Automated production equipment for a fully magnetic levitation centrifugal blood pump

Abstract

An automated production device for a fully magnetic levitation centrifugal blood pump, comprising: an upper shell feeding mechanism configured to provide an upper shell; a lower shell feeding mechanism configured to provide a lower shell; an ultrasonic cleaning mechanism configured to ultrasonically clean the upper shell and the lower shell; a hot air drying mechanism configured to dry the upper shell and the lower shell after ultrasonic cleaning; a feeding robot configured to move the upper shell and the lower shell to the ultrasonic cleaning mechanism, and move the upper shell and the lower shell after ultrasonic cleaning by the ultrasonic cleaning mechanism to the hot air drying mechanism; an impeller feeding mechanism configured to provide an impeller; a handling robot configured to handle the upper shell, the lower shell and the impeller; a glue application robot configured to apply glue at a predetermined position of the upper shell; an automatic assembly mechanism configured to assemble the upper shell, the lower shell and the impeller to form a fully magnetic levitation centrifugal blood pump and perform an airtightness test; and a blanking conveyor mechanism configured to convey qualified products. The present invention can improve production efficiency, accurately control the glue application amount and the bonding effect, and quickly detect and identify defective products.

Description

Technical Field

[0001] The present invention relates to an automated production device, and more particularly to an automated production device for a fully magnetically levitated centrifugal blood pump. Background Art

[0002] An artificial blood pump uses mechanical motion to replace the heart in delivering blood to the human blood circulation system, and can replace part or all of the heart function. It has been widely used in the fields of heart failure treatment, extracorporeal circulation assistance, etc., and is also an important part of the ECMO system. There have been three generations of artificial blood pump products since its development in the last century. The first generation is the pneumatic pulsatile pump, which mimics the natural human heart and realizes the pulsatile blood pumping method through the contraction and change of the pump chamber volume. The second generation is the axial flow ventricular assist device, where the impeller is supported and fixed by mechanical bearings and rotates at high speed under the induction of an electromagnetic field to push out the blood. The third generation of centrifugal heart pumps overcomes the mechanical contact between the rotor and the driving components, and uses magnetic levitation or hydrodynamic levitation technology to suspend the rotor components inside the pump chamber. Since there is theoretically no mechanical friction in the rotor part inside the pump body and the heat generation is small, it can reduce phenomena such as thrombus and hemolysis, and extend the service life of the pump.

[0003] Refer to the appendix Figure 16 , Figure 16 which is a schematic structural diagram of a third-generation fully magnetically levitated centrifugal blood pump. The fully magnetically levitated centrifugal blood pump consists of an upper shell, a lower shell, and an impeller. The impeller is installed in the groove of the lower shell, and the upper shell and the lower shell are bonded by UV glue. The fully magnetically levitated centrifugal blood pump uses medical UV glue for bonding, and the bonding effect of the upper and lower shells directly affects the strength of the fully magnetically levitated centrifugal blood pump. Too little glue will cause leakage, and too much glue will affect the hemolysis index. Manual production cannot ensure the consistency of the glue application and bonding effect, which affects the product quality and may seriously cause medical accidents, and the manual production efficiency is low.

[0004] Therefore, there is a need in the art for a new automated production device for a fully magnetically levitated centrifugal blood pump to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide an automatic production device for a fully magnetically levitated centrifugal blood pump, aiming to automate the production and inspection of the fully magnetically levitated centrifugal blood pump and improve production efficiency.

[0006] Another purpose of the present invention is to provide an automated production device for a fully magnetically levitated centrifugal blood pump, which can accurately control the glue application amount and bonding effect, and can quickly detect and identify defective products.

[0007] To achieve the above purposes, the present invention adopts the following technical solutions:

[0008] An automated production device for a fully magnetically levitated centrifugal blood pump, the device comprising:

[0009] The upper shell feeding mechanism is configured to provide the upper shell of the fully magnetically levitated centrifugal blood pump;

[0010] The lower shell feeding mechanism is configured to provide the lower shell of the fully magnetically levitated centrifugal blood pump;

[0011] The ultrasonic cleaning mechanism is configured to ultrasonically clean the upper shell and the lower shell;

[0012] The hot air drying mechanism is configured to dry the upper shell and the lower shell after ultrasonic cleaning. The hot air drying mechanism has a chain conveyor device for conveying the upper shell and the lower shell;

[0013] The feeding robot is configured to move the upper shell in the upper shell feeding mechanism and the lower shell in the lower shell feeding mechanism to the ultrasonic cleaning mechanism, and move the upper shell and the lower shell after ultrasonic cleaning by the ultrasonic cleaning mechanism to the chain conveyor device of the hot air drying mechanism;

[0014] The impeller feeding mechanism is configured to provide the impeller of the fully magnetically levitated centrifugal blood pump;

[0015] The handling robot is configured to handle the upper shell, the lower shell and the impeller of the fully magnetically levitated centrifugal blood pump;

[0016] The gluing robot is configured to apply glue at a predetermined position on the upper shell;

[0017] The automatic assembly mechanism is configured to assemble the upper shell, the lower shell and the impeller to form a fully magnetically levitated centrifugal blood pump and perform a airtightness test;

[0018] The blanking conveyor mechanism is configured to convey the fully magnetically levitated centrifugal blood pump with qualified assembly.

