Urine bag and long tube assembly apparatus

Abstract

The present application belongs to the technical field of automation equipment, and particularly relates to a urine bag and long tube assembling equipment. The urine bag and long tube assembling equipment comprises a long tube circulating conveying mechanism, a glue adding assembly, a tube inserting mechanism and a discharging mechanism which are sequentially arranged along the conveying direction of the long tube circulating conveying mechanism, and a tube pulling mechanism is arranged at the end of the long tube circulating conveying mechanism. The side of the tube pulling mechanism is a long tube storage assembly, and the long tube storage assembly stores long tubes and takes long tubes. The long tube pulling mechanism bends the long tube, and the bent long tube is conveyed to the long tube circulating conveying mechanism. The glue adding assembly adds glue to one end of the long tube, the tube inserting mechanism assembles the urine bag and the long tube, and the discharging mechanism discharges the assembled product. The urine bag and long tube assembling equipment can realize automatic assembly between the urine bag and the long tube through the long tube storage assembly, the tube pulling mechanism, the long tube circulating conveying mechanism, the glue adding assembly, the tube inserting mechanism and the discharging mechanism, thereby saving labor cost, improving assembly efficiency and being beneficial to large-scale production.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of automation equipment, in particular to a urine bag and long tube assembly equipment. BACKGROUND

[0002] The urine bag is a urine collection tool for patients with urinary incontinence, paraplegia, long-term bedridden and other patients with difficulty in urination. The urine bag mainly consists of a drainage bag, a liquid discharge port, a drainage tube, a connector, a drainage clamp, and a liquid discharge valve is arranged at the liquid discharge port. The assembly between the urine bag and the long tube is carried out manually, and the manual assembly is low in efficiency and high in labor cost, which is not conducive to large-scale production. SUMMARY

[0003] The purpose of the present application is to provide a urine bag and long tube assembly equipment with automatic assembly and high assembly efficiency.

[0004] To achieve the above purpose, the following technical scheme is adopted: the urine bag and long tube assembly equipment comprises a long tube circulating conveying mechanism, a glue adding assembly, a tube inserting mechanism and a discharging mechanism are sequentially arranged along the conveying direction of the long tube circulating conveying mechanism, an end of the long tube circulating conveying mechanism is provided with a tube pulling mechanism, a long tube storage assembly is arranged on the side of the tube pulling mechanism, the long tube storage assembly stores and takes long tubes, the tube pulling mechanism bends the long tube, the bent long tube is conveyed to the long tube circulating conveying mechanism, the glue adding assembly adds glue to one end of the long tube, the tube inserting mechanism assembles the urine bag and the long tube, and the discharging mechanism discharges the finished product.

[0005] In the above-mentioned urine bag and long tube assembly equipment, the tube inserting mechanism comprises a tube positioning assembly, a mouth sealing station and a material moving and assembling assembly arranged in sequence, the material moving and assembling assembly comprises a base frame, a translation base plate is slidably connected to the base frame, a urine bag jig is slidably connected to the translation base plate, the translation base plate is connected to a horizontal driving mechanism in three phases, the urine bag jig is connected to the horizontal driving mechanism in four phases, a urine bag assembling assembly and a urine bag positioning assembly are further fixedly connected to the translation base plate, and a bag supporting assembly and a bag aligning assembly are arranged on the base frame.

[0006] In the above-mentioned urine bag and long tube assembly equipment, the urine bag positioning assembly comprises a tube pressing pad, the tube pressing pad is connected to a vertical driving mechanism in three phases, and a tube pressing groove matched with the connector of the urine bag is arranged on the lower end surface of the tube pressing pad.

[0007] In the above-mentioned urine bag and long tube assembly equipment, the urine bag assembling assembly comprises a vertical driving mechanism four, a pneumatic finger three and a pneumatic finger four are connected to the vertical driving mechanism four, the pneumatic finger three is connected to an assembling clamp finger one and an assembling clamp finger two, and the pneumatic finger four is connected to an assembling clamp finger three and an assembling clamp finger four.

[0008] In the urine bag and long tube assembly equipment, the tube positioning assembly comprises an upper positioning assembly and a lower positioning assembly, the upper positioning assembly comprises a longitudinal driving mechanism seven, the longitudinal driving mechanism seven is connected with a pneumatic finger five, the pneumatic finger five is connected with a positioning clamp finger one and a positioning clamp finger two, the lower positioning assembly comprises a longitudinal driving mechanism eight, the longitudinal driving mechanism eight is connected with a pneumatic finger two, the pneumatic finger two is connected with a positioning clamp finger three and a positioning clamp finger four.

[0009] In the urine bag and long tube assembly equipment, the long tube circulating conveying mechanism comprises a conveying line one and a conveying line two, a plurality of pipe clamping jigs one are arranged on the conveying line one, a plurality of pipe clamping jigs two are arranged on the conveying line two, the conveying line one has a driving shaft one, the conveying line two has a driving shaft two, the driving shaft one and the driving shaft two are connected through a shaft coupling, the distance between the conveying line one and the conveying line two is less than the length of the long tube, and the long tube is in a sagging and bending state during conveying.

[0010] In the urine bag and long tube assembly equipment, the glue adding assembly comprises a glue tank, a glue adding head is arranged in the glue tank, a glue adding cavity is formed in the glue adding head, a plurality of liquid flow channels are arranged on the glue adding head, the liquid flow channels are communicated with the glue adding cavity, one end of the liquid flow channels is opened on the peripheral wall of the glue adding head, a through opening is formed in the glue tank and communicated with the glue adding cavity, the glue adding head is connected with a rotary driving mechanism two, the glue tank and the rotary driving mechanism two are fixed on a translation plate two, the translation plate two is slidingly connected with a support, and the translation plate two is connected with a transverse driving mechanism two.

[0011] In the urine bag and long tube assembly equipment, the discharging mechanism comprises a bag moving assembly, a bag pushing assembly, a material collecting frame and a substandard product forming assembly, the bag moving assembly is fixed on a frame, the bag pushing assembly is located below the bag moving assembly, the material collecting frame is located at the side of the bag pushing assembly, the bag pushing assembly has two states of inclination and horizontal, the bag pushing assembly has a material discharging station and a discharging station, and the substandard product forming assembly is fixed on the frame.

[0012] In the urine bag and long tube assembly equipment, the tube pulling mechanism comprises a translation assembly, a material taking assembly and a tube pulling assembly, the material taking assembly clamps one end of the long tube, moves the long tube to the translation assembly, the translation assembly moves towards the tube pulling assembly, the tube pulling assembly clamps two ends of the long tube, the tube pulling assembly moves the two ends of the long tube towards each other or moves one end of the long tube to the other end of the long tube, and the long tube is in a relaxed and bent state.

[0013] In the aforementioned urine bag and long tube assembly equipment, the long tube storage component includes a movable hopper, the bottom of which is a lifting plate. The lifting plate is connected to a screw and nut mechanism, which is connected to a rotary drive mechanism. The rotary drive mechanism drives the lifting plate to move up and down. A support frame is provided on the movable hopper, and a transverse drive mechanism is provided on the support frame. The transverse drive mechanism is connected to a longitudinal drive mechanism, which is connected to a suction cup. The transverse drive mechanism is also connected to a distance sensor. A detection sensor is provided on the movable hopper.

