A multifunctional automatic needle insertion device for temporary brachytherapy

Abstract

The present invention relates to the field of medical device technology, specifically a multifunctional automatic needle insertion device that can automatically insert an implant needle into human tissue, automatically remove the needle core, and automatically replace the implant needle during temporary close-range radiotherapy; the device can improve the problems of instability and inaccuracy caused by doctors mainly relying on hand feeling and experience judgment when inserting the needle; the device comprises a multi-degree-of-freedom robot (1), a short-distance moving unit (2), a mobile clamping unit, a guide mold unit, and a clamping unit; the multi-degree-of-freedom robot (1) is used to move the end device to a suitable position; the short-distance moving end unit (2) is used to complete the linear motion required for needle insertion and needle core removal; the mobile clamping unit is used to clamp the implant needle (7) so that the linear motion of the short-distance moving unit (2) can be transmitted to the implant needle (7); the guide mold unit is used to provide guidance; and the clamping unit is used to control the closing and opening of the guide mold and clamp the implant needle.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, in particular to a multifunctional automatic needle insertion device which can automatically insert an implant needle into human tissue, automatically remove the needle core, and automatically replace the implant needle during temporary brachytherapy. Background Art

[0002] In temporary brachytherapy, such as brachytherapy for cervical cancer and prostate cancer, an implant needle is required. The implant needle creates space for strong radioactive particles to move in human tissue. The implant needle is a small blind-hole plastic tube containing a needle core, which can improve the implant needle's bending resistance. The needle core is not completely immersed in the blind-hole plastic tube, and the tail end of the needle core is outside the blind-hole plastic tube. During the surgical procedure to insert the implant needle into the human tissue, the needle core is pre-placed in the blind-hole plastic tube. The doctor holds the implant needle and inserts the implant needle to the appropriate depth in the human tissue with the help of auxiliary tools. The doctor then pinches the blind-hole plastic tube with one hand and grasps the end of the needle core with the other hand to pull out the steel needle. After inserting one needle, the doctor will insert the appropriate number of implant needles as needed. Taking cervical cancer brachytherapy as an example, the length of the implant needle is about 24 cm. The implant needle must first enter the vagina about 10 cm. During this process, the needle will not encounter resistance. During the process of inserting the implant needle into the cervical tissue, the implant needle will encounter resistance and face the risk of bending and deformation.

[0003] At present, the brachytherapy needle insertion surgery is generally performed manually by doctors, and the related auxiliary tools are mostly templates for positioning, such as a deformable applicator template for cervical cancer interstitial insertion needle disclosed in Chinese patent CN202010943366.8.

[0004] During the process of manual needle insertion by doctors, since doctors mainly rely on hand feeling and experience to insert the needle, problems such as angle deviation, tissue perforation, needle track deviation, and high labor intensity are relatively serious, affecting the accuracy of needle implantation.

[0005] There are also automatic auxiliary devices at present, such as the automatic positioning mechanism for auxiliary tumor radiotherapy seed implantation disclosed in Chinese patent CN201610925350.8, which can accurately locate the radiotherapy seed implantation template, with the benefits of improving the template positioning accuracy and increasing the speed of positioning adjustment. Summary of the Invention

[0006] The present invention addresses the problem that during temporary brachytherapy, doctors mainly rely on hand feeling and experience to insert needles, resulting in serious problems such as angle deviation, tissue perforation, needle track deviation, and high labor intensity, which affect the accuracy of implantation of implantation needles. The present invention proposes a multifunctional automatic needle insertion device that can automatically insert implantation needles into human tissue, automatically remove needle cores, and automatically replace implantation needles during temporary brachytherapy.

[0007] The present invention proposes a multifunctional automatic needle insertion device for temporary close-range radiotherapy, which includes a multi-degree-of-freedom robot, a short-distance moving unit, a mobile clamping unit, a guide mold unit, and a clamping unit; the function of the device is to automatically complete the temporary close-range radiotherapy needle insertion work, and its working process is: clamping the implant needle, inserting the needle, removing the needle core, and placing the needle core; the function of the multi-degree-of-freedom robot is to move the end device to a suitable position to increase the range of motion; the function of the short-distance moving end element is to provide linear motion to complete the linear motion required for needle insertion and needle core removal; the function of the mobile clamping unit is to clamp the implant needle so that the linear motion of the short-distance moving unit can be transmitted to the implant needle; the function of the guide mold unit is to provide guidance and reduce the bending of the implant needle; the function of the clamping unit is to control the closing and opening of the guide mold and clamp the implant needle.