[0019] In one embodiment, the upper shell feeding mechanism includes a support frame, and a conveyor belt, a conveyor belt motor, a tray feeding device, a tray recycling device, and a tray positioning device located on the support frame;

[0020] The tray feeding device is configured to provide a plurality of trays, and a plurality of upper shells are placed on the trays;

[0021] The tray recycling device is configured to recycle the trays;

[0022] The conveyor belt is driven by the conveyor belt motor and is configured to convey the trays;

[0023] The tray positioning device is configured to position the trays located on the conveyor belt.

[0024] In one embodiment, the tray feeding device includes:

[0025] The first base is fixed to the support frame, and a tray positioning and guiding member is provided on the first base;

[0026] The tray positioning and guiding member is for stacking and placing a plurality of trays;

[0027] Below the first base, there is a lifting motor, and the lifting motor is connected to a tray lifting member for moving the tray that has fallen onto the tray lifting member to the conveyor belt;

[0028] On the first base, there is a telescopic member, and the telescopic member is connected to a tray fixing baffle. The tray fixing baffle is telescopically located at the bottom of the plurality of trays and fixes the plurality of trays when extended, and when retracted, the trays in the lower layer can fall onto the tray lifting member;

[0029] The tray recycling device includes:

[0030] A second base, below which there is a lifting cylinder. The lifting cylinder is connected to a tray fixing mechanism, and the tray fixing mechanism can move up and down driven by the lifting cylinder to lift the tray located on the conveyor belt; A position sensor is installed on the tray fixing mechanism, and the position sensor is coupled with the conveyor belt motor;

[0031] On the second base, there is a one-way baffle, which allows the tray to pass through when moving from bottom to top, and blocks the tray when the tray moves from top to bottom, so that the tray is located above the second base.

[0032] In one embodiment, the loading robot includes a first table, a first collaborative robot is installed on the first table, and an automatic gripper is installed at the end of the first collaborative robot;

[0033] The ultrasonic cleaning mechanism includes an ultrasonic cleaning tank, and a cleaning bracket is provided in the ultrasonic cleaning tank;

[0034] The hot air drying mechanism further includes a drying furnace and a blower, and the chain conveyor device passes through the drying furnace.

[0035] In one embodiment, the impeller loading mechanism includes:

[0036] A third base, on which there is an impeller buffer bucket. A plurality of impellers are stacked in the impeller buffer bucket. The bottom of the impeller buffer bucket has an impeller positioning plate, and the impeller positioning plate is provided with positioning grooves, and the positioning grooves are located at the bottom of the impeller buffer bucket;

[0037] The third base is provided with a guide rail, a material taking push rod mounting plate is slidably provided on the guide rail, an electric push rod is provided at the bottom of the third base, the electric push rod is connected to a material taking push rod through the material taking push rod mounting plate, and the material taking push rod is driven by the electric push rod to move between the positioning groove and the end of the impeller positioning plate;

[0038] A travel switch is provided at the end of the guide rail, and the travel switch is coupled to the electric push rod. When the material taking push rod moves to the end of the impeller positioning plate, the material taking push rod mounting plate triggers the travel switch.

[0039] In one embodiment, the transport robot comprises:

[0040] The second collaborative robot is fixed on the second table, and an adapter is provided at the end of the second collaborative robot. A vacuum suction cup and an expansion clamp are provided on the adapter, and the vacuum suction cup and the expansion clamp are installed on the adapter at different angles; a plurality of vacuum suction nozzles are provided on the vacuum suction cup.

[0041] In one embodiment, the glue coating robot comprises:

[0042] The third collaborative robot is fixed on the second table, a glue syringe fixing bracket is installed at the end of the third collaborative robot, and a glue syringe is installed on the glue syringe fixing bracket.

[0043] In one embodiment, the automatic assembly mechanism includes a gluing jig, and vacuum dust removal devices are respectively provided on the left and right sides of the gluing jig, and a first linear conveying device is provided in front of the gluing jig, and an assembly device, an ultraviolet curing device, an air tightness detection device, a material unloading manipulator, and a temporary storage box for defective products are sequentially provided along the first linear conveying device;

[0044] A second linear conveying device is provided at the end of the first linear conveying device, and the second linear conveying device leads to the unloading conveying mechanism.

[0045] In one embodiment, the assembly device includes a pump head fixing tool, and a first lifting component is provided on one side of the pump head fixing tool. The first lifting component is connected to the body of a rotating cylinder, and the rotating axis of the rotating cylinder is connected to an upper shell clamping component through an adapter flange.

[0046] In one embodiment, the ultraviolet curing device comprises:

[0047] An ultraviolet curing lamp, which is fixed to the second table through a support rod. The ultraviolet curing lamp is located above the first linear conveying device. A pump head baffle is provided between the ultraviolet curing lamp and the first linear conveying device. The pump head baffle is connected to a second lifting member, and the second lifting member is fixed to the second table through a support plate;

[0048] The airtightness detection device includes:

[0049] An inflation plug located above the first linear conveying device. The inflation plug is fixed to a first mounting frame through a first push cylinder, and the inflation plug can be driven by the first push cylinder to move in the vertical direction;

[0050] A plug located on one side of the first linear conveying device. The plug is fixed to a second mounting frame through a second push cylinder, and the plug can be driven by the second push cylinder to move in the horizontal direction perpendicular to the moving direction of the first linear conveying device;

[0051] Both the first mounting frame and the second mounting frame are installed on the second table.

