A vascular closure device assembly method and a vascular closure device assembly method

Abstract

The present invention relates to the field of medical devices, and discloses a vascular closure assembly device and a method thereof, comprising a housing mechanism, a groove conveyor mechanism, a blocking rod mechanism, a push rod mechanism, a limit clamp mechanism, a control module and a sheath rod slide rail mounting mechanism, wherein the groove conveyor mechanism is fixedly mounted on a fixed platform, the blocking rod mechanism and the push rod mechanism are fixedly connected to the fixed platform, the limit clamp mechanism is fixedly connected to the fixed platform, the control module is fixedly connected to the fixed platform, the sheath rod slide rail mounting mechanism is fixedly connected to the fixed platform, the push rod mechanism and the groove conveyor mechanism cooperate to open the stent, the limit clamp mechanism clamps and fixes the dilator, and the sheath rod slide rail mounting mechanism or the grabbing mechanical arm mechanism inserts the sheath rod into the dilator. The present invention automates the assembly of the vascular closure stent, reduces manual operations, reduces accidents caused by human errors, and reduces the risk of product contamination.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a vascular closure device assembly device and a method thereof. Background Art

[0002] A vascular closure stent generally refers to a medical device used in vascular interventional surgery. Its main purpose is to quickly and effectively close the vascular puncture point after the operation to reduce bleeding and complications.

[0003] An assembly device is a mechanical system used to assemble mechanical parts or components into a final product according to specific technical requirements. It usually includes various mechanical devices and control systems for positioning, fixing, handling and connecting parts. Assembly devices are widely used in various manufacturing industries, such as automobiles, aerospace, electronics, furniture manufacturing, etc.

[0004] The vascular closure and dilator stent assembly devices of the prior art are limited in the degree of automation. The traditional manual assembly method is time-consuming and inefficient, and it is difficult to meet the needs of large-scale production. Manual operation or semi-automatic operation may cause assembly errors, affecting the accuracy of product assembly. The operation steps of the existing assembly device operation interface are cumbersome, which increases the cost of operation training and the error rate, further affecting the production efficiency of the assembly device and increasing the production cost. Summary of the invention

[0005] 1. Technical issues to be resolved

[0006] In view of the deficiencies in the prior art, the present invention provides a vascular closure assembly device and method thereof, which has the advantages of simple operation and the ability to assemble different types of vascular closure expander stents using different devices, thereby reducing human involvement factors and ensuring that each model and specification of stent can be correctly and accurately assembled, thereby solving the problems in the above-mentioned background technology.

[0007] (II) Technical solution

[0008] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a vascular closure device assembly device and method thereof, comprising a housing mechanism, a groove conveyor belt mechanism, a blocking rod mechanism, an infrared sensor, a grabbing mechanical arm mechanism, a push rod mechanism, a control module, a limit clamp mechanism, an adjustment clamp mechanism and a positioning sensor, and a sheath rod slide rail mounting mechanism, wherein the housing mechanism is fixedly mounted with a groove conveyor belt mechanism on a fixed platform, and the two sides of the groove conveyor belt mechanism are fixedly connected with a blocking rod mechanism, a grabbing mechanical arm mechanism, a push rod mechanism, a limit clamp mechanism, an adjustment clamp mechanism, and a sheath rod slide rail mounting mechanism, and the control module is fixedly connected to one side of the fixed platform;

[0009] The grooved conveyor belt mechanism comprises a conveyor belt, on which a first groove and a second groove are fixedly connected, and during the operation of the grooved conveyor belt mechanism, the conveyor belt drives the first groove and the second groove to move;

[0010] The sheath rod slide rail mounting mechanism includes a fixed base, which is fixedly connected to the working platform, the sheath rod feed port is located directly above the sheath rod slide rail mounting mechanism, the sheath rod discharge port is fixedly connected to one end of the feed channel of the sheath rod slide rail mounting mechanism, the feed channel is located between the sheath rod discharge port and the sheath rod feed port, and plays the role of a single sheath rod in and out, the deceleration block is fixedly connected to the sheath rod slide rail mounting mechanism, and is used to reduce the rolling speed of the sheath rod, the lifting rod is fixed to the sheath rod slide rail mounting mechanism, a single sheath rod passes through when the lifting rod is lowered, and the sheath rod is prevented from passing through when the lifting rod is raised, the slide is fixedly connected to one end of the sheath rod slide rail mounting mechanism, the slide is used to slide a single sheath rod from the slide into the slide, the slide groove is fixedly connected to the working platform, the slide rail is connected to the slide groove, and the third push rod is fixedly connected in the slide rail, and is used to push the installation sheath rod when the sheath rod is transported to the installation position by the slide rail.

[0011] Preferably, the adjustment clamp mechanism includes a fourth fixed block, the fourth fixed block is fixedly connected to the working platform of the shell mechanism, the fourth fixed block is fixedly connected to the second fixed rod, the second fixed rod is fixedly connected to the second telescopic rod, a rotating rod is fixedly connected inside the lower part of the second telescopic rod, and the rotating rod is fixedly connected to the second telescopic clamp.

