Automatic visual positioning and pressing equipment for snake bone of endoscope
By using the CCD vision system and PLC automatic visual positioning technology in the endocobra bone manufacturing process, combined with the precise operation of the servo motor and rotatable air claws, the problem that traditional mechanical positioning methods are difficult to ensure the accuracy of the groove pressing is solved, and a high-precision snake bone pressure pressing effect is achieved.
Patent Information
- Application Number
- CN202323572863.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2023-12-27
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2033-12-27
AI Technical Summary
The traditional mechanical positioning method is difficult to ensure that the endoscobra bones are pressed accurately every time, resulting in inaccurate pressure on the snake bones, affecting subsequent use.
An automatic visual positioning and compression equipment for endobra bones was designed. The CCD vision system was used to accurately identify the point to be pressed by the snake bones, and comprehensive calculations were carried out in combination with PLC to determine the coordinates of each pressure groove, and accurate pressure groove operation was achieved through a servo motor and rotatable air claws.
It greatly improves the accuracy of the snake bone stamping groove, ensuring that it can be pressed accurately to the position of the groove every time, reducing the inaccurate positioning problem caused by snake bone expansion and contraction.
Smart Images
Figure CN222587902U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of snake bone manufacturing, in particular to an automatic visual positioning and pressing device for an endoscope snake bone. Background Art
[0002] With the development of society, more and more places are used for endoscopic examination in modern medicine. However, the use of endoscopes is inseparable from endoscopic snake bones. Endoscopic snake bones have multiple degrees of freedom in multiple directions, and their directions are controlled by steel wires when in use. Due to the manufacturing process, the grooves for passing steel wires cannot be pressed out at one time when the snake bone body is manufactured. Therefore, a new groove pressing process needs to be added to the manufactured snake bone body. However, the snake bone is elastic, and the traditional mechanical positioning method is difficult to ensure that it is pressed accurately to the position of the groove every time. The pressing point of each snake bone will change. Inaccurate positioning will lead to inaccurate groove pressing and grooving of the snake bone, which will cause considerable trouble for subsequent use.
[0003] In order to solve the above problems, we urgently need an endoscopic snake bone automatic visual positioning and pressing device. Utility Model Content
[0004] In view of the shortcomings of the prior art, the utility model provides an automatic visual positioning and pressing device for endoscopic snake bones to solve the problem that the traditional mechanical positioning method mentioned in the above background technology is difficult to ensure that the position of the groove is accurately pressed every time, and the pressing point of each snake bone will change. Inaccurate positioning will lead to inaccurate snake bone pressing and grooving, which will cause considerable trouble to subsequent use.
[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an automatic visual positioning and pressing device for endoscope snake bones, comprising a main box body, left and right servo screw modules are fixedly installed inside the main box body, and a servo motor is slidably connected to the outer surface of the left and right servo screw modules, and a rotatable air claw is fixedly installed on the output end of the servo motor, and a core rod is clamped inside the rotatable air claw, and a transfer platform is arranged on the right side of the outer surface of the left and right servo screw modules away from the servo motor, and an upper supporting mechanism is fixedly installed inside the transfer platform, a CCD fixed platform is fixedly installed on the rear side of the upper outer surface of the main box body away from the left and right screw modules, a CCD visual device is arranged on the front outer surface of the CCD fixed platform, a PLC host is fixedly installed on the left side of the upper outer surface of the main box body away from the CCD fixed platform, and a stamping fixed platform is fixedly installed on the right side of the upper outer surface of the main box body away from the CCD fixed platform, a stamping cylinder is fixedly installed on the upper outer surface of the stamping fixed platform, and a punch is arranged on the output end of the stamping cylinder.
[0006] By adopting the above technical solution, the CCD vision system is set up to perform accurate feature recognition on the points to be pressed on the snake bones, and the calculated relative coordinate data is transmitted to the PLC. After the PLC performs comprehensive calculations based on the mechanical position, the coordinates of each groove are determined for pressing, which greatly improves the accuracy of the snake bone stamping and grooving.
[0007] Preferably, the CCD vision device is located on the same X-axis line as the mandrel in a working state, and the punch is located on the same X-axis line as the mandrel in a working state.
