Automated artificial hip joint spraying equipment and its spraying method

Abstract

The present invention discloses an automated artificial hip joint spraying device and its spraying method. The device includes a spraying platform, which is an openable and closable airtight structure with a spraying chamber inside and a ventilation duct on the top; a rotary worktable, which is arranged on the horizontal plane of the spraying chamber of the spraying platform and can clamp and rotate the artificial hip joint; a spraying robotic arm, which is arranged in front of the rotary worktable and outside the spraying platform and can pick up, place and spray the artificial hip joint; a workbench, which is arranged within the moving radius of the spraying robotic arm; and a material tray, which is horizontally arranged on the workbench. By using automated mechanical equipment to spray the artificial hip joint, compared with manual spraying, the present invention not only sprays more evenly, but also greatly reduces the occupation and consumption of labor, improves the spraying quality and efficiency of the artificial hip joint, effectively protects producers from the intrusion of dust, high temperature and noise, and optimizes the production environment of the artificial hip joint.

Description

Technical Field

[0001] The present invention relates to the technical field of artificial hip joint spraying, and particularly to an automated artificial hip joint spraying device and a spraying method thereof. Background Art

[0002] With the development of medicine, the demand for artificial joints will be increasing. Since artificial joints need to replace the functions of joints, high requirements are imposed on the materials. In traditional technologies, the spraying of artificial joints is all manually operated by workers.

[0003] For example, the preparation method of a bioactive gradient coating artificial joint disclosed in the publication number CN1081072C adopts a plasma spraying technology to spray a bioactive gradient coating with gradient changes in composition and structure on a metal substrate. The composition ratio of its bottom layer is 30 - 40% wt of titanium dioxide (TiO2), 10 - 20% wt of bioactive glass powder, 10 - 20% wt of zirconia (ZrO2), and 20 - 30% wt of hydroxyapatite (HAP); the composition ratio of the intermediate layer is 30 - 40% of zirconia (ZrO2), 10 - 20% wt of bioactive glass powder, and 50 - 70% wt of hydroxyapatite (HAP); the surface layer is 100% wt of hydroxyapatite. The above ratios are respectively fully mixed and sprayed layer by layer. The gradient coating thickness of this artificial joint can reach 100 - 150 μm, and the bonding strength reaches 40 MPa, solving the problems of easy peeling and easy erosion and dissolution by body fluids of the existing artificial joint coatings. When it is implanted into a heavily loaded part of the human body, it can maintain long-term efficacy.

[0004] However, when the plasma spray gun is working, it will generate noise, high temperature, and at the same time, there will be dust diffusing. Generally, operators need to wear ear protectors, high-temperature resistant gloves, gas masks and other protective gear for manual operations. However, despite this, after working for a period of time, the hands will still be scalded red. In addition, this manual spraying method will not only affect the uniformity of feeding, reduce the spraying efficiency, affect human safety, but also require a large amount of labor to be occupied and consumed. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to propose an automated artificial hip joint spraying device and a spraying method thereof.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] The automated artificial hip joint spraying device and a spraying method thereof include

[0008] a spraying platform, which is an openable and closable sealed structure, with a spraying chamber inside and a ventilation duct on the top;

[0009] A rotating workbench is provided on the horizontal plane of the spraying chamber of the spraying platform, which can clamp the artificial hip joint and rotate;

[0010] A spraying robotic arm is provided in front of the rotating workbench and outside the spraying platform, which can pick up, place and spray the artificial hip joint;

[0011] A workbench is provided within the moving radius of the spraying robotic arm;

[0012] A material tray is horizontally provided on the workbench.

[0013] In one way, the material tray includes

[0014] An upper positioning plate is provided with a number of upper material grooves arranged in an array and penetrating through. The upper material grooves are in an inverted frustum structure;

[0015] A lower positioning plate is connected to the upper positioning plate through connecting columns and is provided with a number of lower material grooves arranged in an array and penetrating through. The artificial hip joint simultaneously and fittingly passes through the corresponding upper material grooves and lower material grooves;

[0016] Foot supports are provided at the four corner positions of the bottom of the lower positioning plate.

[0017] In one way, the bottom of the lower positioning plate is provided with a separate and non-penetrating positioning groove, which is located between two adjacent rows of lower material grooves. Symmetrically arranged and penetrating positioning holes are provided in the positioning groove, and a sensor induction plate protruding from the positioning groove is provided at the central position between the two positioning holes in the positioning groove;

[0018] A number of groups of first positioning pins and second positioning pins arranged in an array and a number of groups of baffles arranged in an array are provided on the top surface of the workbench. A sensor is provided at the central position between each group of first positioning pins and second positioning pins;

[0019] The first positioning pin and the second positioning pin of the same group are respectively inserted into different positioning holes of the same lower positioning plate. The sensor induction plate abuts against the sensor, and each group of baffles separates adjacent material trays.

