A minimally invasive tube automatic heat shrink line

Abstract

The invention discloses an automatic heat shrink line for minimally invasive tubes. The technical solution thereof mainly comprises a feeding line, a clamping line, a heat shrinking line, a discharging line and a processing system. The feeding line is used for conveying heat shrinkable tube raw materials. The clamping line comprises a clamping station and a clamping manipulator arranged at one side of the clamping station. The clamping manipulator is provided with a clamp. The clamping manipulator is used for controlling the clamp to clamp the heat shrinkable tube raw materials on the feeding station to the clamping station. The heat shrink line comprises a heat shrinking conveying station, a heat shrinking manipulator and a heat shrinking machine. The heat shrinking machine is arranged at one side of the heat shrinking conveying station. The heat shrinking manipulator is arranged at one side of the heat shrinking conveying station and is used for conveying the clamp holding the heat shrinkable tube raw materials to the heat shrinking machine for heat shrinking. The processing system is used for controlling the operation of the feeding line, the clamping line, the heat shrinking line and the discharging line. The invention provides an automatic heat shrink line for minimally invasive tubes. The heat shrink line has the effect of automatically producing and detecting the heat shrinkable line.

Description

Technical Field

[0001] The invention relates to the technical field of endoscope minimally invasive tube processing, and more specifically to an automatic heat shrink line for minimally invasive tubes. Background Art

[0002] With the continuous development of medicine, endoscopes, which are commonly used in medical treatment, are also constantly being improved, from previous hard endoscopes to soft tube endoscopes. With the deepening of research on optical fibers, fiber optic endoscopes have also been produced, which has enabled endoscopes to be more widely used in medical treatment.

[0003] The heat shrink tubing (heat shrink wire) used for wiring harnesses in endoscopes has also become an important component of endoscopes. Currently, in the production process of heat pipes and wires, manually controlled clamps are usually used to clamp the heat shrink wires and place them in a heat shrink machine for heat shrinking. The clamps and heat shrink wires are removed after the set shrinking time is reached. However, this method may not necessarily meet the standard requirements of the heat shrink tubing after being heat shrunk by the heat shrink machine, and manual inspection is required after the heat shrink tubing is removed to determine whether it meets the standards. This will result in defective heat shrink tubing, which will affect the use of the endoscope when used on the endoscope, and may even cause accidental damage to the endoscope during inspection. Therefore, an automated production line system for heat shrink wires is urgently needed. Summary of the invention

[0004] In view of the deficiencies in the prior art, the object of the present invention is to provide an automatic heat shrink wire for a minimally invasive tube, which has the effect of automatically producing and testing the heat shrink wire.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A minimally invasive tube automatic heat shrink line, comprising:

[0007] A feeding line, wherein a plurality of material placement stations are arranged on the feeding line, and the material placement stations are used to place the heat shrink tube raw materials;

[0008] The clamping line includes a clamping station and a clamping manipulator arranged on one side of the clamping station, the clamping manipulator is provided with a clamp, and the clamping manipulator is used to control the clamp to clamp the heat shrink tube raw material on the material placement station to the clamping station;

[0009] A heat shrink line, the heat shrink line comprising a heat shrink conveying station, a heat shrink manipulator and a heat shrink machine, the heat shrink machine is arranged on one side of the heat shrink conveying station, the heat shrink manipulator is arranged on one side of the heat shrink conveying station and is used to convey a fixture holding a heat shrink tube raw material to the heat shrink machine for heat shrinking;

[0010] The processing system comprises a positioning subsystem, a control subsystem and a heat shrink subsystem, the positioning subsystem comprises a marking module and a pre-inspection module, the positioning subsystem is provided with a positioning detection strategy, the positioning detection strategy comprises identifying the heat shrink tube raw material on the material placement station and marking the two sides of the heat shrink tube raw material with inkjet codes, and controlling the pre-inspection module to detect the tube diameter of the heat shrink tube raw material on the material placement station to generate initial tube diameter data when generating the inkjet code mark;

