction, and each first roller 54 rolls guided on the irregularly shaped guide groove 53. Specifically, the front outline of the irregularly shaped guide groove 53 is sock-shaped, and it includes: vertical... Directional guide 531 and the lateral guide portion 532, the vertical The guide unit 531 isThe upper part extends to the bottom surface of the top plate 511, and the lower part is connected to it via an arc transition. Lateral guide section 532 The straight section of the channel, the Lateral guide 532 is A semi-circular or arc-shaped closed arc channel has a recessed groove 5320 formed in the groove wall corresponding to its arc surface. The limiting groove 5320 is used to limit the first roller 54 when the gripper is in the initial clamping state.

[0036] Furthermore, the bottom wall of the irregularly shaped guide groove 53 forms multiple through holes 533 along the longitudinal direction, and each through hole 533 passes through a sliding pin 55; the top of each sliding pin 55 is connected to a first roller 54, and the bottom is connected to a guide slider 56 capable of lateral movement; the bottom of each guide slider 56 is fixedly connected to one of the clamping blocks 300 on a set of feeding assembly claws 3. Each guide slider 56 has a vertical mounting groove 560 inside, and the bottom of the sliding pin 55 passes through the vertical mounting groove 560 of the guide slider 56, and a first spring 57 is installed between the sliding pin 55 and the bottom wall of the vertical mounting groove 560; similarly, each guide slider is connected to another guide slider symmetrical to it through the above symmetrical components. Among them, the sliding pin 55 is located on the outer peripheral surface inside the vertical mounting groove 560, and a square annular baffle 551 is fitted on it. The square annular baffle 551 abuts against the first spring 57, providing a stable force surface for the compression and rebound of the first spring 57. Furthermore, the annular baffle 551 is a square annular baffle, and the vertical mounting groove 560 is also a square groove, which can play a role in preventing rotation. In this way, the annular baffle provides a force-bearing support surface for the first spring, avoiding the spring from tilting, shifting, or unevenly stressed in some areas during compression, ensuring that the spring is always stably compressed and rebounded along the axial direction. The annular baffle is designed as a square ring, forming a shape-fitting limiting fit with the inner wall of the vertical mounting groove of the guide slider, which can restrict the circumferential rotation of the sliding pin, preventing the sliding pin from driving the first roller to roll in the irregular guide groove, ensuring that the roller is always precisely fitted with the guide surface of the groove, ensuring the accuracy of power transmission and the synchronization of the multi-claw action.

[0037] Furthermore, the multi-claw opening and closing structure is moved above the multi-claw connecting structure via an external transfer mechanism. The multi-claw opening and closing structure is used to drive the two opposing guide sliders 56 to move laterally. The multi-claw opening and closing structure includes: a Z-axis drive mechanism 58, a multi-claw push plate 59 driven vertically by the Z-axis drive mechanism 58, and multiple longitudinally arranged second rollers 591 connected to the bottom of the multi-claw push plate 59. The guide sliders 56 are provided with a guide slope 561, and the second rollers 591 roll along the guide slope 561 through vertical movement. The multi-claw push plate 59 has two symmetrically arranged claws 590 on its left and right sides, with the top connected to the drive end of the Z-axis drive mechanism 58, and the bottom passing through the guide strip opening 513 and abutting against the guide slope 561.

[0038] When the opposing clamping blocks on the loading assembly gripper 3 are clamped, the symmetrical guide sliders are initially in contact with each other. The first spring 57 of the vertical mounting groove 560 is compressed, and the first roller 54 is limited in the limiting groove 5320, maintaining the clamping state. When the opposing clamping blocks on the loading assembly gripper 3 need to be released, the Z-axis drive mechanism 58 drives the multi-claw push plate 59 downward, causing the second roller 591 to move downward along the guide slope 561, thereby pushing the symmetrical guide sliders to move away from each other. Through the sliding pin 55, the first roller 54 is driven to disengage from the limiting groove 5320 and move along the irregular guide channel 53. Since it is not limited, the first roller 54 moves out of the horizontal arc channel and then rebounds upward in the straight channel after being reset by the first spring 57, so that the opposing guide sliders are completely separated, realizing the complete release of the gripper.

