Microminiature needle body high-speed visual screening equipment and screening method thereof

Abstract

The invention discloses microminiature needle body high-speed visual screening equipment and a screening method thereof, and belongs to the technical field of industrial automatic detection and sorting. The equipment comprises an equipment frame, a feeding module, a visual identification module, a grabbing module, a control module and a material receiving module. The feeding module is used for conveying to-be-screened needle bodies. The visual identification module performs image acquisition and model identification on the needle body; the grabbing module is provided with a plurality of grabbing clamping jaws, can move in the horizontal direction and the vertical direction under the driving of the control module, and grabs a plurality of needle bodies of the same model at the same time at a time. The material receiving module comprises a plurality of material receiving boxes and a transposition driving mechanism for driving the material receiving boxes to move so as to align the target material receiving box to the grabbing module. The equipment disclosed by the invention can be widely applied to high-efficiency sorting of micro-miniature needle bodies with the diameters ranging from 0.3 mm to 3mm and the lengths ranging from 3mm to 77mm, has high precision, high speed and high reliability, and is suitable for large-scale production and multi-variety and small-batch production requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of industrial automation detection and sorting, in particular to a high-speed visual screening device for micro-needle and a screening method thereof. BACKGROUND

[0002] In the electronic manufacturing, connector production and other industries, micro-needle parts (Φ0.3mm~Φ3mm, length of 3mm~77mm) are widely used. In order to improve the processing efficiency of surface treatment (such as electroplating, spraying), manufacturers usually mix a plurality of needle parts of different models and similar sizes together for batch processing. After processing, the mixed parts need to be accurately sorted and classified according to their respective models and specifications for subsequent storage, sales or assembly.

[0003] At present, the sorting of such micro-needle parts mainly relies on manual visual identification and manual sorting. The operator needs to identify the parts under a microscope or magnifying glass according to the subtle shape and size difference of the parts, and use tweezers and other tools for picking and sorting. However, due to the small size of the parts, the speed of manual identification and grabbing is very slow, which cannot meet the rhythm demand of large-scale production; the sorting work requires high concentration of attention, and the eye power and operation proficiency of the operator are required, resulting in high labor cost and difficulty in realizing sustainable large-scale operation.

[0004] In order to overcome the defects of manual sorting, some devices using automatic technology for sorting have appeared on the market, such as the scheme of using traditional vibrating disc combined with single mechanical arm grabbing. However, when dealing with the above-mentioned specific range of micro-needle, this kind of device has poor feeding effect on micro-needle which is easy to entangle, and can only grab one part at a time, so the overall cycle time is long and the speed improvement is limited.

[0005] Therefore, there is an urgent need in the art for an innovative solution that can efficiently, accurately and stably complete the sorting of micro-needle and effectively overcome the shortcomings of the prior art. SUMMARY

[0006] The present application aims to provide a high-speed visual screening device and method for micro-needle, to solve the problems of low efficiency and poor accuracy in the prior art.

[0007] To achieve the above-mentioned purpose, based on the first main aspect of the present application, the present application provides a high-speed visual screening device for micro-needle, comprising:

[0008] a device frame;

[0009] a feeding module arranged on the device frame for storing and conveying the micro-needle to be screened;

[0010] a visual recognition module arranged on a conveying path of the feeding module, configured to collect images and identify models of the micro-needles;

[0011] a grabbing module capable of moving in at least one horizontal direction and vertical direction, and provided with a plurality of grabbing clamps on the grabbing module, configured to simultaneously grab a plurality of the needles identified by the visual recognition module;

[0012] a control module electrically connected with the visual recognition module and the grabbing module, configured to receive an identification signal and control actions of the grabbing module;

[0013] a receiving module including a plurality of receiving boxes for accommodating different models of needles, and a transposition driving mechanism for driving the receiving boxes to move so as to align a target receiving box with the grabbing module;

[0014] In some embodiments, as a further preferred solution, the receiving module further includes a strong magnetic attraction fixing module for releasably fixing the receiving boxes at a set position during operation of the device.