[0008] By adopting the above technical solution, by setting the CCD vision device to be located on the same X-axis line as the core rod in the working state, the CCD vision device can have good accuracy when performing positioning, photographing and sampling. By setting the punch to be located on the same X-axis line as the core rod in the working state, the punch can avoid the phenomenon of the snake bone being offset when punching and grooving the snake bone, thereby greatly improving the accuracy of the grooving work.
[0009] Preferably, a snake bone is sleeved on the outer surface of the mandrel, and four strip-shaped avoidance strips are opened on the outer surface of the mandrel, the avoidance strips are in a circular array, and the four avoidance strips are spaced 90 degrees from each other.
[0010] By adopting the above technical solution, four strip-shaped avoidance strips are provided on the outer surface of the core rod, and the avoidance strips can assist in positioning and facilitate the groove pressing when the snake bone is punched and grooved.
[0011] Preferably, a lateral movement module is provided on the lower side of the left and right servo screw modules.
[0012] By adopting the above technical solution, by arranging the lateral movement module on the lower side of the left and right servo screw modules, the purpose of accurately moving the transfer platform left and right on the left and right servo screw modules is achieved.
[0013] Preferably, a lifting screw rod module is arranged on the lower side of the upper supporting mechanism, and a groove which fits the outer surface of the snake bone is opened on the upper outer surface of the upper supporting mechanism.
[0014] By adopting the above technical solution, a lifting screw module is arranged on the lower side of the upper supporting mechanism, so that the upper supporting mechanism can be accurately controlled to play a supporting and limiting role on the snake bone. A groove is provided on the upper outer surface of the upper supporting mechanism that fits the outer surface of the snake bone, so that the upper supporting mechanism can support and limit the snake bone more conveniently.
[0015] Compared with the prior art, the beneficial effects of the utility model are:
[0016] 1. The endoscope snake bone automatic visual positioning and pressing equipment is equipped with a CCD fixing table on the rear side of the upper outer surface of the main box body away from the left and right screw modules. A CCD visual device is arranged on the front outer surface of the CCD fixing table. The CCD visual system is used to confirm the position of irregular groove positioning points on the spot, avoiding the characteristic that the groove points are different due to the expansion and contraction of the snake bone, which greatly increases the accuracy of the equipment in punching and pressing grooves of the snake bone.
[0017] 2. The endoscope snake bone automatic visual positioning and pressing equipment is fixedly installed with a rotatable air gripper through the output end of the servo motor. The rotatable air gripper clamps the core rod inside. The rotatable air gripper can ensure that the core rod is clamped with compressed air source while being able to rotate 360 degrees without the air pipe being entangled, so that this equipment can well control the snake bone to rotate 360 degrees accurately to press the groove. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;
[0019] Figure 2 It is a schematic diagram of the enlarged structure of point A of the utility model.
[0020] In the figure: 1. Main box; 2. Left and right servo screw modules; 3. Servo motor; 4. Rotatable air claw; 5. Mandrel; 6. Lifting mechanism; 7. Transfer platform; 8. CCD fixed platform; 9. CCD visual device; 10. Stamping fixed platform; 11. Stamping cylinder; 12. Punch; 13. PLC host. DETAILED DESCRIPTION
[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0022] Please refer to Figure 1-2When using the utility model, in order to solve the problem that the traditional mechanical positioning method is difficult to ensure that the groove is accurately pressed every time, the pressing point of each snake bone will change, and inaccurate positioning will lead to inaccurate grooving of the snake bone, which will cause considerable trouble in subsequent use. The left and right servo screw modules 2 are fixedly installed inside the main box 1, and the outer surfaces of the left and right servo screw modules 2 are slidably connected with the servo motor 3. The output end of the servo motor 3 is fixedly installed with a rotatable air claw 4, and the rotatable air claw 4 has a core rod 5 clamped inside. The outer surfaces of the left and right servo screw modules 2 are away from the servo motor A transfer platform 7 is arranged on the right side of the machine 3, and a supporting mechanism 6 is fixedly installed inside the transfer platform 7. A CCD fixing platform 8 is fixedly installed on the rear side of the upper outer surface of the main box body 1 away from the left and right screw modules, and a CCD visual device 9 is arranged on the front outer surface of the CCD fixing platform 8. A PLC host 13 is fixedly installed on the left side of the upper outer surface of the main box body 1 away from the CCD fixing platform 8, and a stamping fixing platform 10 is fixedly installed on the right side of the upper outer surface of the main box body 1 away from the CCD fixing platform 8. A stamping cylinder 11 is fixedly installed on the upper outer surface of the stamping fixing platform 10, and a punch 12 is arranged on the output end of the stamping cylinder 11.
