Conduit loading device

Abstract

The embodiment of the present application provides a catheter feeding device, which comprises: a catheter conveying and separating mechanism for separating a plurality of layers of stacked catheters into single-layer interval arrangement; a catheter carding and flattening mechanism for separating the catheters from each other through conveying and carding and expanding the catheters into a linear shape in the horizontal direction; a catheter conveying and gathering mechanism for conveying and gathering the catheters to a waiting transfer position and realizing grouping of a plurality of catheters; and a catheter receiving gripper assembly for clamping and transferring the grouped plurality of catheters to a catheter conveying and assembling mechanism for automatic assembly. The catheter feeding device of the present application realizes automatic feeding of long and sticky medical catheters, saves equipment floor area, has the advantages of no deformation of catheter roundness after feeding, no deformation of catheter straightness, high feeding efficiency, high production efficiency, low labor intensity and the like.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a catheter feeding device. BACKGROUND

[0002] The pump infusion set is a high-end medical consumable for infusion pump to give intravenous infusion, and realizes the flow of liquid medicine with precise flow rate through the intermittent extrusion of the catheter. The higher the true circularity and straightness of the cross section of the catheter, the better the accuracy of the flow rate. In addition, in order to ensure the stability of the flow rate during long time use, the catheter is required to have good resilience after being extruded, so the PB material containing rubber-like components is often selected, which will cause the outer surface of the catheter to be sticky and easy to stick to each other. In addition, when air bubbles are generated in the flow path, the infusion pump is required to detect the air bubbles and alarm, so the catheter is required to have high transparency and the surface of the catheter cannot be frosted, which also leads to the fact that the surface roughness of the catheter is very small and the catheters are easy to stick to each other. In addition, the pump infusion set is connected to the infusion pump in the middle, so the length of the catheter is longer than that of the catheter of the ordinary infusion set. Therefore, the medical catheter for the pump infusion set needs to have the four characteristics of roundness, straightness, stickiness and length.

[0003] The medical catheter is generally produced by extrusion molding, that is, the hollow tube is formed by heating the plastic particles through the extrusion molding die head, and then the front section is drawn into shape, and after cooling, the catheter of the same length is cut by wire cutting. The state of the formed catheter has two types: the cut catheter in a pile shape and the wound catheter in a roll shape.

[0004] Correspondingly, the feeding mode of the medical catheter automatic assembly equipment has the following two modes:

[0005] The first mode is to use vacuum suction to clamp the cut catheter in a pile shape and feed it by traction: the catheter head is sucked upward by the vacuum suction head, the catheter is sucked to a certain height by the vacuum suction head and effectively separated from other catheters in the pile, then the catheter head is clamped by the pneumatic gripper, and then the catheter is pulled forward along the axis of the catheter to the front, placed on the transfer platform for catheter end face alignment, and then moved to the assembly transfer clamp for subsequent assembly process.

[0006] Using this way, since the catheter has not been separated from each other, the clamp jaw only clamps the head of the catheter, and the catheter is quickly pulled forward by more than 2-3 meters, so that the catheter being removed and the catheter below and adjacent to it will generate high-speed friction, and the friction static electricity will generate strong additional adhesion adsorption force, so when the upper catheter is pulled forward, the lower or adjacent catheter will be lifted, and the whole pile of catheters will be pulled into a twisted knot and a bundle, and cannot continue to be fed. In addition, this way needs to move the loaded catheter by more than the length of the catheter to achieve the placement of the catheter. For 2-3 meter catheters, the feeding mechanism needs to walk twice the moving distance (more than 4-6 meters) in a cycle. If multiple catheters are fed at the same time, the feeding structure will have a large mass during the return trip. Under such a large walking distance, the site occupied is large, and the cycle beat is greatly prolonged due to the speed limitation of the general linear motion mechanism, resulting in a decrease in production efficiency. Therefore, this way is not suitable for the automatic feeding of long medical catheters, and is even more not suitable for the automatic feeding of long catheters with easy adhesion.

[0007] The second way is to open the roll, cut, move and place the wound catheter for feeding: the opening mechanism unwinds the wound catheter by rotating the catheter roll, and the catheter is pulled to a certain length under the control of tension, cut according to the set length, and then placed by the moving mechanism to complete the feeding, and then the product assembly begins.

[0008] This way, since the length of the catheter is contracted during placement, the inner layer of the catheter roll will be extruded and flattened into an oval shape by the outer layer of the catheter, and the cross section of the catheter cannot meet the true circularity requirement. In addition, the catheter will have a large residual bending deformation after being wound and then cut, which will greatly affect the flow rate of the infusion. Therefore, this feeding method is also not suitable for pump infusion equipment with high requirements for catheter true circularity and straightness.

[0009] For medical catheters with easy adhesion and super-long length, the existing feeding device cannot automatically feed due to the adhesion of the catheters to each other, or has a long cycle and low efficiency due to the large feeding distance, or cannot be used due to the large deformation of the catheter roundness and straightness after feeding, or causes loss of production time and reduces production efficiency due to the need to stop before putting in the catheter. Due to the lack of a suitable automatic catheter feeding method, manual placement of the catheter is currently used for assembly, which has high labor intensity, low production efficiency, high manufacturing cost, and is easy to attach bacteria during feeding, which affects the quality and industrial upgrading. SUMMARY

[0010] To solve the above problems, the embodiment of the present application provides a catheter feeding device, which can separate the multi-layer stacked catheters into single-layer interval arrangement during the conveying process, separate the catheters from each other by combing, avoid mutual adhesion between the catheters, and keep the roundness and straightness of the catheters unchanged after feeding.

[0011] According to one aspect of the present application, a catheter feeding device is provided, which comprises: a catheter conveying and separating mechanism for separating the multi-layer stacked catheters into single-layer interval arrangement; a catheter combing and flattening mechanism for separating the catheters from each other by conveying and combing, and unfolding the catheters into a straight line in the horizontal direction, wherein the conveying direction and the separating direction of the catheters are both perpendicular to the length direction of the catheters; a catheter conveying and gathering mechanism for conveying and gathering the catheters to a waiting transfer position and realizing grouping of the catheters; and a catheter receiving gripper assembly for clamping and transferring the grouped catheters to a catheter conveying and assembling mechanism for automatic assembly, wherein the transfer direction of the catheters is perpendicular to the length direction of the catheters.

[0012] Optionally, the catheter conveying and separating mechanism comprises: a catheter conveying assembly for conveying the multi-layer stacked catheters; a bayonet traction assembly for allowing single catheter to pass through; a stacking traction assembly for conveying the interval arranged catheters into closely connected arrangement; and a catheter separating assembly for separating the catheters from each other.

[0013] Optionally, the conveying and separating mechanism further comprises: a catheter transfer assembly for transferring the catheters from the catheter conveying and separating mechanism to the catheter combing and flattening mechanism, wherein the catheter transfer assembly moves at a high speed along the up-down and front-back directions according to a predetermined trajectory, and completes the fast transfer of the catheters.

[0014] Optionally, the catheter conveying assembly comprises a first belt and a plurality of baffles arranged on the first belt at intervals, and the multi-layer stacked catheters are arranged between two adjacent baffles.

[0015] Optionally, the bayonet traction assembly comprises a first toothed belt and a second belt which move relative to each other in opposite directions, the first toothed belt is arranged to be downwardly inclined relative to the second belt along the conveying direction to form a horn-shaped neck channel for allowing single catheter to pass through, and the first toothed belt pushes the catheters on the upper layer back.

[0016] Optionally, the conveying speed of the second belt is 10-20 times the conveying speed of the first belt, and the conveying speed of the first toothed belt is 2-3 times the conveying speed of the second belt.

[0017] Optionally, the trumpet-shaped constricted channel has a channel inlet and a channel outlet, the height of the channel inlet is 2.1 to 2.4 times the diameter of the conduit, and the height of the channel outlet is 1.0 to 1.1 times the diameter of the conduit.

[0018] Optionally, the stacking and traction assembly includes a third belt located above the conduit and a fourth belt located below the conduit, and the third belt moves synchronously with the fourth belt.

[0019] Optionally, the conveying speed of the third belt and the fourth belt is 1.5 to 2.5 times the conveying speed of the second belt.

