WO2022110393A1 - Grinding device for medical scalpel cutting edge - Google Patents

Grinding device for medical scalpel cutting edge Download PDF

Info

Publication number
WO2022110393A1
WO2022110393A1 PCT/CN2020/137632 CN2020137632W WO2022110393A1 WO 2022110393 A1 WO2022110393 A1 WO 2022110393A1 CN 2020137632 W CN2020137632 W CN 2020137632W WO 2022110393 A1 WO2022110393 A1 WO 2022110393A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamp
blade
grinding
clamping
edge
Prior art date
Application number
PCT/CN2020/137632
Other languages
French (fr)
Chinese (zh)
Inventor
王德祥
张宇
江京亮
刘国梁
Original Assignee
青岛理工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 青岛理工大学 filed Critical 青岛理工大学
Publication of WO2022110393A1 publication Critical patent/WO2022110393A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B3/00—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools
    • B24B3/60—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of tools not covered by the preceding subgroups
    • B24B3/605—Sharpening cutting edges, e.g. of tools; Accessories therefor, e.g. for holding the tools of tools not covered by the preceding subgroups of surgical or dental instruments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/02—Frames; Beds; Carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/06—Work supports, e.g. adjustable steadies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
    • B24B47/06—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by liquid or gas pressure only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00—Drives or gearings; Equipment therefor
    • B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition

