Titanium nail feeding device

Abstract

The invention discloses a titanium nail feeding device which comprises a transferring mechanism and a cam transmission mechanism, the cam transmission mechanism moves to the position above a titanium nail feeding station through the transferring mechanism, and the cam transmission mechanism comprises a multi-claw connecting structure part and a multi-claw opening and closing structure part; the multi-claw connecting structure part comprises a mounting frame body, a cam opening and clamping block, a special-shaped guide through groove, a first roller, a sliding pin and a guide sliding block, and the multi-claw opening and closing structure part comprises a Z-axis driving mechanism, a multi-opening-claw push plate and a second roller. When the Z-axis driving mechanism drives the multi-open-claw push plate to move vertically, the second rolling wheel rolls along the guide inclined faces of the guide sliding blocks and drives the guide sliding blocks to move transversely, meanwhile, the sliding pin drives the first rolling wheel to roll along the special-shaped guide through grooves, and synchronous approaching or leaving of the multiple sets of guide sliding blocks is achieved. Synchronous grabbing, accurate positioning and stable transferring of multiple sets of titanium nails are achieved, the problems that in the prior art, single-claw sequential feeding is low in efficiency and poor in consistency are solved, the titanium nail feeding automation level, positioning accuracy and production efficiency are remarkably improved, and the requirement for batch production of medical instruments such as anastomats is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical device production, in particular to a titanium nail feeding device. BACKGROUND

[0002] In the field of medical device manufacturing, especially in the production process of medical anastomat, the feeding efficiency and positioning accuracy of titanium nails directly determine the quality and productivity of the subsequent assembly process. The anastomat usually needs to be assembled with multiple rows of titanium nails. The traditional feeding equipment usually uses a single gripper to sequentially grab and transfer. There are two major problems: first, the total time of multi-station feeding is too long, which cannot match the batch production rhythm; second, the cumulative error during continuous feeding easily leads to the posture deviation of titanium nails, increasing the rework rate of subsequent assembly.

[0003] In the prior art, for example, a titanium nail assembly equipment and system is disclosed in Chinese patent No. CN209632458U. The grabbing mechanism focuses on the assembly assistance of a single process, and the feeding link relies on step displacement to realize multi-station operation. Not only is the efficiency low, but also there is a lack of stable structure for titanium nail grabbing, which is prone to loose or deviation.

[0004] To solve the above problems, there is an urgent need for a titanium nail feeding device with accurate positioning, high multi-gripper synchronization and high feeding consistency, which can realize the synchronous grabbing, accurate positioning and stable transfer of multiple groups of titanium nails to adapt to the batch production needs of anastomosis and other medical devices and improve the overall production efficiency and product quality. SUMMARY

[0005] The present application overcomes the shortcomings of the above-mentioned technology and provides a titanium nail feeding device.

[0006] To achieve the above-mentioned purpose, the following technical solutions are adopted: A titanium nail feeding device, comprising: A transfer mechanism 100 for realizing the station transfer of the overall device; A cam transmission mechanism, which is moved to above the titanium nail feeding station through the transfer mechanism 100, is used to realize the synchronous grabbing and posture holding of multiple groups of titanium nails; The cam transmission mechanism comprises a multi-gripper connecting structure part and a multi-gripper opening and closing structure part; The multi-gripper connecting structure part comprises a mounting frame body 51, cam opening blocks 52 symmetrically arranged in the mounting frame body 51, a special-shaped guide through slot 53 opened in the cam opening blocks 52, a plurality of first rollers 54 rollingly assembled in the special-shaped guide through slot 53, a sliding pin 55 connected with the first rollers 54 one by one, and a guide sliding block 56 driven by the sliding pin 55; each guide sliding block 56 is detachably connected with a clamping block at the bottom, and two symmetric clamping blocks form a group of feeding grippers 3; The multi-claw opening and closing structure part comprises a Z-axis driving mechanism 58, a multi-claw pushing plate 59 driven by the Z-axis driving mechanism 58, and a plurality of second rollers 591 connected to the bottom of the multi-claw pushing plate 59. The guide sliding block 56 is provided with a guide inclined surface 561 matched with the second roller 591, when the Z-axis driving mechanism 58 drives the vertical movement of the multi-claw pushing plate 59, the second roller 591 rolls along the guide inclined surface 561, driving the guide sliding block 56 to move laterally, while the sliding pin 55 drives the first roller 54 to roll along the special-shaped guide through slot 53, realizing the synchronous opening and closing of the multi-group feeding clamping jaws 3.

