CN108608186A - A kind of automatic setup system towards Biodegradable scaffold development point - Google Patents
A kind of automatic setup system towards Biodegradable scaffold development point Download PDFInfo
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- CN108608186A CN108608186A CN201810619082.6A CN201810619082A CN108608186A CN 108608186 A CN108608186 A CN 108608186A CN 201810619082 A CN201810619082 A CN 201810619082A CN 108608186 A CN108608186 A CN 108608186A
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- development point
- motorized precision
- precision translation
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- translation stages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/82—Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2240/00—Manufacturing or designing of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
- A61F2240/001—Designing or manufacturing processes
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Biomedical Technology (AREA)
- Transplantation (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of automatic setup systems towards Biodegradable scaffold development point, belong to the automation micro assemby field of biomedical devices.The microassembly system of the present invention is made of material disc, holder micro-adjusting mechanism, three axis motorized precision translation stages, executive component and reponse system, five part of single camera vision system.Its assemble flow is：Whether vertically upward vision system judges bracket holes, and backing positions are adjusted circumferentially by holder micro-adjusting mechanism；Bracket holes and noble metal development point are positioned；Vacuum suction head absorption development point, development point is placed on bracket holes, vision system judges whether to place successfully；Pressing bar presses development point into bracket holes, and vision system observes the effect that presses.The present invention has the characteristics that man-machine coordination, modularized design, and practical space is extended for flexible automation assembly；The assembly method of the present invention, has the characteristics that efficient, precision is high, degree of freedom is low.
Description
Technical field
The present invention relates to a kind of automatic setup systems towards Biodegradable scaffold development point, belong to biomedical devices
Automated assembly field.
Background technology
Since the appearance of holder interventional procedure, intervention support implanted prosthetics can be such that narrow, occlusion blood vessel or cavity expands
, have the characteristics that wound is small, curative effect is high, risk is small.At this stage, Biodegradable scaffold has been considered as the 4th of interventional treatment
Secondary major transformation is to receive a research direction of people's attention.Clinical application requirement based on holder, the forming of holder should be protected
Demonstrate,prove its good mechanical property, biocompatibility etc..It is different from conventional metals holder, Biodegradable scaffold bulk material is height
Molecularly Imprinted Polymer, and in implantation, there should be good polarization in lesion portion, therefore for convenience during surgical, in X
The position that Biodegradable scaffold is identified under light, is accurately positioned holder, Biodegradable scaffold both ends are separately installed with noble metal
Development point.Currently, in the preparation flow of Biodegradable scaffold, development point assembly work is mostly by manual operation.Manual operation
Generally first a certain number of noble metals development point is placed in material disc, its position is judged by human eye, holds vacuum WAND
It draws and is placed at the pilot hole of Biodegradable scaffold, be finally completely forced into hole.Due to noble metal development point with
The particularity of Biodegradable scaffold material and structure, size need to ensure biodegradable at hundreds of microns, assembling work
Rack body is not damaged, and in mass production, efficiency hand-manipulated is difficult to ensure.Therefore developing one kind can towards biology
The automatic setup system of degradation holder development point keeps the consistency of product to be of great significance to improving production efficiency.
Invention content
To solve the above problems, the invention discloses a kind of automatic assembling systems towards Biodegradable scaffold development point
System improves the production efficiency of development point assembly.
In order to achieve the above objectives, technical scheme is as follows：
A kind of automatic setup system towards Biodegradable scaffold development point, including material disc, holder micro-adjusting mechanism, three axis electricity
Dynamic translation stage, executive component and reponse system, five part of single camera vision system；
Wherein, the material disc is that development point holds platform；
The holder micro-adjusting mechanism include support casing axis, V-block stationary fixture, stepper motor, motor mount, shaft coupling,
Retarder；
The three axis motorized precision translation stage includes the one-dimensional motorized precision translation stages of Z1, XY two dimensions motorized precision translation stage, portal frame, mounting base；
The executive component and reponse system includes pressure sensor, pressing bar, vacuum suction head, vacuum air-channel feedback system
It unites, press force feedback system；
The single camera vision system includes CCD camera, camera lens, light source, precise guide rail.
