Full-automatic position correcting device for dialyzer

Abstract

The utility model provides a full-automatic position correcting device for a dialyzer. The full-automatic position correcting device comprises a rack table, an upper support table and a mechanical arm. The rack table is of a frame structure and used for supporting and installing the mechanical arm and the upper support table. Product upper supports are arranged on an upper support fixing plate in pairs on the upper support table, the product upper supports arranged in pairs are distributed at equal intervals, the position of the first pair of product upper supports serves as the feeding position, and a mechanical arm is installed above the first pair of product upper supports. The to-be-detected products are transferred to the first pair of product upper supports from the original feeding platform through transverse movement, and the to-be-detected products falling on the first pair of product upper supports are continuously conveyed to the rear product upper supports through the conveying mechanism till all the product upper supports are loaded with the to-be-detected products. According to the utility model, the problem that the distance between the to-be-detected products on the original feeding platform is different from the distance between the products on the detection platform is effectively solved.

Description

Technical Field

[0001] The utility model relates to the technical field of dialyzer production, and more specifically to a full-automatic alignment device for dialyzers. Background Art

[0002] A hemodialyzer is encapsulated in a cylindrical outer shell. The covers at both ends of the cylindrical outer shell are not only used to seal the cylindrical outer shell body, but also provided with corresponding liquid flow channels. During the assembly process, it is necessary to ensure that the covers are fully sealed with the ends of the cylindrical shell to avoid liquid leakage during subsequent use. Therefore, it is necessary to perform a sealing test on the hemodialyzer.

[0003] For the detection of traditional hemodialyzers, almost manual feeding is required, and the hemodialyzers are sent to the detection platform for sealing detection. Even if a manipulator is used, there will be a problem that the spacing between the products to be detected on the original feeding platform is different from the spacing between the products on the detection platform, resulting in the manipulator being unable to batch-feed the products to be detected on the original feeding platform to the detection platform for sealing detection. Summary of the Utility Model

[0004] To solve the above problems, the utility model provides a full-automatic alignment device for dialyzers, aiming to adjust the spacing of the products to be detected to be consistent, so as to facilitate the manipulator to batch-grab the products to be detected.

[0005] The utility model adopts the following technical solutions:

[0006] The full-automatic alignment device for dialyzers includes the following:

[0007] A frame table, which adopts a frame structure and is used to support and install a manipulator and an upper support table;

[0008] The upper support table includes an upper support fixing plate. Along the arrangement direction of the product upper supports on the upper support fixing plate, there are long strip-shaped through holes. The middle tube body part of the product to be detected corresponds to the positions of the long strip-shaped through holes. On both sides of the long strip-shaped through holes, there are product upper supports for supporting both ends of the product to be detected; several product upper supports are adopted, and several product upper supports are arranged in pairs and equally spaced; the position of the first pair of product upper supports is used as the feeding position;

[0009] A manipulator, which is installed above the first pair of product upper supports and transfers the product to be detected from the original feeding platform to the first pair of product upper supports through horizontal movement. The product to be detected that lands on the first pair of product upper supports is continuously conveyed to the subsequent product upper supports through a conveying mechanism until all product upper supports are loaded with products to be detected.

[0010] Preferably, the conveying mechanism is specifically as follows: A cylinder fixed mounting plate is fixedly installed on the frame table and below the upper bracket fixing plate. A lower bracket longitudinal buffer cylinder is fixedly installed on the cylinder fixed mounting plate. The lower bracket longitudinal buffer cylinder is connected to a cylinder connecting member to drive the cylinder connecting member to move up and down. A sliding guide rail of the same length as the cylinder connecting member is installed on the cylinder connecting member. The sliding guide rail is slidably connected to a slider fixedly installed below the sliding connection block. The lower bracket transverse buffer cylinder drives the sliding connection block to move back and forth in the direction of the sliding guide rail. A lower bracket fixing plate is fixedly installed above the sliding connection block. A number of pairs of product lower brackets are installed on the lower bracket fixing plate. The number of product lower brackets is one pair less than that of the product upper brackets.