[0012] Preferably, the limiting clamp mechanism includes a third fixed block, the third fixed block is fixedly connected to the working platform of the shell mechanism, the third fixed block is fixedly connected to the first fixed rod, the first fixed rod is fixedly connected to the first telescopic rod, and the first telescopic rod is fixedly connected to the first telescopic clamp for fixing the expander.

[0013] Preferably, the lifting mechanism includes a third telescopic rod, the third telescopic rod is fixedly connected to the fixed platform, and a hydraulic press is fixedly connected directly below the third telescopic rod.

[0014] Preferably, the positioning sensor is fixedly connected in a groove of the grooved conveyor belt mechanism.

[0015] Preferably, the push rod mechanism includes a second fixed block, which is fixed on the working platform of the shell mechanism, and the first push rod and the second push rod are fixedly mounted on the second fixed block. The working end of the second push rod is circular, and the slot is connected to the second push rod near the working end.

[0016] Preferably, the grabbing robot arm mechanism includes a base, the base is fixedly connected to the working platform, a rotating rod is fixedly connected above the base, a first fixed bracket is fixedly connected above the rotating rod, the boom is fixedly connected to the first fixed bracket through a rotating shaft, the telescopic rod sleeve is fixedly connected to the second fixed bracket, the fourth telescopic rod is fixed in the telescopic rod sleeve, a ball joint is installed at one end of the fourth telescopic rod, a mechanical claw is fixedly connected to the ball joint, and a magnetic suction groove is embedded in the inner wall of the mechanical claw.

[0017] Preferably, the infrared sensor and the infrared sensor 2 are fixedly connected to the shell structure.

[0018] Preferably, the vascular closure device and method are characterized by comprising the following steps:

[0019] The moving speed of the conveyor belt is S1, S2, where S1 represents the trough conveyor bring Running speed in non-processing state, S2 represents slot transmission bring The operating speed during processing;

[0020] The pushing distance of the second putter is J1 and J2, where J1 represents a shorter distance of the putter and J2 represents a longer distance of the putter;

[0021] The coarse and fine types of expanders are M1 and M2, where M1 represents a coarse expander and M2 represents a fine expander.

[0022] The height detected by the infrared sensor is H1, H2, H1 is when the expander model is M1, H2 is when the expander model is M2;

[0023] The positions where the positioning sensor sends signals are G1 and G2. The position where the signal is sent for the first time is G1, and the position where the signal is sent for the second time is G2.

[0024] S10: the control module controls the conveyor belt to transport the expander at a speed of S1 until it approaches the blocking rod mechanism, and the control module controls the conveyor belt to move at a speed of S2;

[0025] S20: The height of the blocking rod mechanism is greater than H1 and less than H2, the control module controls the groove transmission mechanism to move forward at a speed of S2, and the blocking rod mechanism controls the expander to enter the groove;

[0026] S30: The control module controls the second infrared sensor to detect the gap position of the expander bracket of the expander, and adjusts the clamp mechanism to cooperate with the lifting mechanism to adjust the direction and angle of the expander;

[0027] S40: The control module controls the infrared sensor to detect the height of the expander, determines the expander model according to the detected data, and calls different mechanisms to assemble the expander bracket according to different expander models;

[0028] S50: After the sheath rod is installed, the infrared sensor detects the installation result and performs processing according to the detection result;

[0029] S60: After the sheath rod is installed and the expander is restored to the unexpanded state, the control module controls the limit clamp mechanism to release the telescopic clamp, and the conveyor belt conveys the expander away at a speed of S1;

[0030] S70: This assembly is completed, and the above step S10 is repeated.

[0031] Preferably, the vascular closure device and method are characterized in that: S4 further comprises the following specific steps:

[0032] S410: When the data detected by the infrared sensor is H1, the model of the expander is M1 at this time, the control module controls the sheath rod slide rail installation mechanism to control the sheath rod to enter the slide groove through the slideway, the control module controls the push rod mechanism to push forward the distance J1, the bracket is fully opened, the limit clamp mechanism clamps the expander, and the control module controls the sheath rod slide rail installation mechanism to install the sheath rod into the expander, completing the assembly of the M1 model expander bracket;

[0033] S420: When the data detected by the infrared sensor is H2, the model of the expander is M2. The control module controls the grabbing robot arm mechanism to clamp the sheath rod in advance, and the control module controls the push rod mechanism to push forward a distance of J2. The bracket is fully opened, and the control module controls the limit clamp mechanism to clamp the expander. The control module controls the grabbing robot arm mechanism to install the sheath rod into the expander to complete the assembly of the M2 model expander bracket.