[0011] The heat shrink subsystem includes a shrinkage inspection module and an identification module. The heat shrinkage subsystem is configured with a heat shrinkage detection strategy and a standard tube diameter threshold. The heat shrinkage detection strategy includes generating a completion signal when the heat shrinkage of the heat shrinkage tube raw material is completed, and controlling the shrinkage inspection module to detect whether the tube diameter of the heat shrinkage tube after the heat shrinkage is completed meets the standard tube diameter threshold, generating a qualified mark for the tube that meets the standard tube diameter threshold, and generating a defective mark for the tube that does not meet the standard tube diameter, and controlling the identification module to identify whether thermal cracks appear on the outer surface of the heat shrinkage tube, and generating a scrap mark for the heat shrinkage tube that generates thermal cracks;

[0012] The control subsystem includes a clamping module, an arranging module, an online module and a unloading module. The control subsystem is configured with a control strategy and a detection threshold. The detection threshold represents the time for the identification module to detect the heat shrink tube. The control strategy includes generating a clamping signal when generating initial tube diameter data, controlling the group clamping robot to clamp the heat shrink tube raw material on the material placement station and transport it to the group clamping station, the arranging module controls the group clamping robot to arrange the heat shrink tube raw material at the group clamping station in groups of five, and generates an online signal after arranging into groups, controls the heat shrink robot to clamp the fixture to drive the heat shrink tube raw material to be transported to the heat shrink machine for heat shrinkage, and after receiving the completion signal and reaching the detection threshold, controls the heat shrink robot to clamp the heat shrink tube that has been shrunk and unload it to the discharge line through the unloading module.

[0013] As a further improvement of the present invention, a positioning threshold is configured in the marking module, and the positioning threshold represents the length value from the end of the heat shrink tube raw material to the inkjet mark. The positioning detection strategy forms the inkjet mark specifically as follows:

[0014] The length of the heat shrink tube raw material at the material placement station is identified, and the position of the inkjet mark is determined by the length of the positioning threshold. The inkjet mark includes a clamping mark and a digital mark. The clamping mark represents the position mark for clamping by the clamp, and the digital mark represents the mark for sorting the heat shrink tube raw materials in the order of clamping and is marked with increasing numbers.

[0015] As a further improvement of the present invention, the positioning detection strategy controls the pre-inspection module to detect the heat shrink tube raw material specifically as follows:

[0016] A light source detector is provided at the end of the feeding line facing the clamping station, and the light source detector is aligned with the axial position of the heat shrinkable tube raw material in the placing station. The initial tube diameter data includes inner diameter value, outer diameter value and wall thickness value. Photosensitive marks are sprayed on the inner diameter and outer diameter at the end of the heat shrinkable tube raw material, respectively. Detection light is emitted by the light source detector, and the axial position of the heat shrinkable tube raw material is taken as the center of a circle. The inner diameter value, outer diameter value and wall thickness value of the heat shrinkable tube raw material are obtained from the position from which the photosensitive mark receives the detection light to the center of the circle.

[0017] As a further improvement of the present invention, a clamping sub-strategy is configured in the clamping module, and a fixture library is also provided in the clamping line. The fixture library contains fixtures of different sizes. The clamping sub-strategy includes:

[0018] When the pre-inspection module generates the initial tube diameter data, it also generates the tube body data, wherein the tube body data includes the tube body model and the tube body length. The assembly clamping robot selects a clamp corresponding to the tube body model from the clamp library according to the tube body data, and controls the clamp to move to the material placement station to clamp the heat shrink tube raw material. When clamping, the clamping position of the clamp is the clamping mark in the inkjet mark.

[0019] As a further improvement of the present invention, the clamping sub-strategy also includes:

[0020] If the selected fixture can only correspond to the clamping mark position at one end along the length direction of the tube body when clamping the heat shrink tube raw material, a correction signal is generated, and the deviation value of the end of the fixture that does not correspond to the clamping mark position from the clamping mark position is obtained, and according to the deviation value, it is retrieved whether there is a fixture in the fixture library that can clamp the clamping marks at both ends of the tube body. If there is a corresponding fixture, the assembly clamp robot is controlled to replace the fixture. If there is no corresponding fixture, a re-inspection signal is generated, and the assembly clamp robot is controlled to clamp the heat shrink tube raw material on the material placement station and send it to the re-inspection product area, and a re-inspection data table is generated. The re-inspection data table is used to record the tube body model, detection time, deviation value and fixture.

