Feeding equipment of injection molding machine

Abstract

The invention discloses feeding equipment of an injection molding machine. The feeding equipment comprises a feeding station, a feeding device, a temporary storage station, a transferring device, a pipe inserting station, a mold core positioning station, a pipe inserting device and a mechanical arm. Wherein the feeding station is used for placing a guide tube bundle, the feeding device is arranged between the feeding station and the temporary storage station and used for separating guide tubes in the guide tube bundle and transferring the guide tubes to the temporary storage station for temporary storage, and the transferring device is arranged between the temporary storage station and the tube inserting station. The transferring device is used for clamping the guide pipes located on the temporary storage station and transferring the guide pipes to the pipe inserting station, the mold core positioning station is used for containing mold cores, the guide pipes on the pipe inserting station and mold cores on the mold cores are arranged in a one-to-one correspondence mode, and the pipe inserting device is used for inserting the guide pipes into the mold cores and transferring the guide pipes into an injection molding machine through a mechanical arm to be formed. Compared with the prior art, the feeding equipment of the injection molding machine does not need manual feeding, the labor intensity can be reduced, and the working efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and more specifically, to a feeding device for an injection molding machine. Background Art

[0002] A contrast catheter is a medical device used to introduce a contrast agent into blood vessels or other cavities, and is widely used in the fields of medical diagnosis and treatment.

[0003] A contrast catheter is a slender hollow tubular instrument, usually made of a soft polymer material such as polytetrafluoroethylene, polyurethane, polyethylene or nylon. It is inserted into a blood vessel or other cavity through skin puncture or incision for injecting a contrast agent, so as to observe the morphology and function of the blood vessel or cavity under imaging devices such as X-ray, CT or MRI.

[0004] The contrast catheter includes a catheter and a connector. After the catheter is processed, it will be assembled with a mold core, and then placed in an injection molding machine for injection molding of the connector to form a contrast catheter. In the prior art, due to the small diameter of the catheter and the characteristics of its soft material and easy deformation, the current feeding of the catheter relies on manual single-piece extraction. The single catheter is separated from the catheter bundle by hand, and the catheter is inserted onto the mold core of the injection molding machine one by one manually, so the continuity of production cannot be guaranteed and the production efficiency is low.

[0005] Therefore, there is an urgent need for a feeding device for an injection molding machine, which does not require manual feeding, can reduce labor intensity and improve operation efficiency. Summary of the Invention

[0006] To solve the above technical problems, the present application provides a feeding device for an injection molding machine, which can be used in the production of contrast catheters, does not require manual feeding, can reduce labor intensity and improve operation efficiency.

[0007] The technical solution provided by the present application is as follows: A feeding device for an injection molding machine, comprising: a feeding station, a feeding device, a buffer station, a transfer device, an intubation station, a mold core positioning station, an intubation device and a robotic arm; Wherein, The feeding station is used for placing a catheter bundle, the feeding device is arranged between the feeding station and the buffer station, separates the catheters in the catheter bundle and transfers them to the buffer station for temporary storage, the transfer device is arranged between the buffer station and the intubation station, and the transfer device is used for clamping the catheter located on the buffer station and transferring it to the intubation station. The mold core positioning station is used for placing a mold core, the catheters on the intubation station are arranged in one-to-one correspondence with the mold cores on the mold core, and the intubation device is used for inserting the catheter onto the mold core and transferring it into the injection molding machine through the robotic arm for molding.

[0008] Preferably, the intubation device includes: A base, on one side of which a first mounting seat is provided, and the first mounting seat is arranged between the mold core positioning station and the intubation station; A first positioning component and a second positioning component arranged on the first mounting seat. A first through hole is formed in the first positioning component, and the inner diameter of the first through hole is adapted to the outer diameter of the mold core. A second through hole is formed in the second positioning component, and the second through hole is concentric with the first through hole. The minimum aperture of the second through hole is adapted to the outer diameter of the catheter, and the minimum aperture of the second through hole is larger than the minimum aperture of the first through hole; A catheter clamping component arranged on the base for clamping the catheter; A first moving component for driving the base to move along the first horizontal direction.

[0009] Preferably, the base includes: A support platform; A first positioning platform and a second positioning platform connected to the support platform. The first positioning platform is used to support the first positioning component, and the second positioning platform is used to support the second positioning component; Positioning rods arranged on both sides of the support platform, and the positioning rods are used to abut against both sides of the first mounting seat for positioning.

[0010] Preferably, the first positioning component includes a first positioning block, a second positioning block and a first driving component. The first driving component is used to drive the first positioning block and the second positioning block to move towards or away from each other at the same time, and a first through hole is formed between the first positioning block and the second positioning block; The second positioning component includes a third positioning block, a fourth positioning block and a second driving component. The second driving component is used to drive the third positioning block and the fourth positioning block to move towards and away from each other at the same time, and a second through hole is formed between the third positioning block and the fourth positioning block.

[0011] Preferably, the first driving component includes: A first arc-shaped cam arranged at the bottoms of the first positioning block and the second positioning block; A first positioning surface arranged at the top of the first positioning platform and cooperating with the first arc-shaped cam. A first angle is formed between the two first positioning surfaces; A first driving member for driving the first positioning platform to move in the vertical direction; The second driving component includes: A second arc-shaped cam arranged at the bottoms of the third positioning block and the fourth positioning block; A second positioning surface is disposed on the top of the second positioning table and is used in cooperation with the second arc-shaped cam. A second angle is formed between the two second positioning surfaces. A second driving member for driving the second positioning table to move in the vertical direction. The projections of the center lines of the two first positioning surfaces on the second positioning table coincide with the center lines of the two second positioning surfaces.

[0012] Preferably, the feeding device includes: A frame disposed on one side of the feeding station; A material distribution mechanism disposed on the frame, and the material distribution mechanism is used for adsorbing the conduit; A first vertical movement assembly disposed between the frame and the material distribution mechanism for driving the material distribution mechanism to move in the vertical direction; A transfer mechanism disposed on one side of the material distribution mechanism for clamping the conduit adsorbed by the material distribution mechanism; A horizontal movement assembly for driving the transfer mechanism and the conduit to move in the first horizontal direction to the buffer station.

[0013] Preferably, the transfer device includes: A mounting bracket; A jaw variable pitch assembly disposed on the mounting bracket; A first movement driving assembly for driving the mounting bracket to move in the vertical direction; A second movement driving assembly connected to the first movement driving assembly for driving the mounting bracket and the first movement driving assembly to move in the first direction.

[0014] Preferably, the mold core positioning station includes: A positioning station; A return line disposed on one side of the positioning station. The first end of the return line is used for recovering the mold core, and the second end of the return line is disposed at one end close to the positioning station; A pushing assembly disposed on the side of the return line away from the positioning station for pushing the mold core located at the second end of the return line to the positioning station; A translation assembly for driving the mold core to move from the first end of the return line to the second end.

[0015] Preferably, the robotic arm includes a robotic arm and a robotic hand; Wherein, the robotic hand includes: A connecting member for connecting with the robotic arm; A first clamping assembly disposed on the connecting member for clamping the mold core. A second clamping assembly disposed on one side of the first clamping assembly and connected to the connecting member, the second clamping assembly being used for clamping an injection molding sprue; A workpiece clamping assembly disposed on the side of the connecting member away from the first clamping assembly for clamping a catheter.

[0016] Preferably, the robotic arm is used to transfer the molded core after injection molding to the first end of the return line.