[0015] In some embodiments, as a further preferred solution, the strong magnetic attraction fixing module includes a magnetic attraction piece arranged on a main body of the receiving module, and a magnetic conductive part or a magnetic attraction matching part arranged on the receiving box and capable of being attracted to the magnetic attraction piece.

[0016] In some embodiments, as a further preferred solution, the grabbing module includes at least two grabbing clamps, and a rotary motor for driving the grabbing clamps to adjust an angle.

[0017] In some embodiments, as a further preferred solution, the grabbing module further includes an up-down motor for driving the grabbing clamps to move along a Z axis.

[0018] In some embodiments, as a further preferred solution, the device further includes an X-axis module and a Y-axis module for controlling the grabbing module to move in the horizontal direction and the vertical direction.

[0019] In some embodiments, as a further preferred solution, a replenishment bin module is further included and connected with the control module.

[0020] When the number of the needles in the feeding module is detected by the visual recognition module to be lower than a preset threshold, the control module controls the replenishment bin module to automatically replenish the needles to the feeding module.

[0021] In some embodiments, as a further preferred solution, the transposition driving mechanism includes a linear module, a transposition cylinder module and a hydraulic buffer.

[0022] Based on the recognition result of the visual recognition module, the control module controls the linear module and the shifting cylinder module to drive the receiving box to move to the receiving station corresponding to the current recognition needle specification.

[0023] Based on a second key aspect of the present invention, a high-speed visual screening method for miniature needles is provided, employing the aforementioned high-speed visual screening device for miniature needles, comprising the following steps:

[0024] Import visual recognition templates corresponding to different needle models into the control module.

[0025] The feeding module organizes and conveys the micro-sized needles.

[0026] The visual recognition module acquires images of the micro-sized needles during delivery and matches them with templates to identify their size and position.

[0027] Based on the recognition results, control the grasping module to move to the corresponding position and grasp multiple needles of the same specification at one time;

[0028] The shifting drive mechanism controls the movement of the receiving module, so that the receiving box corresponding to the specifications of the grasped needle body arrives at the receiving station;

[0029] The gripping module is controlled to place the gripped needle into the receiving box;

[0030] In some embodiments, as a further preferred embodiment, the step of:

[0031] The visual recognition module monitors the needle quantity in the feeding module in real time.

[0032] When the stock level is lower than a preset threshold, the replenishment module is controlled to automatically replenish the stock.

[0033] Beneficial effects:

[0034] Compared with the prior art, the present invention has the following significant advantages:

[0035] (1) Through the design of multi-gripper collaborative gripping (preferably 5 grippers at a time), multiple products can be sorted in a single operation, fundamentally changing the traditional serial mode of single-piece gripping. It innovatively adopts the parallel processing sequence of visual recognition and mechanical action. That is, while processing the current image information, the gripping module is executing the gripping and unloading actions of the previous recognition cycle. This collaborative control mechanism fully overlaps the originally idle mechanical motion time with the image processing time, greatly compressing the cycle time of a single operation.

[0036] (2) Template matching-based machine vision inspection completely replaces subjective judgment relying on human eyes, avoiding misjudgments and omissions caused by personnel fatigue, experience differences, or lack of concentration. The entire inspection and sorting process is controlled by a program with unified standards, ensuring consistency in sorting results across different batches and time points. In practical applications, the mixing rate of the screened finished products is almost zero, greatly improving the quality and reliability of the final product.

[0037] (3) To address the issue of easy shaking of the receiving module in high-speed sorting equipment, this invention introduces a strong magnetic clamping module. This design utilizes powerful magnetic force to firmly fix the receiving box instantly during operation, effectively overcoming vibration and displacement caused by high-speed start-stop and inertia, ensuring the accuracy of material dispensing. At the same time, this magnetic fixing method achieves "rigid connection and flexible release," ensuring stability during operation while also meeting the convenience of manual one-click replacement of the receiving box, balancing the needs of automation and human-machine interaction.

