Unilateral suturing device and suturing method

Abstract

The invention provides a single-side sewing device and a sewing method.The single-side sewing device comprises a thread hooking mechanism, a thread guiding mechanism, a gear thread picking mechanism, a synchronous belt transmission mechanism, a lead screw lifting mechanism and a sewing material containing table, and the thread hooking mechanism, the thread guiding mechanism and the gear thread picking mechanism are all connected with the synchronous belt transmission mechanism; the synchronous belt transmission mechanism is driven by a stepping motor to transmit power; the thread hooking mechanism, the thread guiding mechanism, the gear thread picking mechanism, the stepping motor and the synchronous belt transmission mechanism are all installed on the machine frame shell, and the lead screw lifting mechanism drives the machine frame shell and all the mechanisms on the machine frame shell to ascend and descend. The sewing material placing table is located below the machine frame shell and used for placing sewing materials. Chained stitches formed by sewing are smooth, the phenomenon of thread floating is reduced, and meanwhile the single-side sewing device is compact in structure, wide in application range, stable in line structure and high in sewing success rate.

Description

Technical Field

[0001] The invention belongs to the technical field of single-side suturing, and in particular relates to a single-side suturing device. Background Art

[0002] In the past two decades, fiber composite materials have developed rapidly. For example, carbon fiber composite materials are widely used in various fields, such as aerospace, military, automobile, shipbuilding, and construction industries, due to their excellent heat resistance, high-strength impact resistance, and corrosion resistance. The traditional production of three-dimensional composite preform products mainly adopts bonding, manual weaving and other technologies, but bonding can hardly ensure that the mechanical properties between layers do not change, while manual weaving has low efficiency, high labor costs, and poor product consistency. Traditional bilateral sewing technology requires operations on both sides of the fabric, which makes the sewing of preforms in various occasions limited to specific shapes and limited spatial position requirements.

[0003] At present, more and more single-sided suturing operations are performed using single-sided suturing equipment, but most of the single-sided suturing equipment in the prior art adopts a double-needle mechanism design. For the design of the double-needle mechanism, both the hook thread mechanism and the lead thread mechanism are driven by a crank-connecting rod mechanism. However, due to the singleness of the movement of the crank-connecting rod mechanism, it is difficult to ensure the adjustability of the "two needle intersection" position deviation while the hook thread mechanism and the lead thread mechanism achieve a larger working stroke, which greatly increases the coordination error of the mechanism design. Therefore, it is necessary to repeat experiments to debug the appropriate positioning and mechanism size, which greatly reduces the cost and feasibility.

[0004] In addition, the single-sided sewing equipment in the prior art takes out the thread taking-up mechanism of the traditional double-sided sewing machine separately as an independent thread taking-up mechanism, and has a two-stage "thread release-thread retraction" with a quick return feature. Although the quick return feature can shorten the time of the idle return stroke and is conducive to improving production efficiency, the quick return feature will cause instability of the mechanism when it moves at high speed, thereby affecting the operating efficiency and accuracy of the mechanism. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a single-side suturing device and a suturing method.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a single-sided sewing device, including a thread hooking mechanism, a thread guide mechanism, a gear thread take-up mechanism, a synchronous belt transmission mechanism, a screw lifting mechanism and a sewing material placement platform, the thread hooking mechanism, the thread guide mechanism and the gear thread take-up mechanism are all connected with the synchronous belt transmission mechanism, and the synchronous belt transmission mechanism is driven by a stepping motor to transmit power; the thread hooking mechanism is a disc cam mechanism, the thread guide mechanism is a crank slider mechanism, and the gear thread take-up mechanism is a heart gear five-bar mechanism, the thread hooking mechanism, the thread guide mechanism, the gear thread take-up mechanism, the stepping motor and the synchronous belt transmission mechanism are all installed on the frame shell, the screw lifting mechanism is connected with the frame shell, and the screw lifting mechanism drives the frame shell and various mechanisms on the frame shell to rise and fall; the sewing material placement platform is located below the frame shell and is used to place sewing materials; The hooking mechanism comprises a disc cam, a roller, a hook rod and a hook, wherein the roller is located in a contour track on the disc cam, the roller is connected to the hook rod through a roller connector, the hook is installed at the bottom of the hook rod, and the movement track of the hook is determined by the contour track of the disc cam; the disc cam is connected to a synchronous belt transmission mechanism through a hook shaft, and the hook shaft drives the disc cam to rotate to realize the up and down movement of the hook; The wire guide mechanism comprises a wire guide crank disk, a wire guide connecting rod, a wire guide needle rod and a wire guide needle. One end of the wire guide connecting rod is mounted on the wire guide crank disk, and the other end is connected to the wire guide needle rod through a wire guide transmission joint; the wire guide needle is mounted on the bottom of the wire guide needle rod; the wire guide crank disk is connected to a synchronous belt transmission mechanism through a wire guide shaft, and the wire guide shaft drives the wire guide crank disk to rotate, thereby realizing the movement of the wire guide needle; The gear thread taking mechanism comprises a main gear and a sub-gear of equal size meshing, the main gear is connected to the mounting end of the main gear connecting rod, the sub-gear is connected to the mounting end of the sub-gear connecting rod, the free end of the main gear connecting rod is connected to the free end of the sub-gear connecting rod by a wire ring bolt, the wire ring bolt is provided with a thread taking hole, the main gear connecting rod and the sub-gear connecting rod are of equal length; the main gear is connected to the synchronous belt transmission mechanism through the main gear shaft, the sub-gear is connected to the frame housing through the sub-gear shaft, the main gear shaft drives the main gear to rotate, thereby driving the meshing sub-gear to rotate; A wire-releasing drum, a first wire clamp, a first wire-passing post, a second wire-passing post, a second wire clamp and a third wire-passing post are installed on the inner side plate of the frame shell.