[0023] Working principle: When using the endoscope snake bone automatic visual positioning and pressing equipment, the snake bone that needs to be punched and grooved is sleeved on the outer surface of the core rod 5 clamped inside the rotatable air claw 4, and the lateral moving module on the lower side of the left and right servo screw modules 2 is started, so that the left and right servo screw modules 2 drive the transfer platform 7 to move to the right and move to the bottom of the CCD visual device 9. The servo motor 3 drives the rotatable cylinder to rotate at a precise angle through the planetary reducer, drives the core rod 5 clamped inside the rotatable air claw 4 to rotate, and at the same time drives the snake bone sleeved on the outer surface of the core rod 5 to rotate to ensure that the surface to be grooved faces directly upward, and then the above-mentioned CCD Aim at the surface to be grooved and take a picture. After successful recognition, the coordinates are calculated and transmitted to the PLC host 13. After the coordinates are calculated, each groove position will be driven by the lateral moving module to drive the left and right servo screw modules 2 to be accurately brought to the bottom of the stamping station. The upper support mechanism 6 driven by the lifting screw module accurately supports the snake bone. After supporting, the stamping station can punch down. After about 6 groove points on one side are punched, the servo motor 3 drives the core rod 5 clamped inside the rotatable air claw 4 to rotate 90 degrees to drive the snake bone mounted on the outer surface of the core rod 5 to rotate 90 degrees for the next surface stamping, until the stamping and grooving work of the snake bone is completed after four rotations and stamping.
[0024] Compared with the related art, the automatic visual positioning and pressing device for endoscopic snake bones provided by the utility model has the following beneficial effects: this device achieves high accuracy when punching and grooving the snake bones, and can ensure that the groove is accurately pressed to the position every time.
[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. An automatic visual positioning and pressing device for endoscope snake bones, comprising a main box (1), characterized in that: The main housing (1) is fixedly installed with left and right servo screw modules (2), and the outer surfaces of the left and right servo screw modules (2) are slidably connected with servo motors (3). The output end of the servo motor (3) is fixedly installed with a rotatable air claw (4), and a core rod (5) is clamped inside the rotatable air claw (4). A transfer platform (7) is provided on the right side of the outer surface of the left and right servo screw modules (2) away from the servo motor (3), and a supporting mechanism (6) is fixedly installed inside the transfer platform (7). The upper outer surface of the main housing (1) is away from the left and right screw modules. A CCD fixing table (8) is fixedly installed on the rear side, a CCD visual device (9) is arranged on the front outer surface of the CCD fixing table (8), a PLC host (13) is fixedly installed on the left side of the upper outer surface of the main box body (1) away from the CCD fixing table (8), a punching fixing table (10) is fixedly installed on the right side of the upper outer surface of the main box body (1) away from the CCD fixing table (8), a punching cylinder (11) is fixedly installed on the upper outer surface of the punching fixing table (10), and a punch (12) is arranged on the output end of the punching cylinder (11).
2. The automatic visual positioning and pressing device for endoscope snake bones according to claim 1 is characterized in that: The CCD visual device (9) is located on the same X-axis line as the core rod (5) when in working state, and the punch (12) is located on the same X-axis line as the core rod (5) when in working state.
3. The automatic visual positioning and pressing device for endoscope snake bones according to claim 1 is characterized in that: The outer surface of the core rod (5) is sleeved with a snake bone, and the outer surface of the core rod (5) is provided with four strip-shaped avoidance strips, the avoidance strips are in a circular array, and the four avoidance strips are spaced 90 degrees from each other.
4. The automatic visual positioning and pressing device for endoscope snake bones according to claim 1 is characterized in that: A lateral movement module is arranged at the lower side of the left and right servo screw modules (2).
5. The automatic visual positioning and pressing device for endoscope snake bones according to claim 1 is characterized in that: A lifting screw rod module is arranged on the lower side of the upper supporting mechanism (6), and a groove which fits the outer surface of the snake bone is opened on the upper outer surface of the upper supporting mechanism (6).