Continuous machining intramedullary nail bending device based on radian digital control

Abstract

The invention belongs to the technical field of metal processing control, and particularly relates to a continuous processing intramedullary nail bending device based on radian digital control, which comprises an intramedullary nail bending machine, a far-end bending assembly, a near-end clamping assembly and a radian digital control system, the far-end bending assembly and the near-end clamping assembly are both installed in the intramedullary nail bending machine, and the radian digital control system is electrically connected with the far-end bending assembly and the near-end clamping assembly. The radian digital control system comprises a radian setting module, a data conversion module and an intelligent driving module, the data conversion module is electrically connected with the radian setting module and the intelligent driving module, and the near-end clamping assembly comprises a radian rotating servo motor. And the intelligent driving module is electrically connected with the radian rotating servo motor and the far-end bending assembly. The device solves the problem of excessive bending or insufficient bending radian caused by low bending radian control precision in the current intramedullary nail bending process.

Description

Technical Field

[0001] The invention belongs to the technical field of metal processing control, and in particular relates to an intramedullary nail bending device for continuous processing based on radian digital control. Background Art

[0002] The intramedullary nail bending device currently used is a CNC intramedullary nail bending device with application number: (202320376134.8), but the bending arc control technology for a CNC intramedullary nail bending device is not comprehensive, resulting in insufficient bending or excessive bending, poor bending accuracy, and affecting the yield rate. This phenomenon has become a problem that needs to be solved urgently by people in this field. Summary of the invention

[0003] The object of the present invention is to provide an intramedullary nail bending device for continuous processing based on radian digital control, so as to solve the problems raised in the above-mentioned background technology.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions: an intramedullary nail bending device based on continuous processing of radian digital control, comprising an intramedullary nail bending machine, a distal bending assembly, a proximal clamping assembly and a radian digital control system, wherein the distal bending assembly and the proximal clamping assembly are both installed in the intramedullary nail bending machine, and the radian digital control system is electrically connected to the distal bending assembly and the proximal clamping assembly; the radian digital control system comprises a radian setting module, a data conversion module and an intelligent driving module, wherein the data conversion module is electrically connected to the radian setting module and the intelligent driving module respectively, wherein the proximal clamping assembly comprises a radian rotation servo motor, wherein the intelligent driving module is electrically connected to the radian rotation servo motor and the distal bending assembly, wherein the radian setting module is used by an operator to set the bending radian of the intramedullary nail, and wherein the data conversion module is used to perform data conversion according to the bending radian of the intramedullary nail set by the operator.

[0005] The present invention further illustrates that the data conversion module includes an arc unit, a bending part length unit, an instantaneous kinetic energy unit and a pre-deceleration unit; the arc unit, the bending part length unit, the instantaneous kinetic energy unit and the pre-deceleration unit are electrically connected to each other, and the instantaneous kinetic energy unit and the pre-deceleration unit are electrically connected to the intelligent driving module, the arc unit is used to receive the intramedullary nail bending arc data set by the operator in the arc setting module, the bending part length unit is used to identify the bending part length data clamped by the distal bending assembly, the instantaneous kinetic energy unit is used to convert the running instantaneous kinetic energy size of the arc rotation servo motor according to the intramedullary nail bending arc data and the bending part length data, the pre-deceleration unit is used to convert the pre-deceleration time after the arc rotation servo motor is running according to the intramedullary nail bending arc data and the bending part length data, and the intelligent driving module is used to receive the running instantaneous kinetic energy size data and the pre-deceleration time of the arc rotation servo motor, thereby controlling the intelligent operation of the arc rotation servo motor.

