Capsule endoscope assembly system and capsule endoscope assembly method

Abstract

The present invention provides a capsule endoscope assembly system and a capsule endoscope assembly method. The capsule endoscope assembly system includes a machine platform, a turntable module arranged on the machine platform, the turntable module includes a first turntable, a plurality of rear shell carriers arranged on the first turntable, a second turntable arranged above the first turntable and rotating synchronously with the first turntable, and a holding mechanism arranged on the second turntable. The holding mechanism includes a holding member and a first telescopic driving member for driving the holding member to move up and down. The capsule endoscope assembly system also includes a loading module, a transfer module and a dispensing module. After the transfer module transfers the front shell to the top of the rear shell carrier, the front shell is transferred to the holding member, and the front shell is pressed down by the holding member to be assembled with the rear shell. In this way, the transfer module can continue to move and continue to transfer the new front shell to the top of the rear shell carrier. Compared with the method in the prior art where a manipulator grabs the front shell and then presses the front shell, the production time of the capsule endoscope can be shortened and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of medical device manufacturing, and in particular to a capsule endoscope assembly system and a capsule endoscope assembly method. Background Art

[0002] A capsule endoscope is a capsule-shaped endoscope that integrates a battery, a camera, and a notification device. It can be taken orally into the human digestive tract to check the health of the digestive tract. As an efficient and convenient diagnostic and treatment instrument, the capsule endoscope has been widely used in clinical practice.

[0003] When manufacturing a capsule endoscope, its front shell and rear shell need to be assembled together. In the prior art, there is a turntable device that can automatically assemble the front shell and rear shell, as shown in patent CN213349536U. The turntable device presses the front shell onto the rear shell that has been coated with glue through a robot. During the subsequent gluing and curing steps, the robot needs to keep pressing the front shell to fix the position of the front shell, and the loading operation can no longer be performed. As a result, the manufacturing time of the capsule endoscope is long, affecting production efficiency. Summary of the Invention

[0004] The object of the present invention is to provide a capsule endoscope assembly system and a capsule endoscope assembly method with shorter production time and higher production efficiency.

[0005] To achieve the above-mentioned objectives, the present invention provides a capsule endoscope assembly system, including a machine platform, a turntable module arranged on the machine platform, the turntable module including a first turntable rotatable relative to the machine platform, a plurality of rear shell carriers arranged on the first turntable for accommodating the rear shell, a second turntable arranged above the first turntable and synchronously rotating with the first turntable, and a holding mechanism arranged on the second turntable, the plurality of rear shell carriers being evenly distributed along the circumferential direction of the first turntable, the holding mechanism including a holding member, a first telescopic driving member for driving the holding member to move up and down, the holding mechanism being used to fix the front shell, move the front shell up and down, and being arranged one-to-one with the rear shell carrier in the up and down directions, the capsule endoscope assembly system also includes a rear shell loading module, a transfer module, and a gluing module respectively arranged on one side of the corresponding rear shell carrier, the transfer module being used to transfer the front shell to the holding member above the corresponding rear shell carrier.

[0006] As a further improvement of the present invention, the transfer module includes a third turntable rotatably arranged relative to the machine, and a plurality of front shell carriers arranged on the third turntable for accommodating the front shell. The front shell carriers are evenly distributed along the circumferential direction of the third turntable. The third turntable is arranged between the rear shell carrier and the retaining member. The front shell carrier can move to the top of the rear shell carrier corresponding to the transfer module as the third turntable rotates. The capsule endoscope assembly system also includes a front shell loading module and a cleaning module respectively arranged on one side of the corresponding front shell carrier.

[0007] As a further improvement of the present invention, the capsule endoscope assembly system further includes a lifting mechanism connecting the machine platform and the transfer module and driving the transfer module to move up and down, and the cleaning module is connected to the transfer module.

[0008] As a further improvement of the present invention, a first opening is provided on the front shell carrier and passes through it up and down, and a second opening corresponding to the first opening and passing through it up and down is provided on the third turntable. The cleaning module includes a fixing part provided above the front shell carrier for fixing the front shell, a blowing part provided below the second opening, and a second telescopic driving part for driving the blowing part to move up and down.

[0009] As a further improvement of the present invention, the capsule endoscope assembly system also includes a glue erasing module, a curing module and a glue layer detection module. There are 6 rear shell carriers. The rear shell loading module, transfer module, dispensing module, glue erasing module, curing module and glue layer detection module are arranged along the circumferential direction of the first turntable and are arranged one by one with the rear shell carriers, and are respectively arranged on one side of a rear shell carrier.

[0010] As a further improvement of the present invention, the front shell loading module includes a first holding component, a first robotic arm arranged on the machine and driving the first holding component to move, and a front shell tray arranged on one side of the third turntable; the rear shell loading module includes a second holding component, a second robotic arm arranged on the machine and driving the second holding component to move, and a rear shell tray arranged on one side of the first turntable.

[0011] As a further improvement of the present invention, the second holding assembly includes a connecting base connected to the end of the second robotic arm, and two second clamping members or two suction cups connected to the connecting base.