[0007] Furthermore, a hook hook fastening buckle is installed at the connection point between the hook hook rod and the hook hook, and the tightness of the hook hook can be adjusted by the hook hook fastening buckle; the hook hook rod is connected to the inner side plate of the frame shell through the hook hook guide rod seat.

[0008] Furthermore, the lead needle rod is connected to the inner side plate of the frame shell through a lead needle rod guide rod seat, and the lead needle rod guide rod seat guides the lead needle rod to move linearly; a lead needle fixing buckle is installed at the connection between the lead needle rod and the lead needle, and the tightness of the lead needle is adjusted by the lead needle fixing buckle.

[0009] Furthermore, the rotation speed of the stepper motor output shaft is designed to be 120r / min, the transmission ratio between the hook wire shaft and the main gear shaft is 1:1, the transmission ratio between the lead wire shaft and the main gear shaft is 1:1; the transmission ratio between the lead wire shaft and the stepper motor is 1:1.

[0010] Furthermore, a suture pressing frame is fixed to the bottom of the inner side plate, and suturing begins after the suture pressing frame presses the suture material on the suture material placement table.

[0011] Furthermore, the wire pay-off drum is located at the edge of the inner plate, the first wire clamp is located between the wire pay-off drum and the main gear, the first wire passing post is located between the wire pay-off drum and the sub-gear, the second wire passing post is located between the main gear and the first wire clamp and is adjacent to the main gear, the second wire clamp is located below the main gear, and the third wire passing post is located below the second wire clamp.

[0012] The present invention also provides a suturing method of a single-side suturing device, comprising the following steps: S1, during the retreat of the guide needle after the suture is inserted into the sewing material, the hook needle pierces the sewing material; S2, the thread guide needle retreats to form a thread loop, and the hook hooks the thread loop; S3, the hook hook lifts the thread loop out of the sewing material surface, and at the same time, the thread guide needle retreats to above the sewing material, and then the hook hook and thread guide needle move one stitch length at the same time; S4, the thread guide needle pierces the sewing material again, and a new thread loop is formed in the process of retreating. The hook needle with the thread loop pierces the sewing material again, so that the thread loop falls off on the surface of the sewing material, and at the same time, the hook needle hooks the new thread loop; S5, the hook needle brings the new thread loop out of the sewing material surface and just passes through the center of the last thread loop that fell off, and at the same time, the thread guide needle retreats to the top of the sewing material; S6, tighten the suture while cooperating with the gear thread taking-up mechanism to supply thread, repeat the suturing actions of step S4 and step S5, and obtain a single-sided suture trace formed by multiple cycles of suturing operations.

[0013] Furthermore, the suture is led out from the wire release drum, passes through the first wire clamp, the first wire post, the wire ring bolt, the second wire post, the second wire clamp, the third wire post and the thread guide needle in sequence, and finally passes through the needle hole of the thread guide needle to form a wire path.

