Commutation adjustment method and feeding device

Abstract

The present invention relates to a commutation adjustment method and a feeding device. The feeding device includes an adjustment mechanism and a commutation mechanism for adjusting the axis angle of the needle tool. The adjustment mechanism includes a stop portion for axially stopping the needle tool and a calibration portion for adapting to the edge of the cutting edge of the needle tool. The commutation mechanism is used to adjust the axis angle of the needle tool and can drive the needle tool to rotate synchronously by a preset angle by clamping the base of the needle tool; the commutation adjustment method is based on the feeding device and includes the following steps: S10. Feed the needle tool to the adjustment mechanism and make the end face and the edge of the cutting edge of the base of the needle tool respectively abut against the stop portion and the calibration portion; S20. Clamp and connect to the base of the needle tool through the commutation mechanism; S30. Separate the needle tool from the adjustment mechanism and drive the needle tool to rotate by a preset angle; wherein, the rotation center of the needle tool is not collinear with the axis of the needle tool.

Description

Technical Field

[0001] The present invention relates to the technical field of medical device production, and particularly relates to a commutation adjustment method and a feeding device. Background Art

[0002] In the process of manufacturing puncture needles represented by biopsy needles, an important step is to insert the base of the metal needle into the hollow needle seat to assemble it with the needle seat. Before that, it is necessary to first separate the needle from the hopper and transfer it to the position adjustment station to pre-adjust the orientation angle of the needle edge. Existing puncture needles can be divided into various specifications according to different sampling parts. Some puncture needles are relatively slender, and when assembling with the needle seat, it is easy to cause the base of the needle to be unable to align with the needle insertion hole of the needle seat due to geometric deviations such as straightness, resulting in assembly failure.

[0003] For such puncture needles with a large aspect ratio (the ratio of the length dimension to the diameter dimension), the simplest and most direct way to overcome the above problems is to clamp the base of the needle during assembly. The closer the clamping position of the needle is to the end face where the base of the needle penetrates into the needle seat, the easier it is for the base of the needle to align with the needle insertion hole of the needle seat. Therefore, clamping the base of the needle can well overcome the problems of centering difficulty and easy failure of insertion caused by the straightness deviation of the needle.

[0004] However, in actual applications, when assembling the needle and the needle seat, the end of the base of the needle is not completely clamped. There is a certain axial margin between the clamping position and the end of the base, and this margin is used for the needle seat to sleeve the base. Existing production equipment and assembly processes cannot accurately select the specific clamping position of the base of the needle, making it difficult to keep the clamped parts of the same batch of needles consistent during assembly. It is very easy to have insufficient axial margin from the clamping position to the end of the base of the needle, and finally the consistency of the depth of the needle seat sleeving the base is poor. Summary of the Invention

[0005] In view of this, it is necessary to provide a commutation adjustment method based on a feeding device. The feeding device includes an adjustment mechanism and a commutation mechanism for adjusting the axis angle of the needle. The adjustment mechanism includes a stop portion for axially stopping the needle and a calibration portion for adapting to the edge of the needle edge.

[0006] The commutation adjustment method includes the following steps:

[0007] S10. Feed the needle to the adjustment mechanism, and make the end face and the edge of the needle edge of the base of the needle respectively abut against the stop portion and the calibration portion;

[0008] S20. Clamp and connect to the base of the needle through the commutation mechanism;

[0009] S30. Separate the needle from the adjustment mechanism and drive the needle to rotate a preset angle; wherein, the rotation center of the needle is not collinear with the axis of the needle.

[0010] The commutation adjustment method and the feeding device provided by the present invention overcome the problems in the above-mentioned background art. Before clamping the base of the needle to perform the assembly of the needle and the needle seat, first make the end face of the base of the needle abut against the stop portion, and at the same time make the edge of the cutting edge of the needle abut against the calibration portion. Since the calibration portion is adapted to the edge of the cutting edge of the needle, as long as it is ensured that the edges of the cutting edges of the needles in the same batch are correctly abutted against the calibration portion, then the end faces of the bases of these needles can all abut against the same part of the stop portion. Therefore, the stop portion can be used as a common positioning reference for these needles, so that the bases of these needles are flush at the same position. In this way, the commutation mechanism only needs to clamp the needle along a fixed movement trajectory, and it can ensure that the parts of each clamped needle in contact with the commutation mechanism are consistent, which helps to have a consistent sleeving depth when the needle seat sleeves the base of the needle subsequently.

[0011] In one of the embodiments, the feeding device further includes a stop mechanism that can move relative to the adjustment mechanism; step S10, that is, feeding the needle to the adjustment mechanism and making the end face and the edge of the cutting edge of the base of the needle respectively abut against the stop portion and the calibration portion, includes the following steps:

[0012] S11. The stop mechanism moves relatively close to the adjustment mechanism and makes pressure contact with the needle.

[0013] With such a setting, without changing the premise of assembling the needle and the needle seat by clamping the base of the needle, before the commutation mechanism clamps the base of the needle, the stop mechanism is first used to make pressure contact with the needle, so as to limit the freedom of movement of the needle (at least limit the front end of the needle) from shaking or deflecting. Subsequently, when the commutation mechanism clamps the base of the needle, it will not drive the front end of the needle to move. The orientation angle of the cutting edge of the needle can be fully fixed under the auxiliary action of the stop mechanism and will no longer change, and the possibility of interference and scratching between the tip or the edge of the cutting edge of the needle and the calibration portion is also eliminated, preventing the edge of the cutting edge of the needle from appearing burrs or curling deformation, which is beneficial to improving the product quality of the puncture needle and will not bring a severe stabbing pain to the patient when using the puncture needle.

[0014] Further, the stop mechanism includes a first clamping unit. Step S11, that is, in the process that the stop mechanism moves relatively close to the adjustment mechanism and makes pressure contact with the needle, includes the following steps:

[0015] S111. The first clamping unit fixedly clamps the front end of the needle.

[0016] With such a setting, by clamping the front end of the needle, the freedom of movement of the needle along the radial direction can be better limited, and the effect of preventing the needle (at least the front end of the needle) from shaking or deflecting is better.