[0012] The present invention also provides a method for assembling a capsule endoscope, which uses the above-mentioned capsule endoscope assembly system and includes the following steps:

[0013] S1. The back shell loading module moves a back shell to a back shell carrier near it, which is the first back shell carrier;

[0014] S2. Rotate the first turntable to move the first rear housing carrier to the transfer module;

[0015] S3, the transfer module transfers a front shell to between the first rear shell carrier and the holding member above the first rear shell carrier;

[0016] S4, the front shell on the first front shell carrier is transferred to the holding member located above the first rear shell carrier;

[0017] S5. Continue to rotate the first turntable, rotate the first rear shell carrier to the dispensing module, and the dispensing module dispenses glue to the rear shell on the first rear shell carrier. While dispensing glue, the rear shell loading module moves another rear shell to the rear shell carrier near it.

[0018] As a further improvement of the present invention, step S3 includes:

[0019] S31, the front shell loading module moves a front shell to a front shell carrier adjacent to it, the front shell carrier being the first front shell carrier;

[0020] S32, rotating the third turntable, and after the first front shell carrier moves to the cleaning module, the cleaning module cleans the front shell on the first front shell carrier, and while cleaning, the front shell loading module moves another front shell to the front shell carrier adjacent to it;

[0021] S33, continue to rotate the third rotating disk to rotate the first front shell carrier to between the first rear shell carrier and the holding member located above the first rear shell carrier.

[0022] As a further improvement of the present invention, the method further comprises:

[0023] S6. Continue to rotate the first turntable to move the first rear shell carrier to the eraser module. After the retaining member above the first rear shell carrier presses down to press the front shell onto the rear shell, the eraser module wipes off the glue overflowing from the capsule endoscope.

[0024] S7. Continue to rotate the first turntable to rotate the first rear shell carrier to the curing module. The curing module cures the glue on the capsule endoscope. After curing is completed, the holding member moves upward and separates from the rear shell.

[0025] S8. Continue to rotate the first turntable to rotate the first rear shell carrier to the glue layer detection module, and the glue layer detection module detects whether the glue on the capsule endoscope is wiped clean;

[0026] S9. Continue to rotate the first turntable to rotate the first rear shell carrier to the initial position. The rear shell loading module takes out the capsule endoscope in the first rear shell carrier and puts a new rear shell into the first rear shell carrier.

[0027] Beneficial effects of the present invention:

[0028] In the capsule endoscope assembly system and capsule endoscope assembly method provided by the present invention, the transfer module transfers the front shell to the top of the rear shell carrier and then is transferred to the holding member. The front shell is pressed down by the holding member to be assembled with the rear shell. In this way, the transfer module can continue to move and continue to transfer the new front shell to the top of the rear shell carrier. Compared with the method of using a robot to press the front shell after loading in the prior art, the production time of the capsule endoscope can be shortened and the production efficiency can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 A schematic diagram of the top view of the capsule endoscope assembly system provided by the present invention;

[0030] Figure 2 Schematic diagram of the structure of a capsule endoscope;

[0031] Figure 3 for Figure 1 A schematic diagram of the structure of the middle turntable module, in which a simplified display of part of the second turntable and part of the holding mechanism is shown;

[0032] Figure 4 for Figure 1 Schematic diagram of the structure of the turntable module and the transfer module;

[0033] Figure 5 for Figure 4 A schematic diagram of the front structure of the transfer module, lifting mechanism and cleaning module;

[0034] Figure 6 for Figure 5 A schematic diagram of the top view of the transfer module, lifting mechanism and cleaning module;

[0035] Figure 7 for Figure 5 Schematic diagram of the structure of the middle front shell carrier;

[0036] Figure 8 for Figure 1 Schematic diagram of the structure of the front shell tray and the rotating module of the middle front shell loading module;

[0037] Figure 9 for Figure 1 A schematic diagram of the structure of the first robotic arm and the first holding assembly of the mid-front shell loading module;

[0038] Figure 10 for Figure 1 Schematic diagram of the structure of the rear shell tray of the middle rear shell loading module and the linear conveying module;

[0039] Figure 11 for Figure 1 A schematic diagram of the structure of the second robotic arm and the second holding assembly of the middle and rear shell loading module;

[0040] Figure 12 for Figure 1 Schematic diagram of the structure of the center dispensing module;

[0041] Figure 13 for Figure 1 Schematic diagram of the structure of the middle eraser module and the curing module;

[0042] Figure 14for Figure 1 Another structural diagram of the middle eraser module and the curing module;

[0043] Figure 15 for Figure 1 Schematic diagram of the structure of the middle rubber layer detection module. DETAILED DESCRIPTION

[0044] The present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings. However, the embodiments do not limit the present invention, and any modifications to the mechanisms, methods, or functions made by those skilled in the art based on the embodiments are all within the scope of protection of the present invention.

[0045] Terms used herein to denote relative spatial positions, such as "upper," "lower," "left," "right," "front," and "back," are used for ease of explanation to describe the relationship of one feature relative to another, as shown in the accompanying drawings. It should be understood that, depending on the placement of the product, these terms may be intended to encompass orientations other than those depicted in the drawings and should not be construed as limitations on the claims. Furthermore, the descriptor "horizontal" as used herein does not necessarily mean perpendicular to gravity, although a certain degree of tilt is permitted.

[0046] like Figure 1 As shown, an embodiment of the present invention provides a capsule endoscope assembly system 100, which can be used to assemble a capsule endoscope 1, such as Figure 2 As shown, the capsule endoscope 1 has a capsule shape, and includes a front shell 11 and a rear shell 12 that can be assembled together.