[0014] Furthermore, the amount of wire that changes when the wire picking hole of the wire ring bolt descends from the highest position to the lowest position and then returns to the highest position is: Set the second thread passing post as point M, the first thread passing post as point N, the thread taking-up hole in the gear thread taking-up mechanism passes through points P1, P2, P0 and P3, point P0 is the highest point of the thread taking-up hole, point P1 is the lowest point of the thread taking-up hole, when points M, P2, P3 and N are collinear, the thread quantity is the least, wherein the thread taking-up hole from point P1 to point P2, point P0 to point P3 is the suture tightening area; the thread taking-up hole from point P2 to point P0, point P3 to point P1 is the suture releasing area, ΔL1 is the thread quantity difference between the tightening area from point P1 to point P2 and the releasing area from point P3 to point P1, ΔL2 is the thread quantity difference between the tightening area from point P0 to point P3 and the releasing area from point P2 to point P0, then the thread quantity change relationship of the thread taking-up hole from the highest position to the lowest position and then back to the highest position is: in, in, is the distance from point P0 to point M; is the distance from point P0 to point N; is the distance from point P1 to point M; is the distance from point P1 to point N; is the distance from point P0 to point M.

[0015] Furthermore, the thread take-up hole, point M and point N are all located in the same plane, so the formulas of ΔL1 and ΔL2 are converted to: in, is the horizontal coordinate of point P0; is the ordinate of point P0; is the vertical coordinate of point P0; is the horizontal coordinate of point P1; is the ordinate of point P1; is the vertical coordinate of point P1; is the horizontal coordinate of point M; is the ordinate of point M; is the vertical coordinate of point M; is the horizontal coordinate of point N; is the ordinate of point N; is the vertical coordinate of point N.

[0016] Due to the adoption of the above technical solution, the present invention has the following beneficial effects: (1) The present invention performs sewing from one side of the processed product. Single-sided sewing has less requirements on the shape of the processed product and the space for sewing operation, and can meet the sewing requirements in various occasions, with a wide range of applicability.

[0017] (2) The thread hooking mechanism of the present invention adopts a disc-shaped cam design, replacing the more common single-motion crank slider mechanism, and timely adapts to the spatial motion coordination of the hook needle and the thread guide needle by adjusting the cam profile. When the synchronous belt is driven, the thread guide needle movement is first determined, and then the cam profile is changed to reach the correct spatial landing point of the hook needle. At the same time, the hook needle amplitude driven by the cam is small, and the thread hooking mechanism is highly stable, which greatly improves the success rate of suturing.

[0018] (3) The gear thread taking-up mechanism of the present invention is composed of a five-bar mechanism with a self-aligning gear. The thread path layout is realized by cooperating with a thread passing column and a thread clamp with tension control. The two-stage "thread releasing-thread rewinding" of the traditional thread taking-up mechanism with a quick return characteristic is transformed into a four-stage "thread releasing-thread rewinding-thread releasing-thread rewinding" without a quick return characteristic to meet the one-to-one correspondence of the thread supply intervals.

[0019] (4) The present invention solves the problem of poor forming quality of unilateral suture stitches. The formed chain stitches are smooth, reducing the occurrence of floating threads, broken threads, mis-hooking, and missed hooks. At the same time, the unilateral suture device has a compact structure, a wide range of applicability, a stable line structure, and a high suture success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, and the advantages and implementation methods of the present invention will become more obvious. The contents shown in the accompanying drawings are only used to explain the present invention and do not constitute any limitation to the present invention in any sense. In the accompanying drawings: Figure 1 It is a schematic diagram of the three-dimensional structure of the single-side suturing device of the present invention.

[0021] Figure 2 It is a side view of the single-side suturing device of the present invention.

[0022] Figure 3 It is a front view of the thread hooking mechanism and the thread guiding mechanism of the single-sided suturing device of the present invention.

[0023] Figure 4 It is a front view of the gear thread taking-up mechanism of the single-side sewing device of the present invention.

[0024] Figure 5 It is a side view of the internal structure of the single-side suturing device of the present invention.

[0025] Figure 6 The figure is a schematic diagram of the transmission route of the single-side sewing device of the present invention.

[0026] Figure 7 The present invention is a flow chart of stitch formation in the single-side sewing method.

[0027] Figure 8 Schematic diagram of the chain stitch formed by the single-sided sewing method of the present invention.

[0028] Fig. 9 It is a schematic diagram of the relationship between the wire supply amount and the wire demand amount of the present invention.

[0029] Fig.10 It is a schematic diagram of the thread picking displacement movement direction of the present invention.