[0052] The advantages of the present invention are as follows:

[0053] The automatic production equipment of the fully magnetic levitation centrifugal blood pump provided by the present invention can complete the automatic production and airtightness detection of the fully magnetic levitation centrifugal blood pump. After the production line automatically discharges materials, subsequent cleaning and packaging can be carried out, saving labor and having high production efficiency. This equipment is especially suitable for the automatic production and detection of the third-generation fully magnetic levitation centrifugal blood pump.

[0054] Furthermore, the automatic production equipment of the fully magnetic levitation centrifugal blood pump provided by the present invention can accurately control the glue application amount and bonding effect, and can quickly detect and identify defective products.

[0055] Furthermore, the equipment designed by the present invention is small in volume, convenient to arrange, has a small power, and has a low requirement for the air source; compared with manual production of the fully magnetic levitation centrifugal blood pump, the efficiency is increased by 10 - 15 times; and the requirement for operators is relatively low, and one person can be responsible for 3 to 4 production lines. Description of the Drawings

[0056] Figure 1 is a schematic diagram of the main structure of an automatic production equipment of a fully magnetic levitation centrifugal blood pump of the present invention;

[0057] Figure 2 is a schematic diagram of the main structure of a feeding mechanism for the upper shell of the present invention;

[0058] Figure 3 is a schematic diagram of the main structure of a tray feeding device of the present invention;

[0059] Figure 4 is a schematic diagram of the main structure of a pallet recycling device of the present invention;

[0060] Figure 5 is a schematic diagram of the structures of a loading robot, an ultrasonic cleaning mechanism, and a hot air drying mechanism in the present invention;

[0061] Figure 6 and Figure 7 is a schematic diagram of the main structure of an impeller loading mechanism of the present invention;

[0062] Figure 8 is a schematic diagram of the main structure of a handling robot of the present invention;

[0063] Figure 9 is a schematic diagram of the structure of an expansion gripper of the present invention;

[0064] Figure 10 is a schematic diagram of the main structure of a gluing robot of the present invention;

[0065] Figure 11 is a schematic diagram of the main structure of an automatic assembly mechanism of the present invention;

[0066] Figure 12 is a schematic diagram of the main structure of an assembling device of the present invention;

[0067] Figure 13 is a schematic diagram of the main structure of an ultraviolet curing device of the present invention;

[0068] Figure 14 is a schematic diagram of the main structure of an airtightness detection device of the present invention;

[0069] Figure 15 is a schematic diagram of the process flow of an automated production equipment for a fully magnetically levitated centrifugal blood pump of the present invention;

[0070] Figure 16 is a schematic diagram of the structure of a third-generation fully magnetically levitated centrifugal pump. Detailed implementation manners

[0071] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0072] Refer to the attached Figure 1 , Figure 1 which exemplarily shows the main structure of an automated production equipment for a fully magnetically levitated centrifugal blood pump. As Figure 1As shown in the figure, the automated production equipment of the fully magnetic levitation centrifugal blood pump provided in this embodiment includes: an upper shell feeding mechanism 1, a lower shell feeding mechanism 2, an ultrasonic cleaning mechanism 3, a hot air drying mechanism 4, a feeding robot 5, an impeller feeding mechanism 6, a handling robot 7, a glue coating robot 8, an automatic assembly mechanism 9, and a blanking conveyor mechanism 10.

[0073] The upper shell feeding mechanism 1 is configured to provide the upper shell of the fully magnetic levitation centrifugal blood pump. The lower shell feeding mechanism 2 is configured to provide the lower shell of the fully magnetic levitation centrifugal blood pump. The ultrasonic cleaning mechanism 3 is configured to ultrasonically clean the upper shell and the lower shell. The hot air drying mechanism 4 is configured to dry the upper shell and the lower shell after ultrasonic cleaning. The hot air drying mechanism 4 has a chain conveyor device 41 for conveying the upper shell and the lower shell. The feeding robot 5 is configured to move the upper shell in the upper shell feeding mechanism 1 and the lower shell in the lower shell feeding mechanism 2 to the ultrasonic cleaning mechanism 3, and move the upper shell and the lower shell after ultrasonic cleaning in the ultrasonic cleaning mechanism 3 to the chain conveyor device 41 of the hot air drying mechanism 4. The impeller feeding mechanism 6 is configured to provide the impeller of the fully magnetic levitation centrifugal blood pump. The handling robot 7 is configured to handle the upper shell, the lower shell, and the impeller of the fully magnetic levitation centrifugal blood pump. The glue coating robot 8 is configured to apply glue at a predetermined position on the upper shell. The automatic assembly mechanism 9 is configured to assemble the upper shell, the lower shell, and the impeller to form a fully magnetic levitation centrifugal blood pump and perform an airtightness test. The blanking conveyor mechanism 10 is configured to convey the assembled fully magnetic levitation centrifugal blood pump that meets the requirements.

