Automatic feeding and discharging device for dialyzer centrifugal line
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BAIN MEDICAL EQUIP (GUANGZHOU) CO LTD
- Filing Date
- 2024-04-17
- Publication Date
- 2026-06-26
Smart Images
Figure CN118373186B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of dialyzer manufacturing technology, and in particular to an automatic loading and unloading device for a dialyzer centrifugal line. Background Technology
[0002] A dialyzer is a conduit and container for solute exchange between blood and dialysate, and it is a crucial component of hemodialysis. During the dialyzer manufacturing and assembly process, after the fiber bundles are installed into the housing, the dialyzer housing needs to be filled with adhesive, and then the dialyzer is centrifuged to ensure that the adhesive solution is located in the gaps between the housing ends and the fiber bundles, guaranteeing that the adhesive solution is also evenly distributed at both ends of the dialyzer.
[0003] The existing method of loading and unloading dialyzer centrifuge lines is manual. This method requires one worker at each of the receiving and unloading points on each production line. The unloading worker places the un-glued product on the centrifuge clamp, then attaches the glue-filling box. After glue filling, the product enters the centrifuge line for centrifugation. The receiving worker then removes the glue-filling box and the product, completing the process. However, with manual loading and unloading, workers need to stand for long periods of time and expend considerable effort to place or remove the product and glue-filling box, resulting in high labor costs and excessively high work intensity. Summary of the Invention
[0004] The purpose of this invention is to provide an automatic loading and unloading device for dialyzer centrifuge lines, so as to solve the problems of high labor costs and excessive labor intensity caused by manual loading and unloading of dialyzer centrifuge lines in the prior art.
[0005] To achieve the above objectives, the present invention provides an automatic loading and unloading device for a dialyzer centrifuge line, comprising: a frame, wherein the frame is provided with a feeding mechanism, a first storage mechanism, a pre-loading mechanism, a pre-unloading mechanism, a receiving mechanism, a second storage mechanism, a CCD detection mechanism, and a centrifuge; and the frame is also provided with a material handling robot, a loading and unloading robot, and a receiving robot.
[0006] The feeding mechanism includes a conveyor belt for transporting dialyzers to be injected with adhesive;
[0007] The first material storage mechanism includes a support frame, a limiting plate, and a clamping assembly. The support frame is fixedly assembled to the frame, the limiting plate is assembled to the support frame, the limiting plate is provided with a groove for radial insertion of the dialyzer, and the clamping assembly is used to radially clamp the dialyzer's injection nozzle.
[0008] The pre-feeding mechanism includes a feeding rack and a feeding unit. The feeding rack has two feeding stations arranged in a cross shape. The two feeding stations are used to vertically support two dialyzers. The two feeding stations have a height difference in the vertical direction, and the height difference is not less than the diameter of the dialyzer. The feeding unit is arranged at both ends of the feeding stations. The feeding unit includes a first fixing member for fixing the dialyzer and a second fixing member for fixing the glue injection box. The first fixing member and the second fixing member are arranged vertically at intervals.
[0009] The pre-feeding mechanism includes a feeding frame and a feeding unit. The feeding frame has two feeding stations that are staggered in a cross shape. The two feeding stations are used to vertically support two dialyzers. The two feeding stations have a height difference in the vertical direction, and the height difference is not less than the diameter of the dialyzer. The feeding unit is arranged at both ends of the feeding stations. The feeding unit is used to clamp and fix the dialyzer's injection nozzle along the axial direction of the dialyzer.
[0010] The receiving mechanism is used to stack dialyzers. The receiving mechanism includes a receiving rack, a positioning unit, and a storage unit. The positioning unit and the storage unit are assembled on the receiving rack. The positioning unit includes a positioning frame and a positioning plate. The positioning frame is fixedly arranged on the receiving rack. The positioning plate is assembled on the positioning frame. The positioning plate is provided with a positioning groove for the dialyzer to be radially inserted. The storage unit is arranged on the side of the positioning unit.
[0011] The second storage mechanism is used to store the glue dispensing boxes to be loaded. The CCD detection mechanism is arranged on one side of the centrifuge and is used for visual detection of the clamping status of the centrifuge. The material handling robot is used to transfer the dialyzers on the conveyor belt to the first storage mechanism. The loading and unloading robot is used to transfer the dialyzers and glue dispensing boxes on the pre-loading mechanism to the centrifuge or to transfer the dialyzers and glue dispensing boxes on the centrifuge to the pre-unloading mechanism. The receiving robot is used to transfer the dialyzers on the pre-unloading mechanism to the receiving mechanism.
[0012] Preferably, the first storage mechanism further includes a pair of friction wheels, which are rotatably mounted on the support frame. The dialyzer is supported on the pair of friction wheels, and the friction wheels are used to drive the dialyzer to rotate around the center line.
[0013] Preferably, the clamping assembly includes two sets of storage cylinders, which are arranged at opposite ends of the limiting plate. A clamping plate is driven to the storage cylinder, and the storage cylinder is used to drive the clamping plate to move along the axial direction of the dialyzer. The clamping plate is provided with a slot for clamping the dialyzer's injection nozzle, and the slot and the recess are located on the same vertical plane.
[0014] Preferably, the feeding rack includes a first feeding plate and a second feeding plate. Both the first feeding plate and the second feeding plate are provided with feeding slots. The feeding slots on the first feeding plate and the second feeding plate are arranged in a cross shape. The height of the feeding slots on the first feeding plate is higher than the height of the feeding slots on the second feeding plate. The first feeding plate and the second feeding plate form two feeding stations.
[0015] Preferably, the feeding rack further includes a lifting seat, on which a lifting groove is provided, and the direction of the lifting groove is the same as the direction of the feeding groove on the second feeding plate.
[0016] Preferably, the first fixing member includes a first cylinder and a jaw driven by the first cylinder, the first cylinder being used to drive the jaw to clamp the injection nozzle along the axial direction of the dialyzer; the second fixing member includes a second cylinder and a clamp driven by the second cylinder, the clamp being used to radially clamp and fix the injection pin of the injection box, the second cylinder being located above the first cylinder.
