A device for implanting internal support components in pipes

Abstract

This application belongs to the technical field of pipe processing equipment, and provides a pipe internal support implantation device, including a robotic arm. The robotic arm has an operating hand at its operating end, and the operating hand is equipped with multiple gripping units. These gripping units are used to batch pick up parts and place them orderly at various target positions. Each gripping unit includes a connecting plate and grippers located at both ends of the connecting plate. Each gripping unit also includes a first driver, the output end of which is connected to the connecting plate and used to drive the connecting plate to perform a translational movement, enabling each gripping unit to perform a part placement action. This application aims to solve the problem of low process efficiency in the prior art for implanting steel needles in pipes.

Description

Technical Field

[0001] This application belongs to the technical field of pipe processing equipment, and particularly relates to a pipe internal support implantation device. Background Technology

[0002] In the manufacturing process of evaporator and radiator tube structures, inserting steel pins (also known as "positioning pins" or "support pins") is a common processing technique. This is primarily used to fix the relative positions of the fins and pipes, thereby maintaining the uniformity of spacing between the individual pipes in the tube array and ensuring the accuracy of subsequent welding or tube expansion processes. Specifically, when assembling fins (such as aluminum fins) with copper / steel pipes, temporarily inserting steel pins into the pipes helps prevent deformation or displacement of the pipes during tube expansion or welding, thus ensuring that the parallelism and spacing between multiple rows of pipes meet design requirements.

[0003] For the aforementioned tube processing technology, existing techniques generally involve manually inserting steel needles one by one into the target position, which is inefficient and difficult to guarantee consistency. Alternatively, robotic arms can be used to replace manual labor in inserting the needles one by one. Although this improves automation, traditional robotic arms can only grasp one needle at a time, requiring frequent pick-and-place operations, resulting in overall low efficiency and failing to meet the demands of modern high-efficiency production. Summary of the Invention

[0004] The purpose of this application is to provide a device for implanting internal support components in a pipe, so as to solve the technical problem of low process efficiency in implanting steel needles in pipes in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a pipe internal support implantation device, including a robotic arm, wherein the operating end of the robotic arm is provided with an operating hand, and the operating hand is provided with multiple gripping units capable of independently performing part placement movements; the multiple gripping units are used to pick up parts in batches and place the workpieces in an orderly manner at various target positions; Each of the clamping units includes a connecting plate and grippers located at both ends of the connecting plate. Each of the clamping units also includes a first driver, the output end of which is connected to the connecting plate and is used to drive the connecting plate to perform translational movement, so that each of the clamping units can perform a placement action.

[0006] The beneficial effects of the pipe internal support implantation device provided in this application are as follows: Compared with the prior art, the manipulator with multiple gripping units is provided on the pipe internal support implantation device of this application, which is conducive to batch picking of parts. Each first driver can be started separately so that each gripping unit can perform a part placement movement independently, inserting the workpiece in a preset order at each target position in the pipe, effectively improving the processing accuracy and operation uniformity of implanting internal support parts in the pipe.

[0007] The structure of the operator's hand is improved so that each gripper includes a pair of gripping fingers. The gripping points of these fingers, located at both ends of the same connecting plate, are coaxially aligned. This allows for synchronous gripping of the workpiece when the gripping fingers at both ends come together, effectively improving the stability of workpiece gripping and ensuring the perpendicularity of the workpiece during gripping, which is beneficial for implantation operations at the target location.

[0008] In one embodiment, the operator further includes a base plate, on which a plurality of gripping units are spaced apart, each gripping unit corresponding one-to-one with the placement position of a workpiece. Thus, when the operator moves to the feeding device, it can simultaneously grip multiple workpieces in one retrieval operation using the gripping units, thereby achieving batch retrieval and effectively improving retrieval efficiency.

[0009] In one embodiment, the robotic arm's operating end is further equipped with a turntable, and the base plate on the operator's hand is connected to the turntable. This allows the operator to perform a 360-degree rotation, facilitating flexible switching between the feeding device and the target position for placing the workpiece, as well as performing pick-up or drop-off actions, effectively improving work efficiency.