[0030] Fig.11 It is a schematic diagram of the line layout of the single-sided suturing device of the present invention.

[0031] Fig.12 It is a schematic diagram of the suture trajectory layout of the present invention.

[0032] In the figure: 1. Thread hook mechanism; 2. Thread guide mechanism; 3. Gear thread pick-up mechanism; 4. Screw lifting mechanism; 5. Thread pay-off drum; 6. Stepping motor; 7. Sewing material placement table; 8. Synchronous belt transmission mechanism; 9. Frame shell; 10. Thread pressing frame; 11. Frame bottom plate; 12. Inter-board support; 13. Support reinforcement block; 14. First thread post; 15. Second thread post; 16. Third thread post; 17. First thread clamp; 18. Second thread clamp; 19. Thread pay-off drum fixing plate; 20. Inner side plate; 21. Rear side plate; 101, disc cam; 102, roller connector; 103, hook rod; 104, hook guide rod seat; 105, hook fastener; 106, hook; 107, hook thread shaft; 108, bearing seat I; 109, roller; 201, wire guide crank plate; 202, wire guide connecting rod; 203, wire guide transmission joint; 204, wire guide needle rod; 205, wire guide needle rod guide rod seat; 206, wire guide needle fastening buckle; 207, wire guide needle; 208, wire guide shaft; 209, bearing seat II; 301, secondary gear; 302, secondary gear connecting rod; 303, main gear; 304, main gear connecting rod; 305, wire eye bolt; 306, secondary gear shaft; 307, bearing seat IV; 308, flange bearing seat II; 309, main gear shaft; 310, bearing seat III; 311, ring fastening nut; 312, flange bearing seat I; 401, ball screw; 402, lifting fixed plate; 403, screw support column; 404, screw lower fixed plate; 405, screw bearing seat. DETAILED DESCRIPTION

[0033] like Figures 1 to 12 As shown, a single-side sewing device of the present invention includes a thread hooking mechanism 1, a thread guiding mechanism 2, a gear thread taking-up mechanism 3, a synchronous belt transmission mechanism 8, a screw lifting mechanism 4 and a sewing material placing table 7.

[0034] like Figure 1 and Figure 2 As shown, the thread hooking mechanism 1, the thread leading mechanism 2 and the gear thread taking mechanism 3 are all connected to the synchronous belt transmission mechanism 8, and the synchronous belt transmission mechanism 8 is driven by the stepping motor 6 to transmit power; the thread hooking mechanism 1 is a disc cam mechanism, the thread leading mechanism 2 is a crank slider mechanism, the gear thread taking mechanism 3 is a concentric gear five-bar mechanism, the thread hooking mechanism 1, the thread leading mechanism 2, the gear thread taking mechanism 3, the stepping motor 6 and the synchronous belt transmission mechanism 8 are all installed on the frame shell 9, the screw lifting mechanism 4 is connected to the frame shell 9, and the screw lifting mechanism 4 drives the frame shell 9 and the various mechanisms on the frame shell 9 to rise and fall; the sewing material placement table 7 is located below the frame shell 9 and is used to place sewing materials.

[0035] like Figure 3 As shown, the hooking mechanism 1 includes a disc cam 101, a roller 109, a hook needle rod 103 and a hook needle 106. The roller 109 is located in the contour track on the disc cam 101. The roller 109 is connected to the hook needle rod 103 through a roller connector 102. The hook needle 106 is installed at the bottom end of the hook needle rod 103. The movement trajectory of the hook needle 106 is determined by the contour track of the disc cam 101. A hook needle fastener 105 is installed at the connection between the hook needle rod 103 and the hook needle 106. The needle fastening buckle 105 realizes the tightness adjustment of the crochet needle 106; the crochet needle rod 103 is connected to the inner side plate 20 of the frame shell 9 through the crochet needle guide rod seat 104; the disc cam 101 is connected to the synchronous belt transmission mechanism 8 through the hook thread shaft 107, and the hook thread shaft 107 is set through the rear side plate 21 of the frame shell 9 and is connected to the rear side plate 21 of the frame shell 9 through the bearing seat Ⅰ108. The hook thread shaft 107 drives the disc cam 101 to rotate, thereby realizing the up and down movement of the crochet needle 106.