[0047] The capsule endoscope assembly system 100 includes a machine 2, a turntable module 3 provided on the machine 2, and Figure 3As shown, the turntable module 3 includes a first turntable 31, a plurality of rear shell carriers 32 arranged on the first turntable 31 for accommodating the rear shell 12, a second turntable 33 arranged above the first turntable 31, and a holding mechanism 34 arranged on the second turntable 33. The first turntable 31 is rotatable relative to the machine 2, and the second turntable 33 is synchronously rotated following the first turntable 31. The plurality of rear shell carriers 32 are evenly distributed along the circumferential direction of the first turntable 31. The holding mechanism 34 includes a holding member 341 and a first telescopic driving member 342 for driving the holding member 341 to move up and down. The holding mechanism 34 can fix the front shell 11, move the front shell 11 up and down, and is arranged one-to-one with the rear shell carrier 32 in the up and down directions, that is, a holding mechanism 34 is provided directly above each rear shell carrier 32. The retaining member 341 can be a suction cup capable of sucking the front housing 11 or a clamping member capable of clamping the front housing 11. In this embodiment, a suction cup is used. The turntable module 3 also includes a rotary air joint 38. The rotary air joint 38, the first turntable 31, and the second turntable 33 are coaxially arranged. The air pipe connecting the suction cup is connected to an external vacuum device through the rotary air joint 38. In this way, the air pipe will not be entangled when the first turntable 31 and the second turntable 33 rotate. The first telescopic driving member 342 is preferably a telescopic cylinder, whose cylinder body is connected to the second turntable 33, and the telescopic portion is connected to the retaining member 341 to drive the retaining member 341 to move up and down.

[0048] The capsule endoscope assembly system 100 also includes a rear shell loading module 4, a transfer module 5 and a gluing module 6 which are sequentially arranged around the first turntable 31. The positions of the rear shell loading module 4, the transfer module 5 and the gluing module 6 correspond to the positions of the rear shell carrier 32 on the first turntable 31, and are respectively arranged on one side of the corresponding rear shell carrier 32, so that during the intermittent rotation of the first turntable 31, the rear shell carrier 32 can be sequentially located at the rear shell loading module 4, the transfer module 5 and the gluing module 6 so that each module can work in parallel.

[0049] In this embodiment, the turntable module 3 also includes a first indexing drive motor 35 arranged between the machine 2 and the first turntable 31 for driving the first turntable 31 to rotate intermittently. The axes of the first turntable 31 and the second turntable 33 coincide, and the two can be connected together through a connecting column 36, so that the second turntable 33 can rotate synchronously with the first turntable 31.

[0050] Continue to coordinate with reference Figures 4 to 7As shown, the transfer module 5 is used to transfer the front shell 11 to the retaining member 341 above the corresponding rear shell carrier 32, so that the retaining member 341 can fix a front shell 11 above the rear shell carrier 32, and then the retaining member 341 is pressed down to assemble the front shell 11 and the rear shell 12 accommodated in the rear shell carrier 32 together. As a preferred solution of this embodiment, the transfer module 5 includes a third turntable 51 rotatably arranged relative to the machine 2, and a plurality of front shell carriers 52 arranged on the third turntable 51 for accommodating the front shell 11. The front shell carriers 52 are evenly distributed along the circumferential direction of the third turntable 51. The third turntable 51 is arranged between the rear shell carrier 32 and the retaining member 341. The front shell carrier 52 can move to the top of the rear shell carrier 32 corresponding to the transfer module 5 on the first turntable 31 as the third turntable 51 rotates. In this way, the front shell 11 accommodated in the front shell carrier 52 can be transferred to the retaining member 341 above the rear shell carrier 32.

[0051] The capsule endoscope assembly system 100 also includes a front shell loading module 10 and a cleaning module 13 arranged around the third turntable 51. The positions of the front shell loading module 10 and the cleaning module 13 are corresponding to the positions of the front shell carrier 52 on the third turntable 51, and are respectively arranged on one side of the corresponding front shell carrier 52. In this way, during the intermittent rotation of the third turntable 51, the front shell carrier 52 can be located at the front shell loading module 10, the cleaning module 13 and above the rear shell carrier 32 in sequence. When the cleaning module 13 is cleaning, the front shell loading module 10 can load at the same time, and the two work in parallel, thereby improving production efficiency.

[0052] The capsule endoscope assembly system 100 further includes a lifting mechanism 14 connecting the machine platform 2 and the transfer module 5. The lifting mechanism 14 is configured to drive the transfer module 5 as a whole to rise when the front shell carrier 52 rotates to above the rear shell carrier 32. This causes the front shell carrier 52 on the transfer module 5 to rise, and the front shell 11 contained in the front shell carrier 52 to rise to the holder 341, allowing the front shell 11 to be transferred to the holder 341. The cleaning module 13 is connected to the transfer module 5 and rises and falls with the transfer module 5.