Definitions

  • the invention belongs to the technical field of surgical knife grinding, and in particular relates to a device for grinding the edge of a medical surgical knife.
  • Scalpel is a common tool in medical treatment, widely used in various operations, and is one of the most common medical consumables.
  • the production process of the scalpel is roughly divided into important steps such as stamping, grinding, and polishing.
  • the inventor found that the current scalpel can only complete single-sided cutting, and the grinding and cutting of the blank of the stamping part are all done manually. Such a process will cause low efficiency, and it is difficult to guarantee the product by manual operation. quality stability.
  • the purpose of the present invention is to provide a medical scalpel edge grinding device, which can realize automatic feeding, clamping, grinding, and unloading, improve processing accuracy, and improve the processing of parts in the same batch. consistency, product quality is stable, and production efficiency is improved.
  • an embodiment of the present invention provides a medical scalpel edge grinding device, including a grinding mechanism, a clamping mechanism, a feeding mechanism, and a discharging mechanism; wherein, the bottom of the clamping mechanism is set on a two-dimensional mobile platform , the grinding mechanism is correspondingly arranged above the clamping mechanism, the feeding mechanism and the unloading mechanism are arranged at the relative positions of the clamping mechanism, the feeding mechanism pushes the blade to the clamping mechanism for clamping, and the grinding mechanism moves to the position to be ground. The blade is ground, and then the clamping mechanism releases the blade, and the unloading mechanism removes the blade to automatically complete the cutting edge grinding of the medical scalpel.
  • the clamping mechanism includes a clamp, one end of the clamp is provided with a duckbill-shaped clamping end, the other end of the clamp is connected to the clamp power cylinder, the middle of the clamp is fixedly connected to the clamp base through a rotating connecting piece, and the clamp The power cylinder can push the other end of the clamp to make the duckbill clamping end close to/away from the base of the clamp to clamp or loosen the blade.
  • the upper surface of the duckbill-shaped clamping end is an inclined surface, and the end of the duckbill-shaped clamping end is arc-shaped; the clamp base and the duckbill-shaped clamping end have a set distance, and the clamp A gas spring is arranged between the base and the duckbill-shaped clamping end, and the clamp base is connected with the steering motor through a coupling to drive the clamp to rotate.
  • the feeding mechanism includes a tool rest with a cavity in the tool rest for accommodating the blade; a knife push plate is arranged on the side of the tool rest, and the push plate is pushed by a knife push cylinder and can move horizontally to push the inside of the tool rest. The blade is pushed out.
  • a knife inlet is provided on the side of the knife holder, the blade pressing plate extends into the cavity of the knife holder from the knife inlet, and the blade pressing plate is pushed up and down by the blade pressing plate cylinder to press the blade.
  • an extension plate is provided at the end of the blade pressing plate, and the extension plate extends into the cavity of the blade holder.
  • the discharge mechanism includes a discharge rotary motor, the discharge rotary motor is connected with a rocker, and the end of the rocker is connected with an electromagnetic gripper.
  • the rocker is a bending rod
  • the unloading rotary motor can drive the bending rod to rotate in the horizontal direction, thereby driving the electromagnetic gripper to rotate.
  • the grinding mechanism includes a grinding wheel, which is connected to the power device through a V-belt; the grinding wheel is fixed on a sliding base, and the sliding base can move up and down and back and forth to form a multi-axis with the clamping mechanism linkage.
  • the top of the sliding base is connected to the upper base support frame through a lateral slide rail, and the upper base support frame is connected to the slide rod through a vertical slide rail; the sliding base is connected to the lateral cylinder to slide along the lateral direction.
  • the rail moves, and the upper base support frame is connected with the vertical cylinder to move along the sliding rod.
  • the grinding wheel designed by the invention is connected with the electric motor by the belt drive, which can reduce the energy consumption and increase the rotational speed of the grinding wheel.
  • the movable two-dimensional platform carrying the duckbill-shaped fixture designed by the invention forms a multi-axis linkage with the device carrying the grinding wheel, which can realize grinding at any position in space.
  • the grinding device designed in the present invention can realize the double-sided grinding of the edge of the scalpel at one time.
  • the medical scalpel edge grinding device designed by the invention requires no manual operation during use, is safe, simple, fast and efficient, significantly improves the production efficiency and the processing consistency of the same batch of parts, and has stable product quality.
  • FIG. 1 is a schematic diagram of a medical scalpel edge grinding device according to one or more embodiments of the present invention
  • FIG. 2 is a schematic diagram of a grinding mechanism according to one or more embodiments of the present invention.
  • FIG. 3 is a schematic diagram of a clamping mechanism according to one or more embodiments of the present invention.
  • FIG. 4 is a schematic diagram of a feeding mechanism according to one or more embodiments of the present invention.
  • FIG. 5 is a schematic diagram of a discharge mechanism according to one or more embodiments of the present invention.
  • I grinding mechanism II clamping mechanism, III feeding mechanism, IV unloading mechanism, V two-dimensional mobile platform;
  • Terminology explanation part if the terms "installation”, “connected”, “connected”, “fixed” etc. appear in the present invention, it should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or as a whole; It can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, an internal connection between two elements, or an interaction relationship between the two elements, which is known to those of ordinary skill in the art. In other words, the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the present invention proposes a device for sharpening the edge of a medical scalpel.
  • a medical scalpel edge grinding device which includes a grinding mechanism I, a clamping mechanism II, a feeding mechanism III, and a discharging mechanism IV; wherein, the bottom of the clamping mechanism is arranged on the two-dimensional mobile platform V, the grinding mechanism I is correspondingly arranged above the clamping mechanism II, the feeding mechanism III and the unloading mechanism IV are arranged at the relative positions of the clamping mechanism II, and The feeding mechanism, the discharging mechanism and the clamping mechanism are separated by a certain distance.
  • the bottom of the feeding mechanism and the unloading mechanism can be arranged on the bracket, so that the feeding mechanism and the unloading mechanism correspond to the height of the clamping mechanism; the bottom of the bracket and the two-dimensional moving platform can be fixed on the worktable.
  • the motor of the grinding mechanism and the grinding wheel are connected by a pulley
  • the clamping mechanism adopts a duckbill clamp
  • the unloading mechanism is composed of a rocker and an electromagnet. Push into the clamping mechanism, the clamping mechanism rotates and sends it to the grinding wheel to complete the grinding, and then the electromagnetic gripper of the unloading mechanism discharges the material, so that the grinding of the edge of the medical scalpel can be automatically completed.
  • the grinding mechanism includes a slide rod 1, a vertical cylinder slide rail 2, a horizontal cylinder telescopic rod 3, a slide rail 4, an upper base support frame 5, a grinding wheel 6, a bearing 7, a support arm 8, a telescopic cylinder 9, and a V belt 10.
  • the sliding rod is arranged vertically, and a vertical cylinder slide rail 2 is arranged along the sliding rod.
  • the upper base support frame is arranged horizontally, and one side of the upper base support frame is slidably connected with the vertical cylinder slide rail, so that the upper base support frame can move up and down;
  • the end of the base support frame is sleeved on the sliding rod, and is slidably connected with the vertical cylinder slide rail. Driven by the vertical cylinder, the upper base support frame slides up and down along the slide rod.
  • a horizontal sliding rail 4 is arranged at the bottom of the upper base support frame, a sliding base 13 is arranged at the bottom of the sliding rail 4, the sliding base is connected with the horizontal cylinder telescopic rod 3, and the sliding base can move horizontally along the sliding rail 4;
  • the horizontal cylinder is connected, and the horizontal cylinder pushes the sliding base to move horizontally along the slide rail 4 through the telescopic rod, thereby making the grinding wheel move horizontally.
  • the grinding wheel is arranged vertically, that is, the wheel surface of the grinding wheel is a vertical plane, the grinding wheel can rotate in the vertical direction, the wheel shaft of the grinding wheel is connected with the support arm 8 through the bearing 7, and the support arm 8 is fixed on the sliding base 13;
  • the V-belt 10 is connected with the pulley 11, and the pulley is connected with the output motor 12, so that the power of the output motor is output to the grinding wheel to drive the grinding wheel to rotate.
  • the grinding wheel adopts V-belt to transmit power, the output end of the motor is connected to the large pulley, and the grinding wheel shaft is connected to the small pulley, which can significantly increase the speed of the grinding wheel. Grind.
  • the clamping mechanism includes a steering motor 14 , a coupling 15 , a clamp base 16 , a gas spring 17 , a duckbill clamping end 18 , a reverse thrust support bearing 19 , and a clamp booster cylinder 20 .
  • the bottom of the steering motor is fixed on the two-dimensional moving platform, and the steering motor can move two-dimensionally in the horizontal direction, and the two-dimensional moving platform can use the existing mechanism, which will not be repeated here.
  • the steering motor is connected with the fixture base through the coupling, the fixture is fixed on the fixture base, one end of the fixture is provided with a duckbill-shaped clamping end 18, the other end of the fixture is connected with the fixture booster cylinder 20, and the middle of the fixture is connected to the fixture through a reverse thrust support bearing 19
  • the base 16 is connected, and the middle part of the clamp can rotate around the reverse thrust support bearing 19; the upper surface of the duckbill-shaped clamping end is an inclined surface, and the end of the duckbill-shaped clamping end is arc-shaped.
  • a gas spring 17 is provided between the clamp base 16 and the duckbill-shaped clamping end 18 .
  • the clamp assist cylinder pushes the other end of the clamp upward, the duckbill clamping end moves down, and then cooperates with the clamp base to clamp the blade; when the clamp assist cylinder drives the other end of the clamp downward, the duckbill clamp ends at The gas spring moves upwards to release the blade.
  • the edge of the duckbill-shaped clamping end is thin, which is conducive to the coordination with the space position of the grinding wheel mechanism and improves the safety.
  • the grinding wheel selected in the grinding mechanism has a large radius. This design can minimize the friction between the grinding wheel and the grinding wheel during grinding. The collision of the clamp platen will cause unnecessary losses and dangers. In the grinding process, safety is very important.
  • the feeding mechanism includes a knife push plate 21 , a knife push cylinder 22 , a knife holder 23 , a knife inlet 24 , a blade pressing plate 25 , and a blade pressing plate cylinder 26 .
  • the blade pressing plate cylinder 26 is fixed on the vertical bracket, the action end of the blade pressing plate cylinder is connected with the blade pressing plate 25, and the blade pressing plate cylinder can push the blade pressing plate to move up and down;
  • the side of the tool holder is provided with a knife inlet for the blade pressing plate to penetrate, and the end of the blade pressing plate can move up and down in the inner cavity of the tool holder;
  • the knife cylinder 22 is connected, and the knife push cylinder can push the knife push plate to move horizontally.
  • the bottom of the knife holder corresponds to the bottom plate under the knife pushing plate to support the blade.
  • the upper surface of the fixture base 16 is set corresponding to the position of the opening. Support to clamp the blade when the duckbill gripping end of the clamp is moved down to engage the base of the clamp.
  • the discharge mechanism includes a discharge rotary motor 27 , a coupling 28 , an electromagnetic gripper 29 , and a rocker 30 .
  • the unloading rotary motor 27 is connected with the rocker 30 through the coupling 28.
  • the operation of the unloading rotary motor can drive the rocker to rotate in the horizontal direction.
  • the rocker is a bending rod, and the rocker is connected with the electromagnetic gripper 29.
  • the electromagnetic gripper is horizontal
  • the bottom of the electromagnetic gripper is provided with an electromagnet suction cup, and the electromagnetic gripper uses the magnetic attraction to suck the blade, and under the action of the unloading rotating motor, rotates to the non-working position for unloading.
  • the working principle of the grinding device of the present invention is:
  • the cavity of the tool holder can lay and stack multiple blades at the same time.
  • the blades are stacked on the inner bottom plate of the tool holder, and the blade pressing plate cylinder 26 is used to drive the blades
  • the pressing plate 25 presses the blade on the inner bottom plate of the tool holder; then the blade pushing plate 21 moves horizontally to push out the blade under the action of the blade pushing cylinder 22, and the duckbill-shaped clamping end 18 of the clamping mechanism directly clamps the blade;
  • the clamping mechanism adopts a duckbill clamp; the principle of clamping and taking out the surgical blade depends on the cylinder and the spring.
  • the clamp assist cylinder 20 is vertically installed on the base plate of the clamp, and it realizes the push up and down. When the clamp assist cylinder 20 is pushed upward, the left end of the duckbill-shaped clamping end 18 is lifted, and the right end is downward. , cooperate with the fixture base to realize clamping, otherwise loosen;
  • the grinding mechanism moves down through the slide rail to the position to be ground, and grinds the blade; when the scalpel needs to be ground on the curved surface, the fixture base rotates under the drive of the steering motor 14, and the duckbill-shaped clamping end It will carry the blade for repeated movement. Under the same motion trajectory grinding for many times, the grinding effect is improved, the precision is improved, and the grinding area is increased, which is conducive to the manufacture of the grinding edge width that meets the design requirements;
  • the clamp assists the cylinder 20 to slowly release the pressure.
  • the gas spring stretches and releases its own elastic force.
  • the duckbill-shaped clamping end will be pushed slowly. Start, move to the direction away from the fixture base, that is, move upward, release the surgical blade, the distance between the duckbill-shaped clamping end and the fixture base increases, at this time, the unloading mechanism works and the blade is taken away;
  • the unloading mechanism uses an electromagnet suction cup, which is energized for adsorption and power-off to fall.
  • the electromagnetic gripper sucks the blade, and rotates the rocker to transfer the polished blade away.
  • a working method of a medical scalpel edge grinding device comprising the following steps:
  • Step 1 Put the blade to be ground into the blade holder 23, and be pressed under the action of the blade pressing plate 25. Under the combined action of the blade pushing cylinder 22 and the blade pushing plate 21, the blade is pushed out from the blade holder 23;
  • Step 2 The two-dimensional moving platform carries the duckbill-shaped clamping end 18 and moves to the knife-out position.
  • the duckbill-shaped clamping end 18 moves downward with the help of the clamp assist cylinder 20, the right end moves downward until it is combined with the clamp base and assembled.
  • the clamp assist cylinder 20 When it is locked, the clamping of the blade is completed.
  • the gas spring 17 located under the clamping end is compressed, and the elastic force of the gas spring 17 is given by the clamp assist cylinder 20 through the upper end of the clamp, and the clamp assist cylinder is locked and clamped. Clamp the surgical blade at the end, and rotate to the position to be ground aligned with the grinding wheel 6 under the joint action of the coupling 15 and the steering motor 14;
  • Step 3 The grinding mechanism falls along the sliding rod 1, moves along the sliding rail 4 to the position to be ground under the action of the telescopic cylinder, and then starts the grinding process; when the scalpel needs to be ground on the curved surface, the fixture base Driven by the steering motor 14 to rotate, the duckbill-shaped clamping end 18 will carry out repeated movements with the blade. Under the same motion trajectory grinding for many times, the grinding effect is improved, the precision is improved, and the grinding area is increased , which is beneficial to produce a grinding edge width that meets the design requirements;
  • Step 4 After grinding one side of the scalpel, the grinding mechanism is driven by the horizontal cylinder telescopic rod 3 and moves backward along the slide rail 4 to keep the grinding wheel 6 away from the cutting edge of the grinding tool, and then the grinding mechanism is in the vertical position. Driven by the cylinder, it moves down along the sliding rod 1, and the grinding mechanism is driven by the horizontal cylinder telescopic rod 3 and moves forward along the sliding rail 4 until the upper surface of the grinding wheel 6 contacts the lower surface of the tool, and continues to grind When grinding, the duckbill-shaped clamping end 18 will carry the blade for repeated movement to improve the grinding effect and precision;
  • Step 5 After the grinding is completed, the grinding mechanism is driven by the horizontal cylinder telescopic rod 3 to move backward along the slide rail 4, the grinding mechanism rises along the slide rod 1, and the clamp is located between the coupling 15 and the steering motor 14. Drive down to the initial position.
  • the clamp assist cylinder begins to release pressure slowly, the gas spring 17 stretches and releases its own elastic force, under the action of the elastic force, the duckbill-shaped clamping end 18 will be slowly pushed up and move away from the clamp base. That is, the upward movement releases the surgical blade, and the distance between the duckbill-shaped clamping end 18 and the clamp base 16 increases;
  • Step 6 Turn on the electromagnetic gripper 29 to suck the blade, transfer to the completion area under the action of the discharge rotary motor 27 and the coupling 28, and remove the blade.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Surgery (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
  • Surgical Instruments (AREA)

Abstract

Disclosed in the present invention is a grinding device for a medical scalpel cutting edge, comprising a grinding mechanism, a clamping mechanism, a loading mechanism and an unloading mechanism; the bottom of the clamping mechanism is arranged on a two-dimensional movement platform, the grinding mechanism is correspondingly arranged above the clamping mechanism, the loading mechanism and the unloading mechanism are arranged at positions opposite the clamping mechanism; the loading mechanism pushes a scalpel to the clamping mechanism for clamping, the grinding mechanism moves to a position to be ground to grind the scalpel, then the clamping mechanism releases the scalpel, and the unloading mechanism unloads the scalpel, thereby automatically completing the grinding of the medical scalpel cutting edge.

