Automatic core pulling equipment for medical catheter and core pulling method

Abstract

The invention discloses automatic core-pulling equipment for a medical catheter. The automatic core-pulling equipment comprises a supporting frame, and a stretching mechanism, a feeding tray, a clamping jaw mechanism and a core-pulling mechanism are arranged on the supporting frame; the feeding tray is arranged on one side of the stretching mechanism, the clamping jaw mechanism stretches across the stretching mechanism, the feeding tray and the core pulling mechanism, and a medical catheter to be subjected to core pulling can be transferred among the feeding tray, the stretching mechanism and the core pulling mechanism through the clamping jaw mechanism; the stretching mechanism comprises a fixed clamp and a movable clamp, and the core pulling mechanism is arranged on the side of the fixed clamp. According to the invention, the stretching process and the pulling process of the mandrel are integrated, full-automatic operation is realized, and the production efficiency is improved while the labor cost is reduced; and secondly, in the whole technological process, the medical catheter is fixed by the clamping jaw mechanism all the time, so that the medical catheter is prevented from deforming in the moving process, and the yield is effectively improved.

Description

Technical Field

[0001] The invention belongs to the technical field of core extraction of medical catheters, and specifically relates to an automatic core extraction device and a core extraction method for medical catheters. Background Art

[0002] Medical catheters are tubular devices, generally made of soft polymer materials. In order to ensure that the shape, size and performance of the catheter meet medical requirements during the manufacturing process, a harder mandrel is required as a guide and support. However, during the manufacturing process, the inner wall of the catheter and the mandrel are bonded due to heat, and when the intermediate process of the catheter is completed, the mandrel needs to be pulled out of the catheter for subsequent processes.

[0003] The traditional core pulling method mainly uses manual core pulling. When pulling the core, the two ends of the mandrel are manually pulled to separate the mandrel from the inner wall of the catheter, and then the mandrel is pulled out from one end of the catheter. This manual core pulling method requires two workers to work together during the core pulling process. It is time-consuming and labor-intensive. In order to improve production efficiency, it requires a lot of manpower. In the long production process, there have even been cases where workers have strained their arms. Secondly, in the manual core pulling method, since the catheter is in a free state during the stretching and extraction of the mandrel, the catheter often deforms as it moves with the mandrel, resulting in a high defective rate of the product. At present, in response to the shortcomings of the traditional core pulling process, although some semi-automatic equipment has appeared on the market, these equipment are limited to solving manpower problems, and the defective rate of products has not been effectively reduced. In addition, the stretching and extraction process of the mandrel is carried out in a dispersed manner, and the production efficiency is not high. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the invention aims to provide an automatic core pulling device and a core pulling method for medical catheters, so as to integrate the stretching and extraction processes of the core shaft into one, thereby reducing the defective rate and improving production efficiency.

[0005] In order to achieve the above technical objectives and effects, the invention is implemented through the following technical solutions:

[0006] An automatic core-pulling device for a medical catheter comprises a supporting frame, on which a stretching mechanism, a loading tray, a clamping mechanism and a core-pulling mechanism are arranged; the loading tray is arranged on one side of the stretching mechanism, and the clamping mechanism spans over the stretching mechanism, the loading tray and the core-pulling mechanism, and the medical catheter to be core-pulled can be transferred between the loading tray, the stretching mechanism and the core-pulling mechanism through the clamping mechanism; the stretching mechanism comprises a fixed clamp and a movable clamp that can be displaced, and the core-pulling mechanism is arranged on the fixed clamp.

[0007] Furthermore, the loading tray is provided with at least one group of workstations for placing medical catheters, the length of the workstations is adjustable, and a detection sensor is provided at the lower end of each group of the workstations for detecting whether there is a medical catheter to be cored out in the workstation.

[0008] Furthermore, the clamping mechanism includes a supporting leg, a pair of electric sliding guide rails are arranged on the supporting leg at intervals, a crossbeam is arranged across the sliding platform of the pair of electric sliding guide rails, a clamping module is arranged below the crossbeam, and the clamping module can be moved up and down on the crossbeam through the cooperation of the electric cylinder and the guide shaft.

[0009] Furthermore, the clamping jaw module includes a clamping jaw adjusting device and a plurality of groups of clamping jaws; the positions of some of the clamping jaws can be adjusted by driving the clamping jaw adjusting device.

[0010] Furthermore, the movable clamp is arranged on the support frame through a clamp adjustment device, and the movable clamp can adjust the distance between itself and the fixed clamp through the adjustment of the clamp adjustment device, thereby clamping the core shafts of medical catheters of different sizes and stretching the core shafts in the medical catheters.

