Intelligent transport device and method for syringes

Abstract

The application discloses an intelligent transportation device and method for syringes, and relates to the technical field of transportation. The device comprises a multi-channel vibrating disc distributor, a feeding device, a transportation table assembly and a recovery box. The multi-channel vibrating disc distributor is located between the feeding device and the transportation table assembly. The multi-channel vibrating disc distributor comprises five arc-shaped conveying tracks. The transportation table assembly comprises a table top. Five groups of transportation grooves are arranged on the table top. Each group of the transportation grooves is fixedly connected to the arc-shaped conveying tracks of the multi-channel vibrating disc distributor on the side close to the multi-channel vibrating disc distributor. Five groups of through grooves and five groups of micro electric cylinders are arranged on the table top on the side close to the multi-channel vibrating disc distributor. The device has the characteristics of being capable of calibrating on the conveying table, keeping the horizontal of the luer joint workpieces on each conveying channel, avoiding the missing phenomenon when the workpieces reach the limited position and are clamped by the clamping jaws, and improving the conveying efficiency.

Description

Technical Field

[0001] This invention relates to the field of delivery device technology, specifically to an intelligent delivery device and method for syringes. Background Technology

[0002] Luer connectors, as a standardized medical small-diameter connector, are widely used in medical devices such as syringes, infusion sets, and catheters to ensure reliable delivery of liquids or gases between components. With the increasing demands of the medical industry for product consistency, production efficiency, and quality traceability, automated transport processing of Luer connectors has become an industry trend.

[0003] In existing automated production systems for Luer joints, multi-channel vibratory feeder is typically used as the feeding device. The vibratory feeder can automatically orient and sort the disordered Luer joint workpieces through vibration, and then transport them to the next process in an orderly manner. After sorting, the Luer joints need to be transported to the designated processing or assembly station via a conveyor. Existing conveying systems typically use linear vibratory conveying channels.

[0004] However, Luer joints are small in size and irregular in shape. During the conveying process, if there is a positional difference between Luer joints on multiple channels, when the workpiece reaches the specified position and is picked up by the gripper and transferred to the subsequent installation process, due to the error in the previous conveying process, there may be channels without workpieces. When the gripper picks it up to the subsequent installation process, it will lead to omissions in the subsequent installation and increase the subsequent picking process. Moreover, the gripper as a whole is currently not rotatable, so when a small error occurs, the rotation angle cannot be compensated.

[0005] Therefore, it is necessary to design an intelligent transport device and method for syringes that can achieve calibration on the conveyor table, keep the Luer connector workpieces on each conveyor channel horizontal, and avoid omissions when they reach the specified position and are picked up by the grippers, so as to improve the conveying efficiency. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent transport device and method for syringes to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: an intelligent transport device for syringes, comprising a multi-channel vibratory feeder, a feeding device, a transport platform assembly and a recycling bin, wherein the multi-channel vibratory feeder is located between the feeding device and the transport platform assembly, and the multi-channel vibratory feeder includes five arc-shaped conveying tracks; The transport platform assembly includes a platform, on which five sets of transport troughs are provided. Each set of transport troughs is fixedly connected to the arc-shaped conveying track of the multi-channel vibratory feeder on the side closest to the multi-channel vibratory feeder. A CCD vision inspection instrument is installed above the platform. The CCD vision inspection instrument is used to acquire images of the workpieces in the transport trough and output workpiece position status detection signals. Five sets of through slots and five sets of miniature electric cylinders are provided on the platform near one end of the multi-channel vibratory feeder. The central axis of each set of through slots and miniature electric cylinders is flush with the central axis of each set of through slots and miniature electric cylinders. The through slots and miniature electric cylinders are located on both sides of the transport channel, and each pair of adjacent through slots are staggered. The output end of each set of miniature electric cylinders is fixedly connected to a push block, which is used to push the workpiece in the corresponding transport groove under the drive of the miniature electric cylinders. The through slot is larger than the workpiece to ensure that the workpiece does not get stuck when it falls. A baffle is fixedly connected to each through slot, and the height of the baffle is higher than the workpiece. The CCD vision inspection instrument and the miniature electric cylinder are electrically connected to the controller. The controller is used to start the miniature electric cylinder corresponding to the transport groove according to the abnormal workpiece position detection signal output by the CCD vision inspection instrument, and drive the pusher to push the abnormally positioned workpiece to the through groove one to fall.