[0053] The front shell carrier 52 is provided with a first opening 521 extending vertically therethrough, and the third turntable 51 is provided with a second opening corresponding to the first opening 521 and extending vertically therethrough. The cleaning module 13 includes a fixing member 131 located above the front shell carrier 52, a blowing member 132 located below the second opening, and a second telescopic driving member 134 for driving the blowing member 132 to move up and down. When cleaning the front shell 11, the fixing member 131 first fixes the front shell 11 at the first opening 521, and then the second telescopic driving member 134 drives the blowing member 132 to rise. The blowing member 132 is connected to an external air source and has an ion wind generator inside, which can blow ion wind through the second opening and the first opening 521 to clean the front shell 11. The fixing member 131 can be a clamping member that clamps the front shell 11 from both sides or a pressing member that presses the front shell 11 from above the front shell 11. The front shell carrier 52 includes a carrier base 522 and a first annular positioning portion 523 protruding from the top surface of the carrier base 522. The first opening 521 is set through the first annular positioning portion 523 and the carrier base 522. When the front shell 11 is placed on the front shell carrier 52, it is sleeved on the outer periphery of the first annular positioning portion 523 for positioning.

[0054] Specifically, the lifting mechanism 14 includes a lifting support 141 connected to the machine platform 2 and a third telescopic drive member 142 connected to the lifting support 141. The transfer module 5 includes a connecting frame 53 connected to the telescopic portion of the third telescopic drive member 142. The third turntable 51 is rotatably connected to the connecting frame 53. In this embodiment, the transfer module 5 also includes a second indexing drive motor 54 for driving the third turntable 51 to rotate. The housing of the second indexing drive motor 54 is connected to the connecting frame 53, and the output shaft is connected to the third turntable 51 via a connecting structure to drive the third turntable 51 to rotate. The cleaning module 13 also includes a cleaning support 135 connected to the connecting frame 53. The fixing part 131 and the main body of the second telescopic driving member 134 are connected to the cleaning support 135. The blowing member 132 is connected to the telescopic part of the second telescopic driving member 134 to move up and down. It can be seen from the above that the telescopic part of the third telescopic driving member 142 moves up and down, driving the connecting frame 53 to rise and fall so that the transfer module 5 and the cleaning module 13 can be lifted and lowered together.

[0055] The capsule endoscope assembly system 100 also includes a glue erasing module 7, a curing module 8 and a glue layer detection module 9. There are specifically 6 rear shell carriers 32, that is, the interval between two adjacent rear shell carriers 32 is 60°. The rear shell loading module 4, the transfer module 5, the glue dispensing module 6, the glue erasing module 7, the curing module 8 and the glue layer detection module 9 are arranged along the circumferential direction of the first turntable 31 and are arranged one by one in correspondence with the rear shell carrier 32, and are respectively located on one side of the corresponding rear shell carrier 32. In this way, with the intermittent rotation of the first turntable 31, the rear shell carrier 32 can start from the rear shell loading module 4 one by one, and move to the transfer module 5, the glue dispensing module 6, the glue erasing module 7, the curing module 8, the glue layer detection module 9 in sequence and then return to the initial position to complete the assembly of the capsule endoscope 1, and each module can work in parallel to improve production efficiency. The angle of each rotation of the first turntable 31 is 60°.

[0056] Specifically, there are four front shell carriers 52, i.e., the interval between two adjacent front shell carriers 52 is 90 degrees. The turntable module 3, the cleaning module 13, and the front shell loading module 10 are each provided corresponding to a front shell carrier 52, and are respectively located on one side of the corresponding front shell carrier 52. In this way, with the intermittent rotation of the third turntable 51, each front shell carrier 52 can start from the front shell loading module 10, pass through the cleaning module 13, and then return to the top of the rear shell carrier 32 before returning to the initial position. Each time the third turntable 51 rotates 90 degrees, the front shell carrier 52 rotates once, i.e., 90 degrees, when it moves from the front shell loading module 10 to the cleaning module 13, and from the cleaning module 13 to the top of the rear shell carrier 32. When it returns from the top of the rear shell carrier 32 to the front shell loading module 10, the third turntable 51 rotates twice, i.e., 180 degrees.

[0057] Continue to coordinate with reference Figure 8 and Figure 9As shown, the front shell loading module 10 includes a first robotic arm 101 connected to the machine 2, a first holding component 102 connected to the end of the first robotic arm 101, and a front shell tray 103 provided on one side of the third turntable 51. The front shell tray 103 is used to accommodate a plurality of front shells 11. A plurality of receiving grooves 1031 are concavely provided on the front shell tray 103, and a second annular positioning portion 1032 is protruded from the bottom surface of the receiving groove 1031. The front shell 11 is arranged in the receiving groove 1031 and is sleeved on the outer periphery of the second annular positioning portion 1032 for positioning. The first robotic arm 101 can drive the first holding component 102 to rotate to and moves in the horizontal and vertical directions, the first holding assembly 102 includes a first connecting seat 1021 connected to the end of the first robotic arm 101, and a first clamping member 1022 connected to the first connecting seat 1021 that can clamp the front shell 11. Here, the first clamping member 1022 can also be replaced by a suction cup that can suck the front shell 11. The first clamping member 1022 includes a pair of clamping blocks and an air claw that drives the clamping blocks to open and close. Driven by the first robotic arm 101, the first clamping member 1022 can grab the front shell 11 in the front shell tray 103 and transfer the front shell 11 to the front shell carrier 52. The front shell loading module 10 also includes a rotating module 104. The front shell tray 103 can be manually placed on the rotating module 104 first, and the rotating module 104 then drives the front shell tray 103 to rotate 180° to reach a designated position close to the third turntable 51.