[0020] In one way, the docking arm of the spraying robotic arm is connected to the mounting plate. The mounting plate is of an L-shaped structure and is arranged parallel to the docking arm of the spraying robotic arm;

[0021] A jaw mounting part is provided at the bottom of the long arm end of the mounting plate. One end of the jaw mounting part is arranged at an angle with the mounting plate, and a jaw cylinder is provided at the other end of the jaw mounting part. A jaw head capable of performing clamping and releasing actions is provided on the jaw cylinder;

[0022] A spray gun mounting part is provided at the bottom of the short arm end of the mounting plate. A plasma spray gun is provided on the outer side surface of the spray gun mounting part, and the plasma spray gun is arranged in a staggered manner with respect to the mounting plate.

[0023] In one way, the rotating workbench includes

[0024] The workbench installation platform has a plurality of openings arranged in an array on its top surface, and symmetrical positioning columns are arranged on the outer edge of the bottom, and the positioning columns are connected to the spraying platform;

[0025] A rotary drive mechanism is arranged in the inner cavity of the workbench mounting platform;

[0026] A plurality of rotating disks are correspondingly arranged at different openings of the workbench mounting platform, and the bottom is connected to a rotating drive mechanism, and the rotating drive mechanism drives the rotating disk to rotate;

[0027] A clamping cylinder, which is located on the top of the rotating disk and has a parts clamping claw to clamp the artificial hip joint;

[0028] A solenoid valve, which is located inside the workbench mounting platform and connects the positive pressure nozzle on the side of the workbench mounting platform and the different clamping cylinders;

[0029] The shield is arranged between adjacent part clamps, and the bottom is connected to the top surface of the workbench mounting table.

[0030] In one embodiment, the rotary drive mechanism includes

[0031] A first bearing seat and a second bearing seat for use together, which are mounted on the outer cover of the workbench mounting platform;

[0032] A transmission shaft is passed through the first bearing of the first bearing seat and the second bearing of the second bearing seat, and one end of the transmission shaft is connected to the expansion sleeve of the rotating disk to drive the rotating disk to rotate;

[0033] A driven pulley is disposed between the first bearing seat and the second bearing seat on the transmission shaft and rotates synchronously with the transmission shaft;

[0034] The gas-electric slip ring is arranged between the first bearing seat and the rotating disk on the transmission shaft, and is fixedly connected to the outer cover of the workbench mounting table through the gas-electric slip ring bracket, and is used for transferring and connecting the air pipe of the clamping cylinder and the solenoid valve;

[0035] A reducer is arranged at the center of the outer cover through a reducer bracket and is connected to a driving pulley;

[0036] The tension wheel bracket is arranged between two adjacent transmission shafts at the center of the outer cover and aligned with the reducer bracket; the driving pulley is located between the reducer bracket and the tension wheel bracket; a first tension wheel is arranged on the side of the tension wheel bracket close to the reducer bracket;

[0037] A tension wheel sub-bracket is arranged between other adjacent transmission shafts on the outer cover, and a second tension wheel is arranged on the side close to the solenoid valve;

[0038] The drive belt is orderly sleeved on the driving pulley and different driven pulleys on its inner side, and its outer side is orderly tensioned and abutted by the second tensioning wheel and the first tensioning wheel;

[0039] The speed reducer drives the driven pulley and the transmission shaft that rotate synchronously through the driving pulley and the drive belt, and the transmission shaft drives the rotating disc and the part gripper to rotate.

[0040] In one way, a dust-proof cover is provided at each opening of the workbench mounting table, and the dust-proof cover covers the opening of the corresponding workbench mounting table, the rotating disc and the clamping cylinder

[0041] In one way, an outer dust-proof plate is provided on the outer side of each side claw body of the part gripper, and an inner dust-proof plate is provided between each side claw body of the part gripper.

[0042] The spraying method of the automatic artificial hip joint uses the above-mentioned automatic artificial hip joint spraying equipment, and includes the following steps:

[0043] S1. The material tray is carried onto the workbench through its own positioning holes and the corresponding first positioning pin and second positioning pin on the workbench, and the sensor senses the sensor sensing plate;

[0044] S2. The unsprayed artificial hip joints are sequentially arranged and placed on the material tray, and the lower ends of the artificial hip joints are fitted with and fixed to the material grooves of the material tray;

[0045] S3. The spraying robotic arm transfers the artificial hip joint from the material tray to the rotating workbench through its own gripper head in cooperation with the part gripper of the rotating workbench;

[0046] S4. The spraying robotic arm performs automatic spraying on the artificial hip joint on the rotating workbench through its own up-and-down, left-and-right, front-and-back translation, rotation of the mounting plate, and rotation of the rotating workbench itself, in cooperation with the plasma spray gun;

[0047] S5. After spraying is completed, the artificial hip joint is transferred back from the rotating workbench to the material tray. After all the artificial hip joints on the entire material tray are sprayed, the current material tray is taken away;

[0048] S6. Prepare a new material tray and unsprayed artificial hip joints, and repeat steps S1 - S5.