[0008] According to the above technical solution, a drop box is fixedly connected to one end of the table surface near the multi-channel vibrating plate feeder. The top of the drop box is open. The length of the drop box is the same as the width of the table surface. The width of the drop box is longer than the sum of the widths of the two sets of adjacent staggered through slots. The bottom of the drop box is a slope, and a groove is provided at the bottom of the drop box; The recycling bin is located below the drop box, and the length of the recycling bin is the same as the width of the table, while the width of the recycling bin is wider than that of the drop box.

[0009] According to the above technical solution, irregular support column one and two sets of square support columns two are fixedly connected to both sides of the platform, and the irregular support column one is located on the side away from the multi-channel vibrating plate feeder. A crossbeam is fixedly connected to each of the two square support columns symmetrically arranged on both sides of the platform. The middle of the side of each crossbeam away from the irregular support column is fixedly connected to the CCD vision inspection instrument.

[0010] According to the above technical solution, five sets of electric cylinders are fixedly connected below the middle crossbeam. The output end of the electric cylinder is fixedly connected to a locking block. The locking block is a concave triangle, and the concave arc of the locking block is the same as the workpiece arc. A horizontal plate is installed on the platform near the irregular support column 1. The width of the horizontal plate is the same as that of the platform. Five sets of irregular through slots 2 are opened on the horizontal plate. Each set of irregular through slots 2 is located above the transport trough. Five sets of circular holes are opened at one end of the platform near the irregular support column. An infrared laser positioner is installed in each circular hole. The center line of the infrared laser positioner is parallel to the center line of the transport trough. The infrared laser positioner is electrically connected to the controller.

[0011] According to the above technical solution, two sets of crossbeams are arranged above the irregular support column one, and a bearing connecting screw is connected between the two sets of crossbeams two. The end of the screw near the crossbeam one passes through the crossbeam two. Two sets of guide tubes are fixedly connected between the two sets of crossbeams two, and the screw is located between the two sets of guide tubes. The lead screw is fixedly connected to a lead screw motor at one end near the crossbeam. The lead screw is threadedly connected to a moving block. Two sets of circular holes are opened on the moving block. The guide tube is located in the circular holes and is slidably connected to the moving block.

[0012] According to the above technical solution, an integrated motor 2 is fixedly connected below the moving block. The integrated motor 2 rotates at an angle of ±N°. A fixed plate 2 is fixedly connected below the integrated motor 2. Five sets of pneumatic gripper assemblies are provided on the fixed plate 2. The central axis of each set of pneumatic gripper assemblies is aligned with the central axis of the workpiece. The platform is fixedly connected to the fixed plate 1 by multiple sets of support columns on both sides. The platform is longer than the fixed plate 1. A vibrator is installed on the fixed plate 1 and located below the platform. The N° is a safe rotation angle set based on the distance from the horizontal plate and the mechanical equipment used in subsequent installation processes. A method of using an intelligent transport device for syringes, characterized by comprising the following steps: Step 1: Loading the workpiece, using a multi-channel vibratory feeder to convey it to the transport table assembly; Step 2: Workpiece conveying, and adjusting the parallelism of the workpiece in a timely manner during the conveying process; Step 3: After completing the workpiece leveling correction, the workpiece is transported to the clamping end, and the equipment enters the clamping and loading process.

[0013] According to the above technical solution, step two further includes the following specific steps: Step 2-a: The CCD vision inspection instrument near the multi-channel vibratory feeder detected that the workpieces in the five sets of transport troughs were uneven. Step 2-b: When the workpiece is transported to the middle section of the table and close to the irregular support column one, the CCD vision inspection instrument on the irregular support column one detects whether the Luer joint workpieces in the five sets of transport grooves are on the same horizontal line.