[0039] As described above, the cam transmission assembly in this case is divided into a multi-jaw connection structure and a multi-jaw opening and closing structure, with clear division of labor and a compact transmission path. Multiple sets of guide sliders are synchronously driven through symmetrical cam-opening clamping blocks within the same mounting frame. Firstly, the mounting frame adopts a box-shaped structure design with a top plate and a bottom frame, allowing the cam-opening clamping blocks to be symmetrically arranged at the bottom of the top plate and embedded in the bottom frame. Multiple sets of rollers, sliding pins, and guide sliders are orderly arranged within the frame, resulting in a compact and regular overall structure that significantly reduces the space occupied by the mechanism. This facilitates connection with external moving mechanisms, integration of press-fit components, and adaptation to the multi-jaw drive requirements in confined spaces, improving the overall space utilization of the equipment. Furthermore, the box-shaped structure design of the mounting frame provides strong overall rigidity and excellent resistance to deformation, offering a stable installation space for the multi-jaw connection structure and laying a stable foundation for the synchronous installation of multiple sets of clamps. Secondly, the precise guidance of the irregularly shaped guide slot for the first roller, combined with the connection between the sliding pin and the guide slider, ensures that the opening and closing actions of all grippers are completely synchronized, avoiding action lag or deviation caused by differences in the transmission link, and ensuring the consistency of multi-gripper actions. Furthermore, by incorporating a limiting groove in the irregularly shaped guide slot, the first roller is precisely positioned within it during initial clamping, forming a mechanical locking structure. This effectively prevents the grippers from loosening due to external disturbances in the non-working state, ensuring initial stability and high clamping reliability. Simultaneously, the first spring within the guide slider is in a pre-compressed state during clamping, providing continuous elastic preload for the clamping action, further ensuring the stability of clamping micro-parts such as titanium nails and preventing parts from falling off during assembly. Moreover, the power of the Z-axis drive mechanism is directly converted into lateral driving force through the cooperation of the second roller and the guide ramp of the sliding block, resulting in low power loss and faster gripper opening and closing response, making it suitable for high-speed assembly scenarios. Moreover, the irregularly shaped guide channel adopts a sock-shaped design with a straight vertical guide section, an arc-shaped horizontal guide section, and a rounded transition. Combined with the rolling friction transmission of the first roller, it greatly reduces motion resistance. Compared with the traditional sliding guide structure, the transmission smoothness is significantly improved, avoiding jamming and making the action response rapid.

[0040] like Figure 3 As shown, in a preferred embodiment, the Z-axis drive mechanism 58 includes a fixed plate 581 connected to an external transfer mechanism or bracket, and a first cylinder 582 connected to the fixed plate 581. Four vertical guide rods 583 are provided between the top of the fixed plate 581 and the top of the multi-jaw push plate 59. The drive rod of the first cylinder 582 is connected to the top of the multi-jaw push plate 59 and is arranged parallel to the four vertical guide rods 583. When the first cylinder 582 drives the multi-jaw push plate 59 to move vertically, it drives the four vertical guide rods 583 to move along the through holes of the fixed plate 581.

[0041] Thus, the Z-axis drive mechanism 58 in this case is arranged in parallel with the first cylinder drive rod through four vertical guide rods, forming a stable structure with four-point guidance and central drive. This structure can limit the lateral offset of the multi-claw push plate, ensuring that it always moves in a vertical straight line. This allows the second roller at the bottom of the multi-claw push plate to precisely fit with the guide slope of the guide slider, ensuring accurate power transmission and guaranteeing the consistency of synchronous opening and closing of multiple sets of grippers. Furthermore, the even distribution of the four vertical guide rods at the top of the multi-claw push plate effectively disperses the force on the push plate and the second roller, avoiding force concentration caused by a single guide structure. Even in high-speed reciprocating motion, it can suppress mechanism shaking, improve the stability of the Z-axis drive, and adapt to long-term, high-frequency assembly operations. At the same time, the vertical guide rods guide the movement along the through holes of the fixed plate, providing high guidance accuracy and reducing radial sway during the movement of the multi-claw push plate, thus extending the service life of components such as guide rods and push plates.