[0014] Compared with existing technologies, the advantages of this urine bag and long tube assembly device are:

[0015] First, this urine bag and long tube assembly equipment automates the assembly of urine bags and long tubes through a long tube storage component, a tube pulling mechanism, a long tube circulation conveying mechanism, a glue filling component, a tube insertion mechanism, and a feeding mechanism. This saves labor costs, has high assembly efficiency, and is conducive to large-scale production.

[0016] Second, automated material handling: Material handling is performed using a distance sensor and a suction cup. The distance sensor scans the long tubes in the movable hopper and identifies the long tube at the highest point. The suction cup then picks up the long tube at the highest point, raising one end of the long tube and removing it from the pile of long tubes. The sensor detects whether there are any long tubes in its detection area. If there are no long tubes, the rotary drive mechanism drives the lifting plate to move up. After one layer of long tubes is removed, the lifting plate moves up one layer until all the long tubes in the movable hopper are removed. The material handling is highly accurate, has a high success rate, and is highly efficient.

[0017] Third, automated bending: The material handling component clamps one end of the long tube and moves the long tube onto the translation component. The translation component moves towards the tube pulling component, and the tube pulling component clamps both ends of the long tube, causing the two ends of the long tube to move towards each other or one end of the long tube to move towards the other end, thereby achieving bending of the long tube.

[0018] Fourth, by simultaneously transporting the long pipe through two conveyor lines, both ends of the long pipe can be assembled at the same time, shortening the assembly time by at least half. The distance between conveyor line one and conveyor line two is shortened. During transmission, the long pipe is in a drooping and bent state. Even if the ends of the long pipe are pulled during simultaneous assembly, the long pipe remains in a relaxed state and will not be scrapped due to pulling. The shortened distance between conveyor line one and conveyor line two greatly reduces the space occupied by the assembly equipment, and does not require a very large site, thus greatly saving enterprise costs.

[0019] Fifth, the two actions of dipping and applying glue are completed by rotating a glue-applying head, which reduces the time required for each external glue application and also reduces the number of parts. The overall structure is relatively simple. The glue-applying head rotates continuously in the glue without significantly disturbing it. The amount of air introduced into the glue is extremely limited, resulting in good glue adhesion and good coating effect.

[0020] Sixth, the automated assembly between the urine bag and the long tube is achieved through the tube positioning component, the hot-sealing station and the material transfer assembly component. The assembly efficiency is high, the labor cost is low, and it is conducive to large-scale production. In addition, the insertion mechanism of this tube has a deeper insertion depth of the long tube into the interface through two insertions, and the fixation between the long tube and the urine bag is more secure.

[0021] Seventh, the material unloading mechanism uses a bag transfer assembly, a bag pusher assembly, a receiving frame, and a defective product unloading assembly to complete the unloading process. Regardless of whether the assembled finished product is a finished product or a defective product, it can be unloaded through this unloading mechanism without the need to separate unloading finished products from defective products, thus saving space and equipment and reducing costs. Attached Figure Description

[0022] Figure 1 This is a perspective view of the urine bag and long tube assembly device provided by the present invention.

[0023] Figure 2 This is a top view of the urine bag and long tube assembly device provided by the present invention.

[0024] Figure 3 This is a perspective view of the long tube material storage assembly provided by the present invention.

[0025] Figure 4 This is a side view of the long tube storage assembly provided by the present invention.

[0026] Figure 5 This is a perspective view of the tube-drawing mechanism provided by the present invention.

[0027] Figure 6 This is a perspective view of the material handling component provided by the present invention.

[0028] Figure 7 This is a perspective view of the translation component provided by the present invention.

[0029] Figure 8 This is a perspective view of the tube drawing assembly provided by the present invention.

[0030] Figure 9 This is a partial structural schematic diagram of the tube drawing assembly provided by the present invention.

[0031] Figure 10 This is a perspective view of the guide component of the tube drawing assembly provided by the present invention.

[0032] Figure 11 This is a perspective view of the long-tube circulating conveying mechanism provided by the present invention.

[0033] Figure 12 This is a perspective view of the glue-adding mechanism provided by the present invention.

[0034] Figure 13 This is a perspective view of the glue-adding mechanism provided by the present invention.

[0035] Figure 14 This is a perspective view of the glue-adding mechanism provided by the present invention after the outer cover has been removed.

[0036] Figure 15 This is a cross-sectional view of the glue-adding mechanism provided by the present invention.

[0037] Figure 16 This is a perspective view of the glue-filling head provided by the present invention.

[0038] Figure 17 This is a perspective view of the glue-filling head provided by the present invention.

[0039] Figure 18 This is a cross-sectional view of the glue-filling head provided by the present invention.

[0040] Figure 19 This is a perspective view of the limiting head provided by the present invention.

[0041] Figure 20 This is a perspective view of the cannulation mechanism provided by the present invention.

[0042] Figure 21 This is a side view of the cannulation mechanism provided by the present invention.

[0043] Figure 22 This is a perspective view of the upper part of the material transfer assembly component provided by the present invention.

[0044] Figure 23 This is a perspective view of the urine bag fixture provided by the present invention.

[0045] Figure 24 This is a perspective view of the pressure pipe pad provided by the present invention.

[0046] Figure 25 This is a partial structural schematic diagram of the cannulation mechanism provided by the present invention.

[0047] Figure 26 This is a three-dimensional view of the hot-pressing station provided by the present invention.

[0048] Figure 27 This is a perspective view of the feeding mechanism provided by the present invention.

[0049] Figure 28 This is a perspective view of the bag transfer assembly provided by the present invention.

[0050] Figure 29 This is a perspective view of the push bag assembly provided by the present invention.

[0051] Figure 30 This is a perspective view of the substandard component provided by the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Example

[0053] like Figure 1 , 2 As shown, the urine bag and long tube assembly equipment includes a long tube circulation conveying mechanism 300. Along the conveying direction of the long tube circulation conveying mechanism 300, an adhesive filling component 400, a tube insertion mechanism 500, and a feeding mechanism 600 are arranged sequentially. A tube pulling mechanism 200 is provided at the end of the long tube circulation conveying mechanism 300. A long tube storage component 100 is located on the side of the tube pulling mechanism 200. The long tube storage component 100 stores long tubes 001. The long tube storage component 100 takes out one long tube 001, and the long tube 001 is conveyed... The tube 001 is delivered to the tube-pulling mechanism 200, which bends it. The bent tube 001 is then conveyed to the long tube circulation conveying mechanism 300. Both sides of the long tube circulation conveying mechanism 300 have installation stations. The glue-applying assembly 400 and the tube insertion mechanism 500 are located on one side of the long tube circulation conveying mechanism 300. The glue-applying assembly 400 applies glue to one end of the long tube 001, and the tube insertion mechanism 500 assembles the urine bag 002 with the long tube 001. The unloading mechanism 600 unloads the assembled product. The other side of the long tube circulation conveying mechanism 300 is reserved for other mechanisms to install the other end of the long tube 001.