[0049] In one way, the material groove structures and sizes of different models of material trays are different, and the material trays are replaced to load different models of artificial hip joints;

[0050] The adjacent surfaces of the part gripper are of a symmetrical V-shaped groove structure for clamping artificial hip joints of different sizes.

[0051] The present invention has the following beneficial effects:

[0052] 1. Spraying artificial hip joints using automated mechanical equipment to replace the traditional manual spraying method not only results in more uniform spraying but also significantly reduces the occupation and consumption of labor, improving the spraying quality and efficiency of artificial hip joints.

[0053] 2. It plays a positive role in the health management of traditional spraying operators, effectively protecting producers from dust, high temperatures, and noise, and optimizing the production environment of artificial hip joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the overall structure of the automated artificial hip joint spraying equipment in the present invention;

[0055] Figure 2 It is a three-dimensional schematic diagram of the top structure of the material tray in the present invention;

[0056] Figure 3 It is a three-dimensional schematic diagram of the bottom structure of the material tray in the present invention;

[0057] Figure 4 It is a three-dimensional schematic diagram of the structure of the workbench in the present invention;

[0058] Figure 5 It is a three-dimensional schematic diagram of the structure of the spraying robotic arm in the present invention;

[0059] Figure 6 is Figure 5 an enlarged schematic diagram of the circled part in;

[0060] Figure 7 It is a three-dimensional schematic diagram of the structure of the workbench mounting table in the present invention;

[0061] Figure 8 It is a three-dimensional front view schematic diagram of the rotation drive structure in the present invention;

[0062] Figure 9 It is a schematic diagram of the transmission structure relationship of the rotating workbench part in the present invention;

[0063] Figure 10 It is a partial cross-sectional schematic diagram of the transmission shaft part in the present invention.

[0064] LEGEND DESCRIPTION:

[0065] 1. Spraying platform; 2. Rotary worktable; 201. Baffle; 202. Part gripper; 203. Dust-proof cover; 204. Outer cover; 205. Positioning post; 206. Positive pressure nozzle; 207. Worktable mounting table; 208. Solenoid valve; 209. Reducer; 210. Transmission belt; 211. Second tensioning pulley; 212. Tensioning pulley sub-bracket; 213. Clamping cylinder; 214. Rotary disk; 215. Gas-electric slip ring; 216. Gas-electric slip ring bracket; 217. First bearing seat; 218. Driven pulley; 219. Second bearing seat; 220. Driving pulley; 221. First tensioning pulley; 222. Tensioning pulley bracket; 223. Reducer bracket; 224. Second bearing; 225. Transmission shaft; 226. First bearing; 227. Expansion sleeve; 228. Inner dust-proof plate; 229. Outer dust-proof plate; 3. Spraying robotic arm; 301. Mounting plate; 302. Plasma spray gun; 303. Spray gun mounting part; 304. Gripper mounting part; 305. Gripper cylinder; 306. Gripper head; 4. Material tray; 401. Upper positioning plate; 402. Positioning hole; 403. Foot support; 404. Lower positioning plate; 405. Connecting column; 406. Sensor induction plate; 5. Worktable; 501. First positioning pin; 502. Baffle; 503. Sensor; 504. Second positioning pin; 6. Artificial hip joint. Detailed implementation manners

[0066] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0067] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention; the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, unless otherwise clearly defined and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0068] Referring to Figures 1-10 , an embodiment provided by the present invention is as follows:

[0069] As Figure 1 shown, the automated artificial hip joint 6 spraying equipment is mainly divided into three major module parts: a spraying platform 1, a rotating robotic arm, and a workbench 5. Among them, the spraying platform 1 and the workbench 5 are both horizontally placed, and the rotating robotic arm needs to be set at a position where it can reach the spraying platform 1 and the workbench 5, that is, the working radius of the rotating robotic arm needs to cover the spraying platform 1 and the workbench 5.