[0011] Preferably, buffers are fixedly installed at both ends of the cylinder connecting member to buffer the movement of the sliding connection block in the direction of the sliding guide rail and limit its stroke.

[0012] Preferably, at least two vertically arranged cylinder guide shafts are fixedly connected to the bottom of the cylinder connecting member. Guide holes matching the cylinder guide shafts are provided on the cylinder fixed mounting plate to play a guiding role.

[0013] Preferably, in the manipulator, two manipulator jaws are arranged oppositely and are drivingly connected to the jaw cylinder. Claw blocks are respectively embedded on the inner sides of the manipulator jaws. The claw blocks are made of POM material, which can prevent damage to the product when gripping the product.

[0014] Preferably, dialyzer Hansen port aligners are provided on both sides of the first pair of product upper brackets. The dialyzer Hansen port aligner includes a clamping cylinder, a clamping cylinder fixing plate, and a clamping cylinder claw. Among them, the clamping cylinder claw and the clamping cylinder are fixedly installed on the clamping cylinder fixing plate. The clamping cylinder claw is used to clamp the dialyzer Hansen port of the product to be inspected, so that the product to be inspected rotates within an adjustable swing angle of 45°. Under the drive of the clamping cylinder, the clamping cylinder claw adjusts the direction of the dialyzer Hansen port to be vertically downward.

[0015] Preferably, for the remaining product upper brackets except the first pair of product upper brackets, guide columns are provided at the positions on the outer sides of the product upper brackets corresponding to the dialyzer Hansen ports to correct the orientation of the dialyzer Hansen ports.

[0016] The beneficial effects of the present invention: By adopting the present invention, the spacing of the products to be inspected can be changed to make the spacing of the products to be inspected consistent, which is convenient for the robotic arm to directly put them into the detection platform after batch grasping, improving the efficiency of the detection work. Description of the Drawings

[0017] Figure 1 It is a schematic diagram of the production line to which the present invention is applied.

[0018] Figure 2It is a schematic diagram of the original feeding platform of the dialyzer product.

[0019] Figure 3 It is a schematic diagram of the overall structural composition of the present utility model.

[0020] Figure 4 It is a schematic diagram of the manipulator jaw structure of the present utility model.

[0021] Figure 5 It is a schematic diagram of the conveying mechanism of the present utility model.

[0022] Figure 6 It is a schematic diagram of the dialyzer product of the present utility model and the dialyzer Hansen port aligner.

[0023] Figure 7 It is a schematic diagram of the upper support platform of the dialyzer of the present utility model.

[0024] Reference numerals: 1 Dialyzer full-automatic alignment device, 2 Original production line feeding platform, 3 Product detection platform, 4 Six-axis robotic arm, 5 Manipulator, 6 Frame platform, 7 Upper support platform, 8 Conveying mechanism, 9 Manipulator jaw cylinder, 10 Manipulator jaw, 11 POM jaw block, 12 Lower support buffer transverse cylinder, 13 Sliding connection block, 14 Lower support fixing plate, 15 Buffer, 16 Slide block, 17 Slide rail, 18 Cylinder connecting piece, 19 Cylinder fixed mounting plate, 20 Lower support longitudinal buffer cylinder, 21 - 25 Product lower support I - V, 26 Dialyzer Hansen port aligner, 27 Upper support fixing plate, 28 Product guiding column, 29 Platform sensor, 30 - 35 Product upper support I - VI, 36 Original feeding platform product axial aligner, 37 Dialyzer Hansen port, 38 Cylinder guiding shaft, 39 Product to be inspected, 40 Clamping cylinder, 41 Clamping cylinder fixing plate, 42 Clamping cylinder jaw. Detailed implementation manners

[0025] The following further describes the implementation manners of the present utility model with reference to the accompanying drawings.