[0074] Refer to the appendix Figure 2 , Figure 2 Exemplarily shows the main structure of an upper shell feeding mechanism. As Figure 1 shown, the upper shell feeding mechanism 1 includes a support frame 11 and a conveyor belt 12, a conveyor belt motor 13, a tray feeding device 14, a tray recycling device 15, and a tray positioning device 16 located on the support frame 11. The tray feeding device 14 is configured to provide a plurality of trays 141, and a plurality of upper shells are placed on the trays 141. The tray recycling device 15 is configured to recycle the trays 141. The conveyor belt 12 is driven by the conveyor belt motor 13 and is configured to convey the trays 141. The tray positioning device 16 is configured to position the trays 141 located on the conveyor belt 12. The tray positioning device 16 can be a position sensor 154, a travel switch 68, etc.

[0075] Refer to the appendix Figure 3 , Figure 3 Exemplarily shows the main structure of a tray feeding device. As Figure 3As shown, the tray loading device 14 includes a first base 142 fixed to the support frame 11, and a tray positioning and guiding member 143 is provided on the first base 142. The tray positioning and guiding member 143 is for stacking and placing a plurality of trays 141. A plurality of upper shells are placed on the trays 141. A lifting motor 144 is provided below the first base 142, and the lifting motor 144 is connected to a tray lifting member 145 for moving the tray 141 that has fallen onto the tray lifting member 145 onto the conveyor belt 12. A telescopic member 146 is provided on the first base 142, and the telescopic member 146 is connected to a tray fixing baffle 147. The tray fixing baffle 147 is telescopically located at the bottom of the plurality of trays 141 and fixes the plurality of trays 141 when extended, and when retracted, the lower-layer tray 141 can fall onto the tray lifting member 145.

[0076] Refer to the attached Figure 4 , Figure 4 Exemplarily shows the main structure of a tray recycling device. As Figure 4 shown, the tray recycling device 15 includes a second base 151, and a lifting cylinder 152 is provided below the second base 151. The lifting cylinder 152 is connected to a tray fixing mechanism 153, and the tray fixing mechanism 153 is driven by the lifting cylinder 152 to move up and down to lift the tray 141 located on the conveyor belt 12. A position sensor 154 is installed on the tray fixing mechanism 153, and the position sensor 154 is coupled with the conveyor belt motor 13, that is, after the tray 141 moves to a predetermined position, the conveyor belt motor 13 stops running, so that the tray 141 on the conveyor belt 12 is exactly above the tray fixing mechanism 153. A one-way baffle 155 is provided on the second base 151, and the one-way baffle 155 allows the tray 141 to pass through when moving from bottom to top, and blocks the tray 141 when the tray 141 moves from top to bottom, so that the tray 141 is located above the second base 151. A tray positioning and guiding member 143 is also provided on the tray recycling device 15.

[0077] The lower shell loading mechanism 2 and the upper shell loading mechanism 1 are two parallel mechanisms, respectively located on both sides of the loading robot 5. And the lower shell loading mechanism 2 and the upper shell loading mechanism 1 have the same structure. The main difference is that the lower shell of the fully magnetic levitation centrifugal blood pump is placed on the tray 141 of the lower shell loading mechanism 2. Therefore, the specific structure of the lower shell loading mechanism 2 can refer to the upper shell loading mechanism 1, which will not be elaborated here.

[0078] Refer to the attached Figure 5 , Figure 5 Exemplarily shows the main structures of the loading robot, the ultrasonic cleaning mechanism, and the hot air drying mechanism. As Figure 5As shown, the feeding robot 5 includes a first table 51, on which a first collaborative robot 52 is installed, and an automatic gripper 53 is installed at the end of the first collaborative robot 52. The automatic gripper 53 can grab the lower shell in the lower shell feeding mechanism 2 and the upper shell in the upper shell feeding mechanism 1. The ultrasonic cleaning mechanism 3 includes an ultrasonic cleaning tank 31, and a cleaning bracket 32 ​​is provided in the ultrasonic cleaning tank 31. The hot air drying mechanism 4 also includes a drying furnace 42 and a fan 43, and the chain conveyor 41 passes through the drying furnace, that is, the upper shell and the lower shell after ultrasonic cleaning can be transported by the chain conveyor 41 to the drying furnace 42 for drying and then transported out. It can be seen that the lower shell feeding mechanism 2, the upper shell feeding mechanism 1 and the feeding robot 5 are located at one end of the feeding port of the hot air drying mechanism 4.