[0054] like Figure 3 , 4As shown, the long tube storage assembly 100 includes a movable hopper 101, which includes a front baffle 111, a side baffle 112 and a lifting plate 102. The lifting plate 102 is sleeved on the side baffle 112. The front baffle 111 seals the front end of the movable hopper 101, and the front end of the long tube 001 abuts against the front baffle 111. The lifting plate 102 is connected to the lead screw and nut mechanism 103, which in turn is connected to the rotary drive mechanism 104, a rotary drive motor that drives the lifting plate 102 to rise and fall. A support frame 105 is mounted on the movable hopper 101, and a transverse drive mechanism 106, an electric cylinder, is mounted on the support frame 105. The transverse drive mechanism 106 is connected to a longitudinal drive mechanism 107, a pneumatic cylinder, which is also connected to a suction cup 108. The transverse drive mechanism 106 is also connected to a distance sensor 109, a laser sensor. A detection sensor 110, consisting of two sets of fiber optic sensors, is mounted on the movable hopper 101. Material removal refers to taking out a single long tube 001 from a pile of long tubes 001.

[0055] The movable hopper 101 is provided with a detection port 113. The detection sensor 110 detects whether there is a long tube 001 in the area through the detection port 113. If the long tube 001 is not detected, the rotary drive mechanism 104 drives the screw nut mechanism 103 to raise the lifting plate 102 until the detection sensor 110 detects the long tube 001. After detecting the long tube 001, the lateral drive mechanism 106 drives the ranging sensor 109 and the suction cup 108 to move laterally. During the lateral movement, the ranging sensor 109 scans the long tube 001 in the movable hopper 101 once, scans the long tube 001 located at the highest point, and records the coordinate position of the long tube 001. Then, the lateral drive mechanism 106 drives the suction cup 108 to move above the long tube 001 located at the highest point. The longitudinal drive mechanism 107 drives the suction cup 108 to move down, and the suction cup 108 picks up the long tube 001 located at the highest point. The longitudinal drive mechanism 107 then drives the suction cup 108 to move up, raising one end of the long tube 001, thereby removing the long tube 001 from a pile of long tubes 001. The material picking accuracy is high, the success rate is high, and it is an automated material picking process with high efficiency.

[0056] like Figure 4As shown, the ranging sensor 109 is located on the side of the suction cup 108. The detection point of the ranging sensor 109 and the attraction point of the suction cup 108 are on the same plane, which is parallel to the front baffle 111. The position of the highest point of the long tube 001 detected by the ranging sensor 109 is the same as the position of the long tube 001 that the suction cup 108 is to pick up, i.e., the same coordinate. There is a lateral distance 114 between the suction cup 108 and the front baffle 111. The position of the long tube 001 picked up by the suction cup 108 is not the very end; when the suction cup 108 picks up the long tube 001, a small part of the long tube 001 protrudes for the material picking assembly 202 to grip.

[0057] like Figure 5 As shown, the tube pulling mechanism 200 includes a translation component 201, a material picking component 202, and a tube pulling component 203. The material picking component 202 and the tube pulling component 203 are located above the translation component 201. The material picking component 202 clamps one end of the long tube 001 and moves the long tube 001 onto the translation component 201. The translation component 201 moves toward the tube pulling component 203. The tube pulling component 203 clamps both ends of the long tube 001 and pulls the long tube 001. Tube pulling means that the two ends of the long tube move toward each other or one end of the long tube 001 moves toward the other end of the long tube 001. The long tube 001 is in a relaxed and bent state.

[0058] like Figure 6 As shown, the material handling assembly 202 includes a first material handling finger 218 and a second material handling finger 219. The first material handling finger 218 and the second material handling finger 219 are connected to a first pneumatic finger 220. The first pneumatic finger 220 is connected to a second longitudinal drive mechanism 221, which is a drive cylinder. The second longitudinal drive mechanism 221 is connected to a second X-axis drive mechanism 222, which is an electric cylinder. The second X-axis drive mechanism 222 is fixed on a first support frame 223. The first support frame 223 is connected to a second Y-axis drive mechanism 224, which is an electric cylinder. The second Y-axis drive mechanism 224 is fixed on a first column 266.

[0059] The tube pulling mechanism 200 works in conjunction with the long tube storage assembly 100. The X-axis drive mechanism 222 drives the first picking clamp finger 218 and the second picking clamp finger 219 to move to the position of the long tube 001. The longitudinal drive mechanism 221 drives the first pneumatic finger 220 to move down. The first pneumatic finger 220 drives the first picking clamp finger 218 and the second picking clamp finger 219 to clamp the end of the long tube 001. After clamping the long tube 001, the Y-axis drive mechanism 224 drives the first picking clamp finger 218 and the second picking clamp finger 219 to move towards the translation assembly 201 and place the long tube 001 on the translation assembly 201.

[0060] like Figure 5 , 10As shown, a guide component 248 is located between the material handling component 202 and the translation component 201. The guide component 248 is located at the inlet end of the translation component 201 and includes a guide block 249. The guide block 249 has a guide groove 250 and is connected to an X-axis drive mechanism 251, which is fixed to a column 267. The material handling component 202 clamps the end of the long tube 001. The rest of the long tube 001 is flexible. Because the long tube 001 is relatively soft, it is not necessarily in a straight line during movement. The tail of the long tube 001 may deflect or swing. The guide component 248 guides the long tube 001. If the tail of the long tube 001 deflects or swings, the guide component 248 straightens the long tube 001 so that it is nearly straight, which facilitates the smooth movement of the long tube 001 onto the translation component 201.

[0061] like Figure 7 As shown, the translation component 201 includes a translation plate 205, on which an end portioning plate 206 and a middle portioning plate 207 are provided. The end portioning plate 206 has a first material groove 208, which is V-shaped. The middle portioning plate 207 has a second material groove 209, which is also V-shaped. Both ends of the translation plate 205 are provided with alignment components 212, which include an alignment plate 213. The alignment plate 213 is connected to a Y-axis drive mechanism 214, which is a drive cylinder. The alignment plate 213 has a guide groove 215, the lowest point of which is higher than the lowest points of the first and second material grooves 208 and 209. The translation plate 205 is provided with a photoelectric sensor 216 and a photoelectric sensor 217. The material handling assembly 202 clamps the end of the long tube 001. The tail of the long tube 001 gradually moves forward along the material trough 1 208 and material trough 209. The end material plate 206 and the middle material plate 207 support the long tube 001. The Y-axis drive mechanism 1 214 drives the aligning plate 213 to move towards the translation plate 205 to align the two ends of the long tube 001. The photoelectric sensor 1 216 detects whether one end of the long tube 001 is in place, and the photoelectric sensor 2 217 detects whether the other end of the long tube 001 is in place.

[0062] like Figure 7As shown, the translation plate 205 is slidably connected to the slide rail 210, which is mounted on the pad 268. The translation plate 205 is connected to the X-axis drive mechanism 211, which is an electric cylinder. The pad 268 and the X-axis drive mechanism 211 are fixed on the translation support plate 269, which is mounted on the heightening column assembly 270. If the photoelectric sensor 216 and the photoelectric sensor 217 detect that both ends of the long tube 001 are in position, the X-axis drive mechanism 211 drives the translation plate 205 to move towards the tube pulling assembly 203. The tube pulling assembly 203 clamps the long tube 001 and pulls it. The X-axis drive mechanism 211 then drives the translation plate 205 to move towards the material picking assembly 202. That is, the X-axis drive mechanism 211 drives the translation plate 205 to move back and forth between the material picking assembly 202 and the tube pulling assembly 203.