[0058] Continue to coordinate with reference Figure 10 and Figure 11As shown, the rear shell loading module 4 includes a second robotic arm 41 connected to the machine 2, a second holding component 42 connected to the end of the second robotic arm 41, and a rear shell tray 43 arranged on one side of the first turntable 31. The rear shell tray 43 is provided with a plurality of positioning grooves, and the rear shell 12 can be accommodated in the positioning grooves for positioning. The second robotic arm 41 can drive the second holding component 42 to rotate and move in the horizontal and vertical directions. The second holding component 42 includes a second connecting seat 421 connected to the end of the second robotic arm 41, and two second clamping members 422 connected to the second connecting seat 421 that can clamp the rear shell 12. Here, the second clamping member 422 can also be replaced with a suction cup that can suck the front shell 11. The structure of the second clamping member 422 is the same as the structure of the first clamping member 1022 in the front shell loading module 10. After the rear shell carrier 32 rotates one circle on the first turntable 31, the assembled capsule endoscope 1 is installed inside. During loading, the first of the two second clamping members 422 can clamp a rear shell 12 at the rear shell tray 43. After the second holding component 42 is driven by the second robotic arm 41 to the rear shell carrier 32, the second of the two second clamping members 422 clamps and takes out the assembled capsule endoscope 1 in the rear shell carrier 32. Then, the rear shell 12 on the first second clamping member 422 is loaded into the rear shell carrier 32. Subsequently, the second second clamping member 422 is driven by the second robotic arm 41 to load the capsule endoscope 1 into the finished product tray. The finished product tray can be set outside the machine 2. The rear shell loading module 4 also includes a linear conveying module 44. The rear shell tray 43 is arranged on the linear conveying module 44 and can be transported to a designated position by the linear conveying module 44 to facilitate manual placement of the rear shell tray 43. An NG tray 15 can also be provided on the linear conveying module 44. The rear shell loading module 4 can place the capsule endoscope 1 that does not meet the requirements detected by the glue layer detection module 9 into the NG tray 15.

[0059] like Figure 3 As shown, the rear shell carrier 32 is rotatably connected to the first turntable 31 and can rotate on the first turntable 31. The turntable module 3 also includes a rotating motor 37 arranged below the rear shell carrier 32. The shell of the rotating motor 37 is fixedly connected to the turntable, and the output shaft is connected to the rear shell carrier 32. The rotating motor 37 drives the rear shell carrier 32 to rotate, which can drive the rear shell 12 in the rear shell carrier 32 to rotate.

[0060] Continue to coordinate with reference Figure 12As shown, the dispensing module 6 includes a dispensing head 61 and a fourth telescopic driving member 62 for driving the dispensing head 61 to move in the radial direction of the first turntable 31. During dispensing, the fourth telescopic driving member 62 drives the dispensing head 61 close to the top of the rear shell 12, and the dispensing head 61 sprays glue. The rotating motor 37 cooperates with it to drive the rear shell carrier 32 to rotate, so that the glue can be applied in a circle on the rear shell 12. The dispensing head 61 can optionally be a pneumatic dispensing head 61, which dispenses glue pneumatically. The dispensing module 6 can also include a height adjuster 63 connected to the fourth telescopic driving member 62. The height adjuster 63 is used to adjust the dispensing head 61 to a suitable height to align with the gluing position of the rear shell 12.

[0061] Continue to coordinate with reference Figure 13 and Figure 14 As shown, the rubber module 7 includes a rubber support 71, a rubber tape 72, a top belt assembly 73, an output reel 75 and a take-up reel 76 rotatably connected to the rubber support 71, a power wheel 77, and a drive motor 78 for driving the power wheel 77 to rotate. The top belt assembly 73 includes two top belt posts 731 erected at intervals on the side of the rubber support 71 close to the first turntable 31, and a fifth telescopic drive member 732 for driving the two top belt posts 731 to move in the radial direction of the first turntable 31. The rubber tape 72 is drawn out from the output reel 75 and is taken in by the take-up reel 76 after contacting the two top belt posts 731 and the power wheel 77. The rubber tape 72 is attached to the side of the two top belt posts 731 close to the first turntable 31. The drive motor 78 drives the power wheel 77 to rotate, which can drive the rubber tape 72 to move, and causes the output reel 75 to release the rubber tape 72, and the take-up reel 76 to take in the rubber tape 72. When the rear shell carrier 32 reaches the eraser module 7, the retainer 341 presses down, assembling the front shell 11 and the glue-coated rear shell 12 together to form the capsule endoscope 1. When the front shell 11 and rear shell 12 are assembled, glue may overflow from the seam between them. The eraser module 7 is used to wipe away the overflowed glue. During operation, the fifth telescopic drive member 732 drives the two top strap posts 731 toward the rear shell carrier 32, causing the eraser tape 72 resting on the top strap posts 731 to contact the capsule endoscope 1 in the rear shell carrier 32. The motor 37 then rotates the rear shell carrier 32, causing the capsule endoscope 1 to rotate one full revolution, and the eraser tape 72 wipes away the excess glue on the capsule endoscope 1.