[0017] The feeding device for an injection molding machine provided by the present invention is used in the molding of a contrast catheter. First, due to the provision of a feeding station, a feeding device, a buffer station, a transfer device, an intubation station, a core positioning station, an intubation device, and a robotic arm. Among them, the feeding station is used for placing a catheter bundle, the buffer station is used for temporarily storing one catheter at a time, the feeding device is disposed between the feeding station and the buffer station, and the feeding device can separate the catheters in the catheter bundle and transfer the catheters to the buffer station for temporary storage. The intubation station is used for placing catheters, the core positioning station is used for placing and positioning the core, and the catheters on the intubation station are arranged in one-to-one correspondence with the core. The transfer device is used to pick up the catheters on the buffer station and transfer them to the intubation station, and the intubation device is used to insert the catheters onto the core and transfer them into the injection molding machine through the robotic arm for molding. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 FIG. 1 is a schematic structural diagram of a feeding device for an injection molding machine provided by an embodiment of the present invention; Figure 2 FIG. 2 is a schematic structural diagram of an intubation device provided by an embodiment of the present invention; Figure 3 FIG. 3 is a partial structural diagram of an intubation device provided by an embodiment of the invention: wherein, Figure 3 (a) is a schematic structural diagram of the first mounting seat mounted on the base; Figure 3 (b) is a schematic structural diagram of the first mounting seat not mounted on the base; Figure 3 (c) is a schematic structural diagram of the first positioning assembly and the second positioning assembly; Figure 3 (d) is a schematic structural diagram of the base; Figure 4A structural diagram of the feeding station provided for the invention embodiment; Figure 5 A schematic structural diagram of the feeding device provided for the invention embodiment; Figure 6 A schematic structural diagram of the material distribution mechanism and the material alignment mechanism provided for the invention embodiment; Figure 7 A partial schematic diagram of the feeding device provided for the invention embodiment: wherein, Figure 7 (a) is a schematic structural diagram of the material distribution mechanism, Figure 7 (b) is a schematic structural diagram of the material alignment mechanism; Figure 8 A schematic structural diagram of the material alignment mechanism from another perspective provided for the invention embodiment; Figure 9 A schematic structural diagram of the transfer structure provided for the invention embodiment; Figure 10 A schematic structural diagram of the transfer device provided for the invention embodiment Figure 11 A schematic structural diagram of the jaw pitch-changing assembly provided for the invention embodiment; Figure 12 A schematic structural diagram of the jaw assembly provided for the invention embodiment; Figure 13 A schematic structural diagram of the mold core positioning station provided for the invention embodiment; Figure 14 A schematic structural diagram of the robotic gripper provided for the invention embodiment; Figure 15 A partial enlarged view of the robotic gripper provided for the invention embodiment, wherein: Figure 15 (a) is a schematic structural diagram of the first clamping assembly; Figure 15 (b) is a schematic structural diagram of the second clamping assembly; Figure 15 (c) is a schematic structural diagram of the third clamping assembly; Figure 15 (d) is a schematic structural diagram of the workpiece clamping assembly.

[0020] Reference numerals: 1, feeding station; 2, feeding device; 3, buffer station; 4, transfer device; 5, cannula insertion station; 6, mold core positioning station; 7, cannula insertion device; 8, robotic gripper; 9, vision inspection device; 11, first feeding station; 12, second feeding station; 13; first moving mechanism; 14, lifting mechanism; 15, second moving mechanism; 21. Frame; 22. Material distributing mechanism; 23. First vertical moving component; 24. Transfer mechanism; 25. Horizontal moving component; 26. Detection plate; 27. Second vertical moving component; 28. Material aligning mechanism; 221. Fixed seat; 222. Suction head; 223. Groove; 224. Suction nozzle; 225. Linear bearing; 226. Guide rod; 227. Adjusting driving part; 228. Floating joint; 229. Second mounting seat; 231. Slide rail; 232. Slide block; 233. First driving part; 241. First fixing plate; 242. First clamping jaw; 243. Second clamping jaw; 244. Clamping driving part; 281. First material aligning plate; 282. Second material aligning plate; 283. First mounting plate; 284. Material aligning driving part; 41. Mounting frame; 42. Claw pitch-changing component; 43. First moving driving component; 44. Second moving driving component; 45. Third moving driving component; 421. Substrate; 422. Fixed slide block; 423. Pitch-changing slide block; 424. First pitch-changing rod; 425. Pitch-changing driving part; 426. Claw component; 427. Second pitch-changing rod; 4261. First connecting plate; 4262. Claw driving element; 4263. Claw group; 4264. Detection plate; 4265. First limiting plate; 61. Return wire; 62. Pushing component; 63. Translation component; 64. Mold core; 651. First positioning plate; 652. Second positioning plate; 654. Positioning part; 653. Positioning hole; 71. First base; 73. First positioning component; 74. Second positioning component; 75. Pipe clamping component; 76. First moving component; 77. Second moving component; 78. Third moving component; 79. Gathering component; 721. Support table; 722. First positioning table; 723. Second positioning table; 724. Positioning rod; 731. First through hole; 732. First positioning block; 733. Second positioning block; 734. First arc cam; 735. First positioning surface; 736. First driving part; 741. Second through hole; 742. Third positioning block; 743. Fourth positioning block; 744. Second arc cam; 745. Second positioning surface; 746. Second driving part; 791. First gathering rod; 792. Second gathering rod; 793. Gathering driving part; 81. Connector; 82. First clamping assembly; 83. Second clamping assembly; 84. Workpiece clamping assembly; 85. Third clamping assembly; 861. Third mounting base; 862. Connecting rod; 821. Second mounting plate; 822. Second connecting plate; 823. Third connecting plate; 824. Claw; 825. First driving element; 826. Limiting plate; 827. Limiting rod; 828. Limiting piece; 831. Second fixing plate; 832. Second driving element; 833. Third fixing plate; 834. Sprue claw group; 835. Fourth fixing plate; 836. Guide; 837. Fifth fixing plate; 841. Connecting seat; 842. First clamping piece; 843. Second clamping piece; 844. Fourth driving element; 845. Second limiting plate; 851. Second base; 852. Clamping mechanism; 853. Third base; 854. Clamping groove; 855. Third driving element. Detailed implementation manners

[0021] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0022] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly disposed on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0023] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0024] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise specifically defined.

[0025] It should be noted that the structures, proportions, sizes, etc. shown in the attached drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they do not have any substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the efficacy that this application can produce and the purpose that can be achieved, should still fall within the scope covered by the technical content disclosed in this application.

[0026] The embodiments of the present invention are written in a progressive manner.

[0027] As Figure 1 shown, an upper feeding device for an injection molding machine provided by an embodiment of the present invention includes: a feeding station 1, a feeding device 2, a buffer station 3, a transfer device 4, an inserting tube station 5, a mold core positioning station 6, an inserting tube device 7, and a robotic arm; wherein, the feeding station 1 is used to place a catheter bundle, the feeding device 2 is arranged between the feeding station 1 and the buffer station 3, separates the catheters in the catheter bundle and transfers them to the buffer station 3 for temporary storage, the transfer device 4 is arranged between the buffer station 3 and the inserting tube station 5, and the transfer device 4 is used to pick up the catheters located on the buffer station 3 and transfer them to the inserting tube station 5, the mold core positioning station 6 is used to place a mold core, the catheters on the inserting tube station 5 are arranged in one-to-one correspondence with the mold cores on the mold core, and the inserting tube device 7 is used to insert the catheters onto the mold cores and transfer them into the injection molding machine through the robotic arm for molding.

[0028] In the prior art, both catheter transfer and catheter insertion are carried out manually. Catheter feeding mainly relies on manual single-piece extraction. The single catheters are separated from the catheter bundle manually, and the catheters are inserted onto the mold cores of the injection molding machine one by one by hand. The continuity of production cannot be guaranteed, and the production efficiency is low.

[0029] The upper feeding device for an injection molding machine provided by the present invention is used in the molding of contrast catheters. First, since there are a feeding station 1, a feeding device 2, a buffer station 3, a transfer device 4, an inserting tube station 5, a mold core positioning station 6, an inserting tube device 7, and a robotic arm. Among them, the feeding station 1 is used to place a catheter bundle, the buffer station 3 is used to temporarily store single catheters, the feeding device 2 is arranged between the feeding station 1 and the buffer station 3, and through the feeding device 2, the catheters in the catheter bundle can be separated and transferred to the buffer station 3 for temporary storage. The inserting tube station 5 is used to place catheters, the mold core positioning station 6 is used to place and position the mold cores, the catheters on the inserting tube station 5 are arranged in one-to-one correspondence with the mold cores, the transfer device 4 is used to pick up the catheters on the buffer station 3 and transfer them to the inserting tube station 5, and the inserting tube device 7 is used to insert the catheters onto the mold cores and transfer them into the injection molding machine through the robotic arm for molding.