[0070] The spraying platform 1 as a whole is an openable and closable airtight structure, with a spraying chamber inside, a ventilation duct at the top, and an opening of an appropriate size in the spraying chamber for the rotating robotic arm to penetrate and leave. A horizontal rotating worktable 2 is provided in the spraying chamber of the spraying platform 1. Preferably, the number of the rotating worktables 2 is four, which are arranged in an equidistant array along the horizontal direction. The rotating worktable 2 can clamp and rotate the artificial hip joint 6.

[0071] The spraying robotic arm 3 is arranged outside the spraying platform 1 and in front of the rotating worktable 2, and can pick up, place, and spray the artificial hip joint 6.

[0072] As Figure 4 shown, a storage door is provided on the side of the workbench 5, and devices can be stored inside. The top surface of the workbench 5 is divided into multiple regular and equally sized areas according to regions. Preferably, the top surface of the workbench 5 is divided into four square areas, and the area of each area is the same. A first positioning pin 501 and a second positioning pin 504 are provided at corresponding positions in each area, and the positions are set to meet the requirement of being able to align with the relevant slots of the material tray 4. A sensor 503, preferably an infrared sensor 503 or a load sensor 503, is provided at the center position between the first positioning pin 501 and the second positioning pin 504 within the same area. Special baffles 502 are provided at the positions where the edges of each area are adjacent to the adjacent two areas. The baffles 502 can block the material tray 4 installed in the current area and the material tray 4 in the adjacent area.

[0073] As Figure 2 and Figure 3As shown in the figure, a plurality of separate material trays 4 are arranged on the workbench 5. The material trays 4 are all horizontally placed. Each material tray 4 includes an upper positioning plate 401 and a lower positioning plate 404. The upper positioning plate 401 is provided with a number of through and arrayed upper material grooves, and the upper material grooves are in an inverted frustum structure. The specific shape ensures that the corresponding parts of the upper material grooves and the artificial hip joint 6 fit in shape. The lower positioning plate 404 is provided with a number of through and arrayed lower material grooves, and the lower material grooves also ensure that the corresponding parts coincide with the artificial hip joint 6 in shape. The upper material grooves and the lower material grooves are aligned, that is, the artificial hip joint 6 passes through the upper material groove and the lower material groove in sequence downward. The corresponding parts of the artificial hip joint 6 can be completely fitted and fixed with the two material grooves, achieving the purpose of storing the artificial hip joint 6 in the material tray 4. The upper positioning plate 401 and the lower positioning plate 404 are butt-jointed and installed through mounting seats and connecting columns 405 provided at the four corners. At the four corners of the bottom of the lower positioning plate 404, special feet 403 are also provided to raise the height of the lower positioning plate 404, facilitating the placement of the artificial hip joint 6 and preventing the bottom of the artificial hip joint 6 from contacting the tabletop. Preferably, the bottom of the lower positioning plate 404 is provided with a separate and non-through positioning groove. The positioning groove is a rectangular long groove, located between two adjacent rows of lower material grooves. Symmetrically arranged and through positioning holes 402 are provided in the positioning groove. At the central position between the two positioning holes 402 in the positioning groove, a sensor induction plate 406 protruding from the positioning groove is provided. The first positioning pin 501 and the second positioning pin 504 in the same area are respectively inserted into different positioning holes 402 of the same lower positioning plate 404. The sensor induction plate 406 abuts against the sensor 503, sensing and confirming that the material tray 4 is loaded on the workbench 5.

[0074] The material trays 4 are of multiple models. The different models of material trays 4 only differ in the shape and structure of the material grooves, in order to adapt to and fix artificial hip joints 6 with different structural dimensions.

[0075] As Figure 5 and Figure 6 As shown in the figure, the spraying robot arm 3 is a programmed six-axis robot arm, which can realize the front-back, up-down, and left-right translation of the docking arm. At the same time, a mounting plate 301 is provided at the end of the docking arm. The mounting plate 301 is in an L-shaped structure and is arranged parallel to the docking arm of the spraying robot arm 3. At the bottom of the long arm end of the mounting plate 301, a jaw mounting part 304 is provided. One end of the jaw mounting part 304 is arranged at an angle with the mounting plate 301. Preferably, the jaw mounting part 304 itself is a special-shaped part with an angle. One end is directly mounted on the mounting plate 301, and the other end is provided with a jaw cylinder 305. A jaw head 306 capable of performing clamping and releasing actions is provided on the jaw cylinder 305. At the bottom of the short arm end of the mounting plate 301, a spray gun mounting part 303 is provided. A plasma spray gun 302 is provided on the outer side of the spray gun mounting part 303, and the plasma spray gun 302 is arranged in a dislocation manner relative to the mounting plate 301.