[0079] See attached Figure 6 and Figure 7 , Figure 6 and Figure 7 The main structure of the impeller loading mechanism is shown in an exemplary manner. The impeller loading mechanism 6 includes a third base 61, on which an impeller buffer barrel 62 is provided, in which multiple impellers are stacked, and at the bottom of the impeller buffer barrel 62 there is an impeller positioning plate 63, which is provided with a positioning groove, and the positioning groove is located at the bottom of the impeller buffer barrel 62; a guide rail 64 is provided on the third base 61, on which a material picking push rod mounting plate 65 is slidably provided, and at the bottom of the third base 61 there is an electric push rod 66, which is connected to a material picking push rod 67 through the material picking push rod mounting plate 65, and the material picking push rod 67 is driven by the electric push rod 66 to move between the positioning groove and the end of the impeller positioning plate 63. A travel switch 68 is provided at the end of the guide rail 64, and the travel switch 68 is coupled to the electric push rod 66. When the material picking push rod 67 moves to the end of the impeller positioning plate 63, the material picking push rod mounting plate 65 triggers the travel switch 68. That is, the impeller located in the positioning groove can be driven by the electric push rod 66 and pushed to the end of the impeller positioning plate 63 through the material picking push rod 67 to be grasped by the handling robot 7.

[0080] See attached Figure 8 , Figure 8 The main structure of the handling robot is shown in an exemplary manner. The handling robot 7 includes a second collaborative robot 71, which is fixed on a second table 72. An adapter 73 is provided at the end of the second collaborative robot 71, and a vacuum suction cup 74 and an expansion clamp 75 are provided on the adapter 73. The vacuum suction cup 74 and the expansion clamp 75 are installed on the adapter 73 at different angles; and a plurality of vacuum suction nozzles 76 are provided on the vacuum suction cup 74.

[0081] The vacuum suction cup 74 and the vacuum suction nozzle 76 are used to grasp the upper shell and the lower shell, that is, the upper shell and the lower shell are sucked on the vacuum suction cup 74 by the suction force generated by the vacuum suction nozzle 76. The expansion gripper 75 is used to grasp the impeller. The expansion gripper 75 is a balloon-type internal support gripper or an expansion fixture for internal support object taking, and is a standard automation accessory. Refer to the appendix Figure 9 , Figure 9 is a schematic structural diagram of an expansion gripper. The expansion gripper 75 includes a gripper body 751 and a silica gel airbag 752. The gripper body is provided with an inflation hole 753. By inflating the inflation hole 753, the expansion state of the silica gel airbag 752 can be controlled. For example, when the expansion gripper 75 grasps the impeller, the expansion gripper 75 extends into the central hole of the impeller, and then the inflation hole 753 is inflated. The silica gel airbag 752 expands, contacts and tightens with the inner wall of the central hole of the impeller, thereby driving the impeller to move. When putting down the impeller, the gas in the silica gel airbag 752 is released, and the silica gel airbag 752 retracts and no longer contacts the inner wall of the central hole of the impeller, and the impeller disengages from the expansion gripper 75. Figure 9 In [figure number], a is the state before the silica gel airbag 752 expands, and b is the state after inflation and expansion.

[0082] The impeller feeding mechanism 6 and the handling robot 7 are located at one end of the discharge port of the hot air drying mechanism 4.

[0083] Refer to the appendix Figure 10 , Figure 10 Exemplarily shows the main structure of the gluing robot. The gluing robot 8 includes a third collaborative robot 81. The third collaborative robot 81 is fixed on the second table 72. A glue syringe 83 fixing bracket 82 is installed at the end of the third collaborative robot 81, and a glue syringe 83 is installed on the glue syringe 83 fixing bracket 82.

[0084] Refer to the appendix Figure 11 , Figure 11 Exemplarily shows the main structure of the automatic assembly mechanism. As Figure 11 shown, the automatic assembly mechanism 9 includes a gluing fixture 91. Vacuum dust removal devices 99 are respectively arranged on the left and right sides of the gluing fixture 91. A first linear conveying device 92 is arranged in front of the gluing fixture 91. An assembly device 93, an ultraviolet curing device 94, an airtightness detection device 95, a blanking manipulator 96, and a non-conforming product temporary storage box 97 are arranged in sequence along the first linear conveying device 92. A second linear conveying device 98 is arranged at the end of the first linear conveying device 92, and the second linear conveying device 98 leads to the blanking conveying mechanism 10. It can be understood that the first linear conveying device 92 is a device that can transport the pump head fixing tooling 931 in a linear motion, and the first linear conveying device 92 can be realized by components such as a conveyor belt and a translation cylinder. The second linear conveying device 98 is a device for transporting the fully magnetically levitated centrifugal blood pump, and can be realized by components such as a conveyor belt and a translation cylinder.

[0085] Refer to the appendix Figure 12 , Figure 12 which exemplarily shows the main structure of the assembly device. As Figure 12 shown, the assembly device 93 includes a pump head fixing tooling 931. On one side of the pump head fixing tooling 931, there is a first lifting member 932. The first lifting member 932 is connected to the body of a rotary cylinder 933. The rotary shaft of the rotary cylinder 933 is connected to an upper shell clamping member 935 through an adapter flange 934.

[0086] Refer to the appendix Figure 13 , Figure 13 which exemplarily shows the main structure of the ultraviolet curing device. As Figure 13 shown, the ultraviolet curing device 94 includes an ultraviolet curing lamp 941. The ultraviolet curing lamp 941 is fixed to the second table 72 through a support rod 942. The ultraviolet curing lamp 941 is located above the first linear conveying device 92. A pump head baffle 943 is provided between the ultraviolet curing lamp 941 and the first linear conveying device 92. The pump head baffle 943 is connected to a second lifting member 944. The second lifting member 944 is fixed to the second table 72 through a support plate 945. The first lifting member 932 and the second lifting member 944 may include a cylinder or an electric cylinder.