[0017] Preferably, the positioning unit further includes a pair of rollers arranged in a rotatable manner, the rollers being rotatably mounted on the positioning frame, the rollers being arranged in a pair, the dialyzer being supported on the pair of rollers, and the rollers being used to drive the dialyzer to rotate around a center line.
[0018] Preferably, the storage unit includes a storage frame and a lifting seat. The storage frame is an open structure with openings on both the top and bottom sides. The lifting seat is located at the bottom of the storage frame and is movably mounted to the receiving rack in the vertical direction.
[0019] Preferably, the second material storage mechanism includes a base frame and a material storage rack vertically and movably mounted on the base frame. The material storage rack has material storage platforms arranged in a cross shape, and the material storage platforms are used to support the glue injection pins of the glue injection box.
[0020] Preferably, the centrifuges are arranged in two sets at intervals, and the CCD detection mechanism includes a slide rail and an industrial camera slidably mounted on the slide rail, the slide rail extending along the interval direction between the two sets of centrifuges.
[0021] Compared with existing technologies, the automatic loading and unloading device for a dialyzer centrifuge line according to an embodiment of the present invention has the following advantages: The conveyor belt of the receiving mechanism can transport the dialyzers to be injected to one side of the frame. The feeding robot can grab the dialyzers and place them on the limiting plate of the first storage mechanism. The dialyzers are embedded in the groove, and the clamping component radially clamps the injection nozzle to fix the dialyzers, thereby positioning the injection nozzle so that the injection nozzle faces upwards. Simultaneously, the injection box is arranged on the second storage mechanism. The loading and unloading robot transfers the dialyzers on the first storage mechanism and the injection box on the second storage mechanism to the pre-loading mechanism. The two dialyzers are placed at two loading stations, and the first and second fixing components fix and assemble the dialyzers and the injection box. The loading and unloading robot then transfers the assembled dialyzers and glue injection boxes to a centrifuge for centrifugal glue injection. After glue injection, the dialyzers and glue injection boxes are transferred to the pre-feeding mechanism. At the unloading station of the pre-feeding mechanism, the injection nozzle is fixed by the unloading unit, and the loading and unloading robot can then remove the glue injection box. The receiving robot then transfers the glue-injected dialyzers from the pre-feeding mechanism to the positioning unit of the receiving mechanism. After the dialyzers are embedded in the positioning slot of the positioning plate, the injection nozzle is positioned. The receiving robot then stacks the dialyzers into the storage unit. The cooperation of these mechanisms enables automatic loading, automatic glue injection, and automatic unloading of the dialyzer centrifuge line, avoiding manual operation and reducing labor costs and the intensity of labor. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the automatic loading and unloading device for the dialyzer centrifugal line of the present invention;
[0023] Figure 2 yes Figure 1 A top view of the automatic loading and unloading device for the dialyzer centrifuge line;
[0024] Figure 3 yes Figure 1 A schematic diagram of the first material storage mechanism of the automatic loading and unloading device for the dialyzer centrifugal line;
[0025] Figure 4 yes Figure 3 A partially enlarged structural diagram of point A of the first material storage mechanism;
[0026] Figure 5 yes Figure 1 A schematic diagram of the pre-feeding mechanism of the automatic loading and unloading device for the dialyzer centrifugal line;
[0027] Figure 6 yes Figure 5 A partially enlarged structural diagram of point B of the pre-feeding mechanism;
[0028] Figure 7 yes Figure 1A schematic diagram of the pre-feeding mechanism of the automatic loading and unloading device for the dialyzer centrifugal line;
[0029] Figure 8 yes Figure 1 A schematic diagram of the receiving mechanism of the automatic loading and unloading device for the dialyzer centrifugal line;
[0030] Figure 9 yes Figure 8 A partially enlarged structural diagram of point C of the receiving mechanism;
[0031] Figure 10 yes Figure 1 A schematic diagram of the second storage mechanism of the automatic loading and unloading device for the dialyzer centrifugal line;
[0032] Figure 11 yes Figure 1 A schematic diagram of the CCD detection mechanism and the structure of the centrifuge in the automatic loading and unloading device of the dialyzer centrifuge line.
[0033] In the diagram, 1. Frame, 2. Feeding mechanism, 21. Conveyor belt, 3. First storage mechanism, 31. Support frame, 32. Limiting plate, 321. Slot, 33. Clamping assembly, 331. Storage cylinder, 332. Pallet, 333. Slot, 34. Friction wheel, 4. Pre-feeding mechanism, 41. Feeding frame, 411. First feeding plate, 412. Second feeding plate, 413. Feeding trough, 414. Lifting seat, 42. Feeding unit, 421. First cylinder, 422. Claw, 423. Second cylinder, 424. Clamp, 5. Pre-unloading mechanism, 51. Unloading frame, 52. Unloading unit, 6. Receiving unit. Mechanism, 61. Receiving rack, 62. Positioning unit, 621. Positioning frame, 622. Positioning plate, 623. Positioning groove, 624. Roller, 63. Storage unit, 631. Storage frame, 632. Lifting seat, 7. Second storage mechanism, 71. Base frame, 72. Storage rack, 73. Storage platform, 8. CCD detection mechanism, 81. Industrial camera, 82. Slide rail, 9. Centrifuge, 10. Material handling robot, 11. Loading and unloading robot, 12. Receiving robot, 13. First sensor, 14. Second sensor, 15. Dialyzer, 151. Injection nozzle, 16. Glue injection box, 161. Glue injection pin. Detailed Implementation
[0034] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.
[0035] A preferred embodiment of the automatic loading and unloading device for a dialyzer centrifuge line according to the present invention is as follows: Figures 1 to 11As shown, the automatic loading and unloading device for the dialyzer centrifuge line includes a frame 1, a feeding mechanism 2, a first storage mechanism 3, a pre-loading mechanism 4, a pre-unloading mechanism, a receiving mechanism 6, a second storage mechanism 7, a CCD detection mechanism 8, a centrifuge 9, a material handling robot 10, a loading and unloading robot 11, and a receiving robot 12.