[0026] This embodiment provides a dialyzer full-automatic alignment device, as Figure 3 shown. Since the product and product spacing of the products to be inspected placed on the original feeding platform 2 are different from the product spacing of the products placed on the product detection platform 3, the dialyzer full-automatic alignment device provided in this embodiment can be used to change the spacing of the products to be inspected 39, facilitating the six-axis robotic arm 4 to directly pick and place them into the detection device after grasping.

[0027] As Figure 3 shown, the dialyzer full-automatic alignment device includes a manipulator 5, a frame platform 6, and an upper support platform 7. The manipulator 5 is fixed above the frame platform, and a jaw block made of POM material is installed on the manipulator jaw 10

[0028] 11. The POM material of the clamping jaw block 11 can prevent damage to the product when clamping the product. The manipulator clamping jaw 10 is driven by the clamping jaw cylinder 9. The clamping jaw block 11 slides and clamps on the short guide rail. The clamping force is large enough to prevent the product from rotating or moving in the manipulator clamping jaw 10 and does not damage the product to be inspected.

[0029] like Figure 2 As shown, the position of the product 39 to be inspected moves with the original loading platform. Before the product 39 to be inspected is grabbed on the original loading platform, the axial position of the product is corrected by the product axial positioner 36 of the original loading platform, so that the PPU manipulator 5 grabs each product to be inspected at the same position. After the product to be inspected completes the axial position correction through the product axial positioner 36 of the original loading platform, the PPU manipulator 5 grabs the product to be inspected from the original loading platform and transfers it to the product upper bracket, which is supported at both ends of the product by a pair of V-shaped product upper brackets to correct the main position of the product 39 to be inspected.

[0030] Furthermore, the upper product bracket is fixed on the upper bracket fixing plate 27, and a total of six pairs of upper product brackets are installed on the upper bracket fixing plate 27, which are correspondingly recorded as product upper bracket I 30, product upper bracket II 31, product upper bracket III 32, product upper bracket IV 33, product upper bracket V 34 and product upper bracket VI 35. The upper bracket fixing plate 27 is fixed on the rack 6. After the product 39 to be inspected is transferred to the product upper bracket I 30, the dialyzer Hansen port positioner 26 fixed on the rack 6 adjusts the product circumferentially, wherein the dialyzer Hansen port positioner 26 is clamped by the clamping cylinder clamping jaw 42 to clamp the dialyzer Hansen port 37 and rotate it to adjust the placement of the product, thereby making the dialyzer Hansen port 37 vertically downward.

[0031] Furthermore, when products are placed on the product upper bracket II 31, product upper bracket III 32, product upper bracket IV 33, product upper bracket V 34 and product upper bracket VI 35 on the upper bracket fixing plate 27, product guide columns 28 are provided at both ends of the products. The product guide columns 28 are fixedly mounted on the upper bracket fixing plate 27 for correcting the orientation of the Hansen port 37 of the dialyzer.