[0030] In this technical solution, due to the provision of a feeding station 1, a buffer station 3, an intubation station 5, and a mold core positioning station 6, the feeding device 2 separates the catheters in the catheter bundle on the feeding station 1 and transfers them to the buffer station 3 for temporary storage. The transfer device 4 clamps the catheters on the buffer station 3 and transfers them to the intubation station 5. The intubation device 7 inserts the catheters into the mold core to achieve intubation, and then transfers them to an injection molding machine by a robotic arm for molding. The entire feeding process does not require manual participation, which can reduce labor intensity, ensure high production continuity, and improve production efficiency. Thus, compared with the prior art, the feeding device of the injection molding machine in the embodiment of the present invention is used in the production of contrast catheters, does not require manual feeding, can reduce labor intensity, and improve operation efficiency.

[0031] As Figures 2 to 3 shown, in the embodiment of the present invention, an intubation device 7 is provided. First, due to the provision of a first base 71, a first mounting seat, a first positioning component 73, and a second positioning component 74. Among them, the first mounting seat is connected to one end of the first base 71, and the first mounting seat is arranged between the mold core positioning station 6 and the intubation station 5. The first positioning component 73 and the second positioning component 74 are arranged on the first mounting seat. A first through hole 731 is formed in the first positioning component 73, and the inner diameter of the first through hole 731 is adapted to the outer diameter of the mold core on the mold core. The mold core is positioned through the first through hole 731. The second positioning component 74 forms a second through hole 741, and the minimum aperture of the second through hole 741 is adapted to the outer diameter of the catheter. The catheter is positioned through the second through hole 741. The minimum aperture of the second through hole 741 is larger than the minimum aperture of the first through hole 731. In this way, the end face of the catheter can be positioned by the end face of the first positioning component 73. The first through hole 731 and the second through hole 741 are concentrically arranged. During the intubation process, the mold core is positioned through the first through hole 731, and the catheter is positioned through the second through hole 741, so that the mold core and the catheter are concentric, facilitating intubation. Secondly, a catheter clamping component 75 and a first moving component 76 are also provided. The first moving component 76 is used to drive the first base 71 to move horizontally in the first direction towards the intubation station 5. When the catheter is inserted into the second through hole 741 and positioned by the end face of the first through hole, the catheter is clamped by the catheter component. The first moving component 76 drags the first mounting seat, the first base 71, and the catheter towards the mold core positioning station 6, so that the mold core passes through the first through hole into the catheter, thereby realizing the intubation process.

[0032] During the intubation process, the axial position of the core or the catheter may deviate. To solve this problem, by providing the first through hole 731 and the second through hole 741, the second through hole 741 positions the catheter circumferentially, and the first through hole 731 positions the core circumferentially. Since the first through hole 731 and the second through hole 741 are concentrically arranged, it is ensured that the core can be smoothly inserted into the catheter. Additionally, to ensure that the position of the core inserted into the catheter is consistent each time, the minimum outer diameter of the first through hole 731 is smaller than the minimum outer diameter of the second through hole 741. The end face of the catheter is positioned by the end face of the first positioning assembly 73 close to the second positioning assembly 74, and the mold core is positioned by the end face of the first positioning assembly 73 far from the second positioning assembly 74, thereby ensuring that the depth of the core entering the catheter is the same each time the catheter is inserted onto the core, and the quality of intubation is higher. During the intubation process, the first moving assembly 76 drives the first base 71 to move in the horizontal first direction towards the intubation station 5. The catheter is inserted into the second through hole 741, and the end face of the catheter is positioned by the first positioning assembly 73. The catheter is clamped by the catheter clamping assembly 75. The first moving assembly 76 drives the first base 71 to move towards the mold core positioning station 6, and the core is inserted into the catheter along the first through hole 731, thereby realizing the intubation process.

[0033] In the above structure, the placement positions of the catheter and the core may be offset. To solve this technical problem, in the intubation device 7 of the embodiment of the present invention, in the direction away from the mold core positioning station 6, the aperture of the first through hole 731 gradually decreases, and the aperture of the second through hole 741 gradually increases. The catheter is guided through the second through hole 741. By concentrically arranging the first through hole 731 and the second through hole 741, it is convenient for the catheter to be inserted onto the core, thereby completing the intubation action.

[0034] More specifically, both the first through hole 731 and the second through hole 741 in the embodiment of the present invention are tapered holes.

[0035] In the above structure, to increase the intubation efficiency, at least two groups of the first positioning assemblies 73 are provided in the embodiment of the present invention. The first positioning assemblies 73 are arranged at intervals in the horizontal second direction, and the first positioning assemblies 73, the second positioning assemblies 74, and the catheter clamping assemblies 75 are arranged in one-to-one correspondence.

[0036] Specifically, two groups of the first positioning assemblies 73 are provided on the first mounting seat.

[0037] In the above structure, multiple mold cores are often arranged on the mold insert, and the mold cores are arranged at intervals along the horizontal second direction of the mold insert. After the conduits are sleeved on the mold cores, the mold insert and the conduits are placed into an injection molding machine. The number of the arranged mold cores is preferably N times the number of the first positioning components 73, where N is a natural number. When N is greater than or equal to 2, the intubation device 7 further includes a second moving component 77. The second moving component 77 is used to drive the first base 71 to move along the horizontal second direction, and drive the first base 71 and the first positioning component 73 to move to a preset position through the second moving component 77, so as to complete the intubation of other mold cores.

[0038] In the above structure, the intubation device 7 in the embodiment of the present invention further includes a third moving component 78. The third moving component 78 is used to drive the first base 71 to move in the vertical direction. The horizontal first direction, the horizontal second direction and the vertical direction are perpendicular to each other. After the intubation action is completed, the third moving component 78 drives the first base 71 to descend to avoid interfering with subsequent actions.

[0039] The present application does not further limit the specific structures of the first moving component 76, the second moving component 77 and the third moving component 78.

[0040] In the above structure, multiple mold cores are arranged on one mold insert, and the mold cores and the conduits are arranged in one-to-one correspondence. Before being sent into the injection molding machine, the mold insert and the conduits need to be transferred. To facilitate the transfer of the conduits by the manipulator, the intubation device 7 in the embodiment of the present invention further includes a gathering component 79. The gathering component 79 is used to gather the tails of the conduits. More specifically, the gathering component 79 includes a first gathering rod 791, a second gathering rod 792 and a gathering driving member 793. The gathering driving member 793 is used to drive the first gathering rod 791 and the second gathering rod 792 to move towards each other, and gather multiple conduits through the first gathering rod 791 and the second gathering rod 792, which is convenient for transfer.

[0041] To adapt to the intubation of conduits and mold cores of different sizes, as another preferred method, the first mounting seat and the first base 71 in the embodiment of the present invention are specifically detachably connected. Specifically, the first base 71 in the embodiment of the present invention includes a support platform 721, a first positioning platform 722, a second positioning platform 723 and positioning rods 724. Among them, the first positioning platform 722 and the second positioning platform 723 are connected to the support platform 721. The first positioning platform 722 is used to support the first positioning component 73, the second positioning platform 723 is used to support the second positioning component 74, and the positioning rods 724 are arranged on both sides of the support platform 721. The first mounting seat is positioned by abutting the two sides of the positioning rods 724 against the two sides of the first mounting seat.

[0042] In the above structure, the positioning rod 724 in the embodiment of the present invention is specifically any one of a cylinder, a hydraulic cylinder or a linear motor.

[0043] In the above structure, the first positioning component 73 in the embodiment of the present invention includes a first positioning block 732, a second positioning block 733 and a first driving component. Among them, the first driving component is used to drive the first positioning block 732 and the second positioning block 733 to move simultaneously in the direction of approaching or separating from each other, and a first through hole 731 is formed between the first positioning block 732 and the second positioning block 733. The second positioning component 74 includes a third positioning block 742, a fourth positioning block 743 and a second driving component. The second driving component is used to drive the third positioning block 742 and the fourth positioning block 743 to move simultaneously in the direction of approaching and separating from each other, and a second through hole 741 is formed between the third positioning block 742 and the fourth positioning block 743.