[0038] (4) This invention achieves full-process automation from automatic feeding, visual recognition, precise grasping, intelligent repositioning to automatic replenishment. Operators only need to perform initial batch feeding and final removal of finished products, resulting in extremely low labor intensity and significantly reduced requirements for operational skills. The automatic replenishment function ensures that the equipment can operate continuously without human intervention for extended periods, further improving the effective operating time of the equipment and per capita output.

[0039] (5) The core sorting logic of this equipment relies on flexibly configurable vision template software. When switching product models, there is no need for complex mechanical adjustments or tooling changes. Simply call or create a new recognition template in the vision system to quickly adapt to the new needle specifications. This switching method enables the equipment to be widely used for various irregular or similarly sized micro-needles within the range of Φ0.3mm~Φ3mm and length 3mm~77mm. The equipment has extremely high reusability, providing enterprises with strong flexible production capabilities to cope with the market trend of multiple varieties and small batches, and significantly shortening the investment return cycle of a single unit. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0042] Figure 2 for Figure 1Internal structure diagram;

[0043] Figure 3 This is a schematic diagram of the grabbing module structure according to an embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram of a receiving module according to an embodiment of the present invention.

[0045] Figure 5 This is a schematic diagram of the material receiving module structure according to an embodiment of the present invention.

[0046] Figure 6 This is a schematic diagram of a sliding module structure according to an embodiment of the present invention.

[0047] Figure 7 This is a flowchart illustrating the use of an embodiment of the present invention.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1-Equipment frame, 2-Vision display screen, 3-Touch screen, 4-Receiving module, 401-Receiving component, 4011-Receiving box, 4012-Locking mechanism, 402-Sliding component, 4021-Strong magnetic clamping module, 4022-Linear module, 4023-Hydraulic buffer, 4024-Shifting cylinder module, 5-Grip module, 501-Grip gripper, 502-Up and down motors, 503-Rotation motor, 504-Grip module, 6-Vision recognition module, 7-X-axis module, 8-Y-axis module, 9-Feeding module, 10-Replenishment bin module, 11-Groove module, 12-Retrieving position step. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0051] Example:

[0052] This invention provides a preferred embodiment of a high-speed visual screening device for miniature needles, such as... Figures 1 to 6 As shown, the device includes a frame 1, a vision display screen 2, a touch screen 3, a receiving module 4, a gripping module 504, a vision recognition module 6, an X-axis module 7, a Y-axis module 8, a flexible vibratory feeder module, a replenishment bin module 10, a shuttle module 11, and a material picking position step 12. The structure, connection relationships, and functions of each component will be described in detail below with reference to the accompanying drawings.

[0053] like Figure 1As shown, this invention provides a high-speed visual screening device for miniature needles. The device frame 1 provides rigid support for the entire machine, and a visual display screen 2 and a touch screen 3 are mounted on it for displaying visual recognition results, device operating status, and providing a human-machine interface. Operators can set screening parameters, call up visual templates, and monitor device operation through the touch screen 3.

[0054] Figure 2 This is a schematic diagram of the internal structure of the device described in this invention, wherein,

[0055] The control module (not shown in the figure) is responsible for the coordination and management of the entire equipment. The control module is electrically connected to the vision recognition module 6, gripping module 5, receiving module 4, feeding module 9, electronic pressure regulating valve controller, and replenishment bin module 10. It receives recognition signals from the vision recognition module 6 and controls the actions of the gripping module 5 and the receiving module 4. During the gripping process, the control module calculates and plans the gripping path based on the data provided by the vision recognition module 6, and simultaneously activates the X-axis module 7 and Y-axis module 8 to move the gripping module 5.

[0056] The control module employs a parallel processing mechanism to ensure time overlap between image processing and mechanical actions. Specifically, after image acquisition is complete, the control module immediately calculates the grasping path and instructs the grasping module 5 to perform the grasping action. The grasping action of the grasping module 5 and the processing of the next frame image by the visual recognition module 6 are performed in parallel. This mechanism effectively shortens the cycle time of a single operation and improves the overall efficiency of the equipment.

