Trocar needle grinder

Abstract

To provide: a fixture for a workpiece; and a system and a method for performing a machining operation using the fixture.SOLUTION: A fixture 100 includes a frame, a plurality of holders, an actuator and a bracket 104. Each holder is configured to receive and secure one workpiece 200. Each holder is rotationally coupled to the frame. The actuator is operatively coupled to the plurality of holders to drive rotation of the holders with respect to the frame. The bracket 104 allows for mounting the frame to a manipulator configured to move the fixture 100. The method includes the steps of: loading the workpiece 200 to the holder of the fixture 100; moving and / or rotating the workpiece 200 by the actuator; and moving / and or rotating the workpiece 200 by the actuator.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention generally relates to a fixture for a workpiece and a system for performing a machining operation. In particular, a fixture for holding and manipulating a workpiece and a machining operation using the fixture. This invention relates to a system for performing the above.

[0002] This application is a continuation of U.S. Provisional Patent Application No. 62 / 970,888, filed February 6, 2020. No. 8, the disclosure of which is incorporated herein by reference. This shall be included in the subsection. [Background technology]

[0003] The needles are manufactured by, among other things, grinding the needle tip against a polished surface. The needles are loaded into a cartridge or fixture and positioned against an abrasive surface. The needle may be polished one or more times during the sharpening process to achieve the desired needle tip shape. For example, a trocar needle must be rotated at least twice. This creates the three flat bevels required for the trocar needle. Polishing can be accomplished using a variety of polishing methods, including electropolishing.

[0004] In addition to the polishing operation, various other operations are required to complete the manufacture of the needle. For example, various pre-processing operations are required to prepare the needle for polishing, and the needle after polishing Various post-processing operations are required to prepare the tube for use. Among these various operations, one Or multiple needles are moved from one workstation to another. , held securely in place to complete the processing step at each workstation. It must be moved and rotated at each workstation. Summary of the Invention [Problem to be solved by the invention]

[0005] The various steps involved in needle manufacturing involve moving the needle through each of the workstations. It takes significant time and effort to move the needle and manipulate it at each manufacturing step. Therefore, improved needle manufacturing systems and methods are desirable. [Means for solving the problem]

[0006] In some embodiments, the present disclosure generally relates to fixtures for workpieces. In embodiments, the present disclosure relates to a system for performing machining operations using a fixture. In another embodiment, the present disclosure relates to a method for performing a machining operation using a fixture. .

[0007] In one aspect of the present disclosure, a fixture for holding a plurality of workpieces is presented. According to the invention, the fixture includes a frame, a plurality of holders, an actuator, a bracket, and Each holder is configured to receive and secure a workpiece. The actuator is rotatably connected to the frame. The bracket is operatively connected to the plurality of holders to drive the rotation of the bracket. The frame can be attached to a manipulator configured to move the tool. do.

[0008] According to this aspect, each holder includes a core configured to removably secure a workpiece. It may also be a let.

[0009] According to this aspect, each holder may be coupled to a holder gear. The shaft may include a shaft having a shaft gear. The shaft gear may be The holder may be operably coupled to the gear to drive rotation of the holder.

[0010] According to this aspect, the fixture minimizes or eliminates deflection of the workpiece during the machining operation. A support structure may be provided that is spaced apart from the holder to support the shaft gear. The holder gear may be operably coupled to the holder gear by a coupling gear. The actuator may be a linear actuator. The linear actuator is composed of a shaft gear. The actuator may comprise a rack gear driven by a pinion. In another aspect, the coupling gear may comprise an electric motor for driving the rotation of The first helical gear may extend along the shaft. The first helical gear may be substantially parallel to the shaft. The axis may be parallel to the shaft. The first helical gear is driven by a pulley driver. The pulley driver may be operably connected to the shaft gear. A belt may be provided which connects to the gears.

[0011] According to this aspect, the fixture minimizes or eliminates deflection of the workpiece during the machining operation. A support structure may be provided spaced apart from the holder to support the holder.

[0012] According to this aspect, the manipulator may be a robot. The fixture may comprise an arm having a distal end comprising a rotation actuator. the arm so that the actuator is operatively connected to the rotary actuator of the robot. It may be configured to be coupled to the distal end.

[0013] In a further aspect of the present disclosure, an end effector for a robot for holding multiple workpieces is provided. The end effector for a robot according to this aspect includes a plurality of holders and a shutter. Each holder includes a workpiece receiving member, a first connecting gear, and a second connecting gear. Each holder is connected to a corresponding gear. The shaft includes a shaft gear. The shaft rotates the shaft and drives the robot end effector. The first coupling gear is configured to move and position the actuator relative to the grinding wheel. The second connecting gear is connected to the first connecting gear and the holder gear. The rotation of the shaft by the robot rotates each of the holder gears, the first connecting gear, and Through two connecting gears, each of the multiple workpieces is simultaneously rotated around its respective workpiece axis. It looks like this.