[0010] The structure of the pipe support implantation device is improved. The device further includes a feeding device comprising a conveyor belt, a feeding tray, and a sorting mechanism. A robotic arm is used to retrieve parts in batches from the conveyor belt using the operator's hand. The sorting mechanism is positioned between the feeding tray and the conveyor belt, and is used to output workpieces from the feeding tray to the conveyor belt at intervals. The conveyor belt is equipped with multiple workpiece carriers, which are spaced apart and orderly carry workpieces as the conveyor belt rotates. This improvement to the feeding section, with the sorting mechanism positioned between the conveyor belt and the feeding tray, allows for the intermittent output of workpieces from the feeding tray to the conveyor belt, achieving single-piece separation of workpieces. This ensures that each carrier on the conveyor belt carries only a single workpiece, allowing the operator's gripping units to individually grip workpieces during batch retrieval from the conveyor belt. This facilitates subsequent orderly implantation of workpieces into the target positions of the pipe, effectively improving operational efficiency.

[0011] The sorting mechanism is structurally improved, comprising a push rod, a lifting device, and a flow-limiting plate capable of opening and closing. The output end of the lifting device is connected to the push rod, which drives the push rod to move up and down within the feed tray, lifting workpieces one by one to the input end of the conveyor belt. The flow-limiting plate is positioned at the input end of the conveyor belt, and its opening and closing motion releases workpieces onto the conveyor belt at intervals. In this way, the flow-limiting plate restricts the flow of workpieces lifted by the push rod, enabling intermittent feeding onto the conveyor belt and laying the foundation for precise pick-up by multiple gripping units on the subsequent operator.

[0012] In one embodiment, a step is provided between the input end of the conveyor belt and the feed tray, and a guide ramp is provided on the top of the push rod. The guide ramp is used to guide the workpiece to be lifted onto the step. Thus, by using the guide ramp on the push rod to limit the direction of movement of the lifted workpiece, physical guidance of the workpiece is achieved, guiding the workpiece onto the conveyor belt. This effectively eliminates the risk of workpiece jamming during the transition from the feed tray to the conveyor belt, and helps reduce the idle load rate of the material carrier on the conveyor belt.

[0013] In one embodiment, the top of the push rod also has a discharge surface connected to the guide ramp and inclined in the opposite direction. The discharge surface is used to guide the multiple workpieces back into the feed tray. Thus, the top of the push rod has a bidirectional guiding structure formed by the combination of the guide ramp and the discharge surface. Automatic sorting is achieved using the workpiece's own weight and the guiding structure of the two ramps, allowing for the return of excess workpieces without additional power, effectively improving sorting efficiency.

[0014] In one embodiment, the sorting mechanism further includes a second driver connected to the flow-limiting plate, the second driver being used to drive the flow-limiting plate to open and close on the step to release workpieces at intervals. This facilitates coordination with the lifting device's control of the top rod, improving the stability of the sorting cycle.

[0015] In one embodiment, each of the material carriers includes a pair of spaced-apart hooks, and the step has notches corresponding to the positions of the pair of hooks. As the conveyor belt rotates, the pair of hooks passes through the notches and carries the workpieces off the step one by one. Thus, the spaced-apart hook design on each material carrier on the conveyor belt facilitates the gripping unit in gripping workpieces within the space between the hooks. Furthermore, the notches on the step, which cooperate with the hooks, allow the hooks to pass through the notches and smoothly carry the workpieces off the step, thereby achieving automated transfer operations. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the working state structure of the robotic arm provided in the embodiments of this application; Figure 2 This is a three-dimensional structural diagram of the operator provided in an embodiment of this application; Figure 3 This is a schematic diagram of the operating hand in the state of placing the component, provided in an embodiment of this application. Figure 4 An enlarged view of the connection between the operator's hand and the operating end of the robotic arm provided in an embodiment of this application; Figure 5 A schematic diagram of the overall structure of the pipe internal support implantation device provided in the embodiments of this application; Figure 6 A schematic diagram of the structure of the robotic arm picking up parts from the feeding device provided in the embodiments of this application. Figure 1 ; Figure 7 A schematic diagram of the structure of the robotic arm picking up parts from the feeding device provided in the embodiments of this application. Figure 2 ; Figure 8 A partially enlarged schematic diagram of the sorting mechanism on the feeding device provided in the embodiments of this application. Figure 1 ; Figure 9A partially enlarged schematic diagram of the sorting mechanism on the feeding device provided in the embodiments of this application. Figure 2 ; Figure 10 This is a three-dimensional structural diagram of the feeding device provided in the embodiments of this application.