[0020] Optionally, the catheter combing and flattening mechanism includes: a conveying conveyor belt, used to transport the catheter along the conveying direction, the conveying conveyor belt is provided with a plurality of first V-mouth blocks arranged at intervals for clamping the catheter; and two combing conveyor belt assemblies, respectively located on both sides of the conveying conveyor belt and arranged symmetrically relative to the conveying conveyor belt, the combing conveyor belt assemblies are used to separate the catheters from each other.

[0021] Optionally, each combing conveyor belt assembly includes a second toothed belt and a conduit limiting plate, and the second toothed belt and the conduit limiting plate form a conduit combing channel allowing the conduit to pass through.

[0022] Optionally, the second toothed belt extends obliquely downward away from the transport conveyor belt along the conveying direction, and the second toothed belt moves synchronously with the transport conveyor belt.

[0023] Optionally, within the same time, along the conveying direction, the conveying distance of the second toothed belt is equal to the conveying distance of the transport conveyor belt.

[0024] Optionally, the transmission speed of the second toothed belt and the transmission speed of the transport conveyor belt satisfy the following relationship: V6 = V7*COSθ1*COSθ2,

[0025] Among them, V6 is the transmission speed of the conveyor belt, V7 is the transmission speed of the second toothed belt, θ1 is the angle between the second toothed belt and the horizontal plane where the transmission direction is located, and θ2 is the angle between the second toothed belt and the vertical plane where the transmission direction is located.

[0026] Optionally, each combing conveyor belt assembly further includes an inner pressure plate and an outer pressure guide strip, wherein the inner pressure plate, the second toothed belt and the outer pressure guide strip form a trumpet-shaped inlet for guiding the conduit into the conduit combing channel.

[0027] Optionally, the catheter combing and flattening mechanism further comprises: two flattening conveyor belt assemblies, respectively located on both sides of the transport conveyor belt and arranged symmetrically relative to the transport conveyor belt, and each flattening conveyor belt assembly is arranged adjacent to each combing conveyor belt assembly located on the same side.

[0028] Optionally, the flattening conveyor belt is inclined upward along the conveying direction away from the conveying conveyor belt to a position flush with the conveying conveyor belt, and the flattening conveyor belt moves synchronously with the conveying conveyor belt.

[0029] Optionally, the conveying distance of the flattening conveyor belt along the conveying direction is equal to the conveying distance of the conveying conveyor belt at the same time.

[0030] Optionally, the conveying speed of the flattening conveyor belt and the conveying speed of the conveying conveyor belt satisfy the following relationship: V6=V8*COSθ3*COSθ4,

[0031] wherein V6 is the conveying speed of the conveying conveyor belt, V8 is the conveying speed of the flattening conveyor belt, θ3 is the angle between the flattening conveyor belt and the horizontal plane in which the conveying direction lies, and θ4 is the angle between the flattening conveyor belt and the vertical plane in which the conveying direction lies.

[0032] Optionally, the catheter conveying and gathering mechanism comprises two conveying and gathering conveyor belt assemblies moving synchronously, each of which comprises a gathering conveyor belt provided with a plurality of second V-shaped blocks arranged at intervals for clamping the catheters.

[0033] Optionally, the catheter conveying and gathering mechanism further comprises a catheter transfer manipulator for transferring the catheters from the catheter combing and flattening mechanism to the catheter conveying and gathering mechanism, the catheter transfer manipulator moves at a high speed along the up-down and front-back directions according to a predetermined trajectory to complete the rapid transfer of the catheters.

[0034] Optionally, the transfer direction of the plurality of catheters is perpendicular to the length direction of the catheters, and the transfer distance of the plurality of catheters is less than 40% of the length of the catheters.

[0035] According to another aspect of the present application, a catheter feeding method is provided, comprising the steps of: separating a plurality of layers of stacked catheters into a single layer arranged at intervals; separating and unfolding the catheters into a straight line in the horizontal direction by conveying and combing, wherein the conveying direction and the separating direction of the catheters are both perpendicular to the length direction of the catheters; gathering and conveying the catheters to a waiting transfer position and realizing grouping of a plurality of catheters; and clamping the plurality of catheters separated from each other and grouped, and transferring the plurality of catheters along the vertical direction of the length direction of the catheters to a catheter conveying and assembling mechanism for automatic assembly.

[0036] Optionally, in the step of separating the plurality of layers of stacked catheters into a single layer arranged at intervals, the middle part of the plurality of layers of stacked catheters is hung between a plurality of baffles, and the two ends of the catheters hang downward.

[0037] Optionally, in the step of separating the catheters from each other by conveying and combing, the catheters are conveyed along the conveying belt, and the catheters are combed from the middle by the combing belt assembly on both sides of the conveying belt, and the combing direction is inclined downward along the conveying direction away from the conveying belt.

[0038] Optionally, in the step of unfolding the catheters into a straight line in the horizontal direction, the catheters are conveyed along the conveying belt, and the catheters are flattened by the flattening belt assembly on both sides of the conveying belt, and the flattening direction is inclined upward along the conveying direction away from the conveying belt to a position flush with the conveying belt.

[0039] Optionally, the conveying speed of the combing belt assembly, the flattening belt assembly and the conveying belt in the horizontal direction is the same.

[0040] Optionally, the moving direction of the plurality of catheters is perpendicular to the length direction of the catheters, and the moving distance of the plurality of catheters is less than 40% of the length of the catheters.

[0041] According to the embodiment of the present application, the automatic feeding of long and sticky medical catheters is realized, the feeding moving distance is shortened, the catheter roundness is not deformed after feeding, the catheter straightness is not deformed, the feeding efficiency is high, the production efficiency is high, the labor intensity of workers is reduced, and the product quality is guaranteed, and other remarkable effects.

[0042] Firstly, the catheters stacked in multiple layers are separated into single-layer spaced arrangement by the catheter conveying and separating mechanism, and then the catheters are combed and flattened by the catheter combing and flattening mechanism, and during the combing and flattening, the catheter winding and crossing caused by mutual adhesion between the catheters are avoided, the feeding problem of the sticky catheters is solved, and the feeding efficiency of the catheters is improved.

[0043] Secondly, the feeding direction of the long catheter is along the horizontal direction perpendicular to the length direction of the long catheter, the feeding moving distance of the long catheter is shortened, and the feeding efficiency of the long catheter is further improved.

[0044] In addition, the feeding does not need to open and cut the catheter again, and the true roundness and straightness of the catheter are guaranteed.

[0045] Finally, the automatic feeding avoids the attachment of bacteria during the feeding process, guarantees the quality, and reduces the labor intensity of workers. BRIEF DESCRIPTION OF DRAWINGS

[0046] Other features and advantages of the present application will be better understood through the following detailed description of optional embodiments with reference to the accompanying drawings, in which the same reference signs represent the same or similar parts, and wherein:

[0047] Figure 1 A perspective view of a catheter feeding device according to an embodiment of the present application is shown;

[0048] Figure 2 Shows a front view of a catheter loading device according to an embodiment of the present invention;

[0049] Figure 3 Shows a side view of a catheter loading device according to an embodiment of the present invention;

[0050] Figure 4 A perspective view of a catheter conveying and distributing mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0051] Figure 5 A front view of a catheter conveying and distributing mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0052] Figure 6 A schematic diagram showing a bayonet pulling assembly of a catheter conveying and distributing mechanism of a catheter feeding device according to an embodiment of the present invention is shown;

[0053] Figure 7 A schematic diagram of a catheter distributing assembly of a catheter conveying and distributing mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0054] Figure 8 A schematic diagram showing a catheter transfer assembly of a catheter conveying and distributing mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0055] Figure 9 A schematic diagram of a catheter combing and flattening mechanism of a catheter feeding device according to an embodiment of the present invention is shown;

[0056] Figure 10 A schematic diagram showing a catheter combing and flattening mechanism, a catheter transfer robot mechanism, and a catheter transporting and gathering mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0057] Figure 11 A front view of a catheter combing and flattening mechanism of a catheter feeding device according to an embodiment of the present invention is shown;

[0058] Figure 12 Shown Figure 11 An enlarged schematic diagram of part A of the catheter combing and flattening mechanism;

[0059] Figure 13 Shown Figure 11 An enlarged schematic diagram of part B of the catheter combing and flattening mechanism;