[0006] The present invention further illustrates that the operation steps of the arc digital control system include: step S1, after the distal bending assembly and the proximal clamping assembly fix the two ends of the intramedullary nail, the distal bending assembly is first rotated to bend, and then the arc digital control system is operated, and the operator sets the bending arc of the intramedullary nail through the arc setting module; step S2, receiving the intramedullary nail bending arc data set by the operator in the arc setting module through the arc unit, and then converting the first instantaneous kinetic energy size data of the arc rotation servo motor through the instantaneous kinetic energy unit; step S3, identifying the bending part length data clamped by the distal bending assembly through the bending part length unit, and then converting the second instantaneous kinetic energy size data of the arc rotation servo motor through the instantaneous kinetic energy unit; Step S4, after the bending part is extended, the speed of the arc change is slow, so the third instantaneous kinetic energy size data of the arc rotation servo motor is converted through the instantaneous kinetic energy unit and used as the final data. When the length of the bending part exceeds the system setting value, step S5 is entered, otherwise step S6 is entered; step S5, according to the conversion of the bending part length data, the arc rotation servo motor is pre-decelerated, and the pre-deceleration time is controlled, and the instantaneous kinetic energy data is limited at the same time; step S6, the instantaneous kinetic energy size data and pre-deceleration time of the arc rotation servo motor are received through the intelligent drive module, and the operation of the arc rotation servo motor is controlled according to the two data; step S7, the intramedullary nail bending work is completed, and the arc digital control system stops running.

[0007] The present invention further illustrates that in step S2, the first instantaneous kinetic energy magnitude data of the arc rotation servo motor is: J1 is the kinetic energy of the servo motor at the first instant of rotation in radians / joules, J max is the maximum instantaneous kinetic energy of the servo motor in radians / joule, R is the bending radian of the intramedullary nail, Rmax It is the maximum bending radius of the intramedullary nail.

[0008] The present invention further illustrates that in step S3, the second instantaneous kinetic energy magnitude data of the arc rotation servo motor is: J2 is the second instantaneous kinetic energy data of the arc rotation servo motor / joule, L is the length of the bending part / mm, L max is the maximum bending length / mm, that is The instantaneous kinetic energy / joule required to rotate the servo motor according to the arc increased by the length of the bending part.

[0009] The present invention further illustrates that in step S4, the third instantaneous kinetic energy magnitude data of the arc rotation servo motor is: the bending portion of the intramedullary nail is extended, resulting in a slower change in the arc data, which prolongs the bending process time. J3 is the third instantaneous kinetic energy data / joule of the arc rotation servo motor, and J is the instantaneous kinetic energy / joule that increases according to the extension of the bending process.

[0010] The present invention further illustrates that in step S4 and step S5: when L>L 系 When L 系 The bending length / mm set by the system: radian rotation servo motor pre-deceleration, T is the pre-deceleration time of the servo motor in radians / second, T max Maximum pre-deceleration time for servo motor in arc rotation /

[0011] seconds; when L≤L 系 Time: The arc rotation servo motor operates normally and the pre-deceleration is not started.

[0012] The present invention further illustrates that in step S4 and step S5: when L>L 系 When: J3≤J 限 , J 限 is the instantaneous kinetic energy of the servo motor rotating in a limited arc; when L≤L 系 When: The instantaneous kinetic energy of the servo motor is not limited to an arc rotation.

[0013] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the curvature digital control system adopted by the present invention has the following advantages: the larger the curvature of the bending, the greater the instantaneous kinetic energy of the curvature rotating servo motor. On the one hand, for a small curvature of the bending, the instantaneous kinetic energy of the curvature rotating servo motor is reduced, thereby avoiding the phenomenon of excessive bending caused by excessive force and ensuring the bending quality. On the other hand, for a large curvature of the bending, the instantaneous kinetic energy is increased, thereby improving the bending efficiency. The length of the bent part is increased, so that the length of the unbent part is shorter, and the force of the curvature change needs to be increased, thereby further increasing the instantaneous kinetic energy of the curvature rotating servo motor, which can further accurately determine the data of the instantaneous kinetic energy, improve the accuracy of the curvature, and enhance the bending quality.

[0014] By changing the time of the bending process, the instantaneous kinetic energy of the arc rotation servo motor is further increased, the instantaneous kinetic energy is strengthened, and the bending force is increased, thereby accelerating the bending speed, further improving the bending efficiency, and improving productivity;

[0015] When the length of the bent part of the intramedullary nail exceeds the system setting value, the instantaneous kinetic energy is large, so the arc rotation motor is pre-decelerated. At this time, the longer the length of the bent part, the earlier the pre-deceleration time, which can prevent excessive bending and ensure the bending quality. It plays a role in early deceleration to protect the bending quality of the intramedullary nail. At the same time, a limit value is set for the instantaneous kinetic energy of the arc rotation servo motor so that it does not exceed the limit value to avoid excessive bending and prevent the phenomenon of not having enough time to decelerate, thereby further protecting the bending quality of the intramedullary nail. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a schematic diagram of the connection relationship of the modules of the radian digital control system of the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the near-end clamping assembly of the reference document in the background technology of the present invention;

[0019] Figure 3 It is a schematic diagram of the structure of the far-end bending assembly of the reference document in the background technology of the present invention. DETAILED DESCRIPTION

[0020] The following is a further non-limiting detailed description of the technical solution of the present invention in conjunction with the preferred embodiments and the accompanying drawings. 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.