[0044] In the above structure, the first driving component in the embodiment of the present invention includes: a first arc cam 734 arranged at the bottoms of the first positioning block 732 and the second positioning block 733; a first positioning surface 735 arranged at the top of the first positioning block 732 and cooperating with the first arc cam 734, and a first angle is formed between the two first positioning surfaces 735; a first driving member 736 for driving the first positioning table 722 to move in the vertical direction; the second driving component includes: a second arc cam 744 arranged at the bottoms of the third positioning block 742 and the fourth positioning block 743; a second positioning surface 745 arranged at the top of the second positioning table 723 and cooperating with the second arc cam 744, and a second angle is formed between the two second positioning surfaces 745; a second driving member 746 for driving the second positioning table 723 to move in the vertical direction; the projections of the center lines of the two first positioning surfaces 735 on the second positioning table 723 coincide with the center lines of the two second positioning surfaces 745.

[0045] The first driving member 736 drives the first positioning table 722 to move in the vertical direction, and the first arc cam 734 cooperates with the first positioning surface 735, so that the first positioning block 732 and the second positioning block 733 are opened and closed. The second driving member 746 drives the second positioning table 723 to move in the vertical direction, and the second arc cam 744 cooperates with the second positioning surface 745, so that the third positioning block 742 and the fourth positioning block 743 are opened and closed.

[0046] Furthermore, the first positioning table 722 and the second positioning table 723 are arranged in parallel, and the projections of the center lines of the two first positioning surfaces 735 on the second positioning table 723 coincide with the center lines of the two second positioning surfaces 745, so as to ensure that the first through hole 731 and the second through hole 741 are concentric.

[0047] Furthermore, a vision detection device 9 is arranged above the die core positioning station in the embodiment of the present invention, which is used to detect whether the catheter and the die core are inserted correctly.

[0048] In the above structure, the feeding station 1 in the embodiment of the present invention is used to place the catheter bundle, such as Figure 4 As shown, the feeding station 1 in the present technical solution includes a double-station feeding table. The feeding station 1 includes a first feeding station 11 and a second feeding station 12. Accommodating grooves for placing the catheter bundle are provided on both the first feeding station and the second feeding station. A first moving mechanism 13 is used to drive the first feeding station 11 to move along the first track, and a second moving mechanism 15 is used to drive the second feeding station 12 to move along the second track. The first track and the second track are arranged in parallel. A lifting mechanism 14 is used to drive the second feeding station 12 to switch between the first track and the second track. Through the double-station feeding device 2, the catheter bundle can be fed more efficiently.

[0049] Such as Figures 5 to 8 As shown, the present invention provides a feeding device 2. First, since there are a frame 21, a material distribution mechanism 22, and a first vertical moving component 23. Among them, the frame 21 is arranged between the feeding station 1 and the buffer station 3. The material distribution mechanism 22 is arranged on the frame 21. The material distribution mechanism 22 is used to adsorb the catheter and separate the catheter from the catheter bundle. The first vertical moving component 23 is arranged between the frame 21 and the material distribution mechanism 22. The first vertical moving component 23 is used to drive the material distribution mechanism 22 to move in the vertical direction. The catheter is adsorbed from the catheter table by the material distribution mechanism 22, and the material distribution mechanism 22 and the catheter are lifted by the first vertical moving component 23, so as to separate the catheter. Secondly, a transfer mechanism 24 and a horizontal moving component 25 are also provided. The transfer mechanism 24 is arranged on one side of the material distribution mechanism 22. The transfer component is used to clamp the catheter adsorbed by the material distribution mechanism 22. The horizontal moving component 25 is used to drive the transfer component to move along the first horizontal direction to the buffer station 3. The material distribution mechanism 22 separates the catheter from the feeding station 1, and the separated catheter is clamped and transferred by the transfer component and the horizontal moving component 25, without manual operation, thus realizing continuous feeding and improving the efficiency of catheter feeding.

[0050] The material distribution mechanism 22 in the embodiment of the present invention includes a fixed seat 221, a suction head 222, a suction nozzle 224, and an adjustment component. Among them, the fixed seat 221 is connected to the first vertical moving component 23. The suction head 222 is arranged on the fixed seat 221. A groove 223 is provided at the bottom of the suction head 222. The groove 223 is adapted to the outer diameter of the catheter. An adsorption area is provided in the groove 223. A suction nozzle 224 is arranged on the suction head 222. The suction nozzle 224 is communicated with the adsorption area. The suction nozzle 224 is used to be connected to a vacuum generator, and the vacuum generator provides an adsorption force for the adsorption area, so as to adsorb the catheter in the groove 223 of the suction head 222. The adjustment component is arranged between the fixed seat 221 and the suction head 222, and the adjustment component is used to drive the suction head 222 to move in the vertical direction.

[0051] In the initial state, the suction head 222 is arranged above the feeding station 1. When the catheter needs to be separated, the first vertical moving assembly 23 drives the fixing seat 221, the suction head 222 and the adjusting assembly to move down to the first position. The adjusting assembly drives the suction head 222 to continue moving down until the suction head 222 contacts the catheter bundle. The vacuum generator provides an adsorption force for the adsorption area through the suction nozzle 224 to adsorb the catheter in the groove 223. The first vertical moving assembly 23 drives the suction head 222 and the catheter to move up to the second position, thereby realizing the separation of the catheter from the catheter bundle.

[0052] In the above structure, the adjusting assembly in the embodiment of the present invention includes a second mounting seat 229, an adjusting driving member 227 and a floating joint 228. Among them, the adjusting driving member 227 is installed on the fixing seat 221. The second mounting seat 229 is slidably connected to the fixing seat 221. The output end of the adjusting driving member 227 is connected to the second mounting seat 229 through the floating joint 228, which can effectively buffer the vibration and impact generated during the movement of the suction head, making the movement of the second mounting seat 229 smoother and more stable.

[0053] In order to prevent the adjusting assembly from damaging the catheter when driving the suction head to move down, the material distribution mechanism 22 in the embodiment of the present invention further includes a linear bearing 225 and a guide rod 226. The linear bearing 225 is arranged in the second mounting seat 229. The guide rod 226 is sleeved in the linear bearing 225, and the guide rod 226 is slidably connected to the linear bearing 225. The bottom end of the guide rod 226 is used to connect to the suction head 222, and the guide rod 226 and the linear bearing 225 are arranged in one-to-one correspondence. The guide rod 226 is connected to the second mounting seat 229 through the linear bearing 225. When the suction head touches the catheter bundle, if the adjusting assembly continues to drive the second mounting seat 229 to move down, under the reaction force of the catheter, the suction head and the guide rod 226 move upward relative to the fixing seat 221, avoiding excessive extrusion of the catheter by the suction head and causing deformation of the catheter.

[0054] In the above structure, the suction head 222 in the embodiment of the present invention is specifically a wedge-shaped structure.

[0055] In the above structure, the first vertical moving assembly 23 in the embodiment of the present invention includes a slide rail 231, a slider 232 and a first driving member 233. Among them, the slide rail 231 is arranged on the frame 21, the slide rail 231 is arranged in the vertical direction, the slider 232 is arranged on the fixing seat 221, the slider 232 is slidably connected to the slide rail 231, and the first driving member 233 is used to drive the fixing seat 221 to move along the extending direction of the slide rail 231.

[0056] In the above structure, in the feeding device 2 according to the embodiment of the present invention, along the horizontal first direction, the transfer mechanism 24 has a first working position and a second working position. The second working position is arranged on the side of the first working position away from the material distribution mechanism 22. The horizontal moving assembly 25 is used to drive the transfer mechanism 24 to reciprocate between the first working position and the second working position. When the material distribution mechanism 22 separates the catheter from the catheter bundle, the horizontal moving assembly 25 drives the transfer mechanism 24 to move to the first working position, clamps the adsorbed catheter through the transfer mechanism 24, and drives the transfer mechanism 24 to move to the second working position through the horizontal moving assembly 25, so as to drag the catheter to move.