[0014] According to the above technical solution, step three further includes the following specific steps: Scenario 1: Clamping operation with the workpiece in a parallel state without deviation; Scenario 2: Fine-tuning clamping operation when the workpiece has slight deviation.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention, by setting a transport table assembly, realizes calibration on the transport table, keeps the Luer joint workpieces on each transport channel horizontal, avoids the phenomenon of omission when reaching the limited position and being gripped by the claw, so as to improve the transport efficiency. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of an intelligent transport device for syringes according to the present invention; Figure 2 This is an enlarged view of the transport platform assembly in this invention; Figure 3 In this invention Figure 2 Rear view; Figure 4 In this invention Figure 3 Enlarged view of region A in the middle; Figure 5 In this invention Figure 4 Usage effect diagram; Figure 6 In this invention Figure 3 Enlarged view of region B in the middle; Figure 7 This is a partial cross-sectional view of the present invention; Figure 8 This is a partial top view of the present invention; Figure 9 In this invention Figure 8 Enlarged view of region C in the middle; Figure 10 In this invention Figure 6 Usage effect diagram; Figure 11 In this invention Figure 10 Enlarged view of region D in the middle; Figure 12 This is a cross-sectional view of the overall structure in this invention; Figure 13 In this invention Figure 12 A magnified view of region E; In the diagram: 1. Multi-channel vibratory feeder; 2. Feeding device; 3. Conveyor assembly; 4. Tabletop; 5. Fixed plate one; 6. Support column three; 7. Horizontal plate; 8. Irregularly shaped support column one; 9. Square support column two; 10. Crossbeam one; 11. CCD vision inspection instrument; 12. Lead screw motor one; 13. Crossbeam two; 14. Moving block; 15. Guide tube; 16. Lead screw; 17. Integrated motor two; 18. Fixed plate two; 19. Pneumatic gripper assembly; 20. Electric cylinder one; 21. Drop box; 22. Recycling box; 23. Conveyor trough; 24. Clamping block; 25. Groove; 26. Miniature electric cylinder two; 27. Baffle; 28. Through slot one; 29. ​​Push block; 30. Infrared laser positioner. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-13 The present invention provides a technical solution: an intelligent transport device for syringes, comprising a multi-channel vibratory feeder 1, a feeding device 2, a transport table assembly 3 and a recycling bin 22, wherein the multi-channel vibratory feeder 1 is located between the feeding device 2 and the transport table assembly 3; The multi-channel vibratory feeder 1 includes five arc-shaped conveyor tracks; It should be added that the multi-channel vibratory feeder 1 and the feeding device 2 are existing technologies; The multi-channel vibratory feeder 1 uses the vibration action of the vibratory chassis to automatically orient and sort the randomly stacked workpieces (such as Luer joints) along the spiral hopper, and simultaneously output them through multiple parallel conveying tracks, thereby meeting the material supply needs of subsequent multi-station parallel operations or high-speed assembly lines.

[0019] The transport platform assembly 3 includes a platform 4. The two sides of the platform 4 are fixedly connected to a fixed plate 5 by multiple sets of support columns 3 6. The platform 4 is longer than the fixed plate 5. A vibrator (not shown in the figure) is installed on the fixed plate 5 and located below the platform 4 to reduce the static friction between the workpiece and the platform and assist the workpiece in sliding forward and being transported. Five sets of transport troughs 23 are set on the platform 4. Each set of transport troughs 23 is fixedly connected to the arc-shaped conveying track of the multi-channel vibrating plate feeder 1 on the side close to the multi-channel vibrating plate feeder 1. Five sets of through slots 28 and five sets of miniature electric cylinders 26 are provided on the table 4 near one end of the multi-channel vibrating feeder 1. The central axis of each set of through slots 28 and miniature electric cylinders 26 is flush, and the through slots 28 and miniature electric cylinders 26 are located on both sides of the transport trough 23 respectively. Each pair of adjacent through slots 28 are staggered. It should be added that the miniature electric cylinder 26 is existing technology. An integrated precision miniature electric cylinder can be selected, with typical dimensions of 8mm×13mm×35mm, weight of 20g, maximum thrust of 25N, effective stroke of 5~20mm, repeatability of ±0.05mm, 12V DC power supply, and support for RS485 communication control.

[0020] The through-slot 28 is larger than the workpiece to ensure that the workpiece does not get stuck when it falls. Each through slot 28 is fixedly connected to a baffle 27. The height of the baffle 27 is higher than the workpiece to prevent the workpiece from tilting and jamming adjacent workpieces when it is pushed down, thus preventing the workpiece from getting stuck.

[0021] The drop box 21 is fixedly connected to one end of the table 4 near the multi-channel vibrating feeder 1. The drop box 21 is open at the top. The length of the drop box 21 is the same as the width of the table 4. The width of the drop box 21 is longer than the sum of the widths of the two sets of adjacent staggered through slots 28, ensuring that when the workpiece falls from the through slots 28, it falls into the drop box 21. The bottom of the drop box 21 is a slope, and a groove 25 is provided at the bottom of the drop box 21; The recycling bin 22 is located below the drop box 21, and the length of the recycling bin 22 is the same as the width of the table 4, while the width of the recycling bin 22 is wider than that of the drop box 21.