[0017] Further, step S30, that is, separating the needle from the adjustment mechanism and driving the needle to rotate a preset angle, includes the following steps:

[0018] S31. Separate the cutting edge of the needle from the calibration part;

[0019] S32. Separate the needle from the first clamping unit; wherein, the execution of step S31 precedes the execution of step S32; or, step S31 and step S32 are executed simultaneously.

[0020] With such a setting, the separation of the cutting edge of the needle and the calibration part is not later than the separation of the needle and the first clamping unit, which can avoid the situation that after the first clamping unit disengages from the needle and releases the restraint on the needle, the needle immediately spontaneously returns to the shape and size before being clamped by the first clamping unit. Therefore, it also avoids the interference and scratching between the tip of the needle or the cutting edge and the calibration part, and the cutting edge of the needle is not prone to burrs or curling deformation.

[0021] Furthermore, in step S31, that is, separating the cutting edge of the needle from the calibration part, the following steps are included:

[0022] S311. The first clamping unit and the commutation mechanism both maintain the state of clamping the needle and move synchronously to make the cutting edge of the needle disengage from the calibration part.

[0023] With such a setting, the first clamping unit and the commutation mechanism cooperate to ensure that the needle does not bend or deform. After synchronous movement, a sufficient gap is formed between the front end of the needle and the calibration part, and this gap can ensure that even if the restraint of the first clamping unit on the needle is removed, the tip of the needle will not interfere with and scratch the calibration part.

[0024] In one embodiment, the stopping mechanism includes an abutting unit; in step S11, that is, when the stopping mechanism moves relatively close to the adjusting mechanism and makes pressure contact with the needle, the following steps are included:

[0025] S112. The abutting unit abuts the needle and makes the cutting edge of the needle abut against the calibration part circumferentially.

[0026] With such a setting, it is simpler and easier to implement for the stopping mechanism to limit the front end of the needle from shaking or deflecting.

[0027] In one embodiment, in step S20, that is, clamping the base of the needle connected to the needle through the commutation mechanism, it includes: the axial distance between the base and the tip of the needle is D, and the total axial length of the needle is L, where 0.57 ≤ D / L ≤ 0.94; the distance from the position where the commutation mechanism clamps the base to the end face of the base of the needle is K, where K + D = L.

[0028] With such a setting, as long as the above-mentioned dimensional ratio range is satisfied, the base of the needle can be aligned with the through hole of the needle seat; the dimensional range of K is greater than the general height of the needle seat, and the commutation mechanism can reserve enough margin for the base of the needle for the needle seat to be fixedly sleeved, so as to ensure that the insertion depth of the needle in the needle seat meets the requirements of the assembly process.

[0029] In one embodiment, the loading device further includes an image acquisition unit and an auxiliary adjustment unit, and the commutation adjustment method further includes the following steps:

[0030] S40. The image acquisition unit acquires an image of the cutting edge of the needle tool, and the auxiliary adjustment unit compares the cutting edge image with the standard cutting edge angle and adjusts the orientation of the cutting edge of the needle tool.

[0031] With such a setting, a CCD photographing and recognition detection module can be set as the image acquisition unit at a subsequent station in the downstream area of the production line relative to the loading device to check the cutting edge angle of the needle tool. In this way, even if the cutting edge angle of the needle tool cannot be adjusted to the ideal state at the position adjustment station, or a stop mechanism is not provided in the loading device, the image acquisition unit can be used for compensatory detection, and the auxiliary adjustment unit can be used to correct the position state of the needle tool. Therefore, there will be no situation where the needle tool is unloaded or taken offline that does not meet the assembly process requirements.

[0032] In one embodiment, the loading device further includes an air flow generating assembly, and the air flow generating assembly has an air outlet that can exhaust air towards the adjusting mechanism;

[0033] Step S10, that is, loading the needle tool onto the adjusting mechanism and making the end face of the base of the needle tool and the cutting edge respectively abut against the stop portion and the calibration portion, includes the following steps:

[0034] S12. An air flow passing through the needle tool and flowing towards the calibration portion is formed by the air flow generating assembly.

[0035] With such a setting, the air flow can exert a thrust force on the surface of the needle tool, which can further ensure the firmness of the abutment between the cutting edge of the needle tool and the calibration portion, and ensure that the entire circumference of the cutting edge of the needle tool fits against the calibration portion; and in this way, mechanical damage to the outer surface of the needle tool can also be reduced, and the yield rate of the needle tool will not be affected.

[0036] In one embodiment, the loading device further includes a vibration mechanism, and the vibration mechanism is connected to the adjusting mechanism; Step S10, that is, loading the needle tool onto the adjusting mechanism and making the end face of the base of the needle tool and the cutting edge respectively abut against the stop portion and the calibration portion, includes the following steps:

[0037] S13. The adjusting mechanism is driven to vibrate by the vibration mechanism.

[0038] With such a setting, when the adjusting mechanism vibrates, it will drive the needle tool on the carrying unit to shake. As long as the needle tool moves, the probability of the cutting edge of the needle tool adapting to the calibration portion will increase. Therefore, the vibration mechanism indirectly drives the needle tool to shake through the adjusting mechanism, which can accelerate the progress of the cutting edge of the needle tool adapting to the calibration portion.

[0039] The present invention also provides a feeding device for reversing and feeding medical needles. The feeding device includes an adjusting mechanism and a reversing mechanism. The adjusting mechanism includes a stopping portion for axially stopping the needle and a calibrating portion for adapting to the edge of the needle tip. The reversing mechanism is used to adjust the axial angle of the needle and can drive and synchronously rotate the needle by clamping the base of the needle by a preset angle so that the needle reaches a preset position state.

[0040] In one embodiment, the feeding device further includes a stopping mechanism. The stopping mechanism can move relatively close to the adjusting mechanism and form a pressure contact with the needle. The reversing mechanism clamps the base of the needle in a state where the stopping mechanism is in pressure contact with the needle.

