Automatic loading and unloading device for biopsy needle tubes and control method

Abstract

The present application relates to a kind of automatic loading and unloading device and control method for biopsy needle tube, the loading and unloading device includes feeding mechanism and transfer compression mechanism.The feeding mechanism has material inlet assembly and storage assembly, material inlet assembly includes the discharge plate of opening discharge hole, is set in the discharge plate above and can be controlledly reciprocatingly moved along horizontal direction storage plate and is fixedly arranged in the material inlet box of storage plate above, storage assembly includes the storage plate of being set in the discharge plate below and can be controlledly reciprocatingly moved along horizontal direction, material inlet assembly and storage assembly cooperate to carry out automatic feeding to multiple workpieces.The transfer compression mechanism is provided with mechanical arm, compression jig, for pushing multiple workpieces on storage plate into compression jig the feeding cylinder and zero point clamp, mechanical arm is set to move compression jig to storage plate and adjust compression jig to compress multiple workpieces, and compression jig is moved to zero point clamp and is installed.

Description

Technical Field

[0001] This invention relates to the field of automation technology, specifically to an automated loading and unloading device and control method for biopsy needles. Background Technology

[0002] Biopsy needles require cutting at their tips during processing. Existing equipment for processing biopsy needles involves manually loading each needle one by one, then tightening the workpiece with screws and a clamping plate before feeding the needle into a machining center. After processing, the screws must be loosened and the clamping plate removed manually for unloading. This loading and unloading process is time-consuming and labor-intensive, resulting in high labor costs and low processing efficiency. Furthermore, manual loading of needles cannot guarantee accurate positioning, leading to variations in the processing quality of needles within the same batch. Summary of the Invention

[0003] The purpose of this invention is to provide an automated loading and unloading device and control method for biopsy needles, which can realize the automatic loading of multiple workpieces, improve the clamping accuracy of workpieces, save labor costs, and improve processing efficiency.

[0004] To achieve the above objectives, according to a first aspect of the present invention, an automated loading and unloading device for biopsy needles is provided, comprising:

[0005] The feeding mechanism includes a feeding component and a storage component;

[0006] The feeding assembly includes a discharge plate with a discharge hole, a storage plate disposed above the discharge plate and controllably reciprocating in the horizontal direction, a feeding box fixedly disposed above the storage plate with its outlet corresponding to the storage hole, a workpiece detection sensor, and a pushing cylinder. The storage plate has a storage hole corresponding to the discharge hole. Two workpiece detection sensors are disposed on the storage plate and located on both sides of the storage hole. The movable end of the pushing cylinder is connected to the storage plate and is used to push the storage plate to reciprocate multiple times above the discharge plate so that multiple workpieces fall sequentially from the storage hole into the discharge hole.

[0007] The material storage assembly includes a material storage plate disposed below the unloading plate and capable of reciprocating in a controllable horizontal direction, and a linear module. The material storage plate has multiple material storage slots. The linear module is configured to cooperate with the multiple reciprocating movements of the material storage plate, causing the material storage plate to slowly move below the unloading plate toward the unloading plate so that multiple workpieces that fall into the unloading hole in sequence fall into the multiple material storage slots for feeding. The linear module also causes the material storage plate to move away from the unloading plate to a position corresponding to the feeding cylinder.

[0008] The feeding component works in conjunction with the storage component to automatically feed multiple workpieces.

[0009] The transfer and clamping mechanism includes a robotic arm, a clamping fixture with a support plate, a feeding cylinder for pushing multiple workpieces from the storage plate into the clamping fixture, a zero-point clamp, and a guide groove plate. The robotic arm is configured to move the clamping fixture to the storage plate and adjust the clamping fixture to clamp multiple workpieces, and to move the clamping fixture to the zero-point clamp for installation. The guide groove plate and the feeding cylinder are correspondingly arranged on both sides of the linear module to guide the clamping fixture in conjunction with the support plate.

[0010] Machine tool turntable, unloading table, robotic arm controller, electrical control box and machine tool operation control console.

[0011] Optionally, the clamping fixture includes:

[0012] An inclined cone head is provided at the bottom of the bearing plate for mounting the clamping fixture on the zero-point clamp after the workpiece is clamped.