[0008] A multifunctional automatic needle insertion device for temporary brachytherapy includes a multi-degree-of-freedom robot, a short-distance moving unit, a mobile clamping unit, a guide mold unit, and a clamping unit; the multi-degree-of-freedom robot is fixedly connected to a fixed platform, the short-distance moving unit is fixedly connected to the end of the multi-degree-of-freedom robot, the mobile clamping unit and the short-distance moving unit form a moving pair, the guide mold unit is fixedly connected to the short-distance moving unit, and the clamping unit is fixedly connected to the short-distance moving unit.

[0009] The moving pair between the moving clamping unit and the short-distance moving unit can be realized by a screw nut, an electric cylinder, an air cylinder, a hydraulic cylinder, a linear motor, etc.

[0010] The movable clamping unit includes a slider, a lower clamping plate, an upper clamping plate, and a clamping slider; the slider and the short-distance movable unit form a movable pair, and the movable clamping unit can move on the short-distance movable unit; the lower clamping plate and the slider form a fixed connection; the upper clamping plate and the clamping slider form a fixed connection; the clamping slider and the slider form a movable pair, and when the clamping slider moves, the upper clamping plate and the lower clamping plate separate or approach, and the implant needle can be loosened or clamped; the upper clamping plate and the lower clamping plate can clamp the needle core at the tail end of the implant needle, and form a shape match with the needle core at the tail end of the implant needle, thereby firmly clamping the needle core of the implant needle.

[0011] The guide mold unit includes a guide mold lower half, a guide mold upper half, a guide mold matching slider, and a guide mold driving slider; the guide mold lower half is fixedly connected to the short-distance moving unit; a moving pair is formed between the guide mold lower half and the guide mold matching slider; the guide mold matching slider is fixedly connected to the guide mold upper half, which is equivalent to forming a moving pair between the guide mold upper half and the guide mold lower half; the guide mold upper half and the guide mold driving slider form a moving pair; the guide mold driving slider is fixedly connected to the clamping unit slider, and the movement of the clamping unit slider can control the movement of the guide mold upper half.

[0012] The clamping unit comprises a clamping unit slider; the clamping unit slider forms a moving pair with the short-distance moving unit and is fixedly connected with the guide mold driving slider.

[0013] The upper half of the guide mold and the lower half of the guide mold both have semicircular grooves. When they are closed, the semicircular grooves form a circular hole, forming a guide channel, into which the implantation needle can enter; the guide mold unit is driven by the clamping unit slider, and the upper half of the guide mold and the lower half of the guide mold can be separated or closed.

[0014] The temporary close-range radiotherapy multifunctional automatic needle insertion device can clamp the implant needle, and the steps are as follows: first, all the implant needles are placed in the appropriate position; then the multi-degree-of-freedom robot moves the end of the device to the appropriate position, and moves the mobile clamping unit to the rear end of the short-distance moving unit so that the implant needle is between the lower clamping plate and the upper clamping plate, and then the clamping slider moves so that the upper clamping plate and the lower clamping plate clamp the implant needle.

[0015] The movable clamping unit can move the implant needle forward a certain distance, and the steps are as follows: first, the movable clamping unit is moved to the rear end of the short-distance movable unit, and then the clamping slider of the movable clamping unit is moved so that the lower clamping plate and the upper clamping plate clamp the implant needle, and then the movable clamping unit is moved forward as a whole.

[0016] The movable clamping unit can make the implant needle move forward a long distance, and its length can be greater than the stroke of the movable pair of the movable clamping unit and the short-distance movable unit. The specific steps are as follows: first, the clamping movable unit moves the implant needle forward a certain distance; then the clamping slider moves to release the implant needle; then the movable clamping unit moves backward; then the clamping slider moves, and the movable clamping unit moves the implant needle forward a certain distance again; the clamping slider of the movable clamping unit cooperates with the slider to work in a cycle, which can make the implant needle move forward a certain distance.