[0063] like Figure 8 , 9 As shown, the pipe pulling assembly 203 includes a pipe clamping assembly 1 231 and a pipe clamping assembly 232. The pipe clamping assembly 1 231 is connected to a Y-axis drive mechanism 3 233, which is an electric cylinder. The Y-axis drive mechanism 3 233 is fixed on a support frame 234, and the pipe clamping assembly 232 is fixed on the support frame 234. The support frame 234 is connected to an X-axis drive mechanism 3 235, which is also an electric cylinder. The X-axis drive mechanism 3 235 is fixed on a fixing plate 255, which is fixed on a frame 252. The frame 252 is provided with a slide rail 253 and a slide rail 3 254. One end of the support frame 234 is slidably connected to the slide rail 253, and the other end of the support frame 234 is slidably connected to the slide rail 3 254. The fixing plate 255 is located between the slide rail 253 and the slide rail 3 254. The translation component 201 moves below the tube-pulling component 203. The tube clamping component 1 231 clamps one end of the long tube 001, and the tube clamping component 232 clamps the other end. The Y-axis drive mechanism 3 233 drives the tube clamping component 1 231 to move towards the tube clamping component 232, while the tube clamping component 232 remains stationary. The long tube 001 bends towards the middle. The X-axis drive mechanism 3 235 drives the bent long tube 001 to move towards the long tube circulation conveying mechanism 300, entering the next process.

[0064] like Figure 11As shown, the long tube circulating conveying mechanism 300 includes a first conveyor line 301 and a second conveyor line 302. The first conveyor line 301 is provided with several first tube clamping fixtures 303, and the second conveyor line 302 is provided with several second tube clamping fixtures 333. One end of the long tube 001 is located on the first conveyor line 301, and the other end of the long tube 001 is located on the second conveyor line 302. The first conveyor line 301 has a first drive shaft 304, and the second conveyor line 302 has a second drive shaft 305. The first drive shaft 304 and the second drive shaft 305 are connected by a coupling 306. The distance between the first conveyor line 301 and the second conveyor line 302 is less than the length of the long tube 001. During transmission, the long tube 001 is in a drooping and bent state.

[0065] Existing conveying mechanisms typically operate intermittently. Due to inertia, long tubes are prone to swaying and tangling, affecting subsequent processes. Therefore, to maximize efficiency and convey as many long tubes as possible per unit time, existing conveying mechanisms are designed to keep the tubes straight, minimizing interference between them. A straight tube, when placed on the fixture, is less likely to tilt or sag, resulting in greater stability and easier clamping by subsequent material handling or unloading mechanisms. However, during assembly, the tube clamping mechanism simultaneously grips both ends, potentially causing the tube to be pulled and thus potentially ruined. Therefore, the two sides of the long tube are not assembled simultaneously; one side is assembled first, followed by the other.

[0066] This long-tube circulating conveyor mechanism 300 takes the opposite approach, shortening the distance between conveyor line 1 301 and conveyor line 2 302. The long tube 001 is in a drooping and curved state during conveying, allowing simultaneous assembly at both ends of the long tube 001. Even if the ends of the long tube 001 are pulled during simultaneous assembly, the long tube 001 remains in a relaxed state, preventing the problem of the long tube 001 being pulled and scrapped. This shortens the assembly time by at least half. Furthermore, by shortening the distance between conveyor line 1 301 and conveyor line 2 302, the space occupied by the assembly equipment is greatly reduced, eliminating the need for a very large site and significantly saving enterprise costs.

[0067] The distance between adjacent clamping fixtures 303 is greater than the height of the bent long tube 001, and the distance between adjacent clamping fixtures 333 is also greater than the height of the bent long tube 001. The height of the long tube 001 refers to the distance between the point closest to the ground after the long tube 001 is bent and the highest point of the long tube 001. Compared with existing conveying mechanisms, this essentially increases the distance between adjacent long tubes 001. The long tube 001 is still prone to swinging under inertia, but because the distance between adjacent long tubes 001 is larger, the long tubes 001 are less likely to tangle and pile up together.

[0068] like Figure 11As shown, a support rod 328 is provided between conveyor line 1 301 and conveyor line 2 302. One end of the support rod 328 is fixed to the fixing block 1 329, and the other end of the support rod 328 is fixed to the fixing block 2 330. During transmission, the long tube 001 is in a drooping and bent state under the action of gravity. When the long tube 001 is long, it may drag on the ground. The support rod 328 can support the bottom end of the long tube 001, thereby preventing the long tube 001 from dragging on the ground.

[0069] like Figure 11 As shown, conveyor line 301 includes a drive shaft assembly 307, a timing belt 308, and a driven shaft assembly 309. Drive shaft assembly 307 includes a fixed bracket 313, on which a drive shaft 304 is rotatably connected. A timing pulley 315 is mounted on the drive shaft 304. One end of the drive shaft 304 is connected to a drive motor 316, which is fixed to a mounting bracket 332, which in turn is fixed to the fixed bracket 313. Driven shaft assembly 309 includes a fixed bracket 323, on which a driven shaft 326 is rotatably connected. A timing pulley 327 is mounted on the driven shaft 326. Conveyor line 302 includes a drive shaft assembly 310, a timing belt 311, and a driven shaft assembly 312. The second drive shaft assembly 310 includes a second fixed bracket 317, on which a second drive shaft 305 is rotatably connected. The second drive shaft 305 is provided with a second synchronous pulley 319. The first driven shaft assembly 309 and the second driven shaft assembly 312 have the same structure.

[0070] The drive motor 316 drives the first drive shaft 304 to rotate, the first drive shaft 304 drives the first synchronous pulley 315 to rotate, the first synchronous pulley 315 drives the first synchronous belt 308 to move circumferentially, thereby driving the first clamping fixture 303 to move. At the same time, the first drive shaft 304 drives the second drive shaft 305 to rotate, the second drive shaft 305 drives the second synchronous pulley 319 to rotate, the second synchronous pulley 319 drives the second synchronous belt 311 to move circumferentially, thereby driving the second clamping fixture 333 to move. The first clamping fixture 303 and the second clamping fixture 333 correspond one-to-one and move synchronously. One end of the long tube 001 is placed into the first clamping fixture 303, and the other end of the long tube 001 is placed into the second clamping fixture 333. The long tube 001 moves with the first clamping fixture 303 and the second clamping fixture 333.

[0071] like Figure 12 , 13As shown in Figures 16 and 18, the glue-adding mechanism 400 includes a glue tank 401, a glue-adding head 402 disposed in the glue tank 401, a glue-adding cavity 403 opened on the glue-adding head 402, and a plurality of liquid flow channels 404 provided on the glue-adding head 402. The liquid flow channels 404 are connected to the glue-adding cavity 403. One end of the liquid flow channel 404 opens into the peripheral wall 405 of the glue-adding head 402. A through-hole 406 is opened on the glue tank 401, which is connected to the glue-adding cavity 403. The glue-adding head 402 is connected to a second rotary drive mechanism 407. The glue tank 401 and the second rotary drive mechanism 407 are fixed on a second translation plate 408. The second translation plate 408 is slidably connected to a bracket 409. The second translation plate 408 is connected to a second transverse drive mechanism 410, which is a drive cylinder.