[0011] Furthermore, the movable fixture and the fixed fixture each include a pneumatic wedge fixture and a first in-position sensor.

[0012] Furthermore, the core pulling mechanism includes a support, on which a lower synchronous belt assembly and an upper synchronous belt assembly are arranged. The upper synchronous belt assembly can be moved up and down above the lower synchronous belt assembly through a core pulling adjustment device, and a second in-position sensor is arranged upstream of the lower synchronous belt assembly and the upper synchronous belt assembly.

[0013] Furthermore, a first core-pulling scissors assembly is provided downstream of the lower synchronous belt assembly and the upper synchronous belt assembly.

[0014] Furthermore, it also includes a shearing and rounding mechanism, which is arranged on the inner side of the movable clamp; the shearing and rounding mechanism includes a stretching scissors component and a smoothing processing component.

[0015] A core extraction method for an automatic core extraction device for a medical catheter, specifically comprising the following steps:

[0016] Place the medical catheter to be cored out into the workstation in the loading tray and start the equipment;

[0017] The clamp mechanism drives the clamp module to move to the loading tray to grab the medical catheter to be cored;

[0018] The clamping claw module drives the grasped medical catheter to be cored out to be transferred to the stretching mechanism;

[0019] The fixed clamp and the movable clamp in the stretching mechanism clamp the two ends of the core shaft in the medical catheter;

[0020] The movable fixture moves away from the fixed fixture to a preset tension position;

[0021] The stretching scissor assembly rises to cut the mandrel and then descends to reset;

[0022] The movable clamp opens;

[0023] The shearing and rounding mechanism repeatedly trims the fracture of the mandrel;

[0024] The fixed clamp is opened;

[0025] The clamping claw module drives the medical catheter to be cored out to the core-pulling position;

[0026] The core pulling mechanism clamps the mandrel and operates until the mandrel is completely pulled out;

[0027] The clamping claw module drives the medical catheter with the core pulled out to the unloading position and puts it down;

[0028] Repeat the above steps until all the medical catheters to be cored on the loading tray are cored.

[0029] The beneficial effects of the invention are as follows: the present invention integrates the stretching and extraction processes of the core shaft into one, realizes fully automatic operation, reduces labor costs and improves production efficiency; secondly, during the entire process, the medical catheter is always fixed by the clamping mechanism, preventing the medical catheter from being deformed during the movement, and effectively improving the yield rate.

[0030] The above description is only an overview of the inventive technical solution. In order to more clearly understand the inventive technical means and implement them according to the contents of the specification, the following is a detailed description of the preferred embodiments of the inventive type in conjunction with the accompanying drawings. The specific implementation methods of the inventive type are given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the invention and constitute a part of this application. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation on the invention. In the drawings:

[0032] Figure 1 It is a schematic diagram of the overall structure of the inventive device;

[0033] Figure 2 This is a schematic diagram of the structure of the inventive device without part of the supporting frame;

[0034] Figure 3The schematic diagram of the structure of the invented equipment without the support frame and loading tray;

[0035] Figure 4 This is a schematic diagram of the structure of the invented loading tray from the first perspective;

[0036] Figure 5 This is a schematic diagram of the structure of the inventive loading tray from the second perspective;

[0037] Figure 6 Inventive Figure 5 Enlarged view of point B in the middle;

[0038] Figure 7 It is a schematic diagram of the structure of the invented clamping mechanism;

[0039] Figure 8 This is a schematic diagram of the structure of the invented clamping jaw module;

[0040] Fig. 9 It is a schematic diagram of the partial structure of the invented clamping jaw module;

[0041] Fig.10 A schematic diagram showing the connection between the inventive fixing fixture and the core pulling mechanism from a first perspective;

[0042] Fig.11 A schematic diagram showing the connection between the inventive movable fixture and the shearing and rounding mechanism from a first perspective;

[0043] Fig.12 A second-view schematic diagram of the connection between the inventive movable fixture and the shearing and rounding mechanism;

[0044] Fig.13 It is a schematic diagram of the structure of the inventive clamp adjustment device;

[0045] Fig.14 This is a second perspective schematic diagram of the connection between the inventive fixing fixture and the core pulling mechanism.