The present invention development point assembly system assemble flow be：
Step 1: Biodegradable scaffold is sleeved on support casing axis, movement XY two dimension motorized precision translation stages make holder be located at CCD phases
Machine within sweep of the eye, adjusts CCD camera and makes lens focus at pilot hole height with light source height, driven by stepper motor
Retarder drive support casing axis and holder to rotate in a circumferential direction so that pilot hole straight up；
Step 2: the horizontal direction coordinate value of acquisition image recording pilot hole at this time；
Step 3: movement XY two dimension motorized precision translation stages make material disc be under the CCD camera visual field, photo is shot, at image
Adjustment method carries out XY direction positioning to bead；
Step 4: according to the bead elements of a fix, it is made to move to immediately below executive component vacuum suction head, vertical movement Z1 is one-dimensional
Motorized precision translation stage simultaneously opens solenoid valve, and bead is picked up by vacuum suction head, and numerical value is acquired by pressure transmitter in gas circuit
Variation judge whether to adsorb, adsorb successfully after movement the one-dimensional motorized precision translation stages of Z1 lift overall execution element avoid it is next act do
It relates to；
Step 5: according to pilot hole horizontal direction coordinate value, moving two-dimentional integral electric translation stage makes pilot hole be located at vacuum suction
Immediately below attached head, bead placement is carried out；
Step 6: movement XY two dimension motorized precision translation stages make pilot hole be within the scope of camera fields of view, judge whether bead has assembled
Into hole；
Step 7: movement XY two dimension motorized precision translation stages make pilot hole be located at pressing bar underface, using pressure sensor as pressing
Simultaneously the force threshold that presses is arranged in force feedback, and bead is pressed into hole by the Z1 in motion vertical direction one-dimensional motorized precision translation stages；
Step 8: within the scope of motion bracket pilot hole to camera fields of view, Driving Stepping Motor drives support casing axis by retarder
It is circumferentially rotated with holder, judges whether development point installation is qualified.
Advantageous effect
A kind of automatic setup system towards Biodegradable scaffold development point of the present invention is that the assembly developed a little in holder carries
A kind of high-precision assembly method has been supplied, has been had the advantages that：
A) this microassembly system has the characteristics that man-machine coordination, modularization are built, its practicality is extended for flexible automation assembly
Range can be used for the assembly of other minute yardstick elements by changing executive component；
B) this microassembly system has the characteristics that easy to operate, precision is high, degree of freedom is low, replaces manual operation big using machine
It is big to improve production efficiency.
Description of the drawings
Fig. 1 is the schematic diagram for the automatic setup system of Biodegradable scaffold development point；
Wherein, 1 is the one-dimensional motorized precision translation stages of Z1；2 be portal frame；3 be executive component fixture；4 be pressure sensor；5 be pressing
Stick；6 be stepper motor 1；7 be XY two dimension motorized precision translation stages；8 mounting bases；9 be shaft coupling；10 be deceleration mechanism；11 be holder
Cover axis；12 be light source；13 be camera lens；14 be CCD camera；15 be precise guide rail；20 be material disc；
Fig. 2 is assembly system executive component schematic diagram；
Wherein 4 be pressure sensor；5 be pressing bar；16 be vacuum suction head；
Fig. 3 is vacuum air-channel schematic diagram；
Fig. 4 is vision system schematic diagram；
Fig. 5 is holder circumferential direction micro-adjusting mechanism schematic diagram；
Wherein 6 be stepper motor；17 be motor mount；9 be shaft coupling 1；11 be support casing axis；10 be retarder；18 be solid
Determine shaft coupling；19 be V-block stationary fixture；
Fig. 6 is by the control system schematic diagram that is carried in the embodiment of the present invention.