[0021] As a further improvement of the present invention, the arranging module is configured with an arranging sub-strategy, and the arranging sub-strategy includes:

[0022] Retrieve the initial tube diameter data and tube body data, and arrange five heat shrink tube raw materials of the same tube body model, the same tube body length, and the same tube diameter data in an array along the width direction of the fixture. When arranging the array, place the inkjet markings on the heat shrink tube raw materials in the same horizontal position.

[0023] As a further improvement of the present invention, the shrinkage detection module is configured with a threshold detection strategy and a heat shrinkage ratio, the heat shrinkage ratio is a standardized heat shrinkage ratio value set according to the tube body model, the heat shrink machine is provided with a heat shrinkage detection light source, and the heat shrinkage detection light source is arranged along the axis of the heat shrinkable tube, and the threshold detection strategy includes:

[0024] When the completion signal is received, the heat shrink detection light source is controlled to detect the inner diameter value, outer diameter value and wall thickness value of the heat shrink tube after heat shrinkage, and the initial tube diameter data is multiplied by the heat shrinkage ratio value to obtain the proportional tube diameter data. If the inner diameter value, outer diameter value and wall thickness value after heat shrinkage are within the range of the proportional tube diameter data, it is characterized as qualified and assigned a qualified mark. If it is not within the range of the proportional tube diameter data, it is unqualified and assigned a defective mark.

[0025] As a further improvement of the present invention, the threshold detection strategy further includes:

[0026] If only other tube diameter values ​​other than the inner diameter value and the outer diameter value are detected under the irradiation of the heat shrink detection light source, it indicates that the heat shrink tube has heat shrinkage bending deformation. If other tube diameter values ​​are greater than the outer diameter value, it indicates that the heat shrink tube is bent toward the outside of the tube diameter. If other tube diameter values ​​are less than the inner diameter value, it indicates that the heat shrink tube is bent toward the inside of the tube diameter.

[0027] As a further improvement of the present invention, the recognition module includes a camera unit and a recognition sub-strategy, and the heat shrink machine is also provided with a coder, and the recognition sub-strategy includes:

[0028] When the completion signal is generated, the camera unit is controlled to take a picture of the heat shrinkable tube and generate a heat shrinkable texture map, wherein the heat shrinkable texture map is used to reflect the surface shape image of the outer wall of the heat shrinkable tube, and the tube body texture map of the corresponding tube body model is retrieved from the cloud, and the heat shrinkable texture map is compared with the tube body texture map. If different textures appear, it indicates the occurrence of thermal cracks. The position of the thermal cracks is marked in the heat shrinkable texture map, and the inkjet printer located in the heat shrink machine is controlled to mark the heat shrinkable tube marked with thermal cracks as scrapped.

[0029] The beneficial effects of the present invention are as follows: the heat shrink tube raw materials are placed at the placing station on the loading line, and as the loading and conveying of the loading line proceeds, inkjet marks are formed on both sides of the heat shrink tube raw materials under the action of the marking module, and the tube diameter data of the heat shrink tube raw materials are obtained, so that when the group clamping robot clamps the heat shrink tube raw materials, the inkjet marks can be accurately clamped, and the group clamping robot is controlled to sort the heat shrink tube raw materials under the action of the sorting module, and the heat shrink tube raw materials are grouped into groups of five, so that when heat shrinking is performed, the heat shrinking robot places a group of heat shrink tube raw materials into the heat shrink machine for heat shrinking treatment at one time, and the heat shrinking tubes after heat shrinkage are inspected under the action of the shrinking inspection module and the identification module, and the heat shrink tubes that meet the standards are marked with qualified marks, the heat shrink tubes that do not meet the standards are marked as defective marks, and the heat shrink tubes that have thermal cracks are marked with scrap marks, and after the heat shrinking is completed, they are conveyed to the discharging line by the heat shrinking robot, thereby realizing the effect of automated production and inspection of the heat shrink tubes from loading, heat shrinking to unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 An overall diagram of the heat shrink line embodying the present invention;

[0031] Figure 2 To reflect the structural diagram of the feeding line and the clamping line;

[0032] Figure 3 To reflect the structural diagram of the group clamp line;

[0033] Figure 4 This is a structural diagram showing the group clamp line and heat shrink line.