[0017] The multifunctional automatic needle insertion device for temporary close-range radiotherapy can pull out the needle core. The state before pulling out the needle core is to move the clamping unit to clamp the tail end of the implant needle so that the implant needle enters a certain depth into the human tissue. On this basis, the steps are as follows: first, the clamping unit slider moves, and on the basis of keeping the lower half of the guide mold and the upper half of the guide mold closed, the clamping unit slider further clamps the plastic shell of the implant needle; then the clamping unit is moved backward to pull the needle core out of the plastic shell of the implant needle by a certain distance; then the clamping unit is moved forward; then the clamping unit is moved to clamp the needle core; then the clamping unit is moved backward; and this is repeated until the needle core is completely removed from the implant needle.

[0018] The steps of the temporary close-range radiotherapy multifunctional automatic needle insertion device to complete the automatic needle insertion work are as follows: first, clamp the implant needle, and then, under the drive of the clamping unit slider, the upper half of the guide mold and the lower half of the guide mold are closed to form a guide channel; then the multi-degree-of-freedom robot completes the positioning work, so that the implant needle follows the designed needle path; then the implant needle moves forward a long distance; then the clamping unit is moved to clamp the tail end of the implant needle, and then the implant needle moves forward slowly and is inserted into the human tissue to a certain depth; then the needle core is pulled out; then the upper half of the guide mold is separated from the lower half of the guide mold, and the interaction force between the plastic shell of the implant needle and the device is reduced, which facilitates the separation of the guide mold unit and the plastic shell of the implant needle; then the needle core is placed in the designated position.

[0019] The beneficial effects of the present invention are: 1) it can realize automatic needle insertion for temporary brachytherapy, and automatically complete the tasks of clamping the implant needle, inserting the needle, and removing the needle core in sequence; 2) the movable clamping unit of the actuator on the end of the multi-degree-of-freedom robot works reciprocatingly. The short-distance moving unit has a small stroke, but it can move the implant needle over a large range, making the entire device more compact and lighter. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a simplified diagram of a multifunctional automatic needle insertion device for temporary brachytherapy.

[0021] Figure 2 It is a simplified diagram of the second state of the clamping unit of the multifunctional automatic needle insertion device for temporary brachytherapy.

[0022] Figure 3 It is a partial structural diagram of the upper half and the lower half of the guide mold.

[0023] Figure 4 This is a schematic diagram of a multifunctional automatic needle insertion device for temporary brachytherapy gripping an implant needle.

[0024] Figure 5 This is a schematic diagram of the needle core removal device of the multifunctional automatic needle insertion device for temporary brachytherapy.

[0025] Figure 6 This is a structural diagram of the guide mold unit and the clamping unit in the first state.

[0026] Figure 7 It is a schematic diagram of the contact surface between the guide mold unit and the clamping unit.

[0027] Figure 8 This is a structural diagram of the guide mold unit and the clamping unit in the second state.

[0028] Explanation of main symbols: 1. Multi-degree-of-freedom robot, 2. Short-distance moving unit, 3. Slider, 4. Clamping slider, 5. Lower clamping plate, 6. Upper clamping plate, 7. Implantation needle, 8. Clamping unit slider, 9. Guide mold driving slider, 10. Guide mold upper half, 11. Guide mold lower half, 12. Guide mold matching slider, 13. Guide mold upper half push plate, 14. Spring. DETAILED DESCRIPTION

[0029] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] First embodiment: Figure 1 As shown, a multifunctional automatic needle insertion device for temporary brachytherapy includes a multi-degree-of-freedom robot 1, a short-distance moving unit 2, a mobile clamping unit, a guide mold unit, and a clamping unit; the multi-degree-of-freedom robot 1 is fixedly connected to a fixed platform, the short-distance moving unit 2 is fixedly connected to the end of the multi-degree-of-freedom robot 1, the mobile clamping unit and the short-distance moving unit 2 form a moving pair, the guide mold unit is fixedly connected to the short-distance moving unit 2, and the clamping unit is fixedly connected to the short-distance moving unit.

[0031] The moving pair between the moving clamping unit and the short-distance moving unit 2 can be realized by a screw nut, an electric cylinder, an air cylinder, a hydraulic cylinder, a linear motor, etc.