[0034] (III) Beneficial effects

[0035] The present invention provides a vascular closure device and method thereof, wherein an infrared sensor and an infrared sensor 2 are used to detect the direction angle and model of a dilator of the vascular closure device, a control module determines the model of the dilator according to the signal transmitted by the infrared sensor, and calls different assembly methods according to different models, model M1 is slidably installed through a sheath rod slide rail installation mechanism, and model M2 is controlled and installed through a grabbing mechanical arm mechanism, and the present invention assembles the dilator bracket of the vascular closure device in an automated manner, which can save time, improve the consistency and reliability of assembly, reduce manual operations, reduce accidents caused by human errors, and reduce the risk of product contamination. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0037] Figure 2 It is a schematic diagram of the structure of the limit clamp mechanism of the present invention;

[0038] Figure 3 It is a schematic diagram of the structure of the lifting mechanism of the present invention;

[0039] Figure 4 It is a schematic diagram of the structure of the grooved conveyor belt mechanism of the present invention;

[0040] Figure 5 It is an overall schematic diagram of the present invention;

[0041] Figure 6 A schematic diagram of adjusting the clamp mechanism of the present invention;

[0042] Figure 7 It is a schematic diagram of the push rod mechanism structure of the present invention;

[0043] Figure 8 For the present invention Figure 5 Schematic diagram of the structure of C;

[0044] Fig. 9 For the present invention Figure 6 Schematic diagram of the structure of J in the middle;

[0045] Fig.10 For the present invention Figure 5 The structural diagram of A in the figure;

[0046] Fig.11 For the present invention Figure 7 Schematic diagram of the structure of E;

[0047] Fig.12 For the present invention Figure 5 Schematic diagram of the structure of B;

[0048] Fig.13 For the present invention Figure 5 Schematic diagram of the structure of F;

[0049] Fig.14 For the present invention Figure 5 Schematic diagram of the structure of G;

[0050] Fig.15 A schematic diagram of the process of the expander of the present invention being expanded;

[0051] Fig.16 It is a schematic diagram of the expander of the present invention when it is not expanded.

[0052] In the figure:

[0053] 1. Shell mechanism; 101. Working platform; 102. Support legs; 103. Fixed platform; 104. Sheath rod frame;

[0054] 2. Groove-type conveyor belt mechanism; 201. conveyor belt; 202. first groove; 203. second groove;

[0055] 3. Blocking rod mechanism; 301. First fixed block; 302. Blocking rod;

[0056] 4. Infrared sensor;

[0057] 5. Grasping mechanical arm mechanism; 501. base; 502. rotating rod; 503. first fixed bracket; 504. rotating shaft; 505. hanging arm; 506. telescopic rod sleeve; 507. fourth telescopic rod; 508. ball joint; 509. magnetic suction groove; 510. mechanical claw; 511. second fixed bracket;

[0058] 6. Push rod mechanism; 601. second fixed block; 602. first push rod; 603. second push rod; 604. slot;

[0059] 7. Control module;

[0060] 8. Position limiting clamp mechanism; 801. third fixing block; 802. first fixing rod; 803. first telescopic rod; 804. first telescopic clamp;

[0061] 9. Positioning sensor;

[0062] 10. Sheath rod slide rail installation mechanism; 1001. Sheath rod feed port; 1002. Sheath rod discharge port; 1003. Speed ​​reduction block; 1004. Lifting rod; 1005. Slideway; 1006. Slide trough; 1007. Slide rail; 1008. Third push rod; 1009. Feed channel; 1010. Fixed base;

[0063] 11. Adjust the clamp mechanism; 1101. Fourth fixed block; 1102. Second fixed rod; 1103. Second telescopic rod; 1104. Rotating rod; 1105. Second telescopic clamp;

[0064] 12. Lifting mechanism; 1201. Third telescopic rod; 1202. Hydraulic press;

[0065] 13. Infrared sensor 2. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] Example 1: A preferred embodiment of a vascular closure device provided by the present invention is as follows: Figures 1 to 16 As shown: a vascular closure device, including a shell mechanism 1, a groove conveyor mechanism 2, a blocking rod mechanism 3, an infrared sensor 4, a grabbing mechanical arm mechanism 5, a push rod mechanism 6, a control module 7, a limit clamp mechanism 8, an adjustment clamp mechanism 11 and a positioning sensor 9, and a sheath rod slide rail mounting mechanism 10.

[0068] The grooved conveyor mechanism 2 includes a conveyor belt 201, which is fixedly connected to a groove on the fixed platform 103. A first groove 202 and a second groove 203 are fixedly installed on the conveyor belt 201. During the operation of the vascular closure device assembly device, the conveyor belt 201 drives the first groove 202 and the second groove 203 to move, and transports dilators of different models to the processing position.