[0046] Explanation of the reference numerals in the figure: 1. Support frame; 2. Stretching mechanism; 3. Loading tray; 4. Gripping mechanism; 5. Core pulling mechanism; 6. Shearing and rounding mechanism; 7. Control system; 8. Clamp adjustment device; 21. Fixed clamp; 22. Movable clamp; 201. Pneumatic wedge clamp; 202. First in-position sensor; 211. First clamp bracket; 221. Second clamp bracket; 222. Tension sensor; 31. Base; 32. Fixed support block; 33. Fixed shaft; 34. Movable support block; 35. First scissor-type connection Connecting rod; 36, detection sensor; 301, placement slot; 3011, detection hole; 41, support foot; 42, electric sliding guide rail; 43, crossbeam; 44, clamping jaw module; 45, electric cylinder; 46, guide shaft; 47, first linear bearing; 441, clamping jaw adjustment device; 4411, first connecting plate; 4412, fixing rod; 4413, second scissor-type connecting rod; 4414, connecting shaft; 4415, first fixing plate; 4416, first ball screw; 4417, first coupling; 4418, Driving motor; 4419, first linear guide; 4420, connecting frame; 4421, pneumatic gripper; 4422, electric power control gripper; 4423, pneumatic soft gripper; 4424, pneumatic hard gripper; 51, support; 52, lower synchronous belt assembly; 53, upper synchronous belt assembly; 54, core-pulling adjustment device; 55, second in-position sensor; 56, first core-pulling scissors assembly; 541, second connecting plate; 542, third linear guide; 543, second ball screw; 544, second coupling; 545, core-pulling adjustment electric machine; 61, stretching scissors assembly; 62, smoothing treatment assembly; 611, second core-pulling scissors assembly; 612, third connecting plate; 613, support rod; 614, second movable plate; 615, second linear bearing; 616, guide rod; 617, second fixed plate; 618, lifting cylinder; 621, mounting seat; 622, smoothing treatment cylinder; 623, repair mold; 6211, avoidance groove; 81, first movable plate; 82, second linear guide rail; 83, fixture adjustment motor; 84, gear; 85, rack. DETAILED DESCRIPTION

[0047] The invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0048] It should be noted that all directional indications in the inventive embodiments (such as up, down, left, right, front, back, upper end, lower end, top, bottom...) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] See also Figure 1-3As shown, an automatic core-pulling device for medical catheters comprises a supporting frame 1, on which a stretching mechanism 2, a loading tray 3, a clamping mechanism 4 and a core-pulling mechanism 5 are arranged; the loading tray 3 is arranged on one side of the stretching mechanism 2, and the clamping mechanism 4 spans over the stretching mechanism 2, the loading tray 3 and the core-pulling mechanism 5, and the medical catheter to be core-pulled can be transferred between the loading tray 3, the stretching mechanism 2 and the core-pulling mechanism 5 through the clamping mechanism 4; the stretching mechanism 2 comprises a fixed clamp 21 and a movable clamp 22 that can be displaced, and the distance between the movable clamp 22 and the fixed clamp 21 can be changed by displacement of the movable clamp 22, and the core-pulling mechanism 5 is arranged on the fixed clamp 21.

[0050] For further information, see Figure 4-6 As shown (the reference numeral A in the figure indicates the medical catheter to be cored out), in this embodiment, the loading tray 3 includes a base 31 and a fixed support block 32, and the base 31 and the fixed support block 32 are connected together by four groups of fixed shafts 33, wherein the four groups of fixed shafts 33 are arranged opposite to each other in pairs; seven groups of movable support blocks 34 are arranged on the fixed shaft 33, but it is not limited to seven groups, and other numbers of groups can also be arranged as long as the requirements can be met. During operation, the medical catheter to be cored out is placed by the cooperation of the movable support blocks 34 and the fixed support blocks 32; and in this embodiment, in order to meet the applicability of different length specifications, the seven groups of movable support blocks 34 can be slidably arranged on the fixed shaft 33, and the fixed support block 32 and all the movable support blocks 34 are connected by a first scissor-type connecting rod 35, and the first scissor-type connecting rod 35 can realize the connection between the fixed support block 32 and the adjacent movable support block 34 and the movable support block 34 can be adjusted equidistantly according to the product size; and in order to prevent the medical catheter to be pulled out from the fixed support block 32 and all the movable support blocks 34, corresponding placement grooves 301 are provided on the fixed support block 32 and the movable support block 34, and the corresponding placement grooves 301 form a work station for placing the medical catheter to be pulled out, wherein, in this embodiment, a total of ten work stations are formed, of course, not limited to ten, and can be more or less, as long as the requirements are met; and a detection sensor 36 is provided below each of the work stations for detecting whether there is a medical catheter to be pulled out in the work station, and in this embodiment, specifically, a detection hole 3011 is provided on the placement groove 301 located on the fixed support block 32, and a detection sensor 36 is provided below the detection hole 3011; during installation, the base 31 and the fixed support block 32 are fixed on the support frame 1, and the detection sensor 36 is fixed on the support frame 1 through the corresponding support seat.