[0013] A positioning pin is provided on the bottom side of the bearing plate to cooperate with the zero-point clamp to position the clamping fixture;

[0014] Multiple V-shaped positioning grooves, corresponding one-to-one with multiple material storage grooves, are formed on the top of the support plate for positioning multiple workpieces;

[0015] A hook-shaped limiting plate is used to limit the ends of multiple workpieces within the positioning groove;

[0016] A connecting plate is disposed above the support plate;

[0017] A pressure plate is disposed between the connecting plate and the bearing plate for pressing and fixing the workpiece in the positioning groove. The pressure plate has protrusions on both sides.

[0018] A guide post is disposed between the connecting plate and the bearing plate, and the guide post passes through the protrusion on the side of the pressure plate;

[0019] A reset spring is sleeved on the guide column and located between the protrusion of the pressure plate and the bearing plate;

[0020] A telescopic shaft clamp is disposed on the connecting plate. The telescopic shaft clamp has a push rod that passes through the connecting plate and abuts against the pressure plate, and a handle for adjusting the extension and retraction of the push rod. The telescopic shaft clamp is configured to extend the push rod by rotating the handle on it at a preset angle via the robotic arm to push out the pressure plate and clamp multiple workpieces.

[0021] Optionally, the total clamping force applied by the clamping fixture to the multiple workpieces is 2900-3100N, and the thrust applied by the robotic arm to the handle of the telescopic shaft clamp is 48-52N.

[0022] Optionally, the transfer clamping mechanism further includes:

[0023] A polyurethane baffle is provided at the end of the feeding cylinder to buffer the feed cylinder when it pushes out multiple workpieces.

[0024] An ejector cylinder is installed inside a guide groove plate to push the clamping fixture against the storage plate. A nylon top block is provided on the movable end of the ejector cylinder.

[0025] Optionally, the machine tool turntable is provided with a fixing flange for fixing the zero-point fixture, and the fixing flange is provided with a proximity sensor for detecting that the clamping fixture is installed into the zero-point fixture.

[0026] According to a second aspect of the present invention, a control method for an automated loading and unloading device for biopsy needles is provided, comprising the following steps:

[0027] When the workpiece detection sensor of the feeding component detects a workpiece in the storage hole, the feeding component pusher cylinder and the linear module of the storage component are controlled to drive the storage plate and the storage plate to move in coordination to automatically feed multiple workpieces.

[0028] The robotic arm is controlled to move the clamping fixture to the storage plate, and the feeding cylinder is used to make the clamping fixture clamp multiple workpieces;

[0029] The robotic arm is controlled to move the clamping fixture to the zero-point fixture and install it into the zero-point fixture. After the clamping fixture is installed into the zero-point fixture, the zero-point fixture is controlled to clamp the clamping fixture after a preset time delay.

[0030] After multiple workpieces are processed, the zero-point fixture is controlled to release the clamping fixture and the robotic arm is controlled to move the clamping fixture to the unloading platform of the automated loading and unloading device for biopsy needles. After unloading is completed, the robotic arm is controlled to put the clamping fixture back into the guide slot of the transfer clamping mechanism.

[0031] Optionally, when the workpiece detection sensor of the feeding assembly detects a workpiece in the storage hole, controlling the pushing cylinder and the linear module to drive the storage plate and the storage plate to move in coordination to automatically feed multiple workpieces includes the following steps:

[0032] The pusher cylinder is controlled to push the storage plate to move back and forth repeatedly above the unloading plate so that multiple workpieces fall sequentially from the storage hole into the unloading hole;

[0033] The linear module is controlled to move repeatedly in coordination with the storage plate to drive the storage plate to move slowly below the unloading plate toward the unloading plate so that multiple workpieces that fall into the unloading hole in sequence fall into multiple storage tanks for loading. Then, the linear module is controlled to drive the storage plate to move away from the unloading plate to a position corresponding to the feeding cylinder.

[0034] Optionally, controlling the robotic arm to move the clamping fixture to the storage plate and cooperating with the feeding cylinder to make the clamping fixture clamp multiple workpieces includes the following steps:

[0035] The robotic arm is controlled to place the clamping fixture into the guide groove plate, and the ejector cylinder of the transfer clamping mechanism is controlled to push the clamping fixture against the storage plate;

[0036] The feeding cylinder is controlled to push multiple workpieces on the storage plate into the positioning groove in the clamping fixture, and the ends of the multiple workpieces abut against the hook-shaped limiting plate of the clamping fixture.