[0069] The housing mechanism 1 comprises a working platform 101, a supporting leg 102 is fixedly connected below the working platform 101, a sheath rod frame 104 is fixedly connected above the working platform 101, a first fixing block 301 is fixedly connected to the working platform 101, and a blocking rod 302 is fixedly connected to the first fixing block 301;

[0070] like Figure 8 As shown, the sheath rod slide rail mounting mechanism 10 includes a fixed base 1010 and a slide rail 1007, the fixed base 1010 is fixedly connected to the work platform 101, the sheath rod feed port 1001 is located directly above the sheath rod slide rail mounting mechanism 10, the sheath rod discharge port 1002 is fixedly connected to one end of the feed channel 1009 of the sheath rod slide rail mounting mechanism 10, the feed channel 1009 is located between the sheath rod discharge port 1002 and the sheath rod feed port 1001, and plays the role of a single sheath rod in and out, and the speed reduction block 1003 is fixedly connected to the sheath rod slide rail mounting mechanism 10, and is used to reduce the sheath rod from rolling down. speed, the lifting rod 1004 is fixed on the sheath rod slide rail installation mechanism 10, a single sheath rod passes through when the lifting rod 1004 is lowered, and the sheath rod is blocked from passing through when it is raised, the slideway 1005 is fixedly connected to one end of the sheath rod slide rail installation mechanism 10, the slideway 1005 is used to slide a single sheath rod from the slideway 1005 into the slide rail 1007, the slide groove 1006 is fixedly connected to the working platform 101, the slide rail 1007 is connected to the slide groove 1006, and the third push rod 1008 is fixedly connected in the slide rail 1007, and is used to push the installation sheath rod when the sheath rod is transported to the installation position by the slide rail 1007;

[0071] like Fig. 9 As shown, the adjustment clamp mechanism 11 includes a fourth fixed block 1101, which is fixedly connected to the working platform 101 of the housing mechanism 1 and is used to fix the adjustment clamp mechanism 11. A second fixed rod 1102 is fixedly connected to the fourth fixed block 1101, a second telescopic rod 1103 is fixedly connected below the second fixed rod 1102, a rotating rod 1104 is fixedly connected inside the second telescopic rod 1103, and a second telescopic clamp 1105 is fixedly connected directly below the rotating rod 1104. The rotating rod 1104 can drive the second telescopic clamp 1105 to telescope up and down to clamp the expander, thereby playing a role in rotating and adjusting the direction and angle of the expander;

[0072] like Fig.10 As shown, the limiting clamp mechanism 8 includes a third fixing block 801, the third fixing block 801 is fixedly connected to the working platform 101 of the housing mechanism 1, the third fixing block 801 is fixedly connected to a first fixing rod 802, the first fixing rod 802 is fixedly connected to a first telescopic rod 803, and the first telescopic rod 803 is fixedly connected to a first telescopic clamp 804 for fixing the expander;

[0073] like Figure 3 As shown, the lifting mechanism 12 includes a third telescopic rod 1201, the third telescopic rod 1201 is fixedly connected to the fixed platform 103, and a hydraulic press 1202 is fixedly connected directly below the third telescopic rod 1201. During operation, the control module 7 controls the hydraulic press 1202 to work, and the operation of the hydraulic press drives the third telescopic rod 1201 to extend and retract to play the role of lifting the expander;

[0074] like Figure 1 As shown, the positioning sensor 9 is fixedly connected in the groove of the groove conveyor mechanism 2, and plays the role of positioning the expander;

[0075] like Fig.11 As shown, the push rod mechanism 6 includes a second fixing block 601, which is fixed on the working platform 101 of the housing mechanism 1, and a first push rod 602 and a second push rod 603 are fixedly mounted on the second fixing block 601. The working end of the second push rod 603 is circular, and the card slot 604 is connected to the second push rod 603 near the working end. During the operation of the vascular closure device assembly device, the control module 7 controls the push rod mechanism 6 to push the first push rod 602 to drive the second push rod 603 to move forward, and the working end of the second push rod 603 is inserted into the gap of the expander stent and fixes the expander through the card slot 604. The conveyor belt 201 moves slowly to control the stent to be opened, and plays a role of interception support during the assembly process;

[0076] like Fig.12As shown, the grabbing mechanical arm mechanism 5 includes a base 501, the base 501 is fixedly connected to the working platform 101, a rotating rod 502 is fixedly connected above the base 501, a first fixed bracket 503 is fixedly connected above the rotating rod 502, a boom 505 is fixedly connected to the first fixed bracket 503 through a rotating shaft 504, a telescopic rod sleeve 506 is fixedly connected to the second fixed bracket 511, a fourth telescopic rod 507 is fixed in the telescopic rod sleeve 506, and a ball joint 508 is installed at one end of the fourth telescopic rod 507. A mechanical claw 510 is fixedly connected to the joint 508, and a magnetic suction groove 509 is embedded in the inner wall of the claw core of the mechanical claw 510 to fix the sheath rod head. When the expander bracket is fully expanded, the mechanical arm adjusts the rotation angle through the rotating rod 502, and the fourth telescopic rod 507 extends to the sheath rod frame 104. The ball joint 508 is rotated to change the angle of the mechanical claw 510, and the sheath rod is adsorbed through the magnetic suction groove 509 in the mechanical claw 510 and grasped by the mechanical claw 510, and then the sheath rod is installed into the expander according to the expanded angle of the expander bracket;