[0036] like Figure 3 As shown, the lead mechanism 2 includes a lead crank disk 201, a lead connecting rod 202, a lead needle rod 204 and a lead needle 207. One end of the lead connecting rod 202 is mounted on the lead crank disk 201, and the other end is connected to the lead needle rod 204 through a lead transmission joint 203. The lead needle rod 204 is connected to the inner side plate 20 of the frame housing 9 through a lead needle rod guide rod seat 205. The lead needle rod guide rod seat 205 guides the lead needle rod 204 to move linearly; the lead needle 207 is mounted on the bottom of the lead needle rod 204 A wire needle fixing buckle 206 is installed at the connection between the wire needle rod 204 and the wire needle 207, and the tightness of the wire needle 207 is adjusted by the wire needle fixing buckle 206; the wire crank disk 201 is connected to the synchronous belt transmission mechanism 8 through the wire shaft 208, and the wire shaft 208 is set through the rear side plate 21 of the frame shell 9, and is connected to the rear side plate 21 of the frame shell 9 through the bearing seat II 209, and the wire shaft 208 drives the wire crank disk 201 to rotate, thereby realizing the movement of the wire needle 207.

[0037] like Figure 4 and Figure 5 As shown, the gear thread taking mechanism 3 includes a main gear 303 and a sub-gear 301 of equal size meshing, the main gear 303 is connected to the mounting end of the main gear connecting rod 304, the sub-gear 301 is connected to the mounting end of the sub-gear connecting rod 302, the free end of the main gear connecting rod 304 is connected to the free end of the sub-gear connecting rod 302 through a wire ring bolt 305, the wire ring bolt 305 is provided with a thread taking hole, and the wire ring bolt 305 is fastened by a wire ring fastening nut 311; the main gear connecting rod 304 and the sub-gear connecting rod 302 are of equal length; the main gear 303 is connected to the main gear connecting rod 304 through the main gear The shaft 309 is connected to the synchronous belt transmission mechanism 8, the main gear shaft 309 is set through the frame shell 9, and is connected to the inner side plate 20 and the rear side plate 21 of the frame shell 9 through the flange bearing seat I 312 and the bearing seat III 310 respectively; the sub-gear 301 is connected to the frame shell 9 through the sub-gear shaft 306, and the sub-gear shaft 306 is connected to the inner side plate 20 and the rear side plate 21 of the frame shell 9 through the flange bearing seat II 308 and the bearing seat IV 307 respectively; the main gear shaft 309 drives the main gear 303 to rotate, thereby driving the meshing sub-gear 301 to rotate.

[0038] like Figure 6 As shown, the transmission route of the present invention is: In the frame housing 9, the stepper motor 6 is installed on the rear side plate 21, and the thread hook shaft 107, the main gear shaft 309, the sub-gear shaft 306 and the lead shaft 208 are arranged in parallel. The thread hook shaft 107 drives the thread hook mechanism 1 to move, the main gear shaft 309 provides power for the gear thread taking-up mechanism 3, and the lead shaft 208 drives the lead mechanism 2 to move. Since the lead mechanism 2, the thread hook mechanism 1 and the gear thread taking-up mechanism 3 need to coordinate with each other to complete the unilateral sewing action, the three are ensured to have the same movement cycle through the synchronous belt transmission mechanism 8 on the back of the rear side plate 21.

[0039] The speed of the output shaft of the stepper motor 6 is designed to be 120r / min, the transmission ratio between the hook wire shaft 107 and the main gear shaft 309 is 1:1, the transmission ratio between the lead wire shaft 208 and the main gear shaft 309 is 1:1; the transmission ratio between the lead wire shaft 208 and the stepper motor 6 is 1:1.

[0040] The screw lifting mechanism 4 includes a ball screw 401, on which a lifting fixed plate 402 is provided which moves up and down. The lifting fixed plate 402 is connected and fixed to the frame housing 9. The lifting fixed plate 402 is supported and limited by screw support columns 403 on both sides. The bottom end of the ball screw 401 is installed in the screw bearing seat 405 of the screw lower fixed plate 404. The screw lifting mechanism 4 realizes the overall up and down movement of the suture part mechanism.

[0041] The thread pressing frame 10 is fixed on the inner side plate 20 , and sewing begins after the thread pressing frame 10 presses the sewing materials on the sewing material placement table 7 .