[0051] For further information, see Figure 7 As shown (the reference numeral A in the figure indicates the medical catheter to be cored), in this embodiment, the clamping mechanism 4 includes a supporting leg 41, on which a pair of electric sliding guide rails 42 are arranged at intervals, and a crossbeam 43 is arranged across the slide platform of the pair of electric sliding guide rails 42, and a clamping module 44 is arranged below the crossbeam 43, and the clamping module 44 is arranged on the crossbeam 43 so as to be movable up and down by an electric cylinder 45, and in order to avoid the displacement of the clamping module 44 during the up and down movement, two groups of guide shafts 46 are respectively arranged on both sides of the electric cylinder 45, and after the guide shaft 46 passes through the crossbeam 43 through the first linear bearing 47, the lower end of the guide shaft 46 is connected to the clamping The module 44 is connected; during operation, the crossbeam 43 is driven by a pair of electric sliding guide rails 42 to move back and forth on the supporting leg 41 along the electric sliding guide rails 42, thereby driving the clamping jaw module 44 to move back and forth between the loading tray 3, the stretching mechanism 2 and the core pulling mechanism 5, and when moving to the position of the loading tray 3, the stretching mechanism 2 or the core pulling mechanism 5, the clamping jaw module 44 is driven by the electric cylinder 45 to move up and down, thereby realizing the material picking, stretching, core pulling and material discharge operations; the clamping jaw module 44 includes a clamping jaw adjusting device 441 and eight groups of clamping jaws; some of the clamping jaws can be driven by the clamping jaw adjusting device 441 to realize position adjustment.

[0052] Among them, see Figure 8-9As shown, in this embodiment, the clamping jaw adjustment device 441 includes a first connecting plate 4411, a pair of fixing rods 4412 and a second scissor-type connecting rod 4413; the first connecting plate 4411 is connected to the crossbeam 43 through the electric cylinder 45 and the guide shaft 46, and the first connecting plate 4411 can be moved up and down by the drive of the electric cylinder 45; a pair of connecting shafts 4414 are arranged below the first connecting plate 4411, and the two ends of the pair of connecting shafts 4414 are respectively fixed to the first connecting plate 4411 through a first fixing plate 4415, and a parallel to the connecting shaft 4414 is arranged between the connecting shaft 4414 and the first connecting plate 4411. The first ball screw 4416, one end of the screw of the first ball screw 4416 is set on the first fixed plate 4415 through a corresponding bearing seat, and after passing through the first fixed plate 4415, this end is connected to a driving motor 4418 through a first coupling 4417, and the driving motor 4418 is fixed to the first connecting plate 4411 through a corresponding motor support, and the other end of the screw of the first ball screw 4416 is set on the first connecting plate 4411 through a corresponding bearing seat; the first connecting plate 4411 is also provided with a pair of first linear guides 4419, and the direction of the pair of first linear guides 4419 is parallel to the pair of connecting shafts 4414; installation When, eight groups of the clamping jaws are arranged in a straight line on the connecting shaft 4414, wherein the first to seventh groups of the clamping jaws from left to right are slidably arranged on the connecting shaft 4414 through corresponding connecting seats, the eighth group of the clamping jaws are fixedly connected to the connecting shaft 4414 through corresponding connecting seats, and the first to second groups of the connecting seats from left to right are connected together through a pair of the fixing rods 4412, the second to eighth groups of the connecting seats are connected through the second scissor-type connecting rods 4413, and the first group of the connecting seats are fixedly connected to the balls of the first ball screw 4416, and the second to seventh groups of the connecting seats are respectively connected to the first linear guide 4419 through connecting frames 4420. On the slide; during adjustment, the driving motor 4418 drives the first ball screw 4416 to rotate through the first coupling 4417, thereby driving the ball on the first ball screw 4416 to move along its screw, thereby driving the first group of the connecting seats to move along the connecting shaft 4414, and the moving first group of the connecting seats drives the second group of the connecting seats to move synchronously through the fixed rod 4412, and the moving second group of the connecting seats drives the third to seventh groups of the connecting seats to move along the connecting shaft 4414 and the first linear guide 4419 through the second scissor-type connecting rod 4413, thereby adjusting the position of the clamping claw, and then clamping medical catheters of different sizes;In this embodiment, a pair of lifting cylinders 4425 are provided between the first group of clamping jaws and the corresponding connecting seat, and the first group of clamping jaws can be moved up and down on the corresponding connecting seat through the pair of lifting cylinders 4425. ;