[0018] The following are the labeling elements in the figure: 100 - Workpiece; 1-Robotic arm; 11-Turntable; 2-Operator; 21-Grip unit; 211-Connecting plate; 212-Gripper; 213-Grip finger; 214-First driver; 22-Baseboard.

[0019] 3-Feeding device; 4-Conveyor belt; 41-Carrier base; 42-Hook; 5-Feed tray; 51-Step; 52-Notch; 6-Sorting mechanism; 61-Top rod; 611-Guide slope; 612-Discharge surface; 62-Lifting device; 621-Push plate; 63-Flow limiting plate; 631-Baffle plate; 64-Second driver; 641-Connecting rod; 642-Rotating shaft; Detailed Implementation To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0020] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0021] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0023] In related technologies, there are two main implementation methods for the steel needle implantation process in tubes: traditional manual methods and robotic-assisted methods. Manual operation inherently suffers from low efficiency and poor quality consistency. While traditional robotic-assisted methods can achieve basic automation, the robotic arm is limited to a single-needle operation mode, requiring repeated needle picking and insertion cycles, which lengthens the production cycle and limits overall efficiency improvement, making it difficult to meet the high-cycle, high-efficiency processing requirements of modern production lines.

[0024] Therefore, this application provides a novel device for inserting internal support components into pipes, which can realize batch removal of components and insert positioning steel needles into the pipes in a preset order, effectively improving work efficiency and solving the problem of low process efficiency of traditional steel needle insertion into pipes. It will now be described in detail.

[0025] Please see Figure 1 The pipe support implantation device includes a robotic arm 1, which is preferably positioned between the feeding device (not shown) and the discharging container. In this embodiment, the discharging container is a material frame pre-loaded with pipes, and the material frame is separated from the feeding device, with the robotic arm 1 positioned between them. In other embodiments, the discharging container may also be a loading unit on a transfer device, which is not specifically limited here. Therefore, the range of motion of the robotic arm 1 can preferably be configured to enable rapid transfer between the feeding device and the discharging container.

[0026] Please refer to the following: Figure 1 , Figure 2 and Figure 3 The robotic arm 1 is equipped with an operator hand 2, which has multiple gripping units 21. Each gripping unit 21 can grip the workpiece 100 and can independently perform workpiece placement movements.

[0027] In actual operation, multiple gripping units 21 are used to pick up parts in batches from the feeding equipment and transfer them to the unloading container, placing the workpieces 100 in an orderly manner at various target positions according to a preset sequence. Each gripping unit 21 includes a connecting plate 211 and grippers 212 located at both ends of the connecting plate 211. Each gripping unit 21 also includes a first driver 214, the output end of which is connected to the connecting plate 211 and is used to drive the connecting plate 211 to perform translational movement, so that each gripping unit 21 can perform a part-laying action.

[0028] In this embodiment, a plurality of first actuators 214 are arranged on the substrate 22. These first actuators 214 are preferably drive cylinders. The output end of each first actuator 214 is connected to a connecting plate 211 of a gripping unit 21, allowing each gripping unit 21 to move independently. This drive structure allows for the sequential placement of workpieces 100 at various target positions; alternatively, two or more gripping units 21 on the operator 2 can move simultaneously to perform partial batch placement. This facilitates multifaceted adaptation to processing needs, thereby improving operational flexibility. Thus, each first actuator 214 can be activated separately, enabling each gripping unit 21 to move independently and place the workpiece 100 at its respective target position.

[0029] As an example, according to the processing requirements, workpieces 100 need to be inserted into the two sides near the pipe. The robotic arm 1 drives the operator 2 to move in a preset order to each target position. At the same time, each gripping unit 21 on the operator 2 will perform the placement operation at each target position, thereby realizing automated batch picking and placement of workpieces, effectively improving the placement accuracy and the consistency of processing quality, which is beneficial for the pipe to be processed in subsequent processes.