[0087] Refer to the appendix Figure 14 , Figure 14 which exemplarily shows the main structure of the airtightness detection device. As Figure 14 shown, the airtightness detection device 95 includes an inflation plug 951 located above the first linear conveying device 92. The inflation plug 951 is fixed to the first mounting bracket 955 through a first push cylinder 952. The inflation plug 951 can be driven by the first push cylinder 952 to move in the up and down direction; a plug 953 located on one side of the first linear conveying device 92. The plug 953 is fixed to the second mounting bracket 956 through a second push cylinder 954. The plug 953 can be driven by the second push cylinder 954 to move in the horizontal direction perpendicular to the moving direction of the first linear conveying device 92. Both the first mounting bracket 955 and the second mounting bracket 956 are mounted on the second table 72.

[0088] Based on the above-mentioned fully magnetically levitated centrifugal blood pump automatic production equipment, the assembly and inspection of the fully magnetically levitated centrifugal blood pump can be completed automatically. Next, in combination with the attached drawings, the working process of the fully magnetically levitated centrifugal blood pump automatic production equipment will be introduced.

[0089] Refer to the appendix Figure 15 , Figure 15 which exemplarily shows the technological process of the fully magnetically levitated centrifugal blood pump automatic production equipment. As Figure 15 shown, the technological process mainly includes:

[0090] Step 1: Place the upper shell into the tray 141 of the upper shell feeding mechanism 1. Place the tray 141 on the first base 142 along the tray positioning and guiding member 143. The telescopic member 146 pushes the tray fixing baffle 147 to extend, ensuring that the tray 141 does not drop. When the equipment starts, the telescopic member 146 retracts, driving the tray fixing baffle 147 to retract. The lowermost tray 141 drops onto the conveyor belt 12. The telescopic member 146 pushes the tray fixing baffle 147 to extend, fixing the upper tray 141. At the same time, the conveyor belt motor 13 drives the conveyor belt 12. After the tray 141 moves to the predetermined position, the tray positioning device 16 is blocked by the tray 141, and the conveyor belt motor 13 is turned off. After the tray 141 reaches the predetermined position, the feeding robot 5 picks up the upper shell and places it into the ultrasonic cleaning mechanism 3. After all the upper shells on the tray 141 are taken away, the conveyor belt motor 13 rotates in reverse, and the conveyor belt 12 runs in the reverse direction, driving the empty tray 141 to reach the tray recycling device 15. The tray 141 is positioned above the tray fixing mechanism 153, and at the same time, the conveyor belt motor 13 stops. The lifting cylinder 152 jacks up the tray fixing mechanism 153, driving the tray 141 to rise, pushing the one-way baffle 155 to rotate upward. After rising to the fixed height, when there is no block by the one-way baffle 155, it turns back to its original position. The lifting cylinder 152 descends, driving the tray fixing mechanism 153 to descend. When the tray 141 descends, it is blocked by the one-way baffle 155, completing the recycling of the tray 141.

[0091] The feeding process of the lower shell feeding mechanism 2 is the same as that of the upper shell. Refer to the feeding process of the upper shell, which will not be elaborated here.

[0092] Step 2: The feeding robot 5 automatically grabs the upper shell and the lower shell and places them in the ultrasonic cleaning tank 31 for cleaning; the ultrasonic cleaning tank 31 is pre-filled with purified water in advance. After the upper shell and the lower shell are placed on the cleaning bracket 32, start the ultrasonic cleaning mechanism 3 to start cleaning. After the cleaning is completed, the feeding robot 5 picks up the upper shell and the lower shell and places them in the installation slots of the chain conveyor device 41. The upper shell and the lower shell move into the drying furnace with the chain conveyor device 41, and the fan starts synchronously to accelerate drying. After the upper shell and the lower shell are dried, the upper shell and the lower shell reach the predetermined position with the chain conveyor device 41 so that the handling robot 7 can pick them up, and the chain conveyor device 41 stops.

[0093] Step 3: When the electric push rod 66 of the impeller loading mechanism 6 reaches the maximum stroke, the material taking push rod mounting plate 65 and the material taking push rod 67 move away from the impeller buffer barrel 627, and the impeller is placed above the impeller buffer barrel 62. The impeller buffer barrel 62 is located on the impeller positioning plate 63, and the lowermost impeller falls into the positioning groove of the impeller positioning plate 63. The electric push rod 66 contracts, driving the material taking push rod mounting plate 65 and the material taking push rod 67 to approach the impeller buffer barrel 62. The material taking push rod 67 is located in the groove of the impeller positioning plate 63, and the lowermost impeller will be pushed out by the material taking push rod 67. When the material taking push rod mounting plate 65 touches the travel switch 68, the electric push rod 66 stops, and the impeller reaches the end of the impeller positioning plate 63, enabling the handling robot 7 to clamp it.