[0007] Preferably, the feeding clamping jaw 3 is provided as eight groups, which are uniformly arranged along the length direction of the mounting frame body 51, and the opposite inner sides of each group of clamping blocks are provided with positioning opening grooves 301, and the two clamping blocks are folded to form a complete positioning groove matched with the outer wall of the titanium nail.

[0008] Preferably, the mounting frame body 51 comprises a top plate 511 and a bottom frame 512, the top plate 511 is symmetrically connected with cam opening clamping blocks 52 on the left and right sides of the bottom, and the top plate 511 is provided with a guide strip-shaped through port 513 for the multi-claw pushing plate 59 to pass through.

[0009] Preferably, the special-shaped guide through slot 53 has a sock-shaped front profile, comprising a vertical guide part 531 at the upper part and a horizontal guide part 532 at the lower part, the vertical guide part 531 is a straight section channel, and the horizontal guide part 532 is an arc-shaped channel, both of which are connected through a circular arc transition, and the arc-shaped groove wall of the horizontal guide part 532 is provided with a limiting groove 5320 for limiting the first roller 54.

[0010] Preferably, the guide sliding block 56 is internally provided with a vertical mounting groove 560, the sliding pin 55 extends to the inside of the vertical mounting groove 560, and a first spring 57 is mounted between the sliding pin 55 and the bottom wall of the vertical mounting groove 560; the outer circumferential surface of the sliding pin 55 inside the vertical mounting groove 560 is sleeved with an annular baffle 551, which abuts against the first spring 57.

[0011] Preferably, the bottom frame 512 is connected with a longitudinal connecting seat 5121 between the inner walls of the front and rear sides in the middle part, a plurality of horizontally extending guide bolts 60 are connected between the left and right side surfaces of the bottom frame 512 of the mounting frame body 51 and the longitudinal connecting seat 5121; the guide sliding block 56 is slidably sleeved on the guide bolts 60; a second spring 8 is mounted between the outer side wall of the guide sliding block 56 and the left and right inner walls of the bottom frame 512.

[0012] Preferably, the Z-axis driving mechanism 58 comprises a fixed plate 581 connected with an external transfer mechanism or external support, a first air cylinder 582 mounted on the fixed plate 581, and a plurality of vertical guide rods 583 vertically and parallel arranged; the plurality of vertical guide rods 583 are connected between the fixed plate 581 and the top of the multi-claw push plate 59, the driving rod of the first air cylinder 582 is fixedly connected with the top of the multi-claw push plate 59, and the driving rod is parallel with the vertical guide rods 583; the fixed plate 581 is provided with a first through hole 580 for the vertical guide rods 583 to penetrate and guide.

[0013] Preferably, the multi-claw push plate 59 is provided with two symmetrically arranged claws 590, and each claw is longitudinally connected with a plurality of second rollers 591 at the bottom end; the claw has a structure of large at the top and small at the bottom.

[0014] Preferably, the transfer mechanism 100 comprises a support 101, a Y-axis linear module 102 longitudinally mounted on the support 101, and a movable seat 103 driven by the Y-axis linear module 102 to move longitudinally, wherein the movable seat 103 is connected to one side wall of the mounting frame 51.

[0015] Preferably, the transfer mechanism 100 further comprises a pressure assembly 6. The pressure assembly 6 comprises: one or more pressure air cylinders 61 mounted between the top of the multi-claw push plate 59 and the top plate 511 of the mounting frame 51 and driven by the Z-axis driving mechanism 58 to move up and down synchronously; and a plurality of vertically extending strip-shaped pressure pins 63 connected with the driving end of the pressure air cylinder 61 and driven by the pressure air cylinder 61; each strip-shaped pressure pin 63 penetrates the mounting frame 51, and the lower end penetrates out to the symmetric center position of the two clamping blocks of a corresponding set of upper assembly clamping jaws.

[0016] Compared with the prior art, the present application has the following advantages: 1. The present application realizes the synchronous driving of multiple guide blocks through a cam transmission mechanism, and can complete the synchronous grabbing and transferring of multiple titanium nails in cooperation with the transfer mechanism. Compared with the single jaw sequential feeding mode in the prior art, the total time of multi-titanium nail feeding is greatly shortened, frequent waiting for resetting and shifting is not required, the feeding efficiency is significantly improved, and the production capacity demand of the stapler batch production can be quickly responded.

[0017] 2. The special-shaped guide slot of the present application adopts a sock-shaped design, and is connected through the arc transition connection of the vertical guide part and the arc-shaped transverse guide part, cooperates with the rolling friction transmission of the first roller, greatly reduces the movement resistance, avoids the jamming phenomenon, and at the same time, the limiting groove of the transverse guide part can accurately limit the first roller in the initial state, forms a mechanical locking structure, effectively prevents the loosening of the guide block caused by external disturbance in the non-working state, and ensures the feeding stability.