[0053] In addition, it should be noted that in this embodiment, among the eight groups of clamping jaws, see Figure 8-9 As shown, from left to right, the first group of jaws adopts pneumatic jaws 4421; the second and eighth groups of jaws adopt electrodynamically controlled jaws 4422, and the soft end of the medical catheter is clamped by the second group of electrodynamically controlled jaws 4422, and the hard end of the medical catheter is clamped by the eighth group of electrodynamically controlled jaws 4422. When in use, in order to prevent the electrodynamically controlled jaws 4422 used in the second and eighth groups from clamping or deforming the catheter after core pulling due to excessive clamping force, and from deforming the catheter following the movement of the core shaft during stretching or core pulling due to insufficient clamping force, the electrodynamically controlled jaws 4422 used in the second and eighth groups need to be set to appropriate values ​​according to the specifications of the medical catheter. Force value range: the third to seventh groups of clamps are provided with 2 pneumatic soft jaws 4423 and 3 pneumatic hard jaws 4424, and the pneumatic soft jaws 4423 and the pneumatic hard jaws 4424 are staggered, and the pneumatic soft jaws 4423 provide a small clamping force to assist in fixing the middle section of the medical catheter, and the pneumatic hard jaws 4424 support the medical catheter to prevent the pneumatic soft jaws 4423 from failing to clamp and causing the medical catheter to fall. The number of the pneumatic soft jaws 4423 and the pneumatic hard jaws 4424 set above is only one implementation method, and is not used to limit the scope of the present application. In actual settings, other numbers of groups and combinations can be used as long as the requirements are met.

[0054] Further, in this embodiment, see Figure 3 As shown, the fixed clamp 21 is arranged on the support frame 1 on the side of the electric power controlled clamp 4422 of the eighth group, and the movable clamp 22 is arranged on the support frame 1 through a clamp adjustment device 8. The movable clamp 22 can change the distance between itself and the fixed clamp 21 by adjusting the clamp adjustment device 8, so as to clamp the core shafts of medical catheters of different sizes and stretch the core shafts inside the medical catheters at the same time.

[0055] See also Fig.10 As shown, the fixing fixture 21 includes a pneumatic wedge clamp 201 for clamping one end of the core shaft in the medical catheter. The pneumatic wedge clamp 201 is arranged on the support frame 1 through a first clamp bracket 211. A first in-place sensor 202 for monitoring whether the medical catheter is in place is arranged on the front side of the clamping mouth of the pneumatic wedge clamp 201. The first in-place sensor 202 is arranged on the first clamp bracket 211.

[0056] See also Figure 11-12 As shown, the movable clamp 22 includes a pneumatic wedge clamp 201 for clamping the other end of the core shaft in the medical catheter. The pneumatic wedge clamp 201 is set on the first movable plate 81 of the clamp adjustment device 8 through a second clamp bracket 221. A first in-place sensor 202 for monitoring whether the medical catheter is in place is set on the front side of the clamp mouth of the pneumatic wedge clamp 201, and a tension sensor 222 for real-time monitoring of the tension size is set on the rear side of the pneumatic wedge clamp 201.

[0057] See also Fig.13 As shown, the clamp adjustment device 8 includes the above-mentioned first movable plate 81, a pair of second linear guide rails 82 are arranged on the lower end surface of the first movable plate 81, and a vertically upward clamp adjustment motor 83 is arranged below the first movable plate 81. The clamp adjustment motor 83 is fixed to the first movable plate 81 through a corresponding motor support seat, and a gear 84 is arranged on the output shaft of the clamp adjustment motor 83. The gear 84 is meshed and connected with a rack 85, and the direction in which the rack 85 is arranged is parallel to the direction in which the pair of second linear guide rails 82 are arranged; when installed, the slide rails of the pair of second linear guide rails 82 and the rack 85 are fixed on the support frame 1.

[0058] During adjustment, since the slide rails of a pair of second linear guide rails 82 and the rack 85 are fixedly connected to the support frame 1, when the clamp adjustment motor 83 drives the gear 84 to rotate, the clamp adjustment motor 83, the gear 84 and the first movable plate 81 will move synchronously along the pair of second linear guide rails 82, thereby driving the movable clamp 22 to move, thereby changing the distance between the fixed clamp 21 and the movable clamp 22; during stretching, when the medical catheter to be pulled out is rotated from the loading tray 3 to the clamp mechanism 4, After the fixed clamp 21 and the movable clamp 22 are positioned between the clamps and detected in position by the first position sensor 202, the fixed clamp 21 and the movable clamp 22 clamp the core shafts at the corresponding ends, and then the clamp adjustment motor 83 is started to drive the movable clamp 22 to move away from the fixed clamp 21, stretching and thinning the core shaft until it is completely separated from the inner wall of the catheter. During the stretching process, the tension sensor 222 monitors the tension in real time, and when the preset tension position is reached, the clamp adjustment motor 83 is controlled to stop running.