[0057] The visual recognition module 6 employs a high-resolution camera and lens system for image acquisition and model identification of the needles. The camera captures images of the needles in the feeding module 9 through its lens and transmits the image data to the control module in real time. Computer vision algorithms are used for model identification, position positioning (X, Y coordinates), and angle orientation calculation, which are then used by the subsequent template matching algorithm to accurately identify the needle's model and specifications. The visual recognition module 6 supports multi-angle shooting, ensuring that needles in different postures can be accurately identified and that it can distinguish between needles of similar sizes.

[0058] The feeding module 9 is used to store and transport the micro-sized needles to be screened. To ensure smooth feeding of various needles and prevent tangling or accumulation, in this embodiment, the feeding module 9 is preferably a flexible vibratory feeder. Through controllable high-frequency micro-amplitude vibration, needles that may be tangled or accumulated are automatically separated and dispersed, making it convenient for the gripping module 504 to grip them. It is suitable for various micro-sized needles with Φ0.3mm~Φ3mm and lengths of 3mm~77mm.

[0059] The replenishment bin module 10 is used to automatically replenish the needles in the feeding module 9 to ensure continuous and stable operation of the equipment. When the vision recognition module 6 detects that the number of needles in the feeding module 9 is lower than the preset standard, the replenishment bin module 10 will automatically supply more needles to the feeding module 9. This module quickly feeds the needles into the feeding area via a conveyor belt or other conveying method to ensure long-term continuous operation of the equipment.

[0060] The groove module 11 is a guide channel connecting the outlet of the flexible vibratory feeder module 9 and the receiving module 4, ensuring that the needle body can be smoothly and orderly conveyed to the receiving box 4011.

[0061] The grasping module 5 is the core functional module of this invention, responsible for accurately grasping the micro-sized needles after they have been screened by the vision system and placing them into the corresponding receiving box 4011.

[0062] The gripping module 5 moves horizontally (X-axis and Y-axis) via the X-axis module 7 and Y-axis module 8. The X-axis module 7 and Y-axis module 8 each include a lead screw, a guide rail, and a drive motor, and are mounted on the equipment frame 1. During operation, the Y-axis module 8 and gripping module 5 move along the X-axis under load. The Y-axis module 8 is mounted on the slide of the X-axis module 7, and during operation, it moves along the X-axis under load. According to the control module's instructions, the X-axis module 7 and Y-axis module 8 quickly and accurately position the gripping module 504 directly above the target needle identified by the vision system.

[0063] The gripping module 5 includes a gripping module 504, gripping jaws 501, a vertical motor 502, and a rotary motor 503. The gripping module 5 is equipped with multiple gripping jaws 501 (at least two), such as... Figure 6 As shown, this embodiment preferably uses five grippers, each of which can be independently controlled. The design of the gripping module 504 and the grippers allows multiple needles to be gripped at once in each operation, greatly improving work efficiency. The gripping gripper 501 ensures stable clamping of the needles, preventing them from slipping or being damaged during gripping. The movement of the gripping gripper is driven by multiple motors, and a precise control system enables accurate positioning and movement of the gripping gripper 501. The rotary motor 503 allows the gripper to rotate flexibly and adjust the gripping angle; the up-down motor 502 drives the gripper to rise and fall in the Z-axis direction, ensuring that the gripper can grasp needles at different heights and positions. The gripping gripper 501 uses air pressure to achieve the gripping and release of the flexible claw. To ensure stable and reliable clamping force and prevent damage to the needle body due to excessive gripping force caused by air pressure fluctuations or slippage due to insufficient gripping force, the device is also equipped with an electronic pressure regulating valve controller (not shown in the figure) to monitor and control the external air source input pressure driving the gripping claw (501) in real time, ensuring that it is always stable within the preset safe working range, and avoiding the impact of excessive or insufficient air pressure on gripping.