[0034] Figure numerals: 1. Loading line; 2. Heat shrink tube raw material; 3. Clamping line; 31. Clamping station; 32. Clamping manipulator; 4. Heat shrink line; 41. Heat shrink conveying station; 42. Heat shrink manipulator; 43. Heat shrink machine; 5. Discharging line. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The same parts are represented by the same reference numerals. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to directions in the accompanying drawings, and the words "bottom surface" and "top surface", "inner" and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0036] refer to Figures 1 to 4 As shown, a specific embodiment of a minimally invasive tube automatic heat shrink line 4 of the present invention includes a feeding line 1, a clamping line 3, a heat shrink line 4 and a discharging line 5:

[0037] The loading line 1 is provided with a plurality of material placement stations, and the material placement stations are used to place the heat shrink tube raw materials 2. The clamping line includes a clamping station 31 and a clamping robot 32 arranged on one side of the clamping station 31. The clamping robot 32 is provided with a clamp, and the clamping robot 32 is used to control the clamp to clamp the heat shrink tube raw material 2 on the material placement station to the clamping station 31. The heat shrink line 4 includes a heat shrink conveying station 41, a heat shrinking robot 42 and a heat shrinking machine 43. The heat shrinking machine 43 is arranged on one side of the heat shrink conveying station 41. The heat shrinking robot 42 is arranged on one side of the heat shrink conveying station 41 and is used to convey the clamp holding the heat shrink tube raw material 2 to the heat shrinking machine 43 for heat shrinking.

[0038] It also includes a processing system, which includes a positioning subsystem, a control subsystem and a heat shrink subsystem. The positioning subsystem includes a marking module and a pre-inspection module. The positioning subsystem is configured with a positioning detection strategy. The positioning detection strategy includes identifying the heat shrink tube raw material 2 on the material placement station and performing code marking on both sides of the heat shrink tube raw material 2, and controlling the pre-inspection module to detect the tube diameter of the heat shrink tube raw material 2 on the material placement station when generating the code marking to generate initial tube diameter data.

[0039] The heat shrink subsystem includes a shrinkage inspection module and an identification module. The heat shrinkage subsystem is configured with a heat shrinkage detection strategy and a standard tube diameter threshold. The heat shrinkage detection strategy includes generating a completion signal when the heat shrinkage of the heat shrink tube raw material 2 is completed, and controlling the shrinkage inspection module to detect whether the tube diameter of the heat shrink tube after the heat shrinkage is completed meets the standard tube diameter threshold, generating a qualified mark for those that meet the standard tube diameter threshold, and generating a defective mark for those that do not meet the standard tube diameter, and controlling the identification module to identify whether thermal cracks appear on the outer surface of the heat shrink tube, and generating a scrap mark for the heat shrink tube that generates thermal cracks.

[0040] The control subsystem includes a clamping module, a sorting module, an online module and a unloading module. The control subsystem is configured with a control strategy and a detection threshold. The detection threshold represents the time for the identification module to detect the heat shrink tube. The control strategy includes generating a clamping signal when generating initial tube diameter data, controlling the group clamping robot 32 to clamp the heat shrink tube raw material 2 on the material placement station and transport it to the group clamping station 31, the sorting module controls the group clamping robot 32 to sort and arrange the heat shrink tube raw materials 2 at the group clamping station 31 in groups of five, and generates an online signal after sorting into groups, controls the heat shrink robot 42 to clamp the fixture to drive the heat shrink tube raw material 2 to be transported to the heat shrink machine 43 for heat shrinkage, and after receiving the completion signal and reaching the detection threshold, controls the heat shrink robot 42 through the unloading module to clamp the heat shrink tube that has been heat shrunk and unload it to the discharge line 5.

