Automatic intubation device

Abstract

The present invention discloses an automatic intubation device, which relates to the technical field of automation equipment, and comprises a frame, a first feeding mechanism, a second feeding mechanism, a first intubation mechanism, a third feeding mechanism, a fourth feeding mechanism, a second intubation mechanism, a feeding mechanism and a controller; the intubation mechanism comprises a CCD visual system; the second feeding mechanism is provided with a product sensing device; a controller, and the controller is electrically connected to the first feeding mechanism, the second feeding mechanism, the first intubation mechanism, the third feeding mechanism, the fourth feeding mechanism and the second intubation mechanism; the present invention realizes the automatic intubation function of the product, and can check whether the color connection of the product is wrong and whether the intubation is in place, the program can be freely switched according to different product types, the work efficiency is higher, the labor cost is saved, and the product qualification rate is high.

Description

Technical Field

[0001] The invention relates to the technical field of automated equipment, in particular to an automatic intubation device. Background Art

[0002] The product usually consists of multiple parts such as a main body and an trachea. Currently, manual assembly is usually adopted, and the trachea needs to be inserted into the main body. Manual assembly is time-consuming and labor-intensive, with low work efficiency, incorrect insertion of the trachea color, and high labor costs. In addition, manual assembly is prone to improper assembly and incorrect insertion color position. For example, the trachea is not properly inserted into the main body. When used for ventilation, the impact force of the air pressure makes it easy for the trachea to separate from the main body. In addition, the trachea has color differentiation, which makes it easy for the color position to be incorrect. The trachea is also easily not properly connected when inserted into the air nozzle. When used for ventilation, the impact force of the air pressure makes it easy for the trachea to separate from the main body. In addition, the trachea has color differentiation, which makes it easy for the color position to be incorrect. Therefore, the manual assembly error rate is high. Summary of the invention

[0003] The invention discloses an automatic intubation device to solve the technical problems of time-consuming, labor-intensive and high error rate.

[0004] In order to solve the above technical problems, the present invention proposes the following optimization technical solutions:

[0005] An automatic intubation device, comprising:

[0006] frame;

[0007] A first feeding mechanism, disposed on the frame, for feeding workpiece 1 and moving workpiece 1 to the first insertion mechanism;

[0008] A second feeding mechanism, disposed on the frame, for feeding the second workpiece and moving the second workpiece to the first insertion mechanism;

[0009] The first pipe insertion mechanism is used to connect workpiece 1 with workpiece 2 to form a combined workpiece and move the combined workpiece to the second pipe insertion mechanism; the first pipe insertion mechanism includes a first driving member, a first station, a second station and a third station, the first driving member and the first station are both arranged on the frame, the second station and the third station are both arranged on the first driving member, the first station is arranged between the second station and the third station, the first station is provided with a second lifting member, the output shaft of the second lifting member is connected to a product pressing plate, the second station and the third station are respectively provided with a first fixture and a second fixture; the first pipe insertion mechanism includes a CCD visual system;

[0010] A third feeding mechanism, arranged on the frame, for feeding the third workpiece and transferring the workpiece to the second insertion mechanism;

[0011] A fourth feeding mechanism, arranged on the frame, for feeding the fourth workpiece and transferring the workpiece to the second insertion mechanism;

[0012] The second insertion mechanism is used to connect the third workpiece and the fourth workpiece to the combined workpiece to form a product; the second insertion mechanism includes a fourth station, a fifth station, a sixth station, a second driving member, a fourth driving module and a fifth manipulator, the fourth station, the fifth station, the second driving member and the fourth driving module are all arranged on the frame, the sixth station is arranged on the second driving member, and the fifth manipulator is arranged on the fourth driving module; the second insertion mechanism is provided with a product sensing device;

[0013] A material unloading mechanism, arranged on the frame, for unloading products;

[0014] A controller is electrically connected to the first feeding mechanism, the second feeding mechanism, the first insertion mechanism, the third feeding mechanism, the fourth feeding mechanism, and the second insertion mechanism.