[0072] The glue tank 401 contains glue. The rotary drive mechanism 407 drives the glue dispensing head 402 to rotate continuously. The lower part of the glue dispensing head 402 picks up the glue, and the glue adheres to the peripheral wall 405 of the glue dispensing head 402. As the glue dispensing head 402 continues to rotate, the glue flows along the peripheral wall 405 into the liquid flow channel 404, and then flows from the liquid flow channel 404 into the glue dispensing cavity 403. The inner wall of the glue dispensing cavity 403 is covered with glue. As the glue dispensing head 402 rotates continuously, the glue is evenly distributed on the inner wall of the glue dispensing cavity 403, resulting in a good coating effect.

[0073] The second transverse drive mechanism 410 drives the second translation plate 408 to move, causing the glue tank 401 and the second rotary drive mechanism 407 to move towards the position of the long tube 001. The end of the long tube 001 is inserted into the through port 406 and the glue filling cavity 403, and the second rotary drive mechanism 407 drives the glue filling head 402 to rotate continuously, so that the glue is evenly coated on the outer surface of the long tube 001. A glue plug 423 is provided at the connection between the rotating shaft 414 and the glue tank 401 to prevent glue from leaking out from the connection.

[0074] This glue-adding mechanism completes the two actions of dipping and applying glue by rotating a glue-adding head 402, reducing the time required for one external glue application and reducing the number of parts. The overall structure is relatively simple. The glue-adding head 2 rotates continuously in the glue without significantly disturbing the glue, and the air introduced into the glue is extremely limited. The glue has good adhesion and good coating effect.

[0075] like Figure 16 , 17 As shown in Figure 18, the glue-filling cavity 403 is axially arranged, and the liquid flow channel 404 is radially arranged. The liquid flow channel 404 is evenly distributed around the circumference of the glue-filling cavity 403, which facilitates the even flow of glue into the glue-filling cavity 403 and its even distribution on the inner wall of the glue-filling cavity 403. The diameter of the glue-filling cavity 403 is smaller than the diameter of the through-hole 406. The through-hole 406 is a flared mouth, and the opening of the glue-filling cavity 403 is also a flared mouth, which makes it easier for the long tube 001 to be inserted into the glue-filling cavity 403.

[0076] like Figure 16 , 17 As shown, the glue-filling head 402 also has a mounting part 411, on which a mounting groove 412 and a mounting hole 413 are provided. The mounting part 411 is mounted on the rotating shaft 414 by a bolt structure. Figure 15 As shown, a limiting head 415 is provided between the rotating shaft 414 and the glue filling cavity 403, and the limiting head 415 is fixed on the rotating shaft 414. Figure 19 As shown, the limiting head 415 includes a central protrusion 416 and an edge protrusion 417. An annular groove 418 is formed between the central protrusion 416 and the edge protrusion 417, and an outflow groove 419 is formed between adjacent edge protrusions 417. A long tube is inserted into the glue filling cavity 403, with the head end of the long tube inserted into the annular groove 418. The central protrusion 416 is inserted into the long tube, and the edge protrusion 417 restricts the outer wall of the long tube 001, thereby limiting the long tube 001 and preventing the long tube 001 from shifting position, which could lead to uneven glue application or incomplete coating.

[0077] like Figure 14 , 15 As shown, the rotating shaft 414 is connected to the second rotating drive mechanism 407 via a transmission assembly. The second rotating drive mechanism 407 is a rotary motor. The transmission assembly includes a first synchronous pulley 424, a second synchronous pulley 425, and a synchronous belt 426. The second synchronous pulley 425 is rotatably connected to a first rotating fixed seat 427 and a second rotating fixed seat 428. A motor fixing plate 429 is fixedly connected to the first rotating fixed seat 427, and the second rotating drive mechanism 407 is fixed to the motor fixing plate 429. The second rotating drive mechanism 407 drives the first synchronous pulley 424 to rotate, and the first synchronous pulley 424 drives the second synchronous pulley 425 to rotate via the synchronous belt 426. The rotating shaft 414 is fixedly connected to the second synchronous pulley 425, and the second synchronous pulley 425 drives the rotating shaft 414 to rotate, which in turn drives the limit head 415 and the glue-adding head 402 to rotate.

[0078] like Figure 12 As shown, a detection connector 420 is installed at the bottom of the glue tank 401, which is connected to the liquid pipe. A liquid level sensor 421 is fixed on the translation plate 408, and the liquid level sensor 421 holds the liquid pipe. A liquid inlet 422 is provided on the glue tank 401, which is connected to the glue supply assembly. Glue flows into the liquid pipe through the detection connector 420. The glue level in the liquid pipe is the same as the glue level in the glue tank 401. The liquid level sensor 421 detects the liquid level in the liquid pipe to determine the glue level in the glue tank 401. When the glue level is too low, it prompts the operator to press the glue supply assembly to add glue.

[0079] like Figure 20 , 21As shown, the insertion mechanism 500 includes a tube positioning assembly 501, a hot-sealing station 502, and a material transfer assembly 503 arranged sequentially. The material transfer assembly 503 includes a base frame 504, a sliding base plate 505 slidably connected to the base frame 504, a urine bag fixture 506 slidably connected to the sliding base plate 505, the sliding base plate 505 being connected to a third transverse drive mechanism 507, which is an electric cylinder, and the urine bag fixture 506 being connected to a fourth transverse drive mechanism 508, which is a rodless pneumatic cylinder. A urine bag loading assembly 509 and a urine bag positioning assembly 510 are also fixedly connected to the sliding base plate 505. A bag support assembly 511 and a aligning assembly 512 are provided on the base frame 504.

[0080] The initial state of the intubation mechanism 500 is as follows: Figure 20 As shown, the tube positioning component 501 clamps one end of the long tube 001. The robotic arm places the urine bag 002 onto the urine bag fixture 506, which fixes the urine bag 002. The transverse drive mechanism four 508 drives the urine bag fixture 506 to move to a predetermined position. The transverse drive mechanism three 507 drives the translation base plate 505 to move towards the alignment component 512. The alignment component 512 aligns the urine bag 002, and the urine bag positioning component 510 presses down on the urine bag 002. The alignment component 512 retracts into the base frame 504, and the urine bag loading component 5... 09 Clamping interface 528, the transverse drive mechanism 3 507 drives the translation base plate 505 to move towards the hot-pressing station 502. After moving to the preset position, the hot-pressing rod 538 softens the interface 528. After softening, the transverse drive mechanism 3 507 drives the translation base plate 505 to move backward, the interface 528 leaves the hot-pressing station 502, the hot-pressing station 502 moves down, the transverse drive mechanism 3 507 drives the translation base plate 505 to move forward, and the urine bag assembly 509 connects the interface 528 of the urine bag 002 to the long tube 001.

[0081] like Figure 23 As shown, the urine bag fixture 506 includes a translation plate 523 with several mounting openings 524. Several suction cup assemblies 525 are installed in the mounting openings 524, and the upper surface of the suction nozzle of the suction cup assembly 525 is flush with the upper surface of the translation plate 523. The robotic arm places the urine bag 002 onto the translation plate 523, and the suction cup assembly 525 picks up the urine bag 002, thereby fixing the urine bag 002.