[0030] It should be noted that the aforementioned robotic arm 1 utilizes its inherent functions. For example, robotic arm 1 can be a traditional robotic arm 1 with the operator hand 2 provided in this application embodiment added, and multiple gripping units 21 can be used to achieve batch picking, and the placement of parts can be performed at fixed points according to the preset control trajectory in the parallel control host or upper host. Therefore, this application does not involve any improvement in its functions or control methods.

[0031] Compared with the prior art, the pipe internal support implantation device provided in this application embodiment has an operator hand 2 with multiple gripping units 21 on the robotic arm 1, which is conducive to batch picking. Each first driver 214 can be activated separately so that each gripping unit 21 can perform a placement movement independently, inserting the workpiece 100 into each target position of the pipe in a preset order. This effectively improves the processing accuracy and operation uniformity of implanting internal support components in the pipe, thereby improving work efficiency and solving the problem of low process efficiency of implanting steel needles in pipes in the prior art.

[0032] Regarding the structure on operator 2, please refer to one embodiment of this application. Figure 2 and Figure 3 Each gripper 212 includes a pair of gripping fingers 213. The gripping points of the pair of gripping fingers 213 on both ends of the same connecting plate 211 are coaxially aligned so that the workpiece 100 can be gripped synchronously when the gripping fingers 213 at both ends come together. This effectively improves the stability of gripping the workpiece 100 and ensures the perpendicularity of the workpiece 100 when it is gripped, which is beneficial for implantation operations at the target position.

[0033] In this embodiment, the movement of the pair of gripping fingers 213 can preferably be a translational opening method, that is, when the two gripping fingers 213 move outward respectively, the two gripping fingers 213 move away from each other and open to release the workpiece 100; and when the two gripping fingers 213 move closer to each other and translate, they grip the workpiece 100.

[0034] In other embodiments (not shown in the figure), the pair of gripping fingers 213 are opened by flipping outwards, that is, the two gripping fingers 213 are flipped open to the sides in opposite directions to increase the opening range between the two gripping fingers 213.

[0035] In one embodiment of this application, please refer to the following: Figure 1 and Figure 2 The operator 2 also includes a base plate 22, and multiple gripping units 21 are spaced apart on the base plate 22, with each gripping unit 21 corresponding to the placement position of the workpiece 100.

[0036] Thus, when the operator 2 moves to the feeding device, the operator 2 can simultaneously grip multiple workpieces 100 in one picking operation through each gripping unit 21, thereby realizing batch picking operation and effectively improving picking efficiency.

[0037] Regarding the connection structure between the operating end of the robotic arm 1 and the operator 2, please refer to one embodiment of this application. Figure 1 and Figure 4The robotic arm 1 is also equipped with a turntable 11 on its operating end, and the base plate 22 on the operator 2 is connected to the turntable 11.

[0038] This allows the operator 2 to rotate 360 ​​degrees, which facilitates flexible switching between the feeding device 3 and the target position of the workpiece 100, as well as the picking up or placing of the workpiece, effectively improving work efficiency.

[0039] To facilitate the individual part-picking operations of each gripping unit 21 on the operator 2, the feeding section of this equipment has been modified accordingly. Please refer to another embodiment of this application as well. Figure 5 , Figure 6 and Figure 7 The pipe support implantation device also includes a feeding device 3, which comprises a conveyor belt 4, a feeding tray 5, and a sorting mechanism 6. The sorting mechanism 6 is located between the feeding tray 5 and the conveyor belt 4, and is used to output the workpieces 100 in the feeding tray 5 to the conveyor belt 4 at intervals. In actual operation, a large number of workpieces 100 (steel needles) are loaded in the feeding tray 5, and the function of the sorting mechanism 6 is to output the workpieces 100 in the feeding tray 5 to the conveyor belt 4 in an orderly and interval manner.

[0040] The conveyor belt 4 is provided with multiple material carriers 41 for carrying workpieces 100, and the multiple material carriers 41 are spaced apart on the conveyor belt 4. The conveyor belt 4 can preferably be driven by a combination of a drive motor and drive wheels. The multiple material carriers 41 move along the conveyor belt 4 as it rotates, and orderly carry the workpieces 100 towards the output end of the conveyor belt 4. In this embodiment, as... Figure 5 and Figure 6 As shown, the input end of the conveyor belt 4 is set lower than its output end, so that the entire conveyor belt 4 is tilted towards the feed tray 5. The material carrier 41 on the conveyor belt 4 orderly carries the workpiece 100 from the input end of the conveyor belt 4 and moves towards the output end of the conveyor belt 4 so that the robotic arm 1 can perform a workpiece picking operation.