[0042] Furthermore, the top plate 511 of the mounting frame 51 has at least two guide strip openings 513. The two claws of the multi-claw push plate 59 have a structure that is larger at the top and smaller at the bottom, with the bottom passing through the guide strip openings 513 and abutting against the guide slope 561. In this way, the guide strip openings on the top plate of the mounting frame provide precise vertical movement guidance for the multi-claw push plate. Combined with the structure design of the push plate being larger at the top and smaller at the bottom, the smaller part at the bottom passes through the strip opening to limit the movement of the push plate and prevent lateral deviation during the movement. This ensures that the bottom of the push plate always abuts precisely against the guide slope of the guide slider, guaranteeing the stability of power transmission and the consistency of synchronous opening and closing of the multiple claws. The larger part at the top facilitates the provision of connection and installation space.

[0043] like Figures 3-6 As shown in the figure, in a preferred embodiment, multiple rows of bolts are connected to the two side walls of the bottom frame 512 of the mounting frame 51. The figure shows two rows arranged vertically, with the number of bolts in each row matching the number of sliders. These bolts are guide bolts 60. Each row of bolts is evenly distributed longitudinally. Longitudinal connecting seats 5121 are connected to the interior of the front and rear sides of the middle portion of the bottom frame 512. One end of each guide bolt 60 is fixedly connected to the left / right side wall of the bottom frame 512 and passes transversely through the interior of the guide slider 56; the other end is fixedly connected to the longitudinal connecting seat 5121. Each guide slider 56 can move laterally along the corresponding guide bolt 60. A second spring 8 is installed between the outer side wall of each guide slider 56 and one side wall of the bottom frame 512. When the gripper is in the initial clamping state, the second spring 8 is in its initial state; when the gripper is in the loosened state, the second spring 8 is compressed by the guide slider 56. When clamping is required again, the second spring 8 can quickly reset the gripper.

[0044] As described above, the multiple rows of guide bolts arranged vertically on both sides of the bottom frame of the mounting frame, together with the central longitudinal connecting seat, form a stable transverse guide structure. These bolts are evenly distributed longitudinally and their number corresponds one-to-one with the guide slider, providing a precise transverse movement track for the guide slider. This ensures that the guide slider always slides smoothly along the bolt axis, avoiding misalignment of the grippers caused by lateral offset, and guaranteeing the synchronization and accuracy of the multi-gripper action. Simultaneously, the second spring between the outer wall of the guide slider and the side wall of the bottom frame is compressed and stores elastic potential energy when the grippers are released. When clamping, it can quickly drive the guide slider to reset via elastic reset, eliminating the need for additional power. This improves the response speed and operational efficiency of the grippers. Furthermore, the spring is in its initial state during initial clamping, providing stable pre-tension support for the grippers and preventing loosening during non-working conditions. In addition, the design of the upper and lower rows of guide bolts enhances the load-bearing stability of the guide slider, reducing swaying or tilting during sliding. Combined with the buffering effect of the second spring, it reduces collision wear between components, extending the service life of the mechanism. The overall structure is compact and the transmission is reliable, further improving the operational stability and clamping accuracy of the cam transmission assembly.

[0045] like Figures 3-6 As shown, in a preferred embodiment, the pressing assembly 6 includes: a pressing cylinder 61 driven by the Z-axis drive mechanism 58, which can also move up and down; a pressing needle mounting structure driven by the pressing cylinder 61, which can also move up and down; and a vertically extending strip-shaped pressing needle 63 mounted on the pressing needle mounting structure. The pressing cylinder 61 is installed between the top of the multi-claw push plate 59 and the top of the mounting frame 5. The strip-shaped pressing needle 63 passes through the mounting frame 51 and extends to the center position of the two clamping blocks of the gripper. Each clamping block 300 is provided with a vertical positioning opening slot 301. When a set of grippers is in a clamping state, the two opposing clamping blocks close together to form a complete positioning slot that allows the strip-shaped pressing needle 63 to pass through. In this way, precise guidance and seamless coordination of clamping and pressing are achieved. The complete positioning slot formed by the positioning opening slot when the two clamping blocks close together provides a precise guide channel through the center of the gripper for the downward movement of the strip-shaped pressing needle. This ensures that the axis of the pressing force is always aligned with the theoretical centerline of the titanium nail, effectively preventing the pressure pin from swaying due to lack of guidance or interfering with the inner wall of the gripper, thus ensuring absolute alignment during the pressing process and guaranteeing that the titanium nail is pressed vertically and accurately into the target position.