[0060] Figure 14 A perspective view of a catheter combing and flattening mechanism, a catheter transfer robot mechanism, and a catheter transporting and gathering mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0061] Figure 15 A schematic diagram of a catheter transfer robot mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0062] Figure 16 A schematic diagram of a catheter conveying and gathering mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0063] Figure 17 A schematic diagram showing a receiving jaw assembly of a catheter conveying assembly mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0064] Figure 18 A schematic diagram showing a receiving and conveying component of a catheter conveying assembly mechanism of a catheter loading device according to an embodiment of the present invention is shown;

[0065] Figure 19 Shown Figure 18 A partial enlarged view of the conveying claw mechanism of the receiving and conveying component of the catheter conveying assembly mechanism;

[0066] Figure 20 Shown Figure 18 An exploded schematic diagram of the conveying clamping mechanism of the receiving and conveying assembly of the catheter conveying assembly mechanism;

[0067] Figure 21 A schematic flow chart of a catheter loading method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0068] The following describes the implementation and use of the embodiments in detail. It should be understood that the specific embodiments discussed are merely illustrative of specific ways to implement and use the present invention and are not intended to limit the scope of the present invention. When describing the structural positions of components, such as up, down, top, and bottom, directional references are not absolute but relative. These directional references are appropriate when the components are arranged as shown in the figures. However, if the positions of the components in the figures are changed, these directional references will change accordingly.

[0069] As described in the background, the way of feeding the catheter is divided into equipment feeding and manual feeding. One way of equipment feeding is that the stacked cut catheters are fed along the length direction of the catheter by vacuum suction. This way has the following disadvantages: first, the equipment beat is slow; second, the catheter is easy to knot or the catheter stack becomes wavy or the adjacent catheters cross horizontally, causing the catheter suction failure and low equipment utilization rate; third, when the catheter is separated, the adjacent catheters are suctioned and adhered, causing the equipment to stop and alarm; the fourth disadvantage is that the catheter feeding needs to be stopped, which affects the equipment utilization rate. Although this feeding method can ensure the roundness and straightness of the catheter, it is difficult to realize automatic and efficient feeding of the equipment and is not suitable for the high-efficiency production mode of the pump infusion device. Another way of equipment feeding is that the catheter is cut after being unwound from the reel. This way has the following disadvantages: first, the catheter roundness is poor, which affects the flow accuracy of the pump infusion device; second, the catheter straightness is poor, and the excessively curved catheter is put into the pumping part, which affects the flow accuracy of the infusion device. Since the catheter will shrink in length after being wound on the reel, the inner layer of the catheter will be squeezed and flattened into an oval shape by the outer layer of the catheter, and the catheter is easy to be excessively curved after being wound into a circle and then unwound. Although this way can realize automatic feeding, it cannot guarantee the true roundness and straightness of the catheter, thereby affecting the flow accuracy of the infusion device, and thus is not suitable for the production mode of the pump infusion device. The manual feeding method has high labor intensity, low production efficiency, and is easy to cause foreign matter and hair pollution, which is difficult to ensure the product quality.

[0070] Embodiments of the present application provide an automatic catheter feeding device. As shown in Figures 1 to 3 A catheter feeding device 100 of the present application is suitable for multi-layer long catheter automatic feeding in a medical device assembly equipment. The catheter feeding device 100 comprises a catheter conveying and separating mechanism 10, a catheter carding and flattening mechanism 20, and a catheter conveying and gathering mechanism 40. In some embodiments, the catheter feeding device 100 further comprises a catheter transfer robot 30 and / or a catheter conveying and assembling mechanism 50.

[0071] The catheter conveying and separating mechanism 10 is used to separate the multi-layer stacked catheters into single-layer spaced arrangement. When starting to convey, the middle part of each catheter is placed on the catheter conveying and separating mechanism 10, and the two ends hang down. The catheter carding and flattening mechanism 20 is used to completely separate the catheters from each other and expand them into a straight line, and the catheters are flattened. The conveying direction of the catheters is along the horizontal direction and perpendicular to the length direction of the catheters. The catheter transfer robot 30 is used to transfer the catheters from the catheter carding and flattening mechanism 20 to the catheter conveying and gathering mechanism 40. The catheter conveying and gathering mechanism 40 is used to convey and gather the catheters to the waiting transfer position. The catheter conveying and assembling mechanism 50 is used to assemble the catheters.

[0072] As shown in Figures 4 to 8As shown, the catheter conveying and dispensing mechanism 10 comprises a catheter conveying assembly 110, a bayonet traction assembly 120, a stack traction assembly 130, a catheter dispensing assembly 140. In some embodiments, the catheter conveying and dispensing mechanism 10 further comprises a catheter transfer assembly 150. The catheter conveying assembly 110 is configured to convey the multi-layered stacks of catheters 60, the bayonet traction assembly 120 is configured to allow a single catheter 60 to pass through, the stack traction assembly 130 is configured to convey the spaced-apart catheters 60 into a closely connected arrangement, the catheter dispensing assembly 140 is configured to separate the intermediate portions of the catheters 60 from each other, and the catheter transfer assembly 150 is configured to transfer the catheters 60 from the catheter conveying and dispensing mechanism 10 to the catheter carding and flattening mechanism 20.

[0073] In some embodiments, the catheter conveying assembly 110 comprises a first belt 111 and a plurality of baffles 112 spaced apart on the first belt 111, the plurality of baffles 112 separating the stacks of multi-layered catheters 60. In some embodiments, the catheter conveying assembly 110 further comprises a round belt 113 configured to transition the catheters 60 to the bayonet traction assembly 120.

[0074] In some embodiments, the first belt 111 is a flat belt in the shape of a loop, and the plurality of baffles 112 are fixed on the first belt 111 at equal intervals, with two adjacent baffles 112 separating a stack of multi-layered catheters 60. The intermediate portion of each catheter 60 is suspended on the first belt 111 with both ends hanging downward, and a plurality of stacks of catheters 60 can be suspended between the plurality of baffles 112. The first belt 111 is driven to intermittently move forward by a motor, for example.

[0075] In some embodiments, the bayonet traction assembly 120 comprises a first toothed belt 121 and a second belt 122 moving in opposite directions, the first toothed belt 121 being located above the catheters being conveyed, and the second belt 122 being located below the catheters being conveyed. The first toothed belt 121 is arranged to be downwardly inclined relative to the second belt 122 in the conveying direction to form a trumpet-shaped constricted passage 123 configured to allow a single catheter 60 to pass through, and the first toothed belt 121 is provided with external teeth 1211 configured to push the catheters 60 in the upper layer back. The second belt 122 runs forward in the conveying direction, and the first toothed belt 121 runs backward in the direction opposite to the conveying direction.

[0076] In some embodiments, the first toothed belt 121 is downwardly inclined relative to the horizontal direction. Specifically, as shown in FIG. 2, the first toothed belt 121 is downwardly inclined relative to the horizontal direction by an angle a, and the second belt 122 is horizontal. Figure 6As shown in FIG. 1, the first toothed belt 121 is used to pull back a portion (lower end portion) of the catheter 60 to a downward angle with the horizontal direction. The second flat belt 122 includes two flat belts 1221 and a guide strip 1222 located at the same height between the two flat belts 1221. The first toothed belt 121 and the two flat belts 1221 form a trumpet-shaped necking channel 123 having a channel entrance 1231 and a channel exit 1232. The height of the channel exit 1232 is L1, and the height of the channel entrance 1231 is L2. If the outer diameter of the catheter is ΦD, then 1.0D≤L1≤1.1D, and 2.1D≤L2≤2.4D. The distance between the first toothed belt 121 and the two flat belts 1221 below gradually decreases from L2 to L1 along the conveying direction, so as to allow only a single catheter to pass through the trumpet-shaped necking channel 123.

[0077] In some embodiments, the stacking traction assembly 130 includes a third belt 131 above the catheter being conveyed and a fourth belt 132 below the catheter being conveyed, and the third belt 131 and the fourth belt 132 move synchronously. The fourth belt 132 includes two round belts 1321 with a guide strip 1322 for supporting the catheter between the two round belts 1321. In some embodiments, the stacking traction assembly 130 further includes an arc-shaped supporting plate 133 located at the rear side of the guide strip 1322 along the conveying direction, and the catheter being conveyed is flattened on the arc-shaped supporting plate 133 so that the catheters 60 are closely arranged.