[0022] The two sides of the platform 4 are respectively fixedly connected to the irregular support column 1 8 and two sets of square support columns 2 9. The irregular support column 1 8 is located on the side away from the multi-channel vibrating plate feeder 1. A crossbeam 10 is fixedly connected to the square support columns 2 9 symmetrically arranged on both sides of the tabletop 4. A CCD vision inspection instrument 11 is fixedly connected to the middle of the side of each crossbeam 10 away from the irregular support column 8. The CCD vision inspection instrument 11 is electrically connected to the controller.

[0023] It should be added that the CCD vision inspection instrument 11 is existing technology. It is an optical inspection device based on a charge-coupled device (CCD) image sensor. It acquires optical images of the object under test through a CCD camera, converts light signals into electrical signals, and then captures, processes and analyzes the images through analog-to-digital conversion and image processing algorithms. It can realize real-time detection of the existence, position, posture and size of the workpiece, and outputs the detection results as electrical signals to the controller for analysis and identification of "blank spaces".

[0024] Five sets of electric cylinders 20 are fixedly connected below the middle crossbeam 10. The output end of the electric cylinder 20 is fixedly connected to the locking block 24. The locking block 24 is a concave triangle, and the concave arc of the locking block 24 is the same as the arc of the workpiece.

[0025] A horizontal plate 7 is installed on the tabletop 4 near the irregular support column 8. The width of the horizontal plate 7 is the same as that of the tabletop 4. Five sets of irregular through slots 2 are opened on the horizontal plate 7. Each set of irregular through slots 2 is located above the transport channel 23.

[0026] Five sets of circular holes are opened at one end of the platform 4 near the irregular support column 8. An infrared laser positioner 30 is installed in the circular hole 1. The center line of the infrared laser positioner 30 is parallel to the center line of the transport trough 23. The infrared laser positioner 30 is electrically connected to the controller.

[0027] It should be added that the infrared laser positioner 30 is existing technology. It is a non-contact position indicator device that uses an infrared laser diode to emit an invisible or visible laser beam, which is then projected as a high-precision dot, cross, or linear cursor through an optical lens or diffraction element. It can achieve precise alignment and real-time coordinate feedback of workpieces, grippers, or conveyor channels. In this Luer joint automated conveying system, the infrared laser positioner 30 is usually fixedly installed above the gripper picking station or the material distribution track to accurately locate the arrival position of the workpiece in each channel, ensuring that the pneumatic grippers have consistent posture and minimal deviation during gripping.

[0028] Two sets of crossbeams 13 are installed above the irregular support column 18. The two sets of crossbeams 13 are connected by a bearing screw 16, and the end of the screw 16 near the crossbeam 10 passes through the crossbeam 13. Two sets of guide tubes 15 are fixedly connected between the two sets of crossbeams 13, and the screw 16 is located between the two sets of guide tubes 15. The lead screw 16 is fixedly connected to the lead screw motor 12 at one end near the crossbeam 10. The lead screw 16 is threadedly connected to the moving block 14. Two sets of round holes are opened on the moving block 14. The guide tube 15 is located in the round holes and is slidably connected to the moving block 14.

[0029] An integrated motor 17 is fixedly connected below the moving block 14. The integrated motor 17 rotates at an angle of ±N°. A fixed plate 18 is fixedly connected below the integrated motor 17. Five sets of pneumatic gripper assemblies 19 are set on the fixed plate 18. The central axis of each set of pneumatic gripper assemblies 19 is aligned with the central axis of the workpiece.

[0030] It should be added that the integrated motor 17 and the pneumatic gripper assembly 19 are existing technologies; The Integrated Motor 217 is a special direct drive motor that highly couples rotary motion with linear reciprocating motion. Its core feature is that the output shaft runs through the entire stator cavity of the motor. It can not only rotate at high speed around its own axis, but also achieve precise extension or reciprocating displacement along the axial direction, forming a two-degree-of-freedom composite motion output of "rotation + translation".

[0031] The pneumatic gripper assembly 19 is an automated end effector that uses compressed air as a power source and drives the gripper fingers to perform opening and closing actions through a cylinder, thereby realizing the gripping and release of workpieces.

[0032] A smart delivery method for syringes includes the following steps: Step 1: Loading the workpiece, using the multi-channel vibratory feeder 1 to convey it to the transport table assembly 3.