[0046] In a preferred embodiment, the pressing assembly 6 includes: one or more pressing cylinders 61 driven by the Z-axis driving mechanism 58 and capable of vertical movement; a pressing needle mounting structure driven by the pressing cylinders 61 and capable of vertical movement; and multiple vertically extending strip-shaped pressing needles 63 mounted on the pressing needle mounting structure. Each pressing cylinder 61 is mounted between the top of the multi-claw push plate 59 and the top of the mounting frame 5. Each strip-shaped pressing needle 63 passes through the mounting frame 51 and extends to the symmetrical center position of the two clamping blocks of the corresponding set of clamping claws. The pressing needle mounting structure includes at least one or more pressing cylinders 61 fixedly connected to the driving end of the corresponding pressing cylinder 61. The device comprises a needle connecting block 621, a pressure needle connecting seat 622 that snaps into the pressure needle connecting block 621, and a first retaining groove 623 formed in the pressure needle connecting seat 622. The top of the strip-shaped pressure needle 63 is provided with a first retaining block 624 whose shape matches the first retaining groove 623. The pressure needle connecting seat 622 is provided with one or more retaining notches 625. The pressure needle connecting block 621 has a retaining groove 626 with a downward opening, and the two sides of the retaining groove 626 protrude inward to form retaining protrusions 6260. The pressure needle connecting block 621 passes through the pressure needle connecting seat 622 through the retaining groove 626 and is snapped into the retaining notch 625 by the retaining protrusions 6260. In a specific implementation, the first retaining groove 623 is a T-shaped retaining groove, the first retaining block 624 is a T-shaped retaining block, and the pressure needle connecting block 621 passes downward through the T-shaped retaining groove of the pressure needle connecting seat 622 to achieve snap-fit ​​fixation. The snap-fit ​​groove 626 has a C-shaped groove structure, so snap-fit ​​protrusions 6260 are formed on both sides, and corresponding snap-fit ​​notches 625 are also formed on the left and right sides of the pressure needle connecting seat 622. The cylinder body of the pressure cylinder 61 is fixed on the top of the multi-claw push plate 59, and its piston rod drive end is connected to the strip pressure needle through the top of the mounting frame 51.

[0047] In a preferred embodiment, the strip-shaped pressure needle 63 has a structure that is larger at the top and smaller at the bottom. The upper part is connected to the pressure needle mounting structure, and the lower part passes through the positioning groove formed by two tightly closed grippers. The pressing cylinder 61 is installed between two opposing multi-claw push plates 59.

[0048] In addition, such as Figure 7 The first strip-shaped pressure needle 63 is connected to a pressure needle mounting structure that includes a second connecting block 64 with a T-shaped strip groove 641, which is fixedly connected to each pressure cylinder 61. The first locking block at the top of the strip-shaped pressure needle 63 is engaged and fixed with the second connecting block 64 along the strip groove 641. In addition, the longitudinal connecting seat 5121 of the bottom frame 512 is also provided with multiple locking holes 51210 for limiting and guiding the strip-shaped pressure needle 63.

[0049] As described above, the pressing assembly, through the Z-axis drive mechanism and the independent design of multiple pressing cylinders, works in conjunction with multiple sets of strip-shaped pressing pins precisely corresponding to the symmetrical center positions of each set of grippers. This achieves coordinated linkage between the pressing action and the gripper opening and closing action, and allows for flexible adaptation to different pressing force requirements through single or multiple pressing cylinders, ensuring precise pressing of the titanium nails along the axis and avoiding skew deformation. The pressing pin installation structure adopts a snap-fit ​​combination of pressing pin connecting blocks and pressing pin connecting seats, combined with the matching design of the first slot and the first slot block, and the snap-fit ​​fixing of the slot and the notch, to achieve quick assembly and disassembly and precise positioning of the strip-shaped pressing pins. Simultaneously, the second connection... The strip slot design of the block provides another convenient assembly solution (one connecting block corresponds to one strip pressure pin), which is suitable for different installation scenarios. The structure of the strip pressure pin, which is larger at the top and smaller at the bottom, and the guide design of the longitudinal connecting seat not only enhance the structural stability of the pressure pin itself, but also ensure the straightness of the pressing process through double guidance, avoiding the pressure pin shaking and deviation. Moreover, the pressing cylinder is installed between two multi-claw push plates, with a compact and reasonable layout. It makes full use of space without interfering with the opening and closing action of the grippers. The overall structure has a high degree of modularity and strong adaptability, which not only improves the accuracy and consistency of titanium nail pressing, but also reduces the cost of replacement and maintenance.