[0082] like Figure 22 , 24As shown, the urine bag positioning assembly 510 includes a tube pressing pad 526, which is connected to a longitudinal drive mechanism 527. The longitudinal drive mechanism 527 is fixed on a fixing plate 552, which is fixed on a column 554. The lower end face of the tube pressing pad 526 is provided with a tube pressing groove 529 that mates with the interface 528 of the urine bag 002. The longitudinal drive mechanism 527 drives the tube pressing pad 526 to move downward, pressing the tube pressing pad 526 onto the bag body of the urine bag 002. The interface 528 is placed into the tube pressing groove 529, thereby positioning the interface 528 and facilitating accurate clamping of the interface 528 by the urine bag assembly 509.

[0083] like Figure 22 As shown, the urine bag assembly 509 includes a longitudinal drive mechanism 531. The longitudinal drive mechanism 531 is connected to pneumatic fingers 532 and 533. Pneumatic fingers 532 are connected to assembly clamping fingers 534 and 535. Pneumatic fingers 533 are connected to assembly clamping fingers 536 and 537. The longitudinal drive mechanism 531 is fixed to a fixing plate 553, which is fixed to a column 554. The longitudinal drive mechanism 531 drives pneumatic fingers 532 and 533 to move downwards. Pneumatic fingers 532 drive assembly clamping fingers 534 and 535 to clamp the interface 528. Pneumatic fingers 533 drive assembly clamping fingers 536 and 537 to clamp the interface 528.

[0084] like Figure 25 As shown, the alignment component 512 includes an alignment plate 546, which is connected to a longitudinal drive mechanism 547, which is a drive cylinder. The longitudinal drive mechanism 547 drives the alignment plate 546 to move longitudinally upward, and the alignment plate 546 aligns the interface 528 of the urine bag 002.

[0085] like Figure 25 , 26As shown, the ironing station 502 includes an ironing rod 538, which is fixed to an ironing rod fixing block 539. A heater 540 is installed inside the ironing rod fixing block 539, providing heat to the ironing rod 538. A thermocouple 541 is also installed on the ironing rod fixing block 539, connected to the ironing rod 538 and detecting its temperature. The ironing rod fixing block 539 is mounted on a heat insulation block 542, which is connected to a longitudinal drive mechanism 545. The heat insulation block 542 isolates the heat transferred from the ironing rod fixing block 539. A protective plate 543 is installed on the heat insulation block 542, with a protective surface 544 that is higher than the heat insulation block 542. When the urine bag 002 is connected to the long tube 001, the protective plate 543 isolates the heating rod 538, the heating rod fixing block 539 from the urine bag 002 and the long tube 001, so as to avoid damaging the urine bag 002 and the long tube 001.

[0086] like Figure 25 As shown, the bag support assembly 511 includes a bag support plate 548 and a transverse drive mechanism 555. The bag support plate 548 has a bag support surface 549, which is located between the base frame 504 and the translational base plate 505. After assembly, the feeding mechanism 600 picks up one side of the urine bag 002, and the other side of the urine bag 002 hangs down naturally. The transverse drive mechanism 555 drives the bag support plate 548 to move toward the urine bag 002 to support the urine bag 002.

[0087] like Figure 20 As shown, the tube positioning assembly 501 includes an upper positioning assembly 513 and a lower positioning assembly 514. The upper positioning assembly 513 includes a longitudinal drive mechanism 515, which is connected to a pneumatic finger 516. The pneumatic finger 516 is connected to positioning clamping fingers 517 and 518. The lower positioning assembly 514 includes a longitudinal drive mechanism 519, which is connected to a pneumatic finger 520. The pneumatic finger 520 is connected to positioning clamping fingers 521 and 522. Because the long tube 001 is curved, one end of the long tube 001 is slightly tilted during positioning. To keep the long tube 001 straight, the upper positioning assembly 513 clamps the end of the long tube 001 from above and downwards, while the lower positioning assembly 514 clamps the end of the long tube 001 from below and upwards.

[0088] More specifically, the longitudinal drive mechanism 7 515 drives the pneumatic finger 5 516 to move downward, the pneumatic finger 5 516 drives the positioning clamp finger 1 17 and the positioning clamp finger 2 18 to clamp the long tube 001, the longitudinal drive mechanism 8 519 drives the pneumatic finger 2 520 to move upward, the pneumatic finger 2 520 drives the positioning clamp finger 3 521 and the positioning clamp finger 4 522 to clamp the long tube 001, and the long tube 001 is positioned by the upper positioning component 13 and the lower positioning component 14, so that the end of the long tube 001 remains in a horizontal state.

[0089] The working steps of the intubation mechanism 500:

[0090] a. Material loading and alignment process: The initial position of the insertion mechanism 500 is as follows Figure 20 As shown, the tube positioning component 501 clamps one end of the long tube 001, the robot arm places the urine bag 002 onto the urine bag fixture 506, the suction cup component 525 sucks up the urine bag 002, the transverse drive mechanism four 508 drives the urine bag fixture 506 to move towards the urine bag positioning component 510 and the urine bag loading component 509, until it moves below the urine bag positioning component 510 and the urine bag loading component 509, the transverse drive mechanism three 507 drives the translation base plate 505 to move, causing the upper part of the material transfer assembly component 503 to move towards the alignment component 512, and the alignment plate 546 aligns the materials. The longitudinal drive mechanism 3 527 drives the pressure tube pad 526 to move downward at the interface 528 of the urine bag 002, and the pressure tube pad 526 presses the interface 528 of the urine bag 002. The longitudinal drive mechanism 6 547 drives the aligning plate 546 to move downward. The longitudinal drive mechanism 4 531 drives the pneumatic fingers 3 532 and 4 533 to move downward. The pneumatic fingers 3 532 drive the assembly clamp finger 1 534 and 2 535 to clamp the front part of the interface 528. The pneumatic fingers 4 533 drive the assembly clamp finger 3 536 and 4 537 to clamp the rear part of the interface 528.

[0091] b. Ironing process:

[0092] The transverse drive mechanism 3 507 drives the translation base plate 505 to move towards the hot-pressing station 502, and the hot-pressing rod 538 is inserted into the interface 528. The pneumatic finger 3 532 drives the assembly clamp finger 1 534 and the assembly clamp finger 2 535 to release the front of the interface 528. The hot-pressing rod 538 softens the interface 528. After softening, the transverse drive mechanism 3 507 drives the translation base plate 505 to move backward, and the interface 528 separates from the hot-pressing rod 538. The longitudinal drive mechanism 545 drives the hot-pressing station 502 to move downward, and the transverse drive mechanism 3 507 drives the translation base plate 505 to move, which in turn moves the upper part of the material transfer assembly component 503 towards the long tube 001.

[0093] c. Assembly process:

[0094] First insertion: When the upper part of the transfer assembly 503 moves and is close to the end of the long tube 001, the pneumatic finger three 532 drives the assembly clamp finger one 534 and the assembly clamp finger two 535 to clamp the front part of the interface 528. The transverse drive mechanism three 507 drives the upper part of the transfer assembly 503 to move forward, that is, the assembly clamp finger one 534 and the assembly clamp finger two 535 move forward, and the end part of the long tube 001 is inserted into the interface 528. The pneumatic finger three 532 drives the assembly clamp finger one 534 and the assembly clamp finger two 535 to release the front part of the interface 528. The lower positioning assembly 514 releases the long tube 001, that is, the pneumatic finger two 520 drives the positioning clamp finger three 521 and the positioning clamp finger four 522 to release the long tube 001. The longitudinal drive mechanism eight 519 drives the positioning clamp finger three 521 and the positioning clamp finger four 522 to move downward, exposing part of the long tube 001.