Description

一种医用手术刀刃口磨削装置A medical surgical knife edge grinding device 技术领域technical field
本发明属于手术刀磨削技术领域，具体涉及一种医用手术刀刃口磨削装置。The invention belongs to the technical field of surgical knife grinding, and in particular relates to a device for grinding the edge of a medical surgical knife.
背景技术Background technique
这里的陈述仅提供与本发明相关的背景技术，而不必然地构成现有技术。The statements herein merely provide background related to the present invention and do not necessarily constitute prior art.
手术刀是医疗中较常见的工具，广泛用于各种手术中，是一种最常见的医疗消耗品。手术刀的制作过程大致分为：冲压、磨削、抛光等重要步骤。Scalpel is a common tool in medical treatment, widely used in various operations, and is one of the most common medical consumables. The production process of the scalpel is roughly divided into important steps such as stamping, grinding, and polishing.
根据了解，发明人发现，目前手术刀只能完成单面开刃，而且都是由人工完成对冲压件毛坯的磨削开刃，这样的工艺会造成效率低下，而且由人工操作，难以保证产品的质量的稳定性。According to the understanding, the inventor found that the current scalpel can only complete single-sided cutting, and the grinding and cutting of the blank of the stamping part are all done manually. Such a process will cause low efficiency, and it is difficult to guarantee the product by manual operation. quality stability.
发明内容SUMMARY OF THE INVENTION
针对现有技术存在的不足，本发明的目的是提供一种医用手术刀刃口磨削装置，该装置可以实现自动上料、卡紧、磨削、卸料，提高加工精度，提高同批零件加工的一致性，产品质量稳定，提高生产效率。In view of the deficiencies in the prior art, the purpose of the present invention is to provide a medical scalpel edge grinding device, which can realize automatic feeding, clamping, grinding, and unloading, improve processing accuracy, and improve the processing of parts in the same batch. consistency, product quality is stable, and production efficiency is improved.
为了实现上述目的，本发明是通过如下的技术方案来实现：In order to achieve the above object, the present invention is realized by the following technical solutions:
第一方面，本发明的实施例提供了一种医用手术刀刃口磨削装置，包括磨削机构、夹持机构、上料机构、卸料机构；其中，夹持机 构底部设置于二维移动平台，磨削机构对应设置于夹持机构上方，上料机构、卸料机构设置于夹持机构相对位置处，上料机构推动刀片至夹持机构夹紧，磨削机构移动至待磨削位置对刀片进行磨削，而后夹持机构松开刀片，由卸料机构将刀片卸下，自动完成医用手术刀刃口磨削。In the first aspect, an embodiment of the present invention provides a medical scalpel edge grinding device, including a grinding mechanism, a clamping mechanism, a feeding mechanism, and a discharging mechanism; wherein, the bottom of the clamping mechanism is set on a two-dimensional mobile platform , the grinding mechanism is correspondingly arranged above the clamping mechanism, the feeding mechanism and the unloading mechanism are arranged at the relative positions of the clamping mechanism, the feeding mechanism pushes the blade to the clamping mechanism for clamping, and the grinding mechanism moves to the position to be ground. The blade is ground, and then the clamping mechanism releases the blade, and the unloading mechanism removes the blade to automatically complete the cutting edge grinding of the medical scalpel.
作为进一步的技术方案，所述夹持机构包括夹具，所述夹具一端设有鸭嘴形夹持端，夹具另一端与夹具助力气缸连接，夹具中部通过转动连接件与夹具基座固定连接，夹具助力气缸可推动夹具另一端进而使得鸭嘴形夹持端靠近/远离夹具基座实现对刀片的夹紧或松开。As a further technical solution, the clamping mechanism includes a clamp, one end of the clamp is provided with a duckbill-shaped clamping end, the other end of the clamp is connected to the clamp power cylinder, the middle of the clamp is fixedly connected to the clamp base through a rotating connecting piece, and the clamp The power cylinder can push the other end of the clamp to make the duckbill clamping end close to/away from the base of the clamp to clamp or loosen the blade.
作为进一步的技术方案，所述鸭嘴形夹持端上表面为倾斜表面，鸭嘴形夹持端端部为弧形；所述夹具基座与鸭嘴形夹持端具有设定间距，夹具基座和鸭嘴形夹持端之间设置气弹簧，夹具基座通过联轴器与转向电机连接，以带动夹具转动。As a further technical solution, the upper surface of the duckbill-shaped clamping end is an inclined surface, and the end of the duckbill-shaped clamping end is arc-shaped; the clamp base and the duckbill-shaped clamping end have a set distance, and the clamp A gas spring is arranged between the base and the duckbill-shaped clamping end, and the clamp base is connected with the steering motor through a coupling to drive the clamp to rotate.
作为进一步的技术方案，所述上料机构包括刀架，刀架内具有空腔以容纳刀片；刀架侧部设置推刀板，推刀板由推刀气缸推动可水平移动进而将刀架内刀片推出。As a further technical solution, the feeding mechanism includes a tool rest with a cavity in the tool rest for accommodating the blade; a knife push plate is arranged on the side of the tool rest, and the push plate is pushed by a knife push cylinder and can move horizontally to push the inside of the tool rest. The blade is pushed out.
作为进一步的技术方案，所述刀架侧部设置进刀口，刀片压板由进刀口伸入刀架空腔内，且刀片压板由刀片压板气缸推动可上下移动进而压紧刀片。As a further technical solution, a knife inlet is provided on the side of the knife holder, the blade pressing plate extends into the cavity of the knife holder from the knife inlet, and the blade pressing plate is pushed up and down by the blade pressing plate cylinder to press the blade.
作为进一步的技术方案，所述刀片压板端部设置延伸板，延伸板延伸至刀架的空腔内。As a further technical solution, an extension plate is provided at the end of the blade pressing plate, and the extension plate extends into the cavity of the blade holder.
作为进一步的技术方案，所述卸料机构包括卸料旋转电机，卸料 旋转电机与摇杆连接，摇杆端部与电磁抓手连接。As a further technical solution, the discharge mechanism includes a discharge rotary motor, the discharge rotary motor is connected with a rocker, and the end of the rocker is connected with an electromagnetic gripper.
作为进一步的技术方案，所述摇杆为折弯杆，卸料旋转电机可带动折弯杆在水平方向转动进而带动电磁抓手转动。As a further technical solution, the rocker is a bending rod, and the unloading rotary motor can drive the bending rod to rotate in the horizontal direction, thereby driving the electromagnetic gripper to rotate.
作为进一步的技术方案，所述磨削机构包括砂轮，砂轮通过V带与动力装置连接；所述砂轮固定于滑动基座，滑动基座可上下移动和前后移动，以与夹持机构形成多轴联动。As a further technical solution, the grinding mechanism includes a grinding wheel, which is connected to the power device through a V-belt; the grinding wheel is fixed on a sliding base, and the sliding base can move up and down and back and forth to form a multi-axis with the clamping mechanism linkage.
作为进一步的技术方案，所述滑动基座顶部通过横向滑轨与上底座支撑架连接，上底座支撑架通过竖向滑轨与滑杆连接；所述滑动基座与横向气缸连接以沿横向滑轨移动，上底座支撑架与竖向气缸连接以沿滑杆移动。As a further technical solution, the top of the sliding base is connected to the upper base support frame through a lateral slide rail, and the upper base support frame is connected to the slide rod through a vertical slide rail; the sliding base is connected to the lateral cylinder to slide along the lateral direction. The rail moves, and the upper base support frame is connected with the vertical cylinder to move along the sliding rod.
上述本发明的实施例的有益效果如下：The beneficial effects of the above embodiments of the present invention are as follows:
本发明设计的磨削砂轮采用带传动与电动机连接，可减小能耗，提高砂轮转速。The grinding wheel designed by the invention is connected with the electric motor by the belt drive, which can reduce the energy consumption and increase the rotational speed of the grinding wheel.
本发明设计的承载鸭嘴形夹具的移动二维平台与承载砂轮的装置构成多轴联动，可实现对空间任意位置的磨削。The movable two-dimensional platform carrying the duckbill-shaped fixture designed by the invention forms a multi-axis linkage with the device carrying the grinding wheel, which can realize grinding at any position in space.
本发明设计的磨削装置可以一次性的实现手术刀刃口的双面磨削。The grinding device designed in the present invention can realize the double-sided grinding of the edge of the scalpel at one time.
本发明设计的医用手术刀刃口磨削装置在使用过程中无需人工操作，安全、简便、快捷、高效，显著提高了生产效率和同批零件加工的一致性，产品质量稳定。The medical scalpel edge grinding device designed by the invention requires no manual operation during use, is safe, simple, fast and efficient, significantly improves the production efficiency and the processing consistency of the same batch of parts, and has stable product quality.
附图说明Description of drawings