[0015] Furthermore, the first feeding mechanism includes a first loading assembly, a first driving module and a first manipulator, the first loading assembly and the first driving module are both arranged on the frame, and the first manipulator is arranged on the first driving module.

[0016] Furthermore, the first loading assembly is provided with a first loading position and a second loading position, and the first loading position and the second loading position are provided with a first product profiling jig and a second product profiling jig, respectively.

[0017] Furthermore, the first manipulator includes a finger cylinder and two clamping fixtures, the finger cylinder is arranged on the first driving module, and the two clamping fixtures are connected to two output shafts of the finger cylinder.

[0018] Furthermore, the second feeding mechanism includes a second loading assembly, a first lifting member and a second manipulator, the second loading assembly is arranged on the frame, the first lifting member is arranged on the first driving module, and the second manipulator is arranged on the first lifting member.

[0019] Furthermore, the first cannulation mechanism further includes a first moving member, which is disposed on the frame and is used to move the combined workpiece from the first cannulation mechanism to the second cannulation mechanism.

[0020] Furthermore, the third feeding mechanism includes a vibration plate, a second driving module and a third manipulator, the vibration plate and the second driving module are both arranged on the frame, the vibration plate is provided with a guiding channel and a material error mechanism, and the third manipulator is arranged on the second driving module.

[0021] Furthermore, the fourth feeding mechanism includes a third feeding assembly, a third driving module and a fourth manipulator. The third feeding assembly and the third driving module are both arranged on the frame, and the fourth manipulator is arranged on the third driving module.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The automatic intubation device provided by the present invention is provided with a first feeding mechanism, a second feeding mechanism, a third feeding mechanism and a fourth feeding mechanism respectively used for feeding different workpieces. The first intubation mechanism connects one of the workpieces to the air pipe to form a combined workpiece, and uses a CCD visual system (light source, camera) to photograph the combined workpiece to determine whether the air pipe is incorrectly connected in color. The second intubation mechanism inserts the air pipe of the combined workpiece into the other two workpieces, wherein the product sensing device is used to detect whether there is a product. The present invention realizes the automatic intubation function of the product, and can self-check whether the color connection is incorrect and whether the intubation is in place, which has higher work efficiency, saves labor costs, and has a high product qualification rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 The structure of the interior of the frame of the present invention is schematically shown in FIG. Figure 1 .

[0026] Figure 3 The structure of the interior of the frame of the present invention is schematically shown in FIG. Figure 2 .

[0027] Figure 4 It is a structural schematic diagram of the first feeding mechanism of the present invention.

[0028] Figure 5 yes Figure 4 Enlarged view of point A.

[0029] Figure 6 It is a schematic structural diagram of the second feeding mechanism of the present invention.

[0030] Figure 7 Schematic diagram of the structure of the first cannula mechanism of the present invention Figure 1 .

[0031] Figure 8 This is a partial structural diagram of the first cannula mechanism of the present invention. Figure 2 .

[0032] Fig. 9 It is a partial structural schematic diagram of the third feeding mechanism of the present invention.

[0033] Fig.10 yes Figure 3Enlarged view of point B.

[0034] Fig.11 It is a partial structural schematic diagram of the fourth feeding mechanism of the present invention.

[0035] Fig.12 It is a partial structural schematic diagram of the second cannula mechanism of the present invention.

[0036] Fig.13 yes Fig.12 Enlarged view of point C.