[0014] In a further aspect of the present disclosure, a polishing system is provided. The system includes a polishing surface, an end effector, and a robot. The frame has a number of holders, each of which is adapted to receive and secure one workpiece. Each holder is rotatably connected to the frame. is operable to multiple holders to drive the rotation of the multiple holders relative to the frame. The robot is connected to the actuator of the end effector. The robot is configured to rotate the actuator to move the workpiece toward the first end effector. To polish at the first position, the workpiece is polished at the first position of the end effector. and in a second position of the end effector, the end effector is positioned so as not to contact the polishing surface. The actuator is configured to move and position the effector relative to the polishing surface. The rotation of the motor causes each of the multiple workpieces to rotate simultaneously about their respective workpiece axes. It is.

[0015] According to this aspect, each of the holders may be coupled to a respective holder gear. The rotor may include a shaft having a gear. The gear is attached to the frame. The holder may be operably coupled to the gear to drive rotation of the holder relative thereto. The shaft gear may be connected to the holder gear via a connecting gear. The first coupling gear may be coupled to a second coupling gear. The second coupling gear may have holder teeth. It may be coupled to a vehicle.

[0016] According to this aspect, the rotation of the actuator by the robot causes the polishing This may be done to polish the parts that do not contact the surface.

[0017] According to this aspect, the holder is configured to receive and secure the trocar needle. This may also be done.

[0018] According to this aspect, the polishing system may be an electropolishing system.

[0019] In a further aspect of the present disclosure, a method for polishing a workpiece is presented. The method includes the steps of: (i) loading a workpiece into a holder of an end effector; and (ii) ) The actuator moves the workpiece to perform one or more auxiliary operations on the workpiece. (iii) polishing the workpiece with the polishing surface. and at least one of moving and rotating the workpiece by an actuator to perform the above-described steps. The holder is rotatably connected to the frame. An actuator is operatively connected to drive rotation of the holder.

[0020] According to this aspect, the auxiliary operation may include either a pre-polishing operation or a polishing operation. Pre-sanding operations may include either material loading or material cutting. Post-sanding operations may include , deburring, grit blasting, inspection, and electropolishing of the workpiece. .

[0021] According to this aspect, the artifact may be a trocar needle.

[0022] According to this aspect, the actuator may be a robot. The method may further include attaching the end effector to the end effector.

[0023] According to this aspect, the instructions to perform steps (i)-(iii) are given by a human-machine It may be communicated via an interface.

[0024] The subject matter of the present disclosure and its various advantages will become more fully apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: will be more fully understood by examining [Brief explanation of the drawings]

[0025] [Figure 1] FIG. 1 is a front perspective view of a fixture according to one embodiment of the present disclosure. [Figure 2] FIG. 2 is a rear perspective view of the fixture of FIG. 1. [Figure 3] FIG. 2 is a front perspective view of the actuator mechanism of the fixture of FIG. 1. [Figure 4] FIG. 4 is a top view of the actuator mechanism of FIG. 3. [Figure 5A] FIG. 2 is an exploded view of the holder of the fixture of FIG. 1. [Figure 5B] FIG. 5B is a partial perspective view of an actuator mechanism for the holder of FIG. 5A. [Figure 5C] FIG. 5C is a partial cross-sectional view of the actuator mechanism of FIG. 5B taken along line AA. [Figure 6] FIG. 1 is a perspective view of a polishing system according to another embodiment of the present disclosure. [Figure 7] FIG. 7 is a perspective view of a robot attached to a fixture of the polishing system of FIG. 6. [Figure 8] FIG. 8 is a side view of the robot and fixture of FIG. [Figure 9] FIG. 8 is an enlarged side view of the robot and fixture of FIG. [Figure 10] FIG. 7 is a perspective view of the polishing process of the polishing system of FIG. 6. [Figure 11] FIG. 7 is a perspective view of a robot of the polishing system of FIG. 6. [Figure 12] FIG. 10 is a schematic diagram of a machining system according to another embodiment of the present disclosure. [Figure 13] FIG. 10 is a front perspective view of a fixture according to another embodiment of the present disclosure. [Figure 14] FIG. 14 is a front perspective view of the fixture of FIG. 13 partially disassembled to show the actuator mechanism. [Figure 15] FIG. 14 is a rear perspective view of the partially disassembled fixture of FIG. 13. [Figure 16] FIG. 14 is a front perspective view of the actuator mechanism of the fixture of FIG. [Figure 17] FIG. 17 is a front perspective view of the actuator mechanism of FIG. 16 partially disassembled to show the components. [Figure 18] FIG. 10 is a front perspective view of a fixture according to another embodiment of the present disclosure. [Figure 19] FIG. 19 is a front perspective view of the tool changer of the fixture of FIG. [Figure 20] FIG. 20 is a rear perspective view of the tool changer of FIG. 19. DETAILED DESCRIPTION OF THE INVENTION