[0059] For further information, see Fig.10As shown, in this embodiment, the core pulling mechanism 5 includes a support 51, and the support 51 is fixed on the first clamp bracket 211; a lower synchronous belt assembly 52 and an upper synchronous belt assembly 53 are arranged on the support 51, and the upper synchronous belt assembly 53 can be moved up and down through a core pulling adjustment device 54 and is arranged above the lower synchronous belt assembly 52; a second in-position sensor 55 is arranged upstream of the lower synchronous belt assembly 52 and the upper synchronous belt assembly 53; when working, the clamping mechanism The medical catheter with the stretched mandrel is transferred to the core-pulling mechanism 5. At this time, one end of the mandrel clamped by the fixing fixture 21 extends into between the lower synchronous belt assembly 52 and the upper synchronous belt assembly 53, and after being detected in position by the second in-position sensor 55, the core-pulling adjustment device 54 drives the upper synchronous belt assembly 53 to move closer to the lower synchronous belt assembly 52. ​​After clamping one end of the mandrel, the lower synchronous belt assembly 52 and the upper synchronous belt assembly 53 rotate together to pull the mandrel out of the catheter.

[0060] See also Fig.14 As shown, the core-pulling adjustment device 54 includes a second connecting plate 541, the upper synchronous belt assembly 53 is arranged on the second connecting plate 541, the second connecting plate 541 is arranged on the support 51 through a pair of third linear guides 542, a second ball screw 543 is arranged between the pair of third linear guides 542, the second ball screw 543 is arranged on the support 51 through a corresponding bearing seat, the ball of the second ball screw 543 is fixedly connected to the second connecting plate 541, and the second ball screw 543 One end of the screw rod is connected to a core-pulling adjustment motor 545 through a second coupling 544, and the core-pulling adjustment motor 545 is fixed on the support 51 through a corresponding motor support seat; during adjustment, the core-pulling adjustment motor 545 drives the second ball screw 543 to rotate through the second coupling 544, thereby driving the second ball screw 543 ball to move along its screw rod, thereby driving the second connecting plate 541 to move up and down along a pair of the third linear guide rails 542, thereby driving the upper synchronous belt assembly 53 to move up and down.

[0061] For further information, see Fig.10 and 14 As shown, in this embodiment, in order to prevent the pulled-out mandrel from being too long and difficult to recycle, a first core-pulling scissors assembly 56 is provided downstream of the lower synchronous belt assembly 52 and the upper synchronous belt assembly 53, and the first core-pulling scissors assembly 56 is fixed to the first fixture bracket 211 through a corresponding fixing seat; during operation, the pulled-out mandrel is cut into small sections by the first core-pulling scissors assembly 56; and in this embodiment, see see Figure 1-2As shown, in order to prevent the cut mandrel from falling directly on the ground, when pulling the mandrel, a material basket is placed on the outside of the equipment, that is, downstream of the core-pulling scissors mechanism 8, to recover the mandrel cut into small sections. In order to facilitate the transportation of the material basket, the material basket can also be placed on a cart.

[0062] Furthermore, in this embodiment, since the movable fixture 22 will squeeze and deform the mandrel during the process of elongating and thinning the mandrel, and when the mandrel is withdrawn, the mandrel is withdrawn from the end of the movable fixture 22 to the end of the fixed fixture 21, in order to prevent the deformed mandrel end from scratching the inner wall of the catheter, see Figure 1-3 As shown, the device also includes a shearing and rounding mechanism 6 for cutting off the mandrel clamping position and smoothing the port, and the shearing and rounding mechanism 6 is arranged inside the movable clamp 22; see Fig.11 As shown, the shearing and rounding mechanism 6 includes a stretching scissors assembly 61 and a rounding processing assembly 62 . The stretching scissors assembly 61 is located between the rounding processing assembly 62 and the movable clamp 22 , and the stretching scissors assembly 61 is adjacent to the rounding processing assembly 62 .