[0078] In some embodiments, the third belt 131 above the catheter being conveyed is driven by, for example, a motor to convey forward in the horizontal direction, and the two round belts 1321 are also driven by, for example, a motor to convey forward in the horizontal direction. The third belt 131 and the two round belts 1321 jointly pull the catheter 60 conveyed at a certain distance forward to flatten the catheter 60 conveyed closely into the arc-shaped supporting plate 133, and the middle portion of the frontmost catheter 60 is pushed into the arc-shaped clamping groove 1411 on the distribution turntable 141 of the catheter distribution assembly 140.

[0079] In some embodiments, as shown in FIG. 1, the catheter distribution assembly 140 includes a distribution turntable 141 and a plurality of arc-shaped clamping grooves 1411 arranged on the distribution turntable 141. The arc-shaped clamping grooves 1411 are arranged in a circle on the distribution turntable 141, and the arc-shaped clamping grooves 1411 are arranged at an angle of 90° with the horizontal direction. Figure 7As shown in FIG. 1, the catheter separating assembly 140 includes a separating turntable 141, and a plurality of arc-shaped slots 1411 are formed on the circumference of the separating turntable 141 for clamping the catheter 60. The width of the arc-shaped slots 1411 is approximately equal to the outer diameter of the catheter. In some embodiments, the catheter separating assembly 140 further includes a limiting plate 142 above the separating turntable 141 for preventing the catheter 60 from falling out of the arc-shaped slots 1411. The separating turntable 141 is driven to rotate by a motor, and after rotating by a certain angle, the catheter 60 clamped in the arc-shaped slots 1411 is transferred to the upper right position of other catheters, thereby achieving the separation of the middle sections of the catheters 60, so that the catheter 60 can be gripped by the transfer gripper 151 of the catheter transfer assembly 150.

[0080] In some embodiments, as shown in FIG. 1, Figure 7 As shown in FIG. 1, the catheter transfer assembly 150 includes a manipulator 151 capable of moving horizontally and vertically, and a transfer gripper 152 installed below the manipulator 151 and capable of opening and closing to grip the catheter 60.

[0081] The catheter transfer assembly 150 moves at a high speed along the vertical and horizontal directions according to a predetermined trajectory, thereby completing the rapid transfer of the catheter. The horizontal and vertical movements of the manipulator 151 are powered by high-speed electric cylinders driven by servo motors, which can shorten the horizontal and vertical movement cycles. The vertical and horizontal movements are powered by electric cylinders driven by servo motors, and the two servo motors are controlled by a set of servo control systems according to a predetermined trajectory, so that the vertical and horizontal movements can be seamlessly connected, thereby shortening the transfer cycle.

[0082] During the transfer, the first belt 111 of the catheter transfer assembly 110 moves forward at a speed of V1, and when the catheter 60 is transferred to the rightmost position of the first belt 111, the catheter is pulled forward at a speed of V2 by the round belt 113, and when reaching the chucking assembly 120, the catheter is pulled forward at a speed of V2 by the second belt 122,

[0083] wherein 10V1≤V2≤20V1, so that the multi-layer catheter 60 is converted into one or two layers of catheters and is transferred forward at a certain distance.

[0084] The bayonet traction assembly 120 has a trumpet-shaped, tapered channel 123 that only allows a single tube 60 to pass through and be transported forward. A first toothed belt 121, for example, driven by a motor, pulls the tubes toward the upper left. Two flat belts 1221, for example, driven by a motor, pull the tubes in the lower layer horizontally and forward at a speed V2. The center-to-center distance between adjacent outer teeth 1211 of the first toothed belt 121 is approximately twice the outer diameter of the tube 60. The tooth grooves between adjacent outer teeth 1211 can grip the upper tube 60, causing it to be firmly grasped by the outer teeth 1211 of the first toothed belt 121 and pulled to the left. The first toothed belt 121 pulls the upper tube 60 backward at a speed V4, where 2V2≤V4≤3V2. The bayonet traction assembly 120 ensures that only the tubes 60 in the lower layer pass through the trumpet-shaped, tapered channel 123 at regular intervals. In other words, only the tubes 60 in the lowermost layer are pulled forward by the two flat belts 1221.

[0085] Finally, the conduit 60 reaches the stacking and pulling assembly 130 and is quickly pulled and transported to the arc-shaped pallet 133 by the third belt 131 and the fourth belt 132 at a speed of V5, wherein 1.5V2 <V5<2.5V2,使得导管60之间的间隙消除,在圆弧型托板133上紧邻布置,将间隔一定距离向前输送的导管展平成紧密相连向前输送的导管,并将最前面的导管60的中间部分推入导管分料组件140的分料转盘141。导管分料组件140可以从一排紧密相连的导管中单独分离出一根导管来供导管移载组件150夹取移载。导管移载组件150可以将分离出来的导管60高速移载到后面的导管梳理展平机构20。机械手151水平向前搬送导管60的速度为V5,与第三皮带131和第四皮带132的速度相同,导管梳理展平机构20水平向前搬送的导管60的速度为V6,其中8V6≤V5≤10V6。

[0086] In some embodiments, as Figures 9 to 10 As shown in FIG, the catheter combing and flattening mechanism 20 includes a conveyor belt 210 and two combing conveyor belt assemblies 220. The two combing conveyor belt assemblies 220 are respectively located on both sides of the conveyor belt 210 and are symmetrically arranged relative to the conveyor belt 210. The combing conveyor belt assemblies 220 are used to completely separate the catheters 60 from each other.

[0087] The conveying conveyor 210 steps forward along the horizontal direction to convey the catheter 60 along the conveying direction. In some embodiments, the conveying conveyor 210 is provided with a plurality of first V-shaped blocks 211 arranged at equal intervals M, and the middle and lower notches of the first V-shaped blocks 211 are slightly smaller than the outer diameter of the catheter 60, so as to clamp the catheter 60 to prevent it from falling off. The conveying conveyor 210 pulls the middle part of the catheter 60 to convey it forward at intervals M.

[0088] In some embodiments, each combing conveyor assembly 220 includes a second toothed belt 221 and a catheter limiting plate 222, and the second toothed belt 221 extends downwardly and away from the conveying conveyor along the conveying direction. The second toothed belt 221 is located outside the catheter 60 being conveyed, and the catheter limiting plate 222 is located inside the catheter 60 being conveyed. The second toothed belt 221 and the catheter limiting plate 222 form a catheter combing passage 223 allowing the catheter 60 to pass through.

[0089] In some embodiments, each combing conveyor assembly 220 further includes an inner pressing plate 224 and an outer pressing guide bar 225. The inner pressing plate 224 can be made of a stainless steel strip, and the outer pressing guide bar 225 can be made of a stainless steel rod. The inner pressing plate 224, the second toothed belt 221, and the outer pressing guide bar 225 form a horn-shaped entrance, so that the catheter 60 is inwardly limited and guided to enter the catheter combing passage 223.

[0090] When the catheter 60 enters the catheter combing passage 223, it is limited by a specific tooth 2211 of the second toothed belt 221 and the catheter limiting plate 222, and is conveyed by the tooth 2211. The projection distance of the tooth pitch of the second toothed belt 221 in the conveying direction (horizontal direction) is also equal to the interval M.

[0091] In some embodiments, the second toothed belt 221 moves synchronously with the conveying conveyor 210. In the same time, the conveying distance of the second toothed belt 221 along the conveying direction is equal to the conveying distance of the conveying conveyor 210.

[0092] In some embodiments, the conveying speed of the second toothed belt 221 and the conveying speed of the conveying conveyor 210 satisfy the following relationship:

[0093] V6 = V7 * COSθ1 * COSθ2,

[0094] wherein V6 is the conveying speed of the conveying conveyor 210, V7 is the conveying speed of the second toothed belt 221, θ1 is the included angle between the second toothed belt 221 and the horizontal plane in which the conveying direction lies, and θ2 is the included angle between the second toothed belt 221 and the vertical plane in which the conveying direction lies.