[0018] 3. The first spring in the guide slider and the second spring on the side of the bottom frame form a double elastic return structure, the first spring provides a continuous pre-tightening force for the clamping action of the guide slider, and the second spring stores elastic potential energy when the guide slider is released, which can quickly drive the reset without additional power, improving the response speed of the jaw opening and closing, and the buffer effect of the spring reduces the collision and wear between components, prolonging the service life of the mechanism.

[0019] 4. The installation frame body adopts a box type structure design of top plate and bottom frame, and the cam opening block, guide slider and other components are arranged in order in the frame body, the overall structure is compact and regular, which greatly reduces the space occupied by the mechanism, and the large-small jaw opening structure cooperates with the guide strip opening of the top plate, which not only realizes the precise guidance of the multi-jaw push plate, but also avoids lateral deviation during movement, further ensuring the stability and precision of the feeding process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a three-dimensional structure diagram of the multi-jaw opening and closing structure part hidden by the titanium nail assembly device of the present case.

[0021] Figure 2 is a structure diagram of the cam transmission mechanism of the present case.

[0022] Figure 3 is a diagram of the present case Figure 2 hidden on the basis of the press-fitting assembly and the jaws in the clamping state.

[0023] Figure 4 is a diagram of the present case Figure 2 hidden on the basis of the press-fitting assembly and the jaws in the released state.

[0024] Figure 5 is a structure diagram of the cam opening block of the present case.

[0025] Figure 6 is a structure diagram of the multi-jaw push plate connected with the press-fitting assembly.

[0026] Figure 7 is a diagram of a single set of jaws in the released state installed on the cam opening block through guide sliders and other components.

[0027] Figure 8 is a diagram of the installation frame body on which part of the cam assembly or part of the press-fitting assembly is installed.

[0028] Figure 9 is a structure diagram of the bottom frame of the installation frame body. DETAILED DESCRIPTION

[0029] The features of the present application and other related features are further described in detail by the following examples for the understanding of the skilled in the art: As Figures 1 to 9 A titanium nail feeding device, comprising: The transfer mechanism 100 and the cam transmission mechanism for realizing synchronous driving of multiple claws moved above the titanium nail feeding station by the transfer mechanism 100; the cam transmission mechanism comprises a multiple claw connecting structure part and a multiple claw opening and closing structure part.

[0030] The transfer mechanism 100 comprises a support 101, a Y-axis linear module 102 longitudinally mounted on the support 101, and a movable seat 103 capable of longitudinal movement driven by the Y-axis linear module 102, the movable seat 103 being connected to one side wall of the mounting frame body 51, and the longitudinal precise transfer of the cam transmission mechanism being realized by the driving of the Y-axis linear module 102.

[0031] The multiple claw opening and closing structure part comprises a mounting frame body 51, a cam opening and closing block 52, a special-shaped guide through slot 53, a plurality of first rollers 54, a sliding pin 55, and a guide sliding block 56; wherein the mounting frame body 51 is in a box type structure, connected to the transfer mechanism 100, and moved above the feeding station when pressure assembly is needed; the mounting frame body 51 comprises a top plate 511 and a bottom frame 512 connected below the top plate 511.

[0032] The top plate 511 is connected with one cam opening and closing block 52 on each of the left and right sides of the bottom, and the left and right cam opening and closing blocks 52 are symmetrically arranged and connected to the top plate 511 and placed on the top of the bottom frame 512.

[0033] Each cam opening and closing block 52 is formed with a longitudinally extending special-shaped guide through slot 53, and a plurality of first rollers 54 are uniformly mounted on each special-shaped guide through slot 53 in the longitudinal direction, and each first roller 54 is guided and rolled on the special-shaped guide through slot 53; specifically, the front profile of the special-shaped guide through slot 53 is in the shape of a sock, which comprises a vertical guide part 531 and a horizontal guide part 532, the vertical guide part 531 is a straight channel passing through the bottom surface of the top plate 511 at the upper part and connected to the horizontal guide part 532 at the lower part through a circular arc transition, and the horizontal guide part 532 is an arc-shaped channel closed in a semicircle or arc shape and has a limiting recess 5320 formed in the corresponding groove wall of the arc surface. The limiting recess 5320 is used for limiting the first roller 54 therein when the claw is in the initial clamping state.