构成本发明的一部分的说明书附图用来提供对本发明的进一步 理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。The accompanying drawings forming a part of the present invention are used to provide further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation of the present invention.
图1是本发明根据一个或多个实施方式的医用手术刀刃口磨削装置示意图；1 is a schematic diagram of a medical scalpel edge grinding device according to one or more embodiments of the present invention;
图2是本发明根据一个或多个实施方式的磨削机构示意图；2 is a schematic diagram of a grinding mechanism according to one or more embodiments of the present invention;
图3是本发明根据一个或多个实施方式的夹持机构示意图；3 is a schematic diagram of a clamping mechanism according to one or more embodiments of the present invention;
图4是本发明根据一个或多个实施方式的上料机构示意图；4 is a schematic diagram of a feeding mechanism according to one or more embodiments of the present invention;
图5是本发明根据一个或多个实施方式的卸料机构示意图；5 is a schematic diagram of a discharge mechanism according to one or more embodiments of the present invention;
图中：为显示各部位位置而夸大了互相间间距或尺寸，示意图仅作示意使用；In the figure: the distance or size between each other is exaggerated in order to show the position of each part, the schematic diagram is for illustration only;
其中，Ⅰ磨削机构，Ⅱ夹持机构，Ⅲ上料机构，Ⅳ卸料机构，Ⅴ二维移动平台；Among them, I grinding mechanism, II clamping mechanism, III feeding mechanism, IV unloading mechanism, V two-dimensional mobile platform;
1-滑杆、2-竖向气缸滑轨、3-横向气缸伸缩杆、4-滑轨、5-上底座支撑架、6-砂轮、7-轴承、8-支撑臂、9-伸缩气缸、10-V带、11-带轮、12-输出电动机、13-滑动基座、14-转向电机、15-联轴器、16-夹具基座、17-气弹簧、18-鸭嘴形夹持端、19-反推支撑轴承、20-夹具助力气缸、21-推刀板、22-推刀气缸、23-刀架、24-进刀口、25-刀片压板、26-刀片压板气缸、27-卸料旋转电机、28-联轴器、29-电磁抓手、30-摇杆。1-Slide rod, 2-Vertical cylinder slide rail, 3-Transverse cylinder telescopic rod, 4-Slide rail, 5-Up base support frame, 6-Grinding wheel, 7-Bearing, 8-Support arm, 9-Telescopic cylinder, 10-V Belt, 11-Pulley, 12-Output Motor, 13-Sliding Base, 14-Steering Motor, 15-Coupling, 16-Clamp Base, 17-Gas Spring, 18-Duckbill Clamp End, 19-reverse thrust support bearing, 20-fixture booster cylinder, 21-knife pusher plate, 22-knife pusher cylinder, 23-knife holder, 24-knife feed port, 25-blade pressure plate, 26-blade pressure plate cylinder, 27- Unloading rotary motor, 28-coupling, 29-electromagnetic gripper, 30-rocker.
具体实施方式Detailed ways
应该指出，以下详细说明都是例示性的，旨在对本发明提供进一步的说明。除非另有指明，本发明使用的所有技术和科学术语具有与 本发明所属技术领域的普通技术人员通常理解的相同含义。It should be noted that the following detailed description is exemplary and intended to provide further explanation of the invention. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本发明的示例性实施方式。如在这里所使用的，除非本发明另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合；It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the invention clearly dictates otherwise, the singular is intended to include the plural as well, and it should also be understood that when the terms "comprising" and/or "including" are used in this specification, Indicate the presence of features, steps, operations, devices, components and/or combinations thereof;
为了方便叙述，本发明中如果出现“上”、“下”、“左”“右”字样，仅表示与附图本身的上、下、左、右方向一致，并不对结构起限定作用,仅仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。For the convenience of description, if the words "up", "down", "left" and "right" appear in the present invention, it only means that the directions of up, down, left and right are consistent with the drawings themselves, and do not limit the structure. It is for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as a limitation of the present invention.
术语解释部分:本发明中如出现术语“安装”、“相连”、“连接”、“固定”等，应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或为一体；可以是机械连接，也可以是电连接，可以是直接连接，也可以是通过中间媒介间接相连，可以是两个元件内部连接，或者两个元件的相互作用关系，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明的具体含义。Terminology explanation part: if the terms "installation", "connected", "connected", "fixed" etc. appear in the present invention, it should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or as a whole; It can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium, an internal connection between two elements, or an interaction relationship between the two elements, which is known to those of ordinary skill in the art. In other words, the specific meanings of the above terms in the present invention can be understood according to specific situations.
正如背景技术所介绍的，由于现阶段的手术刀制造方式较为传统，冲压毛坯的刃口磨削一般由人工或半自动化完成，效率低下，质量难以保证。现有技术中存在不足，为了解决如上的技术问题，本发明提出了一种医用手术刀刃口磨削装置。As described in the background art, due to the relatively traditional manufacturing methods of surgical knives at the present stage, the cutting edge grinding of stamping blanks is generally completed manually or semi-automatically, which is inefficient and difficult to guarantee quality. There are deficiencies in the prior art. In order to solve the above technical problems, the present invention proposes a device for sharpening the edge of a medical scalpel.
实施例1：Example 1:
本发明的一种典型的实施方式中，如图1-图5所示，提出一种医用手术刀刃口磨削装置，包括磨削机构Ⅰ、夹持机构Ⅱ、上料机构Ⅲ、卸料机构Ⅳ；其中，夹持机构底部设置于二维移动平台Ⅴ上，磨削机构Ⅰ对应设置于夹持机构Ⅱ上方，上料机构Ⅲ、卸料机构Ⅳ设置于夹持机构Ⅱ相对位置处，且上料机构、卸料机构与夹持机构间隔一定距离。In a typical embodiment of the present invention, as shown in Figures 1-5, a medical scalpel edge grinding device is proposed, which includes a grinding mechanism I, a clamping mechanism II, a feeding mechanism III, and a discharging mechanism IV; wherein, the bottom of the clamping mechanism is arranged on the two-dimensional mobile platform V, the grinding mechanism I is correspondingly arranged above the clamping mechanism II, the feeding mechanism III and the unloading mechanism IV are arranged at the relative positions of the clamping mechanism II, and The feeding mechanism, the discharging mechanism and the clamping mechanism are separated by a certain distance.
上料机构和卸料机构底部可设置于支架上，以使上料机构、卸料机构与夹持机构的高度相对应；支架和二维移动平台底部可固定于工作台上。The bottom of the feeding mechanism and the unloading mechanism can be arranged on the bracket, so that the feeding mechanism and the unloading mechanism correspond to the height of the clamping mechanism; the bottom of the bracket and the two-dimensional moving platform can be fixed on the worktable.
其中，磨削机构的电动机和砂轮之间通过带轮连接，夹持机构采用鸭嘴形夹具，卸料机构有摇杆以及电磁铁等组成，由上料机构的气缸推动压板将刀片从刀架推入夹持机构中，夹持机构旋转送至砂轮处，完成磨削，再由卸料机构的电磁抓手卸料，从而可以自动完成医用手术刀刃口的磨削。Among them, the motor of the grinding mechanism and the grinding wheel are connected by a pulley, the clamping mechanism adopts a duckbill clamp, and the unloading mechanism is composed of a rocker and an electromagnet. Push into the clamping mechanism, the clamping mechanism rotates and sends it to the grinding wheel to complete the grinding, and then the electromagnetic gripper of the unloading mechanism discharges the material, so that the grinding of the edge of the medical scalpel can be automatically completed.
具体的，磨削机构包括滑杆1、竖向气缸滑轨2、横向气缸伸缩杆3、滑轨4、上底座支撑架5、砂轮6、轴承7、支撑臂8、伸缩气缸9、V带10、带轮11、输出电动机12、滑动基座13。Specifically, the grinding mechanism includes a slide rod 1, a vertical cylinder slide rail 2, a horizontal cylinder telescopic rod 3, a slide rail 4, an upper base support frame 5, a grinding wheel 6, a bearing 7, a support arm 8, a telescopic cylinder 9, and a V belt 10. Pulley 11, output motor 12, sliding base 13.
滑杆竖向设置，沿滑杆设有竖向气缸滑轨2，上底座支撑架横向设置，上底座支撑架一侧与竖向气缸滑轨滑动连接，进而上底座支撑架可上下移动；上底座支撑架端部套设于滑杆，且与竖向气缸滑轨滑动连接，通过竖向气缸的驱动，上底座支撑架沿滑杆上下滑动。The sliding rod is arranged vertically, and a vertical cylinder slide rail 2 is arranged along the sliding rod. The upper base support frame is arranged horizontally, and one side of the upper base support frame is slidably connected with the vertical cylinder slide rail, so that the upper base support frame can move up and down; The end of the base support frame is sleeved on the sliding rod, and is slidably connected with the vertical cylinder slide rail. Driven by the vertical cylinder, the upper base support frame slides up and down along the slide rod.