[0041] The marking module is provided with a positioning threshold, which represents the length from the end of the heat shrink tube raw material 2 to the inkjet mark. The positioning detection strategy forms the inkjet mark specifically as follows:

[0042] The length of the heat shrink tube raw material 2 at the material placement station is identified, and the position of the inkjet mark is determined by the length of the positioning threshold. The inkjet mark includes a clamping mark and a digital mark. The clamping mark represents the position mark for the clamp to clamp, and the digital mark represents the mark for sorting the heat shrink tube raw materials 2 in the order of clamping and uses increasing numbers as marks. In this way, the heat shrink tube raw materials 2 on the loading line 1 are marked in sequence.

[0043] The positioning detection strategy controls the pre-inspection module to detect the heat shrink tube raw material 2 specifically as follows:

[0044] A light source detector is provided at the end of the feeding line 1 facing the clamping station 31, and the light source detector is aligned with the axial position of the heat shrinkable tube raw material 2 in the placing station. The initial tube diameter data includes inner diameter value, outer diameter value and wall thickness value. Photosensitive marks are sprayed on the inner diameter and outer diameter at the end of the heat shrinkable tube raw material 2, respectively. The detection light is emitted by the light source detector, and the axial position of the heat shrinkable tube raw material 2 is taken as the center of the circle. The inner diameter value, outer diameter value and wall thickness value of the heat shrinkable tube raw material 2 are obtained from the position from which the photosensitive mark receives the detection light to the center of the circle.

[0045] The clamping module is provided with a clamping sub-strategy. The clamping line 3 is also provided with a fixture library, in which fixtures of different sizes are placed. The clamping sub-strategy includes:

[0046] When the pre-inspection module generates the initial tube diameter data, it also generates the tube body data, and the tube body data includes the tube body model and the tube body length. The clamping robot 32 selects a clamp corresponding to the tube body model from the clamp library according to the tube body data, and controls the clamp to move to the material placement station to clamp the heat shrink tube raw material 2. When clamping, the clamping position of the clamp is the clamping mark in the inkjet mark.

[0047] The clamping sub-strategy also includes:

[0048] If the selected clamp can only correspond to the clamping mark position of one end along the length direction of the tube body when clamping the heat shrink tube raw material 2, a correction signal is generated, and the deviation value of the end of the clamp that does not correspond to the clamping mark position from the clamping mark position is obtained, and according to the deviation value, it is called to determine whether there is a clamp in the clamp library that can clamp the clamping marks at both ends of the tube body. If there is a corresponding clamp, the clamp assembly robot 32 is controlled to replace the clamp. If there is no corresponding clamp, a re-inspection signal is generated, and the clamp assembly robot 32 is controlled to clamp the heat shrink tube raw material 2 on the material placement station and send it to the re-inspection product area, and a re-inspection data table is generated. The re-inspection data table is used to record the tube body model, detection time, deviation value and clamp.

[0049] The arranging module is configured with an arranging sub-strategy, and the arranging sub-strategy includes:

[0050] Retrieve the initial tube diameter data and tube body data, and arrange five heat shrink tube raw materials 2 of the same tube body model, the same tube body length, and the same tube diameter data in an array along the width direction of the fixture. When arranging the array, place the inkjet markings on the heat shrink tube raw materials 2 in the same horizontal position.

[0051] The shrinkage detection module is configured with a threshold detection strategy and a heat shrinkage ratio, the heat shrinkage ratio is a standardized heat shrinkage ratio value set according to the tube body model, the heat shrinkage machine 43 is provided with a heat shrinkage detection light source, and the heat shrinkage detection light source is arranged along the axis of the heat shrinkable tube, and the threshold detection strategy includes:

[0052] When the completion signal is received, the heat shrink detection light source is controlled to detect the inner diameter value, outer diameter value and wall thickness value of the heat shrink tube after heat shrinkage, and the initial tube diameter data is multiplied by the heat shrinkage ratio value to obtain the proportional tube diameter data. If the inner diameter value, outer diameter value and wall thickness value after heat shrinkage are within the range of the proportional tube diameter data, it is characterized as qualified and assigned a qualified mark. If it is not within the range of the proportional tube diameter data, it is unqualified and assigned a defective mark.