[0076] like Figure 7 , Figure 8 , Figure 9 and Figure 10 As shown, the main body of the rotary workbench 2 is a workbench mounting platform 207, and the top surface of the workbench mounting platform 207 is provided with a plurality of openings arranged in an array. Corresponding rotating disks 214 are provided at different openings. Symmetrical positioning columns 205 are provided at the outer edge of the bottom of the workbench mounting platform 207, and the positioning columns 205 are docked with the spraying platform 1 to complete the alignment and fixation of the workbench mounting platform 207. A rotary drive mechanism is provided inside the workbench mounting platform 207. The rotary drive mechanism is connected to the bottom of the rotating disk 214, and the rotary drive mechanism can drive the rotating disk 214 to rotate. A clamping cylinder 213 is provided on the top of the rotating disk 214, and a part clamp 202 is provided on the clamping cylinder 213, and the part clamp 202 can clamp an artificial hip joint 6. The adjacent surfaces of the part clamp 202 and the clamp head 306 are both symmetrical V-shaped groove structures, which can clamp artificial hip joints 6 of different sizes. The inside of the workbench mounting platform 207 is provided with a solenoid valve 208, and the solenoid valve 208 is connected to the positive pressure nozzle 206 on the side of the workbench mounting platform 207 and different clamping cylinders 213. The positive pressure nozzle 206 is connected to an external air supply source. A shield 201 is provided between adjacent part clamps 202, and the bottom of the shield 201 is connected to the top surface of the workbench mounting platform 207.

[0077] The rotary drive mechanism includes a first bearing seat 217 and a second bearing seat 219 used in conjunction with each other, and the two bearing seats are aligned and mounted on the outer cover 204 of the workbench mounting platform 207. A transmission shaft 225 is provided on the first bearing 226 of the first bearing seat 217 and the second bearing 224 of the second bearing seat 219, and one end of the transmission shaft 225 is connected to the expansion sleeve 227 at the bottom of the rotating disk 214 to drive the rotating disk 214 to rotate. A driven pulley 218 is provided on the transmission shaft 225, which is located between the first bearing seat 217 and the second bearing seat 219, and the driven pulley 218 rotates synchronously with the transmission shaft 225. A gas-electric slip ring 215 is also provided on the transmission shaft 225, and the gas-electric slip ring 215 is located between the first bearing seat 217 and the rotating disk 214, and the gas-electric slip ring 215 is fixedly connected to the outer cover 204 of the workbench mounting platform 207 through a corresponding gas-electric slip ring bracket 216. The gas-electric slip ring 215 is used to transfer and connect the air pipe of the clamping cylinder 213 and the electromagnetic valve 208, and facilitates the synchronous twisting of the air pipe during rotation to prevent the air pipe from being tangled and affecting the use. One transmission shaft 225 corresponds to one rotating disk 214.

[0078] At the center of the outer cover 204, there is a speed reducer support 223. A dedicated speed reducer 209 is installed on the speed reducer support 223, and a driving pulley 220 is provided on the speed reducer 209. Between two adjacent groups of transmission shafts 225 adjacent to the center of the outer cover 204, there is a corresponding tensioner support 222. The driving pulley 220 is located between the speed reducer support 223 and the tensioner support 222. On one side of the tensioner support 222 close to the speed reducer support 223, there is a first tensioner pulley 221. The tensioner support 222 is aligned with the speed reducer support 223, that is, the subsequent first tensioner pulley 221 can be in the same plane as the driving pulley 220 to support the cooperative transmission under the same belt. Between other adjacent transmission shafts 225 on the outer cover 204, there are several tensioner sub-supports 212. On one side of the tensioner sub-supports 212 close to the solenoid valve 208, there are second tensioner pulleys 211. The inner ring side of the transmission belt 210 is orderly sleeved on the driving pulley 220 and different driven pulleys 218, and the outer ring side of the transmission belt 210 is orderly abutted by the second tensioner pulleys 211 and the first tensioner pulley 221, and the tensioner pulleys realize the tensioning and pulling of the transmission belt 210. The speed reducer 209 drives the driving pulley 220 to rotate, and through the transmission of the transmission belt 210, drives each driven pulley 218 to rotate together. The driven pulley 218 is fixedly connected to the transmission shaft 225, and the transmission shaft 225 is driven to rotate synchronously. Then, the transmission shaft 225 drives components such as the rotating disk 214 and the part gripper 202 installed on the rotating disk 214 to rotate.

[0079] Preferably, a dust-proof cover 203 is provided at each opening of the workbench installation table 207. The dust-proof cover 203 covers the corresponding opening and the clamping cylinder 213 of the rotating disk 214 to isolate the flying dust and paint during the spraying process.