[0037] In the figure: 100, frame; 110, workpiece 1; 120, workpiece 2; 130, workpiece 3; 140, workpiece 4; 200, first feeding mechanism; 210, first loading assembly; 211, first loading position; 212, second loading position; 220, first driving module; 230, first manipulator; 231, finger cylinder; 232, product clamping fixture; 300, second feeding mechanism; 310, second loading assembly; 320, first lifting member; 330, second manipulator; 400, first insertion mechanism; 410, light source; 420, first camera; 430, first driving member; 440, first station; 441, second lifting member; 442, product Product pressing plate; 450, second station; 451, first fixture; 460, third station; 461, second fixture; 470, first moving part; 480, NG box; 500, third feeding mechanism; 510, vibration plate; 511, guide channel; 520, second drive module; 530, third manipulator; 600, fourth feeding mechanism; 610, third loading assembly; 620, third drive module; 630, fourth manipulator; 700, second insertion mechanism; 710, fourth station; 720, fifth station; 730, sixth station; 740, second driving member; 750, fourth drive module; 760, fifth manipulator; 800, unloading mechanism. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0039] See also Figure 1-Figure 13An automatic intubation device includes a frame 100, a first feeding mechanism 200, a second feeding mechanism 300, a first intubation mechanism 400, a third feeding mechanism 500, a fourth feeding mechanism 600, a second intubation mechanism 700, a feeding mechanism 800 and a controller; the first feeding mechanism 200 is arranged on the frame 100, and is used for loading a workpiece 110 and moving the workpiece 110 to the first intubation mechanism 400, where the workpiece 110 is a trachea; the second feeding mechanism 300 is arranged on the frame 100, and is used for loading a workpiece 120 and moving the workpiece 110 to the first intubation mechanism 400, where the workpiece 110 is a trachea; The workpiece 120 is moved to the first cannula mechanism 400, and the workpiece 120 is a tracheal joint; the first cannula mechanism 400 is arranged on the frame 100, and is used to connect the workpiece 110 to the workpiece 120 to form a combined workpiece and move the combined workpiece to the second cannula mechanism 700; the first cannula mechanism 400 includes a CCD visual system, wherein the CCD visual system includes a light source 410 and a first camera 420, the light source 410 plays the role of lighting the first camera 420, and the first camera 420 is used to take pictures of the combined workpiece, and the controller controls the intelligent recognition of the taken pictures The third feeding mechanism 500 is arranged on the frame 100, and is used for loading and transferring the workpiece 130 to the second insertion mechanism 700, and the workpiece 130 is an air nozzle; the fourth feeding mechanism 600 is arranged on the frame 100, and is used for loading and transferring the workpiece 140 to the second insertion mechanism 700, and the workpiece 140 is the product body; the second insertion mechanism 700 is arranged on the frame 100, and is used for loading and transferring the workpiece 130 and the workpiece 140 to the second insertion mechanism 700, and the workpiece 140 is the product body. The fourth 140 is connected to the combined workpiece to form a product, specifically, the air pipe of the combined workpiece is inserted into the workpiece three 130 and the workpiece four 140; the second insertion mechanism is provided with a product sensing device, and the product sensing device is used to sense the presence or absence of material; the unloading mechanism 800 is arranged on the frame 100, which is used for unloading products; the controller is electrically connected to the first feeding mechanism 200, the second feeding mechanism 300, the first insertion mechanism 400, the third feeding mechanism 500, the fourth feeding mechanism 600, and the second insertion mechanism 700, and is used to control the opening and closing of the intelligent device.

[0040] The working principle of the above scheme is as follows: first, the first feeding mechanism 200 and the second feeding mechanism 300 are used for loading workpiece 1 110 and workpiece 2 120 respectively, and both workpiece 1 110 and workpiece 2 120 are moved to the second insertion mechanism 700, and the second insertion mechanism 700 connects workpiece 1 10 with workpiece 2 120. Specifically, workpiece 1 110 is an air pipe, and the air pipe is inserted into workpiece 2 120 to form a combined workpiece. The first camera 420 cooperates with the light source 410 to shoot the combined workpiece to analyze whether the color of the air pipe is inserted incorrectly and whether the air pipe is inserted in place. If qualified, it is moved to the second insertion mechanism 700, and if it is inserted incorrectly, it is moved to the NG box 48. 0; then, the third feeding mechanism 500 and the fourth feeding mechanism 600 are used for loading workpiece three 130 and workpiece four 140 respectively, and workpiece three 130 and workpiece four 140 are moved to the second insertion mechanism 700, and the second insertion mechanism 700 inserts the combined workpiece on workpiece three 130, and then moves the combined workpiece and workpiece three 130 to be inserted on workpiece four 140, thereby realizing the connection of multiple workpieces; the CCD visual system checks the final product to detect the depth of the trachea insertion, so as to determine whether the tube is in place, and the tube is unloaded from the unloading mechanism 800 if it is in place, and is moved to the NG box 480 if it is not in place.