[0033] Specifically, the operator pours the workpiece into the feeding device 2, which automatically adds the workpiece into the multi-channel vibratory feeder 1. The multi-channel vibratory feeder 1 uses vibration to automatically orient and sort the disordered Luer joint workpieces, and then transports them neatly to the arc-shaped conveyor track until they reach the transport table assembly 3.

[0034] Step 2: Workpiece conveying, and adjusting the parallelism of the workpiece in a timely manner during the conveying process.

[0035] Specifically, five sets of transport troughs 23 are set on the table 4. Each set of transport troughs 23 is fixedly connected to the arc-shaped conveying track of the multi-channel vibrating plate feeder 1 on the side close to the multi-channel vibrating plate feeder 1. Therefore, the workpiece is transported from the arc-shaped conveying track to the corresponding transport trough 23 in a continuous manner. Furthermore, the platform 4 is fixedly connected to the fixed plate 5 on both sides by multiple sets of support columns 3 6. The platform 4 is longer than the fixed plate 5. A vibrator (not shown in the figure) is installed on the fixed plate 5 and located below the platform 4 to assist in the movement of the workpiece. When the workpiece is stationary on the platform 4, there is static friction. The static friction resistance is very large, and the workpiece is easy to get stuck, slip, or stop. The vibrator causes the conveying platform 4 to generate high-frequency small-amplitude vibration. The vibration lifts the workpiece a small distance (micrometer to millimeter level) momentarily, causing the workpiece to intermittently lose contact with the platform 4. Combined with the driving force of the multi-channel vibrating plate feeder 1, this assists the workpiece to move forward smoothly.

[0036] Step two also includes the following specific steps: Step 2-a: The CCD vision inspection instrument 11, which is close to the multi-channel vibratory feeder 1, detects that the workpieces in the five sets of transport troughs 23 are uneven.

[0037] Scenario 1: Correction of speed deviations in workpiece conveying After the multi-channel vibratory feeder 1 is started, the Luer joint workpieces are automatically oriented and sorted by the equipment, and neatly conveyed to the arc-shaped conveyor track, and finally sent into the corresponding transport trough 23. During the conveying process, the workpieces are prone to speed deviation, resulting in inconsistent placement and disordered positions of the workpieces in the transport trough 23.

[0038] For this working condition, the equipment uses a CCD vision inspection instrument 11 to detect the status of the workpiece in the transport trough 23 in real time. After confirming that the fast-moving workpiece has arrived, the equipment automatically starts the miniature electric cylinder 26 corresponding to the transport trough 23. The miniature electric cylinder 26 drives the pusher 29 to move towards the through trough 28, so that the workpiece falls through the through trough 28 to the drop box 21 below, and is then guided and collected into the recycling box 22 through the groove 25 of the drop box 21.

[0039] The equipment continuously performs the above-mentioned rejection and straightening actions in a cycle until all transport troughs 23 are equipped with Luer joint workpieces. After the CCD vision inspection instrument 11 checks and verifies that the workpieces in each group of transport troughs 23 are placed in parallel postures and in regular positions, the control system stops the operation of the micro electric cylinder 26. The Luer joint workpieces that have been straightened and meet the standards continue to be transported to the next process by the conveying mechanism.

[0040] This closed-loop straightening process can effectively avoid the problem of missing clamping during subsequent tooling clamping, and avoid the situation of missing workpiece installation due to abnormal workpiece arrangement. It eliminates the need for manual secondary sorting and replenishment, greatly simplifies manual operation procedures, and improves production continuity and product assembly qualification rate.

[0041] Scenario 2: Online troubleshooting for workpiece feeding jams When the Luer joint workpiece gets stuck or blocked at the feed end of transport trough 23, it will hinder the normal transport of the workpiece, causing interruption of single-trough feeding and disorder of the overall transport rhythm.

[0042] At this time, the CCD vision inspection instrument 11 monitors the feeding and conveying status of each transport trough 23 in real time, accurately identifies the workpieces that are conveyed smoothly and are running normally, and triggers the operation of the corresponding miniature electric cylinder 26 of the transport trough 23. The miniature electric cylinder 26 drives the push block 29 to move in the opposite direction, pushing the normal workpiece in the trough into the drop box 21 through the through groove 28, and then into the recycling box 22 through the groove 25.