[0077] like Figure 5 As shown, the infrared sensor 4 and the infrared sensor 2 13 are fixedly connected to the working platform 101, and are used to determine the type and direction of the expander by detecting the width of the expander and the gap of the expander bracket;

[0078] like Figure 5 As shown, the control module 7 is used to control the running speed of the trough conveyor mechanism 2, the height of the expander measured by the infrared sensor 4, the pushing distance of the push rod mechanism 6, and the process of controlling the grabbing mechanical arm mechanism 5 to accurately insert the sheath rod into the expander;

[0079] The control module 7 is fixedly connected to one side of the fixed platform 103;

[0080] Example 2, based on Example 1, a preferred embodiment of a vascular closure device assembly method provided by the present invention is as follows: Figures 1 to 16 As shown: a method for assembling a vascular closure device, wherein the control module 7 controls the moving speed of the conveyor belt 201, conveys the dilator for assembly, and the blocking rod mechanism 3 controls the dilators of different models to be blocked and pushed into the groove, and then the conveyor belt 201 continues to move forward, the infrared sensor 13 detects the angle and direction of the dilator, and the angle and direction of the dilator are adjusted by adjusting the clamp mechanism 11, and the push rod mechanism 6 controls the second push rod 603 to move forward, inserting the push rod into the gap of the dilator bracket, and the conveyor belt 201 pushes forward to cooperate with the push rod mechanism 6 to open the dilator bracket, and the limit clamp mechanism 8 clamps and fixes the dilator, and according to the different models detected by the infrared sensor 4, the sheath rod is installed into the dilator in different ways, after the sheath rod is installed, the push rod mechanism 6 slowly retracts the push rod, and the dilator returns to its original state, and the conveyor belt 201 conveys the dilator away;

[0081] The moving speed of the conveyor belt 201 is S1, S2, where S1 represents the slot conveyor bring Running speed in non-processing state, S2 represents slot transmission bring Running speed in processing state;

[0082] The pushing distances of the push rod mechanism 6 are J1 and J2, where J1 represents a shorter moving distance of the push rod, and J2 represents a longer moving distance of the push rod;

[0083] The coarse and fine types of expanders are M1 and M2, where M1 represents a coarse expander and M2 represents a fine expander.

[0084] The height detected by the infrared sensor 4 is H1, H2, H1 is when the model of the expander is M1, and H2 is when the model of the expander is M2;

[0085] Positions G1 and G2 where the positioning sensor 9 sends signals. The first signal is sent at G1, and the second signal is sent at G2.

[0086] S10: the control module 7 controls the conveyor belt 201 to transport the expander at a speed of S1 until it approaches the blocking rod mechanism 3, and the control module 7 controls the conveyor belt 201 to move at a speed of S2;

[0087] S20: The height of the blocking rod mechanism 3 is greater than H1 and less than H2, the control module 7 controls the groove conveyor mechanism 2 to move forward at a speed of S2, and the blocking rod mechanism 3 controls the expander to enter the groove, including the following specific steps:

[0088] S21: When the blocking rod is working, when the expander does not contact the blocking rod 302 of the blocking rod mechanism 3, the control module 7 determines that the thickness of the expander is M2, the blocking rod mechanism 3 has no effect on the grooved conveyor belt mechanism 2, and the conveyor belt 201 continues to transport the expander forward;

[0089] S22: When the expander contacts the blocking rod 302 of the blocking rod mechanism 3, the control module 7 determines that the thickness of the expander is M1, the conveyor belt 201 moves forward, and the blocking rod 302 pushes the expander backward until the expander enters the second groove 203 of the groove conveyor belt mechanism 2. At this time, the expander does not touch the blocking rod 302, and the conveyor belt 201 continues to move forward;

[0090] S30: The control module 7 controls the infrared sensor 2 13 to detect the gap position of the expander stent of the expander, and adjusts the clamp mechanism 11 to cooperate with the lifting mechanism 12 to adjust the direction and angle of the expander, including the following specific steps:

[0091] S31: When the control module 7 receives the information that the gap position and angle of the expander detected by the infrared sensor 2 13 are correct, the control module 7 does not control the adjustment clamp mechanism 11, the adjustment clamp mechanism 11 does not work, and the conveyor belt 201 continues to move forward;

[0092] S32: When the control module 7 receives the information that the gap position of the expander is deviated from or in the opposite direction from the angle detected by the infrared sensor 2 13, the control module 7 controls the conveyor belt 201 to stop running, and the control module 7 sends a signal to the lifting mechanism 12 to activate the hydraulic press 1202 inside it. The hydraulic press 1202 generates hydraulic power in response to the signal to drive the third telescopic rod 1201 to extend along its axial direction. The extension movement of the third telescopic rod 1201 lifts the expander steadily, and at the same time adjusts the second telescopic rod 1103 in the clamp mechanism 11 to extend close to the expander. The second telescopic clamp 1105 controls to clamp the expander. After the rotating rod 1104 is rotated to change the direction and angle of the expander, the expander is put back into the groove. The lifting mechanism 12 controls to retract the third telescopic rod 1201. The control module 7 controls the conveyor belt 201 to start moving forward at a speed of S2.

