Intramedullary nail bending device for continuous machining based on radian digital control

Abstract

The present invention belongs to the technical field of metal processing control, and particularly relates to an intramedullary nail bending device for continuous processing based on radian numerical control, which includes an intramedullary nail bending machine, a distal bending assembly, a proximal clamping assembly, and a radian numerical control system. The distal bending assembly and the proximal clamping assembly are both installed in the intramedullary nail bending machine, and the radian numerical control system is electrically connected to the distal bending assembly and the proximal clamping assembly. The radian numerical 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 rotating servo motor, and the intelligent driving module is electrically connected to the radian rotating servo motor and the distal bending assembly. This device solves the problem of low control accuracy of the bending radian during the current bending process of intramedullary nails, resulting in excessive bending or insufficient bending radian.

Description

Technical Field

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

[0002] Currently, the intramedullary nail bending device adopted is a numerically controlled intramedullary nail bending device with the application number: (202320376134.8). However, the bending radian control technology for a numerically controlled intramedullary nail bending device is not comprehensive, resulting in phenomena such as insufficient bending or excessive bending, poor bending accuracy, and affecting the yield rate. This phenomenon has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0003] The purpose of the present invention is to provide an intramedullary nail bending device for continuous processing based on radian digital control to solve the problems raised in the above background art.

[0004] To solve the above technical problems, the present invention provides the following technical solution: An intramedullary nail bending device for continuous processing based on radian digital control, including an intramedullary nail bending machine, a distal bending assembly, a proximal clamping assembly, and a radian digital control system. The distal bending assembly and the proximal clamping assembly are both installed in the intramedullary nail bending machine. The radian 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 for an operator to set the bending radian of the intramedullary nail, and the data conversion module is used for 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 a radian unit, a bent part length unit, an instantaneous kinetic energy unit, and a pre-deceleration unit; the radian unit, the bent 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 drive module. The radian unit is used to receive the radian data of the intramedullary nail bend set by the operator in the radian setting module. The bent part length unit is used to identify the length data of the bent part clamped by the distal bent assembly. The instantaneous kinetic energy unit is used to calculate the magnitude of the instantaneous kinetic energy of the radian rotation servo motor according to the radian data and the bent part length data of the intramedullary nail bend. The pre-deceleration unit is used to calculate the pre-deceleration time after the operation of the radian rotation servo motor according to the radian data and the bent part length data of the intramedullary nail bend. The intelligent drive module is used to receive the magnitude data of the instantaneous kinetic energy of the radian rotation servo motor and the pre-deceleration time, so as to control the intelligent operation of the radian rotation servo motor.

[0006] The present invention further illustrates that the operation steps of the radian digital control system include: Step S1: After the distal bent assembly and the proximal clamping assembly fix the two ends of the intramedullary nail, the distal bent assembly rotates first for bending, and then the radian digital control system operates. The operator sets the bend radian of the intramedullary nail through the radian setting module; Step S2: Receive the radian data of the intramedullary nail bend set by the operator in the radian setting module through the radian unit, and then calculate the magnitude data of the first instantaneous kinetic energy of the radian rotation servo motor through the instantaneous kinetic energy unit; Step S3: Identify the length data of the bent part clamped by the distal bent assembly through the bent part length unit, and then calculate the magnitude data of the second instantaneous kinetic energy of the radian rotation servo motor through the instantaneous kinetic energy unit; Step S4: After the bent part extends, the radian change speed is slow, so calculate the magnitude data of the third instantaneous kinetic energy of the radian rotation servo motor through the instantaneous kinetic energy unit, and use it as the final data. When the length of the bent part exceeds the system set value, enter Step S5, otherwise enter Step S6; Step S5: According to the calculation of the bent part length data, pre-decelerate the radian rotation servo motor, control the pre-deceleration time, and limit the data of the instantaneous kinetic energy at the same time; Step S6: Receive the magnitude data of the instantaneous kinetic energy of the radian rotation servo motor and the pre-deceleration time through the intelligent drive module, and control the operation of the radian rotation servo motor according to these two data; Step S7: Complete the bending work of the intramedullary nail, and the radian digital control system stops operating.

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

[0008] The present invention further explains that in the step S3, the data of the second instantaneous kinetic energy of the arc rotation servo motor is: J2 is the data of the second instantaneous kinetic energy of the arc rotation servo motor / joule, L is the length of the bent part / millimeter, L max is the maximum length of the bent part / millimeter, that is is the instantaneous kinetic energy of the arc rotation servo motor increased according to the length of the bent part / joule.

[0009] The present invention further explains that in the step S4, the data of the third instantaneous kinetic energy of the arc rotation servo motor is: the bent part of the intramedullary nail extends, resulting in a slower change in the arc data, so that the bending process time is extended. J3 is the data of the third instantaneous kinetic energy of the arc rotation servo motor / joule, J is the instantaneous kinetic energy increased according to the extended time of the bending process / joule.