[0095] Second insertion: The transverse drive mechanism 3 507 drives the upper part of the material transfer assembly 503 to continue moving forward, and the end of the long tube 001 continues to be inserted into the interface 528. The pneumatic finger 4 533 drives the assembly clamp finger 3 536 and the assembly clamp finger 4 537 to release the interface 528. The longitudinal drive mechanism 4 531 drives the pneumatic fingers 3 532 and 4 533 to move upward. The assembly clamp finger 1 534 and the assembly clamp finger 2 535 leave the long tube 001. The assembly clamp finger 3 536 and the assembly clamp finger 4 537 leave the long tube 001. The upper positioning assembly 513 releases the long tube 001. That is, the pneumatic finger 516 drives the positioning clamp finger 1 517 and the positioning clamp finger 2 518 to release the long tube 001. The longitudinal drive mechanism 7 515 drives the positioning clamp finger 1 517 and the positioning clamp finger 2 518 to move upward.

[0096] The urine bag assembly 509 includes two clamping parts, front and rear. The front clamping part and the rear clamping part cooperate. During the first insertion, the front clamping part positions the interface 528, and the rear clamping part fixes the interface 528. The long tube 001 is inserted into the interface 528. Based on the first insertion, a second insertion is performed. The front clamping part releases the long tube 001, the lower positioning component 514 releases the long tube 001 and moves down, and the rear clamping part clamps the interface 528. The long tube 001 is inserted deeper into the interface 528. Through the two insertions, the long tube 001 is inserted into the interface 528 more accurately and to a deeper depth, and the fixation between the long tube 001 and the urine bag 002 is more secure.

[0097] d. Transfer process: After assembly, the unloading mechanism 600 picks up one side of the urine bag 002, and the other side of the urine bag 002 hangs down naturally. The transverse drive mechanism 555 drives the bag support plate 548 to move toward the urine bag 002 to support the urine bag 002. After the urine bag 002 is removed, the transverse drive mechanism 555 drives the bag support plate 548 to return to its original position.

[0098] like Figure 27As shown, the feeding mechanism 600 includes a bag-shifting assembly 601, a bag-pushing assembly 602, a detection device, a receiving frame 604, and a defective product unloading assembly 605. The bag-shifting assembly 601 is fixed on the frame 606, the bag-pushing assembly 602 is located below the bag-shifting assembly 601, and the receiving frame 604 is located outside the bag-pushing assembly 602. The bag-pushing assembly 602 has two states: inclined and horizontal. The defective product unloading assembly 605 is fixed on the frame 606. The bag-pushing assembly 602 has a feeding station 637 and a unloading station 638. The detection device includes a light source 3 and a CCD vision inspection mechanism, which is not shown in the figure.

[0099] Finished product unloading process: The bag transfer assembly 601 moves the urine bag 002 to the unloading station 637, the bag push assembly 602 changes from a horizontal state to an inclined state, the long tube circulating conveyor mechanism drives the urine bag 002 and the long tube 001 to move one station, the urine bag 002 is located at the unloading station 638, the bag push assembly 602 changes from an inclined state to a horizontal state, the defective product unloading assembly 605 moves the finished product off the bag push assembly 602 and places it on the conveyor belt assembly.

[0100] Defective product unloading process: The bag transfer assembly 601 moves the urine bag 002 to the unloading station 637. The bag pusher assembly 602 changes from a horizontal state to an inclined state. The urine bag 002 and the long tube 001 are not connected. The urine bag 002 slides into the receiving frame 604 along the bag pusher assembly 602. The long tube circulation conveying mechanism 300 drives the long tube 001 to move one station. The defective product unloading assembly 605 clamps the long tube 001 and unloads it into the waste area.

[0101] The bag transfer assembly 601, bag push assembly 602, material receiving frame 604, and defective product unloading assembly 605 are used to complete the unloading. Regardless of whether the assembled finished product is a finished product or a defective product, it can be unloaded by this unloading mechanism 600 without the need to separate unloading finished products and defective products, thus saving space and equipment and reducing costs.

[0102] like Figure 28 As shown, the bag transfer assembly 601 includes a suction cup 607, which is fixed on a suction cup fixing plate 608. The suction cup fixing plate 608 is connected to a longitudinal drive mechanism 609, which is a drive cylinder. The longitudinal drive mechanism 609 is also connected to a transverse drive mechanism 610, which is an electric cylinder. The suction cup 607 picks up one side of the urine bag 002. The longitudinal drive mechanism 609 drives the suction cup 607 to move upward, causing the urine bag 002 to move upward. The transverse drive mechanism 610 moves towards the feeding station 637. The longitudinal drive mechanism 609 drives the suction cup 607 to move downward, causing the urine bag 002 to move downward. The suction cup 607 releases the urine bag 002. The longitudinal drive mechanism 609 drives the suction cup 607 to move upward, and the transverse drive mechanism 610 drives the suction cup 607 to move in the feeding direction. This cycle repeats continuously.

[0103] like Figure 29 As shown, the bag pusher assembly 602 includes a fixed support 611, on which a bag support plate 612 is hinged. A drive cylinder 613 is located below the bag support plate 612. The cylinder body 614 of the drive cylinder 613 is hinged to the fixed support 611, and the drive shaft 615 of the drive cylinder 613 is hinged to the bag support plate 612. A light source 603 is fixed to the fixed support 611. When the drive shaft 615 of the drive cylinder 613 extends, the bag support plate 612 rotates upwards by a certain angle, and the bag support plate 612 is in a horizontal state. When the drive shaft 615 of the drive cylinder 613 retracts, the bag support plate 612 rotates downwards by a certain angle, and the bag support plate 612 is in an inclined state.

[0104] like Figure 30 As shown, the defective product assembly 605 includes a translation plate 616 slidably connected to the frame 606. The translation plate 616 is equipped with a lifting gripping assembly 617 and a lifting gripping assembly 618. The translation plate 616 is connected to a transverse drive mechanism 619. The lifting gripping assembly 617 includes a longitudinal drive mechanism 620 fixed to the translation plate 616. The longitudinal drive mechanism 620 is connected to a gripper fixing block 621. A suction cup fixing plate 622 is fixedly connected to the gripper fixing block 621. The suction cup fixing plate 622 is lower than the gripper fixing block 621. A pipe clamping robot arm 623 is fixedly connected to the gripper fixing block 621. Several suction cups 624 are fixedly connected to the suction cup fixing plate 622. The lifting and gripping assembly 2 618 includes a longitudinal drive mechanism 11 625 fixed on the translation plate 616. The longitudinal drive mechanism 11 625 is connected to the gripper fixing block 2 626. The gripper fixing block 2 626 is fixedly connected to the pipe clamping robot 2 627.