[0037] The robotic arm is controlled to rotate the handle of the telescopic shaft clamp of the clamping fixture at a preset angle to extend the push rod of the telescopic shaft clamp and push out the pressure plate of the clamping fixture to clamp multiple workpieces.

[0038] The beneficial effects of this invention are as follows: by using a pusher cylinder to drive the storage plate to move back and forth, and in conjunction with a linear module to drive the storage plate to move slowly toward the unloading plate, automatic feeding of multiple workpieces can be achieved. Through the cooperation between the feeding cylinder, clamping fixture, and robotic arm, multiple workpieces can be clamped, transferred, and unloaded at one time, improving the clamping accuracy of the workpieces, saving labor costs, and increasing processing efficiency.

[0039] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0040] Figure 1 This is a schematic structural diagram of the loading mechanism of an automated loading and unloading device for biopsy needles according to an embodiment of the present invention;

[0041] Figure 2 This is a schematic cross-sectional view of the feeding component of an automated loading and unloading device for biopsy needles according to an embodiment of the present invention;

[0042] Figure 3 This is a first schematic structural diagram of the transfer and clamping mechanism of an automated loading and unloading device for biopsy needles according to an embodiment of the present invention;

[0043] Figure 4 This is a second schematic structural diagram of the transfer and clamping mechanism of an automated loading and unloading device for biopsy needles according to an embodiment of the present invention;

[0044] Figure 5 for Figure 3 A schematic structural diagram of the intermediate clamping fixture;

[0045] Figure 6 This is a schematic overall structural diagram of an automated loading and unloading device for biopsy needles according to an embodiment of the present invention;

[0046] Figure 7 This is a schematic flowchart illustrating a control method for an automated loading and unloading device for biopsy needles according to an embodiment of the present invention.

[0047] Figure 8 This is a schematic flowchart illustrating step S10 of a control method for an automated loading and unloading device for biopsy needles according to an embodiment of the present invention.

[0048] Figure 9 This is a schematic flowchart of step S20 of a control method for an automated loading and unloading device for biopsy needles according to an embodiment of the present invention.

[0049] In the diagram: 1-Feeding mechanism, 11-Infeed assembly, 111-Unloading plate, 1111-Unloading hole, 112-Storage plate, 1121-Storage hole, 113-Infeed box, 1131-Baffle, 1132-Box cover, 114-Fixed frame, 115-Workpiece detection sensor, 116-Pushing cylinder, 12-Storage assembly, 121-Storage plate, 1211-Storage trough, 122-Linear module, 2-Transfer and clamping mechanism, 21-Robotic arm, 22-Clamping fixture, 221-Bearing plate, 222-Angled cone head, 223-Positioning pin 224-Positioning groove, 225-Hook-shaped limiting plate, 226-Connecting plate, 227-Pressure plate, 228-Guide column, 229-Reset spring, 2210-Telescopic shaft type clamp, 2211-Induction sheet, 23-Feeding cylinder, 24-Zero point clamp, 25-Guide groove plate, 251-Allowing groove, 26-Polyurethane stop block, 27-Ejection cylinder, 271-Nylon top block, 3-Machine tool turntable, 31-Fixed flange, 311-Proximity sensor, 4-Unloading table, 5-Robotic arm controller, 6-Electrical control box, 7-Machine tool operation control console. Detailed Implementation

[0050] The technical solution 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, 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. In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the technical features involved in the different embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0051] Please see Figures 1 to 4 An automated loading and unloading device for biopsy needles, as shown in a preferred embodiment of this application, includes a loading mechanism 1 and a transfer and pressing mechanism 2. The loading mechanism 1 has an infeed component 11 and a storage component 12. The infeed component 11 includes an unloading plate 111 with an unloading hole 1111, a storage plate 112 disposed above the unloading plate 111 and controllably reciprocating in the horizontal direction, and an infeed box 113 fixedly disposed above the storage plate 112 with its outlet corresponding to the storage hole 1121. The storage plate 112 has a storage hole 1121 corresponding to the unloading hole 1111. The storage component 12 includes a storage plate 121 disposed below the unloading plate 111 and controllably reciprocating in the horizontal direction. The storage plate 121 has a plurality of storage slots 1211. The infeed component 11 and the storage component 12 cooperate to automatically load multiple workpieces. The transfer and clamping mechanism 2 is equipped with a robotic arm 21, a clamping fixture 22, a feeding cylinder 23 for pushing multiple workpieces on the storage plate 121 into the clamping fixture 22, and a zero-point clamp 24. The robotic arm 21 is configured to move the clamping fixture 22 to the storage plate 121 and adjust the clamping fixture 22 to clamp multiple workpieces, and then move the clamping fixture 22 to the zero-point clamp 24 for installation.