[0041] In this embodiment, see Figure 4 and Figure 5 The first feeding mechanism 200 includes a first loading assembly 210, a first driving module 220 and a first manipulator 230. The first loading assembly 210 and the first driving module 220 are both arranged on the frame 100, and the first manipulator 230 is arranged on the first driving module 220. The first loading assembly 210 is a conventional motor and transmission belt structure, and the first driving module 220 is a conventional motor and screw rod structure, which is a driving module in the X-axis direction, the Y-axis direction and the Z-axis direction.

[0042] In this embodiment, the first loading assembly 210 is provided with a first loading position 211 and a second loading position 212, and the first loading position 211 and the second loading position 212 are provided with a first product profiling jig and a second product profiling jig, respectively. Specifically, the first loading position 211 and the second loading position 212 are arranged on the transmission belt, wherein the workpiece 1 110 is of two types, namely, there are two lengths of air pipes, and the two air pipes are placed on the first product profiling jig and the second product profiling jig for loading.

[0043] In this embodiment, the first manipulator 230 includes a finger cylinder 231 and two clamping fixtures 232. The finger cylinder 231 is set on the first driving module 220. The two clamping fixtures 232 are connected to two output shafts of the finger cylinder 231. The finger cylinder 231 drives the two clamping fixtures 232 to move closer to or away from each other. The clamping fixtures 232 move closer to each other to clamp the workpiece 110.

[0044] In this embodiment, see Figure 6 The second feeding mechanism 300 includes a second loading assembly 310, a first lifting member 320 and a second manipulator 330. The second loading assembly 310 is arranged on the frame 100, the first lifting member 320 is arranged on the first driving module 220, and the second manipulator 330 is arranged on the first lifting member 320. The second loading assembly 310 is a conventional motor and transmission belt structure, the first lifting member 320 is a conventional motor and lead screw structure, and the first lifting member 320 is arranged on the Z-axis drive on the first driving module 220, and the combination forms the drive in the X-axis direction, the Y-axis direction and the Z-axis direction.

[0045] In addition, the second manipulator 330 has the same structure as the first manipulator 230, which is a finger cylinder and two material clamping fixtures. The structure of the second manipulator 330 can also be selected as other structures to achieve the clamping effect.

[0046] In this embodiment, see Figure 7 and Figure 8The first cannulation mechanism 400 includes a first driving member 430, a first station 440, a second station 450 and a third station 460. The first driving member 430 and the first station 440 are both arranged on the frame 100. The second station 450 and the third station 460 are both arranged on the first driving member 430. The first station 440 is arranged between the second station 450 and the third station 460. The first driving member 430 is a motor and a screw rod structure. The third station 460 and the second station 450 are respectively assembled on the screw rod through two screw rod seats. The first driving member 430 drives the third station 460 and the second station 450 to approach or move away from the first station 440, so as to insert the workpiece 110 on the second station 450 and the third station 460 into the first station 4 40, in the workpiece 120 on the first station 440, the first station 440 is provided with a second lifting member 441, the second lifting member 441 is a cylinder, the output shaft of the second lifting member 441 is connected to the product pressing plate 442, the second lifting member 441 drives the product pressing plate 442, the product pressing plate 442 descends to press the workpiece 120, so that the workpiece 1 110 is inserted into the workpiece 120, the second station 450 and the third station 460 are respectively provided with a first clamp 451 and a second clamp 461, the first clamp 451 and the second clamp 461 are both cylinders and two clamping fixtures 232, the first clamp 451 and the second clamp 461 are respectively used to clamp the two workpieces 110, and are driven by the first driving member 430 to approach the workpiece 2 120, so that the workpiece 1 110 is inserted into the workpiece 2 120.