Specific implementation method
Invention is described in detail with specific implementation mode below in conjunction with the accompanying drawings.
A kind of automatic setup system towards Biodegradable scaffold development point of the present invention, as shown in Figure 1, including
XY two dimensions motorized precision translation stage 7, XY two dimensions motorized precision translation stage 7 are mounted on mounting base 8, retarder 10, V-block stationary fixture
19, stepper motor 6 and noble metal development point material disc 20 are mounted on XY two dimensions motorized precision translation stage 1, and support casing is in support casing axis
On 11, support casing axis 11 is connected by closed coupling 18 with retarder 10, and portal frame 2 is mounted on by corner fittings, bolt, nut
On mounting base 8, the one-dimensional motorized precision translation stages 1 of Z1 are connected with 2 crossbeam of portal frame, and it is one-dimensional electronic that executive component fixture 3 is mounted on Z1
On translation stage 1,4 one end of pressure sensor is fixed on by bolt and flange nut on executive component fixture 3, the other end and pressing
Stick 5 is connected through a screw thread.
Stepper motor 6 and motorized precision translation stage servo motor external driver, driver pass through in holder circumferential direction micro-adjusting mechanism
Control box is directly connected with motion control card, and motion control card is installed in a computer.
Precise guide rail 15 is mounted on mounting base 8, and CCD camera 14, light source 12 are mounted on guide rail slide block.
Noble metal development point bead batch is placed in the groove of material disc 20.
It moves before starting first by support casing on support casing axis 11, movement XY two dimensions motorized precision translation stage 7 makes holder be located at CCD
Camera 14 within sweep of the eye, adjusts CCD camera 14 with light source 12 highly so that camera lens 13 focuses at pilot hole height, stepping is electric
6 output shaft of machine drive set axis and holder to rotate in a circumferential direction by deceleration mechanism 10 so that pilot hole straight up.
Control system scheme
The present embodiment proposes the control system scheme based on the present invention as shown in fig. 6, using " PC+ motion controllers+data are adopted
The open overall architecture of truck " is formed using industrial personal computer as host computer, motion controller and point that data collecting card is slave computer
Cloth controls.
Wherein, the Three Degree Of Freedom displacement platform of macro dynamic model block includes the whole electricity of the one-dimensional motorized precision translation stages 1 of Z1, XY in embodiment
Dynamic translation stage 7, for material disc 20 and pilot hole to be moved to corresponding position by flow；The stepper motor 6 of fine motion module is driven,
Ensure that pilot hole is located at the apical position of support casing axis 11 by retarder 10；The suction jig of self-clamping module includes bead absorption
Fixture, i.e. vacuum suction head 16 adsorb the switch of gas circuit, by the pressure transmitter in vacuum air-channel by solenoid valve to control it
The variation of numerical value judges whether bead is adsorbed to provide control signal；The light source 12 of supplementary module passes through light source drive control
Brightness processed and on off state.
Motion controller is whole to the one-dimensional motorized precision translation stages 1 of Z1, the XY in microassembly system using multi-axis motion control card
Stepper motor 6 in motorized precision translation stage 7, deceleration mechanism is controlled, using GigE gigabit ethernet interfaces to CCD camera 14
Image is acquired, and the pressure inverting in gas circuit is adsorbed to pressure sensor 4, the bead of pressing bar module using data collecting card
The light source drive information of device and supplementary module is acquired.Control system includes four sets of drive systems, is respectively used to the present invention
The one-dimensional motorized precision translation stages 1 of Z1, XY integral electrics translation stage 7 in carried system, the driving of stepper motor 6 in deceleration mechanism.Movement
Controller obtains image information and the coordinate setting of CCD camera 14 by PC machine, is generated respectively to each by four drivers
The drive signal of sports platform, shaft rotating motor, motor driver are connected to control motor rotation drive ball screw after coordinate signal
Driving translation stage movement, realize XYZ three-axis movings complete assembly purpose.