[0043] While the equipment is performing the rejection and conveying operation in a cycle, the system automatically triggers an alarm to remind the operator to deal with the workpiece stuck at the feed end in a timely manner. The entire troubleshooting process does not require the equipment to be stopped. The operator can remove the stuck workpiece online and quickly restore the normal feeding and conveying of the corresponding transport trough 23.

[0044] Once the jamming fault is completely eliminated, the workpieces in each transport trough 23 are transported smoothly, and the CCD vision inspection instrument 11 confirms that all workpieces in the transport trough 23 are neatly arranged and parallel, the control system shuts down the miniature electric cylinder 26, and all Luer joint workpieces are transported normally and continuously, ensuring the uninterrupted and stable operation of the production line.

[0045] Step 2-b: When the workpiece is transported to the middle section of the table 4 and close to the irregular support column 8, the CCD vision inspection instrument 11 on the irregular support column 8 detects whether the Luer joint workpieces in the five sets of transport grooves 23 are on the same horizontal line.

[0046] Scenario 1: Minor deviation correction (workpiece deviation within ±5mm) If the CCD vision inspection instrument 11 detects a slight horizontal deviation of ±5mm in the Luer joint workpieces in the five sets of transport troughs 23, the electric cylinder 20 is activated to perform a correction operation. This range is set in the controller.

[0047] The electric cylinder 20 drives the locking block 24 downward. The locking block 24 adopts a concave triangular structure. Its concave arc perfectly matches the arc surface of the Luer joint workpiece, and can be accurately locked between two sets of adjacent Luer joint workpieces.

[0048] By using the limiting and correcting function of the locking block 24, the position of each group of workpieces is forcibly fine-tuned, so that the Luer joint workpieces in the five groups of transport channels 23 are uniformly aligned to the same horizontal line, thus completing the correction of minor deviations.

[0049] Scenario 2: Correction for larger deviations (workpiece deviation > 5mm) If a horizontal deviation of the workpiece is detected to be greater than 5 mm, the workpiece with the slowest conveying speed among the five groups of workpieces will be used as the benchmark. The remaining workpieces with faster conveying speeds and positional advance deviations will be subject to forced correction and cleaning. The specific operation is as follows: 1. For workpieces with excessive deviation, activate the electric cylinder 20 above the corresponding transport trough 23 to drive the locking block 24 downward to lock between adjacent workpieces, temporarily limit and fix the position of the workpiece, and complete the initial alignment correction; 2. Simultaneously start the miniature electric cylinder 26 that is matched with the transport trough 23. The miniature electric cylinder 26 drives the push block 29 to move backward, pushing the deviated workpiece to move smoothly. 3. After the workpiece is pushed to the designated position, it automatically falls from the through groove 28 to the drop box 21, and then flows into the recovery box 22 through the guide groove 25 of the drop box 21, thus completing the recovery of the deviated workpiece. 4. Repeat the above correction, pushing, and recycling process until all Luer joint workpieces in the transport trough 23 are aligned with the reference and meet the horizontal transport requirements.

[0050] The combination of the two prevents the Luer joint workpiece from being pushed and squeezed in the transport trough 23 after the jamming block 24 has been stuck for a long time, which would cause the Luer joint workpiece to be squeezed and deformed, affecting the subsequent installation.

[0051] Smm is the positional difference of the workpiece at the same position in the five sets of transport grooves 23 on the platform 4.

[0052] Step 3: After the workpiece levelness is corrected, the workpiece is transported to the clamping end, and the equipment enters the clamping and loading process. The infrared laser positioner 30 performs precise alignment detection on the Luer joint workpiece in the transport trough 23. According to the workpiece parallelism status, there are two operation modes: standard clamping and deviation fine-tuning clamping. Finally, the pneumatic gripper assembly 19 completes the workpiece clamping and transfers it to the subsequent process. The specific operation process is as follows.

[0053] Scenario 1: Clamping operation with the workpiece in a parallel state without deviation.

[0054] After the Luer joint workpiece is transported to the clamping station, the infrared laser positioner 30 detects and verifies in real time, confirming that the Luer joint workpieces in the five sets of transport grooves 23 are parallel to each other and have no positional deviation, and completes precise positioning.

[0055] Then, start the lead screw motor 12 to drive the lead screw 16 to rotate. Through the lead screw transmission, the moving block 14 is moved to the preset working position and then stops precisely.