[0041] With such a setting, the stopping mechanism first exerts a pressure contact effect on the needle to limit the freedom of the needle (at least the front end of the needle) to shake and deflect. In this case, when the reversing mechanism clamps the base of the needle, there will be no interference and scratching between the tip or edge of the needle and the calibrating portion, improving the yield rate of the puncture needle. The edge of the needle tip will not appear burrs or curling deformation, and the tingling sensation during use is alleviated.

[0042] In one embodiment, the stopping mechanism and the reversing mechanism respectively define a first needle clamping gap for clamping the front end of the needle and a second needle clamping gap for clamping the base of the needle; the stopping mechanism and the reversing mechanism can make the center line of the first needle clamping gap coincide with the center line of the second needle clamping gap through relative movement.

[0043] With such a setting, it will not cause the front end and the base of the needle to be not on the same straight line, thereby causing the needle to bend.

[0044] In one embodiment, the stopping mechanism includes a resisting unit that can move relative to the adjusting mechanism. The resisting unit can move relatively close to the adjusting mechanism and make the edge of the needle tip of the needle abut against the calibrating portion by resisting the front end of the needle.

[0045] With such a setting, the resisting unit can not only limit the shaking and deflection of the front end of the needle, but also play a role in assisting in positioning the needle to keep its position state unchanged.

[0046] In one embodiment, the stopping mechanism further includes an abutting driving source drivingly connected to the resisting unit. The abutting driving source can output an angular displacement and drive the resisting unit to rotate. The rotation trajectory of the free end of the resisting unit passes through the adjusting mechanism.

[0047] With such a setting, the abutting driving source makes the free end of the resisting unit approach the needle until it is in pressure contact with the needle by driving the resisting unit to rotate. The driving method of outputting an angular displacement is easier to control the movement accuracy of the resisting unit and reduce and control the error of the movement amount of the resisting unit.

[0048] In one embodiment, the abutting unit can abut against the adjusting mechanism. In the state where the abutting unit abuts against the adjusting mechanism, the abutting unit is in pressure contact with the needle device.

[0049] With such a setting, it is possible to avoid the situation of excessive pressing of the needle device due to an overly large movement error range of the abutting unit, and ensure the yield rate of the needle device.

[0050] In one embodiment, the commutation mechanism can drive the needle device to rotate to the handover position. The feeding device further includes a transfer mechanism, and the transfer mechanism can reciprocate between the handover position and the needle inserting station to obtain the needle device at the handover position and transfer it to the needle inserting station.

[0051] With such a setting, the commutation mechanism and the transfer mechanism reduce the time consumption from flipping and commutation to being ready for assembly by taking turns to operate in sequence, can significantly shorten the feeding cycle of the needle device, and improve the production efficiency of the biopsy needle and the production capacity of the feeding device.

[0052] In one embodiment, the feeding device further includes an image acquisition unit and an auxiliary adjustment unit. The image acquisition unit is used to acquire the image of the cutting edge of the needle device, and the auxiliary adjustment unit adjusts the orientation of the cutting edge of the needle device according to the difference between the cutting edge image and the standard cutting edge angle.

[0053] In one embodiment, the feeding device further includes an air flow generating assembly, and the air flow generating assembly has an air outlet that can exhaust air towards the adjusting mechanism.

[0054] In one embodiment, the feeding device further includes a vibration mechanism, and the vibration mechanism is connected to and drives the adjusting mechanism to vibrate, preferably set to drive the stop portion and / or the calibration portion to vibrate.

[0055] With such a setting, the progress of the needle device reaching the preset state can be accelerated, and the power generated by the vibration mechanism can increase the probability of the cutting edge of the needle device fitting the calibration portion. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a three-dimensional structural schematic diagram of the feeding device according to an embodiment of the present invention;

[0057] Figure 2 is Figure 1 a partially enlarged schematic diagram of the feeding device shown at Y;

[0058] Figure 3 is Figure 1 a structural schematic diagram of the feeding device shown in another perspective.

[0059] Description of the reference numerals:

[0060] 100, Feeding device; 10, Stopping mechanism; 11, Abutting unit; 12, Abutting driving source; 20, Commutating mechanism; 21, Second clamping unit; 22, Needle moving unit; 23, Commutating driving source; 30, Adjusting mechanism; 31, Calibrating part; 32, Stopping part; 33, Supporting part; 40, Transfer mechanism;

[0061] 200, Needle tool; 210, Base part. Detailed implementation mode

[0062] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0063] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "or / and" used herein includes any and all combinations of one or more related listed items.

[0064] The present invention provides a commutation adjustment method based on the feeding device 100 and a feeding device 100 for implementing the method. The feeding device 100 is used for commutation adjustment and pre-assembly feeding of medical needle tools, especially puncture needles represented by biopsy needles; the commutation adjustment method involves the position adjustment and pre-assembly feeding process before the assembly of the needle tool and external accessories, and its purpose is to enable the position / axis orientation angle of the needle tool to meet the assembly process requirements of the needle tool-external accessory after adjustment through several steps, and can be directly inserted into the external accessory without additional adjustment of the relative position / angle relationship between the needle tool and the external accessory.

[0065] For the convenience of narration, the following takes the assembly process of the biopsy needle as an example to introduce the structural principle of the feeding device 100 and the specific implementation steps of the commutation adjustment method. And unless otherwise specified, the needle tools mentioned below all refer to biopsy needles, and do not limit whether they belong to the inner needle or the outer needle of the biopsy needle, and the needle seats mentioned below all refer to the needle seats sleeved on the base parts of the inner needle or the outer needle of the biopsy needle.

[0066] First, the above-mentioned commutation adjustment method belongs to a part of the biopsy needle assembly production process. The biopsy needle assembly production process includes pre-adjustment of the inner / outer needle position state, commutation and feeding of the inner / outer needle, and the insertion and assembly route of the inner / outer needle and the needle seat. The commutation adjustment method is a method for implementing the commutation and feeding link of the inner / outer needle. This method rotates the needle tool 200 that has completed the position state adjustment to change the axis orientation angle of the needle tool 200 (hereinafter simply referred to as the needle tool orientation). After rotation, the needle tool maintains its position state and axis orientation unchanged and is transferred to the needle insertion station, and then the insertion and assembly link of the inner / outer needle and the needle seat is carried out.