[0094] Step 4: The handling robot 7 moves to the set position, rotates the adapter 73 at the end to adjust the position of the vacuum suction cup 74, and uses the vacuum suction nozzle 75 to suck the upper shell from the chain conveyor 41. The upper shell is placed on the gluing fixture 91, and the vacuum dust removal devices 99 on both sides are started to blow off the dust and foreign matters on the surface of the upper shell, preparing for gluing. The handling robot 7 sucks the lower shell from the chain conveyor 41 and places it on the pump head fixing tooling 931.

[0095] Step 6: The handling robot 7 grabs the impeller from the impeller positioning plate 63 and places it into the lower shell.

[0096] Step 9: The gluing robot 8 starts gluing. The gluing robot 8 moves along a predetermined path, and the glue syringe 83 evenly coats glue at the predetermined position of the upper shell. After gluing, it moves away from the upper shell.

[0097] Step 7: The handling robot 7 grabs the upper shell from the gluing fixture 91 and places it on the upper shell clamping member 935. The first lifting member 932 of the assembling device 93 adjusts the height, and the rotating cylinder 933 drives the adapter flange 934 and the upper shell clamping member 935 to rotate to complete the assembly of the upper and lower shells.

[0098] Step 8: The first linear conveying device 92 drives the pump head fixing tooling 931 to reach the ultraviolet curing device 94. The second lifting member 944 drives the pump head baffle 943 to descend, keeping the upper and lower shells in a closed state. The ultraviolet curing lamp 941 is turned on to complete curing. The second lifting member 944 drives the pump head baffle 943 to rise, and the first linear conveying device 92 drives the pump head fixing tooling 931 to reach below the airtightness detection device 95.

[0099] Step 9: The airtightness detection device 95 controls the first pushing cylinder 952 and the second pushing cylinder 954 to extend, driving the inflation plug 951 and the plug 953 to block the outlet and inlet of the pump head. The inflation plug 951 inflates the pump head to a certain pressure and detects the pressure change. After the air pressure test is completed, the first pushing cylinder 952 and the second pushing cylinder 954 retract, and the inflation plug 951 and the plug 853 move away from the pump head. The first linear conveying device 92 drives the pump head fixing tooling 931 to reach the blanking position.

[0100] Step 10: According to the test results of the airtightness detection device 95, the blanking manipulator 96 grabs the pump head for blanking. The qualified products will be moved by the first linear conveying device 92 above the second linear conveying device 98, and the blanking manipulator 96 transfers the qualified products to the second linear conveying device 98 to complete the blanking. The unqualified products are moved by the first linear conveying device 92 above the unqualified product temporary storage box 97, and the blanking manipulator 96 transfers the unqualified products to the unqualified product temporary storage box 97 to complete the blanking. Thus, the qualified products are transported by the second linear conveying device 98 to the blanking conveying mechanism 10 for subsequent packing process.

[0101] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "front", "rear", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0102] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection", "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 communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0103] The term "comprising" or any other similar term is intended to cover non-exclusive inclusion, so that a process, method, article or equipment / device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes the elements inherent in these processes, methods, articles or equipment / device.

[0104] The above is the preferred embodiment of the present invention and the technical principles applied therein. For those skilled in the art, any obvious changes such as equivalent transformations and simple substitutions based on the technical solution of the present invention without departing from the spirit and scope of the present invention shall fall within the protection scope of the present invention.

Claims

1. An automated production device for a fully magnetic levitation centrifugal blood pump, characterized in that, The device includes: An upper shell feeding mechanism configured to provide the upper shell of a fully magnetically levitated centrifugal blood pump; A lower shell feeding mechanism configured to provide the lower shell of a fully magnetically levitated centrifugal blood pump; An ultrasonic cleaning mechanism configured to ultrasonically clean the upper shell and the lower shell; A hot air drying mechanism configured to dry the upper shell and the lower shell after ultrasonic cleaning, and the hot air drying mechanism has a chain conveyor device for conveying the upper shell and the lower shell; A feeding robot configured to move the upper shell in the upper shell feeding mechanism and the lower shell in the lower shell feeding mechanism to the ultrasonic cleaning mechanism, and move the upper shell and the lower shell after ultrasonic cleaning by the ultrasonic cleaning mechanism to the chain conveyor device of the hot air drying mechanism; An impeller feeding mechanism configured to provide the impeller of a fully magnetically levitated centrifugal blood pump; A handling robot configured to handle the upper shell, the lower shell and the impeller of a fully magnetically levitated centrifugal blood pump; A gluing robot configured to apply glue at a predetermined position on the upper shell; An automatic assembly mechanism configured to assemble the upper shell, the lower shell and the impeller to form a fully magnetically levitated centrifugal blood pump and perform an airtightness test; A blanking conveyor mechanism configured to convey the fully magnetically levitated centrifugal blood pump with qualified assembly; The automatic assembly mechanism includes a gluing fixture, vacuum dust removal devices are respectively arranged on the left and right sides of the gluing fixture, and a first linear conveying device is arranged in front of the gluing fixture. An assembly device, an ultraviolet curing device, an airtightness detection device, a blanking manipulator and a non-conforming product temporary storage box are successively arranged along the first linear conveying device; A second linear conveying device is arranged at the end of the first linear conveying device, and the second linear conveying device leads to the blanking conveyor mechanism; The assembly device includes a pump head fixing tooling, a first lifting member is arranged on one side of the pump head fixing tooling, the first lifting member is connected to the body of a rotary cylinder, and the rotating shaft of the rotary cylinder is connected to an upper shell clamping member through an adapter flange; 2. The automated production equipment for the fully magnetic levitation centrifugal blood pump according to claim 1, characterized in that, The upper shell feeding mechanism includes a support frame and a conveyor belt, a conveyor belt motor, a tray feeding device, a tray recycling device and a tray positioning device located on the support frame; The tray feeding device is configured to provide a plurality of trays, and a plurality of upper shells are placed on the trays; The tray recycling device is configured to recycle the trays; The conveyor belt is driven by the conveyor belt motor and configured to convey the trays; The tray positioning device is configured to position the trays located on the conveyor belt; 3. The automated production equipment for the fully magnetic levitation centrifugal blood pump according to claim 2, characterized in that, The tray feeding device includes: A first base fixed to the support frame, and a tray positioning and guiding member is arranged on the first base; The tray positioning and guiding member is for stacking and placing a plurality of trays; A lifting motor is arranged below the first base, and the lifting motor is connected to a tray lifting member for moving the tray that has fallen onto the tray lifting member to the conveyor belt; A telescopic member is arranged on the first base, the telescopic member is connected to a tray fixing baffle, the tray fixing baffle is telescopically located at the bottom of the plurality of trays, and fixes the plurality of trays when extended, and the tray in the lower layer can fall onto the tray lifting member when retracted; The tray recycling device includes: A second base, a lifting cylinder is provided below the second base, the lifting cylinder is connected to a pallet fixing mechanism, the pallet fixing mechanism is driven by the lifting cylinder to move up and down to lift the pallet on the conveyor belt; a position sensor is installed on the pallet fixing mechanism, and the position sensor is coupled to the conveyor belt motor; A one-way baffle is provided on the second base, and the one-way baffle allows the tray to pass through when it moves from bottom to top, and blocks the tray when it moves from top to bottom, so that the tray is located above the second base.