[0062] The tape output reel 75 and the tape take-up reel 76 are located on the side of the rubber support 71 away from the first turntable 31, and the axes of the two are relatively perpendicular to the axis of the top tape column 731. The rubber module 7 also includes a transfer column 74 connected to the rubber support 71 and arranged on both sides of the top tape assembly 73. After the rubber tape 72 is drawn out from the tape output reel 75, it is wrapped around the transfer column 74 on one side of the top tape assembly 73 and reaches the top tape column 731. After coming out from the top tape column 731, it is wrapped around the transfer column 74 on the other side of the top tape assembly 73 and reaches the tape take-up reel 76. The transfer column 74 can make the rubber tape 72 turn multiple times, increase its turning angle, and make it difficult for the rubber tape 72 to slip. The power wheel 77 is arranged between the two transfer columns 74, that is, the rubber tape 72 is not easy to slip at the power wheel 77.

[0063] The curing module 8 is used to cure the glue on the capsule endoscope 1, and includes a point light source illuminator 81. The point light source illuminator 81 is connected to a corner of the eraser support 71 through a first adjustment bracket 82. The operator can adjust the irradiation position of the point light source illuminator 81 by adjusting the first adjustment bracket 82. During curing, the point light source illuminator 81 irradiates a point at the joint between the front shell 11 and the rear shell carrier 32, and the rotating motor 37 drives the rear shell carrier 32 to rotate. The capsule endoscope 1 rotates one circle, so that the point light source illuminator 81 cures the glue at a circle of the joint of the capsule endoscope 1.

[0064] Continue to coordinate with reference Figure 15 As shown, the glue layer detection module 9 includes a detection support 91 connected to the machine 2, a camera 92 provided on the detection support 91, and a light source 93 provided opposite to the camera 92 in the radial direction of the first turntable 31. The glue layer detection module 9 is used to detect whether the glue on the capsule endoscope 1 is wiped clean. During the detection, the capsule endoscope 1 is arranged between the light source 93 and the camera 92. The light source 93 illuminates the capsule endoscope 1. The camera 92 takes an image of the capsule endoscope 1 and transmits it to the display screen of the capsule endoscope assembly system 100 for observation by the operator. If qualified, it is recorded as a qualified product, and if unqualified, it is recorded as a defective product. Finally, the qualified products are transferred to the finished product tray by the rear shell loading module 4, and the defective products are transferred to the NG tray 15 by the rear shell loading module 4. During detection, the rotating motor 37 drives the rear shell carrier 32 to rotate, so that the capsule endoscope 1 rotates, so that the camera 92 can capture different sides of the capsule endoscope 1. The light source 93 can be connected to the detection support 91 through the second adjustment bracket 94. The operator can adjust the light source 93 to a suitable position by adjusting the second adjustment bracket 94.

[0065] The present invention also provides a method for assembling a capsule endoscope 1 using the capsule endoscope assembly system 100, which specifically includes the following steps:

[0066] S1: The rear shell loading module 4 transfers a rear shell 12 to the rear shell carrier 32 close to it, and the rear shell carrier 32 is recorded as the first rear shell carrier 32. Specifically, the operator first places the rear shell tray 43 with the rear shell 12 into the linear conveying module 44, and then the linear conveying module 44 conveys the rear shell tray 43 to the designated position. The second robotic arm 41 drives a second clamping member 422 to transfer a rear shell 12 in the rear shell tray 43 to the first rear shell carrier 32.

[0067] S2: Rotate the first turntable 31 to the transfer module 5;

[0068] S3: The transfer module 5 transfers a front shell 11 to between the first rear shell carrier 32 and the holding member 341 above the first rear shell carrier 32;

[0069] Step S3 specifically includes the following steps:

[0070] S31: The front shell loading module 10 transfers a front shell 11 to the front shell carrier 52 adjacent to it. This front shell carrier 52 is the first front shell carrier 52. Specifically, the operator first places the front shell tray 103 loaded with the front shell 11 into the rotating module 104. After the rotating module 104 rotates the front shell tray 103 to a specified position, the first robotic arm 101 drives the first clamping member 1022 to transfer the front shell 11 in the front shell tray 103 to the first front shell carrier 52.

[0071] S32: Rotate the third turntable 51. After the first front shell carrier 52 moves to the cleaning module 13, the cleaning module 13 cleans the front shell 11 on the first front shell carrier 52. Simultaneously, the front shell loading module 10 transfers another front shell 11 to the front shell carrier 52 adjacent to it. Since the third turntable 51 has already rotated once, the front shell carrier 52 adjacent to the front shell loading module 10 is now the second front shell carrier 52 from the first front shell carrier 52, counting in the opposite direction of rotation of the third turntable 51. The new front shell 11, following this second front shell carrier 52, will repeat the steps that the front shell 11 in the first front shell carrier 52 underwent. In step S32, the cleaning process and the loading of the front shell 11 are performed simultaneously, saving production time for the capsule endoscope 1 and improving production efficiency.

[0072] S33 , continue to rotate the third rotating disk 51 to rotate the first front shell carrier 52 to between the first rear shell carrier 32 and the holding member 341 above the first rear shell carrier 32 .

[0073] The above steps S31, S32, and S33 can be performed simultaneously with steps S1 and S2. It is only necessary to ensure that after steps S1, S2, and S3 are completed, the first rear shell carrier 32 moves to the transfer module 5 and the first front shell carrier 52 moves to the top of the first rear shell carrier 32.