[0021] See also Figure 1-3 The present invention provides a technical solution: an intramedullary nail bending device based on continuous processing of radian digital control, comprising an intramedullary nail bending machine, a distal bending assembly, a proximal clamping assembly and a radian digital control system, wherein the distal bending assembly and the proximal clamping assembly are both installed in the intramedullary nail bending machine, and the radian digital control system is electrically connected to the distal bending assembly and the proximal clamping assembly;

[0022] The radian digital control system includes a radian setting module, a data conversion module and an intelligent driving module. The data conversion module is electrically connected to the radian setting module and the intelligent driving module respectively. The proximal clamping assembly includes a radian rotation servo motor. The intelligent driving module is electrically connected to the radian rotation servo motor and the distal bending assembly. The radian setting module is used by the operator to set the bending radian of the intramedullary nail, and the data conversion module is used to perform data conversion according to the bending radian of the intramedullary nail set by the operator.

[0023] The data conversion module includes a radian unit, a bending portion length unit, an instantaneous kinetic energy unit, and a pre-deceleration unit;

[0024] The radian unit, the bending part length unit, the instantaneous kinetic energy unit and the pre-deceleration unit are electrically connected to each other, and the instantaneous kinetic energy unit and the pre-deceleration unit are electrically connected to the intelligent driving module. The radian unit is used to receive the intramedullary nail bending radian data set by the operator in the radian setting module. The bending part length unit is used to identify the bending part length data clamped by the distal bending assembly. The instantaneous kinetic energy unit is used to convert the instantaneous kinetic energy of the radian rotation servo motor according to the intramedullary nail bending radian data and the bending part length data. The pre-deceleration unit is used to convert the pre-deceleration time after the radian rotation servo motor is operated according to the intramedullary nail bending radian data and the bending part length data. The intelligent driving module is used to receive the instantaneous kinetic energy data and the pre-deceleration time of the radian rotation servo motor, thereby controlling the intelligent operation of the radian rotation servo motor.

[0025] The operation steps of the radian digital control system include:

[0026] Step S1, after the distal bending assembly and the proximal clamping assembly fix the two ends of the intramedullary nail, the distal bending assembly is first rotated to bend, and then the curvature digital control system is operated, and the operator sets the curvature of the intramedullary nail through the curvature setting module;

[0027] Step S2, receiving the intramedullary nail bending radian data set by the operator in the radian setting module through the radian unit, and then converting the first instantaneous kinetic energy magnitude data of the radian rotation servo motor through the instantaneous kinetic energy unit;

[0028] Step S3, identifying the length data of the bending part clamped by the distal bending assembly through the bending part length unit, and then converting the second instantaneous kinetic energy magnitude data of the arc rotation servo motor through the instantaneous kinetic energy unit;

[0029] Step S4, after the bending part is extended, the arc changes slowly, so the third instantaneous kinetic energy data of the arc rotation servo motor is converted by the instantaneous kinetic energy unit and used as the final data. When the length of the bending part exceeds the system setting value, step S5 is entered, otherwise step S6 is entered;

[0030] Step S5, according to the length data of the bending part, the arc rotation servo motor is pre-decelerated, and the pre-deceleration time is controlled, and the data of the instantaneous kinetic energy is limited;

[0031] Step S6, receiving the instantaneous kinetic energy data and the pre-deceleration time of the arc rotation servo motor through the intelligent driving module, and controlling the operation of the arc rotation servo motor according to the two data;

[0032] Step S7: the intramedullary nail bending work is completed, and the arc digital control system stops running.