[0026] Reference will now be made in detail to various embodiments of the present disclosure, as illustrated in the accompanying drawings. Wherever possible, the same or similar reference numbers will be used throughout the drawings to refer to like features. Please note that the drawings are simplified and not drawn to scale. Additionally, as used herein, the article "a" means "at least one" It means "east one".

[0027] As used herein, the terms "needle" and "workpiece" refer to are used interchangeably and unless otherwise stated, if either term is explicitly used, , other terms are expressly used. Similarly, the term "fixture" , "end effector" and "robotic end effector" The terms "end effector" and "end effector" are also used interchangeably, and unless otherwise specified, these terms If any of the terms is explicitly used, the other terms are also explicitly used. .

[0028] 1 and 2 show front and rear perspective views of a fixture 100 according to one embodiment of the present disclosure. The fixture 100 includes a plurality of cores for receiving and securing one or more workpieces 200. The collet 102 includes a frame that holds the collet 102. The collet 102 is described more fully below. As shown, workpieces of different thicknesses and lengths can be accommodated. , is loaded into the collet 102 and is firmly fixed to the collet 102. The collet 102 is attached to a (not shown) via the coupling structure 144 and a pair of mounting arms 112. The shaft 110 is connected to a manipulator such as a robot. The bracket 104 is surrounded by a mounting end 118 for mounting the bracket 104. This is best seen in FIG. As shown, one or more connections 1 for providing control and / or power to the fixture. 30 is provided on the shaft 110. For example, the connecting portion 130 is The motor 156 controls the rotation of the brake. A stepper motor or servo motor is shown disposed within the racket 104. The electric motor may be such an electric motor.

[0029] The fixture 100 minimizes deflection of the workpiece 200 during machining processes such as grinding. The workpiece 200 includes a support structure 116 for adding or eliminating the workpiece 200 (as shown). Extends beyond the support structure 116 to allow contact with the polishing surface (not shown) When the workpiece is pressed against the polishing surface for polishing, the support structure 116 prevents the workpiece from deflecting during polishing. It acts as a back support to minimize or eliminate cracks.

[0030] The fixture 100 may be anchored to another structure, such as a machining bed or other tool. The device has a plurality of mounting structures 132 that allow the device to be attached or mounted. As will be described in detail below, a piston 150 is operated to open and close the collet 102. A plurality of ports 134 are provided in the base 152 for connecting the robot to the mounting end 118. The mounting end 118 includes a recess 136 for receiving a corresponding head (not shown). configured to engage the distal end of the robot to securely attach the fixture 100 to the robot The apparatus includes a plurality of fixtures 138 and dowel pins 122. The operating temperature of the fixtures is adjusted to a desired level. Allows refrigerant to flow across fixtures (not shown) to maintain the A coolant port may be provided in fixture 100 .

[0031] Referring now to FIG. 3, a front perspective view of the actuator mechanism of fixture 100 is shown. The shaft 110 includes a shaft gear 128 connected to the upper gear rack 106. The shaft gear 128 and the upper gear rack 106 rotate as follows: A rack and pinion mechanism is formed that causes the linear movement L1 of the rack 106. The rotation of the wheel 128 is caused by rotating the shaft 110 around the shaft central axis A2 as shown in FIG. This is done by rotating as

[0032] The upper gear rack 106 is aligned with the lower gear rack 108. As shown in FIG. 3, the upper gear rack 106 is mounted to move in parallel with the Linear movement L1 causes a similar linear movement L2 of the lower gear rack 108. 02 is coupled to collet gear 126. Collet gear 126 is coupled to lower gear rack 10 8, so that the linear movement L2 of the lower gear rack is centered on the central axis A1 of the workpiece. This forms a second rack and pinion mechanism that generates rotation R1 around the shaft center. Rotation of the shaft 110 causes rotation of each workpiece 200. The rotation of each workpiece can be controlled as desired by adjusting the gear ratio. The increased gear ratio of the rack and pinion makes the rotation of the workpiece more accurate, while the The reduced gear ratio allows the workpiece to rotate faster. This embodiment has two sets of gear racks. Although two rack and pinion mechanisms are shown, in other embodiments, the rotation of shaft 110 There is only one rack and pinion mechanism that converts the rotation R2 into the rotation R1 of each workpiece. In this embodiment, the rotation R2 of the shaft 110 is set to the rotation R1 of each workpiece 200. To convert the rotational-linear motion into the linear motion, a rack-and-pinion mechanism is used. In an embodiment, to convert the rotation R2 of the shaft 110 to the rotation R1 of each workpiece 200, Other gear mechanisms such as herringbone gears, bevel gears, worm gears, and internal gears are used. For example, a chain may be used to connect the shaft 110 and the collet 102 together. A gear or belt drive may be used, in which case the shaft gear 128 and collet teeth Each of the wheels 126 may be in the form of a sprocket connected to a loop of roller chain, for example. In other embodiments, a shaft 1 may be used to rotate each workpiece 200. Ten rotary-to-linear transformations may be used.