[0034] Further, the bottom wall of the special-shaped guide channel 53 is formed with a plurality of through holes 533 in the longitudinal direction, and each through hole 533 penetrates a sliding pin 55; the top of each sliding pin 55 is connected with a first roller 54, and the bottom is connected with a guide slider 56 capable of moving transversely; the bottom of each guide slider 56 is fixedly connected with one of a group of clamping blocks 300 on the material loading assembly clamping jaw 3. The inside of each guide slider 56 is provided with a vertical mounting groove 560, the bottom of the sliding pin 55 penetrates into the vertical mounting groove 560 of the guide slider 56, and a first spring 57 is mounted between the sliding pin 55 and the bottom wall of the vertical mounting groove 560; similarly, each guide slider is connected with another guide slider symmetrical thereto through symmetrical components.

[0035] The outer circumferential surface of the sliding pin 55 inside the vertical mounting groove 560 is sleeved with a square annular baffle 551, the square annular baffle 551 abuts against the first spring 57, and provides a stable force receiving surface for the compression and rebound of the first spring 57. The annular baffle 551 is a square annular baffle, and the vertical mounting groove 560 is also a square groove, which can prevent rotation. In this way, the annular baffle provides a force receiving surface for the first spring, avoiding the spring from being skewed, deviated or partially stressed during compression, and ensuring that the spring is always compressed and rebounded stably along the axial direction. The annular baffle is square, which forms a limiting fit with the inner wall of the vertical mounting groove of the guide slider, which can limit the circumferential rotation of the sliding pin, avoid the first roller driven by the sliding pin from rolling in the special-shaped guide channel, ensure that the roller is always accurately fitted with the guide surface of the channel, and ensure the accuracy of power transmission and the synchronization of the action of multiple clamping jaws.

[0036] The multi-jaw opening and closing structure part is moved to above the multi-jaw connecting structure part by an external conveying mechanism. The multi-jaw opening and closing structure part is used to drive the guide sliders 56 opposite to each other to move transversely. The multi-jaw opening and closing structure part comprises a Z-axis driving mechanism 58, a multi-jaw opening push plate 59 capable of moving vertically driven by the Z-axis driving mechanism 58, and a plurality of second rollers 591 arranged longitudinally and connected to the bottom end of the multi-jaw opening push plate 59. The guide slider 56 is provided with a guide inclined surface 561, and the second roller 591 rolls along the guide inclined surface 561 by vertical movement. The multi-jaw opening push plate 59 is symmetrically provided with two jaw opening parts 590 on the left and right, and is provided with two symmetrically arranged jaw opening parts. The top is connected with the driving end of the Z-axis driving mechanism 58, and the bottom penetrates through the guide bar-shaped opening 513 and abuts against the guide inclined surface 561.

[0037] Further, the bottom of each guide slider 56 is connected with a clamping block, and a pair of symmetrically arranged clamping blocks form a group of material loading clamping jaws 3. A plurality of guide sliders 56 are connected by a mounting frame to form a plurality of groups of longitudinally arranged material loading clamping jaws, which can realize the clamping of a plurality of titanium nails 200.

[0038] The specific working process of the case is as follows: In the initial state, the guide slider 56 is in a state of approaching each other, the first roller 54 is limited in the limiting groove 5320 of the special-shaped guide channel 53, and the first spring 57 and the second spring 8 are both in the initial state; the transfer mechanism 100 drives the cam transmission mechanism to move to the titanium nail feeding station.

[0039] When it is needed to loosen the titanium nail or loosen the titanium nail for grabbing, the first cylinder 582 of the Z-axis driving mechanism 58 drives the multi-claw push plate 59 to move downward, the second roller 591 at the bottom of the multi-claw push plate 59 rolls along the guide slope 561 of the guide slider 56, pushes the guide slider 56 to move along the guide bolt 60 to the direction of moving away from each other, the second spring 8 is compressed, and at the same time the sliding pin 55 drives the first roller 54 to separate from the limiting groove 5320, and rolls along the transverse guide part 532 of the special-shaped guide channel 53 to the vertical guide part 531, the first spring 57 is stretched upward, and at this time the clamping jaw is opened.

[0040] When it is needed to re-clamp the titanium nail, the first cylinder 582 drives the multi-claw push plate 59 to reset upward, the second roller 591 rolls upward along the guide slope 561, the elastic reset force of the second spring 8 pushes the guide slider 56 to move in the direction of approaching each other, at the same time the elastic reset force of the first spring 57 drives the sliding pin 55 and the first roller 54 to reset along the special-shaped guide channel 53, the first roller 54 re-enters the limiting groove 5320, and the guide slider 56 clamps the titanium nail; finally, the transfer mechanism 100 drives the cam transmission mechanism and the clamped titanium nail to move to another target assembly station, completing the feeding in other stations.