[0036] The frame 1 serves as the supporting foundation for the automatic loading and unloading device of the dialyzer centrifuge line. The frame 1 is formed by the fixed assembly of a frame and a platform. The first material storage mechanism 3, the pre-loading mechanism 4, the pre-unloading mechanism, the receiving mechanism 6, the second material storage mechanism 7, the CCD detection mechanism 8, the centrifuge 9, the material handling robot 10, the loading and unloading robot 11, and the receiving robot 12 are all mounted on the frame 1. A control panel, which is a PLC controller, is also mounted on the frame 1 to control the coordinated operation of each mechanism.
[0037] The feeding mechanism 2 is used to transport and temporarily store stacked dialyzers 15 awaiting glue injection. The feeding mechanism 2 includes a conveyor belt 21, which is horizontally mounted on one side of the frame 1. In this embodiment, the conveyor belt 21 is mounted at the middle height of the frame 1. After the stacked dialyzers 15 are on the conveyor belt 21, their height is similar to that of the first storage mechanism 3, which facilitates the material handling robot 10 to pick up and transfer the dialyzers 15.
[0038] The first storage mechanism 3 is used to store the dialyzer 15 to be injected with glue. The first storage mechanism 3 includes a support frame 31, a limiting plate 32, and a clamping assembly 33. The support frame 31 is formed by connecting a plate and a tube. The bottom end of the support frame 31 is fixedly connected to the frame 1 by bolts. The limiting plate 32 and the clamping assembly 33 are both fixedly assembled on the support frame 31 by bolts. The limiting plate 32 is used to limit and support the dialyzer 15, and the clamping assembly 33 is used to clamp and fix the dialyzer 15.
[0039] The limiting plate 32 is a rectangular plate structure and is fixedly assembled to the support frame 31 by bolts. There are two limiting plates 32, which are symmetrical to each other and spaced apart along the axial direction of the dialyzer 15. The top of each limiting plate 32 is provided with a groove 321. The groove 321 is used for the dialyzer 15 to be radially embedded into the limiting plate 32, that is, the dialyzer 15 falls directly into the groove 321 in the vertical direction. The two limiting plates 32 support the two ends of the dialyzer 15 in the axial direction to ensure the stability of the dialyzer 15, while the groove 321 limits the dialyzer 15 to prevent it from rolling.
[0040] The clamping assembly 33 is bolted to the support frame 31. The clamping assembly 33 is used to radially clamp the injection nozzle 151 of the dialyzer 15 to limit the injection nozzle 151 of the dialyzer 15, ensuring that the injection nozzle 151 is arranged upwards, which facilitates subsequent assembly with the glue injection box 16. In this embodiment, there are four sets of clamping assemblies 33 and limiting plates 32, which are spaced apart, and can store four sets of dialyzers 15 at the same time.
[0041] In this embodiment, the support frame 31 is also equipped with four first sensors 13. These four first sensors 13 are spaced apart and correspond to four pairs of paired limiting plates 32. The first sensors 13 are used to detect the position of the dialyzer 15's injection nozzle 151 on the limiting plate 32 to determine whether the injection nozzle 151 is vertically upward, thus positioning the injection nozzle 151. Specifically, the first sensors 13 can be a distance sensor, an infrared sensor, or a laser sensor, selected as needed.
[0042] The pre-loading mechanism 4 is used to pre-position the dialyzer 15 and assemble the glue injection box 16. After the dialyzer 15 and the glue injection box 16 are assembled, they are transferred to the centrifuge 9 for centrifugal glue injection. The pre-loading mechanism 4 includes a loading rack 41 and a loading unit 42. The loading rack 41 is used to support and limit the dialyzer 15, and the loading unit 42 is used to position the relative position of the glue injection box 16 and the dialyzer 15, and to cooperate with the loading and unloading robot 11 to assemble the dialyzer 15 and the glue injection box 16.
[0043] The loading rack 41 has two loading stations, which can vertically support two dialyzers 15. That is, two dialyzers 15 and one glue injection box 16 can be assembled simultaneously on the pre-loading mechanism 4, and then glue is injected into the two dialyzers 15 simultaneously on the centrifuge 9. The two loading stations on the loading rack 41 are arranged in a cross shape, and the two dialyzers 15 assembled at one time are also arranged in a cross shape. The two loading stations have a height difference in the vertical direction, and the height difference is not less than the diameter of the dialyzer 15. The height difference ensures that the two cross-shaped dialyzers 15 are supported and arranged on the two loading stations respectively, avoiding interference between the two dialyzers 15.
[0044] There are four sets of feeding units 42, arranged in a cross shape at both ends of two feeding stations. Each feeding unit 42 can limit the position of the dialyzer 15 and the dispensing cartridge 16 at each feeding station. The four sets of feeding units 42 have the same structure; only one example is described here. Each feeding unit 42 includes a first fixing member and a second fixing member. The first fixing member is used to fix the dialyzer 15, and the second fixing member is used to fix the dispensing cartridge 16, allowing the loading / unloading robot 11 to assemble the dialyzer 15 and the dispensing cartridge 16. The first and second fixing members are arranged vertically at intervals, with the second fixing member located above the first fixing member to match the height difference between the dialyzer 15 and the dispensing cartridge 16 during assembly.
[0045] The pre-feeding mechanism is used to temporarily store the dialyzer 15 and the glue dispensing box 16 transferred from the centrifuge 9 by the loading and unloading robot 11 after the dialyzer 15 has completed centrifugal glue dispensing. At the same time, it allows the loading and unloading robot 11 to disassemble the glue dispensing box 16. The pre-feeding mechanism includes a feeding frame and a feeding unit 52. The feeding frame is used to support and limit the dialyzer 15 after glue dispensing. The feeding unit 52 is used to position the dialyzer 15 to prevent the dialyzer 15 from being carried out when the loading and unloading robot 11 disassembles the glue dispensing box 16.