[0010] The present invention further explains that in the steps S4 and S5: when L > L 系 at this time, L 系 is the length of the bent part set by the system / millimeter: the arc rotation servo motor pre-decelerates, T is the pre-deceleration time of the arc rotation servo motor / second, T max is the longest pre-deceleration time of the arc rotation servo motor /

[0011] second; when L ≤ L 系 at this time: the arc rotation servo motor runs normally and the pre-deceleration is not started.

[0012] The present invention further explains that in the steps S4 and S5: when L > L 系 at this time: J3 ≤ J 限 where J 限 is the limited instantaneous kinetic energy of the arc rotation servo motor; when L ≤ L 系 at this time: the instantaneous kinetic energy of the arc rotation servo motor is not limited.

[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 technical solution of the present invention will be further described in detail and non - restrictively in conjunction with the preferred embodiments and their accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0021] Please refer to Figures 1-3 , the present invention provides a technical solution: an intramedullary nail bending device for continuous processing based on radian digital control, including an intramedullary nail bending machine, a distal bending assembly, a proximal clamping assembly, and a radian digital control system. 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 for operators to set the bending radian of the intramedullary nail, and the data conversion module is used for 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 part 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 bending radian data of the intramedullary nail set by the operator in the radian setting module. The bending part length unit is used to identify the length data of the bending part clamped by the distal bending assembly. The instantaneous kinetic energy unit is used to calculate the magnitude of the running instantaneous kinetic energy of the radian rotation servo motor according to the bending radian data and the bending part length data of the intramedullary nail. The pre - deceleration unit is used to calculate the pre - deceleration time after the operation of the radian rotation servo motor according to the bending radian data and the bending part length data of the intramedullary nail. The intelligent driving module is used to receive the magnitude data of the running instantaneous kinetic energy of the radian rotation servo motor and the pre - deceleration time, so as to control 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 rotates first for bending, and then the radian digital control system operates. The operator sets the bending radian of the intramedullary nail through the radian setting module;

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

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

[0029] Step S4: After the bending part is extended, the radian change speed is slow, so convert the third instantaneous kinetic energy magnitude data of the radian rotation servo motor through the instantaneous kinetic energy unit and use it as the final data. When the length of the bending part exceeds the system set value, enter Step S5; otherwise, enter Step S6;

[0030] Step S5: According to the conversion of the bending part length data, pre-decelerate the radian rotation servo motor, control the pre-deceleration time, and at the same time limit the instantaneous kinetic energy data;

[0031] Step S6: Receive the instantaneous kinetic energy magnitude data and the pre-deceleration time of the radian rotation servo motor through the intelligent drive module, and control the operation of the radian rotation servo motor according to these two data;

[0032] Step S7: Complete the intramedullary nail bending work, and the radian digital control system stops running.

[0033] In Step S2, the first instantaneous kinetic energy magnitude data of the radian rotation servo motor is:

[0034] J1 is the first instantaneous kinetic energy magnitude data of the radian rotation servo motor / joule, J max is the maximum instantaneous kinetic energy magnitude data of the radian rotation servo motor / joule, R is the bending radian of the intramedullary nail, R max is the maximum bending radian of the intramedullary nail;

[0035] The larger the bending radian, the greater the instantaneous kinetic energy of the radian rotation servo motor. On the one hand, for a small bending radian, reduce the instantaneous kinetic energy of the radian rotation servo motor to avoid the phenomenon of excessive bending caused by excessive force and ensure the bending quality. On the other hand, for a large bending radian, the instantaneous kinetic energy increases, thereby improving the bending efficiency.

[0036] In Step S3, the second instantaneous kinetic energy magnitude data of the radian rotation servo motor is:

[0037] J2 is the second instantaneous kinetic energy magnitude data of the radian rotation servo motor / joule, L is the bending part length / millimeter, L maxis the maximum length of the bent part / mm, i.e., is the instantaneous kinetic energy of the arc rotation servo motor increased according to the length of the bent part / J;

[0038] The increase in the length of the bent part makes the length of its unbent part shorter, and the intensity of the arc change needs to be increased, so that the instantaneous kinetic energy of the arc rotation servo motor is further increased, the data of the instantaneous kinetic energy can be further accurately measured, the accuracy of the arc can be improved, and the bending quality can be enhanced.

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

[0040] The extension of the bent part of the intramedullary nail leads to a slower change in the arc data, resulting in an extended bending process time. J3 is the data of the third instantaneous kinetic energy of the arc rotation servo motor / J, and J is the instantaneous kinetic energy increased according to the extended bending process time / J;

[0041] By changing the bending process time, the instantaneous kinetic energy of the arc rotation servo motor is further increased, the instantaneous kinetic energy is strengthened, the bending force is increased, so as to accelerate the bending speed, further improve the bending efficiency, and improve the productivity.