[0105] The longitudinal drive mechanism 620 drives the gripper fixing block 621 and the suction cup fixing plate 622 to move downwards. The longitudinal drive mechanism 625 drives the gripper fixing block 626 to move downwards. The suction cup 624 on the suction cup fixing plate 622 attracts the urine bag 002 located on the bag support plate 612. The tube clamping robot 623 clamps one end of the long tube 001, and the tube clamping robot 627 clamps the other end of the long tube 001. The transverse drive mechanism 619 drives the translation plate 616 to move laterally, which in turn moves the suction cup 624, the tube clamping robot 623, and the tube clamping robot 627 laterally, carrying the assembled product away. When it moves to the predetermined position, the suction cup 624 releases the urine bag 002, and the tube clamping robot 623 and the tube clamping robot 627 release the long tube 001. The assembled product falls onto the conveyor belt assembly.

[0106] The specific embodiments described herein are merely illustrative examples of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to substitute them, without departing from the invention or exceeding the scope defined by the appended claims.

[0107] Although this document uses a considerable amount of technical terms, the possibility of using other terms is not excluded. These terms are used merely for the convenience of describing and explaining the essence of the invention; interpreting them as any additional limitation would be contrary to the invention.

Claims

1. A device for assembling a urine bag and a long tube, characterized in that, The system includes a long tube circulation conveying mechanism (300), and along the conveying direction of the long tube circulation conveying mechanism (300), a glue-adding component (400), a tube insertion mechanism (500), and a material unloading mechanism (600) are arranged sequentially. A tube-pulling mechanism (200) is provided at the end of the long tube circulation conveying mechanism (300), and a long tube storage component (100) is located on the side of the tube-pulling mechanism (200). The long tube storage component (100) stores and retrieves long tubes (001). The tube-pulling mechanism (200) bends the long tube (001), and the bent long tube (001) is conveyed to the long tube circulation conveying mechanism (300). The glue-adding component (400) applies glue to one end of the long tube (001). The tube insertion mechanism (500) assembles the urine bag (002) with the long tube (001). The material unloading mechanism (600) unloads the assembled product. The long tube circulating conveying mechanism (300) includes a first conveying line (301) and a second conveying line (302). The distance between the first conveying line (301) and the second conveying line (302) is less than the length of the long tube (001). During transmission, the long tube (001) is in a drooping and bent state. Even if the end of the long tube (001) is pulled during assembly, the long tube (001) is always in a relaxed state.

2. The urine bag and long tube assembly device according to claim 1, characterized in that, The insertion mechanism (500) includes a tube positioning assembly (501), a hot-seal station (502), and a material transfer assembly (503) arranged in sequence. The material transfer assembly (503) includes a base frame (504), a sliding base plate (505) is slidably connected to the base frame (504), a urine bag fixture (506) is slidably connected to the sliding base plate (505), the sliding base plate (505) is connected to the third transverse drive mechanism (507), the urine bag fixture (506) is connected to the fourth transverse drive mechanism (508), and a urine bag loading assembly (509) and a urine bag positioning assembly (510) are also fixedly connected to the sliding base plate (505). The base frame (504) is provided with a bag support assembly (511) and a aligning assembly (512).

3. The urine bag and long tube assembly device according to claim 2, characterized in that, The urine bag positioning component (510) includes a tube pressing pad (526), ​​which is connected to the longitudinal drive mechanism (527). The lower end surface of the tube pressing pad (526) is provided with a tube pressing groove (529) that cooperates with the interface (528) of the urine bag (002).

4. The urine bag and long tube assembly device according to claim 3, characterized in that, The urine bag assembly (509) includes a longitudinal drive mechanism four (531), which is connected to pneumatic fingers three (532) and four (533). Pneumatic fingers three (532) is connected to assembly clamp fingers one (534) and two (535), and pneumatic fingers four (533) is connected to assembly clamp fingers three (536) and four (537).

5. The urine bag and long tube assembly device according to claim 4, characterized in that, The tube positioning assembly (501) includes an upper positioning assembly (513) and a lower positioning assembly (514). The upper positioning assembly (513) includes a longitudinal drive mechanism seven (515), which is connected to a pneumatic finger five (516). The pneumatic finger five (516) is connected to positioning clamp finger one (517) and positioning clamp finger two (518). The lower positioning assembly (514) includes a longitudinal drive mechanism eight (519), which is connected to a pneumatic finger two (520). The pneumatic finger two (520) is connected to positioning clamp finger three (521) and positioning clamp finger four (522).

6. The urine bag and long tube assembly device according to claim 5, characterized in that, The first conveyor line (301) is provided with several pipe clamping fixtures (303), and the second conveyor line (302) is provided with several pipe clamping fixtures (333). The first conveyor line (301) has a drive shaft (304), and the second conveyor line (302) has a drive shaft (305). The drive shaft (304) and the drive shaft (305) are connected by a coupling (306).

7. The urine bag and long tube assembly device according to claim 1, 2, 3, 4, 5, or 6, characterized in that, The glue-filling assembly (400) includes a glue tank (401), a glue-filling head (402) is provided inside the glue tank (401), a glue-filling cavity (403) is provided on the glue-filling head (402), and a plurality of liquid flow channels (404) are also provided on the glue-filling head (402). The liquid flow channels (404) are connected to the glue-filling cavity (403), and one end of the liquid flow channel (404) opens into the peripheral wall (405) of the glue-filling head (402). The groove (401) has an opening (406) that communicates with the glue filling cavity (403). The glue filling head (402) is connected to the second rotary drive mechanism (407). The glue groove (401) and the second rotary drive mechanism (407) are fixed on the second translation plate (408). The second translation plate (408) is slidably connected to the bracket (409). The second translation plate (408) is connected to the second transverse drive mechanism (410).

8. The urine bag and long tube assembly device according to claim 1, 2, 3, 4, 5, or 6, characterized in that, The feeding mechanism (600) includes a bag transfer assembly (601), a bag pusher assembly (602), a receiving frame (604), and a defective product unloading assembly (605). The bag transfer assembly (601) is fixed on the frame (606), the bag pusher assembly (602) is located below the bag transfer assembly (601), the receiving frame (604) is located on the side of the bag pusher assembly (602), the bag pusher assembly (602) has two states: inclined and horizontal, and the bag pusher assembly (602) has a feeding station (637) and a unloading station (638). The defective product unloading assembly (605) is fixed on the frame (606).

9. The urine bag and long tube assembly device according to claim 1, 2, 3, 4, 5, or 6, characterized in that, The tube pulling mechanism (200) includes a translation component (201), a material taking component (202), and a tube pulling component (203). The material taking component (202) clamps one end of the long tube (001) and moves the long tube (001) onto the translation component (201). The translation component (201) moves toward the tube pulling component (203). The tube pulling component (203) clamps both ends of the long tube (001). The tube pulling component (203) causes the two ends of the long tube (001) to move toward each other or one end of the long tube (001) moves toward the other end of the long tube (001). The long tube (001) is in a relaxed and bent state.

10. The urine bag and long tube assembly device according to claim 1, 2, 3, 4, 5, or 6, characterized in that, The long tube storage assembly (100) includes a movable hopper (101), the bottom of which is a lifting plate (102). The lifting plate (102) is connected to a screw and nut mechanism (103), which is connected to a rotary drive mechanism (104). The rotary drive mechanism (104) drives the lifting plate (102) to move up and down. The movable hopper (101) is provided with a support frame (105), which is provided with a transverse drive mechanism (106). The transverse drive mechanism (106) is connected to a longitudinal drive mechanism (107), which is connected to a suction cup (108). The transverse drive mechanism (106) is also connected to a distance sensor (109). The movable hopper (101) is provided with a detection sensor (110).

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