[0041] As described above, the present case can accurately move the module to the feeding position by being equipped with a moving module. The cam transmission mechanism of the present case is divided into a multi-claw connection structure and a multi-claw opening and closing structure, with clear division of labor and compact transmission path, through a set of transmission link to realize the coordinated linkage of clamping jaw clamping and titanium nail press fitting, so that the opening and closing actions of all clamping blocks are completely synchronized, optimizing the synchronization of multi-claw and ensuring the consistency of feeding.

[0042] Firstly, the installation frame adopts the box type structure design of top plate and bottom frame, so that the cam clamping block is symmetrically arranged at the bottom of the top plate and embedded in the bottom frame, and a plurality of rollers, sliding pins and guide sliders are orderly arranged in the frame, the overall structure is compact and regular, which greatly reduces the occupied space of the mechanism, can be conveniently connected with the external moving mechanism, is convenient for press fitting assembly integration, can also adapt to the driving demand of multi-claw in narrow space, and improves the overall space utilization rate of the equipment; and the box structure design of the installation frame makes the overall rigidity strong and the anti-deformation ability outstanding, which can provide a stable installation space for the multi-claw connection structure and lay a stable foundation for the synchronous installation of the multi-claw.

[0043] And through the symmetric cam opening block in the same installation frame, the synchronous driving of multiple groups of guide sliders is realized, the action coordination is optimized, and the consistency of feeding is further ensured.

[0044] Secondly, the precise guidance of the special-shaped guide channel to the first roller, combined with the connection of the sliding pin and the guide slider, ensures that the opening and closing actions of all clamping jaws are completely synchronized, avoids the action lag or deviation caused by the difference in transmission chain, and guarantees the consistency of the action of multiple clamping jaws. By providing a limiting groove in the special-shaped guide channel, the first roller is precisely limited when the clamping jaw is initially clamped, forming a mechanical locking structure, which effectively prevents the clamping jaw from loosening due to external disturbance in the non-working state, making the initial state stable and the clamping reliability strong. At the same time, the first spring in the guide slider is in a pre-compressed state in the clamping state, providing a continuous elastic pre-tightening force for the clamping action, further ensuring the stability of the clamping of micro parts such as titanium nails, and avoiding the falling of parts during assembly.

[0045] In addition, the power of the Z-axis driving mechanism is directly converted into horizontal driving force through the cooperation of the second roller and the guide slope of the sliding block, the power loss is small, the response speed of the opening and closing of the clamping jaw is faster, and it is suitable for high-speed assembly scenes. Moreover, the special-shaped guide channel adopts a sock-shaped design with a straight vertical guide part, an arc-shaped horizontal guide part, and a circular arc transition, which cooperates with the rolling friction transmission of the first roller to greatly reduce the movement resistance. Compared with the traditional sliding guide structure, the transmission smoothness is significantly improved, avoiding the phenomenon of jamming, so that the action responds quickly.

[0046] As a specific embodiment, the number of feeding assembly clamping jaws 3 is set to eight, and the eight clamping jaws are evenly arranged along the length direction of the installation frame. Each group of clamping jaws corresponds to one assembly station on the nail cartridge of the anastomat 100. In this way, multiple feeding clamping jaws cooperate with the cam transmission mechanism to realize synchronous action, and can complete the synchronous clamping and press fitting of multiple rows of titanium nails at one time. Unlike the single jaw sequential assembly mode in the prior art, the total time of multi-titanium nail assembly is greatly shortened, and there is no need to frequently wait for the carrier to shift and the single jaw to reset, which significantly improves the assembly efficiency and quickly responds to the rapidly increasing production capacity demand of the anastomat market.

[0047] As shown in Figure 2 and Figure 3 and Figure 4 As a preferred embodiment, the Z-axis driving mechanism 58 includes a fixed plate 581 connected with an external transfer mechanism or support, a first cylinder 582 connected to the fixed plate 581, four vertical guide rods 583 provided between the fixed plate 581 and the top of the multi-claw push plate 59, and a drive rod of the first cylinder 582 connected to the top of the multi-claw push plate 59 and arranged in parallel with the four vertical guide rods 583. When the first cylinder 582 drives the vertical movement of the multi-claw push plate 59, it drives the four vertical guide rods 583 to move along the through hole of the fixed plate 581.