[0046] The feeding rack has two feeding stations, which can vertically support two dialyzers 15. This means that two dialyzers 15 can be assembled simultaneously on the pre-feeding mechanism to match two dialyzers 15 being simultaneously injected with glue on the centrifuge 9. The two feeding stations on the feeding rack are arranged in a cross-shaped staggered configuration. The two dialyzers 15 assembled at one time are also arranged in a cross-shaped staggered configuration. The two feeding stations have a height difference in the vertical direction, which is not less than the diameter of the dialyzer 15. This height difference ensures that the two cross-shaped staggered dialyzers 15 are supported and arranged on the two feeding stations respectively, avoiding interference between the two dialyzers 15.
[0047] There are four sets of feeding units 52, arranged in a cross shape. The feeding units 52 are located at both ends of the two feeding stations, and can limit the position of the dialyzer 15 at each feeding station. The four sets of feeding units 52 have the same structure. Each set of feeding units 52 is used to clamp and fix the injection nozzle 151 of the dialyzer 15 along the axial direction of the dialyzer 15. The injection nozzle 151 is fixedly assembled with the dialyzer 15 to prevent the dialyzer 15 from moving at the feeding station.
[0048] The receiving mechanism 6 is used to stack dialyzers 15 after centrifugal dispensing and removal of the dispensing box 16. The receiving robot 12 can transfer dialyzers 15 from the pre-feeding mechanism to the receiving mechanism 6. The receiving mechanism 6 includes a receiving rack 61, a positioning unit 62, and a storage unit 63. The receiving rack 61 is a support structure formed by connecting profiles. The receiving rack 61 is fixedly assembled to the frame 1 by bolts, forming the assembly base of the receiving mechanism 6. The positioning unit 62 and the storage unit 63 are both assembled on the receiving rack 61. The positioning unit 62 is used to temporarily store the dialyzers 15 and position the direction of the dispensing nozzle 151 of the dialyzers 15. The storage unit 63 is used to store the stacked dialyzers 15. The receiving robot 12 can transfer the dialyzers 15 from the positioning unit 62 to the storage unit 63.
[0049] The positioning unit 62 includes a positioning frame 621 and a positioning plate 622. The positioning frame 621 is fixedly mounted on the receiving rack 61 by bolts, and the positioning plate 622 is fixedly mounted on the positioning frame 621 by bolts. A positioning groove 623 is provided on the top of the positioning plate 622. The positioning groove 623 is used for radial insertion of the dialyzer 15 to position the dialyzer 15 and prevent it from moving on the positioning plate 622. In this embodiment, there are eight sets of positioning plates 622, forming four pairs. Each pair of positioning plates 622 is spaced apart along the axial direction of the dialyzer 15, supporting both ends of the dialyzer 15 along its axial direction. The eight sets of positioning plates 622 can support a total of four dialyzers 15.
[0050] In this embodiment, the positioning frame 621 is also equipped with four second sensors 14. These four second sensors 14 are spaced apart and correspond to four pairs of positioning plates 622. The second sensors 14 are used to detect the position of the dialyzer 15's inlet nozzle 151 on the positioning plate 622 to determine whether the inlet nozzle 151 is at an angle of approximately 45°, thus positioning the inlet nozzle 151. Specifically, the second sensors 14 can be a distance sensor, an infrared sensor, or a laser sensor, selected as needed.
[0051] Storage unit 63 is arranged on the side of positioning unit 62. Storage unit 63 is used to store dialyzers 15 with the injection nozzle 151 of positioning unit 62 already oriented. There are two sets of storage units 63, located on opposite sides of positioning unit 62, achieving one in use and one on standby. When one set of storage units 63 is full, the other set of storage units 63 works simultaneously to ensure automated operation. In this embodiment, the dialyzers 15 in storage unit 63 are stacked in multiple layers, with each layer of dialyzers 15 stacked in a "cross" pattern to ensure stacking stability.
[0052] The second storage mechanism is used to store the glue-filling boxes 16 to be loaded. One glue-filling box 16 is placed on the second storage mechanism at a time. After the glue-filling box 16 is placed, it is picked up by the loading and unloading robot 11 and glue-filling is performed on the dialyzer 15 using the glue-filling box 16. The second storage mechanism and the first storage mechanism are located on opposite sides of the centrifuge 9 to reduce the distance between them and the centrifuge 9, making it easier to transfer the dialyzer 15 and the glue-filling box 16 to the centrifuge 9 for centrifugal glue-filling after assembly.
[0053] The CCD detection mechanism 8 is arranged on one side of the centrifuge 9. The CCD detection mechanism 8 is used for visual inspection of the clamping status of the centrifuge 9 to detect the positioning of the clamping of the centrifuge 9, so as to facilitate the loading and unloading robot 11 to load and unload the products on the clamping of the centrifuge 9. The CCD detection mechanism 8 is mounted on the frame 1 and located above the centrifuge 9. The centrifuge 9 plays a centrifugal role, which can evenly distribute the glue on the glue dispensing box 16 to both ends of the dialyzer 15 through centrifugal force.
[0054] The material handling robot 10, the loading / unloading robot 11, and the receiving robot 12 are all bolted to the frame 1. The material handling robot 10 is used to transfer the dialyzer 15 on the conveyor belt 21 to the first storage mechanism 3 and to transfer the dialyzer 15 on the first storage mechanism 3 to the pre-loading mechanism 4. The loading / unloading robot 11 is used to transfer the glue injection box 16 on the second storage mechanism 7 to the pre-loading mechanism 4, or to transfer the dialyzer 15 and glue injection box 16 on the pre-loading mechanism 4 to the centrifuge 9, or to transfer the dialyzer 15 and glue injection box 16 on the centrifuge 9 to the pre-discharging mechanism. The receiving robot 12 is used to transfer the dialyzer 15 on the pre-discharging mechanism to the receiving mechanism 6.