The above is presently preferred embodiments of the present invention, is not intended to limit the present invention in any form, every
The equivalent and modification completed according to the technical essence of the invention, belongs in the range of technical solution of the present invention.
Claims (7)
1. a kind of automatic setup system towards Biodegradable scaffold development point, which is characterized in that micro- including material disc, holder
Regulating mechanism, three axis motorized precision translation stages, executive component and reponse system, five part of single camera vision system are put in the material disc
It is equipped with development point bead.
2. a kind of automatic setup system towards Biodegradable scaffold development point according to claim 1, which is characterized in that
The holder micro-adjusting mechanism is by stepper motor（6）, shaft coupling（9）, motor mount（17）, retarder（10）, closed coupling
（18）, support casing axis（11）, V-block stationary fixture（19）Composition, support casing is in support casing axis（11）On, it is driven by stepper motor
Dynamic device return pulse signal, Driving Stepping Motor（6）Shaft rotation is dynamic, passes through shaft coupling（9）, retarder（10）, closed coupling
（18）Drive support casing axis（11）It circumferentially rotates, is judged by vision system, ensure that holder micropore is in highest point, it is described
Support casing axis（11）Tail end be arranged in V-block stationary fixture（19）On, material disc（20）It is positioned over support casing axis（11）Lower section.
3. a kind of automatic setup system towards Biodegradable scaffold development point according to claim 2, which is characterized in that
The holder and support casing axis（11）Between transition coordinate, low speed rotation support casing axis（11）When and holder between do not have opposite turn
It is dynamic.
4. a kind of automatic setup system towards Biodegradable scaffold development point according to claim 1, which is characterized in that
The three axis motorized precision translation stage is by the one-dimensional motorized precision translation stages of Z1（1）, XY two dimension motorized precision translation stages（7）Composition, passes through servo motor
Rotation drive ball-screw is converted into the translational motion of table top；XY two dimension motorized precision translation stages（7）It is bolted on installation bottom
Plate（8）On, the one-dimensional motorized precision translation stages of Z1（1）It is vertically installed at portal frame（2）On, the holder micro-adjusting mechanism, material disc（20）、
Executive component fixture（3）It is bolted on XY two dimension motorized precision translation stages.
5. a kind of automatic setup system towards Biodegradable scaffold development point according to claim 1, which is characterized in that
The executive component includes executive component fixture（3）, pressure sensor（4）, pressing bar（5）, vacuum suction head（16）, pressure biography
Sensor（4）One end is fixed on executive component fixture by bolt and flange nut（3）On, the other end and pressing bar（5）Pass through spiral shell
Line connects；The reponse system includes vacuum air-channel reponse system, pressure sensor reponse system；Pass through the gas in vacuum air-channel
Pressure transmitter monitors the atmospheric pressure value in real-time gas circuit and judges whether development point is adsorbed by vacuum suction head；Pass through pressure sensor
（4）The real-time force value that presses of acquisition, given threshold, ensures pressing effect and protective cradle will not be damaged because of excessive forces.
6. a kind of automatic setup system towards Biodegradable scaffold development point according to claim 1, which is characterized in that
The single camera vision system includes CCD camera（14）, light source（12）, camera lens（13）, precise guide rail（15）；Precise guide rail（15）It is perpendicular
It is directly mounted on mounting base, CCD camera（14）, light source（12）On guide rail slide block, CCD camera can control（1）, light source
（12）Vertical height ensures collection image quality.