[0033] FIG. 4 shows a top view of the actuator mechanism of the fixture 100. The distance D1 between the end 202 and the support 116 is larger than the protrusion of the workpiece 200. The distance between the distal surface of the collet 102 and the support 116 in the workpiece 200 is defined as the distance between the distal surface of the collet 102 and the support 116. The distance D2 is between the fixed end (collet 102) and the free end (workpiece 200 above support 116). Therefore, the portion of the workpiece 200 defined by the distance D2 is When the workpiece 200 is not in contact with the support 116, it functions as a cantilever. is adjustable by moving the support 116. For example, a linear slot 158 and one or more locking bolts 160 to allow the support 116 to be positioned in different positions. This adjustment feature allows the device to be slid into place and locked into position. and / or may be used when polishing a workpiece 200 made of thin material, e.g. In order to reduce the curvature of the workpiece 200 during polishing, the distance D1 is minimized. The adjustment of the support 116 to change the distances D1 and D2 can be performed in a robotic manner. By using a manipulator, the desired adjustment can be automated. This allows the robot to adjust these distances based on input from the operator. Air or fluid pressure ports 166, as shown in FIG. 2, allow air or fluid pressure to be applied to the support 116. For example, the support 116 can be lowered by air or fluid pressure control. This allows the collet 102 to be loaded with the workpiece 200 and then compressed air or The support 116 is lifted by hydraulic control to provide flexible support to the workpiece. can bring about.

[0034] As best seen in FIG. 4, a linear rail 140 is connected to the collet 102. The base is attached to the shaft 110 via a mounting portion. 152 includes a piston 150 connected to the U-arm 148. As shown in FIG. An end cap 114 secures the piston 150 to the base 152 .

[0035] FIG. 5A shows an exploded view of the workpiece 200, collet 102, and collet gear 126. The fabrication 200 includes a distal end 202 and a proximal end 204. In this embodiment, The workpiece 200 is a trocar needle with a distal end 202 having three beveled surfaces. In this embodiment, other needle tip types, such as, but not limited to, diamond Other possible shapes include a thorn tip, a thorn, a back bevel, a menghini, a razor blade, etc. Fixture 100 may be utilized with any polishing system, such as, for example, an electropolishing system. The diameter of the collet opening 154 is sized to receive and secure the proximal end 204 of the workpiece 200. Specifically, the bushing 146 and the collet 102 along the axis A1 The relative translation between the collet 102 and the bushing 146 causes the tapered end 162 of the collet 102 to move toward the bushing 146. The workpiece 200 is gradually tightened within the opening 154, thereby reducing the size of the opening 154. The collet 102 is also adapted to hold the workpiece 200 behind the collet (not shown). It can also be loaded through the side opening.

[0036] 5B and 5C show perspective views of the actuation mechanism that opens and closes the collet 102. The power supply 150 is connected to port 134. As best shown in FIG. 5C, port 13 4 as a hydraulic or pneumatic port, which allows the piston 1 The piston 50 can be caused to make a linear movement L3. Extension of the stone 150 pushes the U-arm 148, causing the U-arm 148 to move about the pivot 164. 1. The collet 102 is pivoted about the shaft 124, causing the collet gear 126 to engage the collet 102 with the bushing 14. 6, thereby closing the opening 154. When the collet gear 126 moves toward 4, it pushes the collet 102 out of the bushing 146. This causes the collet 102 to open. Alternatively, the collet 102 can be moved directly into and out of the bushing using a link. Then, the linear movement L3 of the piston causes the U-arm 148 to move between the collet 102 and the bushing. 146 to fix or release the workpiece 200. This may be done by a manipulator such as a robot, which allows the collet 102 This allows for fully automated loading / unloading and adjustment of workpieces to / from the system.