[0041] Thus, the sorting mechanism 6 is set between the conveyor belt 4 and the feed tray 5. The sorting mechanism 6 is used to output the workpieces 100 in the feed tray 5 to the conveyor belt 4 at intervals, realize the individual separation of the workpieces 100, and ensure that each material carrier 41 on the conveyor belt 4 carries only a single workpiece 100. This allows each gripping unit 21 on the operator 2 to grip the workpieces 100 separately when the operator 2 picks up the workpieces in batches on the conveyor belt 4. This is beneficial for subsequent operations such as orderly implanting the workpieces 100 into the target positions of the pipe, and effectively improves the operating efficiency.

[0042] As can be seen, the tube support implantation device provided in this application embodiment, through the cooperation of multiple gripping units 21 on the robotic arm 1 and the mutual cooperation of the sorting mechanism 6 in the interval feeding of workpieces 100 during the feeding process, realizes the automated operation of batch picking and orderly implantation of workpieces 100 in the tube, effectively improving processing efficiency and solving the problems of low efficiency, insufficient precision and inconsistent quality of traditional single needle picking and implantation methods. It is particularly suitable for application in large-volume and high-precision processing scenarios.

[0043] For the specific structure of the sorting mechanism 6, please refer to one embodiment of this application. Figure 2 , Figure 6 and Figure 8 The sorting mechanism 6 includes a push rod 61, a lifting device 62, and a flow restrictor 63 capable of opening and closing. The output end of the lifting device 62 is connected to the push rod 61. The lifting device 62 is used to drive the push rod 61 to move up and down in the feed tray 5, so as to lift the workpieces 100 one by one to the input end of the conveyor belt 4.

[0044] The flow restrictor 63 is installed at the input end of the conveyor belt 4 to block the workpiece 100, and the workpiece 100 is released onto the conveyor belt 4 intermittently by the opening and closing movement of the flow restrictor 63.

[0045] In this embodiment, as Figure 6 and Figure 8 As shown, the feed tray 5 can preferably be a feed tray 5 with a vibration function. The feed tray 5 is preferably funnel-shaped so that the feed tray 5 has a low position, which is set close to the input end of the conveyor belt 4, so as to use the low position in the feed tray 5 to gather the workpiece 100 onto the input end of the conveyor belt 4.

[0046] Since the workpiece 100 is a long, narrow steel needle, lifting it from a single point can easily cause it to tilt or slip. To improve the stability of lifting the workpiece 100, it is preferable to provide multiple push rods 61, and use multiple push rods 61 to lift the workpiece 100 simultaneously to ensure the stability of the lifting process. In this embodiment, as... Figure 8 As shown, these push rods 61 are all positioned at the low end of the feed tray 5. The lifting device 62 can preferably be a drive cylinder, with a push plate 621 connected to the output end of the drive cylinder. This push plate 621 is integrated with each push rod 61. When the lifting device 62 is started, it can synchronously drive each push rod 61 to move up and down, thereby smoothly lifting the workpieces 100 gathered at the low end of the feed tray 5 to the input end of the conveyor belt 4, effectively improving sorting efficiency.

[0047] In this way, the flow restriction plate 63 is used to restrict the flow of the workpiece 100 lifted by the push rod 61, so as to realize the intermittent feeding operation on the conveyor belt 4, laying the foundation for the precise picking up of the workpiece by the multiple gripping units 21 on the subsequent operator 2.

[0048] Please refer to the embodiments in this application as well. Figure 8 and Figure 9 A step 51 is provided between the input end of the conveyor belt 4 and the feed tray 5. A guide slope 611 is provided on the top of the push rod 61. The guide slope 611 is used to guide the workpiece 100 to be pushed onto the step 51.