[0064] The receiving module 4 is located in the equipment frame 1 as follows: Figure 3 As shown, to facilitate quick and convenient removal of sorted needles by operators, a dedicated picking-up step 12 is provided on the outer side of the receiving module 4 (i.e., the side closest to the operator). The receiving module 4 is responsible for receiving the grasped needles and classifying them into different receiving boxes 4011. This module's design ensures that the needles can be smoothly and stably placed into the designated receiving positions during high-speed sorting. Specifically, it includes:

[0065] The receiving assembly 401 and the sliding assembly 402, such as Figure 4 and Figure 5 As shown. Among them,

[0066] In this embodiment, the receiving assembly 401 includes:

[0067] The receiving box 4011 is designed as a container that can hold needles of different specifications. Each receiving box 4011 has a partition groove inside for classifying and storing needles of different models.

[0068] To further enhance the stability of the receiving box 4011, a locking mechanism 4012 is added to the receiving assembly 401 in this embodiment. After the receiving box 4011 is placed in the correct position, the locking mechanism 4012 automatically locks the receiving box 4011 via a mechanical or electromagnetic drive device, preventing the receiving box 4011 from shifting due to external interference during equipment movement.

[0069] In this embodiment, the sliding component 402 includes:

[0070] The strong magnetic clamping module 4021 includes a magnetic suction component disposed on the main body of the receiving module 4, and a magnetically conductive part or magnetically engaging part disposed on the receiving box 4011 that can attract the magnetic suction component. The strong magnetic clamping module 4021 uses magnetic force to firmly fix the receiving box 4011 in the receiving position, preventing the receiving box 4011 from shaking or shifting due to equipment movement. This design ensures that the receiving box 4011 remains stable during high-speed operation, improving sorting accuracy. The magnetic design allows operators to easily pull out the entire receiving assembly 401 by applying a pulling force sufficient to overcome the magnetic force when changing the receiving box.

[0071] The shifting cylinder module 4024, hydraulic buffer 4023, and linear module 4022 drive the receiving box 4011 to move on the linear module 4022. Based on signals provided by the vision recognition module 6, the receiving module 4 can quickly adjust to a position opposite to the gripping module 5 to ensure that the gripped needles are accurately placed into the correct receiving box 4011. The hydraulic buffer 4023 eliminates vibration and rebound during the movement of the receiving box 4011, ensuring absolute stability in the final positioning of the receiving box 4011.

[0072] Combination Figure 7 The flowchart below provides a step-by-step detailed explanation of the working cycle of an embodiment of the high-speed visual screening method for micro-needles according to the present invention:

[0073] First, system settings and visual template training are performed.

[0074] The operator takes a small number of needles of known model and in good condition as standard samples and puts them into the flexible vibrating plate module;

[0075] Start the equipment's feeding and vision system to shake the standard sample needles apart and transport them to the shooting area below the vision recognition module 6.

[0076] Entering the "template training" mode of the vision system via touch screen 3, the vision recognition module 6 performs multiple, multi-angle image acquisitions on the passed standard sample needles to ensure that the most representative image features of the needle model are captured, and the acquired images are displayed on the vision display screen 2.

[0077] The operator selects the outline area of ​​the standard sample needle in the image on the screen. The vision software (integrated into the control module) automatically extracts feature information within this area, such as edge contours, aspect ratio, geometry of specific parts, and surface texture, and generates a visual recognition template for that model.

[0078] The operator feeds a batch of micro-needles of various models into the feeding hopper module 10 or directly into the flexible vibratory feeder module. This template is saved to the template database of the control module under the name of the model. The above process is repeated to collect samples and train templates for all other needle models that need to be sorted, until templates for all models have been created and stored in the database.

[0079] In the control system, each created visual template (such as "Type-A") is associated with the physical location of a specific receiving box 4011 in the receiving module 4. In some embodiments, when "Type-A" is detected, the receiving module 4 is configured to move the receiving box 4011 of Type-A to the receiving position.

[0080] Secondly, it enters an automated, high-speed identification and filtering cycle.