[0074] S4: The front shell 11 on the first front shell carrier 52 is transferred to the holding member 341 located above the first rear shell carrier 32; specifically, the lifting mechanism 14 drives the entire transfer module 5 to rise, thereby the first front shell carrier 52 rises, so that the suction cup serving as the holding member 341 in this embodiment can suck the front shell 11 in the first front shell carrier 52, and then the lifting mechanism 14 drives the transfer module 5 to reset. In other embodiments, the lifting mechanism 14 may not be provided, and it is also feasible for the suction cup serving as the holding member 341 to descend and suck the front shell 11 in the first front shell carrier 52 and then rise again.

[0075] S5: Continue to rotate the first turntable 31. After rotating the first rear shell carrier 32 to the glue dispensing module 6, the glue dispensing module 6 performs a glue dispensing operation on the rear shell 12 on the first rear shell carrier 32. While dispensing glue, the rear shell loading module 4 moves another rear shell 12 to the rear shell carrier 32 adjacent to it. Since the first turntable 31 has already rotated twice, the rear shell carrier 32 adjacent to the rear shell loading module 4 is now the third rear shell carrier 32 from the first rear shell carrier 32 in the direction opposite to the rotation direction of the first turntable 31. The new rear shell 12 following this third rear shell carrier 32 will repeat the steps that the rear shell 12 in the first rear shell carrier 32 has gone through. In step S5, the glue dispensing process and the loading of the rear shell 12 are carried out simultaneously, saving the production time of the capsule endoscope 1 and improving production efficiency.

[0076] S6. Continue to rotate the first rotating disk 31 to move the first rear shell carrier 32 to the eraser module 7. After the retaining member 341 above the first rear shell carrier 32 presses down to press the front shell 11 onto the rear shell 12, the eraser module 7 wipes off the glue overflowing from the capsule endoscope 1.

[0077] S7. Continue to rotate the first turntable 31 to rotate the first rear shell carrier 32 to the curing module 8. The curing module 8 cures the glue on the capsule endoscope 1. After curing is completed, the retaining member 341 moves upward and separates from the rear shell 12.

[0078] S8. Continue to rotate the first turntable 31 to move the first rear shell carrier 32 to the glue layer detection module 9. The glue layer detection module 9 detects whether the glue on the capsule endoscope 1 is wiped clean. If it is wiped clean, it is marked as a qualified product. If there is glue residue, it is marked as a defective product.

[0079] S9. Continue rotating the first turntable 31, rotating the first rear shell holder 32 to its initial position. The rear shell loading module 4 removes the capsule endoscope 1 from the first rear shell holder 32 and places a new rear shell 12 therein. In step S9, if the capsule endoscope 1 is a qualified product, the rear shell loading module 4 places it in the finished product tray. If the capsule endoscope 1 is a defective product, the rear shell loading module 4 places it in the good-for-nothing tray 15. If the number of defective products in the good-for-nothing tray 15 exceeds the set value, the machine is stopped to investigate the cause of the excessive number of good-for-nothings (NGs). This is typically caused by running out of glue or insufficient glue application. The operator can clear the NG tray 15 before production.

[0080] In summary, the capsule endoscope assembly system 100 and the capsule endoscope assembly method provided by the present invention have the following advantages:

[0081] 1. The transfer module 5 transfers the front shell 11 to the top of the rear shell carrier 32 and then transfers it to the holding member 341. The front shell 11 is pressed down by the holding member 341 to be assembled with the rear shell 12. In this way, the transfer module 5 can continue to move and continue to transfer the new front shell 11 to the top of the rear shell carrier 32. Compared with the method of using a robot to press the front shell 11 after loading in the prior art, the production time of the capsule endoscope 1 can be shortened and the production efficiency is improved.

[0082] 2. When the cleaning module 13 cleans the front housing 11, it does not affect the work of the modules around the turntable module 3, thereby achieving parallel production and improving production efficiency.

[0083] 3. Each module around the turntable module 3 can process the rear shells 12 in multiple rear shell carriers 32 at the same time, further realizing parallel production and improving production efficiency.

[0084] 4. The adhesive layer detection module 9 can be used to detect whether the capsule endoscope 1 is qualified, thereby ensuring the qualified rate of the capsule endoscope 1.

[0085] It should be understood that although this specification is described according to embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0086] The above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. A capsule endoscope assembly system, characterized in that: The machine comprises a platform, a turntable module arranged on the platform, the turntable module comprises a first turntable rotatable relative to the machine, a plurality of rear shell carriers arranged on the first turntable for accommodating the rear shell, a second turntable arranged above the first turntable and synchronously rotating with the first turntable, and a holding mechanism arranged on the second turntable, the plurality of rear shell carriers are evenly distributed along the circumferential direction of the first turntable, the holding mechanism comprises a holding member, a first telescopic driving member for driving the holding member to move up and down, the holding mechanism is used to fix the front shell, move the front shell up and down, and is arranged one-to-one with the rear shell carrier in the up and down directions, the capsule endoscope assembly system also comprises a rear shell loading module, a transfer module and a gluing module respectively arranged on one side of the corresponding rear shell carrier, the transfer module is used to transfer the front shell to the holding member above the corresponding rear shell carrier.