[0067] Since there are always geometric deviations in the needle tool and it is difficult to completely eliminate them, typical geometric deviations such as straightness deviations. In addition, some needle tools are relatively slender, resulting in low rigidity. Therefore, in the insertion and assembly link of the inner / outer needle and the needle seat, generally, the base of the needle tool is fixedly clamped and then inserted into the needle seat. This method can overcome the problems of insertion difficulties caused by the straightness deviation and low rigidity of the needle tool to the greatest extent, difficult alignment with the needle insertion hole of the needle seat, and easy bending or even breaking. However, when clamping the needle tool (especially clamping the base of the needle tool or the area near the base), it is very easy to drive the front end and the cutting edge of the needle tool to shake. This kind of shaking is likely to cause interference and scratching between the tip of the needle tool and the position adjustment component for regulating the cutting edge orientation angle of the needle tool, which will form burrs or cause curling deformation of the cutting edge on the edge of the cutting edge, greatly increasing the patient's stinging sensation during use.

[0068] Please refer to Figures 1 to 3 . In one of the embodiments, the feeding device 100 includes an adjusting mechanism 30, a stopping mechanism 10, and a commutation mechanism 20. The adjusting mechanism 30 is used to execute the pre-adjustment link of the inner / outer needle position state in the above-mentioned biopsy needle assembly process. It includes a bearing unit (not labeled in the figure) for bearing the needle tool 200 in a lifting manner. The bearing unit includes a stopping portion 32 for axially stopping the needle tool 200 by contacting the end face of the base 210 of the needle tool, a supporting portion 33 for supporting the side wall of the needle tool 200, and a calibration portion 31 for adapting to the cutting edge of the needle tool 200. When the cutting edge of the needle tool 200 is adapted to the calibration portion 31, the two are kept in fixed contact, which means that the position state adjustment of the needle tool 200 is completed.

[0069] The commutation mechanism 20 is used to drive the needle 200 to rotate synchronously by a preset angle in a way of clamping the base 210 of the needle, so as to change the axial orientation angle of the needle 200; the stopping mechanism 10 can move relatively close to the bearing unit and make pressure contact with the needle 200, and is used to apply a lateral external force to the needle 200 so as to restrain and limit the needle 200, preventing the needle 200 (at least the front end including the cutting edge of the needle 200) from being clamped and then wobbling or deflecting in the case where the stopping mechanism 10 is not provided, making the orientation angle of the cutting edge of the needle 200 fully fixed, and preventing the cutting edge angle of the needle 200 from changing again as the needle 200 wobbles or deflects. Preferably, the stopping mechanism 10 makes pressure contact with the front end of the needle 200; the commutation mechanism 20 clamps the base 210 of the needle when the pressure contact has been formed between the stopping mechanism 10 and the needle 200.

[0070] The above-mentioned pressure contact means that: the stopping mechanism 10 substantially abuts against the side wall of the needle 200 and applies a lateral pressure or thrust to the needle 200. On this basis, the stopping mechanism 10 can further circumferentially fix the needle 200 to limit its freedom of rotation about its own axis. The type of pressure contact can be multi-directional clamping and fixing or one-way lateral abutment; the front end of the above-mentioned needle 200 refers to: the part of the needle 200 that extends 1 / 2 of the total length of the needle 200 along the axial direction of the needle 200 from the tip of the cutting edge of the needle 200 to the end face of the base 210 of the needle; the above-mentioned preset rotation angle is the angle that the needle 200 needs to rotate from being carried on the bearing unit to being clamped and inserted into the needle seat.

[0071] It should be noted that the above-mentioned stopping mechanism 10 is not an essential mechanism in the feeding device 100, and the stopping mechanism 10 can also be cancelled. As long as it is ensured that after the needle 200 is fed to the adjusting mechanism 30, the end face of the base 210 of the needle and the edge of the cutting edge of the needle 200 respectively abut against the stopping part 32 and the calibration part 31, so that the needle 200 can be stably supported by the bearing unit in a stationary state. In this way, it can be ensured that the bases 210 of the same batch of needles can all abut against the same part of the stopping part 32. When the commutation mechanism 20 clamps the needle 200, the bearing position of the needle 200 coincides with that of the previous needle 200 located in the bearing unit. The commutation mechanism 20 only needs to move along a fixed movement track to ensure that the contact part of each needle 200 with the commutation mechanism 20 is consistent, so as to improve the consistency of the sleeving depth of the needle seat sleeving the base 210 of the needle.

[0072] In an embodiment not shown in another figure, the feeding device 100 further includes an image acquisition unit and an auxiliary adjustment unit for adjusting the edge orientation angle of the needle tool 200. Both are disposed at a position in the upstream region of the needle tool 200 assembly line relative to the needle tool - needle seat bonding and fixing station. The image acquisition unit is used to acquire the edge image of the needle tool 200, and the auxiliary adjustment unit compares the acquired edge image with the standard edge angle to drive the needle tool 200 to rotate around its own axis to adjust the edge orientation of the needle tool 200. The so-called standard edge angle is the edge angle of the needle tool 200 that meets the requirements of the needle tool - needle seat assembly process. When the difference between the acquired edge image and the standard edge angle is slight or there is no difference, the auxiliary adjustment unit skips the adjustment of the needle tool 200. Preferably, a CCD photographing and recognition module can be selected as the image acquisition unit.

[0073] The following introduces a commutation adjustment method based on the above feeding device 100, which includes the following steps:

[0074] S10. Feed the needle tool 200 to the adjustment mechanism 30, and make the end face of the needle tool base 210 and the edge respectively abut against the stop portion 32 and the calibration portion 31.

[0075] S20. Clamp and connect to the needle tool base 210 through the commutation mechanism 20.

[0076] S30. Separate the needle tool 200 from the adjustment mechanism 30, and drive the needle tool 200 to rotate a preset angle; wherein, the rotation center of the needle tool 200 and the axis of the needle tool 200 are not collinear.