[0047] In this embodiment, the first cannulation mechanism 400 further includes a first moving member 470, which is disposed on the frame 100 and is used to move the combined workpiece from the first cannulation mechanism 400 to the second cannulation mechanism 700. That is, after the combined workpiece is judged as a qualified product by the CCD visual system, it is grabbed by the second manipulator 330 and moved to the first moving member 470 under the drive of the first driving module 220 and the first lifting member 320. The first moving member 470 is a conventional motor and screw rod structure. The first moving member 470 moves the combined workpiece close to the second cannulation mechanism 700, and the fifth manipulator 760 in the second cannulation mechanism 700 grabs the combined workpiece and places it on the second cannulation mechanism 700.

[0048] In this embodiment, see Fig. 9 and Fig.10The third feeding mechanism 500 includes a vibration plate 510, a second driving module 520 and a third manipulator 530. The vibration plate 510 and the second driving module 520 are both arranged on the frame 100. The vibration plate 510 is provided with a guide channel and a material misalignment mechanism 511. The third manipulator 530 is arranged on the second driving module 520. A plurality of workpieces 130 are placed in the vibration plate 510. The vibration plate 510 continuously vibrates to release the workpieces 130 facing upward. The third manipulator 530 grabs the workpieces 130 released from the vibration plate 510 and places them on the second moving member under the drive of the second driving module 520.

[0049] In addition, the outlet of the vibration plate 510 is connected to a guiding channel, which is a hollow structure. Only when the front side is facing up can the product pass through the guiding channel, thereby ensuring the direction of the product. The third feeding mechanism 500 is also provided with a second moving part, which is a motor and a screw rod structure. The third manipulator 530 places the workpiece 3 130 on the second moving part, and the second moving part drives the workpiece 3 130 close to the second insertion mechanism 700, so as to facilitate the insertion of the combined workpiece in the second insertion mechanism 700 into the workpiece 3 130. The third manipulator 530 is a finger cylinder and two clamping fixture structures.

[0050] In this embodiment, see Fig.11 The fourth feeding mechanism 600 includes a third loading assembly 610, a third driving module 620 and a fourth manipulator 630. The third loading assembly 610 and the third driving module 620 are both arranged on the frame 100, and the fourth manipulator 630 is arranged on the third driving module 620. The workpiece 140 is placed on the third loading assembly 610 for loading, the third driving module 620 drives the fourth manipulator 630 to move, and the fourth manipulator 630 grabs the workpiece 140 and places it on the fifth station 720 of the second insertion mechanism 700.

[0051] It should be noted that the third loading assembly 610 is a motor and a transmission belt structure, the third driving module 620 is a motor and a screw structure, and the fourth manipulator 630 is a finger cylinder and two clamping fixture structures.

[0052] In this embodiment, see Fig.12 and Fig.13The second intubation mechanism 700 includes a fourth station 710, a fifth station 720, a sixth station 730, a second driving member 740, a fourth driving module 750 and a fifth manipulator 760. The fourth station 710, the fifth station 720, the second driving member 740 and the fourth driving module 750 are all arranged on the frame 100, the sixth station 730 is arranged on the second driving member 740, and the fifth manipulator 760 is arranged on the fourth driving module 750. Specifically, the fourth driving module 750 drives the fifth manipulator 760 to move above the first moving member 470, the fifth manipulator 760 grabs the combined workpiece and places the combined workpiece on the sixth station 730, the second driving member 740 drives the sixth station 730 close to the second moving member, so that the combined workpiece is inserted into the workpiece three 130. At this time, the workpiece three 130 is connected to the combined workpiece, and the second driving member 740 drives the sixth station 730 close to the fourth feeding mechanism 600, so that the combined workpiece is inserted into the workpiece four 140, thereby realizing the connection of workpiece one 110, workpiece two 120, workpiece three 130, and workpiece four 140.