2. The capsule endoscope assembly system according to claim 1, characterized in that: The transfer module includes a third turntable rotatable relative to the machine, and a plurality of front shell carriers arranged on the third turntable for accommodating the front shell. The front shell carriers are evenly distributed along the circumferential direction of the third turntable. The third turntable is arranged between the rear shell carrier and the retaining member. The front shell carrier can move to the top of the rear shell carrier corresponding to the transfer module as the third turntable rotates. The capsule endoscope assembly system also includes a front shell loading module and a cleaning module respectively arranged on one side of the corresponding front shell carrier.

3. The capsule endoscope assembly system according to claim 2, characterized in that: The capsule endoscope assembly system further includes a lifting mechanism that connects the machine platform and the transfer module and drives the transfer module to move up and down. The cleaning module is connected to the transfer module.

4. The capsule endoscope assembly system according to claim 2 or 3, characterized in that: The front shell carrier is provided with a first opening extending vertically therethrough, the third turntable is provided with a second opening corresponding to the first opening and extending vertically therethrough, the cleaning module includes a fixing member provided above the front shell carrier for fixing the front shell, a blowing member provided below the second opening, and a second telescopic driving member for driving the blowing member to move up and down.

5. The capsule endoscope assembly system according to claim 1, wherein: The capsule endoscope assembly system also includes a glue erasing module, a curing module and a glue layer detection module. There are 6 rear shell carriers. The rear shell loading module, transfer module, glue dispensing module, glue erasing module, curing module and glue layer detection module are arranged along the circumferential direction of the first turntable and are arranged one by one with the rear shell carriers, and are respectively arranged on one side of a rear shell carrier.

6. The capsule endoscope assembly system according to claim 2, characterized in that: The front shell loading module includes a first holding component, a first robotic arm installed on the machine and driving the first holding component to move, and a front shell tray installed on one side of the third turntable. The rear shell loading module includes a second holding component, a second robotic arm installed on the machine and driving the second holding component to move, and a rear shell tray installed on one side of the first turntable.

7. The capsule endoscope assembly system according to claim 6, characterized in that: The second holding assembly includes a second connecting base connected to the end of the second robotic arm, and two second clamping members or two suction cups connected to the second connecting base.

8. A method for assembling a capsule endoscope, characterized in that: Using the capsule endoscope assembly system according to claim 1, the method comprises the following steps: S1. The back shell loading module moves a back shell to a back shell carrier near it, which is the first back shell carrier; S2. Rotate the first turntable to move the first rear housing carrier to the transfer module; S3, the transfer module transfers a front shell to between the first rear shell carrier and the holding member above the first rear shell carrier; S4, the front shell on the first front shell carrier is transferred to the holding member located above the first rear shell carrier; S5. Continue to rotate the first turntable, rotate the first rear shell carrier to the dispensing module, and the dispensing module dispenses glue to the rear shell on the first rear shell carrier. While dispensing glue, the rear shell loading module moves another rear shell to the rear shell carrier near it.

9. The method for assembling a capsule endoscope according to claim 8, wherein: The transfer module includes a third turntable rotatably arranged relative to the machine platform, and a plurality of front shell carriers arranged on the third turntable for accommodating the front shell, wherein the front shell carriers are distributed along the circumferential direction of the third turntable, and the third turntable is arranged between the rear shell carrier and the holder. The front shell carriers can move between a rear shell carrier and a holder as the third turntable rotates. The capsule endoscope assembly system also includes a front shell loading module and a cleaning module respectively arranged on one side of a front shell carrier. The step S3 includes: S31, the front shell loading module moves a front shell to a front shell carrier adjacent to it, the front shell carrier being the first front shell carrier; S32, rotating the third turntable, and after the first front shell carrier moves to the cleaning module, the cleaning module cleans the front shell on the first front shell carrier, and while cleaning, the front shell loading module moves another front shell to the front shell carrier adjacent to it; S33, continue to rotate the third rotating disk to rotate the first front shell carrier to between the first rear shell carrier and the holding member located above the first rear shell carrier.

10. The method for assembling a capsule endoscope according to claim 8 or 9, characterized in that: The capsule endoscope assembly system further includes a curing module and a glue layer detection module. The rear shell carrier is provided with six, and the rear shell loading module, transfer module, dispensing module, eraser module, curing module and glue layer detection module are sequentially arranged along the circumferential direction of the first turntable and are respectively provided on one side of a rear shell carrier. The method further includes: S6. Continue to rotate the first turntable to move the first rear shell carrier to the eraser module. After the retaining member above the first rear shell carrier presses down to press the front shell onto the rear shell, the eraser module wipes off the glue overflowing from the capsule endoscope. S7. Continue to rotate the first turntable to rotate the first rear shell carrier to the curing module. The curing module cures the glue on the capsule endoscope. After curing is completed, the holding member moves upward and separates from the rear shell. S8. Continue to rotate the first turntable to rotate the first rear shell carrier to the glue layer detection module, and the glue layer detection module detects whether the glue on the capsule endoscope is wiped clean; S9. Continue to rotate the first turntable to rotate the first rear shell carrier to the initial position. The rear shell loading module takes out the capsule endoscope in the first rear shell carrier and puts a new rear shell into the first rear shell carrier.

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