[0037] Although fixture 100 is generally described herein in connection with abrasive processing, fixture 100 is a tool for receiving, clamping, manipulating, and removing workpieces in any other machining operation. Fixture 100 may be used in conjunction with a robot as described herein. Although generally described as such, other embodiments may include manual means to fully automated means. The rotation of the shaft 110 can be controlled by a robot or other machine. Although generally described as being performed by a manipulator, in other embodiments, a motor 156 is designed to rotate the shaft 110 by itself without the need for a manipulator. In other embodiments, the motor 156 may be a robotic motor that rotates the shaft. It may also be used in conjunction with a manipulator such as a robot.

[0038] Referring to FIG. 6, a perspective view of a machining system according to another embodiment of the present disclosure is shown. In this embodiment, the polishing system 300 is shown as an example, but other embodiments may be used. In this case, other machining systems such as cutting systems, welding systems, drilling systems, etc. are used. The polishing system 300 includes a fixture 100 coupled to a robot 400. The polishing system includes a polishing wheel 302 for polishing the workpiece and a coolant for the polishing process. As shown in FIG. 6, the cooling system has a cooling medium tank 304 that supplies the cooling medium. A machine base 306 is also provided for controlling the machine. A control panel 310 provides inputs for operator control. The operator operates the control panel 3, which is equipped with a display for monitoring the polishing process. The polishing process can be monitored and controlled via 10.

[0039] FIG. 7 shows details of the polishing wheel 302 of the polishing system 300. The polishing wheel 302 , abrasive surface 320. The abrasive stone guard 312 protects the operator and surrounding area during the abrasive process. The motor 314 and various other accessories are positioned above the polishing surface 320. The polishing bed 318 is positioned below the polishing surface 320. The fixture 100' is positioned on a shelf 316 adjacent to the polishing surface 320 and the robot 400. can be.

[0040] 8-10, a polishing system 300 according to another embodiment of the present disclosure is used to polish a Various views of the method of performing the polishing are shown. The workpiece 200 is inserted into the collet of the fixture 100. 9, a robot coupled to fixture 100 is installed in fixture 102. 400 positions the fixture 100 so that the distal end 202 of the workpiece 200 contacts the abrasive surface 320. The coolant is injected across the width of the polishing surface 320 via a plurality of injection hoses 322. The workpiece 20 is provided with a polishing blade to reduce thermal damage and remove abrasive debris from the workpiece. After grinding the first bevel surface of the distal end 202 of the fixture 100, the robot 400 grinds the fixture 100. 320, and the shaft of fixture 100 is moved away from polishing surface 320, as described more fully below. Rotating the shaft 110 rotates the workpiece. Depending on the type of tool, i.e., trocar, diamond tip, etc., the workpiece is polished and This is repeated until the desired shape is achieved. The robot 400 then The fixture 100 with the workpiece pre-loaded is disengaged. ' will be taken up and polished into new processed products.

[0041] Referring to FIG. 11, a robotic arm may be used with fixture 100 in polishing system 300. An example of a robot 400 is shown. The robot 400 is received within the recess 136 of the fixture 100. The fastener 138 and the dowel pin 12 are provided with a head 402 configured to be inserted therein. 2, the robot 400 is fixed to the fixture 100 via the head 402. The head 402 is configured to rotate about the axis A2 of the shaft 110. The robot 400 can be equipped with actuators. 8. Each of these joints is configured to rotate around a respective axis. Joint 404 rotates about axis A3, producing rotation R3. As best shown in FIG. 11, joints 406 and 408 are connected to axes A4 and A5, respectively. The rotation center R4 and R5 are generated. The base 410 of the robot 400 rotates about axis A6, resulting in rotation R6. Therefore, in addition to the rotation of the shaft 110 about the shaft axis A2, the robot 40 0 positions the head 402 in various degrees of freedom provided by the joints, and the fixture 100 To perform the polishing process, the fixture 100 of the present disclosure has two Note that this can be used with robots with 3-DOF, 4-DOF, or 5-DOF. I want to be done that.

[0042] FIG. 12 illustrates a machine using fixture 100 and robot 400 according to another embodiment of the present disclosure. 5 shows a schematic diagram of a machining system 500. The machining system 500 is a fully automated Although a needle manufacturing system is shown, the machining system disclosed herein may be used in conjunction with other The needle manufacturing system 500 can be used for machining any product. or a semi-automated needle manufacturing system, in which all or most of the manufacturing steps are performed by a fixed This is done by manipulating the workpiece loaded into the tool 100 with a robot. The manufacturing system 500 includes a pre-polishing operation 502, a polishing process 504, and a post-polishing operation 506. The workpiece 200 is manually moved while the fixture 100 is coupled to the robot 400. Thus, fixture 100 may be pre-loaded, or fixture 100 may be attached to robot 40. 0, the workpiece 200 is manually preloaded into the fixture 100, and Thereafter, fixture 100 may be coupled to robot 400. 00 is attached to the robot 400 while the robot 400 holds the workpiece 200 The tool 100 can also be loaded automatically.