[0055] In this embodiment, the material handling robot 10 is a planar robot, and the loading / unloading robot 11 and the receiving robot 12 are all six-axis robots. After the working program is set in the robot controller and control panel, the material handling robot 10, the loading / unloading robot 11, and the receiving robot 12 can work automatically. Their specific structures are existing technologies and will not be described in detail here.
[0056] The conveyor belt 21 of the feeding mechanism 2 of the automatic loading and unloading device for the dialyzer centrifugal line can transport the dialyzer 15 to be injected to one side of the frame 1. The material handling robot 10 can grab the dialyzer 15 and place it on the limiting plate 32 of the first storage mechanism 3. The dialyzer 15 is embedded in the groove 321. The clamping component 33 radially clamps the injection nozzle 151 to fix the dialyzer 15, thereby positioning the injection nozzle 151 so that the injection nozzle 151 faces upward. At the same time, the injection box 16 is arranged on the second storage mechanism 7. The loading and unloading robot 11 transfers the dialyzer 15 on the first storage mechanism 3 and the injection box 16 on the second storage mechanism 7 to the pre-loading mechanism 4. The two dialyzers 15 are placed in two loading stations. The first fixing component and the second fixing component fix the dialyzer 15 and the injection box 16 for assembly. Then the loading and unloading robot 11 The assembled dialyzer 15 and glue injection box 16 are then transferred to centrifuge 9 for centrifugal glue injection. After glue injection, dialyzer 15 and glue injection box 16 are transferred to pre-feeding mechanism. At the feeding station of pre-feeding mechanism, the injection nozzle 151 is fixed by feeding unit 52, and then loading and unloading robot 11 can remove glue injection box 16. Then, receiving robot 12 can transfer dialyzer 15 after glue injection from pre-feeding mechanism to positioning unit 62 of receiving mechanism 6. After dialyzer 15 is embedded in positioning slot 623 of positioning plate 622, injection nozzle 151 is positioned. Then, receiving robot 12 stacks dialyzer 15 into storage unit 63. The cooperation of each mechanism realizes automatic feeding, automatic glue injection and automatic unloading of dialyzer 15 centrifugal line, avoiding manual operation and reducing labor costs and labor intensity.
[0057] Preferably, the first storage mechanism 3 further includes a pair of friction wheels 34, which are rotatably mounted on the support frame 31. The dialyzer 15 is supported on the pair of friction wheels 34, and the friction wheels 34 are used to drive the dialyzer 15 to rotate around the center line.
[0058] Friction wheels 34 are rotatably mounted on the support frame 31. When the friction wheels 34 rotate, they drive the dialyzer 15 to rotate synchronously, adjusting the direction of the injection nozzles 151 on the dialyzer 15 to ensure that the injection nozzles 151 of the dialyzer 15 are facing upwards. In this embodiment, a motor is arranged on the support frame 31, and the motor is connected to the friction wheels 34 via a gear assembly to drive the friction wheels 34 to rotate. In this embodiment, the paired friction wheels 34 are spaced apart along the axial direction of the dialyzer 15, providing two-point axial support for the dialyzer 15 and ensuring the stability of the dialyzer 15 during rotation.
[0059] Preferably, the clamping assembly 33 includes two sets of storage cylinders 331, which are arranged at opposite ends of the limiting plate 32. A clamping plate 332 is connected to the storage cylinder 331. The storage cylinder 331 is used to drive the clamping plate 332 to move along the axial direction of the dialyzer 15. The clamping plate 332 is provided with a slot 333 for clamping the injection nozzle 151 of the dialyzer 15. The slot 333 and the groove 321 are located on the same vertical plane.
[0060] The storage cylinder 331 is connected to a drive plate 332. When the storage cylinder 331 extends or retracts, it can drive the drive plate 332 to move along the axial direction of the dialyzer 15. When the drive plate 332 moves, the slot 333 can clamp the injection nozzle 151 and limit the direction of the injection nozzle 151. The slot 333 and the groove 321 are located in the same vertical plane. When the slot 333 clamps the injection nozzle 151, it can ensure that the injection nozzle 151 is in a vertical direction.
[0061] Preferably, the feeding rack 41 includes a first feeding plate 411 and a second feeding plate 412. Both the first feeding plate 411 and the second feeding plate 412 are provided with feeding grooves 413. The feeding grooves 413 on the first feeding plate 411 and the feeding grooves 413 on the second feeding plate 412 are arranged in a cross shape. The height of the feeding grooves 413 on the first feeding plate 411 is higher than the height of the feeding grooves 413 on the second feeding plate 412. The first feeding plate 411 and the second feeding plate 412 form two feeding stations.
[0062] The first feeding plate 411 and the second feeding plate 412 on the feeding rack 41 form two feeding stations, simplifying the structure of the feeding rack 41. Feeding troughs 413 are provided on the first feeding plate 411 and the second feeding plate 412. The feeding troughs 413 have a U-shaped structure, matching the curved surface of the dialyzer 15 to prevent movement of the dialyzer 15. The height difference between the feeding troughs 413 on the first feeding plate 411 and the second feeding plate 412 can accommodate the dialyzer 15, preventing interference with the dialyzer 15.
[0063] Preferably, the feeding rack 41 further includes a lifting seat 414, on which a lifting groove is provided, and the direction of the lifting groove is the same as the direction of the feeding groove 413 on the second feeding plate 412.
[0064] A lifting seat 414 is arranged on the feeding rack 41. The lifting seat 414 can move vertically on the feeding rack 41. When the lifting seat 414 rises, the lifting groove can push the dialyzer 15 on the second feeding plate 412 to rise, raising the height of the dialyzer 15, so that the height of the dialyzer 15 on the second feeding station rises to the height of the first feeding station, so that it can be picked up by the loading and unloading robot 11.
[0065] In this embodiment, the specific structure of the unloading frame of the pre-feeding mechanism is the same as the specific structure of the loading frame 41 of the pre-loading mechanism 4, and will not be described in detail here.