[0049] In this way, the guide ramp 611 on the top of the push rod 61 limits the direction of movement of the lifted workpiece 100, realizes the physical guidance of the workpiece 100, and guides the workpiece 100 to the conveyor belt 4 respectively, effectively eliminating the risk of jamming of the workpiece 100 during the conversion process from the feed tray 5 to the conveyor belt 4, which is conducive to reducing the empty load rate of the material carrier 41 on the conveyor belt 4.

[0050] Based on the above, please refer to Figure 9 The top of the push rod 61 also has a discharge surface 612 that is connected to the guide slope 611 and is inclined in the opposite direction. The discharge surface 612 is used to guide the multi-push workpiece 100 back into the feed plate 5.

[0051] In this embodiment, the top surface of the push rod 61 includes a connected guide slope 611 and a discharge surface 612 inclined in the opposite direction. The guide slope 611 is inclined towards the input end (i.e., step 51) of the conveyor belt 4 to guide the lifted workpiece 100 onto the conveyor belt 4. The discharge surface 612 is an inverted slope to accurately guide the over-lifted workpiece 100 back into the feed tray 5.

[0052] Preferably, in this embodiment, the area of ​​the discharge surface 612 on the top of the push rod 61 is larger than the area of ​​the guide slope 611, and the area of ​​the guide slope 611 matches the area of ​​a single workpiece 100, so that the single workpiece 100 lifted by the push rod 61 can preferentially transfer along the guide slope 611, and the remaining workpieces 100 located outside the guide slope 611 will flow back to the feed tray 5 along the discharge surface 612, thereby realizing the automatic return of the workpieces 100.

[0053] Thus, the top of the push rod 61 has a bidirectional guiding structure formed by the combination of the guide slope 611 and the discharge surface 612. Automatic sorting is achieved by utilizing the weight of the workpiece 100 and the guiding structure of the two slopes. Excess workpieces 100 can be returned without additional power, effectively improving sorting efficiency.

[0054] For the driving structure of the current limiting plate 63, please refer to one embodiment of this application. Figure 8 and Figure 9 The sorting mechanism 6 also includes a second driver 54 connected to the flow restrictor 63. The second driver 54 is used to drive the flow restrictor 63 to open and close on the step 51 to release the workpiece 100 at intervals.

[0055] In this embodiment, the second actuator 54 can preferably be a drive cylinder. The output end of the second actuator 54 is connected to the flow restrictor 63 via a combination of a connecting rod 641 and a rotating shaft 642. The flow restrictor 63 is fixedly connected to the rotating shaft 642 and has a baffle plate 631 that extends obliquely onto the step 51. Under normal conditions, the baffle plate 631 on the flow restrictor 63 blocks the workpiece 100 on the step 51. When the drive cylinder is activated, it pulls the connecting rod 641 to rotate the rotating shaft 642, thereby controlling the flow restrictor 63 to rotate, so that the baffle plate 631 on the flow restrictor 63 opens on the step 51 to release the workpiece 100.

[0056] In practical applications, the activation coordination between the second driver 54 and the lifting device 62 can be configured such that when the lifting device 62 drives the top rod 61 to lift the workpiece 100, the flow limiting plate 63 remains in a blocking state; when the lifting device 62 drives the top rod 61 to descend, the second driver 54 is activated to open the flow limiting plate 63 to release the workpiece 100, thereby forming a closed-loop control coordination of "lifting-blocking" and "descending-releasing", effectively realizing the intermittent release action of the workpiece 100.

[0057] This facilitates the coordination between the lifting device 62 and the control of the top rod 61, thereby improving the stability of the sorting cycle.

[0058] For the structure on conveyor belt 4, please refer to one embodiment of this application. Figure 6 , Figure 7 and Figure 10 Each material carrier 41 on the conveyor belt 4 includes a pair of hooks 42 spaced apart. The spacing between the pair of hooks 42 can preferably match the length of the workpiece 100 (steel needle) so that the pair of hooks 42 can stably support the workpiece 100 and move on the conveyor belt 4 as the conveyor belt 4 operates.

[0059] The step 51 has notches 52 corresponding to the positions of a pair of hooks 42. In this embodiment, the step 51 has the same number of notches 52 as the hooks 42, and the shape of each notch 52 is adapted to the hook 42 so that the hook 42 can pass through the notch 52. In other embodiments (not shown in the figure), a large notch 52 that allows a pair of hooks 42 to pass through simultaneously can also be provided on the step 51 to achieve the same technical effect.