[0077] In one embodiment, step S20, that is, clamping and connecting to the needle tool base 210 through the commutation mechanism 20 further includes: the axial distance between the needle tool base 210 and the tip of the needle tool 200 is D, and the total axial length of the needle tool 200 is L, where 0.57 ≤ D / L ≤ 0.94; the distance from the position where the commutation mechanism 20 clamps the needle tool base 210 to the end face of the needle tool base 210 is K, where 10 mm ≤ K ≤ 18 mm.

[0078] Specifically, when the needle tool 200 is the inner needle in a biopsy needle, the range of the axial distance D between the needle tool base 210 and the tip of the needle tool 200 is 46.8 mm to 206.8 mm; when the needle tool 200 is the outer needle in a biopsy needle, the range of the axial distance D between the needle tool base 210 and the tip of the needle tool 200 is 33 mm to 193 mm; whether it is the inner needle or the outer needle, the distance K from the position where the commutation mechanism 20 clamps the needle tool base 210 to the end face of the needle tool base 210 is preferably 14.2 mm, and the total axial length L of the needle tool 200 is the sum of D and K.

[0079] It should be noted that in step S30, the rotation center of the needle tool 200 when being clamped and flipped by the commutation mechanism 20 is not on the same straight line as the axis of the needle tool 200. Preferably, the needle tool 200 is horizontally lifted and carried on the bearing unit, and after being driven by the commutation mechanism 20 to be flipped by 90°, it is in a vertical state, and the base 210 of the needle tool faces the ground.

[0080] In one of the embodiments, based on Figures 1 to 3 the commutation adjustment method of the feeding device 100 shown, in the above step S10, that is, feeding the needle tool 200 to the adjustment mechanism 30 and making the end face and the edge of the cutting edge of the base 210 of the needle tool respectively abut against the stop portion 32 and the calibration portion 31, includes the following steps:

[0081] S11. The stop mechanism 10 moves relatively close to the adjustment mechanism 30 and makes pressure contact with the needle tool 200.

[0082] As described above, the pressure contact formed between the stop mechanism 10 and the needle tool 200 can either be multi-directionally clamping the side wall of the needle tool 200 or be unidirectional or multi-directional lateral abutment against the side wall of the needle tool 200. The area on the needle tool 200 for forming pressure contact with the stop mechanism 10 is preferably at the front end of the needle tool 200. The following further elaborates on different types of pressure contact methods.

[0083] Embodiment 1

[0084] The stop mechanism 10 includes a first clamping unit; in the above step S11, that is, the stop mechanism 10 moves relatively close to the adjustment mechanism 30 and makes pressure contact with the needle tool 200, includes the following steps:

[0085] S111. The first clamping unit fixedly clamps the needle tool 200; preferably, it clamps at the front end of the needle tool 200.

[0086] In the above step S30, that is, separating the needle tool 200 from the adjustment mechanism 30 and driving the needle tool 200 to rotate a preset angle, includes the following steps:

[0087] S31. Separating the edge of the cutting edge of the needle tool 200 from the calibration portion 31 so as to form a deformation yielding space between the needle tool 200 and the calibration portion 31;

[0088] S32. Separating the needle tool 200 from the first clamping unit; among them, the execution of step S31 precedes the execution of step S32; or, step S31 and step S32 are executed synchronously.

[0089] Further, in the above step S31, that is, separating the edge of the cutting edge of the needle tool 200 from the calibration portion 31, includes the following steps:

[0090] S311. The first clamping unit and the commutation mechanism 20 both maintain the state of clamping the needle 200 and move synchronously, so that the edge of the cutting edge of the needle 200 is separated from the calibration part 31.

[0091] In the first embodiment, the stop mechanism 10 generates pressure contact with the needle 200 by clamping the side wall of the needle 200 (preferably clamping the front end of the needle 200). The first clamping unit can effectively limit the freedom of radial movement of the needle 200 (at least limit the front end of the needle 200), preventing the front end of the needle 200 from shaking or deflecting. In addition, the separation of the edge of the cutting edge of the needle 200 from the calibration part 31 is not later than the separation of the needle 200 and the first clamping unit, which can avoid the needle 200 from spontaneously returning to the shape before being clamped after getting rid of the constraint of the first clamping unit first. This spontaneous recovery deformation will drive the tip and the edge of the cutting edge of the needle 200 to interfere or slide friction with the calibration part 31. Therefore, performing step S31 not later than step S32 can prevent the edge of the cutting edge of the needle 200 from burring or curling deformation.

[0092] Separate the calibration part 31 and the edge of the cutting edge of the needle 200 first, so as to form a deformation accommodation space, which is sufficient for the needle 200 to spontaneously return to its free form before being clamped without touching the calibration part 31. In addition, in the commutation adjustment method of the first embodiment, the order of the first clamping unit detaching from the needle 200 and the commutation mechanism 20 driving the needle 200 to rotate is not limited. The first clamping unit can continue to clamp the needle 200 for a period of time, and at the same time rotate synchronously around the same rotation center with the same angular velocity as the commutation unit, and the two cooperate to drive the needle 200 to rotate a preset angle. When the axis of the needle 200 reaches the preset orientation angle, the first clamping unit and the needle 200 are separated. Of course, the first clamping unit can also cancel the clamping of the needle 200 and move relatively away from the needle 200 before the commutation mechanism 20 drives the needle 200 to rotate.

[0093] In the first embodiment, the stop mechanism 10 and the commutation mechanism 20 respectively include a first clamping unit for clamping the front end of the needle 200 and a second clamping unit 21 for clamping the base 210 of the needle. The first clamping unit and the second clamping unit 21 respectively define a first needle clamping gap and a second needle clamping gap for the front end of the needle 200 and the base 210 of the needle to pass through. The commutation mechanism 20 further includes a commutation drive source 23 that is drivingly connected to the second clamping unit 21 and can output an angular displacement. The stop mechanism 10 and the commutation mechanism 20 can move relative to each other to drive the center line of the first needle clamping gap to coincide with the center line of the second needle clamping gap. With such a setting, there will be no straightness deviation when the needle 200 is clamped by the stop mechanism 10 and the commutation mechanism 20 at the same time, eliminating the possibility of bending deformation.