[0080] More preferably, outer dust-proof plates 229 are provided on the outer sides of the claw bodies on each side of the part gripper 202, and inner dust-proof plates 228 are provided between the claw bodies on each side to prevent flying dust and paint from entering the inside of the workbench installation table 207 and affecting the normal operation of internal components such as the rotation drive mechanism.

[0081] Working principle: The long arm end of the mounting plate 301 extends towards the unsprayed artificial hip joint 6 on the material tray 4. The unsprayed artificial hip joint 6 is transferred to the part gripper 202 on the rotating workbench 2 and clamped through the cooperation of the claw head 306 and the claw cylinder 305. The spraying robotic arm 3 rotates the mounting plate 301 and aligns the plasma spray gun 302 with the artificial hip joint 6 to be sprayed, and sprays according to the specified programming route.

[0082] During the spraying process, the spraying robotic arm 3 performs simple forward and backward, up and down, left and right translation movements, and can appropriately rotate the mounting plate 301 in special cases.

[0083] The internal rotation drive mechanism starts to operate. The reduction gear 209 drives the driving pulley 220 to rotate. Through the transmission of the transmission belt 210, it drives each driven pulley 218 to rotate together. The driven pulley 218 is fixedly connected to the transmission shaft 225, and the transmission shaft 225 is driven to rotate synchronously. Then, the transmission shaft 225 drives the rotating disk 214 and components such as the part gripper 202 installed on the rotating disk 214 to rotate. Finally, it drives the artificial hip joint 6 for spraying to rotate, and cooperates with the plasma spray gun 302 to spray the planned area in place.

[0084] After spraying is completed, rotate the mounting plate 301, turn the gripper head 306 towards the artificial hip joint 6, transfer it to the material tray 4 and let it stand still, and start spraying other artificial hip joints 6 subsequently. Up to four artificial hip joints 6 can be sprayed in one cycle at the same time.

[0085] When the automated mechanical equipment performs spraying operations, compared with manual spraying, in terms of spraying effect, the spraying is more uniform and the effect is better, reducing manual input and improving the spraying efficiency. In terms of employee occupational health management, mechanical spraying effectively protects workers from the troubles of dust, high temperature and noise, and optimizes the production environment.

[0086] Based on the above automated artificial hip joint 6 spraying equipment, the corresponding automated artificial hip joint 6 spraying method includes the following steps:

[0087] S1. The material tray 4 is carried onto the workbench 5 through its own positioning holes 402 and the corresponding first positioning pin 501 and second positioning pin 504 on the workbench 5, and the sensor 503 senses the sensor induction plate 406;

[0088] S2. Place the unsprayed artificial hip joints 6 on the material tray 4 in sequence. The lower end of the artificial hip joint 6 fits into the material groove of the material tray 4 and is fixed;

[0089] S3. The spraying robotic arm 3 transfers the artificial hip joint 6 from the material tray 4 to the rotating workbench 2 through its own gripper head 306 in cooperation with the part gripper 202 of the rotating workbench 2;

[0090] S4. The spraying robotic arm 3 performs automated spraying on the artificial hip joint 6 on the rotating workbench 2 through its own up-and-down, left-and-right, front-and-back translation, rotation of the mounting plate 301, and rotation of the rotating workbench 2 itself, in cooperation with the plasma spray gun 302;

[0091] S5. After spraying is completed, transfer the artificial hip joint 6 from the rotating workbench 2 back to the material tray 4. After all the artificial hip joints 6 on the entire material tray 4 are sprayed, remove the current material tray 4;

[0092] S6. Prepare a new material tray 4 and unsprayed artificial hip joints 6, and repeat steps S1 - S5.

[0093] Among them, in step S1, the two positioning holes 402 at the bottom of the material tray 4 are respectively aligned with the first positioning pin 501 and the second positioning pin 504 in the corresponding area on the workbench 5 and inserted, and the footrest 403 abuts against the plane of the workbench 5. The sensor 503 in the corresponding area on the workbench 5 senses the sensor induction plate 406 at the bottom of the material tray 4 to confirm that the material tray 4 is carried on the workbench 5, and different material trays 4 are separated by a baffle 502.

[0094] In step S2, the unsprayed artificial hip joints 6 are sequentially arranged and placed on the material tray 4 by the spraying robotic arm 3 or manually, and the lower ends of the artificial hip joints 6 are fitted and fixed with the material grooves of the material tray 4.

[0095] In step S3, the jaw head 306 of the spraying robotic arm 3 clamps the upper end of the unsprayed artificial hip joint 6 on the material tray 4, rotates and aligns the lower end of the artificial hip joint 6 with the part jaw 202 of the corresponding rotary workbench 2. The part jaw 202 clamps the lower end of the artificial hip joint 6, and the jaw head 306 releases the upper end of the artificial hip joint 6, completing the transfer of the artificial hip joint 6.