[0053] The threshold detection strategy also includes:

[0054] If only other tube diameter values ​​other than the inner diameter value and the outer diameter value are detected under the irradiation of the heat shrink detection light source, it indicates that the heat shrink tube has heat shrinkage bending deformation. If other tube diameter values ​​are greater than the outer diameter value, it indicates that the heat shrink tube is bent toward the outside of the tube diameter. If other tube diameter values ​​are less than the inner diameter value, it indicates that the heat shrink tube is bent toward the inside of the tube diameter.

[0055] The identification module includes a camera unit and an identification sub-strategy. The heat shrink machine 43 is also provided with an inkjet printer. The identification sub-strategy includes:

[0056] When the completion signal is generated, the camera unit is controlled to take a picture of the heat shrink tube and generate a heat shrink texture map, wherein the heat shrink texture map is used to reflect the surface shape image of the outer wall of the heat shrink tube, and the tube body texture map of the corresponding tube body model is retrieved from the cloud, and the heat shrink texture map is compared with the tube body texture map. If different textures appear, it indicates the occurrence of thermal cracks. The position of the thermal cracks is marked in the heat shrink texture map, and the inkjet printer located in the heat shrink machine 43 is controlled to mark the heat shrink tube marked with thermal cracks as scrapped.

[0057] Working principle and its effect:

[0058] The heat shrink tube raw material 2 is placed at the loading station on the loading line 1. As the loading and conveying of the loading line 1 occurs, inkjet markings are formed on both sides of the heat shrink tube raw material 2 under the action of the marking module, and the tube diameter data of the heat shrink tube raw material 2 is obtained, so that when the group clamping robot 32 clamps the heat shrink tube raw material 2, it can accurately clamp the inkjet markings, and under the action of the sorting module, the group clamping robot 32 is controlled to sort the heat shrink tube raw material 2 and group them into groups of five, so that when heat shrinking is performed, the heat shrink robot 42 places a group of heat shrink tube raw materials 2 into the heat shrink machine 43 at one time for heat shrinking treatment, and under the action of the shrinkage inspection module and the identification module, the heat shrink tubes after heat shrinkage are inspected, and the heat shrink tubes that meet the standards are marked with qualified marks, the heat shrink tubes that do not meet the standards are marked as defective marks, and the heat shrink tubes that have thermal cracks are marked with scrap marks. After the heat shrinking is completed, they are transported to the discharging line 5 by the heat shrinking robot 42, thereby realizing the effect of automated production and inspection of the heat shrink tube from loading, heat shrinking to unloading.