[0081] Step 1. Feeding and Vibration Processing:

[0082] The operator feeds a large batch of mixed needles of different models into the feeding bin module 10. The control module imports the corresponding visual recognition module 6 for each needle model, and the flexible vibratory feeder module starts operating. The internal flexible vibrator generates high-frequency, low-amplitude vibrations. Through vibration, needles that may be tangled or piled up are automatically separated and dispersed. Under the action of a specific track within the feeder, the needles are arranged in an orderly manner with specific orientations and postures, and are finally conveyed one by one to the shuttle module 11 at the outlet end.

[0083] Step 2. Visual Image Acquisition and Model Recognition:

[0084] When the needles flow through the vision inspection station, the vision recognition module 6 is triggered to perform high-speed image acquisition. The acquired high-definition images are transmitted to the control module in real time. Each screening cycle can simultaneously identify and screen up to 10 different product models. The control module then calls the preset vision processing algorithm to analyze each needle in the image as follows:

[0085] The image features of the needle are compared with pre-trained templates of various models in the database to determine its specific specifications;

[0086] Accurately calculate the X and Y coordinates of each identified needle in the coordinate system;

[0087] The angle and orientation of the needle are identified, providing data for posture adjustment during grasping.

[0088] Step 3. Path planning and parallel crawling:

[0089] After completing the recognition of the current image, the control module will immediately perform path planning. It will select multiple needles of the same model from the recognized needles and calculate the optimal path for the gripping module 504 to move above these needles. The control module will simultaneously send commands to the drive motors of the X-axis module 7 and the Y-axis module 8 to drive the gripping module 504 to move quickly above the target needles.

[0090] The grab module 504 will perform the following actions in sequence:

[0091] The rotary motor 503 drives the gripper assembly to rotate based on the angle data provided by the vision system, so that the orientation of the gripper 501 is consistent with the orientation of the needle body.

[0092] The up and down motors 502 drive the gripper assembly to descend along the Z-axis, so that the end of the gripper reaches the preset gripping height.

[0093] The control module sends a gripping signal to the designated gripper 501, and the gripper closes, simultaneously gripping the target needle body.

[0094] Step 4. Synchronous positioning and locking of receiving module 4:

[0095] Simultaneously with the control module identifying the needle model and issuing a gripping command, a transfer command is sent to the receiving module 4. The receiving module 4 then operates in the following coordinated manner:

[0096] The linear module 4022 receives the instruction and drives the entire receiving assembly 401 to move horizontally, transporting the receiving box 4011 corresponding to the target model to the approximate receiving area.

[0097] The shift cylinder module 4024 is activated to make fine adjustments, precisely locking the target receiving box 4011 at a fixed receiving position;

[0098] At the moment the cylinder reaches its position, the hydraulic buffer 4023 effectively absorbs the impact energy, preventing the receiving box 4011 from vibrating or rebounding, and ensuring stable positioning. The magnetic force of the strong magnetic clamping module 4021 firmly holds the receiving box 4011 in the set position, providing a stable foundation for precise material feeding.

[0099] Step 5. Mobile and Targeted Targeting:

[0100] The gripping module 504, which has completed gripping, carries 5 needles of the same model and is driven by the X / Y axis module 8 to move quickly to the top of the pre-positioned receiving box 4011.

[0101] The upper and lower motors 502 drive the gripper assembly to descend to the unloading height;

[0102] The gripper 501 is released, and the five needles are simultaneously placed into the receiving box 4011;

[0103] The grab module 504 is reset, preparing for the next grab loop.

[0104] Step 6. Automatic material replenishment:

[0105] The visual recognition module 6 continuously monitors the needle quantity in the flexible vibratory feeder module. When the quantity is lower than the preset threshold, the control module will immediately send an instruction to the replenishment bin module 10 to automatically replenish the mixed needles into the flexible vibratory feeder.

[0106] The core working principle of this invention can be summarized as "vision first, parallel action, multi-piece simultaneous grasping, and cyclic replenishment." While the grasping module 504 is performing the grasping and releasing action on the previous batch of identification needles, the vision system is processing the image information of the next frame in parallel. This collaborative control mechanism, which overlaps image processing time with mechanical motion time, greatly compresses the total time of a single operation cycle. Actual measurements show that it only takes about 8 seconds to complete a full cycle from recognition to release. In this embodiment, since multiple products can be grasped at once, the single-piece sorting time is significantly shortened. In some embodiments, the average single-piece sorting time is shortened to about 1.6 seconds, which is far more efficient than manual labor and traditional single-piece grasping equipment.