[0048] Thus, the Z-axis driving mechanism 58 of the case is arranged in parallel with the first cylinder driving rod through four vertical guide rods, forming a stable structure of four-point guidance and central driving, which can not only limit the lateral deviation of the multi-claw push plate, ensure its vertical linear motion at all times, make the second roller at the bottom of the multi-claw push plate accurately fit the guide slope of the guide slider, and ensure the consistency of the synchronous opening and closing of the multiple clamps, but also effectively disperse the stress of the push plate and the second roller through the uniform distribution of the four vertical guide rods at the top of the multi-claw push plate, avoid the stress concentration caused by single guide structure, and inhibit the mechanism shaking even in high-speed reciprocating motion, thereby improving the stability of Z-axis driving and adapting to long-term high-frequency assembly operation. At the same time, the vertical guide rod moves along the through hole of the fixed plate, has high guidance accuracy, can reduce the radial swing of the multi-claw push plate during movement, and prolong the service life of the guide rod, push plate and other components.

[0049] In addition, at least two guide strip-shaped openings 513 are formed on the top plate 511 of the mounting frame body 51, the two claws of the multi-claw push plate 59 have a structure of large at the top and small at the bottom, and the bottom passes through the guide strip-shaped opening 513 to make the second roller abut against the guide slope 561. In this way, the guide strip-shaped opening of the top plate of the mounting frame body provides accurate vertical movement guidance for the multi-claw push plate, and cooperates with the structure design of large at the top and small at the bottom of the push plate to limit the push plate through the small part at the bottom to avoid lateral deviation during movement, ensure that the bottom of the push plate always accurately abuts against the guide slope of the guide slider, and guarantee the stability of power transmission and the consistency of synchronous opening and closing of multiple clamps. The large part at the top provides a connection installation space.

[0050] As shown in the figure, Figures 3-5 As a preferred embodiment, a plurality of columns of bolts are connected to the side walls of the bottom frame 512 of the mounting frame body 51, two columns arranged vertically in the figure, the number of bolts arranged on each column is consistent with the number of sliders, and the bolts are guide bolts 60. Each column of bolts is evenly arranged in the longitudinal direction. The longitudinal connecting seat 5121 is connected to the inner sides of the front and rear sides of the middle part of the bottom frame 512. One end of each guide bolt 60 is fixedly connected to the left / right side wall of the bottom frame 512 and transversely passes through the inside of the guide slider 56, and the other end is fixedly connected to the longitudinal connecting seat 5121. Each guide slider 56 can move transversely along the corresponding guide bolt 60. The second spring 8 is installed between the outer side wall of each guide slider 56 and the side wall of the bottom frame 512. When the clamp is in the initial clamping state, the second spring 8 is in the initial state, and when the clamp is in the unclamping state, the second spring 8 is compressed by the guide slider 56. When clamping is needed again, the second spring 8 can be quickly reset.

[0051] As described above, the multiple rows of guide bolts arranged vertically on both sides of the bottom frame of the mounting frame, together with the central longitudinal connecting seat, form a stable transverse guide structure. These bolts are evenly distributed longitudinally and their number corresponds one-to-one with the guide slider, providing a precise transverse movement track for the guide slider. This ensures that the guide slider always slides smoothly along the bolt axis, avoiding misalignment of the grippers caused by lateral offset, and guaranteeing the synchronization and accuracy of the multi-gripper action. Simultaneously, the second spring between the outer wall of the guide slider and the side wall of the bottom frame is compressed and stores elastic potential energy when the grippers are released. When clamping, it can quickly drive the guide slider to reset via elastic reset, eliminating the need for additional power. This improves the response speed and operational efficiency of the grippers. Furthermore, the spring is in its initial state during initial clamping, providing stable pre-tension support for the grippers and preventing loosening during non-working conditions. In addition, the design of the upper and lower rows of guide bolts enhances the load-bearing stability of the guide slider, reducing swaying or tilting during sliding. Combined with the buffering effect of the second spring, it reduces collision wear between components, extending the service life of the mechanism. The overall structure is compact and the transmission is reliable, further improving the operational stability and clamping accuracy of the cam transmission assembly.

[0052] like Figures 3-6 As shown, in a preferred embodiment, the pressing assembly 6 includes: a pressing cylinder 61 driven by the Z-axis driving mechanism 58, which can also move up and down; a pressing needle mounting structure driven by the pressing cylinder 61, which can also move up and down; and a vertically extending strip pressing needle 63 mounted on the pressing needle mounting structure for pressing the titanium staples down to the stapler. The pressing cylinder 61 is installed between the top of the multi-claw push plate 59 and the top of the mounting frame 5. The strip pressing needle 63 passes through the mounting frame 51 and extends to the symmetrical center position of the two clamping blocks of the gripper. Each clamping block 300 is provided with a vertical positioning opening slot 301. When a set of grippers is in a clamping state, the two opposing clamping blocks close together to form a complete positioning slot through which the strip pressing needle 63 can pass.