[0095] In combination with Figures 11 to 12As shown in FIG. 6, the conveying conveyor 210 and the two second toothed belts 221 are synchronously stepped, that is, the three conveyors are started and stopped at the same time. Since the interval between the first V-shaped blocks 211 is M, the teeth 2211 of the left second toothed belt 221 hold the front and back horizontal intervals of the two conduits, both of which are H, the conveying conveyor 210 conveys the middle part of the conduit 60 in the horizontal direction, and the left second toothed belt 221 conveys and combs the left part of the conduit 60 in the straight line a direction. By controlling in the straight line a direction, the interval M is substantially equal to the interval H. In Figure 9 In the xyz coordinate system shown in FIG. 6, θ1 = ∠a-xoy, θ2 = ∠a-xoz, wherein x represents the conduit conveying direction, y represents the direction perpendicular to the conduit conveying direction in the horizontal plane, and z represents the vertical direction. θ1 represents the angle between the left conveying conveyor 210 and the xoy plane (the horizontal plane in which the conduit conveying direction is located), and θ2 represents the angle between the left conveying conveyor 210 and the xoz plane (the vertical plane in which the conduit conveying direction is located). As shown in FIG. 6, the angle between the straight line a and the xoy plane is θ1, and the angle between the straight line a and the xoz plane is θ2. Figure 12 As shown in FIG. 6, T1 is the tooth pitch of the left second toothed belt 221, and n1 is the number of tooth pitch groups, wherein M = H = n1*T1*COSθ1*COSθ2. Therefore, when the first V-shaped block 211 drives the middle part of the conduit 60 to step forward by an interval M, the left second toothed belt 221 also drives the left part of the conduit 60 to step forward by about an interval M in the horizontal direction, and at the same time, the two conduits 60 are combed in the lower left direction by a certain distance, so that the two conduits 60 are separated if there is adhesion between them, thereby avoiding adhesion between the two conduits 60.

[0096] Similarly, since the interval between the first V-shaped blocks 211 is M, the teeth 2211 of the right second toothed belt 221 hold the front and back horizontal intervals of the two conduits, both of which are H, the conveying conveyor 210 conveys the middle part of the conduit 60 in the horizontal direction, and the right second toothed belt 221 conveys and combs the right part of the conduit in the straight line β direction. By controlling in the straight line β direction, the interval M is substantially equal to the interval H. In Figure 9 In the xyz coordinate system shown in FIG. 6, θ1 = ∠β-xoy, θ2 = ∠β-xoz, wherein x represents the conduit conveying direction, y represents the direction perpendicular to the conduit conveying direction in the horizontal plane, and z represents the vertical direction. θ1 represents the angle between the right conveying conveyor 210 and the xoy plane (the horizontal plane in which the conduit conveying direction is located), and θ2 represents the angle between the right conveying conveyor 210 and the xoz plane (the vertical plane in which the conduit conveying direction is located). Similarly, Figure 12As shown in the figure, T1 is the pitch of the second toothed belt 221 on the right side, and n1 is the number of pitch groups, where M = H = n1*T1*COSθ1*COSθ2. Therefore, when the first V-shaped block 211 drives the middle part of the conduit 60 to step forward by a pitch M, the second toothed belt 221 on the right side also drives the right part of the conduit 60 to step forward by about a pitch M in the horizontal direction, and at the same time, the two conduits 60 are combed in the right-down direction by a certain distance, so that if the two conduits 60 are stuck together, they are separated due to the combing action, thereby avoiding the sticking of the conduits 60.

[0097] According to the above multi-step cycle, as the conduit 60 is driven by the first V-shaped block 211 to step forward by a plurality of pitches M, the left part and the right part of the conduit 60 are also driven by the second toothed belt 221 on the left side and the second toothed belt 221 on the right side to step forward by the same pitch, and at the same time, they are combed from top to bottom, so that if the two conduits 60 are stuck together, they are separated due to the combing action, thereby avoiding the sticking of the conduits 60.

[0098] The conveying conveyor belt 210 conveys the middle part of the conduit 60 forward at a horizontal speed V6, the second toothed belt 221 on the left side conveys and combs the left part of the conduit 60 forward along the straight line α direction at a speed V7, and the second toothed belt 221 on the right side conveys and combs the right part of the conduit 60 forward along the straight line β direction at a speed V7. The conveying conveyor belt 210, the second toothed belt 221 on the left side, and the second toothed belt 221 on the right side are respectively driven by synchronous drive interlocking control of respective motors, which are started and stopped at the same time each time, and are synchronously controlled according to certain rules in speed control, so that the conveying conveyor belt 210, the second toothed belt 221 on the left side, and the second toothed belt 221 on the right side step forward by the same distance M each time. In the conveying process, the forward conveying speed of the left and right parts of the conduit 60 is completely synchronized with the middle part of the conduit 60 while the conduit 60 is combed downward.

[0099] In some embodiments, the conduit combing and flattening mechanism 20 further comprises two flattening conveyor belt assemblies 230, which are symmetrically arranged relative to the conveying conveyor belt 210 and located on both sides of the conveying conveyor belt 210, and each flattening conveyor belt assembly 230 is adjacently arranged with each combing conveyor belt assembly 220 on the same side, so that the conduit is conveyed from the combing conveyor belt assembly 220 to the flattening conveyor belt assembly 230.

[0100] In some embodiments, each flattening conveyor assembly 230 comprises a flattening conveyor 231, on which a plurality of prongs 2311 are arranged at intervals for unfolding the catheter 60. In some embodiments, the plurality of prongs 2311 are arranged at equal intervals, and the projection distance of the intervals in the horizontal (front-back) direction is also equal to the interval M.

[0101] In some embodiments, the flattening conveyor 231 is inclined upwardly away from the conveying conveyor 210 along the conveying direction to a position level with the conveying conveyor 210, and the flattening conveyor 231 moves synchronously with the conveying conveyor 210. In the same time, the conveying distance of the flattening conveyor 231 along the conveying direction is equal to the conveying distance of the conveying conveyor 210.

[0102] In some embodiments, the conveying speed of the flattening conveyor 231 and the conveying speed of the conveying conveyor 210 satisfy the following relationship:

[0103] V6 = V8 * COS θ3 * COS θ4,

[0104] wherein V6 is the conveying speed of the conveying conveyor 210, V8 is the conveying speed of the flattening conveyor 231, θ3 is the included angle between the flattening conveyor 231 and the horizontal plane in which the conveying direction lies, and θ4 is the included angle between the flattening conveyor 231 and the vertical plane in which the conveying direction lies.

[0105] The conveying conveyor 210, the two second toothed belts 221, and the two flattening conveyors 231 are synchronously stepped conveying, that is, the five conveyors are started and stopped at the same time. Because the projection interval of the two adjacent catheters in the front-back direction by the second toothed belt 221 is M, and the front-back interval of the prongs 2311 is also M, when the catheter 60 is driven by the teeth 2211 of the second toothed belt 221 to step forward by an interval M and is separated from the teeth 2211 of the second toothed belt 221, the prongs 2311 also drive the front catheter 60 to step forward by an interval M, so that the catheter 60 is sequentially transferred from being driven by the teeth 2211 of the second toothed belt 221 to being driven by the prongs 2311. At the same time, a guide strip 2312 is installed on the outer upper side of the catheter 60, for example made of stainless steel, for limiting the catheter 60 inwardly and downwardly, and pressing the catheter 60 into the prongs 2311 to prevent the catheter 60 from jumping out.

[0106] In some embodiments, the conveying conveyor 210, the two second toothed belts 221, and the two flattening conveyors 231 are synchronously driven and controlled by respective motors, and the motors are started and stopped at the same time each time, so that the conveying conveyor 210, the two second toothed belts 221, and the two flattening conveyors 231 step by the same interval M along the horizontal conveying direction each time.