[0043] When the fixture 100 containing the workpiece 200 is coupled to the robot 400, the robot 400 , the workpiece can be moved for various pre-polishing operations 502. 00 may be used in any pre-sanding operation 502, for example, to position and orient the fixture 100. and rotating the workpiece via the shaft 110. The workpiece can be manipulated by at least one of: Cutting the workpiece to the desired length by, but not limited to, electrolytic or abrasive cutting methods These include handling, pre-polishing cleaning, pre-polishing testing, etc. The robot 400 opens the collet and processes The collet 102 is penetrated by forcing the product against the back stop to achieve the desired length. It is configured to adjust the length of the workpiece being threaded.

[0044] As will be described in more detail below, after completing the pre-sanding operations 502, the robot 400: The workpiece 200 is placed against the abrasive surface so that the distal end of the needle has the desired shape. Position and operate fixture 100.

[0045] Once the needle is ground to the desired shape, the robot 400 moves the fixture 100 504. As with the pre-polishing operations, the robot The robot 400 can, for example, move the fixture 100 to change its position and orientation. and / or rotating the workpiece via the shaft 110, The workpiece may be manipulated in each of the post-sanding operations 504. Examples of post-sanding operations include: This includes, but is not limited to, grit blasting, inspection (and polishing to make up for any shortcomings as needed). (additional polishing for polishing), electrolytic polishing, packaging, etc.

[0046] The machining system 500 allows the operator to operate the control panel 310 shown in FIG. Control the operation of the system using a human-machine interface (HMI) such as However, the HMI is a separate "touchscreen" that is connected to the control device for the robot. Rather than using a "teach box" or "teach pendant," the HMI itself Preferably, the computer 400 is configured to be programmable and reprogrammable. Furthermore, the fixture design of the present disclosure allows for sufficient maneuverability of the workpiece, i.e., all of the workpiece Rotation and positioning, the fixture allows the operator to perform many different machining operations. The robot 400 can be conveniently programmed (e.g., via an HMI) to As a result, the machining system of the present disclosure can Various different components, such as different needle types (e.g., polishing and pre-polishing / post-polishing processes) fully automated robotic machining that can be easily programmed to manufacture In contrast to traditional automated machine tending processes, refers to the machining operations that are primarily performed on one or more components in a machining operation designed to produce a particular component. Utilizing robots to perform a number of specific tasks (e.g., loading and unloading functions) This allows for different sequences of machining operations required to produce different components. A significant effort is required to design and implement the system.

[0047] Referring to FIG. 13, a front perspective view of a fixture 600 according to another embodiment of the present disclosure is shown. Fixture 600 is similar to fixture 100, and like elements are designated by like numbers in the 600 series. For example, fixture 600 is a fixture for fixing workpiece 200. Collet 602 and minimize deflection of workpiece 200 during machining processes such as grinding. and a support structure 616 for providing control and / or power to the fixture. However, as best shown in FIG. 1. The shaft 610 and motor 656 of the fixture 600 are oriented perpendicular to the orientation shown in FIG. 6. The shaft 610 and the motor 6 56 is preferably the direction defined between the robot head 402 and the edge of the workpiece 200. As shown in FIG. 14, this orientation allows fixture 600 11) configured to couple to the recess 636 of the robot head 402 and the collet 602 holding the workpiece 200. The moment load applied to the robot 400 during machining operations utilizing the 600 is reduced. can be.

[0048] The fixtures 600 are individually positioned above the collets 602 as shown in FIG. Coolant nozzle 613 is located directly above the workpiece. This provides for improved cooling and therefore improved machining operations. The debris is cooled by a separate coolant supply directed at each workpiece by a respective nozzle 613. The nozzle 613 is easily connected to a coolant source that supplies the coolant. A fluid path is provided through fixture 600 to connect the fluid path. 600 to provide coolant to the workpiece 200 throughout the various machining operations. The supply can be suitably maintained and controlled.