[0053] As described above, this invention utilizes the positioning groove formed by the closed gripper itself to guide the strip pressure pin, achieving precise guidance and ensuring that the pressure pin is always perfectly vertically aligned with the center of the titanium nail. This greatly reduces the risk of misalignment and jamming, and improves the success rate of pressing and the quality of the product.

[0054] By positioning the pressing cylinder between the multi-claw pusher plate and the top of the mounting frame, the pressing assembly and the gripper opening and closing mechanism share the same Z-axis drive source, moving downwards together to the pressing position. Subsequent pressing only requires a slight downward movement of the pressing cylinder to achieve the pressing, improving assembly efficiency. Furthermore, the feeding device in this design seamlessly integrates the pressing action with the gripper's picking and transferring actions within a single work cycle, resulting in a short cycle time and high automation and operational efficiency.

[0055] As a preferred embodiment, the bar-shaped pressing needle 63 has a structure of large upper part and small lower part, the large upper part is connected with the pressing needle mounting structure, and the small lower part passes through the positioning groove formed by the two tightly closed clamping jaws. The pressing material cylinder 61 is installed between the two opposite multi-claw push plates 59. The longitudinal connecting seat 5121 of the bottom frame 512 is also provided with a plurality of clamping holes 51210 for limiting and guiding the passage of the bar-shaped pressing needle 63.

[0056] As described above, the bar-shaped pressing needle has a structure of large upper part and small lower part, and the clamping hole guide design of the longitudinal connecting seat, which not only enhances the structural stability of the pressing needle itself, but also guarantees the straightness of the pressing process through double guidance, avoiding the shaking and deviation of the pressing needle; and the pressing material cylinder is installed between the two multi-claw push plates, which is compact and reasonable in layout, fully utilizes the space and does not interfere with the opening and closing action of the clamping jaw, and has high modularization degree and strong adaptability, which not only improves the precision and consistency of the titanium nail pressing, but also reduces the change and maintenance cost.

[0057] In summary, the application discloses a titanium nail feeding device, which comprises a moving and transferring mechanism and a cam transmission mechanism, the cam transmission mechanism is moved to above the titanium nail feeding station through the moving and transferring mechanism, and comprises a multi-claw connecting structure part and a multi-claw opening and closing structure part; the multi-claw connecting structure part comprises an installation frame body, a cam opening clamping block, a special-shaped guide through groove, a first roller, a sliding pin and a guide sliding block, and the multi-claw opening and closing structure part comprises a Z-axis driving mechanism, a multi-claw push plate and a second roller. When the Z-axis driving mechanism drives the multi-claw push plate to move vertically, the second roller rolls along the guide slope of the guide sliding block, drives the guide sliding block to move transversely, and at the same time, the sliding pin drives the first roller to roll along the special-shaped guide through groove, so that the multiple guide sliding blocks are synchronously close to or away from each other. The application realizes the synchronous grabbing, accurate positioning and stable moving and transferring of multiple titanium nails, solves the problems of low efficiency and poor consistency of single-claw sequential feeding in the prior art, and significantly improves the automation level, positioning accuracy and production efficiency of titanium nail feeding, and meets the batch production requirements of medical devices such as kissers.

[0058] As described above, the application protects a titanium nail feeding device, and all technical solutions same or similar to the application should be considered to fall within the protection scope of the application.

Claims

1. A titanium nail feeding device, characterized in that, The utility model relates to a titanium nail feeding mechanism, including: The feeding mechanism (100) and the cam transmission mechanism for realizing the synchronous driving of multiple claws are moved to the titanium nail feeding station by the feeding mechanism (100); the cam transmission mechanism includes a multiple claw connecting structure part and a multiple claw opening and closing structure part; The multiple claw connecting structure part includes a mounting frame (51), a cam opening and closing block (52) symmetrically arranged in the mounting frame (51), a special-shaped guide through slot (53) formed in the cam opening and closing block (52), a plurality of first rollers (54) rollingly assembled in the special-shaped guide through slot (53), a sliding pin (55) connected with the first rollers (54) one by one, and a guide sliding block (56) driven by the sliding pin (55); each guide sliding block (56) is connected with a clamping block at the bottom, and a plurality of clamping blocks symmetrically arranged in pairs form a plurality of feeding clamping claws (3); The multiple claw opening and closing structure part includes a Z-axis driving mechanism (58), a multiple opening claw push plate (59) driven by the Z-axis driving mechanism (58), and a plurality of second rollers (591) connected to the bottom of the multiple opening claw push plate (59); The guide sliding block (56) is provided with a guide inclined surface (561) matched with the second roller (591), when the Z-axis driving mechanism (58) drives the vertical movement of the multiple opening claw push plate (59), the second roller (591) rolls along the guide inclined surface (561), drives the guide sliding block (56) to move transversely, and the sliding pin (55) drives the first roller (54) to roll along the special-shaped guide through slot (53), so that the multiple guide sliding blocks (56) are synchronously close or far away.