[0066] Preferably, the first fixing member includes a first cylinder 421 and a jaw 422 pulverizedly connected to the first cylinder 421. The first cylinder 421 is used to drive the jaw 422 to clamp the injection nozzle 151 along the axial direction of the dialyzer 15. The second fixing member includes a second cylinder 423 and a clamp 424 pulverizedly connected to the second cylinder 423. The clamp 424 is used to radially clamp and fix the injection pin 161 of the glue injection box 16. The second cylinder 423 is located above the first cylinder 421.
[0067] The first fixing component is formed by a first cylinder 421 and a jaw 422. When the first cylinder 421 extends or retracts, it drives the jaw 422 to move synchronously. The jaw 422 can clamp and fix the injection nozzle 151, preventing the injection nozzle 151 from shifting. The second fixing component is formed by a second cylinder 423 and a clamp 424. The moving direction of the clamp 424 is perpendicular to the moving direction of the jaw 422. The second cylinder 423 can drive the clamp 424 to open and close. When the clamp 424 is open and closed, it can fix the injection pin 161 of the glue injection box 16, so that the glue injection box 16 is assembled and connected to the dialyzer 15. The second cylinder 423 is located above the first cylinder 421, so that the clamp 424 is located above the jaw 422, matching the height difference between the glue injection box 16 and the dialyzer 15 during assembly.
[0068] In this embodiment, the feeding unit 52 of the pre-feeding mechanism has the same structure as the first fixing member of the pre-feeding mechanism 4, which will not be described in detail here.
[0069] Preferably, the positioning unit 62 further includes a pair of rollers 624, which are rotatably mounted on the positioning frame 621. The rollers 624 are arranged in pairs, and the dialyzer 15 is supported on the pair of rollers 624. The rollers 624 are used to drive the dialyzer 15 to rotate around the center line.
[0070] A roller 624 is rotatably mounted on the positioning frame 621. When the roller 624 rotates, it drives the dialyzer 15 to rotate, changing the direction of the injection nozzle 151 on the dialyzer 15 so that the injection nozzle 151 is angled upwards at approximately 45°. Rotating the injection nozzle 151 to one side of the dialyzer 15 reduces the vertical space occupied by the dialyzer 15 during stacking, facilitating stacking. In this embodiment, a motor is arranged on the positioning frame 621, and the motor is connected to the roller 624 via a gear assembly to drive the roller 624 to rotate. In this embodiment, the paired rollers 624 are spaced apart along the axial direction of the dialyzer 15, providing two-point axial support for the dialyzer 15 and ensuring the stability of the dialyzer 15 during rotation.
[0071] Preferably, the storage unit 63 includes a storage frame 631 and a lifting seat 632. The storage frame 631 is an open structure with openings on both the top and bottom sides. The lifting seat 632 is located at the bottom of the storage frame 631 and is movably mounted on the receiving rack 61 in the vertical direction.
[0072] The storage frame 631 horizontally defines the dialyzer 15, and the lifting seat 632 is movably mounted on the receiving rack 61 vertically. After the dialyzer 15 is arranged in the storage frame 631, it is supported by the lifting seat 632. After each layer of dialyzer 15 is arranged in the storage frame 631, the lifting seat 632 can move downward by a set distance to adjust the height of the dialyzer 15, so that each time the receiving robot 12 stacks the dialyzer 15, it is at the same height.
[0073] In this embodiment, the storage frame 631 is a rectangular structure formed by plates. When the dialyzers 15 are placed in the storage frame 631, they are arranged in a cross shape. Four dialyzers 15 are placed in each layer of the storage frame 631.
[0074] Preferably, the second material storage mechanism 7 includes a base frame 71 and a material storage rack 72 vertically and movably mounted on the base frame 71. The material storage rack 72 has a material storage platform 73 arranged in a cross shape, which is used to support the glue injection pins 161 of the glue injection box 16.
[0075] The base frame 71 is fixedly mounted on the frame 1 by bolts, forming a fixed base for the second material storage mechanism 7. The material storage rack 72 is vertically and movably mounted on the base frame 71. After the glue injection box 16 is arranged on the storage platform 73 of the material storage rack 72, the material storage rack 72 can drive the glue injection box 16 to automatically rise to a height that is easy for the loading and unloading robot 11 to pick up.
[0076] In this embodiment, the four storage platforms 73 are cylindrical structures, with a central hole at the top of each platform 73 to support the dispensing pins 161 of the dispensing cartridge 16. The four storage platforms 73 have different heights, with the two oppositely arranged platforms 73 having the same height. The height of the storage platforms 73 matches the height of the dispensing pins 161 of the dispensing cartridge 16, ensuring that the dispensing cartridge 16 is horizontally supported on the storage rack 72.
[0077] Preferably, two sets of centrifuges 9 are arranged at intervals. The CCD detection mechanism 8 includes a slide rail 82 and an industrial camera 81 that is slidably mounted on the slide rail 82. The slide rail 82 extends along the interval direction between the two sets of centrifuges 9.
[0078] Two sets of centrifuges 9 are arranged at intervals. The two sets of centrifuges 9 can work independently. While one set of centrifuges 9 is being inspected for fixture status by the CCD inspection mechanism 8, the other set of centrifuges 9 can simultaneously perform centrifugal dispensing operations, improving the efficiency of automated operations. The industrial camera 81 of the CCD inspection mechanism 8 is slidably mounted on the slide rail 82. When the industrial camera 81 slides, it can visually inspect the fixture status of the two sets of centrifuges 9 respectively.
[0079] The working process of this invention is as follows:
[0080] The front-end equipment transports the dialyzer 15 onto the conveyor belt 21. After the dialyzer 15 is in place, the material handling robot 10 places the dialyzer 15 onto the limiting plate 32 of the first storage mechanism 3. The dialyzer 15 is embedded into the corresponding groove 321. The friction wheel 34 rotates to drive the dialyzer 15 to rotate. The direction of the injection nozzle 151 of the dialyzer 15 is detected by the first sensor 13, so that the injection nozzle 151 is arranged upward. The storage cylinder 331 drives the clamping plate 332 to move. The clamping groove 333 radially clamps the injection nozzle 151 of the dialyzer 15, so that the dialyzer 15 is stored on the limiting plate 32.