[0057] As a specific implementation manner, the transfer mechanism 24 in the embodiment of the present invention includes a first fixing plate 241 and a jaw assembly. Among them, the first fixing plate 241 is connected to the output end of the horizontal moving assembly 25, and the catheter is clamped through the jaw assembly. The jaw assembly includes a first jaw 242, a second jaw 243 and a clamping driving member 244. The clamping driving member 244 is used to drive the first jaw 242 and the second jaw 243 to move in the direction of approaching or separating from each other, for clamping and releasing the catheter. The jaw assembly and the suction head 222 are arranged in one-to-one correspondence.

[0058] As an implementation manner, the feeding device 2 in the embodiment of the present invention further includes a detection plate 26 and a material alignment mechanism 28. Among them, the detection plate 26 is arranged on the first fixing plate 241. The detection plate 26 is configured to detect whether there is a catheter adsorbed on the material distribution mechanism 22 when the transfer mechanism 24 is at the first working position. The material alignment mechanism 28 is connected to the fixed seat 221 through a second vertical moving assembly 27. The material alignment mechanism 28 is electrically connected to the detection plate 26. The material alignment mechanism 28 is used to clamp the catheter bundle to facilitate the material distribution mechanism 22 to adsorb the catheter.

[0059] Specifically, if the position where the catheter bundle is placed on the feeding station 1 is not standard, it may affect the adsorption effect of the material distribution mechanism 22 on the catheter, resulting in the material distribution mechanism 22 being unable to adsorb the catheter. To avoid this situation, a detection plate 26 is arranged on the first fixing plate 241 in the embodiment of the present invention. Whether there is a catheter adsorbed on the material distribution mechanism 22 is detected through the detection plate 26. If there is no catheter, the material distribution mechanism 22 is controlled to move downward to continue adsorption. If the detection plate 26 detects that the material distribution mechanism 22 has not adsorbed the catheter three times, the second vertical moving assembly 27 drives the material alignment mechanism 28 to move downward. When the catheter bundle is clamped by the material alignment mechanism 28, the material distribution mechanism 22 moves downward to adsorb once. If the detection plate 26 still detects that there is no catheter adsorbed on the material distribution mechanism 22, an alarm message is sent.

[0060] In the above structure, a receiving groove for placing a catheter bundle is provided on the feeding station 1 in the embodiment of the present invention. The width of the bottom of the receiving groove is greater than the width of the top of the receiving groove, which is more convenient for the material separating mechanism 22 to adsorb the catheter. Further, the receiving grooves in the embodiment of the present invention are arranged in one-to-one correspondence with the suction heads 222. When at least two receiving grooves are provided, the receiving grooves are arranged at intervals along the horizontal second direction.

[0061] As Figure 8 shown. The blanking mechanism 28 in the embodiment of the present invention includes a first blanking plate 281, a second blanking plate 282, a first mounting plate 283 and a blanking driving member 284. The first blanking plate 281 and the second blanking plate 282 are arranged at intervals along the horizontal second direction. The first mounting plate 283 is fixedly connected to the telescopic end of the second vertical moving assembly 27. The blanking driving member 284 is arranged on the first mounting plate 283, and the blanking driving member 284 is used to drive the first blanking plate 281 and the second blanking plate 282 to move towards each other or away from each other.

[0062] Specifically, if the detection plate 26 detects three times that the material separating mechanism 22 fails to adsorb the catheter, the second vertical moving assembly 27 drives the blanking mechanism 28 to descend to a preset position, and drives the first blanking plate 281 and the second blanking plate 282 to move towards each other through the blanking driving member 284, so that the catheter bundle is clamped. In this state, the catheter is adsorbed by the material separating mechanism 22, which is more conducive to the adsorption of the catheter.

[0063] In the above structure, the number of receiving grooves provided is arranged in one-to-one correspondence with the number of suction heads. The first blanking plate 281 and the second blanking plate 282 form a blanking plate group, and the number of blanking plate groups provided is arranged in one-to-one correspondence with the number of receiving grooves.

[0064] When at least two groups of receiving grooves are provided, the first telescopic end of the blanking driving member 284 is connected to at least two first blanking plates 281, and the second telescopic end of the blanking driving member 284 is connected to at least two second blanking plates 282. Driven by the blanking driving member 284, the blanking plate group clamps the catheter bundle at the same time. In the embodiment of the present invention, the first telescopic end of the blanking driving member 284 is connected to four first blanking plates 281, and the second telescopic end of the blanking driving member 284 is connected to four second blanking plates 282.

[0065] The buffer station in the embodiment of the present invention is used to place the separated catheters. Further, the buffer station in the embodiment of the present invention includes a double-station buffer workbench, and the structure of the double-station buffer workbench is the same as that of the double-station feeding table. The groove on the buffer station is used to place a single catheter, and a positioning port is provided at one end of the groove for positioning the end of the catheter. A pressing structure is provided above the double-station buffer workbench, and the pressing structure is used to press the catheter and transfer the catheter to the double-station buffer workbench for buffering through the transfer mechanism.

[0066] As shown Figures 9 to 12 in the figure, the transfer device 4 in the embodiment of the present invention includes a mounting frame 41, a first moving drive assembly 43 and a second moving drive assembly 44. Among them, the mounting frame 41 is used to mount the jaw pitch-changing assembly. The first moving drive assembly 43 is connected to the mounting frame 41. The first moving drive assembly 43 is used to drive the mounting frame 41 to move in the vertical direction. The second moving drive assembly 44 is connected to the first moving drive assembly 43. The second moving drive assembly 44 is used to drive the mounting frame 41 and the first moving drive assembly 43 to move in the first direction. By the first moving drive assembly 43 and the second moving drive assembly 44, the position of the jaw pitch-changing assembly is adjusted, which is more convenient.

[0067] In the above structure, at least two jaw pitch-changing assemblies are provided in the embodiment of the present invention. Among them, the first jaw pitch-changing assembly and the second jaw pitch-changing assembly are arranged at intervals in the second direction. The first jaw pitch-changing assembly is fixedly connected to the mounting frame 41. The second jaw pitch-changing assembly is slidably connected to the mounting frame 41 through a third moving drive assembly 45. Among them, the first direction, the second direction and the vertical direction are perpendicular to each other.

[0068] Furthermore, the distance between the conduits at the buffer station in the prior art is different from the distance between the conduits at the catheter insertion station 5. In order to facilitate the transfer of the conduits, the jaw pitch-changing assembly provided by the present invention is provided with a substrate 421, a fixed slider 422, a pitch-changing slider 423 and a pitch-changing drive assembly. Among them, a slide rail is provided on the substrate 421. The fixed slider 422 is arranged at the first end of the slide rail and is fixedly connected to the substrate 421. The pitch-changing slider 423 is slidably connected to the slide rail. The pitch-changing slider 423 is connected to the fixed slider 422 through a first pitch-changing rod 424. The pitch-changing drive assembly is used to drive the pitch-changing slider 423 to move along the first pitch-changing rod 424 to adjust the distance between the pitch-changing slider 423 and the fixed slider 422. Secondly, a jaw assembly 426 is also provided. The jaw assembly 426 is used to clamp the workpiece. The jaw assemblies 426 are provided on both the fixed slider 422 and the pitch-changing slider 423. When taking materials, the distance between two adjacent workpieces to be transferred is the first distance. By the pitch-changing drive assembly, the distance between the pitch-changing slider 423 and the fixed slider 422 is adjusted to the first distance so that the jaw assembly 426 can clamp the workpiece to be transferred. When discharging materials, the distance between adjacent placement stations is the second distance. By the pitch-changing drive assembly, the distance between the pitch-changing slider 423 and the fixed slider 422 is adjusted to the second distance so that when the workpiece is discharged, the workpiece on the jaw assembly 426 can be smoothly placed on the placement station. The jaw pitch-changing assembly in the embodiment of the present invention can adjust the distance between adjacent jaws and is applicable to the situation where the distance between products before and after transfer changes, and has higher practicability.

