Full-automatic medical braided sheath mandrel flexible feeding device

Abstract

This invention discloses a fully automatic flexible feeding device for medical braided sheath mandrels, comprising a feeding robotic arm and a braiding machine body located to the left of the feeding robotic arm. The feeding robotic arm is equipped with mechanical claws for gripping the sheath mandrel. The braiding machine body is fixedly mounted with equidistant sliding guide rails, each with a sliding seat. A receiving block is fixedly mounted on the top of each sliding seat, and a circular block is rotatably connected to the top of the receiving block. A braiding conveyor seat is fixedly mounted on the braiding machine body. This invention employs multi-segment support for the sheath mandrel, combined with rotational and translational motion, to feed the sheath mandrel. This maintains the structural stability of the flexible sheath mandrel. Simultaneously, after feeding, the sheath mandrel is positioned within a through-hole, constraining and restricting it, ensuring feeding stability, facilitating braiding processing, and improving the braiding quality of the medical braided sheath mandrel.

Description

Technical Field

[0001] This invention relates to the field of medical braided sheath mandrel feeding technology, specifically to a fully automatic flexible feeding device for medical braided sheath mandrels. Background Technology

[0002] A medical braided sheath mandrel is a medical device. It is typically made of soft materials such as polyethylene or polyurethane, offering good elasticity and durability. Medical braided sheath mandrels are commonly used in the perfusion and guidance of guidewires, catheters, and other medical devices. Their primary function is to act as a carrier, introducing various medical devices into the body while providing support and stability. Using a medical braided sheath mandrel can reduce friction and trauma during surgery, ensuring the smooth passage of devices through blood vessels or tissues during insertion.

[0003] The following problems may occur during the feeding process of medical braided sheath mandrels;

[0004] Inaccurate feeding: This may be due to equipment failure, accumulated errors, or uneven material stacking, resulting in insufficient feeding accuracy and failure to meet product requirements; this may lead to inconsistent dimensions or unstable quality of the produced sheath mandrels.

[0005] Insecure clamping: If the clamping device is poorly designed or malfunctions, the material may shift, slide or swing during the feeding process, which will affect the quality and consistency of the sheath mandrel.

[0006] Furthermore, some products are fed manually, which is inefficient, has high labor costs, and results in inaccurate positioning of the medical braided sheath mandrel, leading to substandard product quality. Summary of the Invention

[0007] In view of the problems existing in the prior art, the purpose of this invention is to provide a fully automatic flexible feeding device for medical braided sheath mandrels to overcome the problems in the prior art.

[0008] To achieve the above objectives, the present invention adopts the following technical solution.

[0009] A fully automatic flexible feeding device for medical braided sheath mandrels includes a feeding robotic arm and a braiding machine body located on the left side of the feeding robotic arm. The feeding robotic arm is equipped with a mechanical claw for gripping the sheath mandrel. The braiding machine body is fixedly equipped with sliding guide rails arranged at equal intervals. Each sliding guide rail is fixedly equipped with a sliding seat. A receiving block is fixedly installed on the top of the sliding seat. A circular block is rotatably connected to the top of the receiving block. A braiding conveyor seat is fixedly installed on the braiding machine body. A positioning conveyor block is rotatably connected to the top of the braiding conveyor seat. The positioning conveyor block has a through hole for the sheath mandrel.

[0010] A synchronizing rod connects two adjacent circular blocks. A first drive motor is fixedly installed on the receiving block on the front side. The output shaft of the first drive motor is fixedly connected to the circular block on the front side. An electric push rod is fixedly installed on the main body of the braiding machine. The right end of the electric push rod is fixedly connected to the sliding seat. A connecting rod is fixedly installed between two adjacent positioning conveying blocks. A second drive motor is fixedly installed on the braiding conveying seat on the front side. The output shaft of the second drive motor is fixedly connected to the positioning conveying block.

[0011] As a further description of the above technical solution:

[0012] The top of the circular block is provided with a receiving groove, the inner bottom wall of the receiving groove is provided with a positioning groove, and a pushing mechanism is fixedly installed inside the positioning groove.