[0093] S40: The control module 7 controls the infrared sensor 4 to detect the height of the expander. The control module 7 determines the expander model according to the data detected by the infrared sensor 4. The control module 7 calls different mechanisms to assemble the expander bracket according to different expander models, including the following specific steps:

[0094] S410: When the data detected by the infrared sensor 4 is H1, the model of the expander is M1, and the positioning sensor 9 under the groove of the groove conveyor mechanism 2 moves to the preset G1 position and sends a signal to the control module 7;

[0095] S411: the control module 7 receives the signal, performs pre-control on the sheath rod slide rail installation mechanism 10, controls the sheath rod to enter from the sheath rod feed port 1001, slide out from the sheath rod discharge port 1002, and decelerates through the deceleration block 1003. The control module 7 controls the lifting rod 1004 of the sheath rod slide rail installation mechanism 10 to fall. After a single sheath rod passes through the slideway 1005 and enters the slide groove 1006, the lifting rod 1004 rises to prevent the subsequent sheath rods from sliding down. At the same time, the control module 7 controls the push rod mechanism 6 to push forward a distance of J1. The slot 604 at the head of the second push rod 603 clamps the gap of the expander bracket. The control module 7 controls the conveyor belt 201 to move forward at a uniform speed of S2. The bracket is slowly opened. When the positioning sensor 9 reaches the preset G2 position, it sends a signal to the control module 7.

[0096] S412: The control module 7 controls the conveyor belt 201 to stop moving. At this time, the expander bracket is fully expanded. The control module 7 controls the first telescopic rod 803 of the limit clamp mechanism 8 to expand and contract, and controls the first telescopic clamp 804 to clamp and control the expander. The control module 7 controls the slide rail 1007 to slide forward through the slide groove 1006. When the slide rail 1007 stops sliding, the third push rod 1008 is controlled to push forward to push the sheath rod into the expander from the expander expansion angle, thereby completing the assembly of the M1 model expander bracket.

[0097] S420: When the data detected by the infrared sensor 4 is H2, the model of the expander is M2. At this time, the positioning sensor 9 under the groove of the groove conveyor mechanism 2 moves to the preset G1 position and sends a signal to the control module 7;

[0098] S421: The control module 7 controls the grabbing mechanical arm mechanism 5 to adjust the rotation angle in advance through the rotating rod 502, the fourth telescopic rod 507 extends to the sheath rod frame 104, the rotating ball joint 508 changes the angle of the mechanical claw 510, the sheath rod is adsorbed by the magnetic suction groove 509 in the mechanical claw 510 and grasped by the mechanical claw 510, and then the sheath rod is installed into the expander through the angle of the expander bracket. The control module 7 controls the second push rod 603 to push forward a distance of J2, the slot 604 holds the gap of the expander bracket, and the control module 7 controls the conveyor belt 201 to move forward at a uniform speed of S2, the bracket is slowly opened, and when the positioning sensor 9 reaches the preset G2 position, a signal is sent to the control module 7;

[0099] S422: The control module 7 receives the signal and controls the conveyor belt 201 to stop moving. At this time, the expander stent is fully expanded. The control module 7 controls the first telescopic rod 803 of the limit clamp mechanism 8 to expand and contract, and controls the first telescopic clamp 804 to clamp and control the expander. The control module 7 controls the grabbing mechanical arm mechanism 5 to install the sheath rod into the expander through the angle of the expansion of the stent, and completes the assembly of the M2 model expander stent;

[0100] S50: After the sheath rod is installed, the infrared sensor 4 detects the installation result and performs processing according to the detection result, including the following specific steps:

[0101] S51: When the infrared sensor 4 detects that the sheath rod of the grabbing mechanical arm mechanism 5 is correctly installed, the control module 7 controls the push rod mechanism 6 to slowly retract the second push rod 603 from the gap of the bracket. After the second push rod 603 is retracted, the expander slowly returns to the unexpanded state;

[0102] S52: When the infrared sensor 4 detects that the installation of the sheath rod of the grabbing mechanical arm mechanism 5 is wrong or the installation angle is wrong, the control module 7 controls to stop all operations and sounds an alarm, waiting for technicians to come for maintenance;

[0103] S60: After the sheath rod is installed and the expander is restored to the unexpanded state, the control module 7 controls the limit clamp mechanism 8 to release the first telescopic clamp 804, and the conveyor belt 201 conveys the expander away at a speed of S1. The conveyor belt 201 can quickly convey the expander to the next process or storage area, reducing waiting time and accelerating material flow;

[0104] S70: This assembly is completed, and the above step S10 is repeated.