[0042] The wire reel 5 is fixed on the inner plate 20 through the wire reel fixing plate 19; the first wire clamp 17, the first wire passing post 14, the second wire passing post 15, the second wire clamp 18 and the third wire passing post 16 are all installed on the inner plate 20, the wire reel 5 is located at the edge of the inner plate 20, the first wire clamp 17 is located between the wire reel 5 and the main gear 303, the first wire passing post 14 is located between the wire reel 5 and the sub-gear 301, the second wire passing post 15 is located between the main gear 303 and the first wire clamp 17 and is adjacent to the main gear 303, the second wire clamp 18 is located below the main gear 303, and the third wire passing post 16 is located below the second wire clamp 18.

[0043] The inner side plate 20 and the rear side plate 21 are supported by three inter-plate supports 12. For reinforcement, support reinforcement blocks 13 are added to the outer sides of the inter-plate supports 12 of the inner side plate 20 and the rear side plate 21 and connected with bolts; the sewing material placement table 7 is fixed on the frame bottom plate 11, and together they serve as the bottom support part of the single-sided sewing device.

[0044] like Figure 7 and Figure 8 As shown, the present invention also provides a suturing method of a single-side suturing device, comprising the following steps: S1, the thread guide needle 207 carries the suture thread and pierces the sewing material. During the process of retreating a certain distance, the hook needle 106 pierces the sewing material; S2, the thread guide needle 207 retreats to form a thread loop, and the hook needle 106 hooks the middle thread loop; S3, the hook needle 106 lifts the thread loop out of the sewing material surface, and at the same time, the thread guide needle 207 retreats to the top of the sewing material; the hook needle 106 and the thread guide needle 207 move relative to each other by one stitch length at the same time; S4, the thread guide needle 207 pierces the sewing material again, forms a new thread loop in the process of retreating a certain distance, and the hook needle 106 with the thread loop pierces the sewing material again, causing the thread loop to fall off on the surface of the sewing material; at the same time, the hook needle 106 hooks the new thread loop; S5, the hook needle 106 brings the new thread loop out of the sewing material surface and just passes through the center of the last thread loop that has fallen off. At the same time, the thread guide needle 207 retreats to the top of the sewing material; S6, tighten the suture while cooperating with the gear thread take-up mechanism 3 to supply thread, and repeat the suturing actions of step S4 and step S5, so as to obtain a single-sided suture trace formed by multiple cycles of suturing operations.

[0045] like Fig. 9As shown, the single-sided suturing device of the present invention optimizes the change in thread quantity before and after the stitches. The theoretical thread quantity required for a single-cycle suturing process includes three stages: the thread guide needle 207 piercing the sewing material, the hook needle 106 hooking out the thread loop and the movement between the stitches, namely step S1 to step S3.

[0046] The theoretical thread requirement curve of the unilateral suture device is obtained by combining the three stages. The actual thread usage is measured through experiments. The upper dead point of the thread guide needle 207 is taken as the phase zero degree, and the thread supply of the pay-off drum 5 is recorded.

[0047] The traditional thread take-up mechanism has a two-stage "release-retract" mechanism with quick return characteristics, such as Fig.10 As shown, the longitudinal displacement of the thread taking track of the four-link thread taking mechanism in the prior art before improvement reverses when the thread taking main shaft rotates at an angle of 128.6°, while the longitudinal displacement of the thread taking track of the gear thread taking mechanism 3 of the improved present invention reverses when the main gear shaft rotates at an angle of 180°, and no quick return characteristic occurs.

[0048] Since suture is a one-dimensional flexible body, it can only form the desired shape under specific tension conditions. The tension of the suture is mainly controlled by the tension regulator and the line layout. The design of the line layout is crucial to maintain the tension required for the suture process and to meet the thread supply during the thread picking process.

[0049] like Fig.11 As shown, the line layout of the present invention is as follows: the suture is led out from the pay-off drum 5, passes through the first thread clamp 17, the first thread post 14, the thread ring bolt 305, the second thread post 15, the second thread clamp 18, the third thread post 16 and the thread guide needle 207 in sequence, and finally passes out from the needle hole of the thread guide needle 207 to form a line layout.

[0050] Specifically, the actual thread supply amount of the gear thread take-up mechanism 3 while supplying thread and tightening the suture thread depends on the thread path formed by the movement trajectory of the thread take-up hole.