[0013] As a further description of the above technical solution:

[0014] The receiving groove is an arc-shaped groove, and the curvature of the inner wall of the receiving groove fits the positioning conveying block. The diameter of the positioning groove is slightly larger than the diameter of the medical braided sheath core rod to be loaded. The inner walls of the receiving groove and the positioning groove are smoothly arranged.

[0015] As a further description of the above technical solution:

[0016] The pushing mechanism includes a miniature push rod fixedly installed inside the positioning groove. The top of the miniature push rod is rotatably connected to a top wheel, and the side of the top wheel is recessed inward.

[0017] As a further description of the above technical solution:

[0018] The braiding conveyor seat has a rotating hole, and the positioning conveyor block is rotatably connected to the inside of the rotating hole. The right side of the positioning conveyor block protrudes from the surface of the positioning conveyor block, and the protruding structure matches the receiving groove.

[0019] As a further description of the above technical solution:

[0020] A conveyor motor is fixedly installed on the receiving block on the back side, an adjusting wheel is fixedly installed on the conveyor motor, and a friction-enhancing sleeve is sleeved on the adjusting wheel, with the top height of the friction-enhancing sleeve slightly higher than the height of the top wheel.

[0021] As a further description of the above technical solution:

[0022] Two position sensors are slidably mounted on the main body of the knitting machine. The two position sensors are located on opposite sides of the front and back receiving blocks, respectively. A PLC controller for correction and positioning is installed on the main body of the knitting machine. The two position sensors and the conveying motor are all electrically connected to the PLC controller.

[0023] As a further description of the above technical solution:

[0024] The number of through holes in the sheath core is two symmetrically arranged for each positioning and conveying block. The shape of the through holes in the sheath core is U-shaped, and the inner wall of the through holes in the sheath core is smooth. The diameter of the through holes in the sheath core is equal to or slightly larger than the diameter of the sheath core to be processed.

[0025] As a further description of the above technical solution:

[0026] The bottom of the main body of the braiding machine is fixedly equipped with evenly distributed casters and fixed ear plates, and the fixed ear plates are provided with mounting holes.

[0027] Compared with the prior art, the advantages of this invention are:

[0028] (1) In this scheme, the sheath core rod is supported in multiple sections and combined with rotation and translation to feed the sheath core rod. This can maintain the structural stability of the flexible sheath core rod. At the same time, after feeding, the sheath core rod is placed in the through hole of the sheath core rod to restrict and constrain the sheath core rod, ensure the feeding stability of the sheath core rod, facilitate the braiding process, and improve the braiding quality of the medical braided sheath core rod.

[0029] (2) This solution adopts an automated feeding method to replace manual feeding, thereby improving the feeding efficiency of the sheath tube mandrel and reducing labor costs. Furthermore, the position of the feeding sheath tube mandrel is adjusted by the conveyor motor, adjusting wheel, position sensor and PLC controller, thereby improving the feeding accuracy of the sheath tube mandrel. Attached Figure Description

[0030] Figure 1 This is a front view structural diagram of the present invention;

[0031] Figure 2 This is a right-side structural schematic diagram of the main body of the weaving machine of the present invention;

[0032] Figure 3 This is a bottom-view structural diagram of the present invention;

[0033] Figure 4 For the present invention Figure 1 Enlarged structural diagram of section A in the middle;

[0034] Figure 5 For the present invention Figure 4 Enlarged structural diagram of section B in the middle;

[0035] Figure 6 For the present invention Figure 4 Enlarged structural diagram of section C;

[0036] Figure 7 This is a schematic diagram of the position structure of the circular block and the adjusting wheel of the present invention.