[0105] The present invention provides a vascular closure device and method thereof, wherein an infrared sensor 4 and an infrared sensor 2 13 are used to detect the direction angle and model of the dilator of the vascular closure device, and a control module 7 determines the model of the dilator according to the signal transmitted by the infrared sensor 4, and calls different assembly methods according to different models. Model M1 is slidably installed through a sheath rod slide rail installation mechanism 10, and model M2 is controlled and installed through a grabbing mechanical arm mechanism 5. The assembly device can assemble the dilator bracket of the vascular closure device in an automated manner, which can save time, improve the consistency and reliability of assembly, reduce manual operations, reduce accidents caused by human errors, and reduce the risk of product contamination.

[0106] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0107] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A vascular closure device assembly device, comprising a housing mechanism (1), a grooved conveyor mechanism (2), a blocking rod mechanism (3), an infrared sensor (4), a grabbing mechanical arm mechanism (5), a push rod mechanism (6), a control module (7), a limit clamp mechanism (8), an adjustment clamp mechanism (11) and a positioning sensor (9), a sheath rod slide rail mounting mechanism (10) and a lifting mechanism (12), characterized in that: A grooved conveyor belt mechanism (2) is fixedly mounted on the fixed platform (103) of the housing mechanism (1); a blocking rod mechanism (3), a grabbing mechanical arm mechanism (5), a push rod mechanism (6), a limit clamp mechanism (8), an adjustment clamp mechanism (11), and a sheath rod slide rail mounting mechanism (10) are fixedly mounted on both sides of the grooved conveyor belt mechanism (2); the lifting mechanism (12) is fixedly connected below the working platform (101); and the control module (7) is fixedly connected to one side of the fixed platform (103); The trough-type conveyor belt mechanism (2) comprises a conveyor belt (201), a first groove (202) and a second groove (203) being fixedly connected to the conveyor belt (201), and when the trough-type conveyor belt mechanism (2) is in operation, the conveyor belt (201) drives the first groove (202) and the second groove (203) to move; The housing mechanism (1) comprises a working platform (101), a supporting leg (102) is fixedly connected below the working platform (101), a sheath rod frame (104) is fixedly connected above the working platform (101), a first fixing block (301) is fixedly connected to the working platform (101), and a blocking rod (302) is fixedly connected to the first fixing block (301); The sheath rod slide rail mounting mechanism (10) comprises a fixed base (1010) and a slide rail (1007); the fixed base (1010) is fixedly connected to the working platform (101); the sheath rod feed port (1001) is located directly above the sheath rod slide rail mounting mechanism (10); the sheath rod discharge port (1002) is fixedly connected to one end of a feed channel (1009) of the sheath rod slide rail mounting mechanism (10); the feed channel (1009) is located between the sheath rod discharge port (1002) and the sheath rod feed port (1001), and plays the role of a single sheath rod in and out; the speed reduction block (1003) is fixedly connected to the sheath rod slide rail mounting mechanism (10) and is used to reduce the sheath rod rolling speed. The lifting rod (1004) is fixed on the sheath rod slide rail installation mechanism (10), a single sheath rod passes through when the lifting rod (1004) is lowered, and the sheath rod is prevented from passing through when the lifting rod (1004) is raised, a slideway (1005) is fixedly connected to one end of the sheath rod slide rail installation mechanism (10), the slideway (1005) is used to slide a single sheath rod from the slideway (1005) into a slideway (1007), a slideway (1006) is fixedly connected to the working platform (101), the slideway (1007) is connected to the slideway (1006), and a third push rod (1008) is fixedly connected in the slideway (1007) and is used to push the sheath rod to be installed when the sheath rod is transported to the installation position by the slideway (1007); The grabbing mechanical arm mechanism (5) comprises a base (501), the base (501) is fixedly connected to the working platform (101), a rotating rod (502) is fixedly connected above the base (501), a first fixed bracket (503) is fixedly connected above the rotating rod (502), a boom (505) is fixedly connected to the first fixed bracket (503) via a rotating shaft (504), a telescopic rod sleeve (506) is fixedly connected to the second fixed bracket (511), a fourth telescopic rod (507) is fixed in the telescopic rod sleeve (506), a ball joint (508) is installed at one end of the fourth telescopic rod (507), a mechanical claw (510) is fixedly connected to the ball joint (508), and a magnetic suction groove (509) is embedded in the inner wall of the claw core of the mechanical claw (510); The push rod mechanism (6) comprises a second fixed block (601), the second fixed block (601) being fixed on a working platform (101) of the housing mechanism (1), a first push rod (602) and a second push rod (603) being fixedly mounted on the second fixed block (601), the working end of the second push rod (603) being circular, and the clamping groove (604) being groove-shaped and connected to a position of the second push rod (603) close to the working end.