[0107] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0108] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A high-speed visual screening device for micro-needles, comprising a device frame (1) and a feeding module (9) disposed on the device frame (1) for storing and conveying micro-needles to be screened; characterized in that, Also includes: A visual recognition module (6) is set on the conveying path of the feeding module (9) for image acquisition and model recognition of the micro-sized needles; The grasping module (5) is capable of moving in at least one horizontal and one vertical direction. The grasping module (5) is provided with multiple grasping grippers (501) for simultaneously grasping multiple needles identified by the vision recognition module (6). The control module is electrically connected to the visual recognition module (6) and the grasping module (5) and is used to receive recognition signals and control the action of the grasping module (5); The receiving module (4) includes multiple receiving boxes (4011) for accommodating needles of different models, and a shifting drive mechanism for driving the receiving boxes (4011) to move so that the target receiving box (4011) is aligned with the gripping module (5).

2. The high-speed visual screening device for miniature needles according to claim 1, characterized in that, The receiving module (4) also includes a strong magnetic clamping module (4021) that releasably fixes the receiving box (4011) to a set position during equipment operation.

3. The high-speed visual screening device for miniature needles according to claim 2, characterized in that, The strong magnetic attraction module (4021) includes a magnetic attraction component disposed on the main body of the receiving module (4), and a magnetic conductive part or magnetic attraction mating part disposed on the receiving box (4011) that can attract each other with the magnetic attraction component.

4. The high-speed visual screening device for miniature needles according to claim 1, characterized in that, The gripping module (5) includes at least two gripping jaws (501) and a rotary motor (503) for driving the gripping jaws (501) to adjust their angle.

5. The high-speed visual screening device for miniature needles according to claim 1, characterized in that, The gripping module (5) also includes an upper and lower motor (502) to drive the gripping claw (501) to move along the Z-axis.

6. The high-speed visual screening device for miniature needles according to claim 1, characterized in that, The device also includes an X-axis module (7) and a Y-axis module (8) that are controlled by the control module to move the gripping module (5) in the horizontal and vertical directions.

7. The high-speed visual screening device for miniature needles according to claim 1, characterized in that, It also includes a replenishment bin module (10), which is connected to the control module; When the visual recognition module (6) detects that the number of needles in the feeding module (9) is lower than a preset threshold, the control module controls the replenishment bin module (10) to automatically replenish the feeding module (9).

8. The high-speed visual screening device for miniature needles according to claim 1, characterized in that, The shifting drive mechanism includes a linear module (4022), a shifting cylinder module (4024), and a hydraulic buffer (4023). Based on the recognition result of the visual recognition module (6), the control module controls the linear module (4022) and the shift cylinder module (4024) to drive the receiving box (4011) to move to the receiving station corresponding to the current recognition needle body specification.

9. A high-speed visual screening method for micro-needles, employing the equipment as described in any one of claims 1-8, characterized in that, Includes the following steps: Import visual recognition templates corresponding to different needle models into the control module. The micro-sized needles are sorted and transported through the feeding module (9); The visual recognition module (6) performs image acquisition and template matching on the micro-sized needles being transported to identify their specifications and positions; Based on the recognition results, control the grasping module (5) to move to the corresponding position and grasp multiple needles of the same specification at one time; The shifting drive mechanism controls the receiving module (4) to move, so that the receiving box (4011) corresponding to the specifications of the gripped needle body arrives at the receiving station; The gripping module (5) is controlled to place the gripped needle into the receiving box (4011).

10. The high-speed visual screening method for micro-needles according to claim 9, characterized in that, It also includes the following steps: The visual recognition module (6) monitors the needle quantity in the feeding module (9) in real time. When the stock level is lower than a preset threshold, the replenishment module (10) is controlled to automatically replenish the stock.

Images