[0037] Explanation of the labels in the diagram:

[0038] 1. Feeding robotic arm; 2. Braiding machine body; 3. Mechanical claw; 4. Sliding guide rail; 5. Sliding seat; 6. Receiving block; 7. Circular block; 71. Synchronizing rod; 72. First drive motor; 73. Receiving groove; 74. Positioning groove; 75. Pushing mechanism; 751. Miniature push rod; 752. Top wheel; 8. Braiding conveyor seat; 81. Rotating hole; 9. Positioning conveyor block; 91. Connecting rod; 92. Second drive motor; 10. Sheath core rod through hole; 11. Electric push rod; 12. Conveyor motor; 13. Adjusting wheel; 14. Position sensor; 15. PLC controller; 16. Universal wheel; 17. Fixed ear plate. Detailed Implementation

[0039] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention;

[0040] Please see Figures 1-7 The present invention provides Embodiment 1:

[0041] A fully automated flexible feeding device for medical braided sheath mandrels includes a feeding robotic arm 1 and a braiding machine body 2 located to the left of the feeding robotic arm 1. The feeding robotic arm 1 is equipped with mechanical claws 3 for gripping the sheath mandrels. The braiding machine body 2 is fixedly mounted with equidistant sliding guide rails 4, each with a sliding seat 5. A receiving block 6 is fixedly mounted on the top of each sliding seat 5, and a circular block 7 is rotatably connected to the top of each receiving block 6. A braiding conveyor seat 8 is fixedly mounted on the braiding machine body 2, and a positioning conveyor block 9 is rotatably connected to the top of the braiding conveyor seat 8. A sheath core rod through hole 10 is provided on the 9; a synchronizing rod 71 is connected between two adjacent circular blocks 7; a first drive motor 72 is fixedly installed on the front receiving block 6; the output shaft of the first drive motor 72 is fixedly connected to the front circular block 7; an electric push rod 11 is fixedly installed on the braiding machine body 2; the right end of the electric push rod 11 is fixedly connected to the sliding seat 5; a connecting rod 91 is fixedly installed between two adjacent positioning conveying blocks 9; a second drive motor 92 is fixedly installed on the front braiding conveying seat 8; the output shaft of the second drive motor 92 is fixedly connected to the positioning conveying block 9.

[0042] In this invention, a receiving groove 73 is provided on the top of the circular block 7, and a positioning groove 74 is provided on the inner bottom wall of the receiving groove 73. A pushing mechanism 75 is fixedly installed inside the positioning groove 74. The receiving groove 73 is an arc-shaped groove, and the curvature of the inner wall of the receiving groove 73 fits with the positioning conveying block 9. The diameter of the positioning groove 74 is slightly larger than the diameter of the medical braided sheath core rod to be loaded. The inner walls of the receiving groove 73 and the positioning groove 74 are smoothly arranged.

[0043] The present invention first uses a feeding robotic arm 1 to clamp the medical sheath mandrel to be woven for initial feeding, placing it in the receiving groove 73 on the circular block 7. Then, the medical sheath mandrel slides down the sliding wall of the receiving groove 73 until it falls onto the pushing mechanism 75 in the positioning groove 74. Then, the receiving block 6 is pulled to the left by the electric push rod 11, so that the circular block 7 is close to the positioning conveying block 9. At the same time, the first drive motor 72 drives the circular block 7 to rotate on the receiving block 6. Due to the synchronization rod 71 connecting two adjacent circular blocks 7, several circular blocks 7 rotate synchronously, so that the notch of the receiving groove 73 rotates to the position of the circular line connecting the circular block 7 and the positioning conveying block 9 and stops. Then, the positioning conveying block 9 is brought into contact with the inner wall of the receiving groove 73. After matching is completed, the medical sheath mandrel is pushed by the pushing mechanism 75, allowing it to enter the inner side of the sheath mandrel through hole 10. The second drive motor 92 drives the positioning conveyor block 9 to rotate, and through the connecting rod 91 connecting two adjacent positioning conveyor blocks 9, multiple positioning conveyor blocks 9 rotate synchronously, thereby feeding the medical sheath mandrel to the processing position of the braiding machine body 2. This ensures the guiding and constraining effect of the perforated structure on the medical sheath mandrel, maintaining the stability of the medical sheath mandrel during the processing and feeding process. The feeding action is completed through short-distance movement and rotation, which can improve the feeding efficiency of the medical sheath mandrel, ensure the processing output of medical braided sheath mandrels, and reduce labor costs due to its high degree of automation.