[0049] 15-17 show the actuator mechanism of fixture 600. The collet mechanism includes a main helical gear 609 that extends across the fixture 600. 2 is a collet connected to the main helical gear 609, as best shown in FIGS. As shown in FIG. 17, the main helical gear 611 has a rotation axis A10 as its center. The rotation of the wheel 609 causes all of the collet helical gears 611 to rotate simultaneously about the axis A11. The rotation axis A10 is parallel or substantially parallel to the shaft 610. By rotating gear 609, all of the workpieces 200 can be rotated simultaneously. The driven gear 615 located at one end of the main helical gear 609 can be driven by a belt, chain, or 613 is connected to a drive gear in the form of a shaft gear 613 via a drive connection of the same kind. The gears 609 and 615 may be finely ground spur gears. The gears reduce backlash to allow the workpiece to rotate accurately, while at the same time ensuring continuous and precise movement of the workpiece. However, other types of gears (e.g. helical gears) can be used alternatively. The shaft gear 613 is controlled by the rotation of the shaft 610. Thus, rotation of shaft 610 controls the simultaneous rotation of each workpiece 200. As shown, the pulley cover 607 houses the driven gear 615 and the shaft gear 613. Instead of the rack and pinion mechanism shown in Figure 3, the The advantage of using such a helical gear mechanism is that the helical gear mechanism allows for arbitrary rotation of the collet 602. The advantage of the helical gear mechanism is that there is no limit to the amount of rotation in the direction. In addition to the ease of programming the system to manufacture a variety of different components, This has the advantage of allowing for greater flexibility in the type of components that can be manufactured. For example, the amount of rotation is not limited in any rotation direction, so that the conical tip of the workpiece 200 can be easily rotated. It can be easily polished.

[0050] Referring to FIG. 18, a tool changer according to another embodiment of the present disclosure is shown. Fixture 700 is shown having a stud 800. Fixture 700 is similar to fixture 600. and like elements are designated by like numbers in the 700 series. The fixture 700 includes a collet 702 that secures the workpiece 200 during machining operations such as grinding. support structure 716 for minimizing or eliminating deflection of workpiece 200; and fixture 700. and one or more connectors 730 that provide control and / or power to the A tool changer 800 coupled to the fixture 700 allows for quick and easy transfer of the tool to the robot 400. Allows for easy connection.

[0051] The tool changer 800 is a fixed tool changer, as best shown in FIGS. 19 and 20, respectively. The fixture mounting end 804 is attached to the fixture 60. 0 bracket 604 (see FIG. 15). The fixture 700 and the robot 4 have a quick change interface that can be easily attached to the fixture. 00 and via the tool changer 800 to provide an electrical interface Various electrical connectors, such as modules 806, 810 having male / female pin arrangement 808, are included. connected to the tool changer 800. Multiple through ports to the tool changer 800 812 allows fluid to pass through the tool changer 800 between the fixture 700 and an external source. For example, a path may be provided through fixture 700 during various machining operations (e.g., cooling A coolant container is attached to the tool chamber to supply coolant (through the coolant nozzle 713) to the workpiece 200. The robot 400 may be coupled to a toolchain 800 coupled to a fixture. The system automatically selects the desired fixture by interfacing with the The program may be designed in this way.

[0052] In general, a trocar needle is used as an example of a needle in various embodiments of the present disclosure. Although the above embodiments have been described in detail, they are not limited to, for example, back bevels. Tip needle, bias ground needle, diamond tip needle, Menghini needle needles, probe tip needles, razor blade needles, stylers, tri-faceted lancets It may be used with any needle type, such as a needle.

[0053] Furthermore, although the invention disclosed herein has been described with reference to particular features, these features may be used interchangeably. It should be understood that the features are merely illustrative of the principles and applications of the present invention. Many modifications may be made to the exemplary embodiment, including changes in the dimensions of various features described herein. It is understood that other arrangements may be made and devised without departing from the spirit and scope of the present invention. In this regard, it should be understood that the present invention resides in the specific features described in the following paragraphs. In addition, many additional features are included. Furthermore, the foregoing disclosure is not intended to limit the present invention. It should be considered as illustrative rather than illustrative because the present invention are numbering symbols that describe features recited in the following claims according to various embodiments of the invention. as defined in the example paragraph given above.

Claims

1. 1. A fixture for holding a plurality of workpieces, comprising: The frame and a plurality of holders, each holder configured to receive and secure one workpiece; a plurality of holders rotatably coupled to the frame; a plurality of holders for driving the rotation of the plurality of holders relative to the frame; an actuator operatively connected to the Attaching the frame to a manipulator configured to move the fixture and a bracket for A fixture comprising:

2. Each of the holders is a collet configured to removably secure the workpiece. The fixture of claim 1 .

3. Each of the holders is connected to a holder gear, and the actuator is connected to a shaft gear. the shaft gears rotate the holders relative to the frame.

10. The fixing device of claim 1, wherein the fixing device is operably connected to the holder gear to drive the rotation of the holder gear. Ingredients.