[0069] In the above structure, the first end of the first pitch-changing rod 424 in the embodiment of the present invention is fixedly connected to the fixed slider 422, and the first pitch-changing rod 424 is slidably connected to the pitch-changing slider 423. In order to limit and constrain the maximum distance between the fixed slider 422 and the pitch-changing slider 423, a limiting block is provided at the second end of the first pitch-changing rod 424, and a blocking block is provided in the pitch-changing slider 423. The limiting block abuts against the blocking block for limiting and constraining the distance between the pitch-changing slider 423 and the fixed slider 422.

[0070] Specifically, when it is necessary to pick up a workpiece, the pitch-changing drive assembly moves the pitch-changing slider 423 in a direction away from the fixed slider 422 until the limiting block abuts against the blocking block. At this time, the distance between the pitch-changing slider 423 and the jaw assembly 426 on the fixed slider 422 is the first distance, and the workpiece is clamped and picked up by the two jaw assemblies 426. When it is necessary to place the workpiece, the pitch-changing drive assembly drives the pitch-changing slider 423 to move in a direction close to the fixed slider 422 until the pitch-changing slider 423 abuts against the fixed slider 422. At this time, the distance between the two jaw assemblies 426 on the pitch-changing slider 423 and the fixed slider 422 is the second distance, which is adapted to the position of the placement station.

[0071] In the above structure, at least two pitch-changing sliders 423 are provided in the embodiment of the present invention. The pitch-changing sliders 423 are arranged at intervals along the second end of the slide rail. Adjacent pitch-changing sliders 423 are slidably connected by a second pitch-changing rod 427, and the movable end of the pitch-changing drive member 425 is connected to the pitch-changing slider at the farthest end.

[0072] The connection manner between the second pitch-changing rod 427 and the two pitch-changing sliders 423 is the same as the connection manner between the first pitch-changing rod 424 and the fixed slider 422 and the pitch-changing slider 423, and will not be further elaborated.

[0073] In the above structure, the jaw assembly 426 in the embodiment of the present invention includes a first connecting plate 4261, a jaw driving element 4262 and a jaw group 4263. Among them, the first connecting plate 4261 is used to be connected to the fixed slider 422 or the pitch-changing slider 423. The jaw driving element 4262 is arranged on the first connecting plate 4261, and the jaw group 4263 is arranged on the jaw driving element 4262. The jaw driving element 4262 is used to drive the jaw group 4263 to clamp the workpiece, so as to realize the picking and placing of the workpiece. The jaw group 4263 is used to pick up and place the workpiece, and the specific structure of the jaw group 4263 is not further limited in this technical solution.

[0074] In the above structure, in order to detect whether the jaw group 4263 clamps the workpiece, the jaw assembly 426 in the embodiment of the present invention further includes a detection plate 4264. The detection plate 4264 is fixedly connected to the first connection plate 4261. After the jaw group 4263 clamps the workpiece, the detection plate 4264 is used to detect whether there is a workpiece on the jaw group 4263. The detection plate 4264 is a conventional structure and will not be further described herein.

[0075] In the above structure, as one of the implementation manners, the jaw assembly 426 in the embodiment of the present invention further includes a first limiting plate 4265. The two first limiting plates 4265 are respectively arranged at both ends of the jaw group 4263. A positioning surface is arranged at the bottom of the first limiting plate 4265. The positioning surface is arranged above the accommodating groove. The placement position of the workpiece is adjusted through the positioning surface, and then the workpiece is clamped by the jaw group 4263.

[0076] The number of mold cores in an injection molding machine is limited and needs to be reused during injection molding. At present, during the production process, the mold cores are often stacked and then transferred manually. However, this method is not conducive to the continuous production of contrast catheters and the production efficiency is low. If we wait until all the mold cores are used up, then stack them, and then transfer them manually later, the use of the mold cores is not continuous in the process and the efficiency of injecting catheters is low.

[0077] As Figure 13 shown, the mold core positioning station 6 provided by the present invention. First, due to the provision of a return line 61, a pushing component 62, and a translation component 63. Among them, the return line 61 is arranged on one side of the mold core positioning station 6. The return line has a first end and a second end. The first end is used to recycle the mold core 64, and the second end is arranged at the end of the return line close to the mold core positioning station. The return line 61 is used for recycling, buffering, and conveying. The pushing component 62 is arranged on the side of the return line away from the mold core positioning station. The pushing component 62 is used to push the mold core 64 located at the second end of the return line 61 to the mold core positioning station. The translation component 63 is used to drive the mold core 64 to move from the first end of the return line 61 to the second end. After the contrast catheter is injection molded, the mold core 64 is transferred to the first end of the return line. The mold core 64 at the first end is moved to the second end through the translation component. The speed at which the translation component moves the mold core 64 can be set according to the length of the return line and the number of mold cores 64. The mold core 64 located at the second end on the return line is pushed to the positioning station through the pushing component. In this way, due to the provision of the return line, when each batch of contrast catheters is injection molded, placing the mold core 64 at the first end of the return line can achieve the buffering and conveying of the mold core 64, which is more conducive to the continuous production of contrast catheters.

[0078] Further, the mold core positioning station 6 in the embodiment of the present invention further includes a first positioning plate 651, a second positioning plate 652, and a positioning member 654. Among them, the second positioning plate 652 is arranged at one end of the second end of the return line away from the first end. The first positioning plate 651 is used to position the first side of the mold core 64. The second positioning plate 652 is arranged on the side of the positioning station away from the pushing assembly. A positioning hole 653 is arranged on the second positioning plate 652. The positioning holes 653 are arranged in one-to-one correspondence with the mold cores on the mold core 64. The positioning holes 653 are used for the mold cores to pass through. The mold cores can be positioned through the positioning holes 653, which is convenient for the insertion tube operation. The positioning member 654 is arranged at one end of the return line away from the pushing station. The telescopic end of the positioning member 654 is used to position the second side of the mold core 64 away from the first positioning plate 651.

[0079] As Figures 14 to 15 shown, the robotic arm in the embodiment of the present invention includes a robotic arm and a robotic gripper 8. Among them, the robotic gripper 8 includes a connecting member 81, a first clamping assembly 82, a second clamping assembly 83, and a workpiece clamping assembly 84. The connecting member 81 is used to connect with the robotic arm. The first clamping assembly 82 is arranged on the connecting member 81. The first clamping assembly 82 is used to clamp the mold core. The second clamping assembly 83 is arranged on one side of the first clamping assembly 82. The second clamping assembly 83 is connected to the connecting member 81. The second clamping assembly 83 is used to clamp the injection molding nozzle. The workpiece clamping assembly 84 is arranged on the side of the second clamping assembly 83 away from the first clamping assembly 82. The workpiece clamping assembly 84 is connected to the connecting member 81. After the injection molding of the contrast catheter is completed, the first clamping assembly 82 clamps the mold core, the second clamping assembly 83 clamps the injection molding nozzle, and the workpiece clamping assembly 84 clamps the injection molded workpiece. Finally, the robotic arm transfers the mold core, the injection molding nozzle, and the workpiece.

[0080] Further, the robotic arm in the embodiment of the present invention can also be used to transfer the injection molded mold core to the first end of the return line.

[0081] Two clamping grooves are arranged at intervals on the top of the mold core in the embodiment of the present invention. For a mold core with such a structure, the first clamping assembly 82 includes a second mounting plate 821, a second connecting plate 822, a third connecting plate 823, and a first driving element 825. Among them, the second mounting plate 821 is fixedly connected to the connecting member 81. The second connecting plate 822 and the third connecting plate 823 are arranged on the second mounting plate 821. Claw 824 is arranged on both the second connecting plate 822 and the third connecting plate 823. The claw 824 is used to correspond to the clamping groove. The first driving element 825 is used to drive the two claws 824 to clamp the clamping groove, so as to take out the mold core from the injection molding machine.