[0042] In steps S4 and S5:

[0043] When L > L 系 : L 系 is the length of the bent part set by the system / mm: the arc rotation servo motor pre-decelerates. T is the pre-deceleration time of the arc rotation servo motor / s, and T max is the longest pre-deceleration time of the arc rotation servo motor / s;

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

[0045] When the length of the bent part of the intramedullary nail exceeds the system set value, the instantaneous kinetic energy is relatively 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 the occurrence of excessive bending, ensure the bending quality, and play a role in protecting the bending quality of the intramedullary nail by pre-deceleration.

[0046] In steps S4 and S5:

[0047] When L > L 系 : J3 ≤ J 限 : J 限 is the limited instantaneous kinetic energy of the arc rotation servo motor;

[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 being able to decelerate in time, 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 machining 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: Both the distal bending assembly and the proximal clamping assembly are installed in the intramedullary nail bender, and the radian 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 drive module. The data conversion module is electrically connected to the radian setting module and the intelligent drive module respectively. The proximal clamping assembly includes a radian rotating servo motor. The intelligent drive module is electrically connected to the radian rotating servo motor and the distal bending assembly. The radian setting module is used for an operator to set the bending radian of the intramedullary nail. The data conversion module is used for data conversion according to the bending radian of the intramedullary nail set by the operator. The data conversion module includes a radian unit, a bending part length unit, an instantaneous kinetic energy unit, and a pre-deceleration unit; 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 rotates first for bending, and then the radian digital control system runs. The operator sets the bending radian of the intramedullary nail through the radian setting module; Step S2: Receive the bending radian data of the intramedullary nail set by the operator in the radian setting module through the radian unit, and then convert the data of the first instantaneous kinetic energy of the radian rotating servo motor through the instantaneous kinetic energy unit; Step S3: Identify the bending part length data clamped by the distal bending assembly through the bending part length unit, and then convert the data of the second instantaneous kinetic energy of the radian rotating servo motor through the instantaneous kinetic energy unit; Step S4: After the bending part extends, the radian change speed is slow, so convert the data of the third instantaneous kinetic energy of the radian rotating servo motor through the instantaneous kinetic energy unit and use it as the final data. When the length of the bending part exceeds the system set value, enter Step S5, otherwise enter Step S6; Step S5: According to the conversion of the bending part length data, pre-decelerate the radian rotating servo motor, control the pre-deceleration time, and limit the data of the instantaneous kinetic energy at the same time; Step S6: Receive the data of the instantaneous kinetic energy magnitude and the pre-deceleration time of the radian rotating servo motor through the intelligent drive module, and control the operation of the radian rotating servo motor according to these two data; Step S7: Complete the intramedullary nail bending work, and the radian digital control system stops running.

2. The intramedullary nail bending device for continuous processing based on radian digital control according to claim 1, wherein: 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 drive 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 calculate the magnitude of the running 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 calculate the pre-deceleration time after the radian rotation servo motor runs according to the intramedullary nail bending radian data and the bending part length data. The intelligent drive module is used to receive the magnitude data of the running instantaneous kinetic energy of the radian rotation servo motor and the pre-deceleration time, so as to control the intelligent operation of the radian rotation servo motor.

3. The intramedullary nail bending device for continuous machining based on radian digital control according to claim 2, characterized in that: In the step S2, the first instantaneous kinetic energy magnitude data of the radian rotation servo motor is: , is the data of the first instantaneous kinetic energy magnitude of the radian rotation servo motor / joule, is the data of the maximum instantaneous kinetic energy magnitude of the radian rotation servo motor / joule, is the bending radian of the intramedullary nail, is the maximum bending radian of the intramedullary nail.

4. The intramedullary nail bending device for continuous machining based on radian digital control according to claim 3, wherein: In the step S3, the second instantaneous kinetic energy magnitude data of the radian rotation servo motor is: , is the data of the second instantaneous kinetic energy of the radian rotation servo motor / joule, is the length of the bending part / millimeter, is the maximum length of the bending part / millimeter, that is is the instantaneous kinetic energy of the radian rotation servo motor increased according to the length of the bending part / joule.

5. The intramedullary nail bending device for continuous processing based on radian digital control according to claim 4, wherein: In the step S4, the third instantaneous kinetic energy magnitude data of the radian rotation servo motor is: The bent part of the intramedullary nail is extended, resulting in a slower change in the radian data and an extended bending process time. , is the data of the third instantaneous kinetic energy magnitude of the radian rotation servo motor / joule. is the instantaneous kinetic energy increased according to the extended bending process time / joule.

6. The intramedullary nail bending device for continuous processing based on radian digital control according to claim 5, characterized in that: In the step S4 and the step S5: When the is the length of the bent part set for the system / mm: pre - deceleration of the arc rotation servo motor, , is the pre - deceleration time of the arc rotation servo motor / s, is the longest pre - deceleration time of the arc rotation servo motor / s; When : The radian rotation servo motor operates normally and the pre-deceleration is not started.

7. The intramedullary nail bending device for continuous machining based on radian digital control according to claim 6, characterized in that: In the step S4 and the step S5: When : , is the instantaneous kinetic energy of a limited radian rotating servo motor; When : The instantaneous kinetic energy of the non-limited radian rotation servo motor is not defined.

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