上底座支撑架底部设置横向的滑轨4，滑轨4底部设置滑动基座 13，滑动基座与横向气缸伸缩杆3连接，滑动基座可沿滑轨4水平移动；横向气缸伸缩杆3与横向气缸连接，横向气缸通过伸缩杆推动滑动基座沿滑轨4水平移动，进而使砂轮等水平移动。A horizontal sliding rail 4 is arranged at the bottom of the upper base support frame, a sliding base 13 is arranged at the bottom of the sliding rail 4, the sliding base is connected with the horizontal cylinder telescopic rod 3, and the sliding base can move horizontally along the sliding rail 4; The horizontal cylinder is connected, and the horizontal cylinder pushes the sliding base to move horizontally along the slide rail 4 through the telescopic rod, thereby making the grinding wheel move horizontally.
砂轮竖向设置，即砂轮的轮面为竖向平面，砂轮可在竖直方向转动，砂轮的轮轴通过轴承7与支撑臂8连接，支撑臂8固定于滑动基座13；砂轮的轮轴还通过V带10与带轮11连接，带轮与输出电动机12连接，从而输出电动机的动力输出至砂轮进而带动砂轮转动。The grinding wheel is arranged vertically, that is, the wheel surface of the grinding wheel is a vertical plane, the grinding wheel can rotate in the vertical direction, the wheel shaft of the grinding wheel is connected with the support arm 8 through the bearing 7, and the support arm 8 is fixed on the sliding base 13; The V-belt 10 is connected with the pulley 11, and the pulley is connected with the output motor 12, so that the power of the output motor is output to the grinding wheel to drive the grinding wheel to rotate.
砂轮采用V带传递动力，电机输出端连接大带轮，砂轮轴连接小带轮，可以显著提高砂轮的转速，二维移动平台与磨削机构组成多轴联动平台，可以对空间任意位置的刀片进行磨削。The grinding wheel adopts V-belt to transmit power, the output end of the motor is connected to the large pulley, and the grinding wheel shaft is connected to the small pulley, which can significantly increase the speed of the grinding wheel. Grind.
具体的，夹持机构包括转向电机14、联轴器15、夹具基座16、气弹簧17、鸭嘴形夹持端18、反推支撑轴承19、夹具助力气缸20。Specifically, the clamping mechanism includes a steering motor 14 , a coupling 15 , a clamp base 16 , a gas spring 17 , a duckbill clamping end 18 , a reverse thrust support bearing 19 , and a clamp booster cylinder 20 .
转向电机底部固定于二维移动平台上，转向电机可在水平方向二维移动，二维移动平台采用现有机构即可，在此不再赘述。The bottom of the steering motor is fixed on the two-dimensional moving platform, and the steering motor can move two-dimensionally in the horizontal direction, and the two-dimensional moving platform can use the existing mechanism, which will not be repeated here.
转向电机通过联轴器与夹具基座连接，夹具固定于夹具基座，夹具一端设置鸭嘴形夹持端18，夹具另一端与夹具助力气缸20连接，夹具中部通过反推支撑轴承19与夹具基座16连接，夹具中部可绕反推支撑轴承19转动；鸭嘴形夹持端上表面为倾斜表面，鸭嘴形夹持端端部为弧形。The steering motor is connected with the fixture base through the coupling, the fixture is fixed on the fixture base, one end of the fixture is provided with a duckbill-shaped clamping end 18, the other end of the fixture is connected with the fixture booster cylinder 20, and the middle of the fixture is connected to the fixture through a reverse thrust support bearing 19 The base 16 is connected, and the middle part of the clamp can rotate around the reverse thrust support bearing 19; the upper surface of the duckbill-shaped clamping end is an inclined surface, and the end of the duckbill-shaped clamping end is arc-shaped.
夹具基座16和鸭嘴形夹持端18之间设置气弹簧17。在夹具助力气缸推动夹具另一端向上时，鸭嘴形夹持端向下移动，进而与夹具基座配合夹紧刀片；在夹具助力气缸带动夹具另一端向下时，鸭嘴形夹持 端在气弹簧的作用下向上移动，进而松开刀片。A gas spring 17 is provided between the clamp base 16 and the duckbill-shaped clamping end 18 . When the clamp assist cylinder pushes the other end of the clamp upward, the duckbill clamping end moves down, and then cooperates with the clamp base to clamp the blade; when the clamp assist cylinder drives the other end of the clamp downward, the duckbill clamp ends at The gas spring moves upwards to release the blade.
鸭嘴形夹持端边缘薄，有利于和砂轮机构的空间位置配合，提高安全性，磨削机构中选用的砂轮半径很大，这样的设计是可以最大限度地避免在磨削时砂轮会和夹具压板发生碰撞，引起不必要的损失和危险，在磨削加工中，安全性是非常重要的。The edge of the duckbill-shaped clamping end is thin, which is conducive to the coordination with the space position of the grinding wheel mechanism and improves the safety. The grinding wheel selected in the grinding mechanism has a large radius. This design can minimize the friction between the grinding wheel and the grinding wheel during grinding. The collision of the clamp platen will cause unnecessary losses and dangers. In the grinding process, safety is very important.
具体的，上料机构包括推刀板21、推刀气缸22、刀架23、进刀口24、刀片压板25、刀片压板气缸26。Specifically, the feeding mechanism includes a knife push plate 21 , a knife push cylinder 22 , a knife holder 23 , a knife inlet 24 , a blade pressing plate 25 , and a blade pressing plate cylinder 26 .
刀片压板气缸26固定于竖向支架上，刀片压板气缸的动作端与刀片压板25连接，刀片压板气缸可推动刀片压板上下移动；刀片压板端部设置延伸板，延伸板延伸至刀架23的内部空腔内，刀架侧部设置进刀口以供刀片压板伸入，刀片压板端部可在刀架的内部空腔上下移动；刀架侧部还与推刀板21配合，推刀板与推刀气缸22连接，推刀气缸可推动推刀板水平移动。刀架侧部与推刀板配合位置处设有空隙，推刀板可由空隙水平***刀架的内部空腔，保证推刀板灵活进出刀架内部。The blade pressing plate cylinder 26 is fixed on the vertical bracket, the action end of the blade pressing plate cylinder is connected with the blade pressing plate 25, and the blade pressing plate cylinder can push the blade pressing plate to move up and down; In the cavity, the side of the tool holder is provided with a knife inlet for the blade pressing plate to penetrate, and the end of the blade pressing plate can move up and down in the inner cavity of the tool holder; The knife cylinder 22 is connected, and the knife push cylinder can push the knife push plate to move horizontally. There is a gap at the matching position between the side of the tool holder and the blade pusher plate, and the blade pusher plate can be inserted into the inner cavity of the tool holder horizontally through the gap to ensure that the blade pusher plate can enter and exit the inside of the tool holder flexibly.
刀架底部对应于推刀板下方设置底板，以支撑刀片。The bottom of the knife holder corresponds to the bottom plate under the knife pushing plate to support the blade.
刀架侧部设有开口以供刀片被推刀板推出，夹具基座16的上表面与开口的位置相对应设置，在刀片被推出后移动至夹具基座上表面，夹具基座对其进行支撑，在夹具的鸭嘴形夹持端下移与夹具基座配合时可夹紧刀片。There is an opening on the side of the tool holder for the blade to be pushed out by the blade pusher. The upper surface of the fixture base 16 is set corresponding to the position of the opening. Support to clamp the blade when the duckbill gripping end of the clamp is moved down to engage the base of the clamp.
具体的，卸料机构包括卸料旋转电机27、联轴器28、电磁抓手29、摇杆30。Specifically, the discharge mechanism includes a discharge rotary motor 27 , a coupling 28 , an electromagnetic gripper 29 , and a rocker 30 .
卸料旋转电机27通过联轴器28与摇杆30连接，卸料旋转电机运作可带动摇杆在水平方向转动，摇杆为折弯杆，摇杆与电磁抓手29连接，电磁抓手水平设置，电磁抓手底部具有电磁铁吸盘，电磁抓手利用磁吸作用吸住刀片，在卸料旋转电机的作用下，转动至非工作位卸下。The unloading rotary motor 27 is connected with the rocker 30 through the coupling 28. The operation of the unloading rotary motor can drive the rocker to rotate in the horizontal direction. The rocker is a bending rod, and the rocker is connected with the electromagnetic gripper 29. The electromagnetic gripper is horizontal The bottom of the electromagnetic gripper is provided with an electromagnet suction cup, and the electromagnetic gripper uses the magnetic attraction to suck the blade, and under the action of the unloading rotating motor, rotates to the non-working position for unloading.
本发明磨削装置的工作原理为：The working principle of the grinding device of the present invention is:
利用刀架将多个刀片统一放入刀架的空腔内，刀架的空腔内可同时平躺叠放多个刀片，刀片叠放在刀架内底板上，用刀片压板气缸26驱动刀片压板25，将刀片压在刀架内底板上；然后推刀板21在推刀气缸22的作用下水平移动推出刀片，夹持机构的鸭嘴形夹持端18直接夹住刀片；Use the tool holder to put multiple blades into the cavity of the tool holder uniformly. The cavity of the tool holder can lay and stack multiple blades at the same time. The blades are stacked on the inner bottom plate of the tool holder, and the blade pressing plate cylinder 26 is used to drive the blades The pressing plate 25 presses the blade on the inner bottom plate of the tool holder; then the blade pushing plate 21 moves horizontally to push out the blade under the action of the blade pushing cylinder 22, and the duckbill-shaped clamping end 18 of the clamping mechanism directly clamps the blade;