[0063] See also Figure 11-12 As shown, the stretching scissors assembly 61 includes a second core-pulling scissors assembly 611, and a third connecting plate 612 is respectively arranged on a pair of side walls of the second core-pulling scissors assembly 611, and the lower ends of the third connecting plates 612 are respectively arranged on a second movable plate 614 through two groups of support rods 613, and a pair of guide rods 616 are passed through the second movable plate 614 through a second linear bearing 615, and the lower ends of the guide rods 616 are connected together through a second fixed plate 617, and a lifting cylinder 618 is arranged on the second fixed plate 617, and the upper end of the piston rod of the lifting cylinder 618 is connected to the second movable plate 614; when installed, the upper ends of the pair of guide rods 616 are fixedly connected to the lower end surface of the first movable plate 81; when operating, the second movable plate 614 is connected to the second movable plate 614 through the second linear bearing 615. The lifting cylinder 618 is driven to move up and down along the guide rod 616, thereby driving the second core-pulling scissors assembly 611 to move up and down through the support rod 613 and the third connecting plate 612, so that the second core-pulling scissors assembly 611 rises to cut the core shaft at the other end, and then descends to reset to the initial position; it should be noted that before the second core-pulling scissors assembly 611 cuts the core shaft, the lifting cylinder 4425 drives the pneumatic clamp 4421 to descend, and after descending into place, the pneumatic clamp 4421 clamps the core shaft and holds it after the second core-pulling scissors assembly 611 cuts the core shaft until the shaft is pulled out, and then it is released together with the medical catheter, thereby effectively preventing the cut core shaft from falling into the equipment after the movable clamp 22 is opened.

[0064] See also Figure 11-12 As shown, the smooth processing component 62 includes a mounting seat 621, the mounting seat 621 is fixed on the first movable plate 81, and an avoidance groove 6211 is provided at the upper end of the mounting seat 621; four groups of smooth processing cylinders 622 are arranged on the side wall of the mounting seat 621 close to the side of the stretching scissors assembly 61, and the front ends of the piston rods of the four groups of smooth processing cylinders 622 are all provided with a repair mold 623; when the shear cut at the other end of the mandrel is repaired, the four groups of smooth processing cylinders 622 are opposite to each other, and the relatively arranged smooth processing cylinders 622 act synchronously, and the two pairs of the smooth processing cylinders 622 are arranged to be smooth. The cylinder 622 drives the repair mold 623 set at its front end in an interlaced manner to squeeze the core shaft inward, so as to squeeze and flatten the burrs on the broken end of the core shaft; a conical structure is set on the extrusion surface of the repair mold 623, and the two pairs of the smoothing cylinders 622 drive the repair mold 623 to trim the core shaft in multiple times (such as 2 times, 3 times, etc.), so that the broken end of the core shaft can be adjusted to a cone, which is beneficial to the subsequent core pulling operation and can effectively avoid the burrs at the broken end from scratching the inner wall of the catheter; wherein, in this real-time example, the first in-position sensor 202 on the side of the movable clamp 22 is fixed to the bottom of the avoidance groove 6211.

[0065] Further, in this embodiment, see Figure 1-2 As shown, the device also includes a control system 7 for controlling the device. By setting the control system 7, automatic control of the device is achieved; the stretching mechanism 2, the loading tray 3, the clamping mechanism 4, the core pulling mechanism 5 and the shearing and rounding mechanism 6 are respectively connected to the control system 7 by electrical signals.

[0066] Finally, it should be noted that, in the present embodiment, the first core-pulling scissors assembly 56 and the second core-pulling scissors assembly 611 are both automated pneumatic scissors.

[0067] A core extraction method for an automatic core extraction device for a medical catheter, specifically comprising the following steps:

[0068] Place the medical catheter to be cored out into the workstation in the loading tray 3 and start the equipment;

[0069] The clamping mechanism 4 drives the clamping module 44 to move onto the loading tray 3 to grab the medical catheter to be cored;

[0070] The clamping claw module 44 drives the grasped medical catheter to be cored out to be transferred to the stretching mechanism 2;

[0071] The fixed clamp 21 and the movable clamp 22 in the stretching mechanism 2 clamp the two ends of the core shaft in the medical catheter;

[0072] The movable clamp 22 moves away from the fixed clamp 21 to a preset tension position;

[0073] The stretching scissor assembly 61 rises to cut the mandrel and then falls to reset;

[0074] The movable clamp 22 is opened;

[0075] The shearing and rounding mechanism 6 repeatedly trims the fracture of the mandrel;

[0076] The fixing fixture 21 is opened;

[0077] The clamping jaw module 44 drives the medical catheter to be cored out to the core-drawing position;

[0078] The core pulling mechanism 5 clamps the mandrel and operates until the mandrel is completely pulled out;

[0079] The clamping jaw module 44 drives the medical catheter after the core is pulled to the unloading position and puts it down;

[0080] Repeat the above steps until all the medical catheters to be cored out on the loading tray 3 are cored out.

[0081] The above description is only a preferred embodiment of the invention and is not intended to limit the invention. For those skilled in the art, the invention may be modified and varied in various ways. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the invention shall be included in the protection scope of the invention.