[0052] According to the embodiment of the present invention, the material storage plate 112 is driven to reciprocate by a pusher cylinder, and the linear module drives the material storage plate 121 to move slowly toward the unloading plate 111, thereby enabling automatic feeding of multiple workpieces. Through the cooperation between the feeding cylinder 23, the clamping fixture, and the robotic arm 21, multiple workpieces can be clamped, transferred, and unloaded at one time, improving the clamping accuracy of the workpieces, saving labor costs, and increasing processing efficiency.

[0053] The following detailed description uses specific examples:

[0054] Please see Figure 1 The feeding assembly 11 also includes a fixing frame 114, two workpiece detection sensors 115, and a pushing cylinder 116. The two workpiece detection sensors 115 are mounted on the storage plate 112 and located in the through holes on both sides of the storage hole 1121. In this embodiment, the workpiece detection sensors 115 are through-beam photoelectric switches. The pushing cylinder 116 is mounted on the fixing frame 114 and its movable end is connected to the storage plate 112. It is used to push the storage plate 112 to move back and forth repeatedly above the unloading plate 111 so that multiple workpieces fall sequentially from the storage hole 1121 into the unloading hole 1111. The pushing cylinder 116 is equipped with two magnetic switches. One end of the feeding box 113 is fixedly mounted on the fixing frame 114, and the other end is tilted downwards close to the storage plate 112. The other end of the feeding box 113 is equipped with a baffle 1131. The box cover 1132 of the feeding box 113 is a transparent acrylic plate to facilitate observation of whether the workpiece feeding direction is correct.

[0055] The storage assembly 12 also includes a linear module 122 disposed below the unloading plate 111. The linear module 122 is configured to cooperate with the multiple reciprocating movements of the storage plate 112 to drive the storage plate 121 to move slowly below the unloading plate 111 toward the unloading plate 111 so that multiple workpieces that fall into the unloading holes 1111 in sequence fall into multiple storage tanks 1211 for loading. Then the linear module 122 drives the storage plate 121 to move away from the unloading plate 111 to a position corresponding to the feeding cylinder 23.

[0056] Specifically, the pusher cylinder 116 has a diameter of φ16mm, a stroke of 20mm, and a cylinder air pressure of 0.5MPa. The linear module 122 consists of a ball screw with a lead of 2mm and a high-precision servo motor with a power of 100W and a speed of 2000RPM.

[0057] The feeding mechanism 1 is manually operated at regular intervals, loading workpieces into the inlet of the feeding box 113 in a fixed direction (approximately every 30-60 minutes). After loading, the workpieces roll down the inclined surface of the feeding box 113 into the storage hole 1121 of the storage plate 112. In the initial state, the storage plate 121 is located directly below the unloading plate 111, and the first storage trough 1211 on it, near the pusher cylinder 116, is directly opposite the unloading hole 1111. After the machine is turned on, the workpiece detection sensors 115 installed on both sides of the storage plate 112 detect the workpiece, and the pusher cylinder 116 starts to push the storage plate 112 away from the pusher cylinder 116 until the storage hole 1121 of the storage plate 112 and the unloading hole 1111 of the unloading plate 111 are aligned. At this time, the workpiece in the storage plate 112 rolls into the first storage trough 1211 through the unloading hole 1111. Subsequently, the pusher cylinder 116 drives the storage plate 112 to retract and then push out, carrying one workpiece to the unloading hole 1111. (During this process, since the feed box 113 remains fixed, only one workpiece is loaded into the storage hole 1121 each time the pusher cylinder 116 moves back and forth; any excess workpieces are blocked by the baffle 1131 on the feed box 113 when the storage plate 112 is pushed out). Simultaneously, the linear module 122 drives the storage plate 121 to slowly move towards the pusher cylinder 116. When the next workpiece rolls out of the unloading hole 1111, the second storage groove 1211 on the storage plate 121 is located directly below the unloading hole 1111, thus catching the workpiece. This process is repeated for automatic loading of multiple workpieces. In this embodiment, the storage plate 121 loads 9 or fewer needles at a time, and the workpiece material is 316L stainless steel. After the workpiece is loaded into the storage tank 1211, the linear module 122 moves the storage plate 121 away from the unloading plate 111 to the position corresponding to the feeding cylinder 23. At the same time, the workpiece detection sensor 115 stops detection, and the pushing cylinder 116 stops. The workpiece detection sensor 115 resumes detection for the next loading cycle only after the linear module 122 moves the storage plate 121 back to its initial position. It should be noted that if there is insufficient material in the storage hole 1121 or if a workpiece is stuck in the storage hole 1121, the system will issue an alarm based on the detection status of the workpiece detection sensor 115.