[0059] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. A minimally invasive tube automatic heat shrink line, characterized in that ,include: A feeding line (1), wherein a plurality of material placement stations are arranged on the feeding line (1), and the material placement stations are used to place heat shrink tube raw materials (2); A clamping line (3), wherein the clamping station (31) comprises a clamping station (31) and a clamping manipulator (32) arranged on one side of the clamping station (31), wherein the clamping manipulator (32) is provided with a clamp, and the clamping manipulator (32) is used to control the clamp to clamp the heat shrink tube raw material (2) on the material placement station to the clamping station (31); A heat shrinkable line (4), the heat shrinkable line (4) comprising a heat shrinkable conveying station (41), a heat shrinkable manipulator (42) and a heat shrinkable machine (43), the heat shrinkable machine (43) being arranged on one side of the heat shrinkable conveying station (41), the heat shrinkable manipulator (42) being arranged on one side of the heat shrinkable conveying station (41) and being used to convey a fixture holding a heat shrinkable tube raw material (2) to the heat shrinkable machine (43) for heat shrinking; A processing system, the processing system comprising a positioning subsystem, a control subsystem and a heat shrink subsystem, the positioning subsystem comprising a marking module and a pre-inspection module, the positioning subsystem being provided with a positioning detection strategy, the positioning detection strategy comprising identifying the heat shrink tube raw material (2) on the material placement station and marking the two sides of the heat shrink tube raw material (2) with a coding mark, and controlling the pre-inspection module to detect the tube diameter of the heat shrink tube raw material (2) on the material placement station to generate initial tube diameter data when generating the coding mark; The heat shrink subsystem comprises a shrinkage detection module and an identification module. The heat shrinkage subsystem is configured with a heat shrinkage detection strategy and a standard tube diameter threshold. The heat shrinkage detection strategy comprises generating a completion signal when the heat shrinkage of the heat shrink tube raw material (2) is completed, and controlling the shrinkage detection module to detect whether the tube diameter of the heat shrink tube after the heat shrinkage is completed meets the standard tube diameter threshold, generating a qualified mark for the tube that meets the standard tube diameter threshold, and generating a defective mark for the tube that does not meet the standard tube diameter, and controlling the identification module to identify whether thermal cracks appear on the outer surface of the heat shrink tube, and generating a scrap mark for the heat shrink tube that has thermal cracks; The control subsystem comprises a clamping module, an arranging module, an online module and a material discharge module. The control subsystem is configured with a control strategy and a detection threshold. The detection threshold represents the time for the identification module to detect the heat shrink tube. The control strategy comprises generating a clamping signal when generating initial tube diameter data, controlling the group clamping robot (32) to clamp the heat shrink tube raw material (2) on the material placement station and transport it to the group clamping station (31), the arranging module controls the group clamping robot (32) to arrange the heat shrink tube raw material (2) at the group clamping station (31) in groups of five, and generating an online signal after arranging into groups, controlling the heat shrink robot (42) to clamp the fixture to drive the heat shrink tube raw material (2) to be transported to the heat shrink machine (43) for heat shrinking, and after receiving the completion signal and reaching the detection threshold, controlling the heat shrink robot (42) through the material discharge module to clamp the heat shrink tube that has been heat shrunk and discharge it to the discharge line (5).

2. The automatic heat shrink wire (4) for minimally invasive tube according to claim 1, characterized in that: The marking module is provided with a positioning threshold, which represents the length from the end of the heat shrink tube raw material (2) to the inkjet mark. The positioning detection strategy for forming the inkjet mark is specifically as follows: The length of the heat shrink tube raw material (2) at the material placement station is identified, and the position of the inkjet mark is determined by the length of the positioning threshold, the inkjet mark includes a clamping mark and a digital mark, the clamping mark represents a position mark for clamping by a clamp, and the digital mark represents a mark for sorting the heat shrink tube raw material (2) in the order of clamping and uses increasing numbers as marks.

3. The automatic heat shrink wire (4) for minimally invasive tube according to claim 1, characterized in that: The positioning detection strategy controls the pre-inspection module to detect the heat shrink tube raw material (2) as follows: A light source detector is provided at the end of the feeding line (1) facing the clamping station (31), and the light source detector is aligned with the axial position of the heat shrinkable tube raw material (2) in the placing station. The initial tube diameter data includes an inner diameter value, an outer diameter value and a wall thickness value. Photosensitive marks are sprayed on the inner diameter and the outer diameter at the end of the heat shrinkable tube raw material (2). The light source detector emits detection light, and the inner diameter value, outer diameter value and wall thickness value of the heat shrinkable tube raw material (2) are obtained from the position where the photosensitive mark receives the detection light to the position of the center of the circle with the axial position of the heat shrinkable tube raw material (2) as the center of the circle.

4. The automatic heat shrink wire (4) for minimally invasive tube according to claim 3, characterized in that: The clamping module is provided with a clamping sub-strategy. The clamping line (3) is also provided with a fixture library, in which fixtures of different sizes are placed. The clamping sub-strategy includes: When the pre-inspection module generates the initial tube diameter data, it also generates the tube body data, wherein the tube body data includes the tube body model and the tube body length. The clamping robot (32) selects a clamp corresponding to the tube body model from the clamp library according to the tube body data, and controls the clamp to move to the material placement station to clamp the heat shrink tube raw material (2). When clamping, the clamping position of the clamp is the clamping mark in the inkjet mark.