为实现对刀片的夹紧固定，保证位置精度，使运动过程简易，且具备一定的导向功能，夹持机构采用鸭嘴形夹具；手术刀片的夹紧与取出过程的原理都是依靠气缸和弹簧相互作用的；夹具助力气缸20是竖直安装在夹具底板上的，它实现的是上、下推动，当夹具助力气缸20向上推动时，鸭嘴形夹持端18左端翘起，右端向下，与夹具底座配合实现夹紧，反之则松开；In order to realize the clamping and fixing of the blade, ensure the position accuracy, make the movement process simple, and have a certain guiding function, the clamping mechanism adopts a duckbill clamp; the principle of clamping and taking out the surgical blade depends on the cylinder and the spring. The clamp assist cylinder 20 is vertically installed on the base plate of the clamp, and it realizes the push up and down. When the clamp assist cylinder 20 is pushed upward, the left end of the duckbill-shaped clamping end 18 is lifted, and the right end is downward. , cooperate with the fixture base to realize clamping, otherwise loosen;
鸭嘴形的夹持端在夹具助力气缸20的作用下向下运动至与夹具基座相结合并锁死时，完成刀片的夹紧，刀片夹紧于鸭嘴形夹持端和夹具基座之间，此时，位于夹持端下的气弹簧被压缩，气弹簧的弹力是由夹具助力气缸通过反推夹具上端，左侧被抬起，右侧被下压给予的，弹簧的反力是小于气缸给予的压力；转向电机14可根据刀片的 刃口形状带动夹具转动相应角度；When the duckbill-shaped clamping end moves downward under the action of the clamp power cylinder 20 until it is combined with the clamp base and locked, the clamping of the blade is completed, and the blade is clamped on the duckbill-shaped clamping end and the clamp base. At this time, the gas spring located under the clamping end is compressed, and the elastic force of the gas spring is given by the clamp booster cylinder through the upper end of the reverse clamp, the left side is lifted, and the right side is pressed down, the reaction force of the spring is less than the pressure given by the cylinder; the steering motor 14 can drive the clamp to rotate by a corresponding angle according to the shape of the blade;
磨削机构通过滑轨下移至待磨削位置，对刀片进行磨削；当需要对手术刀进行磨削弧面时，夹具基座在转向电机14的带动下转动，鸭嘴形夹持端会带着刀片进行重复的运动，在多次相同的运动轨迹磨削下，磨削效果提高，精度提高，而且磨削面积增大，有利于制造出满足设计要求的磨削的刃口宽度；The grinding mechanism moves down through the slide rail to the position to be ground, and grinds the blade; when the scalpel needs to be ground on the curved surface, the fixture base rotates under the drive of the steering motor 14, and the duckbill-shaped clamping end It will carry the blade for repeated movement. Under the same motion trajectory grinding for many times, the grinding effect is improved, the precision is improved, and the grinding area is increased, which is conducive to the manufacture of the grinding edge width that meets the design requirements;
当磨削结束的时候，需要取出刀片，首先夹具助力气缸20开始慢慢的泄压，气弹簧伸展并释放自身的弹力，在弹力的作用下，鸭嘴形夹持端将会被慢慢推起，向远离夹具基座的方向移动，即向上运动，释放手术刀片，鸭嘴形夹持端和夹具基座之间的距离增大，这时候卸料机构工作，取走刀片；When grinding is over, the blade needs to be taken out. First, the clamp assists the cylinder 20 to slowly release the pressure. The gas spring stretches and releases its own elastic force. Under the action of the elastic force, the duckbill-shaped clamping end will be pushed slowly. Start, move to the direction away from the fixture base, that is, move upward, release the surgical blade, the distance between the duckbill-shaped clamping end and the fixture base increases, at this time, the unloading mechanism works and the blade is taken away;
卸料机构则是采用电磁铁吸盘，通电吸附、断电落下，电磁抓手吸住刀片，通过摇杆旋转，将磨好的刀片转移走。The unloading mechanism uses an electromagnet suction cup, which is energized for adsorption and power-off to fall. The electromagnetic gripper sucks the blade, and rotates the rocker to transfer the polished blade away.
实施例2：Example 2:
本实施例中提出一种医用手术刀刃口磨削装置的工作方法，包括以下步骤：In the present embodiment, a working method of a medical scalpel edge grinding device is proposed, comprising the following steps:
步骤一：将待磨削的刀片放入刀架23内，在刀片压板25的作用下被压紧，在推刀气缸22和推刀板21的共同作用下，刀片从刀架23内推出；Step 1: Put the blade to be ground into the blade holder 23, and be pressed under the action of the blade pressing plate 25. Under the combined action of the blade pushing cylinder 22 and the blade pushing plate 21, the blade is pushed out from the blade holder 23;
步骤二：二维移动平台承载着鸭嘴形夹持端18移动到出刀位置，当鸭嘴形夹持端18在夹具助力气缸20的帮助下右端向下运动至与夹具基座相结合并锁死时，完成刀片的夹紧，此时，位于夹持端下的气 弹簧17被压缩，气弹簧17的弹力是由夹具助力气缸20通过夹具上端给予的，夹具助力气缸锁死，夹持端夹紧手术刀片，在联轴器15和转向电机14的共同作用下旋转到对准砂轮6的待磨削位置；Step 2: The two-dimensional moving platform carries the duckbill-shaped clamping end 18 and moves to the knife-out position. When the duckbill-shaped clamping end 18 moves downward with the help of the clamp assist cylinder 20, the right end moves downward until it is combined with the clamp base and assembled. When it is locked, the clamping of the blade is completed. At this time, the gas spring 17 located under the clamping end is compressed, and the elastic force of the gas spring 17 is given by the clamp assist cylinder 20 through the upper end of the clamp, and the clamp assist cylinder is locked and clamped. Clamp the surgical blade at the end, and rotate to the position to be ground aligned with the grinding wheel 6 under the joint action of the coupling 15 and the steering motor 14;
步骤三：磨削机构沿滑杆1下落，在伸缩气缸的作用下沿滑轨4移动到待磨削位置，然后开始磨削过程；当需要对手术刀进行磨削弧面时，夹具基座在转向电机14的带动下转动，鸭嘴形夹持端18会带着刀片进行重复的运动，在多次相同的运动轨迹磨削下，磨削效果提高，精度提高，而且磨削面积增大，有利与制造出满足设计要求的磨削的刃口宽度；Step 3: The grinding mechanism falls along the sliding rod 1, moves along the sliding rail 4 to the position to be ground under the action of the telescopic cylinder, and then starts the grinding process; when the scalpel needs to be ground on the curved surface, the fixture base Driven by the steering motor 14 to rotate, the duckbill-shaped clamping end 18 will carry out repeated movements with the blade. Under the same motion trajectory grinding for many times, the grinding effect is improved, the precision is improved, and the grinding area is increased , which is beneficial to produce a grinding edge width that meets the design requirements;
步骤四：手术刀一面磨削完成后，磨削机构在横向气缸伸缩杆3的带动下，沿着滑轨4向后移动，使砂轮6远离磨削刀具的刃口，随后磨削机构在竖向气缸的带动下，沿滑杆1向下移动，磨削机构在横向气缸伸缩杆3的带动下，沿着滑轨4向前移动，直至砂轮6上表面与刀具下表面接触，继续开始磨削，鸭嘴形夹持端18会带着刀片进行重复的运动，提高磨削效果和精度；Step 4: After grinding one side of the scalpel, the grinding mechanism is driven by the horizontal cylinder telescopic rod 3 and moves backward along the slide rail 4 to keep the grinding wheel 6 away from the cutting edge of the grinding tool, and then the grinding mechanism is in the vertical position. Driven by the cylinder, it moves down along the sliding rod 1, and the grinding mechanism is driven by the horizontal cylinder telescopic rod 3 and moves forward along the sliding rail 4 until the upper surface of the grinding wheel 6 contacts the lower surface of the tool, and continues to grind When grinding, the duckbill-shaped clamping end 18 will carry the blade for repeated movement to improve the grinding effect and precision;
步骤五：磨削完成后，磨削机构在横向气缸伸缩杆3的带动下，沿着滑轨4向后移动，磨削机构沿滑杆1上升，夹具在联轴器15和转向电机14的带动下转到初始位置。夹具助力气缸开始慢慢的泄压，气弹簧17伸展并释放自身的弹力，在弹力的作用下，鸭嘴形夹持端18将会被慢慢推起，向远离夹具基座的方向移动，即向上运动，释放手术刀片，鸭嘴形夹持端18和夹具基座16之间的距离增大；Step 5: After the grinding is completed, the grinding mechanism is driven by the horizontal cylinder telescopic rod 3 to move backward along the slide rail 4, the grinding mechanism rises along the slide rod 1, and the clamp is located between the coupling 15 and the steering motor 14. Drive down to the initial position. The clamp assist cylinder begins to release pressure slowly, the gas spring 17 stretches and releases its own elastic force, under the action of the elastic force, the duckbill-shaped clamping end 18 will be slowly pushed up and move away from the clamp base. That is, the upward movement releases the surgical blade, and the distance between the duckbill-shaped clamping end 18 and the clamp base 16 increases;
步骤六：接通电磁抓手29吸住刀片，在卸料旋转电机27和联轴 器28的作用下转到完成区，卸下刀片。Step 6: Turn on the electromagnetic gripper 29 to suck the blade, transfer to the completion area under the action of the discharge rotary motor 27 and the coupling 28, and remove the blade.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