[0044] The pushing mechanism 75 includes a miniature push rod 751 fixedly installed inside the positioning groove 74. The top of the miniature push rod 751 is rotatably connected to a top wheel 752, and the side of the top wheel 752 is recessed inward.

[0045] The top wheel 752 can be raised and lowered by the miniature push rod 751, thereby pushing the sheath core rod located inside the positioning groove 74 into the inside of the sheath core rod through hole 10, which facilitates the transfer of the sheath core rod.

[0046] In this invention, the braiding conveyor seat 8 is provided with a rotating hole 81, and the positioning conveyor block 9 is rotatably connected to the inner side of the rotating hole 81. The right side of the positioning conveyor block 9 protrudes from the surface of the positioning conveyor block 9, and the protruding structure matches the receiving groove 73.

[0047] Because the right side of the positioning conveyor block 9 protrudes from the surface of the braided conveyor seat 8, when the circular block 7 moves to the left and approaches, the receiving groove 73 on it can fit against the right side surface of the positioning conveyor block 9. After the sheath core rod is loaded, the positioning conveyor block 9 is further rotated so that the sheath core rod through hole 10 moves to the inside of the rotating hole 81. The inner wall of the sheath core rod through hole 10 and the inner wall of the rotating hole 81 form a limiting hole, thereby restricting the sheath core rod and ensuring the structural stability of the sheath core rod and the reliability of stable conveying during processing.

[0048] The number of through holes 10 in the sheath core rod is two symmetrically arranged for each positioning and conveying block 9. The shape of the through holes 10 in the sheath core rod is U-shaped, and the inner wall of the through holes 10 in the sheath core rod is smooth. The diameter of the through holes 10 in the sheath core rod is equal to or slightly larger than the diameter of the sheath core rod to be processed.

[0049] Please see Figure 1-7 Based on Example 1, the present invention also provides Example 2:

[0050] A conveyor motor 12 is fixedly installed on the receiving block 6 on the back side. An adjusting wheel 13 is fixedly installed on the conveyor motor 12. A friction-enhancing sleeve is sleeved on the adjusting wheel 13, and the top height of the friction-enhancing sleeve is slightly higher than the height of the top wheel 752.

[0051] Two position sensors 14 are slidably mounted on the main body 2 of the knitting machine. The two position sensors 14 are located on opposite sides of the front and back receiving blocks 6, respectively. A PLC controller 15 for correction and positioning is installed on the main body 2 of the knitting machine. The two position sensors 14 and the conveyor motor 12 are all electrically connected to the PLC controller 15.

[0052] The initial feeding process involves the robotic arm 1 clamping the medical sheath mandrel to be woven. When the sheath mandrel is located inside the positioning groove 74, the top of the friction-enhancing sleeve on the adjusting wheel 13 is slightly higher than the top wheel 752. Therefore, the adjusting wheel 13 contacts the sheath mandrel through the friction-enhancing sleeve. When the conveying motor 12 is working, it drives the adjusting wheel 13 to rotate, thereby allowing the sheath mandrel to slide inside the positioning groove 74 and adjust its position. Two position sensors 14 detect both ends of the sheath mandrel and upload the detection data to the PLC controller 15 for processing. When both position sensors 14 simultaneously detect the signals at both ends of the sheath mandrel, the PLC controller 15 controls the conveying motor 12 to stop, thus completing the adjustment and positioning of the sheath mandrel. This results in more precise feeding, improves the uniformity of the dimensions and quality of the sheath mandrel processing, and enhances the weaving quality of the sheath mandrel.

[0053] In this invention, the bottom of the knitting machine body 2 is fixedly equipped with evenly distributed casters 16 and fixed ear plates 17, and the fixed ear plates 17 are provided with mounting holes. The casters 16 facilitate the rotation and movement of the knitting machine body 2, improving the ease of use of the knitting machine body 2. The mounting holes on the fixed ear plates 17 facilitate the fixing of the knitting machine body 2 to one side of the feeding robot arm 1 by means of expansion screws or other workpieces, avoiding displacement that may cause excessive deviation in feeding accuracy and ensuring the processing and weaving quality of the sheath core rod.