[0056] After the equipment is in place, start the linear movement module of the integrated motor 2 17 to drive the fixed plate 2 18 to move vertically downward, and simultaneously drive the pneumatic gripper assembly 19 to move downward until the pneumatic gripper is precisely aligned and positioned on both sides of the Luer joint workpiece.

[0057] After confirming that the alignment is correct, drive the pneumatic gripper assembly 19 to close and clamp the workpiece, thus completing the workpiece fixation.

[0058] Finally, the integrated motor 217 linear movement module is restarted, driving the fixed plate 218 and the pneumatic gripper assembly 19 that clamps the workpiece to move upward as a whole, completing the material picking and waiting for subsequent process transfer.

[0059] Scenario 2: Fine-tuning clamping operation when the workpiece has slight deviation.

[0060] If the infrared laser positioner 30 detects that there is a slight parallelism deviation in the Luer joint workpieces in the five sets of transport troughs 23, the equipment will start the fine-tuning clamping mode.

[0061] First, the workpiece is accurately positioned. Then, the lead screw motor 12 is started, which drives the lead screw 16 to rotate and moves the moving block 14 to the appropriate working position and then stops.

[0062] Next, the fixed plate 18 and the pneumatic gripper assembly 19 are driven to descend vertically by the linear motion module of the integrated motor 2 17. During the descent, the built-in rotation module of the integrated motor 2 17 is started simultaneously. The preset rotation adjustment angle is ±N°. This angle can effectively avoid problems such as collision of equipment parts and structural wear caused by excessive rotation. N° is a safe rotation angle set according to the distance from the horizontal plate 7 and the mechanical equipment in the subsequent installation process.

[0063] After fine-tuning the workpiece deviation by a small angle, the pneumatic gripper precisely fits the two sides of the workpiece, driving the pneumatic gripper assembly 19 to clamp and fix the Luer joint workpiece. After clamping, the linear movement module and rotation module of the integrated motor 17 are synchronously linked. On the one hand, the pneumatic gripper assembly 19 moves vertically upward to pick up the material, and on the other hand, the fixed plate 18 rotates back to the horizontal reference state to ensure that the equipment returns to its original position and is ready for the next clamping operation.

[0064] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0065] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart transport device for syringes, comprising a multi-channel vibratory feeder (1), a feeding device (2), a transport platform assembly (3), and a recycling bin (22), characterized in that, The multi-channel vibratory feeder (1) is located between the feeding device (2) and the conveyor assembly (3), and the multi-channel vibratory feeder (1) includes five arc-shaped conveying tracks; The transport platform assembly (3) includes a platform (4), on which five sets of transport troughs (23) are provided. Each set of transport troughs (23) is fixedly connected to the arc-shaped conveying track of the multi-channel vibrating plate feeder (1) on the side close to the multi-channel vibrating plate feeder (1). A CCD vision inspection instrument (11) is installed above the platform (4). The CCD vision inspection instrument (11) is used to collect images of the workpiece in the transport trough (23) and output the workpiece position status detection signal. Five sets of through slots (28) and five sets of miniature electric cylinders (26) are provided on the platform (4) near the end of the multi-channel vibrating feeder (1). The central axis of each set of through slots (28) and miniature electric cylinders (26) is flush. The through slots (28) and miniature electric cylinders (26) are located on both sides of the transport trough (23). Each pair of adjacent through slots (28) are staggered. The output end of each set of miniature electric cylinders (26) is fixedly connected to a push block (29), which is used to push the workpiece in the corresponding transport groove (23) under the drive of the miniature electric cylinders (26); The through groove (28) is larger than the workpiece to ensure that the workpiece does not get stuck when it falls. A baffle (27) is fixedly connected to each through groove (28), and the height of the baffle (27) is higher than that of the workpiece. The CCD vision inspection instrument (11) and the miniature electric cylinder (26) are electrically connected to the controller. The controller is used to start the miniature electric cylinder (26) of the corresponding transport groove (23) according to the abnormal workpiece position detection signal output by the CCD vision inspection instrument (11), and drive the pusher (29) to push the abnormal workpiece to the through groove (28) to fall.

2. The intelligent transport device for a syringe according to claim 1, characterized in that, The table (4) is fixedly connected to a drop box (21) at one end near the multi-channel vibrating feeder (1). The drop box (21) is open at the top. The length of the drop box (21) is the same as the width of the table (4). The width of the drop box (21) is longer than the sum of the widths of the two sets of adjacent staggered through slots (28). The bottom of the drop box (21) is a slope, and a groove (25) is provided at the bottom of the drop box (21). The recycling bin (22) is located below the drop box (21), and the length of the recycling bin (22) is the same as the width of the tabletop (4), while the width of the recycling bin (22) is wider than that of the drop box (21).