[0058] Please see Figure 5The clamping fixture 22 includes a support plate 221, a tapered head 222, a positioning pin 223, multiple V-shaped positioning grooves 224, a hook-shaped limiting plate 225, a connecting plate 226, a pressure plate 227, a guide column 228, a return spring 229, a telescopic shaft clamp 2210, and a sensing sheet 2211. The tapered head 222 is located at the bottom of the support plate 221 and is used to mount the clamping fixture 22, after clamping the workpiece, onto the zero-point clamp 24. The positioning pin 223 is located on the bottom side of the support plate 221 and is used to position the clamping fixture 22 in conjunction with the zero-point clamp 24; the head of the positioning pin 223 is chamfered at 15°. The multiple V-shaped positioning grooves 224 correspond one-to-one with multiple storage grooves 1211 and are located on the top of the support plate 221 for positioning multiple workpieces. The hook-shaped limiting plate 225 is used to limit the ends of multiple workpieces within the positioning grooves 224. The connecting plate 226 is positioned above the support plate 221, and the pressure plate 227 is positioned between the connecting plate 226 and the support plate 221 to clamp and fix the workpieces in the positioning groove 224. The pressure plate has protrusions on both sides. The guide column 228 is positioned between the connecting plate 226 and the support plate 221, and the guide column 228 passes through the protrusion on the side of the pressure plate 227. The return spring 229 is sleeved on the guide column 228 and is located between the protrusion of the pressure plate 227 and the support plate 221. The telescopic shaft clamp 2210 is positioned on the connecting plate 226. The telescopic shaft clamp 2210 has a push rod that passes through the connecting plate 226 and abuts against the pressure plate 227, and a handle for adjusting the extension and retraction of the push rod. The telescopic shaft clamp 2210 is configured such that the push rod is extended by rotating the handle on it at a preset angle using the robotic arm 21 to push the pressure plate 227 out and clamp multiple workpieces. The sensing sheet 2211 is disposed on the support plate 221.

[0059] Please see Figure 3 The transfer and clamping mechanism 2 also includes a guide groove plate 25, a polyurethane stop block 26, and an ejection cylinder 27. The guide groove plate 25 is correspondingly arranged on both sides of the linear module 122 with the feeding cylinder 23, and is used to guide the clamping fixture 22 in conjunction with the bearing plate 221. The bottom of the guide groove plate 25 has a clearance groove 251 to avoid the inclined cone head 222 on the clamping fixture 22. The polyurethane stop block 26 is located at the movable end of the feeding cylinder 23 and is used to buffer when the feeding cylinder 23 pushes out multiple workpieces. The ejection cylinder 27 is located in the guide groove plate 25 and is used to push the clamping fixture 22 against the storage plate 121. The movable end of the ejection cylinder 27 is provided with a nylon top block 271.

[0060] After the material is loaded onto the storage plate 121 and moved to the designated position corresponding to the feeding cylinder 23, the pneumatic gripper on the robotic arm 21 clamps the clamping fixture 22 and places it into the guide slot plate 25. Then, the ejector cylinder 27 pushes the nylon top block 271 out, pressing the support plate 221 against the storage plate 121 for fixation. This prevents the clamping fixture 22 from shifting and affecting the workpiece positioning when subsequent workpieces are pushed into it. Immediately afterward, the feeding cylinder 23 extends the polyurethane stop block 26, pushing multiple workpieces from the storage plate 121 into multiple positioning slots 224 within the clamping fixture 22. The ends of the multiple workpieces are then restrained within the hook-shaped limiting plate 225 of the clamping fixture 22 to prevent deformation during subsequent processing. During this process, the polyurethane stop block 26 can flexibly eject the workpieces to prevent them from bending. The feeding cylinder 23 is adjustable in position (front, back, left, and right), and the polyurethane stop block 26 is adjustable in height to better align with the workpieces in the storage tank 1211, making the ejection of multiple workpieces more stable and consistent. Then, the robotic arm 21 rotates the handle of the telescopic shaft clamp 2210 of the clamping fixture 22 by a certain angle, extending the push rod of the telescopic shaft clamp 2210 to push out the pressure plate 227 of the clamping fixture 22 and clamp the multiple workpieces. After clamping the workpieces, the ejection cylinder 27 and the feeding cylinder 23 reset.