2. The vascular closure device assembly device according to claim 1, characterized in that: The adjusting clamp mechanism (11) comprises a fourth fixed block (1101), the fourth fixed block (1101) being fixedly connected to the working platform (101) of the housing mechanism (1), a second fixed rod (1102) being fixedly connected to the fourth fixed block (1101), a second telescopic rod (1103) being fixedly connected below the second fixed rod (1102), a rotating rod (1104) being fixedly connected inside the second telescopic rod (1103), and a second telescopic clamp (1105) being fixedly connected directly below the rotating rod (1104).

3. The vascular closure device assembly device according to claim 2, characterized in that: The limiting clamp mechanism (8) comprises a third fixing block (801), the third fixing block (801) is fixedly connected to the working platform (101) of the housing mechanism (1), the third fixing block (801) is fixedly connected to a first fixing rod (802), the first fixing rod (802) is fixedly connected to a first telescopic rod (803), and the first telescopic rod (803) is fixedly connected to a first telescopic clamp (804) for fixing the expander.

4. The vascular closure device assembly device according to claim 3, characterized in that: The lifting mechanism (12) comprises a third telescopic rod (1201), the third telescopic rod (1201) is fixedly connected to the fixed platform (103), and a hydraulic press (1202) is fixedly connected directly below the third telescopic rod (1201).

5. The vascular closure device assembly device according to claim 4, characterized in that: The positioning sensor (9) is fixedly connected in a groove of the grooved conveyor belt mechanism (2).

6. The vascular closure device assembly device according to claim 5, characterized in that: The infrared sensor (4) and the second infrared sensor (13) are fixedly connected to the housing mechanism (1).

7. The method for assembling a vascular closure device according to claim 6, characterized in that: The following steps are involved: The moving speeds of the conveyor belt (201) are S1 and S2, wherein S1 represents the running speed of the trough conveyor belt in a non-processing state, and S2 represents the running speed of the trough conveyor belt in a processing state; The pushing distances of the second push rod (603) are J1 and J2, wherein J1 represents a shorter moving distance of the push rod and J2 represents a longer moving distance of the push rod; The coarse and fine types of expanders are M1 and M2, where M1 represents a coarse expander and M2 represents a fine expander. The heights detected by the infrared sensor (4) are H1 and H2, where H1 is when the expander model is M1 and H2 is when the expander model is M2; Positions G1 and G2 where the positioning sensor (9) sends a signal, the position where the signal is sent for the first time is G1, and the position where the signal is sent for the second time is G2; S10: the control module (7) controls the conveyor belt (201) to transport the expander at a speed of S1, until the control module (7) controls the conveyor belt (201) to move at a speed of S2 when the expander is close to the blocking rod mechanism (3); S20: the height of the blocking rod mechanism (3) is set to be greater than H1 and less than H2, the control module (7) controls the groove conveyor mechanism (2) to move forward at a speed of S2, and the blocking rod mechanism (3) controls the expander to enter the groove; S30: the control module (7) controls the second infrared sensor (13) to detect the gap position of the expander bracket of the expander, and adjusts the clamp mechanism (11) to cooperate with the lifting mechanism (12) to adjust the direction and angle of the expander; S40: The control module (7) controls the infrared sensor (4) to detect the height of the expander, and determines the expander model according to the detected data. The control module (7) calls different mechanisms to assemble the expander bracket according to different expander models, including the following specific steps: S410: When the data detected by the infrared sensor (4) is H1, the model of the expander is M1. The control module (7) controls the sheath rod slide rail mounting mechanism (10) to control the sheath rod to pass through the slideway (1005) and enter the slide groove (1006). The control module (7) controls the push rod mechanism (6) to push forward a distance of J1, and the bracket is fully opened. The limit clamp mechanism (8) controls the expander to clamp. The control module (7) controls the sheath rod slide rail mounting mechanism (10) to install the sheath rod into the expander, and the assembly of the M1 model expander bracket is completed; S420: When the data detected by the infrared sensor (4) is H2, the model of the expander is M2 at this time, the control module (7) controls the grabbing mechanical arm mechanism (5) to clamp the sheath rod in advance, the control module (7) controls the push rod mechanism (6) to push forward a distance of J2, the stent is fully opened, the control module (7) controls the limit clamp mechanism (8) to clamp the expander, and the control module (7) controls the grabbing mechanical arm mechanism (5) to install the sheath rod into the expander, thereby completing the assembly of the M2 model expander stent; S50: After the sheath rod is installed, the infrared sensor (4) detects the installation result and performs processing according to the detection result; S60: After the sheath rod is installed and the expander is restored to the unexpanded state, the control module (7) controls the limit clamp mechanism (8) to release the first telescopic clamp (804), and the conveyor belt (201) transports the expander away at a speed of S1; S70: This assembly is completed, and the above step S10 is repeated.

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