3. The intelligent transport device for a syringe according to claim 2, characterized in that, The platform (4) is fixedly connected to two sides of a non-circular support column (8) and two sets of square support columns (9). The non-circular support column (8) is located on the side away from the multi-channel vibrating feeder (1). The square support columns (9) symmetrically arranged on both sides of the platform (4) are all fixedly connected to the crossbeams (10). The crossbeams (10) of each group are fixedly connected to the CCD vision inspection instrument (11) on the side away from the irregular support column (8).

4. The intelligent transport device for a syringe according to claim 3, characterized in that, Five sets of electric cylinders (20) are fixedly connected below the middle crossbeam (10). The output end of the electric cylinder (20) is fixedly connected to the locking block (24). The locking block (24) is a concave triangle. The concave arc of the locking block (24) is the same as the workpiece arc. A horizontal plate (7) is provided on the tabletop (4) near the irregular support column (8). The width of the horizontal plate (7) is the same as that of the tabletop (4). Five sets of irregular through slots are opened on the horizontal plate (7). Each set of irregular through slots is located above the transport trough (23). Five sets of circular holes are opened on one end of the platform (4) near the irregular support column (8). An infrared laser locator (30) is installed in the circular hole. The center line of the infrared laser locator (30) is parallel to the center line of the transport trough (23). The infrared laser locator (30) is electrically connected to the controller.

5. The intelligent transport device for a syringe according to claim 4, characterized in that, Two sets of crossbeams (13) are set above the irregular support column (8). A bearing connecting screw (16) is connected between the two sets of crossbeams (13), and the end of the screw (16) near the crossbeam (10) passes through the crossbeam (13). Two sets of guide tubes (15) are fixedly connected between the two sets of crossbeams (13), and the screw (16) is located between the two sets of guide tubes (15). The lead screw (16) is fixedly connected to the lead screw motor (12) at one end near the crossbeam (10). The lead screw (16) is threadedly connected to the moving block (14). Two sets of round holes are opened on the moving block (14). The guide tube (15) is located in the round holes. The guide tube (15) is slidably connected to the moving block (14).

6. The intelligent transport device for a syringe according to claim 5, characterized in that, The moving block (14) is fixedly connected to an integrated motor (17) at the bottom. The integrated motor (17) rotates at an angle of ±N°. The integrated motor (17) is fixedly connected to a fixed plate (18) at the bottom. Five sets of pneumatic gripper assemblies (19) are provided on the fixed plate (18). The central axis of each set of pneumatic gripper assemblies (19) is aligned with the central axis of the workpiece. The platform (4) is fixedly connected to the fixing plate (5) by multiple sets of support columns (6) on both sides. The platform (4) is longer than the fixing plate (5). A vibrator is installed on the fixing plate (5) and located below the platform (4). The N° is a safe rotation angle set according to the distance from the horizontal plate (7) and the mechanical equipment of the subsequent installation process.

7. A method of using an intelligent transport device for a syringe, as described in claim 6, characterized in that, Includes the following steps: Step 1: Loading the workpiece, using a multi-channel vibratory feeder (1) to transport it to the conveyor assembly (3); Step 2: Workpiece conveying, and adjusting the parallelism of the workpiece in a timely manner during the conveying process; Step 3: After completing the workpiece leveling correction, the workpiece is transported to the clamping end, and the equipment enters the clamping and loading process.

8. A method of using an intelligent transport device for a syringe, as described in claim 7, characterized in that, Step two also includes the following specific steps: Step 2-a: The CCD vision inspection instrument (11) near the multi-channel vibratory feeder (1) detects that the workpieces in the five sets of transport troughs (23) are uneven. Step 2-b: When the workpiece is transported to the middle section of the table (4) and close to the irregular support column (8), the CCD vision inspection instrument (11) on the irregular support column (8) detects whether the Luer joint workpieces in the five sets of transport grooves (23) are on the same horizontal line.

9. A method of using an intelligent transport device for a syringe, as described in claim 7, characterized in that, Step three also includes the following specific steps: Scenario 1: Clamping operation with the workpiece in a parallel state without deviation; Scenario 2: Fine-tuning clamping operation when the workpiece has slight deviation.

Images