[0033] In step S2, the first instant kinetic energy data of the arc rotation servo motor is:

[0034] J1 is the kinetic energy of the servo motor at the first instant of rotation in radians / joules, J max is the maximum instantaneous kinetic energy of the servo motor in radians / joule, R is the bending radian of the intramedullary nail, R max is the maximum bending arc of the intramedullary nail;

[0035] The larger the bending arc, the greater the instantaneous kinetic energy of the arc rotating servo motor. On the one hand, for small bending arcs, the instantaneous kinetic energy of the arc rotating servo motor is reduced, thereby avoiding excessive bending caused by excessive force and ensuring the bending quality. On the other hand, for large bending arcs, the instantaneous kinetic energy is increased, thereby improving the bending efficiency.

[0036] In step S3, the second instantaneous kinetic energy data of the arc rotation servo motor is:

[0037] J2 is the second instantaneous kinetic energy data of the arc rotation servo motor / joule, L is the length of the bending part / mm, L maxis the maximum bending length / mm, that is The instantaneous kinetic energy / joule of the servo motor rotating according to the arc increased by the length of the bending part;

[0038] The length of the bent part increases, making the length of the unbent part shorter, and the force of the arc change needs to be increased, so that the instantaneous kinetic energy of the arc rotation servo motor is further increased, which can further refine the instantaneous kinetic energy data, improve the accuracy of the arc, and enhance the bending quality.

[0039] In step S4, the third instantaneous kinetic energy data of the arc rotation servo motor is:

[0040] The bending part of the intramedullary nail is extended, which causes the arc data to change slowly, making the bending process take longer. J3 is the third instantaneous kinetic energy data / joule of the arc rotation servo motor, and J is the instantaneous kinetic energy / joule increased according to the extension of the bending process;

[0041] By changing the time of the bending process, the instantaneous kinetic energy of the arc rotation servo motor is further increased, the instantaneous kinetic energy is strengthened, and the bending force is increased, thereby speeding up the bending speed, further improving the bending efficiency and increasing productivity.

[0042] In step S4 and step S5:

[0043] When L>L 系 When L 系 The bending length / mm set by the system: radian rotation servo motor pre-deceleration, T is the pre-deceleration time of the servo motor in radians / second, T max The maximum pre-deceleration time / second for the arc rotation servo motor;

[0044] When L≤L 系 When: the arc rotation servo motor runs normally, and the pre-deceleration is not started;

[0045] When the length of the bent part of the intramedullary nail exceeds the system setting value, the instantaneous kinetic energy is large, so the arc rotation motor is pre-decelerated. At this time, the longer the length of the bent part, the earlier the pre-deceleration time, thereby preventing excessive bending and ensuring the bending quality, playing a role in early deceleration to protect the bending quality of the intramedullary nail.

[0046] In step S4 and step S5:

[0047] When L>L 系 When: J3≤J 限 , J 限 The instantaneous kinetic energy of the servo motor rotating in a limited arc;

[0048] When L≤L 系 When: The instantaneous kinetic energy of the servo motor is not limited to the arc rotation;

[0049] When the bending length is long, the instantaneous kinetic energy is large. A limit value is set for the instantaneous kinetic energy of the arc rotation servo motor so that it does not exceed the limit value to avoid excessive bending and the phenomenon of not having enough time to decelerate, thereby further protecting the bending quality of the intramedullary nail.

[0050] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0051] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, a person skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features can be replaced by equivalents, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intramedullary nail bending device for continuous processing based on radian digital control, comprising an intramedullary nail bending machine, a distal bending assembly, a proximal clamping assembly and a radian digital control system, characterized in that: The distal bending assembly and the proximal clamping assembly are both installed in the intramedullary nail bending machine, and the arc digital control system is electrically connected to the distal bending assembly and the proximal clamping assembly; The radian digital control system includes a radian setting module, a data conversion module and an intelligent driving module. The data conversion module is electrically connected to the radian setting module and the intelligent driving module respectively. The proximal clamping assembly includes a radian rotation servo motor. The intelligent driving module is electrically connected to the radian rotation servo motor and the distal bending assembly. The radian setting module is used by the operator to set the bending radian of the intramedullary nail. The data conversion module is used to perform data conversion according to the bending radian of the intramedullary nail set by the operator.

2. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 1 is characterized in that: The data conversion module includes a radian unit, a bending portion length unit, an instantaneous kinetic energy unit and a pre-deceleration unit; The arc unit, the bending part length unit, the instantaneous kinetic energy unit and the pre-deceleration unit are electrically connected to each other, and the instantaneous kinetic energy unit and the pre-deceleration unit are electrically connected to the intelligent driving module. The arc unit is used to receive the intramedullary nail bending arc data set by the operator in the arc setting module. The bending part length unit is used to identify the bending part length data clamped by the distal bending assembly. The instantaneous kinetic energy unit is used to convert the instantaneous kinetic energy of the arc rotation servo motor according to the intramedullary nail bending arc data and the bending part length data. The pre-deceleration unit is used to convert the pre-deceleration time after the arc rotation servo motor is operated according to the intramedullary nail bending arc data and the bending part length data. The intelligent driving module is used to receive the instantaneous kinetic energy data and the pre-deceleration time of the arc rotation servo motor, so as to control the intelligent operation of the arc rotation servo motor.

3. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 2 is characterized in that: The operation steps of the radian digital control system include: Step S1, after the distal bending assembly and the proximal clamping assembly fix the two ends of the intramedullary nail, the distal bending assembly is first rotated to bend, and then the curvature digital control system is operated, and the operator sets the curvature of the intramedullary nail through the curvature setting module; Step S2, receiving the intramedullary nail bending radian data set by the operator in the radian setting module through the radian unit, and then converting the first instantaneous kinetic energy magnitude data of the radian rotation servo motor through the instantaneous kinetic energy unit; Step S3, identifying the length data of the bending part clamped by the distal bending assembly through the bending part length unit, and then converting the second instantaneous kinetic energy magnitude data of the arc rotation servo motor through the instantaneous kinetic energy unit; Step S4, after the bending part is extended, the arc changes slowly, so the third instantaneous kinetic energy data of the arc rotation servo motor is converted by the instantaneous kinetic energy unit and used as the final data. When the length of the bending part exceeds the system setting value, step S5 is entered, otherwise step S6 is entered; Step S5, according to the length data of the bending part, the arc rotation servo motor is pre-decelerated, and the pre-deceleration time is controlled, and the data of the instantaneous kinetic energy is limited; Step S6, receiving the instantaneous kinetic energy data and the pre-deceleration time of the arc rotation servo motor through the intelligent driving module, and controlling the operation of the arc rotation servo motor according to the two data; Step S7: the intramedullary nail bending work is completed, and the arc digital control system stops running.

4. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 3 is characterized in that: In step S2, the first instantaneous kinetic energy data of the arc rotation servo motor is: J1 is the kinetic energy of the servo motor at the first instant of rotation in radians / joules, J max is the maximum instantaneous kinetic energy of the servo motor in radians / joule, R is the bending radian of the intramedullary nail, R max It is the maximum bending radius of the intramedullary nail.

5. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 4 is characterized in that: In step S3, the second instantaneous kinetic energy data of the arc rotation servo motor is: J2 is the second instantaneous kinetic energy data of the arc rotation servo motor / joule, L is the length of the bending part / mm, l max is the maximum bending length / mm, that is The instantaneous kinetic energy / joule required to rotate the servo motor according to the arc increased by the length of the bending part.

6. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 5 is characterized in that: In step S4, the third instantaneous kinetic energy data of the arc rotation servo motor is: The bending part of the intramedullary nail is extended, which causes the arc data to change slowly, making the bending process take longer. J3 is the third instantaneous kinetic energy data / joule of the arc rotation servo motor, and J is the instantaneous kinetic energy / joule that increases according to the extension of the bending process.

7. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 6 is characterized in that: In step S4 and step S5: When L>L 系 When L 系 The bending length / mm set by the system: radian rotation servo motor pre-deceleration, T is the pre-deceleration time of the servo motor in radians / second, T max The maximum pre-deceleration time / second for the arc rotation servo motor; When L≤L 系 Time: The arc rotation servo motor operates normally and the pre-deceleration is not started.

8. The intramedullary nail bending device based on arc digital control and continuous processing according to claim 7 is characterized in that: In step S4 and step S5: When L>L 系 When: J3≤J 限 , J 限 The instantaneous kinetic energy of the servo motor rotating in a limited arc; When L≤l 系 When: The instantaneous kinetic energy of the servo motor is not limited to an arc rotation.

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