[0061] Specifically, in this embodiment, the total clamping force applied by the clamping fixture 22 to multiple workpieces is 2900-3100N, and the pushing force applied by the robotic arm 21 to the handle of the telescopic shaft clamp 2210 is 48-52N. In this embodiment, the total clamping force applied by the clamping fixture 22 to multiple workpieces is 3000N, the pushing force applied by the robotic arm 21 to the handle of the telescopic shaft clamp 2210 is 50N, the handle of the telescopic shaft clamp 2210 rotates to the clamping angle of 120° counterclockwise, and the clamping stroke is 1.5mm. According to the NOVEX milling force calculation results, the main cutting force of the workpiece is approximately 51N, so the clamping force of a single workpiece is more than twice the main cutting force, thus ensuring reliable workpiece clamping. The V-shaped positioning groove 224 enables a greater workpiece clamping force, and the workpiece is supported by V-surfaces on both sides. The deformation in the Y direction after the workpiece is clamped is 0.000879 mm, and the deformation in the Z direction is 0.000417 mm. The deformation is small and meets the processing requirements. The maximum stress of the workpiece is less than the yield force and meets the processing requirements.

[0062] Please see 4 and Figure 6 The automated loading and unloading device for biopsy needles also includes a machine tool turntable 3, a loading table 4, a robotic arm controller 5, an electrical control box 6, and a machine tool operation control console 7. The machine tool turntable 3 is provided with a fixing flange 31 for fixing the zero-point fixture 24. The fixing flange 31 is provided with a proximity sensor 311 for detecting the installation of the clamping fixture 22 into the zero-point fixture 24. In this embodiment, the proximity sensor 311 is an inductive proximity sensor.

[0063] After clamping and fixing the workpiece, the robotic arm 21 moves the clamping fixture 22 to the zero-point fixture 24 and installs it into the groove on the zero-point fixture 24 through the inclined cone head 222. At this time, the positioning pin 223 with a 15° bevel can better provide positioning guidance. After the proximity sensor 311 and the sensing sheet 2211 detect that the clamping fixture 22 is installed in the zero-point fixture 24, the zero-point fixture 24 is vented again after a certain delay so that the steel balls inside press against the inclined cone head 222, and then the inclined cone head 222 is pulled tight to complete the clamping of the clamping fixture 22. The clamping delay is to ensure the clamping and fixing effect of the clamping fixture 22. After multiple workpieces are processed, the zero-point fixture 24 releases the clamping fixture 22, and then the robotic arm 21 moves the clamping fixture 22 to the unloading table 4 for manual unloading. After the material is unloaded, the operator controls the robotic arm 21 through the machine tool operation console 7 to put the clamping fixture 22 back into the guide slot plate 25 of the transfer clamping mechanism 2 for process cycle.

[0064] Please see Figure 7 The present invention also provides a control method for an automated loading and unloading device for biopsy needles, comprising the following steps:

[0065] Step S10: When the workpiece detection sensor 115 of the feeding assembly detects the workpiece in the storage hole 1121, the feeding assembly 11 push cylinder 116 and the storage assembly 12 linear module 122 are controlled to drive the storage plate 112 and the storage plate 121 to move together to automatically feed multiple workpieces.

[0066] Step S20: Control the robotic arm 21 to move the clamping fixture 22 to the storage plate 121, and cooperate with the feeding cylinder 23 to make the clamping fixture 22 clamp multiple workpieces;

[0067] Step S30: Control the robotic arm 21 to move the clamping fixture 22 to the zero-point clamp 24 and install it into the zero-point clamp 24. After the clamping fixture 22 is installed into the zero-point clamp 24, control the zero-point clamp 24 to clamp the clamping fixture 22 after a preset time delay.

[0068] Step S40: After multiple workpieces are processed, control the zero-point fixture 24 to release the clamping fixture 22 and control the robotic arm 21 to move the clamping fixture 22 to the unloading table 4. After unloading is completed, control the robotic arm 21 to put the clamping fixture 22 back into the guide groove plate 25 of the transfer clamping mechanism 2 for process cycle.