[0107] The conveying conveyor 210 and the two flattening conveyors 231 are synchronously stepped conveying, that is, the three conveyors are started at the same time and stopped at the same time. Since the front-to-back interval of the first V-shaped block 211 is M, the front-to-back interval of the fork 2311 along the conveying direction is also M, so when the middle part of the conduit 60 is stepped conveyed forward by the first V-shaped block 211 by one interval M, the fork 2311 also steps the one side of the conduit 60 forward and outward by one interval M. According to the above action, the conduit 60 is stepped conveyed by the first V-shaped block 211 by multiple intervals M, and at the same time, the one side of the conduit 60 is also pushed forward and outward by the fork 2311 by the same interval M. In this way, the fork 2311 gradually rises to the same height as the first V-shaped block 211, at which time the conduit 60 is completely unfolded into a horizontal state with the left and right sides and the middle part having substantially the same height. The conveying conveyor 210 conveys the middle part of the conduit forward at a speed V6, the left flattening conveyor 231 conveys the left part of the conduit 60 forward along the straight line γ direction at a speed V8, and at the same time, unfolds the conduit 60 upward, and the right flattening conveyor 231 conveys the right part of the conduit 60 forward along the straight line δ direction at a speed V8, and at the same time, unfolds the conduit 60 upward. In the xyz coordinate system shown in Figure 9 , θ3=∠γ-xoy=∠δ-xoy, θ4=∠γ-xoz=∠δ-xoz, V6=V8*COSθ3*COSθ4, θ3 represents the angle between the flattening conveyor 231 and the xoy plane (the horizontal plane where the conduit conveying direction is located), θ4 represents the angle between the flattening conveyor 231 and the xoz plane (the vertical plane of the conduit conveying direction), so that the forward conveying speed of the left and right sides and the middle part of the conduit 60 is completely synchronized while the conduit 60 is unfolded outward.

[0108] As shown in Figure 13 , when the two ends of the conduit 60 are completely unfolded and reach substantially the same height as the middle part, the fork 2311 is pulled by the respective synchronous belts, and is changed to move outward and obliquely forward in the horizontal plane, and steps forward horizontally by about 2 front-to-back intervals N to reach the predetermined material taking position, and the unfolding of the conduit 60 is completed. Since the movement direction of the flattening conveyor 231 is changed at this time, it is no longer upward, but moves outward and obliquely forward in the horizontal plane, and the fork 2311 is arranged at equal intervals on the respective synchronous belts. In Figure 9In the xyz coordinate system shown in the figure, θ3= ∠γ-xoy= ∠δ-xoy, θ4= ∠γ-xoz= ∠δ-xoz, T2 is the pitch of the flattened conveyor belt 231, n2 is the number of pitch groups, M= n2*T2*COSθ3*COSθ4, N= n2*T2*COSθ3, so the interval N is greater than the interval M. Since the subsequent catheter transfer robot clamps the left and right ends of the catheter, does not clamp the middle part of the catheter, and only clamps a single catheter, the interval N slightly greater than the interval M will not cause the transfer to take the material problem.

[0109] As shown in Figures 14 to 15 In some embodiments, the catheter feeding device 100 further comprises a catheter transfer robot mechanism 30 for transferring the catheter 60 from the catheter carding and flattening mechanism 20 to the catheter conveying and gathering mechanism 40. The catheter transfer robot mechanism 30 has the same structure as the catheter transfer assembly 150, and moves at a high speed along the up-down and front-back directions according to a predetermined trajectory, and completes the rapid transfer of the catheter. Specifically, the catheter transfer robot mechanism 30 comprises two catheter transfer robots 310 moving synchronously, both of which are driven by servo motors and completely synchronized to make the transfer of the two sides of the catheter 60 completely synchronized. Each catheter transfer robot 310 comprises a catheter transfer gripper assembly 311 for clamping and conveying the catheter 60 to the catheter conveying and gathering mechanism 40.

[0110] The horizontal linear slider 3111 and the vertical linear slider 3112 are arranged in the middle of the catheter transfer gripper assembly 311, and the bases of the two sliders are connected by a fixed plate 3113. The slider slide rod part of the horizontal linear slider 3111 is fixedly connected with the fixed plate 3113, and the slider slide rod of the vertical linear slider 3112 is respectively connected with a roller 3114 and a transfer gripper 3115. The transfer gripper 3115 can move up and down along the vertical linear slider 3112, and the roller 3114 is provided with a rotating plate 3116 and a trajectory limiting plate 3117. The rotating plate 3116 is provided with a waist-shaped groove, and the width of the waist-shaped groove is equal to the outer diameter of the roller 3114. The trajectory limiting plate 3117 is provided with a sliding groove in the shape of an inverted U, and the width of the sliding groove is equal to the outer diameter of the roller 3114. The roller 3114 is assembled into the waist-shaped groove of the rotating plate 3116 and can slide in the linear direction of the waist-shaped groove. The roller 3114 is also assembled into the sliding groove in the shape of an inverted U of the trajectory limiting plate 3117 and can slide in the direction of the inverted U. The rotating plate 3116 is movably connected with the roller 3114 through the waist-shaped groove. When the rotating plate 3116 is rotated by a servo motor driving mechanism, the roller 3114 can slide along the sliding groove in the shape of an inverted U to realize vertical and horizontal movement, and the catheter is clamped by the transfer gripper 3115. The rotating plate 3116 is driven by a servo motor through a speed reducer. When the servo motor rotates, the catheter transfer robot 310 can clamp one side of the catheter 60 along a U-shaped curve, and the catheter 60 is transferred to the catheter conveying and gathering mechanism 40 at high speed and smoothly. The horizontal and vertical movement of the transfer gripper 3115 is driven by a single servo motor mechanism as power, and the driving is continuous, seamless and smooth, so that the speed is improved, the impact is reduced, and the transfer cycle is shortened.

[0111] As shown in Figure 16 , the catheter conveying and gathering mechanism 40 includes two conveying and gathering conveyor belt assemblies 410 that move synchronously, and each conveying and gathering conveyor belt assembly 410 includes a gathering conveyor belt 411 provided with a plurality of second V-shaped blocks 4111 for clamping the catheter 60 and arranged at equal intervals. A catheter intermediate support plate 412 is arranged between the two gathering conveyor belts 411. The middle and lower part of the second V-shaped block 4111 is slightly smaller than the outer diameter of the catheter 60, so that the catheter 60 can be clamped to prevent loosening. The two gathering conveyor belts 411 are respectively driven by a motor or a common motor to step convey the catheter 60. The catheter intermediate support plate 412 supports the middle part of the catheter 60 to prevent the catheter 60 from falling during conveying. After multiple step conveyance, the gathering of multiple catheters 60 is completed, and the catheter 60 is ready for transfer.

[0112] As shown in Figure 17As shown in FIG, the catheter transport and assembly mechanism 50 includes a receiving gripper assembly 510 for gripping the catheter 60, and a receiving and transporting assembly 520 for transporting the catheter 60 to the assembly station. The receiving gripper assembly 510 includes two dual-axis catheter receiving manipulators 511. Each dual-axis catheter receiving manipulator 511 is equipped with multiple receiving grippers 512, which simultaneously grip both ends of the assembled and flattened multi-layer catheter 60 from the aforementioned transport and assembly conveyor assembly 410, move the grippers upward and forward, and then transfer the grippers to the receiving and transporting assembly 520.

[0113] like Figure 18 As shown, the catheter transport and assembly mechanism 50 includes a receiving and transporting assembly 520, which comprises two transporting clamping mechanisms 521, a catheter inter-station transport mechanism 522, and a chain mechanism 523. The inter-station transport mechanism 522, driven by a motor, drives the chain mechanism 523 forward to transport the multiple catheters held by the two transporting clamping mechanisms 521 to the corresponding assembly stations for component assembly. This cycle of steps completes the loading, transporting, separating, and transferring of stacked adhesive-coated catheters, providing them for subsequent assembly stations to perform various steps in the assembly of pump infusion sets.

[0114] like Figures 19 to 20 As shown, each transport clamping mechanism 521 contains multiple sets of linear sliders 5211, multiple sets of spring tightening mechanisms 5212, multiple sets of cam followers 5213 and wedge block mechanisms 5214. Through the up and down movement of the wedge block mechanism 5214, the multiple sets of cam followers 5213 are driven to slide horizontally along the multiple sets of linear sliders 5211, thereby driving the horizontal sliding of multiple sets of catheter clamping jaws base plates 5214 and multiple sets of catheter clamping jaws 5215, thereby realizing the release and clamping of multiple catheters.

[0115] An embodiment of the present invention also provides a catheter loading method, which can realize the loading of medical catheters with sticky surfaces and mutual adhesion. After loading, the roundness of the catheter will not be deformed, and the straightness of the catheter will not be deformed. Even if the catheter is very long, the loading cycle can be shortened and the loading efficiency can be improved. In addition, the catheter can be added without stopping the equipment. The equipment assembly and the addition of catheter preparation can be carried out simultaneously, greatly improving production efficiency.