[0094] Embodiment Two

[0095] The stopping mechanism 10 includes an abutting unit 11 that can move relative to the adjusting mechanism 30 and move relatively closer to the carrying unit. The abutting unit 11 forms a pressure contact by applying a one-way lateral force to the needle tool 200, particularly the side wall at the front end of the needle tool 200; Step S11, that is, when the stopping mechanism 10 moves relatively closer to the adjusting mechanism 30 and makes pressure contact with the needle tool 200, includes the following steps:

[0096] S112. The abutting unit 11 abuts against the needle tool 200 and makes the edge of the cutting edge of the needle tool 200 abut against the calibration portion 31.

[0097] Step S30, that is, separating the needle tool 200 from the adjusting mechanism 30 and driving the needle tool 200 to rotate a preset angle, includes the following steps:

[0098] S33. The abutting unit 11 maintains the state of abutting against the needle tool 200 and moves synchronously with the commutation mechanism 20, so that the edge of the cutting edge of the needle tool 200 is separated from the calibration portion 31;

[0099] S34. Separate the needle tool 200 from the abutting unit 11; wherein, the execution of step S33 precedes the execution of step S34; or, step S33 and step S34 are executed simultaneously.

[0100] In the second embodiment, the stopping mechanism 10 forms a pressure contact with the needle tool 200 by laterally abutting against the side wall of the needle tool 200. It is simpler and easier to implement that the abutting unit 11 restricts the needle tool 200, particularly the front end of the needle tool 200 from shaking or deflecting. After successively achieving pressure contact with the needle tool 200 and clamping the base portion 210 of the needle tool, the separation of the calibration portion 31 and the edge of the cutting edge of the needle tool 200 is not later than the separation of the needle tool 200 and the abutting unit 11. This can prevent the needle tool 200 from spontaneously returning to the shape before being abutted after first getting rid of the restraint of the abutting unit 11. Similarly, this spontaneous recovery deformation will drive the tip and the edge of the cutting edge of the needle tool 200 to interfere with or scratch the calibration portion 31. Therefore, the execution of step S33 is not later than the execution of step S34, which can prevent burrs or curling deformation from occurring on the edge of the cutting edge of the needle tool 200.

[0101] Embodiment Three

[0102] The commutation mechanism 20 includes a second clamping unit 21 for clamping the base portion 210 of the needle tool, a commutation driving source 23 drivingly connected to the second clamping unit 21, and a needle moving unit 22 drivingly connected to the second clamping unit 21. The commutation driving source 23 can be installed in a follow-up manner on the needle moving unit 22 and displace following the driving force output by the needle moving unit 22. Correspondingly, the second clamping unit 21 is installed in a follow-up manner on the power output end of the commutation driving source 23 and can rotate synchronously following the torque output by the commutation driving source 23 to change the axial orientation angle of the needle tool 200;

[0103] Step S112, i.e., the holding unit 11 holds the needle 200 and makes the cutting edge of the needle 200 abut against the calibration part 31, includes:

[0104] The cutting edge of the needle 200 protrudes relative to the holding unit 11 in the axial direction of the needle 200;

[0105] Step S20, i.e., clamping and connecting to the base 210 of the needle through the commutation mechanism 20, includes the following steps:

[0106] S21. The second clamping unit 21 clamps the base 210 of the needle and maintains the clamping state.

[0107] Step S21 defines that the second clamping unit 21 starts from clamping the base 210 of the needle and consistently maintains the state of clamping the needle 200 until the commutation drive source 23 drives the second clamping assembly and the needle 200 to rotate synchronously by a preset angle, so that the axis orientation angle of the needle 200 required by the needle-needle seat assembly process is reached.

[0108] Step S30, i.e., separating the needle 200 from the adjusting mechanism 30 and driving the needle 200 to rotate by a preset angle, includes the following steps:

[0109] S36. The needle moving unit 22 drives the second clamping unit 21 and the needle 200 to move synchronously, so that the cutting edge of the needle 200 is separated from the calibration part 31;

[0110] S37. Separating the needle 200 from the holding unit 11; wherein, the holding unit 11 disengages from the needle 200 before contacting the cutting edge of the needle 200.

[0111] In the third embodiment, the stop mechanism 10 also forms a pressure contact with the side wall of the needle 200 by holding it. However, different from the second embodiment, in the second embodiment, first, the holding unit 11 and the commutation mechanism 20 move synchronously in a relatively static state to separate the cutting edge of the needle 200 and the calibration part 31. In the third embodiment, the needle moving unit 22 drives the commutation mechanism 20 and the needle 200, which are still integrated, to move away from the calibration part 31 first, so that the cutting edge of the needle 200 and the calibration part 31 are separated first. During the subsequent synchronous movement of the needle 200 and the commutation mechanism 20, the holding unit 11 disengages from the needle 200 before touching the cutting edge of the needle 200. The above limitation that the cutting edge of the needle 200 protrudes relative to the holding unit 11 in the axial direction of the needle 200 can ensure that when the needle 200 is moved away by the needle moving unit 22, its cutting edge will not immediately contact the holding unit 11, thus leaving time for the holding unit 11 to leave the needle 200.

[0112] For the second and third embodiments, a flexible contact portion for directly contacting the needle 200 may be provided in the stop mechanism 10. The flexible contact portion has a degree of freedom of deformation and will not have a rigid contact with the needle 200.

[0113] Embodiment Four

[0114] The feeding device 100 further includes an air flow generating assembly. The air flow generating assembly can form a high-pressure area higher than the standard atmospheric pressure within a certain area and has an air outlet facing or adjustable in orientation through an adjusting mechanism 30 for exhausting air; Step S10, that is, feeding the needle 200 to the adjusting mechanism 30 and making the end face and the edge of the cutting edge of the needle base 210 respectively abut against the stop portion 32 and the calibration portion 31, includes the following steps:

[0115] S12. Form an air flow that passes through the needle 200 and flows toward the calibration portion 31 through the air flow generating assembly.

[0116] Therefore, under the action of the pressure difference between the above-mentioned high-pressure area and the vicinity of the needle 200, the air flow blows toward the needle 200 through the air outlet to apply an external thrust to the needle 200, improving the stability of the adaptation of the edge of the cutting edge of the needle 200 to the calibration portion 31, so that the edge of the cutting edge of the needle 200 can be in circumferential contact with the calibration portion 31; in addition, this method will not cause mechanical damage to the surface of the needle 200, and the yield rate of the needle 200 can be ensured.