[0032] The movable clamping unit includes a slider 3, a lower clamping plate 5, an upper clamping plate 6, and a clamping slider 4; the slider 3 and the short-distance moving unit 2 form a movable pair, and the movable clamping unit can move on the short-distance moving unit 2; the lower clamping plate 5 and the slider 3 are fixedly connected; the upper clamping plate 6 and the clamping slider 4 are fixedly connected; the clamping slider 4 and the slider 3 form a movable pair, and when the clamping slider 4 moves, the upper clamping plate 6 and the lower clamping plate 5 are separated or approached, and the implant needle 7 can be loosened or clamped; the upper clamping plate 6 and the lower clamping plate 5 can clamp the needle core at the tail end of the implant needle 7, and form a shape match with the needle core at the tail end of the implant needle 7, thereby firmly clamping the needle core of the implant needle 7.

[0033] The guide mold unit includes a guide mold lower half 11, a guide mold upper half 10, a guide mold matching slider 12, and a guide mold driving slider 9; the guide mold lower half 11 is fixedly connected to the short-distance moving unit 2; a moving pair is formed between the guide mold lower half 11 and the guide mold matching slider 12; the guide mold matching slider 12 is fixedly connected to the guide mold upper half 10, which is equivalent to the guide mold upper half 10 and the guide mold lower half 11 forming a moving pair; the guide mold upper half 10 and the guide mold driving slider 9 form a moving pair, and the guide mold driving slider 9 is fixedly connected to the clamping unit slider 8, and the movement of the clamping unit slider 8 can control the movement of the guide mold upper half 10; the moving pair formed by the guide mold upper half 10 and the guide mold driving slider 9 has two different states, and the position of the clamping unit slider 8 is within a certain range, such as Figure 1 As shown, the direction of the moving pair is inclined, and the direction of the moving pair is different from the moving direction of the clamping unit slider 8. At this time, the movement of the clamping unit slider 8 will cause the upper half 10 of the guide mold to move, as shown in FIG. Figure 2 As shown, if the clamping unit slider 8 moves downward to a certain range, the direction of the moving pair is vertical, and the direction of the moving pair is the same as the moving direction of the clamping unit slider 8. At this time, the movement of the clamping unit slider 8 will not cause the upper half 10 of the guide mold to move.

[0034] The clamping unit includes a clamping unit slider 8 ; the clamping unit slider 8 forms a moving pair with the short-distance moving unit 2 and forms a fixed connection with the guide mold driving slider 9 .

[0035] like Figure 3 As shown, the upper half 10 and the lower half 11 of the guide mold both have semicircular grooves. When they are closed, the semicircular grooves form a circular hole, forming a guide channel, and the implantation needle 7 can enter therein; the guide mold unit is driven by the clamping unit slider 8, and the upper half 10 and the lower half 11 of the guide mold can be separated or closed; the upper half 10 of the guide mold has a boss, and the lower half 11 of the guide mold has a groove. The boss of the upper half 10 of the guide mold can be inserted into the groove of the lower half 11 of the guide mold to form a moving pair.

[0036] like Figure 4 As shown, the temporary brachytherapy multifunctional automatic needle insertion device can clamp the implant needle, and the steps are as follows: first, all the implant needles 7 are placed in the appropriate position; then the multi-degree-of-freedom robot 1 moves the end of the device to the appropriate position, and moves the clamping unit to the rear end of the short-distance moving unit 2, so that the implant needle 7 is between the lower clamping plate 5 and the upper clamping plate 6, and then the clamping slider 4 moves to clamp the implant needle 7 with the upper clamping plate 6 and the lower clamping plate 5.

[0037] like Figure 1As shown, the movable clamping unit can move the implant needle 7 forward a certain distance, and the steps are as follows: first, the movable clamping unit is moved to the rear end of the short-distance movable unit 2, and then the clamping slider 4 of the movable clamping unit is moved so that the lower clamping plate 5 and the upper clamping plate 6 clamp the implant needle 7, and then the movable clamping unit is moved forward as a whole.

[0038] The movable clamping unit can make the implantation needle 7 move forward a long distance, and its length can be greater than the stroke of the movable pair of the movable clamping unit and the short-distance movable unit 2. The specific steps are as follows: first, the clamping movable unit moves the implantation needle 7 forward a certain distance; then the clamping slider 4 moves to release the implantation needle 7; then the movable clamping unit moves backward; then the clamping slider 4 moves, and the movable clamping unit moves the implantation needle 7 forward a certain distance again; the clamping slider 4 of the movable clamping unit cooperates with the slider 3 to work in a cycle, which can move the implantation needle 7 forward a certain distance.