4. The shaft gear is operably coupled to the holder gear by a linear actuator. The fixture of claim 3 .

5. The linear actuator is driven by a pinion made up of the shaft gear.

5. The fixture of claim 4, comprising a rack gear.

6. The actuator comprises an electric motor for driving the rotation of the shaft.

4. The fixture of claim 3 .

7. The shaft gear is operably connected to the holder gear by a first helical gear.

4. The fixture of claim 3 .

8. The fixture of claim 7 , wherein the first helical gear is parallel to the shaft.

9. The first helical gear is operatively connected to the shaft gear by a pulley driver.

9. The fixture of claim 8.

10. The pulley driver has a continuous loop connecting the shaft gear to the first helical gear. The fixture of claim 9 comprising:

11. The fixture may include: The fixture of claim 1 , further comprising a support structure spaced apart from the holder.

12. The fixture of claim 1 , wherein the manipulator is a robot.

13. The robot includes an arm having a distal end with a rotary actuator, and the fixed The actuator of the fixture is adapted to operate the rotation actuator of the robot. the distal end of the arm is adapted to be coupled to the distal end of the arm. Item 13. The fixing device according to item 12.

14. 1. A robot end effector for holding a plurality of workpieces, comprising: a plurality of holders, each holder configured to receive and secure one workpiece; a plurality of holders, each holder being connected to a holder gear; A shaft with a shaft gear for rotating the shaft and for rotating the robot. configured to move and position the grinding end effector relative to the grinding wheel; a shaft attached to the robot; a first connecting gear connected to the shaft gear; a second connecting gear connected to the first connecting gear and the holder gear; Equipped with The rotation of the shaft by the robot rotates the holder gears, the first connecting gear, and via the second connecting gear, each of the plurality of workpieces is rotated about each workpiece axis. A robot end effector that rotates simultaneously.

15. 1. A polishing system comprising: A polished surface; An end effector comprising a frame having a plurality of holders, each holder comprising: Each holder is configured to receive and secure a workpiece, and is rotatably coupled to the frame. an actuator coupled to the frame for driving rotation of the plurality of holders relative to the frame; an end effector having a motor operably coupled to the plurality of holders; A robot coupled to the actuator of the end effector, a first position of the end effector to rotate the workpiece; the workpiece is positioned at the first position of the end effector for polishing in the first position. and contacting the abrasive surface at a second position of the end effector. The end effector is moved and positioned relative to the polishing surface so as not to A robot configured as follows: Equipped with Rotation of the actuator simultaneously rotates the plurality of workpieces about their respective workpiece axes. This polishing system is designed to allow

16. Each of the holders is connected to a holder gear, and the actuator is connected to a shaft gear. the shaft gears rotate the holders relative to the frame.

16. The method of claim 15, wherein the holder is operably connected to the gear to drive the rotation. Polishing system.

17. 2. The method of claim 1, wherein the shaft gear is connected to the holder gear via a connecting gear.

7. The polishing system according to claim 6.

18. The shaft gear is connected to a first connecting gear and a second connecting gear, and the second connecting gear 18. The abrading system of claim 17, wherein a gear is coupled to the holder gear.

19. Rotation of the actuator by the robot rotates the polishing surface at the second position. The polishing system of claim 15, wherein the polishing system is configured to polish a portion that does not contact the surface.

20. Each of the holders is configured to receive and secure a trocar needle.

16. The polishing system according to claim 15.

21. The polishing system of claim 15 , wherein the polishing system is an electropolishing system.

22. 1. A method for polishing a workpiece, comprising: (i) loading a workpiece into a holder of an end effector, said holder The holder is rotatably connected to a frame, and the holder has a rotational axis that rotates relative to the frame. an actuator operatively coupled to drive rotation of the slider; (ii) connecting the actuator to perform one or more auxiliary operations on the workpiece. moving and / or rotating the workpiece accordingly; (iii) applying pressure to the workpiece by the actuator to polish the workpiece with an abrasive surface. moving and / or rotating the workpiece; A method comprising:

23. 23. The method of claim 22, wherein the auxiliary operation includes one of a pre-sanding operation and a post-sanding operation. Law.

24. 24. The method of claim 23, wherein the pre-sanding operation includes one of loading a material and cutting a material. How to do it.

25. The post-polishing operations include deburring, grit blasting, inspecting, and electropolishing the workpiece.

24. The method of claim 23, comprising:

26. 24. The method of claim 23, wherein the artifact is a trocar needle.

27. The method of claim 23 , wherein the actuator is a robot.

28. 28. The method of claim 27, further comprising the step of attaching the robot to the end effector. The method described below.

29. The instructions for carrying out steps (i)-(iii) are given by a human-machine interface.

24. The method of claim 23, wherein the signal is transmitted via

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