[0116] According to an embodiment of the present invention, a method for loading medical catheters that is compatible with the above-mentioned loading device is provided, in which the catheters are first completely separated and disengaged from each other, and then multiple catheters are grouped and loaded along the longitudinal direction of the catheters at a transfer distance that is less than 40% of the catheter length.

[0117] like Figure 21 As shown in , by following the steps below, multiple long catheters can be quickly loaded while ensuring that the catheter roundness and straightness are not deformed and the catheter stock can be replenished without stopping the machine.

[0118] Stacked multi-layer long conduit loading

[0119] The first belt and the plurality of baffles arranged on the first belt are arranged, and the middle part of the stacked multi-layer long conduit is hung between the plurality of baffles, and the two ends are hung downward.

[0120] Since the used conduit is a cut-off conduit, it does not need to be opened and straightened, thereby avoiding deformation of the conduit roundness and the conduit straightness, so as to meet the requirements of high-end medical product assembly such as pump infusion device.

[0121] Stacked multi-layer long conduit conveying

[0122] The stacked multi-layer long conduit is conveyed forward by the first belt;

[0123] The stack is opened to 1 to 2 layers: a second belt is arranged in front of the first belt, and the conveying speed of the second belt is 10-20 times that of the first belt. When the stacked multi-layer long conduit is conveyed from the first belt to the second belt, the stacked multi-layer conduit is expanded to 1 to 2 layers due to the speed difference between the two belts.

[0124] Since the first belt is provided with a plurality of baffles, and the distance between the baffles is large, the conduit between the tail end baffles can be added online between the head end baffles when the conduit is conveyed and opened, so that the conduit can be added during the operation of the equipment, and the production efficiency is improved.

[0125] Unstacking into single layer conveying

[0126] A bayonet traction assembly is arranged, including a first toothed belt and a second belt moving in opposite directions. The first toothed belt is arranged downwardly inclined to the conveying direction relative to the second belt to form a horn-shaped neck channel for allowing a single conduit to pass through. The first toothed belt pushes the conduit on the upper layer back, thereby converting it into single-layer conveying.

[0127] Single conduit gathering before singling

[0128] A third belt above the conduit and a fourth belt below the conduit are arranged in front of the second belt, and the third belt and the fourth belt move synchronously. The conveying speed of the third belt and the fourth belt is 1.5-2.5 times that of the second belt, so as to realize the flattening and gathering of the single-layer long conduit.

[0129] A material distribution turntable is arranged adjacent to the end of the fourth belt, and a plurality of arc-shaped clamping grooves for clamping the conduit are arranged on the outer periphery of the material distribution turntable. A limiting pressing plate above the material distribution turntable is arranged to prevent the conduit from falling off the arc-shaped clamping groove. ​​​​

[0130] The distribution turntable rotates by a certain angle, and the long guide pipe gathered in the middle is divided into one guide pipe in the vertical direction along the length direction of the guide pipe.

[0131] Single conduit transfer from intermediate to combing mechanism :

[0132] A guide pipe moving assembly is arranged above the distribution turntable, and a combing and flattening mechanism is arranged in front of the distribution turntable. The guide pipe moving assembly can clamp the middle of the guide pipe and move it in the vertical direction along the length direction of the guide pipe, so that the single long guide pipe divided in the middle part is quickly moved to the guide pipe combing and flattening mechanism.

[0133] Single conduit combing, singling and simultaneous conveying :

[0134] A conveying conveyor belt and two combing conveyor belt assemblies are arranged in the guide pipe combing and flattening mechanism. The conveying conveyor belt is used to convey the guide pipe in the conveying direction. The two combing conveyor belt assemblies are respectively arranged on both sides of the conveying conveyor belt and symmetrically arranged relative to the conveying conveyor belt. The combing conveyor belt assembly is used to comb the guide pipe from the middle. The combing direction is inclined downwardly and extends away from the conveying conveyor belt in the conveying direction, so as to realize mutual separation.

[0135] The conveying speed of the conveying conveyor belt and the two combing conveyor belt assemblies in the horizontal forward direction is the same, so that the middle and both sides of the guide pipe are conveyed synchronously in the combing and separating process.

[0136] In the combing process, the middle and both sides of the guide pipe are conveyed synchronously, so that the guide pipes adhered to each other on the surface can also be smoothly separated. The adjacent guide pipes do not produce the condition of being lifted and crossed or entangled, the feeding of the adhesive guide pipe is realized, and the feeding failure shutdown caused by the crossing and entanglement of the guide pipes is reduced, and the production efficiency is improved.

[0137] Single conduit flattening to equal intermediate and end heights :

[0138] Two flattening conveyor belt assemblies are arranged in the guide pipe combing and flattening mechanism and symmetrically arranged relative to the conveying conveyor belt. Each flattening conveyor belt assembly is adjacently arranged with each combing conveyor belt assembly on the same side. The flattening conveyor belt extends upwardly and away from the conveying conveyor belt in the conveying direction to a position flush with the conveying conveyor belt.

[0139] After the guide pipe is conveyed by the combing conveyor belt assembly and then conveyed by the flattening conveyor belt assembly, the posture of the guide pipe gradually changes from the open downward to the unfolded strip-shaped horizontal state, and the middle of the guide pipe and both ends of the guide pipe are at the same height. The conveying speed of the conveying conveyor belt and the two flattening conveyor belt assemblies in the horizontal forward direction is the same, so that the middle and both sides of the guide pipe are conveyed synchronously in the flattening process.

[0140] Single conduit end transfer :

[0141] Two sets of tube transfer assembly are arranged above the tail ends of the two flat conveying belt assemblies. A tube conveying and gathering mechanism is arranged close to the tail ends of the two flat conveying belt assemblies. The clamps on the two sets of tube transfer assembly clamp the two ends of the tube and quickly transfer the single tube from the tube combing and aligning mechanism to the tube conveying and gathering mechanism. The tube transfer assembly uses a PP hand structure and can quickly transfer the single tube.

[0142] Multiple conduit conveying, gathering and grouping :

[0143] The tube conveying and gathering mechanism conveys and aligns the single long tube into a group of multiple tubes, and waits for transfer;

[0144] Multiple conduit transfer :

[0145] Two sets of receiving clamp assemblies are arranged above the tail ends of the tube conveying and gathering mechanism, and a receiving conveying assembly is arranged close to the tail ends of the tube conveying and gathering mechanism. The clamps on the two sets of receiving clamp assemblies clamp the two ends of the multiple long tubes in the vertical direction along the length of the tube, and transfer the multiple tubes that have been completely separated from each other to the receiving conveying assembly; the transfer distance is less than 40% of the length of the tube, thus shortening the cycle of tube transfer and realizing fast feeding of the long tube and improving production efficiency.

[0146] Multiple conduit conveying and assembly :

[0147] The receiving conveying assembly conveys the multiple long tubes to an assembly station and then assembles.

[0148] Figure 8 A tube transfer assembly of a tube feeding mechanism according to another embodiment of the present application is shown. Different from the previous embodiment, the mechanical hand 151 shown in Figure 8 The mechanical hand 151 shown in is a PP mechanical hand structure driven by a servo motor, which is basically similar to the tube transfer clamp assembly 311 shown in Figure 15 The tube transfer clamp assembly 311 shown in is basically similar to the tube transfer clamp assembly 311 shown in, driven by a servo motor, which can realize the vertical and horizontal movement of the tube taking clamp along the set U-shaped groove, with fast and stable movement speed, which can further shorten the beat of the transfer action.

[0149] According to the embodiment of the present application, first, the multi-layered catheter is separated into single-layered and spaced arrangement by the catheter conveying and separating mechanism, and then the catheter is combed and flattened by the catheter combing and flattening mechanism. During the combing and flattening, the conveying speed of the middle and both sides of the catheter is completely synchronized, so that the catheter is separated from each other and then fed, avoiding the shortcomings of the prior art. In the prior art, the catheter is separated and fed at the same time, the catheter is adhered to each other, which causes the catheter to be wound and crossed, resulting in equipment failure and shutdown. The present application solves the technical problem of feeding the adhesive catheter and improves the feeding efficiency of the catheter.