[0039] The multifunctional automatic needle insertion device for temporary brachytherapy can remove the needle core, such as Figure 5 As shown, the state before the needle core is removed is to move the clamping unit to clamp the tail end of the implant needle 7 so that the implant needle enters a certain depth into the human tissue. On this basis, the steps are as follows: first, the clamping unit slider 8 moves, and on the basis of keeping the lower half 11 of the guide mold and the upper half 10 of the guide mold closed, the clamping unit slider 8 moves further downward to clamp the plastic shell of the implant needle 7; then the clamping unit is moved backward to pull the needle core out of the plastic shell of the implant needle 7 by a certain distance; then the clamping unit is moved forward; then the clamping unit is moved to clamp the needle core; then the clamping unit is moved backward; and this is repeated until the needle core is completely removed from the implant needle 7.

[0040] The steps of completing the automatic needle insertion work of the temporary close-range radiotherapy multifunctional automatic needle insertion device are as follows: first, clamp the implant needle 7, and then, under the drive of the clamping unit slider 8, the upper half of the guide mold 10 and the lower half of the guide mold 11 are closed to form a guide channel; then the multi-degree-of-freedom robot 1 completes the positioning work, so that the implant needle 7 follows the designed needle path; then the implant needle 7 moves forward a long distance; then the clamping unit is moved to clamp the tail end of the implant needle 7, and then the implant needle 7 moves forward slowly and is inserted into the human tissue to a certain depth; then the needle core is pulled out; then the upper half of the guide mold 10 is separated from the lower half of the guide mold 11, and the interaction force between the plastic shell of the implant needle 7 and the device is reduced, which facilitates the separation of the guide mold unit and the plastic shell of the implant needle; and the needle core is placed in the designated position.

[0041] The specific structure of the guide mold unit and the clamping unit can be as follows Figure 6 and Figure 7As shown, the upper push plate 13 of the guide mold forms a moving pair with the short-distance moving unit 2, the upper push plate 13 of the guide mold forms a fixed connection with the spring 14, and the upper push plate 13 of the guide mold contacts the upper half 10 of the guide mold to form a moving pair; the spring 14 forms a fixed connection with the short-distance moving unit 2; at this time, the upper half 10 of the guide mold and the lower half 11 of the guide mold are in a separated state, and the moving pair between the upper half 10 of the guide mold and the clamping unit slider 8 is formed by inclined surface contact, and the direction of the moving pair is different from the moving direction of the clamping unit slider 8. The movement of the clamping unit slider 8 will drive the upper half of the guide mold 10 to move.

[0042] The second state of the guide mold unit and the clamping unit is as follows Figure 8 As shown, at this time, the clamping unit slider 8 moves downward, so that the moving pair between the guide mold upper half 10 and the clamping unit slider 8 is formed by two vertical surfaces in contact. The direction of the moving pair is the same as the moving direction of the clamping unit slider 8. The movement of the clamping unit slider 8 will not drive the guide mold upper half 10 to move.

[0043] The spring 14 is always in a tensioned state. The function of the spring 14 and the upper push plate 13 of the guide die is to ensure that the upper half 10 of the guide die and the clamping unit slider 8 are not separated, and the moving pair between them always exists.