[0082] In the embodiment of the present invention, the second connecting plate 822 is fixedly connected to the second mounting plate 821, the third connecting plate 823 is movably connected to the second mounting plate 821, the telescopic end of the first driving element 825 is connected to the third connecting plate 823, and the two claw members 824 are respectively fixedly arranged on the second connecting plate 822 and the third connecting plate 823. The first clamping assembly 82 further includes a limiting plate 826, a limiting rod 827 and a limiting member 828. Among them, by the limiting member 828 abutting against the limiting plate 826, the maximum distance between the two claw members 824 is limited and constrained. By the third connecting plate 823 abutting against the limiting plate 826, the minimum distance between the two claw members 824 is limited and constrained. Through the cooperation between the limiting rod 827 and the guiding hole, the moving direction of the third connecting plate 823 is limited and constrained.

[0083] The second clamping assembly 83 is used for clamping the sprue and taking out the sprue through the robotic arm. As a specific embodiment, the second clamping assembly 83 in the embodiment of the present invention includes a second fixing plate 831, a second driving element 832, a third fixing plate 833 and a sprue claw group 834. Among them, the second fixing plate 831 is arranged above the second mounting plate 821, the mounting portion of the second driving element 832 is fixedly arranged on the second fixing plate 831, the third fixing plate 833 is arranged below the second fixing plate 831, an installation hole is arranged in the third fixing plate 833, and the sprue claw group 834 is arranged through the installation hole. The sprue claw group 834 includes a first claw, a second claw and an elastic member. Among them, the first claw and the second claw are arranged crosswise, the middle parts of the first claw and the second claw are hinged to the third fixing plate 833, two elastic members are provided, the two ends of the first elastic member are respectively connected to the third fixing plate 833 and the second claw, and the two ends of the second elastic member are respectively connected to the third fixing plate 833 and the first claw, so that the tops of the first claw and the second claw are in contact with each other, and the clamping portions of the first claw and the second claw are in an open state. The telescopic end of the second driving element 832 cooperates with the top of the sprue claw group 834 to open and close the clamping portion of the sprue claw group 834.

[0084] Specifically, when the sprue is not grasped, under the action of the elastic member, the tops of the first claw and the second claw are in a closed state, and the clamping portions of the first claw and the second claw are in an open state. When it is necessary to grasp the sprue, the telescopic end of the second driving element 832 opens the tops of the first claw and the second claw, and the clamping portions of the first claw and the second claw are in a closed state to grasp the sprue.

[0085] The telescopic end of the second driving element 832 is used to overcome the elastic force of the elastic element and open the tops of the first claw and the second claw. It can be directly inserted between the tops of the first claw and the second claw through the telescopic end of the second driving element 832. This method requires a large amount of power. As a preferred implementation, the tail of the telescopic end of the second driving element 832 in the embodiment of the present invention is specifically a cone. In the direction away from the installation part of the second driving element 832, the diameter of the tail of the second driving element 832 gradually decreases. The inner side surfaces of the tops of the first claw and the second claw are specifically arc surfaces. The cone is used in cooperation with the arc surface. When the telescopic end of the second driving element 832 extends, a line-and-point contact is formed between the cone and the first claw and between the cone and the second claw, which can overcome the elastic force to do work more labor-savingly and make the clamping parts of the first claw and the second claw close.

[0086] Furthermore, in order to better clamp the sprue, as an implementation, rough surfaces are provided on the clamping parts of the first claw and the second claw in the embodiment of the present invention. The rough surfaces are used to contact the sprue, thereby increasing the frictional force between the sprue and the first claw and the second claw, and avoiding the phenomenon of the sprue falling off during the process of clamping the sprue.

[0087] In the above structure, after injection molding, the mold core often needs to be sent to the reflux station for repeated use. The injection-molded workpiece needs to be placed on the workpiece placement table, while the sprue only needs to be placed in the scrap area. In order to avoid the interference between the sprue gripper group 834 and other structures during the process of placing the mold core or the workpiece, as an implementation, the second clamping assembly 83 in the embodiment of the present invention further includes a fourth fixing plate 835, a guiding member 836, a fifth fixing plate 837 and a first deformable member. Among them, the fourth fixing plate 835 is arranged between the second fixing plate 831 and the third fixing plate 833. The telescopic end of the second driving element 832 is slidably connected to the fourth fixing plate 835. The guiding member 836 is fixedly connected to the second fixing plate 831, the third fixing plate 833 and the fourth fixing plate 835. The fifth fixing plate 837 is arranged between the fourth fixing plate 835 and the second mounting plate 821, and the fifth fixing plate 837 is fixedly connected to the second mounting plate 821. The fifth fixing plate 837 is slidably connected to the guiding member 836. The first deformable member is sleeved outside the guiding member 836, and both ends of the first deformable member are abutted against the fifth fixing plate 837 and the fourth fixing plate 835 respectively.

[0088] Specifically, when the sprue gripper group 834 interferes with other structures, under the action of an external force on the third fixing plate 833, an elastic deformation is generated through the first deformable member, so as to lift the third fixing plate 833, the fourth fixing plate 835, the second fixing plate 831, the second driving element 832 and the sprue gripper group 834 as a whole, thereby avoiding the interference situation.

[0089] Further, the elastic member in the embodiment of the present invention is specifically a spring.

[0090] Further, two guiding members 836 are provided in the embodiment of the present invention, and the number of the first deforming members corresponds to the number of the guiding members 836 one by one.

[0091] Further, a sliding bearing is adopted for sliding connection between the guiding member 836 and the fifth fixing plate 837, and between the telescopic end of the second driving element 832 and the fourth fixing plate 835.

[0092] In the above structure, as shown in Figure 5 , the mechanical claw 8 in the embodiment of the present invention is used in the injection molding of a contrast catheter. Before the contrast catheter is molded, the catheter often needs to be inserted onto the mold core, and then the mold core and the catheter are sent into an injection molding machine. To prevent the catheter from falling off the mold core, as a preferred embodiment, the mechanical claw 8 in the embodiment of the present invention further includes: a third clamping assembly 85 for clamping the connection between the mold core and the workpiece; wherein, the third clamping assembly 85 includes: a second base 851 fixedly connected to the second mounting plate 821, clamping mechanisms 852 are arranged at intervals along the length direction of the second base 851, and an arc surface is arranged on the outer side of the top of the clamping mechanism 852; a third base 853 is arranged above the second base 851 and is slidably connected to the second base 851, a clamping groove 854 is arranged at the bottom of the third base 853, and the opening of the clamping groove 854 gradually increases in the direction approaching the second base 851; a third driving element 855 is used to drive the third base 853 to move in the directions approaching and away from the second base 851, and the arc surface cooperates with the clamping groove 854 to enable the clamping mechanism 852 to clamp. The number of the clamping mechanisms and the clamping grooves is set to correspond to the number of the catheters one by one. In this way, a plurality of clamping mechanisms can be driven to clamp simultaneously by one third driving element, the structure is simpler, and the contact between the clamping groove and the arc surface is specifically a line-to-point contact, and the driving is more labor-saving.

[0093] Further, as one of the embodiments, the clamping mechanism includes a third claw, a fourth claw, and a third deformable member. The middle parts of the third claw and the fourth claw are respectively hinged to the second base 851. The third deformable member is disposed between the third claw and the fourth claw. When the third claw and the fourth claw do not clamp the catheter, the tops of the third claw and the fourth claw cooperate with the narrowest part of the clamping groove 854, and the distance between the second base 851 and the third base 853 is the shortest. The clamping parts of the third claw and the fourth claw are opened, and the third deformable member generates elastic deformation. When it is necessary to clamp the catheter, the third driving element drives the third base 853 to move away from the second base 851, so that the tops of the third claw and the fourth claw cooperate with the widest part of the clamping groove, and the third deformable member generates elastic reset deformation, thereby closing the clamping parts of the third claw and the fourth claw.

[0094] In the above structure, as shown in Figure 6 and Figure 7 The workpiece clamping assembly 84 in the embodiment of the present invention includes a connecting seat 841, a first clamping member 842, a second clamping member 843, and a fourth driving element 844. The connecting seat 841 is connected to the connecting member 81. The first clamping member 842 and the second clamping member 843 are respectively hinged to both sides of the connecting seat 841. An accommodating cavity for clamping the workpiece is formed between the first clamping member 842 and the second clamping member 843. The fourth driving element 844 is used to open and close the first clamping member 842 and the second clamping member 843.