[0051] like Fig.12 As shown, the second thread passing post 15 is set as point M, the first thread passing post 14 is set as point N, and the thread taking hole in the gear thread taking-up mechanism 3 passes through points P1, P2, P0 and P3, where point P0 is the highest point of the thread taking-up hole, and point P1 is the lowest point of the thread taking-up hole. When points M, P2, P3 and N are collinear, the thread amount is the least, where the thread taking-up hole from point P1 to point P2 and from point P0 to point P3 is the suture tightening area; the thread taking-up hole from point P2 to point P0 and from point P3 to point P1 is the suture releasing area, ΔL1 is the thread amount difference between the tightening area from point P1 to point P2 and the releasing area from point P3 to point P1, and ΔL2 is the thread amount difference between the tightening area from point P0 to point P3 and the releasing area from point P2 to point P0. The thread amount change relationship of the thread taking-up hole of the gear thread taking-up mechanism 3 from the highest position to the lowest position and then back to the highest position can be derived: in, in, is the distance from point P0 to point M; is the distance from point P0 to point N; is the distance from point P1 to point M; is the distance from point P1 to point N; is the distance from point P0 to point M.

[0052] Since the thread take-up hole center, point M and point N of the present invention are all located in the same plane, they are converted into a plane formula: in, is the horizontal coordinate of point P0; is the ordinate of point P0; is the vertical coordinate of point P0; is the horizontal coordinate of point P1; is the ordinate of point P1; is the vertical coordinate of point P1; is the horizontal coordinate of point M; is the ordinate of point M; is the vertical coordinate of point M; is the horizontal coordinate of point N; is the ordinate of point N; is the vertical coordinate of point N.

[0053] The embodiments of the present invention are described in detail above, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A single-side suturing device, characterized in that: It includes a thread hooking mechanism, a thread guide mechanism, a gear thread take-up mechanism, a synchronous belt transmission mechanism, a screw lifting mechanism and a sewing material placement platform, wherein the thread hooking mechanism, the thread guide mechanism and the gear thread take-up mechanism are all connected to the synchronous belt transmission mechanism, and the synchronous belt transmission mechanism is driven by a stepping motor to transmit power; the thread hooking mechanism, the thread guide mechanism, the gear thread take-up mechanism, the stepping motor and the synchronous belt transmission mechanism are all installed on the frame shell, and the screw lifting mechanism is connected to the frame shell, and the screw lifting mechanism drives the frame shell and various mechanisms on the frame shell to rise and fall; the sewing material placement platform is located below the frame shell and is used to place sewing materials; The hooking mechanism comprises a disc cam, a roller, a hook rod and a hook, wherein the roller is located in a contour track on the disc cam, the roller is connected to the hook rod, the hook is installed at the bottom of the hook rod, and the movement track of the hook is determined by the contour track of the disc cam; the disc cam is connected to a synchronous belt transmission mechanism through a hook shaft, and the hook shaft drives the disc cam to rotate to realize the up and down movement of the hook; The wire guide mechanism comprises a wire guide crank disk, a wire guide connecting rod, a wire guide needle rod and a wire guide needle, wherein one end of the wire guide connecting rod is mounted on the wire guide crank disk, and the other end is connected to the wire guide needle rod; the wire guide needle is mounted on the bottom of the wire guide needle rod; the wire guide crank disk is connected to a synchronous belt transmission mechanism through a wire guide shaft, and the wire guide shaft drives the wire guide crank disk to rotate, thereby realizing the movement of the wire guide needle; The gear thread taking mechanism comprises a main gear and a sub-gear of equal size meshing, the main gear is connected to the mounting end of the main gear connecting rod, the sub-gear is connected to the mounting end of the sub-gear connecting rod, the free end of the main gear connecting rod is connected to the free end of the sub-gear connecting rod by a wire ring bolt, the wire ring bolt is provided with a thread taking hole, the main gear connecting rod and the sub-gear connecting rod are of equal length; the main gear is connected to the synchronous belt transmission mechanism through the main gear shaft, the sub-gear is connected to the frame housing through the sub-gear shaft, the main gear shaft drives the main gear to rotate, thereby driving the meshing sub-gear to rotate; A wire-releasing drum, a first wire clamp, a first wire-passing post, a second wire-passing post, a second wire clamp and a third wire-passing post are installed on the inner side plate of the frame shell.

2. The single-side suturing device according to claim 1, characterized in that: A hook fastening buckle is installed at the connection point between the hook rod and the hook, and the tightness of the hook is adjusted by the hook fastening buckle; the hook rod is connected to the inner side plate of the frame shell through the hook guide rod seat.