[0050] In summary, this invention discloses a titanium nail assembly device. This mechanism includes a stapler carrier equipped with a stapler, a moving mechanism for finely adjusting the carrier's position, multiple sets of loading and assembly grippers, and a multi-jaw opening and closing mechanism integrating a cam drive assembly and a pressing assembly. The cam drive assembly, through the cooperation of a mounting frame, symmetrical cam opening blocks and their internal irregularly shaped guide slots, a first roller, a sliding pin, a guide slider, and a spring, converts the up-and-down movement of the Z-axis drive mechanism into the synchronous opening and closing action of multiple sets of grippers. The pressing assembly, through a pressing cylinder driving a strip-shaped pressure needle, presses down synchronously when the grippers clamp the titanium nails, completing precise assembly. This invention achieves synchronous loading and unloading, precise positioning, and coordinated pressing of multiple sets of titanium nails, solving the problems of low efficiency and poor consistency caused by single-jaw sequential operation in the prior art, and significantly improving the automation level, assembly accuracy, and production efficiency of stapler titanium nail assembly.

[0051] As stated above, this case protects a titanium nail assembly device, and all technical solutions that are the same as or similar to this case should be considered to fall within the scope of protection of this case.

Claims

1. A titanium nail assembly device, characterized in that, include: Anastomosis carrier (1) equipped with an anastomosis device (100); The moving mechanism (2) is connected to the bottom of the stapler carrier (1) and is used to drive the stapler carrier (1) to adjust its position. Multiple sets of loading assembly grippers (3) are located above the stapler carrier (1). Each set of loading assembly grippers (3) includes two opposing clamping blocks. The clamping or loosening of the titanium nail (200) is achieved by the relative approach or distance between the two clamping blocks. The multi-jaw opening and closing mechanism (4) includes a cam drive assembly (5) and a pressing assembly (6); the cam drive assembly (5) is connected to each clamping block of the multiple sets of feeding assembly jaws (3) to convert its own up and down movement into relative closeness or distance movement between the two opposing clamping blocks; the pressing assembly (6) is located inside the multi-jaw opening and closing mechanism (4) and is used to press the titanium nail into the stapler (100) when the titanium nail is clamped.

2. The titanium nail assembly device according to claim 1, characterized in that, The moving mechanism (2) includes a base (21), a lateral drive mechanism (22) mounted on the base (21), and a lifting drive mechanism (23) connected between the lateral drive mechanism (22) and the stapler carrier (1), wherein the lifting drive mechanism (23) is fixedly connected to the bottom of the stapler carrier (1).

3. The titanium nail assembly device according to claim 1, characterized in that, The number of the loading assembly grippers (3) is eight sets, and the eight sets of grippers are evenly arranged along the length direction of the anastomosis carrier (1); each set of loading assembly grippers (3) has a positioning opening groove (301) on the inner side of the two clamping blocks opposite to each other.

4. The titanium nail assembly device according to claim 1, characterized in that, The cam drive assembly (5) includes: The mounting frame (51) has a box-shaped structure, including a top plate (511) and a bottom frame (512) connected to the bottom of the top plate (511). Two cam-opening clamping blocks (52) are symmetrically connected to the left and right sides of the bottom of the top plate (511); the cam-opening clamping blocks (52) have longitudinally extending irregularly shaped guide grooves (53) inside. Multiple first rollers (54), each first roller (54) is connected to a guide slider (56) via a sliding pin (55) and can roll along the irregular guide groove (53); The bottom of the guide slider (56) is fixedly connected to the clamping block of the feeding assembly claw (3); The contour of the irregular guide groove (53) includes a vertical guide portion (531) and a horizontal guide portion (532) that are connected.

5. The titanium nail assembly device according to claim 4, characterized in that, The vertical guide section (531) is a straight channel that runs through the upper part; the horizontal guide section (532) is an arc-shaped channel, and the groove wall corresponding to its arc-shaped surface is recessed to form a limiting groove (5320) for limiting the first roller (54) when the gripper is in the initial clamping state.