  1. 一种医用手术刀刃口磨削装置，其特征是，包括磨削机构、夹持机构、上料机构、卸料机构；其中，夹持机构底部设置于二维移动平台，磨削机构对应设置于夹持机构上方，上料机构、卸料机构设置于夹持机构相对位置处，上料机构推动刀片至夹持机构夹紧，磨削机构移动至待磨削位置对刀片进行磨削，而后夹持机构松开刀片，由卸料机构将刀片卸下，自动完成医用手术刀刃口磨削。A medical scalpel edge grinding device is characterized in that it includes a grinding mechanism, a clamping mechanism, a feeding mechanism, and a discharging mechanism; wherein, the bottom of the clamping mechanism is arranged on a two-dimensional moving platform, and the grinding mechanism is correspondingly arranged on the Above the clamping mechanism, the feeding mechanism and the unloading mechanism are arranged at the opposite positions of the clamping mechanism. The feeding mechanism pushes the blade to the clamping mechanism for clamping, the grinding mechanism moves to the position to be ground to grind the blade, and then clamps the blade. The holding mechanism releases the blade, and the unloading mechanism removes the blade to automatically complete the cutting edge grinding of the medical scalpel.
  2. 如权利要求1所述的医用手术刀刃口磨削装置，其特征是，所述夹持机构包括夹具，所述夹具一端设有鸭嘴形夹持端，夹具另一端与夹具助力气缸连接，夹具中部通过转动连接件与夹具基座固定连接，夹具助力气缸可推动夹具另一端进而使得鸭嘴形夹持端靠近/远离夹具基座实现对刀片的夹紧或松开。The device for sharpening the edge of a medical scalpel according to claim 1, wherein the clamping mechanism comprises a clamp, one end of the clamp is provided with a duckbill clamping end, the other end of the clamp is connected to a clamp power cylinder, and the clamp The middle part is fixedly connected with the clamp base through the rotating connecting piece, and the clamp power cylinder can push the other end of the clamp to make the duckbill clamping end close to/away from the clamp base to clamp or loosen the blade.
  3. 如权利要求2所述的医用手术刀刃口磨削装置，其特征是，所述鸭嘴形夹持端上表面为倾斜表面，鸭嘴形夹持端端部为弧形；所述夹具基座与鸭嘴形夹持端具有设定间距，夹具基座和鸭嘴形夹持端之间设置气弹簧，夹具基座通过联轴器与转向电机连接，以带动夹具转动。The device for sharpening the edge of a medical scalpel according to claim 2, wherein the upper surface of the duckbill-shaped clamping end is an inclined surface, and the end of the duckbill-shaped clamping end is arc-shaped; the clamp base There is a set distance from the duckbill-shaped clamping end, a gas spring is arranged between the clamp base and the duckbill-shaped clamping end, and the clamp base is connected with the steering motor through a coupling to drive the clamp to rotate.
  4. 如权利要求1所述的医用手术刀刃口磨削装置，其特征是，所述上料机构包括刀架，刀架内具有空腔以容纳刀片；刀架侧部设置推刀板，推刀板由推刀气缸推动可水平移动进而将刀架内刀片推出。The device for sharpening the edge of a medical scalpel according to claim 1, wherein the feeding mechanism comprises a knife holder, and the knife holder has a cavity for accommodating the blade; Pushed by the pusher cylinder, it can move horizontally and push out the blade in the tool holder.
  5. 如权利要求4所述的医用手术刀刃口磨削装置，其特征是，所述刀架侧部设置进刀口，刀片压板由进刀口伸入刀架空腔内，且刀片压板由刀片压板气缸推动可上下移动进而压紧刀片。The device for sharpening the edge of a medical scalpel according to claim 4, wherein a knife inlet is provided on the side of the knife holder; Move up and down to compress the blade.
  6. 如权利要求5所述的医用手术刀刃口磨削装置，其特征是，所述刀片压板端部设置延伸板，延伸板延伸至刀架的空腔内。The device for sharpening the edge of a medical scalpel according to claim 5, wherein an extension plate is provided at the end of the blade pressing plate, and the extension plate extends into the cavity of the blade holder.
  7. 如权利要求1所述的医用手术刀刃口磨削装置，其特征是，所述卸料机构包括卸料旋转电机，卸料旋转电机与摇杆连接，摇杆端部与电磁抓手连接。The device for sharpening the edge of a medical scalpel according to claim 1, wherein the discharge mechanism comprises a discharge rotary motor, the discharge rotary motor is connected to a rocker, and the end of the rocker is connected to an electromagnetic gripper.
  8. 如权利要求7所述的医用手术刀刃口磨削装置，其特征是，所述摇杆为折弯杆，卸料旋转电机可带动折弯杆在水平方向转动进而带动电磁抓手转动。The device for sharpening the edge of a medical scalpel according to claim 7, wherein the rocker is a bending rod, and the discharge rotary motor can drive the bending rod to rotate in the horizontal direction and then drive the electromagnetic gripper to rotate.
  9. 如权利要求1所述的医用手术刀刃口磨削装置，其特征是，所述磨削机构包括砂轮，砂轮通过V带与动力装置连接；所述砂轮固定于滑动基座，滑动基座可上下移动和前后移动，以与夹持机构形成多轴联动。The device for sharpening the edge of a medical scalpel according to claim 1, wherein the grinding mechanism comprises a grinding wheel, and the grinding wheel is connected to the power device through a V-belt; the grinding wheel is fixed on a sliding base, and the sliding base can be moved up and down. Move and move back and forth to form a multi-axis linkage with the clamping mechanism.
  10. 如权利要求9所述的医用手术刀刃口磨削装置，其特征是，所述滑动基座顶部通过横向滑轨与上底座支撑架连接，上底座支撑架通过竖向滑轨与滑杆连接；所述滑动基座与横向气缸连接以沿横向滑轨移动，上底座支撑架与竖向气缸连接以沿滑杆移动。The device for sharpening an edge of a medical scalpel according to claim 9, wherein the top of the sliding base is connected to the upper base support frame through a lateral slide rail, and the upper base support frame is connected to the slide bar through a vertical slide rail; The sliding base is connected with the transverse cylinder to move along the transverse sliding rail, and the upper base support frame is connected with the vertical cylinder to move along the sliding rod.
PCT/CN2020/137632 2020-11-27 2020-12-18 Grinding device for medical scalpel cutting edge WO2022110393A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202011364237.XA CN112496883A (en) 2020-11-27 2020-11-27 Medical scalpel blade grinding device
CN202011364237.X 2020-11-27