[0054] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. A fully automatic flexible feeding device for medical braided sheath mandrels, comprising a feeding robotic arm (1) and a braiding machine body (2) located on the left side of the feeding robotic arm (1), wherein the feeding robotic arm (1) is equipped with a mechanical claw (3) for clamping the sheath mandrel, characterized in that: The main body (2) of the braiding machine is fixedly installed with sliding guide rails (4) arranged at equal distances. Each sliding guide rail (4) is fixedly installed with a sliding seat (5). A receiving block (6) is fixedly installed on the top of the sliding seat (5). A circular block (7) is rotatably connected to the top of the receiving block (6). A braiding conveyor seat (8) is fixedly installed on the main body (2). A positioning conveyor block (9) is rotatably connected to the top of the braiding conveyor seat (8). A sheath core rod through hole (10) is opened on the positioning conveyor block (9). A synchronizing rod (71) is connected between two adjacent circular blocks (7). A first drive motor (72) is fixedly installed on the receiving block (6) on the front side. The output shaft of the first drive motor (72) is fixedly connected to the circular block (7) on the front side. An electric push rod (11) is fixedly installed on the main body (2) of the braiding machine. The right end of the electric push rod (11) is fixedly connected to the sliding seat (5). A connecting rod (91) is fixedly installed between two adjacent positioning conveying blocks (9). A second drive motor (92) is fixedly installed on the braiding conveying seat (8) on the front side. The output shaft of the second drive motor (92) is fixedly connected to the positioning conveying block (9). The top of the circular block (7) is provided with a receiving groove (73), the inner bottom wall of the receiving groove (73) is provided with a positioning groove (74), and a pushing mechanism (75) is fixedly installed inside the positioning groove (74). The receiving groove (73) is an arc-shaped groove. The arc of the inner wall of the receiving groove (73) fits the positioning conveying block (9). The diameter of the positioning groove (74) is slightly larger than the diameter of the medical braided sheath core rod to be loaded. The inner walls of the receiving groove (73) and the positioning groove (74) are smoothly arranged. The pushing mechanism (75) includes a miniature push rod (751) fixedly installed inside the positioning groove (74), and a top wheel (752) is rotatably connected to the top of the miniature push rod (751), and the side of the top wheel (752) is recessed inward. The braiding conveyor seat (8) is provided with a rotating hole (81), and the positioning conveyor block (9) is rotatably connected to the inside of the rotating hole (81). The right side of the positioning conveyor block (9) protrudes from the surface of the braiding conveyor seat (8), and the protruding structure matches the receiving groove (73). A conveyor motor (12) is fixedly installed on the receiving block (6) on the back side. An adjusting wheel (13) is fixedly installed on the conveyor motor (12). A friction-enhancing sleeve is sleeved on the adjusting wheel (13), and the top height of the friction-enhancing sleeve is slightly higher than the height of the top wheel (752). Two position sensors (14) are slidably mounted on the main body (2) of the braiding machine. The two position sensors (14) are located on opposite sides of the front and back receiving blocks (6). A PLC controller (15) for correction and positioning is installed on the main body (2). The two position sensors (14) and the conveyor motor (12) are electrically connected to the PLC controller (15).

2. The fully automatic medical braided sheath mandrel flexible feeding device according to claim 1, characterized in that: The number of through holes (10) of the sheath core rod is two symmetrically arranged for each positioning and conveying block (9). The shape of the through holes (10) of the sheath core rod is U-shaped, and the inner wall of the through holes (10) of the sheath core rod is smooth. The diameter of the through holes (10) of the sheath core rod is equal to or slightly larger than the diameter of the sheath core rod to be processed.

3. The fully automatic medical braided sheath mandrel flexible feeding device according to claim 1, characterized in that: The bottom of the main body (2) of the braiding machine is fixedly equipped with evenly distributed casters (16) and fixed ear plates (17), and the fixed ear plates (17) are provided with mounting holes.

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