7. a kind of assemble flow of the automatic setup system towards Biodegradable scaffold development point, it is characterised in that：Including with
Lower step：
Step 1: Biodegradable scaffold is sleeved on support casing axis（11）On, move XY two dimension motorized precision translation stages（7）Make holder position
In CCD camera（14）Within sweep of the eye, CCD camera is adjusted（14）With light source（12）Height is so that camera lens（13）It is rack-mounted to focus on branch
At distribution height, pass through stepper motor（6）Drive retarder（10）Drive support casing axis（11）It is rotated in a circumferential direction with holder so that filling
Distribution is straight up；
Step 2: the horizontal direction coordinate value of acquisition image recording pilot hole at this time；
Step 3: movement XY two dimension motorized precision translation stages（7）Make material disc（20）In CCD camera（14）Under the visual field, photo is shot,
According to image processing algorithm to material disc（20）Interior bead carries out XY direction positioning；
Step 4: according to the bead elements of a fix, it is made to move to executive component vacuum suction head（16）Underface, move vertically Z1
One-dimensional motorized precision translation stage（1）And solenoid valve is opened, pass through vacuum suction head（16）Bead is picked up, pressure transmitter in gas circuit is passed through
The variation of acquisition numerical value judges whether to adsorb, and the one-dimensional motorized precision translation stages of Z1 are moved after adsorbing successfully（1）Lift overall execution element
Next action is avoided to interfere；
Step 5: according to pilot hole horizontal direction coordinate value, two-dimentional integral electric translation stage is moved（7）Pilot hole is set to be located at vacuum
Adsorption head（16）Underface carries out bead placement；
Step 6: movement XY two dimension motorized precision translation stages（7）So that pilot hole is within the scope of camera fields of view, judges whether bead has filled
It is fitted in hole；
Step 7: movement XY two dimension motorized precision translation stages（7）Pilot hole is set to be located at pressing bar（5）Underface, with pressure sensor（4）
As pressing, force feedback and being arranged presses force threshold, passes through the one-dimensional motorized precision translation stages of the Z1 in motion vertical direction（1）Bead is pressed
In press-in hole；
Step 8: within the scope of motion bracket pilot hole to camera fields of view, Driving Stepping Motor（6）Pass through retarder（10）Drive branch
Frame covers axis（11）It is circumferentially rotated with holder, judges whether development point installation is qualified.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619082.6A CN108608186B (en) | 2018-06-15 | 2018-06-15 | Automatic assembly system for developing points of biodegradable bracket |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810619082.6A CN108608186B (en) | 2018-06-15 | 2018-06-15 | Automatic assembly system for developing points of biodegradable bracket |
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| CN108608186A true CN108608186A (en) | 2018-10-02 |
| CN108608186B CN108608186B (en) | 2020-10-02 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109595239A (en) * | 2019-01-17 | 2019-04-09 | 中国工程物理研究院激光聚变研究中心 | The automatic micro assemby equipment of the micro- part of complicated multi-configuration of multi-sensor fusion |
| CN112206085A (en) * | 2020-10-18 | 2021-01-12 | 南京浩衍鼎业科技技术有限公司 | Rapid shearing and assembling system for developing points of intracranial biodegradable stent |
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| CN104723075A (en) * | 2015-03-11 | 2015-06-24 | 中山市宇荣光学元件有限公司 | Automatic lens locking and attaching machine |
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| US6346074B1 (en) * | 1993-02-22 | 2002-02-12 | Heartport, Inc. | Devices for less invasive intracardiac interventions |
| CN102873523A (en) * | 2012-09-13 | 2013-01-16 | 中国科学院自动化研究所 | Device for detecting micro-devices on line during assembly based on micro-vision |
| CN103128731A (en) * | 2013-03-14 | 2013-06-05 | 中国科学院自动化研究所 | Micro-assembly robot system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109595239A (en) * | 2019-01-17 | 2019-04-09 | 中国工程物理研究院激光聚变研究中心 | The automatic micro assemby equipment of the micro- part of complicated multi-configuration of multi-sensor fusion |
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| CN112206085A (en) * | 2020-10-18 | 2021-01-12 | 南京浩衍鼎业科技技术有限公司 | Rapid shearing and assembling system for developing points of intracranial biodegradable stent |
| CN112206085B (en) * | 2020-10-18 | 2022-06-03 | 南京浩衍鼎业科技技术有限公司 | Rapid shearing and assembling system for developing points of intracranial biodegradable stent |
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