[0069] Please see Figure 8 Step S10 includes the following steps:

[0070] Step S101: Control the pusher cylinder 116 to push the storage plate 112 to move back and forth repeatedly above the unloading plate 111 so that multiple workpieces fall from the storage hole 1121 into the unloading hole 1111 in sequence;

[0071] Step S102: Control the linear module 122 to move back and forth in coordination with the storage plate 112 to drive the storage plate 121 to move slowly below the unloading plate 111 towards the unloading plate 111 so that multiple workpieces that fall into the unloading hole 1111 in sequence fall into multiple storage tanks 1211 for loading. Then control the linear module 122 to drive the storage plate 121 to move away from the unloading plate 111 to the position corresponding to the feeding cylinder 23.

[0072] Please see Figure 9 Step S20 includes the following steps:

[0073] Step S201: Control the robotic arm 21 to place the clamping fixture 22 into the guide groove plate 25, and control the ejection cylinder 27 of the transfer clamping mechanism 2 to push the clamping fixture 22 against the storage plate 121;

[0074] Step S202: Control the feeding cylinder 23 to push multiple workpieces on the storage plate 121 into the positioning groove 224 in the clamping fixture 22 and make the ends of the multiple workpieces abut against the hook-shaped limiting plate 225 of the clamping fixture 22.

[0075] Step S203: Control the robotic arm 21 to rotate the handle of the telescopic shaft type clamp 2210 of the clamping fixture 22 at a preset angle so that the push rod of the telescopic shaft type clamp 2210 extends and pushes out the pressure plate 227 of the clamping fixture 22 to clamp multiple workpieces.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A biopsy needle tube automatic feeding and unloading device, characterized in that, The utility model relates to a kind of automatic feeding mechanism for workpiece, including: Feeding mechanism has material inlet subassembly and storage subassembly; The material inlet subassembly includes the unloading plate of unloading hole, the material storage plate of being set above the unloading plate and being controllably reciprocated along horizontal direction, the material inlet box of being fixedly set above the material storage plate and its outlet corresponding with the storage hole, workpiece detection sensor and pusher cylinder, the material storage plate is opened with the storage hole corresponding with the unloading hole, two workpiece detection sensors are set on the material storage plate and are located on the two sides of the storage hole, and the movable end of the pusher cylinder is connected with the material storage plate, for pushing the material storage plate to reciprocate on the unloading plate multiple times to make multiple workpieces sequentially fall into the unloading hole from the storage hole; The storage subassembly includes the storage plate of being set below the unloading plate and being controllably reciprocated along horizontal direction and linear module, the storage plate is opened with multiple storage grooves, the linear module is set to cooperate with the multiple reciprocation of the material storage plate, drives the storage plate to slowly move below the unloading plate towards the unloading plate direction to make multiple workpieces sequentially falling into the unloading hole correspondingly fall into multiple storage grooves to feed, and the linear module drives the storage plate to move towards the direction of being away from the unloading plate to the position corresponding with the pusher cylinder; The material inlet subassembly cooperates with the storage subassembly to automatically feed multiple workpieces; Transfer and compression mechanism is provided with mechanical arm, compression jig with bearing plate, pusher cylinder for pushing multiple workpieces on the storage plate into the compression jig, zero point clamp and guide slot plate, the mechanical arm is set to move the compression jig to the storage plate and adjust the compression jig to compress multiple workpieces, and the compression jig is moved to the zero point clamp to be installed, the guide slot plate is set on the two sides of the linear module corresponding with the pusher cylinder, for guiding the compression jig with the bearing plate; Machine tool rotary table, unloading table, mechanical arm controller, electric control box and machine tool operation console.