Publications (1)

Publication Number Publication Date
WO2022110393A1 true WO2022110393A1 (en) 2022-06-02

Family

ID=74967269

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2020/137632 WO2022110393A1 (en) 2020-11-27 2020-12-18 Grinding device for medical scalpel cutting edge

Country Status (2)

Country Link
CN (1) CN112496883A (en)
WO (1) WO2022110393A1 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114986342A (en) * 2022-07-05 2022-09-02 芜湖中铁轨道装备有限公司 Track plane polishing equipment capable of conveying and positioning
CN115091272A (en) * 2022-07-19 2022-09-23 万华禾香板业（怀远）有限责任公司 High-efficient sharpedge grinding machine is used to wood shaving blade
CN115213747A (en) * 2022-07-13 2022-10-21 阳江市天骄家庭用品制造有限公司 Production device for improving production precision of surgical instruments
CN116475492A (en) * 2023-03-07 2023-07-25 金华市亚虎工具有限公司 Oblique fracture saw installation workbench
CN116566146A (en) * 2023-07-11 2023-08-08 包头江馨微电机科技有限公司 Magnetism centre gripping crimping subassembly and voice coil motor equipment system
CN117681105A (en) * 2024-02-04 2024-03-12 靖江市富源船舶配件有限公司 Boats and ships platemaking end cap burnishing device

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004031584A1 (en) * 2004-06-30 2006-02-09 E. Siepmann Gmbh & Co. Kg Knife grinding tool has grinding disc on swivel mount presented to the knife edge at a chamfer angle
CN2801386Y (en) * 2005-05-30 2006-08-02 淄博矿山建材设备总厂 Single arm grinding machine for heat insulating refractory material
KR100634126B1 (en) * 2006-03-14 2006-10-16 아이나노텍(주) Micro drill step grinding m/c
CN104723180A (en) * 2015-03-31 2015-06-24 王华江 Cutting edge grinding mechanism for automatic grinding device of surgical blade cutting edge and grinding device
CN107139025A (en) * 2017-06-07 2017-09-08 南京航空航天大学 A kind of medical operation blade cutting edge automatic grinding system and method for grinding
CN206622916U (en) * 2017-04-15 2017-11-10 黑龙江大学 A kind of automatic charging and the grip device of discharging
CN206622924U (en) * 2017-04-15 2017-11-10 黑龙江大学 A kind of duck-beak type insert clamp
CN206795437U (en) * 2017-04-21 2017-12-26 黑龙江大学 A kind of special equipment for grinding of knife blade

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201410631Y (en) * 2009-06-19 2010-02-24 天津市精诚机床制造有限公司 Layout of five-axis numerical control blade milling machine with curve-tooth bevel gear milling cutter
CN103567817B (en) * 2012-07-26 2016-03-30 福州耕耘专利开发有限公司 Axle class cutting tool blade milling machine
CN105397579B (en) * 2015-12-15 2018-02-06 苏州市相城区北桥镇轻工机械厂 A kind of Full-automatic numerical control knife sharpener
CN211219933U (en) * 2019-12-16 2020-08-11 无锡精瓷精密工具有限公司 Multi-angle adjustable polycrystalline diamond grinding device for cutter

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004031584A1 (en) * 2004-06-30 2006-02-09 E. Siepmann Gmbh & Co. Kg Knife grinding tool has grinding disc on swivel mount presented to the knife edge at a chamfer angle
CN2801386Y (en) * 2005-05-30 2006-08-02 淄博矿山建材设备总厂 Single arm grinding machine for heat insulating refractory material
KR100634126B1 (en) * 2006-03-14 2006-10-16 아이나노텍(주) Micro drill step grinding m/c
CN104723180A (en) * 2015-03-31 2015-06-24 王华江 Cutting edge grinding mechanism for automatic grinding device of surgical blade cutting edge and grinding device
CN206622916U (en) * 2017-04-15 2017-11-10 黑龙江大学 A kind of automatic charging and the grip device of discharging
CN206622924U (en) * 2017-04-15 2017-11-10 黑龙江大学 A kind of duck-beak type insert clamp
CN206795437U (en) * 2017-04-21 2017-12-26 黑龙江大学 A kind of special equipment for grinding of knife blade
CN107139025A (en) * 2017-06-07 2017-09-08 南京航空航天大学 A kind of medical operation blade cutting edge automatic grinding system and method for grinding

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114986342A (en) * 2022-07-05 2022-09-02 芜湖中铁轨道装备有限公司 Track plane polishing equipment capable of conveying and positioning
CN115213747A (en) * 2022-07-13 2022-10-21 阳江市天骄家庭用品制造有限公司 Production device for improving production precision of surgical instruments
CN115213747B (en) * 2022-07-13 2023-09-22 阳江市天骄家庭用品制造有限公司 Production device for improving production precision of surgical instruments
CN115091272A (en) * 2022-07-19 2022-09-23 万华禾香板业（怀远）有限责任公司 High-efficient sharpedge grinding machine is used to wood shaving blade
CN115091272B (en) * 2022-07-19 2023-10-03 万华禾香板业（怀远）有限责任公司 Efficient knife grinder for shaving blade
CN116475492A (en) * 2023-03-07 2023-07-25 金华市亚虎工具有限公司 Oblique fracture saw installation workbench
CN116475492B (en) * 2023-03-07 2024-01-09 金华市亚虎工具有限公司 Oblique fracture saw installation workbench
CN116566146A (en) * 2023-07-11 2023-08-08 包头江馨微电机科技有限公司 Magnetism centre gripping crimping subassembly and voice coil motor equipment system
CN116566146B (en) * 2023-07-11 2023-09-15 包头江馨微电机科技有限公司 Magnetism centre gripping crimping subassembly and voice coil motor equipment system
CN117681105A (en) * 2024-02-04 2024-03-12 靖江市富源船舶配件有限公司 Boats and ships platemaking end cap burnishing device
CN117681105B (en) * 2024-02-04 2024-04-12 靖江市富源船舶配件有限公司 Boats and ships platemaking end cap burnishing device

Also Published As

Publication number Publication date
CN112496883A (en) 2021-03-16

Similar Documents

Publication Publication Date Title
WO2022110393A1 (en) Grinding device for medical scalpel cutting edge
CN111469036A (en) Steel sheet rust cleaning device that polishes
CN209579692U (en) A kind of novel paper tube cutting machine
CN218656319U (en) Punch press with guide structure
CN108672776B (en) Chute processing device of multifunctional blade automatic processing machine
CN203831202U (en) Automatic melamine tableware grinding machine
CN113263333B (en) Pneumatic type copper side cut device
CN207757381U (en) A kind of plastic part end face grinding device
CN214603587U (en) Auxiliary polishing device for steering gear bracket
CN214517846U (en) Refrigerator backplate cutting tool
CN209050397U (en) A kind of sheet metal component cutter device
CN211916348U (en) Trimming equipment for conical sheet metal part
CN209832499U (en) Thermal cutting device
CN208663404U (en) A kind of horizontal belt grinder
CN110253302A (en) A kind of office chair steel tube cutting machine
CN207069019U (en) A kind of L-type holder for being used to disassemble lithium battery
CN218800426U (en) Punch press of fishing boat rail processing
CN217798589U (en) Automatic go up unloading die stamping machine
CN218904807U (en) Forming grinder
CN217648112U (en) Edging device of plastic goods processing usefulness
CN113059468B (en) Polishing device for processing wood corner
CN215036080U (en) Automatic edge grinding device for baking tray
CN210547543U (en) Clamping die for punch press
CN219006889U (en) Automatic cut and mill mouth of a river integrated mechanism and automatic cut and mill mouth of a river integrated machine
CN219169431U (en) Manipulator for punching and pushing

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20963281

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20963281

Country of ref document: EP

Kind code of ref document: A1