[0096] In step S4, through the cooperation of six-axis degrees of freedom of the spraying robotic arm 3, the robotic arm itself is realized, mainly based on the up-and-down, left-and-right, and front-and-back translation of the docking arm part, and the rotary disk 214 is rotated by the internal rotation drive mechanism of the rotary workbench 2. In special cases, the rotation of the mounting plate 301 by the spraying robotic arm 3 can be added. According to the programmed route, the artificial hip joint 6 is sprayed layer by layer to achieve automated operation. The flying dust and paint generated by spraying are blocked by relevant components and isolated outside the workbench mounting table 207 to prevent affecting the normal operation of the equipment.

[0097] In step S5, the spraying robotic arm 3 rotates the mounting plate 301 to align the jaw head 306 with the sprayed artificial hip joint 6 on the part jaw 202. The jaw head 306 removes and clamps the artificial hip joint 6, and through the rotation of the spraying robotic arm 3 itself, it transports it back to the corresponding station on the material tray 4.

[0098] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Automated artificial hip joint spraying equipment, characterized in that: including a spraying platform (1), which is an openable and closable airtight structure with a spraying chamber inside and a ventilation duct at the top; a rotary worktable (2), which is arranged on the horizontal plane of the spraying chamber of the spraying platform (1) and can clamp and rotate the artificial hip joint (6); a spraying robot arm (3), which is arranged in front of the rotary worktable (2) and outside the spraying platform (1) and can pick up, place and spray the artificial hip joint (6); a worktable (5), which is arranged within the moving radius of the spraying robot arm (3); a material tray (4), which is horizontally arranged on the worktable (5); the docking arm of the spraying robot arm (3) is connected to the mounting plate (301), the mounting plate (301) is an L-shaped structure, and the mounting plate (301) is arranged parallel to the docking arm of the spraying robot arm (3); at the bottom of the long arm end of the mounting plate (301), there is a jaw mounting part (304), one end of the jaw mounting part (304) is arranged at a certain angle with the mounting plate (301), at the other end of the jaw mounting part (304), there is a jaw cylinder (305), and on the jaw cylinder (305), there is a jaw head (306) that can perform clamping and releasing actions; at the bottom of the short arm end of the mounting plate (301), there is a spray gun mounting part (303), on the outer side of the spray gun mounting part (303), there is a plasma spray gun (302), and the plasma spray gun (302) is arranged in a staggered manner with respect to the mounting plate (301); the rotary worktable (2) includes a worktable mounting platform (207), the top surface of which is provided with a number of openings arranged in an array, and at the outer edge of the bottom, there are symmetric positioning columns (205), and the positioning columns (205) are docked with the spraying platform (1); a rotary drive mechanism, which is arranged inside the worktable mounting platform (207); a number of rotary disks (214), which are correspondingly arranged at different openings of the worktable mounting platform (207), the bottom is connected to the rotary drive mechanism, and the rotary drive mechanism drives the rotary disks (214) to rotate; a clamping cylinder (213), which is arranged on the top of the rotary disk (214) and is equipped with a part jaw (202) that can clamp the artificial hip joint (6); a solenoid valve (208), which is arranged inside the worktable mounting platform (207) and is connected to the positive pressure nozzle (206) on the side of the worktable mounting platform (207) and different clamping cylinders (213); a shield (201), which is arranged between adjacent part jaws (202), and the bottom is connected to the top surface of the worktable mounting platform (207).

2. The spraying device according to claim 1, characterized in that: the material tray (4) includes an upper positioning plate (401), which is provided with a number of upper material grooves arranged in an array and penetrating through, and the upper material grooves are inverted frustum structures; a lower positioning plate (404), which is connected to the upper positioning plate (401) through a connecting column (405) and is provided with a number of lower material grooves arranged in an array and penetrating through; the artificial hip joint (6) simultaneously and fittingly passes through the corresponding upper material grooves and lower material grooves; foot supports (403), which are arranged at the four corner positions of the bottom of the lower positioning plate (404).

3. The spraying device according to claim 2, characterized in that: A separate, non-through positioning groove is provided at the bottom of the lower positioning plate (404), the positioning groove is located between two adjacent rows of lower material slots, symmetrically arranged, through positioning holes (402) are provided in the positioning groove, and a sensor induction plate (406) protruding from the positioning groove is provided in the positioning groove and at the center between the two positioning holes (402); A plurality of groups of first positioning pins (501) and second positioning pins (504) arranged in an array and a plurality of groups of baffles (502) arranged in an array are provided on the top surface of the workbench (5), and a sensor (503) is provided at the center position between each group of first positioning pins (501) and second positioning pins (504); The first positioning pin (501) and the second positioning pin (504) of the same group are respectively inserted into different positioning holes (402) of the same lower positioning plate (404), the sensor sensing plate (406) contacts the sensor (503), and each group of baffles (502) separates adjacent material trays (4).