[0081] The material handling robot 10 pre-installs two dialyzers 15 on the first storage mechanism 3 onto the feeding rack 41 of the pre-feeding mechanism 4. The two dialyzers 15 are respectively installed in the feeding grooves 413 of the first feeding plate 411 and the second feeding plate 412. The first cylinder 421 drives the claw 422 to move, clamping and fixing the injection nozzle 151 on the dialyzer 15 to fix the dialyzer 15.
[0082] The prepared glue injection box 16 is placed on the storage rack 72 of the second storage mechanism 7 by the manual. The glue injection pin 161 of the injection nozzle 151 is supported on the storage platform 73. Then the storage rack 72 is raised to a fixed position on the base frame 71. The loading and unloading robot 11 transfers the glue injection box 16 at the second storage mechanism 7 to the pre-loading mechanism 4. The second cylinder 423 drives the clamp 424 to work and fix the glue injection pin 161 of the glue injection box 16. The loading and unloading robot 11 assembles the glue injection box 16 with the dialyzer 15.
[0083] The industrial camera 81 of the CCD inspection mechanism 8 moves on the slide rail 82 to the upper side of the centrifuge 9, takes a picture, determines the positioning direction of the fixture inside the centrifuge 9, and feeds the result back to the loading and unloading robot 11. The loading and unloading robot 11 takes out the glue injection box 16 and dialyzer 15 assembled at the pre-loading mechanism 4 and transfers them to the centrifuge 9. The centrifuge 9 starts running and completes the centrifugal glue injection operation.
[0084] After the CCD testing mechanism 8 takes a picture to confirm that the clamps inside the centrifuge 9 are in place, it sends a signal to the loading and unloading robot 11. The loading and unloading robot 11 transfers the dialyzer 15 and the glue injection box 16 to the pre-feeding mechanism. After the pre-feeding mechanism positions the dialyzer 15, the loading and unloading robot 11 picks up the glue injection box 16 and moves it upward. The glue injection box 16 is then removed and assembled onto the product of the pre-feeding mechanism 4 for the next round of centrifugal glue injection operation.
[0085] After the glue injection box 16 is removed, the receiving robot 12 transfers the dialyzer 15 to the positioning unit 62 of the receiving mechanism 6. The dialyzer 15 is supported in the positioning groove 623 of the positioning plate 622. The roller 624 works and drives the dialyzer 15 to rotate. The direction of the injection nozzle 151 on the dialyzer 15 is detected by the second sensor 14. After the injection nozzle 151 rotates to a tilted position of about 45 degrees, the receiving robot 12 transfers the dialyzer 15 on the positioning plate 622 to the storage frame 631 of the storage unit 63. After one layer of dialyzer 15 is stacked, the lifting seat 632 moves down a set distance to stack the next layer. After the dialyzer 15 is stacked, the stacked dialyzer 15 is removed by a person, and all processes are completed.
[0086] In summary, this invention provides an automatic loading and unloading device for a dialyzer centrifuge line. The conveyor belt of the receiving mechanism transports dialyzers to be dispensed with glue to one side of the frame. A material handling robot picks up the dialyzers and places them on the limiting plate of the first storage mechanism. The dialyzers are embedded in the groove, and the clamping assembly radially clamps the dispensing nozzle to fix the dialyzer, thereby positioning the dispensing nozzle so that it faces upwards. Simultaneously, the dispensing box is arranged on the second storage mechanism. The loading and unloading robot transfers the dialyzers from the first storage mechanism and the dispensing box from the second storage mechanism to the pre-loading mechanism. The two dialyzers are placed at two loading stations. The first and second fixing components securely assemble the dialyzers and the dispensing box. Afterwards, the loading and unloading machine... The robot then transfers the assembled dialyzer and glue injection box together to a centrifuge for centrifugal glue injection. After glue injection, the dialyzer and glue injection box are transferred to the pre-feeding mechanism. At the unloading station of the pre-feeding mechanism, the injection nozzle is fixed by the unloading unit, and the unloading robot can remove the glue injection box. Then, the receiving robot can transfer the glue-injected dialyzer from the pre-feeding mechanism to the positioning unit of the receiving mechanism. After the dialyzer is embedded in the positioning slot of the positioning plate, the injection nozzle is positioned. Then, the receiving robot stacks the dialyzer into the storage unit. The cooperation of each mechanism realizes the automatic feeding, automatic glue injection, and automatic unloading of the dialyzer centrifuge line, avoiding manual operation and reducing labor costs and labor intensity.
[0087] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.