[0117] Embodiment Five

[0118] The feeding device 100 further includes a vibration mechanism. The vibration mechanism is connected to the adjusting mechanism 30. In particular, the vibration mechanism can be drivingly connected to the calibration portion 31 and / or the stop portion 32 and / or the supporting portion 33.

[0119] Step S10, that is, feeding the needle 200 to the adjusting mechanism 30 and making the end face and the edge of the cutting edge of the needle base 210 respectively abut against the stop portion 32 and the calibration portion 31, includes the following steps:

[0120] S13. Drive the adjusting mechanism 30 to vibrate through the vibration mechanism.

[0121] Thus, when the adjusting mechanism 30 vibrates, it will drive the needle 200 on the bearing unit to shake. As long as the needle 200 moves, the probability of the edge of the cutting edge of the needle 200 adapting to the calibration portion 31 will increase. Therefore, the vibration mechanism indirectly drives the needle 200 to shake through the adjusting mechanism 30, which can accelerate the progress of the adaptation of the edge of the cutting edge of the needle 200 to the calibration portion 31.

[0122] Please refer to again Figures 1 to 3, in addition to the holding unit 11, the stopping mechanism 10 further includes an abutting driving source 12 that is drivingly connected to the holding unit 11, and is used to generate a power for causing the holding unit 11 to move relatively closer to the adjusting mechanism 30 and to be in pressure contact with the needle tool 200. In the feeding device 100 shown in the figure, the holding unit 11 is a crank, one end of which is fixedly connected to the power output end of the abutting driving source 12, and the other end is a free end for approaching the adjusting unit and contacting the needle tool 200. The abutting driving source 12 can output an angular displacement to drive the holding unit 11 to rotate. When the holding unit 11 rotates, the circular arc trajectory formed by the rotation of its free end passes through the bearing unit in the adjusting mechanism 30, and the bearing unit uniquely defines the bearing position of the needle tool. As long as the needle tool 200 is stably supported by the bearing unit, the free end of the holding unit 11 will surely touch the needle tool 200 after rotating a preset angle.

[0123] It can be understood that in other embodiments, the holding unit 11 can also move relatively closer to the adjusting mechanism 30 / the bearing unit in other motion forms, and is not limited to the rotation form in the illustrated embodiment, and the holding unit 11 in other motion forms will not be elaborated in detail here.

[0124] Optionally, the holding unit 11 can abut against the adjusting mechanism 30, especially against the supporting portion 33 or the calibration portion 31 in the bearing unit. When the holding unit 11 abuts against the adjusting mechanism 30, the holding unit 11 also just forms a pressure contact with the needle tool 200, which can avoid excessive movement displacement of the holding unit 11 and thus bending the needle tool 200, and limits the further movement of the holding unit 11 when a proper pressure contact is formed between the needle tool 200 and the holding unit 11.

[0125] Please refer to again Figure 3 , further, the feeding device 100 further includes a transfer mechanism 40; the reversing mechanism 20 can drive the needle tool 200 to rotate a preset angle and then reach the handover position, which is the position of the needle tool 200 relative to the feeding device 100 when it completes the adjustment of its axis orientation angle. Preferably, the needle tool 200 at the handover position extends vertically and the base 210 points to the ground. Subsequently, the transfer mechanism 40 obtains the needle tool 200 from the handover position and, by means of translational motion, transfers the needle tool 200 to the needle inserting station while keeping the cutting edge orientation angle and the axis orientation angle of the needle tool 200 unchanged, and the plugging link of the inner / outer needle and the needle seat is carried out at this station. After the transfer is completed, the transfer mechanism 40 moves back from the needle inserting station to the handover position to obtain the next needle tool 200. By reciprocating between the handover position and the needle inserting station, the transfer mechanism 40 sequentially and one by one removes the needle tools 200 from the feeding device 100. As shown in the figure, the needle tool 200 at position A is at the handover position, and the needle tool 200 at position B is at the needle inserting station.

[0126] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the various technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0127] Those of ordinary skill in the art of this technology should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as appropriate changes and variations made to the above embodiments fall within the scope of the spirit of the present invention, they fall within the scope of protection required by the present invention.

Claims

1. A commutation adjustment method based on a feeding device, characterized in that The feeding device includes an adjusting mechanism and a reversing mechanism for adjusting the angle of the axis of the puncture needle. The adjusting mechanism includes a stopping portion for axially stopping the puncture needle and a calibrating portion for adapting to the edge of the cutting edge of the puncture needle. The reversing adjustment method includes the following steps: S10. Feed the puncture needle to the adjusting mechanism, and make the end face of the base of the puncture needle and the edge of the cutting edge respectively abut against the stopping portion and the calibrating portion. S20. Clamp and connect to the base of the puncture needle through the reversing mechanism. S30. Separate the puncture needle from the adjusting mechanism and drive the puncture needle to rotate a preset angle; wherein, the rotation center of the puncture needle is not collinear with the axis of the puncture needle. The feeding device further includes a stopping mechanism that can move relative to the adjusting mechanism. Step S10 includes the following steps: S11. The stopping mechanism moves relatively close to the adjusting mechanism and makes pressure contact with the puncture needle. Or, The feeding device further includes an air flow generating assembly, and the air flow generating assembly has an air outlet that can exhaust air towards the adjusting mechanism; Step S10 includes the following steps: S12. Form an air flow passing through the puncture needle and flowing towards the calibrating portion through the air flow generating assembly. Before clamping the base of the puncture needle for puncture needle - needle seat assembly, first make the end face of the base of the puncture needle abut against the stopping portion, and make the edge of the cutting edge of the puncture needle abut against the calibrating portion. The calibrating portion is adapted to the edge of the cutting edge of the puncture needle. When the edges of the cutting edges of the same batch of puncture needles are correctly abutted against the calibrating portion, the end faces of the bases of this batch of puncture needles are all abutted against the same part of the stopping portion. The stopping portion serves as a common positioning reference for a batch of puncture needles, so that the bases of this batch of puncture needles are all flush at the same position.