4. The spraying device according to claim 1, characterized in that: The rotary drive mechanism includes A first bearing seat (217) and a second bearing seat (219) for use together, which are mounted on an outer cover (204) of a workbench mounting platform (207); A transmission shaft (225) is inserted through a first bearing (226) of a first bearing seat (217) and a second bearing (224) of a second bearing seat (219), and one end of the transmission shaft is connected to a sleeve (227) of a rotating disk (214) to drive the rotating disk (214) to rotate; A driven pulley (218) is disposed between the first bearing seat (217) and the second bearing seat (219) on the transmission shaft (225) and rotates synchronously with the transmission shaft (225); A gas-electric slip ring (215) is arranged between the first bearing seat (217) and the rotating disk (214) on the transmission shaft (225), and is fixedly connected to the outer cover (204) of the workbench mounting platform (207) through a gas-electric slip ring bracket (216), and is used for connecting the air pipe of the clamping cylinder (213) and the solenoid valve (208); A reducer (209) is disposed at the center of the outer cover (204) via a reducer bracket (223) and is connected to a driving pulley (220); A tension wheel bracket (222) is arranged between two adjacent transmission shafts (225) at the center of the outer cover (204) and is aligned with the reducer bracket (223); the driving pulley (220) is located between the reducer bracket (223) and the tension wheel bracket (222); a first tension wheel (221) is provided on one side of the tension wheel bracket (222) close to the reducer bracket (223); A tension wheel sub-bracket (212) is arranged between other adjacent transmission shafts (225) on the outer cover (204), and a second tension wheel (211) is arranged on a side close to the solenoid valve (208); The transmission belt (210) is sequentially sleeved on the driving pulley (220) and different driven pulleys (218) on its inner side, and sequentially tensioned and abutted by the second tensioning pulley (211) and the first tensioning pulley (221) on its outer side; The speed reducer (209) drives the synchronously rotating driven pulley (218) and the transmission shaft (225) to rotate through the driving pulley (220) and the transmission belt (210), and the transmission shaft (225) drives the rotating disk (214) and the part gripper (202) to rotate.

5. The spraying device according to claim 4, characterized in that: A dust-proof cover (203) is provided at each opening of the workbench mounting table (207), and the dust-proof cover (203) covers the opening of the corresponding workbench mounting table (207), the rotating disk (214) and the clamping cylinder (213).

6. The spraying device according to claim 4, wherein: Outer dust-proof plates (229) are provided on the outer sides of the claw bodies on each side of the part gripper (202), and inner dust-proof plates (228) are provided between the claw bodies on each side of the part gripper (202).

7. Spraying method for automated artificial hip joints, using the automated artificial hip joint spraying equipment according to any one of claims 1-6, characterized in that: It includes the following steps: S1. The material tray (4) is carried onto the workbench (5) through its own positioning holes (402) and the corresponding first positioning pin (501) and second positioning pin (504) on the workbench (5), and the sensor (503) senses the sensor sensing plate (406); S2. The unsprayed artificial hip joints (6) are sequentially arranged and placed on the material tray (4), and the lower ends of the artificial hip joints (6) are fitted into and fixed by the material grooves of the material tray (4); S3. The spraying robot arm (3) transfers the artificial hip joint (6) from the material tray (4) to the rotary workbench (2) through its own jaw head (306) cooperating with the part gripper (202) of the rotary workbench (2); S4. The spraying robot arm (3) performs automatic spraying on the artificial hip joint (6) on the rotary workbench (2) through its own up-and-down, left-and-right, front-and-back translation, rotation of the mounting plate (301), and rotation of the rotary workbench (2) itself, in cooperation with the plasma spray gun (302); S5. After spraying is completed, the artificial hip joint (6) is transferred back to the material tray (4) from the rotary workbench (2). After all the artificial hip joints (6) on the entire material tray (4) are sprayed, the current material tray (4) is taken away; S6. Prepare a new material tray (4) and unsprayed artificial hip joints (6), and repeat steps S1 - S5.

8. The spraying method according to claim 7, wherein: The material groove structures and sizes of different models of material trays (4) are different, and the material trays (4) are replaced to load different models of artificial hip joints (6); The adjacent surfaces of the part gripper (202) are of a symmetrical V-shaped groove structure for clamping artificial hip joints (6) of different sizes.

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