Claims
1. An automatic loading and unloading device for a dialyzer centrifuge line, characterized in that, include: The frame (1) is provided with a material receiving mechanism (2), a first material storage mechanism (3), a pre-loading mechanism (4), a pre-unloading mechanism, a material receiving mechanism (6), a second material storage mechanism (7), a CCD detection mechanism (8) and a centrifuge (9). The frame (1) is also provided with a material handling robot (10), a loading and unloading robot (11) and a material receiving robot (12). The feeding mechanism (2) includes a conveyor belt (21) for transporting the dialyzer (15) to be injected with glue; The first storage mechanism (3) includes a support frame (31), a limiting plate (32), and a clamping assembly (33). The support frame (31) is fixedly assembled to the frame (1), and the limiting plate (32) is assembled to the support frame (31). The limiting plate (32) is provided with a groove (321) for radial insertion of the dialyzer (15). The clamping assembly (33) is used to radially clamp the injection nozzle (151) of the dialyzer (15). The pre-feeding mechanism (4) includes a feeding rack (41) and a feeding unit (42). The feeding rack (41) has two feeding stations that are cross-shaped and staggered. The two feeding stations are used to vertically support two dialyzers (15). The two feeding stations have a height difference in the vertical direction, and the height difference is not less than the diameter of the dialyzer (15). The feeding unit (42) is arranged at both ends of the feeding stations. The feeding unit (42) includes a first fixing member for fixing the dialyzer (15) and a second fixing member for fixing the glue injection box (16). The first fixing member and the second fixing member are arranged vertically at intervals. The pre-feeding mechanism includes a feeding frame and a feeding unit (52). The feeding frame has two feeding stations that are cross-shaped and staggered. The two feeding stations are used to vertically support two dialyzers (15). The two feeding stations have a height difference in the vertical direction, and the height difference is not less than the diameter of the dialyzer (15). The feeding unit (52) is arranged at both ends of the feeding station. The feeding unit (52) is used to clamp and fix the injection nozzle (151) of the dialyzer (15) along the axial direction of the dialyzer (15). The receiving mechanism (6) is used to stack dialyzers (15). The receiving mechanism (6) includes a receiving rack (61), a positioning unit (62), and a storage unit (63). The positioning unit (62) and the storage unit (63) are assembled on the receiving rack (61). The positioning unit (62) includes a positioning frame (621) and a positioning plate (622). The positioning frame (621) is fixedly arranged on the receiving rack (61). The positioning plate (622) is assembled on the positioning frame (621). The positioning plate (622) is provided with a positioning groove (623) for the dialyzer (15) to be radially embedded. The storage unit (63) is arranged on the side of the positioning unit (62). The second storage mechanism (7) is used to store the glue injection box (16) to be loaded. The CCD detection mechanism (8) is arranged on one side of the centrifuge (9). The CCD detection mechanism (8) is used to visually detect the clamping status of the centrifuge (9). The material handling robot (10) is used to transfer the dialyzer (15) on the conveyor belt (21) to the first storage mechanism (3). The loading and unloading robot (11) is used to transfer the dialyzer (15) and glue injection box (16) on the pre-loading mechanism (4) to the centrifuge (9) or to transfer the dialyzer (15) and glue injection box (16) on the centrifuge (9) to the pre-unloading mechanism. The receiving robot (12) is used to transfer the dialyzer (15) on the pre-unloading mechanism to the receiving mechanism (6).
2. The automatic loading and unloading device for the dialyzer centrifuge line according to claim 1, characterized in that, The first storage mechanism (3) further includes a pair of friction wheels (34), which are rotatably mounted on the support frame (31). The dialyzer (15) is supported on the pair of friction wheels (34), and the friction wheels (34) are used to drive the dialyzer (15) to rotate around the center line.
3. The automatic loading and unloading device for the dialyzer centrifuge line according to claim 2, characterized in that, The clamping assembly (33) includes two sets of storage cylinders (331), which are arranged at opposite ends of the limiting plate (32). A clamping plate (332) is connected to the storage cylinder (331) via a transmission. The storage cylinder (331) is used to drive the clamping plate (332) to move along the axial direction of the dialyzer (15). The clamping plate (332) is provided with a slot (333) for clamping the injection nozzle (151) of the dialyzer (15). The slot (333) and the groove (321) are located on the same vertical plane.
4. The automatic loading and unloading device for a dialyzer centrifuge line according to any one of claims 1-3, characterized in that, The feeding rack (41) includes a first feeding plate (411) and a second feeding plate (412). Both the first feeding plate (411) and the second feeding plate (412) are provided with feeding grooves (413). The feeding grooves (413) on the first feeding plate (411) and the feeding grooves (413) on the second feeding plate (412) are arranged in a cross shape. The height of the feeding grooves (413) on the first feeding plate (411) is higher than the height of the feeding grooves (413) on the second feeding plate (412). The first feeding plate (411) and the second feeding plate (412) form two feeding stations.
5. The automatic loading and unloading device for the dialyzer centrifuge line according to claim 4, characterized in that, The loading rack (41) also includes a lifting seat (414), on which a lifting groove is provided. The direction of the lifting groove is the same as the direction of the loading groove (413) on the second loading plate (412).
6. The automatic loading and unloading device for a dialyzer centrifuge line according to any one of claims 1-3, characterized in that, The first fixing member includes a first cylinder (421) and a jaw (422) drivenly connected to the first cylinder (421). The first cylinder (421) is used to drive the jaw (422) to clamp the injection nozzle (151) along the axial direction of the dialyzer (15). The second fixing member includes a second cylinder (423) and a clamp (424) drivenly connected to the second cylinder (423). The clamp (424) is used to radially clamp and fix the injection pin (161) of the glue injection box (16). The second cylinder (423) is located above the first cylinder (421).
7. The automatic loading and unloading device for a dialyzer centrifuge line according to any one of claims 1-3, characterized in that, The positioning unit (62) further includes a pair of rollers (624) which are rotatably mounted on the positioning frame (621). The rollers (624) are arranged in pairs, and the dialyzer (15) is supported on the pair of rollers (624). The rollers (624) are used to drive the dialyzer (15) to rotate around the center line.
8. The automatic loading and unloading device for a dialyzer centrifuge line according to any one of claims 1-3, characterized in that, The storage unit (63) includes a storage frame (631) and a lifting seat (632). The storage frame (631) is an open structure with openings on both the top and bottom sides. The lifting seat (632) is located at the bottom of the storage frame (631) and is movably mounted on the receiving rack (61) in the vertical direction.
9. The automatic loading and unloading device for a dialyzer centrifuge line according to any one of claims 1-3, characterized in that, The second storage mechanism (7) includes a base frame (71) and a storage rack (72) vertically and movably mounted on the base frame (71). The storage rack (72) has storage platforms (73) arranged in a cross shape. The storage platforms (73) are used to support the glue injection pins (161) of the glue injection box (16).
10. The automatic loading and unloading device for a dialyzer centrifuge line according to any one of claims 1-3, characterized in that, The centrifuges (9) are arranged in two sets at intervals. The CCD detection mechanism (8) includes a slide rail (82) and an industrial camera (81) slidably mounted on the slide rail (82). The slide rail (82) extends along the interval direction between the two sets of centrifuges (9).