[0060] In actual operation, a pair of hooks 42, along with the operation of the conveyor belt 4, pass through the gaps 52 of the step 51 and carry away the workpieces 100 on the step 51 one by one.

[0061] Therefore, on the one hand, each material carrier 41 on the conveyor belt 4 is designed with a pair of hooks 42 spaced apart, so that a space is formed between the two hooks 42 that allows the workpiece 100 to be exposed, which is beneficial for the gripping unit 21 on the operator 2 to grip the workpiece 100 through the space.

[0062] On the other hand, a notch 52 is provided on the step 51 to cooperate with the hook 42, so that during the operation of the conveyor belt 4, the hook 42 can pass through the notch 52 and carry away the workpiece 100 on the step 51, so as to realize automated transfer operation and improve operating efficiency.

[0063] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A cannulated stent implantation apparatus, characterized by, The system includes a robotic arm, the operating end of which is equipped with an operating hand. The operating hand is equipped with multiple gripping units that can independently perform workpiece placement movements. The multiple gripping units are used to pick up parts in batches and place the workpieces in an orderly manner at various target positions. Each of the clamping units includes a connecting plate and grippers located at both ends of the connecting plate. Each of the clamping units also includes a first driver, the output end of which is connected to the connecting plate and is used to drive the connecting plate to perform translational movement, so that each of the clamping units can perform a placement action.

2. The cannulatlon stent implanting apparatus according to claim 1, characterized by: Each of the grippers includes a pair of gripping fingers. The gripping points of the pair of gripping fingers on both ends of the same connecting plate are coaxially aligned.

3. The cannulated stinger implant device of claim 1, wherein: The operator also includes a base plate, on which a plurality of gripping units are disposed at intervals.

4. The cannulatlon stent implanting apparatus according to claim 1, wherein: The robotic arm is also equipped with a turntable at its operating end, and the base plate on the operator's hand is connected to the turntable.

5. The cannulated stinger implant device of any one of claims 1 to 4, wherein: The pipe internal support implantation equipment also includes a feeding device, which includes a conveyor belt, a feeding tray and a sorting mechanism. The robotic arm is used to take parts in batches from the conveyor belt with the operator hand. The sorting mechanism is located between the feed tray and the conveyor belt. The sorting mechanism is used to output the workpieces in the feed tray to the conveyor belt at intervals. The conveyor belt is provided with a plurality of material carriers for carrying the workpieces respectively. The plurality of material carriers are arranged at intervals on the conveyor belt and carry the workpieces in an orderly manner as the conveyor belt operates.

6. The cannulatlon stent implanting apparatus according to claim 5, wherein: The sorting mechanism includes a push rod, a lifting device, and a flow-limiting plate that can open and close. The output end of the lifting device is connected to the push rod. The lifting device is used to drive the push rod to move up and down in the feed tray, lifting the workpieces one by one to the input end of the conveyor belt. The flow-limiting plate is set on the input end of the conveyor belt, and the workpieces are released onto the conveyor belt at intervals by the opening and closing movement of the flow-limiting plate.

7. The cannulatlon stent implanting apparatus according to claim 6, wherein: A step is provided between the input end of the conveyor belt and the feed tray, and a guide slope is provided on the top of the push rod. The guide slope is used to guide the workpiece to be pushed onto the step.

8. The cannulatlon stent implanting apparatus according to claim 7, wherein: The top of the push rod also has a discharge surface that is connected to the guide slope and is inclined in the opposite direction. The discharge surface is used to guide the multi-pronged workpiece back into the feed tray.

9. The cannulatlon stent implanting apparatus according to claim 7, wherein: The sorting mechanism also includes a second driver connected to the flow-limiting plate, the second driver being used to drive the flow-limiting plate to open and close on the step to release workpieces at intervals.

10. The pipe support implantation device according to claim 7, characterized in that: Each of the material carriers includes a pair of hooks spaced apart, and the step has a notch corresponding to the position of the pair of hooks; as the conveyor belt moves, the pair of hooks pass through the notch and carry the workpieces on the step away one by one.

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