[0095] Specifically, both ends of the fourth driving element 844 in the embodiment of the present invention are respectively connected to the first clamping member 842 and the second clamping member 843. The fourth driving element 844 is specifically 180° open, and the accommodating cavity is specifically a circular accommodating cavity.

[0096] Further, in order to avoid the situation that one side of the workpiece is higher than the other side during the placement process, the robot claw 8 in the embodiment of the present invention further includes a second limiting plate 845. The second limiting plate 845 is fixedly connected to one side of the connecting seat 841. The bottom of the second limiting plate 845 is specifically an arc surface, and the arc surface is used to limit the workpiece.

[0097] Further, two sets of workpiece clamping assemblies 84 are provided in the embodiment of the present invention, and the workpiece clamping assemblies 84 are arranged at intervals along the length direction of the workpiece.

[0098] Further, in order to avoid interference between the workpiece clamping assembly 84 and other structures during the use of the robotic gripper 8, the robotic gripper 8 in the embodiment of the present invention further includes a third mounting seat 861, a connecting rod 862, and a second deformable member. The third mounting seat 861 is disposed on the connecting member 81. The connecting rod 862 is disposed between the third mounting seat 861 and the connecting seat 841. The connecting rod 862 is slidably connected to the connecting seat 841. The second deformable member is sleeved outside the connecting rod 862, and both ends of the second deformable member are respectively abutted against the connecting seat 841 and the third mounting seat 861. When interference occurs between the workpiece clamping assembly 84 and other structures, elastic deformation is generated by the second deformable member to lift the third mounting seat 861 and avoid interference.

[0099] The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A feeding device for an injection molding machine, characterized in that: include: A feeding station (1), a feeding device (2), a buffer station (3), a transfer device (4), an insertion station (5), a mold core positioning station (6), an insertion device (7), and a robotic arm; in, The feeding station (1) is used to place a catheter bundle. The feeding device (2) is arranged between the feeding station (1) and the buffer station (3) to separate the catheters in the catheter bundle and transfer them to the buffer station (3) for temporary storage. The transfer device (4) is arranged between the buffer station (3) and the insertion station (5). The transfer device (4) is used to clamp the catheter located on the buffer station (3) and transfer it to the insertion station (5). The mold core positioning station (6) is used to place the mold core. The catheters on the insertion station (5) are arranged in a one-to-one correspondence with the mold core on the mold core. The insertion device (7) is used to insert the catheter into the mold core and transfer it to the injection molding machine through a robot arm for molding.

2. The injection molding machine feeding device according to claim 1, characterized in that: The intubation device (7) comprises: A base (71), wherein a first mounting seat is provided on one side of the base (71), and the first mounting seat is provided between the mold core positioning station (6) and the tube insertion station (5); A first positioning component (73) and a second positioning component (74) are arranged on the first mounting seat, a first through hole (731) is formed in the first positioning component (73), the inner diameter of the first through hole (731) is matched with the outer diameter of the mold core, a second through hole (741) is formed in the second positioning component, the second through hole (741) is arranged concentrically with the first through hole (731), the minimum aperture of the second through hole (741) is matched with the outer diameter of the conduit, and the minimum aperture of the second through hole (741) is larger than the minimum aperture of the first through hole (731); A catheter clamping assembly (75) disposed on the base (71) and used for clamping the catheter; A first moving assembly (76) for driving the base (71) to move along a first horizontal direction.

3. The injection molding machine feeding device according to claim 2, characterized in that: The base (71) comprises: Support table (721); a first positioning platform (722) and a second positioning platform (723) connected to the support platform (721), the first positioning platform (722) being used to support the first positioning component (73), and the second positioning platform (723) being used to support the second positioning component (74); Positioning rods (724) are arranged on both sides of the support platform (721), and the positioning rods (724) are used to abut against both sides of the first mounting seat for positioning.

4. The injection molding machine feeding device according to claim 3, characterized in that: The first positioning assembly (73) comprises a first positioning block (732), a second positioning block (733) and a first driving assembly, the first driving assembly being used to drive the first positioning block (732) and the second positioning block (733) to move towards or away from each other simultaneously, and a first through hole (731) is formed between the first positioning block (732) and the second positioning block (733); The second positioning assembly (74) comprises a third positioning block (742), a fourth positioning block (743) and a second driving assembly, wherein the second driving assembly is used to drive the third positioning block (742) and the fourth positioning block (743) to move towards and away from each other simultaneously, and a second through hole (741) is formed between the third positioning block (742) and the fourth positioning block (743).

5. The injection molding machine feeding device according to claim 4, characterized in that: The first driving component comprises: A first arc-shaped cam (734) arranged at the bottom of the first positioning block (732) and the second positioning block (733); A first positioning surface (735) disposed on the top of the first positioning platform (722) and used in conjunction with the first arc-shaped cam, wherein a first angle is formed between the two first positioning surfaces (735); A first driving member (736) for driving the first positioning platform (722) to move in a vertical direction; The second driving component comprises: A second arc-shaped cam (744) disposed at the bottom of the third positioning block (742) and the fourth positioning block (743); A second positioning surface (745) disposed on the top of the second positioning platform (723) and used in conjunction with the second arc-shaped cam (744), wherein a second angle is formed between the two second positioning surfaces (745); A second driving member (746) for driving the second positioning platform (723) to move in a vertical direction; The projection of the center lines of the two first positioning surfaces (735) on the second positioning platform (723) coincides with the center lines of the two second positioning surfaces (745).

6. The feeding device for an injection molding machine according to any one of claims 1 to 5, characterized in that: The feeding device (2) comprises: A frame (21) disposed on one side of the feeding station; A material distribution mechanism (22) disposed on the frame (21), the material distribution mechanism (22) being used for adsorbing the catheter; A first vertical moving component (23) disposed between the frame (21) and the material distribution mechanism (22), and used for driving the material distribution mechanism (22) to move in a vertical direction; A transfer mechanism (24) disposed on one side of the material distribution mechanism (22) and used for clamping the catheter adsorbed by the material distribution mechanism (22); A horizontal moving component (25) for driving the transfer mechanism (24) and the conduit to move along a first horizontal direction to the buffer station.

7. The feeding device for an injection molding machine according to any one of claims 1 to 5, characterized in that: The transfer device (4) comprises: Mounting frame (41); A clamping jaw variable pitch assembly (42) disposed on the mounting frame; A first moving drive assembly (43) for driving the mounting frame (41) to move in a vertical direction; A second movable drive assembly (44) connected to the first movable drive assembly (43) and used to drive the mounting frame (41) and the first movable drive assembly (43) to move along a first direction.

8. The feeding device for an injection molding machine according to any one of claims 1 to 5, characterized in that: The mold core positioning station (6) comprises: Positioning station; A reflow line is arranged on one side of the positioning station, wherein a first end of the reflow line is used to recover the mold core (63), and a second end of the reflow line is arranged at an end close to the positioning station; A pushing component disposed on a side of the reflow line away from the positioning station and used to push the mold core (63) located at the second end of the reflow line to the positioning station; A translation component used for driving the mold core (63) to move from the first end to the second end of the return line.

9. The injection molding machine feeding device according to claim 8, characterized in that: The robotic arm comprises a robotic arm and a robotic gripper (8); Wherein, the mechanical gripper (8) comprises: A connecting piece (81), the connecting piece (81) being used to be connected to the robot arm; A first clamping assembly (82) disposed on the connecting member (81) and used for clamping the mold core; A second clamping assembly (83) provided on one side of the first clamping assembly (82) and connected to the connecting piece (81), the second clamping assembly (83) being used for clamping the injection molding nozzle; A workpiece clamping assembly (84) is provided on a side of the connecting member (81) away from the first clamping assembly (82) and is used to clamp the catheter.

10. The injection molding machine feeding device according to claim 9, characterized in that: The robotic arm is used to transfer the mold core (63) after injection molding to the first end of the reflow line.

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