3. The single-side suturing device according to claim 1, characterized in that: The wire needle rod is connected to the inner side plate of the frame shell through a wire needle rod guide rod seat, and the wire needle rod guide rod seat guides the wire needle rod to move linearly; a wire needle fixing buckle is installed at the connection between the wire needle rod and the wire needle, and the tightness of the wire needle can be adjusted through the wire needle fixing buckle.

4. The single-side suturing device according to claim 1, characterized in that: The rotation speed of the stepper motor output shaft is 120r / min, the transmission ratio between the hook wire shaft and the main gear shaft is 1:1, the transmission ratio between the lead wire shaft and the main gear shaft is 1:1; the transmission ratio between the lead wire shaft and the stepper motor is 1:

1.

5. The single-side suturing device according to claim 1, characterized in that: The thread pressing frame is fixed at the bottom of the inner side plate, and sewing begins after the thread pressing frame presses the sewing material on the sewing material placement table.

6. The single-side suturing device according to claim 1, characterized in that: The wire pay-off drum is located at the edge of the inner plate, the first wire clamp is located between the wire pay-off drum and the main gear, the first wire passing post is located between the wire pay-off drum and the sub-gear, the second wire passing post is located between the main gear and the first wire clamp and is adjacent to the main gear, the second wire clamp is located below the main gear, and the third wire passing post is located below the second wire clamp.

7. A suturing method using a single-sided suturing device, wherein the suturing method is performed using the single-sided suturing device according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1, during the retreat of the guide needle after the suture is inserted into the sewing material, the hook needle pierces the sewing material; S2, the thread guide needle retreats to form a thread loop, and the hook hooks the thread loop; S3, the hook hook lifts the thread loop out of the sewing material surface, and at the same time, the thread guide needle retreats to above the sewing material, and then the hook hook and thread guide needle move one stitch length at the same time; S4, the thread guide needle pierces the sewing material again, and a new thread loop is formed in the process of retreating. The hook needle with the thread loop pierces the sewing material again, so that the thread loop falls off on the surface of the sewing material, and at the same time, the hook needle hooks the new thread loop; S5, the hook needle brings the new thread loop out of the sewing material surface and just passes through the center of the last thread loop that fell off, and at the same time, the thread guide needle retreats to the top of the sewing material; S6, tighten the suture while cooperating with the gear thread taking-up mechanism to supply thread, repeat the suturing actions of step S4 and step S5, and obtain a single-sided suture trace formed by multiple cycles of suturing operations.

8. The suturing method of the single-side suturing device according to claim 7, characterized in that: The suture is led out from the wire release drum, passes through the first wire clamp, the first wire post, the wire ring bolt, the second wire post, the second wire clamp, the third wire post and the wire guide needle in sequence, and finally passes through the needle hole of the wire guide needle to form a wire path.

9. The suturing method of the single-side suturing device according to claim 8, characterized in that: The thread amount of the thread take-up hole of the thread ring bolt drops from the highest position to the lowest position and then returns to the highest position as follows: the second thread passing column is set as point M, the first thread passing column is set as point N, the thread take-up hole in the gear thread take-up mechanism passes through points P1, point P2, point P0 and point P3, point P0 is the highest point position of the thread take-up hole, point P1 is the lowest point position of the thread take-up hole, and the thread amount is the least when points M, P2, P3 and N are collinear. The hole from point P1 to point P2 and point P0 to point P3 is the suture tightening area; the thread take-up hole from point P2 to point P0 and point P3 to point P1 is the suture release area, ΔL1 is the thread quantity difference between the tightening area from point P1 to point P2 and the release area from point P3 to point P1, ΔL2 is the thread quantity difference between the tightening area from point P0 to point P3 and the release area from point P2 to point P0, then the thread quantity change relationship of the thread take-up hole from the highest position to the lowest position and then back to the highest position is: in, in, is the distance from point P0 to point M; is the distance from point P0 to point N; is the distance from point P1 to point M; is the distance from point P1 to point N; is the distance from point P0 to point M; is the horizontal coordinate of point P0; is the ordinate of point P0; is the vertical coordinate of point P0; is the horizontal coordinate of point P1; is the ordinate of point P1; is the vertical coordinate of point P1; is the horizontal coordinate of point M; is the ordinate of point M; is the vertical coordinate of point M; is the horizontal coordinate of point N; is the ordinate of point N; is the vertical coordinate of point N.

10. The suturing method of the single-side suturing device according to claim 9, characterized in that: The thread picking hole, point M and point N are all located in the same plane, so the formulas of ΔL1 and ΔL2 are converted to: 。

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