[0032] The fully automatic dialyzer positioning device provided in this embodiment further includes a transmission mechanism 8, which is located below the upper support fixing plate 27. Figure 3 and 5As shown in the figure. The specific structure of the transfer mechanism 8 is as follows: A cylinder fixed mounting plate 19 is fixedly installed on the frame table 6. A lower bracket longitudinal buffer cylinder 20 is fixedly installed on the cylinder fixed mounting plate 19. The lower bracket longitudinal buffer cylinder 20 drives the cylinder connecting piece 18 to move up and down. Four cylinder guide shafts 38 are fixed at the four corners of the cylinder connecting piece 18. The four cylinder guide shafts 38 pass through the guide holes at the four corners of the cylinder fixed mounting plate 19 and move up and down in cooperation with the lower bracket longitudinal buffer cylinder 20, having a guiding function. A sliding guide rail 17 of the same length as the cylinder connecting piece 18 is horizontally installed on the cylinder connecting piece 18. A slider 16 that cooperates with the sliding guide rail 17 is fixedly installed below the sliding connection block 13. The slider 16 slides on the sliding guide rail 17. The sliding connection block 13 is driven by the lower bracket transverse buffer cylinder 12 and moves horizontally in the direction of the sliding guide rail 17. Two buffers 15 are fixedly installed at both ends of the cylinder connecting piece 18 to buffer the movement of the sliding connection block 13 in the direction of the sliding guide rail and limit its stroke. A lower bracket fixing plate 14 is fixedly installed above the sliding connection block 13. Five pairs of product lower brackets are installed on the lower bracket fixing plate 14, which are correspondingly denoted as product lower bracket Ⅰ21, product lower bracket Ⅱ22, product lower bracket Ⅲ23, product lower bracket Ⅳ24, and product lower bracket Ⅴ25. The lower bracket fixing plate 14 is driven by two buffer cylinders, namely the lower bracket longitudinal buffer cylinder 20 and the lower bracket transverse buffer cylinder 12, and can control the five pairs of product lower brackets 21-25 to move up and down and left and right simultaneously.

[0033] The working process of the present utility model:

[0034] The manipulator 5 fixed on the frame table 6 grabs the product to be inspected 39 from the original production line loading platform 2 through the manipulator gripper 10 and places the product to be inspected 39 on the product upper support I 30 on the upper support fixing plate 27. Long strip-shaped through holes are provided on the upper support fixing plate 27 along the arrangement direction of the product upper supports. The middle pipe body part of the product to be inspected 39 corresponds to the position of the long strip-shaped through holes. Each time the manipulator 5 transfers the product to be inspected to the product upper support I 30, the conveyor mechanism 8 moves the five pairs of product lower supports on the lower support fixing plate 14 up, down, left, and right once. The product on the product upper support I 30 is transferred to the product upper support II 31 by the product lower support I 21. The manipulator 5 transfers the product to be inspected to the product upper support I 30 again. At this time, both the product upper support I 30 and the product upper support II 31 are placed with the products to be inspected. The conveyor mechanism 8 moves the five pairs of product lower supports on the lower support fixing plate 14 up, down, left, and right again. The product on the product upper support I 30 is transferred to the product upper support II 31 by the product lower support I 21. The product on the product upper support II 31 is transferred to the product upper support III 32 by the product lower support II 22. That is, by moving the five pairs of product lower supports up, down, left, and right once by the conveyor mechanism 8, the product to be inspected placed on the upper support is moved backward by one position. The products grabbed from the original loading platform 2 and placed on the product upper support I 30 are moved backward in turn. The products are successively moved backward on the upper support. When the last five upper supports (product upper support II 31, product upper support III 32, product upper support IV 33, product upper support V 34, and product upper support VI 35) on the upper support fixing plate 27 are all placed with the products to be inspected, the six-axis robotic arm 4 grabs five products on the last five upper supports at one time and transfers them to the detection position 3 for detection work;

[0035] When the conveyor mechanism 8 moves the five pairs of product lower supports on the lower support fixing plate 14 up, down, left, and right once, specifically, the lower support horizontal buffer cylinder 12 drives the five pairs of product lower supports to move forward, so that the product upper support I 30 corresponds to the product lower support I 21, the product upper support II 31 corresponds to the product lower support II 22, and so on; then, the lower support vertical buffer cylinder 20 drives the lower support fixing plate 14 and the product lower supports to rise, so that the products on the product upper supports are lifted up. Immediately afterwards, the lower support horizontal buffer cylinder 12 drives the five pairs of product lower supports to move backward, so that the product upper support II 31 corresponds to the product lower support I 21, the product upper support III 32 corresponds to the product lower support II 22, and so on; finally, the lower support vertical buffer cylinder 20 drives the lower support fixing plate 14 and the product lower supports to fall back, realizing that the product to be inspected placed on the upper support is moved backward by one position.