5. The automatic heat shrink wire (4) for minimally invasive tube according to claim 4, characterized in that: The clamping sub-strategy also includes: If the selected clamp can only correspond to the clamping mark position at one end along the length direction of the tube body when clamping the heat shrink tube raw material (2), a correction signal is generated, and the deviation value of the end of the clamp that does not correspond to the clamping mark position from the clamping mark position is obtained, and according to the deviation value, it is retrieved whether there is a clamp in the clamp library that can clamp the clamping marks at both ends of the tube body. If there is a corresponding clamp, the clamp assembly robot (32) is controlled to replace the clamp. If there is no corresponding clamp, a re-inspection signal is generated, and the clamp assembly robot (32) is controlled to clamp the heat shrink tube raw material (2) on the material placement station and send it to the re-inspection product area, and a re-inspection data table is generated. The re-inspection data table is used to record the tube body model, detection time, deviation value and clamp.

6. The automatic heat shrink wire (4) for minimally invasive tube according to claim 5, characterized in that: The arranging module is configured with an arranging sub-strategy, and the arranging sub-strategy includes: Initial tube diameter data and tube body data are retrieved, and five heat shrink tube raw materials (2) of the same tube body model, the same tube body length, and the same tube diameter data are arranged in an array along the width direction of the fixture. When arranging the array, the inkjet markings on the heat shrink tube raw materials (2) are placed in the same horizontal position.

7. The automatic heat shrink wire (4) for minimally invasive tube according to claim 6, characterized in that: The shrinkage detection module is configured with a threshold detection strategy and a heat shrinkage ratio, the heat shrinkage ratio being a standardized heat shrinkage ratio value set according to the tube body model, the heat shrinkage machine (43) is provided with a heat shrinkage detection light source, the heat shrinkage detection light source is arranged along the axis of the heat shrinkable tube, and the threshold detection strategy includes: When the completion signal is received, the heat shrink detection light source is controlled to detect the inner diameter value, outer diameter value and wall thickness value of the heat shrink tube after heat shrinkage, and the initial tube diameter data is multiplied by the heat shrinkage ratio value to obtain the proportional tube diameter data. If the inner diameter value, outer diameter value and wall thickness value after heat shrinkage are within the range of the proportional tube diameter data, it is characterized as qualified and assigned a qualified mark. If it is not within the range of the proportional tube diameter data, it is unqualified and assigned a defective mark.

8. The automatic heat shrink wire (4) for minimally invasive tube according to claim 7, characterized in that: The threshold detection strategy also includes: If only other tube diameter values ​​other than the inner diameter value and the outer diameter value are detected under the irradiation of the heat shrink detection light source, it indicates that the heat shrink tube has heat shrinkage bending deformation. If other tube diameter values ​​are greater than the outer diameter value, it indicates that the heat shrink tube is bent toward the outside of the tube diameter. If other tube diameter values ​​are less than the inner diameter value, it indicates that the heat shrink tube is bent toward the inside of the tube diameter.

9. The minimally invasive tube automatic heat shrink wire (4) according to claim 8, characterized in that: The identification module includes a camera unit and an identification sub-strategy. The heat shrink machine (43) is also provided with an inkjet printer. The identification sub-strategy includes: When the completion signal is generated, the camera unit is controlled to take a picture of the heat shrinkable tube and generate a heat shrinkable texture map, wherein the heat shrinkable texture map is used to reflect the surface shape image of the outer wall of the heat shrinkable tube, and the tube body texture map of the corresponding tube body model is retrieved from the cloud, and the heat shrinkable texture map is compared with the tube body texture map. If different textures appear, it indicates that a thermal crack has occurred, and the position of the thermal crack is marked in the heat shrinkable texture map, and the inkjet printer located in the heat shrink machine (43) is controlled to mark the heat shrinkable tube marked with a thermal crack as a scrap mark.

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