4. The automated production equipment for a fully magnetically suspended centrifugal blood pump according to claim 1, characterized in that: The feeding robot comprises a first table, a first collaborative robot is installed on the first table, and an automatic gripper is installed at the end of the first collaborative robot; The ultrasonic cleaning mechanism comprises an ultrasonic cleaning tank, in which a cleaning bracket is arranged; The hot air drying mechanism also includes a drying furnace and a fan, and the chain conveyor passes through the drying furnace.

5. The automated production equipment for the fully magnetic levitation centrifugal blood pump according to claim 1, characterized in that, The impeller feeding mechanism comprises: A third base, wherein an impeller buffer barrel is disposed on the third base, wherein a plurality of impellers are stacked in the impeller buffer barrel, wherein an impeller positioning plate is disposed at the bottom of the impeller buffer barrel, wherein the impeller positioning plate is provided with a positioning groove, and wherein the positioning groove is disposed at the bottom of the impeller buffer barrel; The third base is provided with a guide rail, a material taking push rod mounting plate is slidably provided on the guide rail, an electric push rod is provided at the bottom of the third base, the electric push rod is connected to a material taking push rod through the material taking push rod mounting plate, and the material taking push rod is driven by the electric push rod to move between the positioning groove and the end of the impeller positioning plate; A travel switch is provided at the end of the guide rail, and the travel switch is coupled to the electric push rod. When the material taking push rod moves to the end of the impeller positioning plate, the material taking push rod mounting plate triggers the travel switch.

6. The automated production equipment for the fully magnetic levitation centrifugal blood pump according to claim 1, characterized in that, The transport robot comprises: The second collaborative robot is fixed on the second table, and an adapter is provided at the end of the second collaborative robot. A vacuum suction cup and an expansion clamp are provided on the adapter, and the vacuum suction cup and the expansion clamp are installed on the adapter at different angles; a plurality of vacuum suction nozzles are provided on the vacuum suction cup.

7. The automated production equipment of the fully magnetic levitation centrifugal blood pump according to claim 6, characterized in that, The gluing robot comprises: The third collaborative robot is fixed on the second table, a glue syringe fixing bracket is installed at the end of the third collaborative robot, and a glue syringe is installed on the glue syringe fixing bracket.

8. The automatic production equipment of the full magnetic suspension centrifugal blood pump according to claim 1, characterized in that: The ultraviolet curing device comprises: A UV curing lamp, the UV curing lamp is fixed to the second table via a support rod, the UV curing lamp is located above the first linear conveying device, a pump head baffle is provided between the UV curing lamp and the first linear conveying device, the pump head baffle is connected to a second lifting member, and the second lifting member is fixed to the second table via a support plate; The airtightness detection device comprises: An inflatable plug located above the first linear conveying device, the inflatable plug is fixed to the first mounting bracket by a first pushing cylinder, and the inflatable plug can be driven by the first pushing cylinder to move in the vertical direction; A plug located on one side of the first linear conveying device, the plug is fixed to the second mounting bracket by a second pushing cylinder, and the plug can be driven by the second pushing cylinder to move in the horizontal direction perpendicular to the moving direction of the first linear conveying device; Both the first mounting bracket and the second mounting bracket are mounted on the second table.

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