2. The commutation adjustment method according to claim 1, wherein The stopping mechanism includes a first clamping unit; Step S11, that is, when the stopping mechanism moves relatively close to the adjusting mechanism and makes pressure contact with the puncture needle, includes the following steps: S111. The first clamping unit fixedly clamps the puncture needle.

3. The commutation adjustment method according to claim 2, wherein Step S30, that is, separating the puncture needle from the adjusting mechanism and driving the puncture needle to rotate a preset angle, includes the following steps: S31. Separate the edge of the cutting edge of the puncture needle from the calibrating portion. S32. Separate the puncture needle from the first clamping unit; wherein, the execution of step S31 precedes the execution of step S32; or, step S31 and step S32 are executed simultaneously.

4. The commutation adjustment method according to claim 3, wherein, Step S31, that is, separating the edge of the cutting edge of the puncture needle from the calibrating portion, includes the following steps: S311. The first clamping unit and the reversing mechanism both maintain the state of clamping the puncture needle and move synchronously, so that the edge of the cutting edge of the puncture needle disengages from the calibrating portion.

5. The commutation adjustment method according to claim 1, wherein The stopping mechanism includes a holding unit; Step S11, that is, when the stopping mechanism moves relatively close to the adjusting mechanism and makes pressure contact with the puncture needle, includes the following steps: S112. The holding unit holds the puncture needle and makes the edge of the cutting edge of the puncture needle abut against the calibrating portion.

6. The commutation adjustment method according to claim 1, characterized in that Step S20, that is, clamping and connecting to the base of the puncture needle through the reversing mechanism includes: The axial distance between the base and the tip of the puncture needle is D, and the total axial length of the puncture needle is L, where 0.57 ≤ D / L ≤ 0.

94.

7. The commutation adjustment method according to claim 1, characterized in that, The feeding device further includes an image acquisition unit and an auxiliary adjustment unit, and the commutation adjustment method further includes the following steps: S40. The image acquisition unit acquires an image of the cutting edge of the puncture needle, and the auxiliary adjustment unit compares the cutting edge image with the standard cutting edge angle and adjusts the cutting edge orientation of the puncture needle.

8. The commutation adjustment method according to claim 1, wherein The feeding device further includes a vibration mechanism, and the vibration mechanism is connected to the adjustment mechanism; Step S10, that is, feeding the puncture needle to the adjustment mechanism and making the end face of the base of the puncture needle and the edge of the cutting edge respectively abut against the stop portion and the calibration portion, includes the following steps: S13. Drive the adjustment mechanism to vibrate through the vibration mechanism.

9. A feeding device for reversing and feeding a puncture needle, characterized in that, The rotation center of the puncture needle is not collinear with the axis of the puncture needle. The feeding device includes an adjustment mechanism and a commutation mechanism; the adjustment mechanism includes a stop portion for axially stopping the puncture needle and a calibration portion for adapting to the edge of the cutting edge of the puncture needle. The commutation mechanism is used to adjust the axis angle of the puncture needle and can drive the puncture needle to rotate synchronously by a preset angle by clamping the base of the puncture needle; The feeding device further includes a stopping mechanism, and the stopping mechanism can move relatively close to the adjustment mechanism and form a pressure contact with the puncture needle. The commutation mechanism clamps the base of the puncture needle in a state where the stopping mechanism is in pressure contact with the puncture needle; Or, The feeding device further includes an air flow generating assembly, and the air flow generating assembly has an air outlet that can exhaust air towards the adjustment mechanism; Before clamping the base of the puncture needle for puncture needle - needle seat assembly, first make the end face of the base of the puncture needle abut against the stop portion, and make the edge of the cutting edge of the puncture needle abut against the calibration portion; The calibration portion is adapted to the edge of the cutting edge of the puncture needle. When the edges of the cutting edges of the same batch of puncture needles are correctly abutted against the calibration portion, the end faces of the bases of this batch of puncture needles are all abutted against the same part of the stop portion. The stop portion serves as a common positioning reference for a batch of puncture needles, so that the bases of this batch of puncture needles are all flush at the same position.

10. The feeding device according to claim 9, characterized in that, The stopping mechanism and the commutation mechanism respectively define a first needle clamping gap for clamping the front end of the puncture needle and a second needle clamping gap for clamping the base of the puncture needle; the stopping mechanism and the commutation mechanism can make the center line of the first needle clamping gap coincide with the center line of the second needle clamping gap through relative movement.

11. The feeding device according to claim 9, characterized in that, The stopping mechanism includes a holding unit that can move relative to the adjustment mechanism. The holding unit can move relatively close to the adjustment mechanism and make the edge of the cutting edge of the puncture needle abut against the calibration portion by abutting against the puncture needle.

12. The feeding device according to claim 11, wherein, The stopping mechanism further includes an abutting drive source drivingly connected to the holding unit. The abutting drive source can output an angular displacement to drive the holding unit to rotate, and the free end rotation trajectory of the holding unit passes through the adjustment mechanism.

13. The feeding device according to claim 11, characterized in that, The holding unit can abut against the adjustment mechanism. In a state where the holding unit abuts against the adjustment mechanism, the holding unit forms a pressure contact with the puncture needle.

14. The feeding device according to claim 9, characterized in that, The commutation mechanism can drive the puncture needle to rotate to a handover position. The feeding device further includes a transfer mechanism, and the transfer mechanism can reciprocate between the handover position and the needle inserting station to obtain the puncture needle from the handover position and transfer it to the needle inserting station.

15. The feeding device according to claim 9, characterized in that The feeding device further includes an image acquisition unit and an auxiliary adjustment unit. The image acquisition unit is used to obtain an image of the cutting edge of the puncture needle, and the auxiliary adjustment unit adjusts the orientation of the cutting edge of the puncture needle according to the difference between the cutting edge image and the standard cutting edge angle.

16. The feeding device according to claim 9, wherein, The feeding device further includes a vibration mechanism, and the vibration mechanism is connected to and drives the adjustment mechanism to vibrate.

Images