Claims

1. An automatic core extraction device for a medical catheter, comprising a support frame (1), characterized in that: The support frame (1) is provided with a stretching mechanism (2), a loading tray (3), a clamping mechanism (4) and a core pulling mechanism (5); the loading tray (3) is arranged on one side of the stretching mechanism (2), and the clamping mechanism (4) spans over the stretching mechanism (2), the loading tray (3) and the core pulling mechanism (5); the medical catheter to be core pulled can be transferred between the loading tray (3), the stretching mechanism (2) and the core pulling mechanism (5) through the clamping mechanism (4); the stretching mechanism (2) includes a fixed clamp (21) and a movable clamp (22) that can be displaced, and the core pulling mechanism (5) is arranged on the fixed clamp (21).

2. The automatic core-pulling device for medical catheters according to claim 1, characterized in that: The loading tray (3) is provided with at least one group of workstations for placing medical catheters, the length of the workstations is adjustable, and a detection sensor (36) is provided at the lower end of each group of the workstations for detecting whether there is a medical catheter to be cored out in the workstation.

3. The automatic core extraction device for medical catheters according to claim 1, characterized in that: The clamping mechanism (4) comprises a supporting leg (41), a pair of electric sliding guide rails (42) are arranged at intervals on the supporting leg (41), a crossbeam (43) is arranged across the slide platform of the pair of electric sliding guide rails (42), a clamping module (44) is arranged below the crossbeam (43), and the clamping module (44) is arranged on the crossbeam (43) so as to be movable up and down through the cooperation of an electric cylinder (45) and a guide shaft (46).

4. The automatic core-pulling device for medical catheters according to claim 3, characterized in that: The clamping jaw module (44) comprises a clamping jaw adjusting device (441) and a plurality of groups of clamping jaws; some of the clamping jaws can be driven by the clamping jaw adjusting device (441) to achieve position adjustment.

5. The automatic core-pulling device for medical catheters according to claim 1, characterized in that: The movable clamp (22) is arranged on the support frame (1) via a clamp adjustment device (8), and the movable clamp (22) can adjust the distance between itself and the fixed clamp (21) by adjusting the clamp adjustment device (8), thereby clamping the core shafts of medical catheters of different sizes and stretching the core shafts in the medical catheters.

6. The automatic core-pulling device for medical catheters according to claim 5, characterized in that: The movable clamp (22) and the fixed clamp (21) both include a pneumatic wedge clamp (201) and a first in-position sensor (202).

7. The automatic core extraction device for medical catheters according to claim 1, characterized in that: The core-pulling mechanism (5) comprises a support (51), on which a lower synchronous belt assembly (52) and an upper synchronous belt assembly (53) are arranged, and the upper synchronous belt assembly (53) is arranged above the lower synchronous belt assembly (52) so as to be movable up and down through a core-pulling adjustment device (54), and a second in-position sensor (55) is arranged upstream of the lower synchronous belt assembly (52) and the upper synchronous belt assembly (53).

8. The automatic core-pulling device for medical catheters according to claim 7, characterized in that: A first core-pulling scissors assembly (56) is provided downstream of the lower synchronous belt assembly (52) and the upper synchronous belt assembly (53).

9. The automatic core-pulling device for medical catheters according to claim 1, characterized in that: It also includes a shearing and rounding mechanism (6), which is arranged on the inner side of the movable clamp (22); the shearing and rounding mechanism (6) includes a stretching scissors component (61) and a smoothing processing component (62).

10. The core-pulling method of the automatic core-pulling device for medical catheters according to any one of claims 1 to 9, characterized in that: The specific steps include: Placing the medical catheter to be cored out into a work station in the loading tray (3), and starting the equipment; The clamping mechanism (4) drives the clamping module (44) to move onto the loading tray (3) to grab the medical catheter to be cored out; The clamping claw module (44) drives the grasped medical catheter to be cored out to be transferred to the stretching mechanism (2); The fixed clamp (21) and the movable clamp (22) in the stretching mechanism (2) clamp the two ends of the core shaft in the medical catheter; The movable clamp (22) moves away from the fixed clamp (21) to a preset tension position; The stretching scissor assembly (61) rises to cut the mandrel and then descends to reset; The movable clamp (22) is opened; The shearing and rounding mechanism (6) repeatedly trims the fracture of the mandrel; The fixing fixture (21) is opened; The clamping jaw module (44) drives the medical catheter to be cored out to a core-drawing position; The core pulling mechanism (5) clamps the mandrel and operates until the mandrel is completely pulled out; The clamping claw module (44) drives the medical catheter after the core is pulled out to the unloading position and puts it down; The above steps are repeated until all the medical catheters to be cored out on the loading tray (3) are cored out.

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