[0053] To supplement, the fourth driving module 750 is a motor and a lead screw driving structure in the directions of the Z axis, the Y axis, and the X axis. The second driving member 740 is a motor and a lead screw structure.

[0054] The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

1. An automatic intubation device, characterized in that: include: frame; A first feeding mechanism is arranged on the frame, and is used for loading workpiece 1 and moving workpiece 1 to the first insertion mechanism. The first feeding mechanism includes a first loading assembly, a first driving module, and a first manipulator. The first loading assembly and the first driving module are both arranged on the frame. The first manipulator is arranged on the first driving module. The first loading assembly is provided with a first loading position and a second loading position. The first loading position and the second loading position are provided with a first product profiling jig and a second product profiling jig, respectively. A second feeding mechanism, disposed on the frame, for feeding the second workpiece and moving the second workpiece to the first insertion mechanism; The first pipe insertion mechanism is used to connect workpiece 1 with workpiece 2 to form a combined workpiece and move the combined workpiece to the second pipe insertion mechanism; the first pipe insertion mechanism includes a first driving member, a first station, a second station and a third station, the first driving member and the first station are both arranged on the frame, the second station and the third station are both arranged on the first driving member, the first station is arranged between the second station and the third station, the first station is provided with a second lifting member, the output shaft of the second lifting member is connected to a product pressing plate, the second station and the third station are respectively provided with a first fixture and a second fixture; the first pipe insertion mechanism includes a CCD visual system; A third feeding mechanism, arranged on the frame, for feeding the third workpiece and transferring the workpiece to the second insertion mechanism; A fourth feeding mechanism, arranged on the frame, for feeding the fourth workpiece and transferring the workpiece to the second insertion mechanism; The second insertion mechanism is used to connect the third workpiece and the fourth workpiece to the combined workpiece to form a product; the second insertion mechanism includes a fourth station, a fifth station, a sixth station, a second driving member, a fourth driving module and a fifth manipulator, the fourth station, the fifth station, the second driving member and the fourth driving module are all arranged on the frame, the sixth station is arranged on the second driving member, and the fifth manipulator is arranged on the fourth driving module; the second insertion mechanism is provided with a product sensing device; A material unloading mechanism, arranged on the frame, for unloading products; A controller is electrically connected to the first feeding mechanism, the second feeding mechanism, the first insertion mechanism, the third feeding mechanism, the fourth feeding mechanism, and the second insertion mechanism.

2. The automatic intubation device according to claim 1, characterized in that: The first manipulator includes a finger cylinder and two product clamping fixtures. The finger cylinder is arranged on the first driving module, and the two clamping fixtures are connected to two output shafts of the finger cylinder.

3. The automatic intubation device according to claim 1, characterized in that: The second feeding mechanism includes a second loading assembly, a first lifting member and a second manipulator, the second loading assembly is arranged on the frame, the first lifting member is arranged on the first driving module, and the second manipulator is arranged on the first lifting member.

4. The automatic intubation device according to claim 1, characterized in that: The first cannula mechanism further comprises a first moving member, which is disposed on the frame and is used to move the combined workpiece from the first cannula mechanism to the second cannula mechanism.

5. The automatic intubation device according to claim 1, characterized in that: The third feeding mechanism includes a vibration plate, a second driving module and a third manipulator. The vibration plate and the second driving module are both arranged on a frame. The vibration plate is provided with a guiding channel. The third manipulator is arranged on the second driving module.

6. The automatic intubation device according to claim 1, characterized in that: The fourth feeding mechanism includes a third feeding assembly, a third driving module and a fourth manipulator. The third feeding assembly and the third driving module are both arranged on the frame, and the fourth manipulator is arranged on the third driving module.

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