Claims

1. Automatic orthotopic device for dialyzer, characterized in that The following are included: A frame table (6), which adopts a frame structure and is used to support and install a manipulator (5) and an upper support table (7); The upper support table (7) includes an upper support fixing plate (27). Along the arrangement direction of the product upper supports on the upper support fixing plate (27), long strip-shaped through holes are provided. The middle pipe body part of the product to be inspected (39) corresponds to the positions of the long strip-shaped through holes. On both sides of the long strip-shaped through holes, product upper supports for supporting both ends of the product to be inspected (39) are provided; several product upper supports are used, and several product upper supports are arranged in pairs and evenly spaced; the positions of the first pair of product upper supports are used as the feeding positions; A manipulator (5), which is installed above the first pair of product upper supports and transfers the product to be inspected (39) from the original feeding platform to the first pair of product upper supports by lateral movement. The product to be inspected (39) that lands on the first pair of product upper supports is continuously conveyed to the rear product upper supports through a conveying mechanism (8) until all product upper supports are loaded with the product to be inspected (39).

2. The fully automatic righting device for a dialyzer according to claim 1, wherein: The conveying mechanism (8) is specifically as follows: A cylinder fixing plate (19) is fixedly installed on the frame table (6) and below the upper support fixing plate (27). A lower support longitudinal buffer cylinder (20) is fixedly installed on the cylinder fixing plate (19). The lower support longitudinal buffer cylinder (20) is connected to a cylinder connecting member (18) to drive the cylinder connecting member (18) to perform up and down movements; A sliding guide rail (17) of the same length as the cylinder connecting member (18) is installed on the cylinder connecting member (18). The sliding guide rail (17) is slidably connected to a slider (16) fixedly installed below a sliding connection block (13). A lower support transverse buffer cylinder (12) drives the sliding connection block (13) to move back and forth in the direction of the sliding guide rail (17); A lower support fixing plate (14) is fixedly installed above the sliding connection block (13). Several pairs of product lower supports are installed on the lower support fixing plate (14). The number of product lower supports is one less pair than the number of product upper supports.

3. The fully automatic orthotopic device for a dialyzer according to claim 2, characterized in that: Buffers (15) are fixedly installed at both ends of the cylinder connecting member (18).

4. The automatic orthotopic device for a dialyzer according to claim 2, wherein: At least two vertically arranged cylinder guide shafts (38) are fixedly connected to the bottom of the cylinder connecting member. Guide holes matching the cylinder guide shafts (38) are provided on the cylinder fixing plate (19).

5. The automatic righting device for a dialyzer according to claim 1, wherein: In the manipulator (5), two manipulator jaws (10) are arranged opposite to each other and are drivingly connected to a jaw cylinder (9). Claw blocks (11) are respectively embedded inside the manipulator jaws (10).

6. The fully automatic orthotopic device for a dialyzer according to claim 1, wherein: Dialyzer Hansen port aligners (26) are provided on both sides of the first pair of product upper supports. The dialyzer Hansen port aligner (26) includes a clamping cylinder (41), a clamping cylinder fixing plate (42), and a clamping cylinder jaw (40). Among them, the clamping cylinder jaw (40) and the clamping cylinder (41) are fixedly installed on the clamping cylinder fixing plate (42). The clamping cylinder jaw (40) is used to clamp the dialyzer Hansen port (37) of the product to be inspected (39) to rotate the product to be inspected (39) within an adjustable swing angle. Under the drive of the clamping cylinder (41), the clamping cylinder jaw (40) adjusts the direction of the dialyzer Hansen port (37) to be vertically downward.

7. The fully automatic orthotopic device for a dialyzer according to claim 1, characterized in that: For the remaining product upper brackets except the first pair of product upper brackets, guide posts (28) are provided at positions on the outer side of the product upper brackets corresponding to the Hansen ports (37) of the dialyzer.

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