2. The automatic loading and unloading device for biopsy needle tubes according to claim 1, characterized in that, The compression jig includes: Oblique taper head, set in the bottom of the bearing plate, for installing the compression jig after compressing workpiece on the zero point clamp; Positioning pin, set in the side of the bottom of the bearing plate, for cooperating with the zero point clamp to position the compression jig; Multiple V-shaped structure positioning grooves, corresponding with multiple storage grooves one by one, are opened in the top of the bearing plate, for positioning multiple workpieces; Hook-shaped limiting plate, for limiting the end of multiple workpieces in the positioning groove; Connecting plate, set above the bearing plate; Pressing plate, set between the connecting plate and the bearing plate, for compressing and fixing workpiece in the positioning groove, and the two sides of the pressing plate have protruding parts; Guide column, set between the connecting plate and the bearing plate, the guide column passes through the protruding part of the side of the pressing plate; Reset spring, sleeved on the guide column and located between the protruding part of the pressing plate and the bearing plate. A telescopic shaft type clamp is arranged on the connecting plate, and has a push rod supported on the pressing plate through the connecting plate and a handle for adjusting the telescopic degree of the push rod. The telescopic shaft type clamp is arranged to rotate by the mechanical arm at a preset angle to extend the push rod to push the pressing plate out of the multiple workpieces.

3. The automatic loading and unloading device for biopsy needle tubes according to claim 2, characterized in that, The total pressing force of the pressing jig applied on the multiple workpieces is 2900-3100N, and the pushing force of the handle of the telescopic shaft type clamp applied by the mechanical arm is 48-52N.

4. The automatic loading and unloading device for biopsy needle tubes according to claim 2, characterized in that, The transfer pressing mechanism further comprises: A polyurethane block is arranged on the movable end of the feeding cylinder to buffer when the feeding cylinder pushes out the multiple workpieces. An ejection cylinder is arranged in the guide groove plate to push the pressing jig against the storage plate. The movable end of the ejection cylinder is provided with a nylon top block.

5. The biopsy needle automated loading and unloading device of claim 1, wherein, A fixing flange for fixing the zero-point clamp is arranged on the machine tool rotary table. A proximity sensor for detecting the installation of the pressing jig into the zero-point clamp is arranged on the fixing flange.

6. The control method of the automatic loading and unloading device for biopsy needle tubes according to any one of claims 2 to 5, characterized in that, The method comprises the following steps: When the workpiece detection sensor of the feeding assembly detects the workpieces in the storage hole, the push cylinder of the feeding assembly and the linear module of the storage assembly are controlled to drive the storage plate and the storage plate to move cooperatively to automatically feed the multiple workpieces. The mechanical arm is controlled to move the pressing jig to the storage plate and cooperate with the feeding cylinder to press the multiple workpieces with the pressing jig. The mechanical arm is controlled to move the pressing jig to the zero-point clamp and install it into the zero-point clamp. After the pressing jig is installed into the zero-point clamp, the zero-point clamp is controlled to clamp the pressing jig after a preset time delay. After the multiple workpieces are processed, the zero-point clamp is controlled to release the pressing jig, and the mechanical arm is controlled to move the pressing jig to the unloading table of the biopsy needle tube automatic feeding and unloading device. After unloading is completed, the mechanical arm is controlled to reposition the pressing jig into the guide groove plate of the transfer pressing mechanism.

7. The control method of the biopsy needle automated loading and unloading device according to claim 6, wherein When the workpiece detection sensor of the feeding assembly detects the workpieces in the storage hole, the push cylinder and the linear module are controlled to drive the storage plate and the storage plate to move cooperatively to automatically feed the multiple workpieces, which comprises the following steps: The push cylinder is controlled to push the storage plate to move reciprocally above the unloading plate multiple times to make the multiple workpieces fall into the unloading hole from the storage hole in sequence. The linear module is controlled to move the storage plate slowly below the unloading plate towards the unloading plate to make the multiple workpieces falling into the unloading hole in sequence fall into the multiple storage grooves for feeding. Subsequently, the linear module is controlled to move the storage plate towards the direction away from the unloading plate to the position corresponding to the feeding cylinder.

8. The control method of the automatic loading and unloading device for biopsy needle tubes according to claim 6, characterized in that, The mechanical arm is controlled to move the pressing jig to the storage plate and cooperate with the feeding cylinder to press the multiple workpieces with the pressing jig, which comprises the following steps: The mechanical arm is controlled to put the pressing jig into the guide groove plate, and the ejecting cylinder of the transfer pressing mechanism is controlled to push the pressing jig to press against the storage plate; The feeding cylinder is controlled to push the multiple workpieces on the storage plate into the positioning groove in the pressing jig, and the ends of the multiple workpieces are made to abut against the hook-shaped limiting plate of the pressing jig; The mechanical arm is controlled to rotate the handle of the telescopic shaft type clamp of the pressing jig at a preset angle to extend the push rod of the telescopic shaft type clamp to eject the pressing plate of the pressing jig to press multiple workpieces.

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