6. The titanium nail assembly device according to claim 4, characterized in that, The bottom wall of the irregular guide groove (53) forms multiple through holes (533) in the longitudinal direction. The guide slider (56) is provided with a vertical mounting groove (560). The sliding pin (55) passes through the through holes (533) into the vertical mounting groove (560). A first spring (57) is installed between the sliding pin (55) and the bottom wall of the vertical mounting groove (560). Among them, the outer peripheral surface of the sliding pin (55) located inside the vertical mounting groove (560) is fitted with an annular baffle (551) to facilitate the compression of the first spring (57).

7. The titanium nail assembly device according to claim 4, characterized in that, The cam drive assembly (5) also includes: Z-axis drive mechanism (58); The multi-claw push plate (59) is provided with two symmetrically arranged claws, which are connected to the drive end of the Z-axis drive mechanism (58) and can move vertically. Each multi-claw pusher plate (59) has multiple second rollers (591) connected to its bottom end in the longitudinal direction; the guide slider (56) is provided with a guide slope (561), and the second rollers (591) roll along the guide slope (561) by vertical movement; the top plate (511) of the mounting frame (51) is provided with at least two guide strip openings (513), and the two claws of the multi-claw pusher plate (59) have a structure that is larger at the top and smaller at the bottom, and the bottom passes through the guide strip opening (513) and abuts against the guide slope (561).

8. The titanium nail assembly device according to claim 7, characterized in that, The Z-axis drive mechanism (58) includes a fixed plate (581) connected to an external transfer mechanism or external support, a first cylinder (582) mounted on the fixed plate (581), and multiple vertically parallel guide rods (583); the multiple vertical guide rods (583) are connected between the fixed plate (581) and the top of the multi-claw push plate (59), the drive rod of the first cylinder (582) is fixedly connected to the top of the multi-claw push plate (59), and the drive rod is parallel to the vertical guide rods (583); the fixed plate (581) has a first through hole (580) for the vertical guide rods (583) to pass through and guide, and the vertical guide rods (583) are used to slide synchronously along the first through hole (580) when the first cylinder (582) drives the multi-claw push plate (59) to move vertically.

9. The titanium nail assembly device according to claim 4, characterized in that, The bottom frame (512) has a longitudinal connecting seat (5121) connected between the inner walls of the front and rear sides in the middle. Multiple horizontally extending guide bolts (60) are connected between the left and right sides of the bottom frame (512) of the mounting frame (51) and the longitudinal connecting seat (5121). The guide slider (56) is slidably sleeved on the guide bolts (60). A second spring (8) is installed between the outer side wall of the guide slider (56) and the left and right inner walls of the bottom frame (512).

10. The titanium nail assembly device according to claim 7, characterized in that, The pressing assembly (6) includes one or more pressing cylinders (61) driven by the Z-axis driving mechanism (58) to move up and down, a pressing needle mounting structure driven by the pressing cylinders (61) to move up and down, and a plurality of strip pressing needles (63) mounted on the pressing needle mounting structure and extending vertically; the pressing cylinders (61) are mounted between the top of the multi-claw push plate (59) and the top of the mounting frame (51), and each strip pressing needle (63) penetrates the mounting frame (51) and extends to the symmetrical center position of the two clamping blocks of the corresponding set of clamping claws; the pressing needle mounting structure includes one or more pressing needle connecting blocks (621) fixedly connected to the driving end of the corresponding pressing cylinder (61), and a pressing needle connecting seat (621) snapped into the inside of the pressing needle connecting block (621). 622), and a first slot (623) formed on the pressure needle connector (622); the top of the strip pressure needle (63) is provided with a first locking block (624) that matches the shape of the first slot (623), the pressure needle connector (622) is provided with one or more locking notches (625), the pressure needle connector (621) is provided with a locking groove (626) with a lower opening, and the two sides of the locking groove (626) protrude inward to form locking protrusions (6260); the pressure needle connector (621) passes through the pressure needle connector (622) through the locking groove (626), and is fixed by locking the locking protrusions (6260) into the locking notch (625), and the first locking block (624) is locked in the first slot (623).

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