2. The titanium nail feeding device according to claim 1, characterized in that, The mounting frame (51) includes a top plate (511) and a bottom frame (512), the top plate (511) is symmetrically connected with the cam opening and closing block (52) at the bottom left and right sides, and the top plate (511) is provided with a guide strip-shaped through opening (513) for the multiple opening claw push plate (59) to pass through.

3. The titanium nail feeding device according to claim 1, characterized in that, The special-shaped guide through slot (53) has a sock-shaped front profile, including a vertical guide part (531) at the upper part and a horizontal guide part (532) at the lower part, the vertical guide part (531) is a straight section channel, the horizontal guide part (532) is an arc-shaped channel, and the two are connected through an arc transition, and the arc-shaped groove wall of the horizontal guide part (532) is provided with a limiting groove (5320) for limiting the first roller (54).

4. The titanium nail feeding device according to claim 1, characterized in that, The guide sliding block (56) is internally provided with a vertical mounting groove (560), the sliding pin (55) extends into the vertical mounting groove (560), and a first spring (57) is arranged between the sliding pin (55) and the bottom wall of the vertical mounting groove (560); the sliding pin (55) is provided with an annular baffle (551) on the outer circumferential surface in the vertical mounting groove (560), and the annular baffle (551) abuts against the first spring (57).

5. The titanium nail feeding device according to claim 2, characterized in that, The bottom frame (512) is connected with a longitudinal connecting seat (5121) between the inner walls of the front and rear sides of the middle part, and a plurality of transversely extending guide bolts (60) are connected between the left and right sides of the bottom frame (512) of the mounting frame body (51) and the longitudinal connecting seat (5121); the guide sliding block (56) is slidably sleeved on the guide bolt (60); the outer side wall of the guide sliding block (56) is connected with the left and right side inner walls of the bottom frame (512).

6. The titanium nail feeding device according to claim 1, characterized in that, The upper clamp jaw (3) is provided with eight groups, and the opposite inner sides of each group of clamping blocks are provided with positioning opening grooves (301), and the two clamping blocks are folded to form a complete positioning groove.

7. The titanium nail feeding device according to claim 1, characterized in that, The Z-axis driving mechanism (58) comprises a fixed plate (581) connected with an external transfer mechanism or an external support, a first cylinder (582) mounted on the fixed plate (581), and a plurality of vertical guide rods (583) vertically and parallelly arranged; the plurality of vertical guide rods (583) are connected between the fixed plate (581) and the top of the multi-claw push plate (59), the driving rod of the first cylinder (582) is fixedly connected with the top of the multi-claw push plate (59), and the driving rod is parallel to the vertical guide rod (583); the fixed plate (581) is provided with a first through hole (580) for the vertical guide rod (583) to penetrate and guide.

8. The titanium nail feeding device according to claim 7, characterized in that, The multi-claw push plate (59) is provided with two symmetrically arranged claws (590), and a plurality of second rollers (591) are connected to the bottom end of each claw in the longitudinal direction; the claw has a structure of large at the top and small at the bottom.

9. The titanium nail feeding device according to claim 1, characterized in that, The transfer mechanism (100) comprises a support (101), a Y-axis linear module (102) longitudinally mounted on the support (101), and a movable seat (103) capable of moving longitudinally driven by the Y-axis linear module (102), wherein the movable seat (103) is connected to one side wall of the mounting frame body (51).

10. The titanium nail feeding device according to claim 2, characterized in that, Further comprising a press assembly (6); The press assembly (6) comprises: One or more pressing cylinders (61) are installed between the top of the multi-claw push plate (59) and the top plate (511) of the mounting frame body (51) and are driven by the Z-axis driving mechanism (58) to move up and down synchronously; And a plurality of vertically extending strip-shaped pressing needles (63) are connected with the driving end of the pressing cylinder (61) and are driven by the pressing cylinder (61); each strip-shaped pressing needle (63) penetrates the mounting frame body (51), and the lower end penetrates to the symmetric center position of the two clamping blocks of the corresponding group of upper assembly clamping jaws.

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