[0150] In addition, the feeding direction of the long catheter is along the direction perpendicular to the length direction of the long catheter, and the feeding and moving distance is less than 40% of the length of the catheter, which shortens the feeding and moving distance of the long catheter and further improves the feeding efficiency of the long catheter.

[0151] In addition, in the catheter conveying and separating mechanism, there is a long distance between the multiple baffles for placing the catheter, so that when the catheter between the tail end baffles is conveyed and separated, the device does not need to be stopped, and the catheter can be added online between the head end baffles, so that the catheter can be added during the operation of the device, and the production efficiency is improved again.

[0152] Finally, since the catheter used by the feeding device is a cut catheter, there is no need to unwind and straighten the wound catheter, so that the roundness and straightness of the catheter are not deformed, which can meet the requirements of high-end medical product assembly such as pump infusion device, and avoid the shortcomings of using a winding wheel catheter that needs to be replaced, reducing downtime and improving production efficiency.

[0153] The technical content and technical features of the present application have been disclosed above, however, it can be understood that under the creative idea of the present application, those skilled in the art can make various changes and improvements on the disclosed concepts, but all belong to the protection scope of the present application. The description of the above embodiments is illustrative rather than limiting, and the protection scope of the present application is determined by the claims.

Claims

1. A catheter feeding device, characterized in that: include: The tube conveying and dividing mechanism is used to separate the tubes stacked in multiple layers into single layers with intervals; a catheter combing and flattening mechanism for separating the catheters from each other by conveying and combing, and unfolding the catheters into a straight line in the horizontal direction, wherein the conveying direction and the separation direction of the catheters are both perpendicular to the length direction of the catheters; A catheter transporting and gathering mechanism, used to gather and transport the catheters to a waiting position and complete the grouping of multiple catheters; and The catheter receiving clamp assembly is used to clamp multiple catheters that are separated and grouped together and then transfer them to the catheter conveying and assembly mechanism for automatic assembly, wherein the transfer direction of the multiple catheters is perpendicular to the length direction of the catheters.

2. The catheter feeding device according to claim 1, characterized in that: The conduit conveying and distributing mechanism comprises: A catheter transport assembly, used for transporting the catheters stacked in multiple layers; a bayonet pull assembly to allow passage of a single catheter; A stacking and pulling assembly for transporting the spaced-apart catheters into a closely connected arrangement; and The conduit separating assembly is used to separate the conduits from each other.

3. The catheter feeding device according to claim 2, characterized in that: The conveying and distributing mechanism also includes: a catheter transfer assembly, which is used to transfer the catheter from the catheter conveying and distributing mechanism to the catheter combing and flattening mechanism. The catheter transfer assembly moves at high speed along the upper and lower and front and back directions according to a predetermined trajectory to complete the rapid transfer of the catheter.

4. The catheter feeding device according to claim 2, characterized in that: The tube conveying assembly includes a first belt and a plurality of baffles arranged at intervals on the first belt, and the tubes stacked in multiple layers are placed between two adjacent baffles.

5. The catheter feeding device according to claim 4, characterized in that: The bayonet traction assembly includes a first toothed belt and a second belt that move relative to each other in opposite directions. The first toothed belt is arranged downwardly inclined relative to the second belt along the conveying direction to form a trumpet-shaped contraction channel for allowing a single catheter to pass through. The first toothed belt pulls the catheter on the upper layer back.

6. The catheter feeding device according to claim 5, characterized in that: The transmission speed of the second belt is 10 to 20 times that of the first belt, and the transmission speed of the first toothed belt is 2 to 3 times that of the second belt.

7. The catheter feeding device according to claim 5, characterized in that: The trumpet-shaped constricted channel has a channel inlet and a channel outlet. The height of the channel inlet is 2.1 to 2.4 times the diameter of the conduit, and the height of the channel outlet is 1.0 to 1.1 times the diameter of the conduit.

8. The catheter feeding device according to any one of claims 5 to 7, characterized in that: The stacking and pulling assembly includes a third belt located above the conduit and a fourth belt located below the conduit, and the third belt moves synchronously with the fourth belt.

9. The catheter feeding device according to claim 8, characterized in that: The conveying speed of the third belt and the fourth belt is 1.5 to 2.5 times the conveying speed of the second belt.

10. The catheter feeding device according to any one of claims 1 to 7, characterized in that: The catheter combing and flattening mechanism comprises: a conveying conveyor belt, used for conveying the conduit along the conveying direction, wherein the conveying conveyor belt is provided with a plurality of first V-mouth blocks arranged at intervals for clamping the conduit; and Two carding conveyor belt assemblies are respectively located on both sides of the transport conveyor belt and are symmetrically arranged relative to the transport conveyor belt. The carding conveyor belt assemblies are used to separate the conduits from each other.

11. The catheter feeding device according to claim 10, characterized in that: Each combing conveyor belt assembly includes a second toothed belt and a conduit limiting plate, wherein the second toothed belt and the conduit limiting plate form a conduit combing channel for allowing the conduits to pass through.

12. The catheter feeding device according to claim 11, characterized in that: The second toothed belt extends obliquely downward along the conveying direction away from the transport conveyor belt, and the second toothed belt moves synchronously with the transport conveyor belt.

13. The catheter feeding device according to claim 12, characterized in that: In the same time, along the conveying direction, the conveying distance of the second toothed belt is equal to the conveying distance of the transport conveyor belt.

14. The catheter feeding device according to claim 12, characterized in that: The transmission speed of the second toothed belt and the transmission speed of the transport conveyor belt satisfy the following relationship: V6=V7*COSθ1*COSθ2, Among them, V6 is the conveying speed of the conveyor belt, V7 is the conveying speed of the second toothed belt, θ1 is the angle between the second toothed belt and the horizontal plane where the conveying direction is located, and θ2 is the angle between the second toothed belt and the vertical plane where the conveying direction is located.

15. The catheter feeding device according to claim 11, characterized in that: Each combing conveyor belt assembly further comprises an inner pressure plate and an outer pressure guide strip, wherein the inner pressure plate, the second toothed belt and the outer pressure guide strip form a trumpet-shaped inlet for guiding the conduit into the conduit combing channel.

16. The catheter feeding device according to claim 10, characterized in that: The catheter combing and flattening mechanism also includes: Two flattening conveyor belt assemblies are respectively located on both sides of the transport conveyor belt and are symmetrically arranged relative to the transport conveyor belt. Each flattening conveyor belt assembly is arranged adjacent to each combing conveyor belt assembly located on the same side.

17. The catheter feeding device according to claim 16, characterized in that: The flattening conveyor belt extends upwardly and away from the transporting conveyor belt along the transport direction to a position flush with the transporting conveyor belt, and the flattening conveyor belt moves synchronously with the transporting conveyor belt.

18. The catheter feeding device according to claim 17, characterized in that: In the same time, along the conveying direction, the conveying distance of the flattening conveyor belt is equal to the conveying distance of the transporting conveyor belt.

19. The catheter feeding device according to claim 17, characterized in that: The conveying speed of the flattening conveyor belt and the conveying speed of the transport conveyor belt satisfy the following relationship: V6=V8*COSθ3*COSθ4, Among them, V6 is the conveying speed of the transport conveyor belt, V8 is the conveying speed of the flattening conveyor belt, θ3 is the angle between the flattening conveyor belt and the horizontal plane where the conveying direction is located, and θ4 is the angle between the flattening conveyor belt and the vertical plane where the conveying direction is located.

20. The catheter feeding device according to any one of claims 1 to 7, characterized in that: The catheter transport and assembly mechanism includes two transport and assembly conveyor belt assemblies that move synchronously, each transport and assembly conveyor belt assembly includes an assembly conveyor belt, and the assembly conveyor belt is provided with a plurality of second V-mouth blocks arranged at intervals for clamping the catheter; as well as The catheter transfer robot mechanism is used to transfer the catheter from the catheter combing and flattening mechanism to the catheter conveying and gathering mechanism. The catheter transfer robot mechanism moves at high speed along the upper and lower directions and the front and back directions according to the predetermined trajectory to complete the rapid transfer of the catheter.

21. The catheter feeding device according to any one of claims 1 to 7, characterized in that: The transfer distance of the plurality of conduits is less than 40% of the length of the conduits.

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