Claims

1. A multifunctional automatic needle insertion device for temporary brachytherapy comprises a multi-degree-of-freedom robot (1), a short-distance moving unit (2), a moving clamping unit, a guide mold unit, and a clamping unit; characterized in that: The multi-degree-of-freedom robot (1) is fixedly connected to a fixed platform, the short-distance moving unit (2) is fixedly connected to the end of the multi-degree-of-freedom robot (1), the mobile clamping unit and the short-distance moving unit (2) form a moving pair, the guide mold unit and the short-distance moving unit (2) are fixedly connected, and the clamping unit and the short-distance moving unit (2) are fixedly connected; The movable clamping unit comprises a slider (3), a lower clamping plate (5), an upper clamping plate (6), and a clamping slider (4); the slider (3) and the short-distance moving unit (2) form a movable pair, and the movable clamping unit can move on the short-distance moving unit (2); the lower clamping plate (5) and the slider (3) form a fixed connection; the upper clamping plate (6) and the clamping slider (4) form a fixed connection; the clamping slider (4) and the slider (3) form a movable pair, and when the clamping slider (4) moves, the upper clamping plate (6) and the lower clamping plate (5) separate or approach, and can loosen or clamp the implant needle (7); the upper clamping plate (6) and the lower clamping plate (5) can clamp the needle core of the tail end of the implant needle (7), and form a shape match with the needle core of the tail end of the implant needle (7), thereby firmly clamping the needle core of the implant needle (7); The guide mold unit comprises a guide mold lower half (11), a guide mold upper half (10), a guide mold matching slider (12), and a guide mold driving slider (9); the guide mold lower half (11) is fixedly connected to the short-distance moving unit (2); a moving pair is formed between the guide mold lower half (11) and the guide mold matching slider (12); the guide mold matching slider (12) is fixedly connected to the guide mold upper half (10), which is equivalent to the guide mold upper half (10) and the guide mold lower half (11) forming a moving pair; the guide mold upper half (10) and the guide mold driving slider (9) form a moving pair, and the guide mold driving slider (9) is fixedly connected to the clamping unit slider (8). The movement of the clamping unit slider (8) can control the movement of the guide mold upper half (10); the guide mold upper half (10) and the guide mold driving slider (9) form a moving pair with two different states. When the guide mold upper half (10) and the guide mold driving slider (9) are in contact with the inclined surface, the direction of the moving pair is different from the moving direction of the clamping unit slider (8). At this time, the movement of the clamping unit slider (8) will cause the guide mold upper half (10) to move. When the guide mold upper half (10) and the guide mold driving slider (9) are in contact with the vertical surface, the direction of the moving pair is the same as the moving direction of the clamping unit slider (8). At this time, the movement of the clamping unit slider (8) will not cause the guide mold upper half (10) to move. The clamping unit comprises a clamping unit slider (8); the clamping unit slider (8) forms a moving pair with the short-distance moving unit (2) and forms a fixed connection with the guide mold driving slider (9).

2. The multifunctional automatic needle insertion device for temporary brachytherapy according to claim 1 is characterized in that the moving pair between the mobile clamping unit and the short-distance moving unit (2) can be realized by a screw nut, an electric cylinder, an air cylinder, a hydraulic cylinder, or a linear motor.

3. The multifunctional automatic needle insertion device for temporary close-range radiotherapy according to claim 1 is characterized in that: the upper half (10) of the guide mold and the lower half (11) of the guide mold both have semicircular grooves. When the upper half (10) of the guide mold and the lower half (11) of the guide mold are closed, the semicircular groove forms a circular hole, forming a guide channel, and the implantation needle (7) can enter therein; the guide mold unit is driven by the clamping unit slider (8), and the upper half (10) of the guide mold and the lower half (11) of the guide mold can be separated or closed; the upper half (10) of the guide mold has a boss, and the lower half (11) of the guide mold has a groove, and the boss of the upper half (10) of the guide mold can be inserted into the groove of the lower half (11) of the guide mold to form a moving pair.

4. The multifunctional automatic needle insertion device for temporary brachytherapy according to claim 1 is characterized in that: the connection relationship between the clamping unit slider (8) and the upper half of the guide mold (10) can be achieved through the following structure: the guide mold driving slider (9) and the clamping unit slider (8) are integrated into one, and the upper half push plate (13) and the spring (14) of the guide mold are added; the clamping unit slider (8) contacts with the upper half of the guide mold (10) to form a moving pair, the upper half push plate (13) of the guide mold and the short-distance moving unit (2) form a moving pair, the upper half push plate (13) of the guide mold and the spring (14) form a fixed connection, the upper half push plate (13) of the guide mold and the upper half (10) contact to form a moving pair, and the spring (14) forms a fixed connection with the short-distance moving unit (2); When the guide die upper half (10) and the guide die lower half (11) are in a separated state, the moving pair between the guide die upper half (10) and the clamping unit slider (8) is formed by inclined surface contact, the direction of the moving pair is different from the moving direction of the clamping unit slider (8), and the movement of the clamping unit slider (8) will drive the guide die upper half (10) to move; When the upper half (10) and the lower half (11) of the guide mold are in a closed state, the clamping unit slider (8) moves downward, so that the moving pair between the upper half (10) and the clamping unit slider (8) is formed by two vertical surfaces in contact, and the direction of the moving pair is the same as the moving direction of the clamping unit slider (8), and the movement of the clamping unit slider (8) will not drive the upper half (10) of the guide mold to move; The spring (14) is always in a tensioned state. The function of the spring (14) and the upper half push plate (13) of the guide die is to ensure that the upper half (10) of the guide die and the clamping unit slider (8) are not separated.

Images