Needle insertion device and medical device production line

Abstract

This invention relates to a needle insertion device and a medical device production line. The needle insertion device includes a needle-retrieving assembly and a needle-inserting assembly. The needle-retrieving assembly retrieves a needle, and the needle-inserting assembly drives the needle to move relative to the material until assembly is complete. The device also includes a moving assembly, which drives the needle to move after the needle-retrieving assembly retrieves the needle and before the needle-inserting assembly drives it. The angle between the needle and the horizontal plane before the moving assembly is α, and the angle between the needle and the horizontal plane after the moving assembly is β, where 0 ≤ α ≤ 30° and 60° ≤ β ≤ 90°. The beneficial effect of this invention is that it enables assembly of the needle and material at various assembly gaps.

Description

Technical Field

[0001] This invention relates to medical devices, and in particular to a needle insertion device and a medical device production line. Background Technology

[0002] Most medical devices are assembled from multiple components. For some medical devices, the needle is one of the key components. Current medical device production lines, when automating the assembly of needles and other components, typically first drive the needle to move above the other components, and then insert the needle into the other components through free fall. However, if the assembly gap between the needle and other components is large, the frictional resistance encountered by the needle during free fall is small. This results in the needle moving too far relative to the other components and failing to reach the preset position, leading to an assembly result that does not meet expectations and requires improvement. Summary of the Invention

[0003] Therefore, it is necessary to provide an improved needle insertion device and a medical device production line. This needle insertion device can achieve assembly of needles and materials at various assembly gaps. The medical device production line using this needle insertion device has a wide range of applications.

[0004] The present invention first provides a needle insertion device, including a needle picking assembly and a needle insertion assembly. The needle picking assembly is used to pick up a needle, and the needle insertion assembly is used to drive the needle to move relative to the material until assembly is completed. The needle insertion device also includes a moving assembly, which is used to drive the needle to move after the needle picking assembly picks up the needle and before the needle insertion assembly drives the needle to move. The angle between the needle and the horizontal plane before the moving assembly drives the needle is α, and the angle between the needle and the horizontal plane after the moving assembly drives the needle is β, where 0≤α≤30° and 60°≤β≤90°.

[0005] By adopting the above technical solution, when the pin insertion assembly no longer drives the pin to move relative to the material, the pin and the material will no longer move relative to each other. In other words, the pin can only be assembled with the material under the drive of the pin insertion assembly. Therefore, when the assembly gap between the pin and the material is large, the movement range of the pin relative to the material is also within the control range of the pin insertion assembly, thereby avoiding the situation where the movement range of the pin relative to the material is too large, resulting in the assembly structure not meeting expectations.

[0006] When the movement of the needle relative to the material is driven by the needle insertion assembly, the needle does not need to change from a horizontal to a vertical position to achieve assembly with the material. However, in this application, the needle remains in a position as close as possible to or in a horizontal position before the movement assembly is activated. After the movement assembly is activated, the needle remains in a position as close as possible to or in a vertical position. In this way, during the assembly process, both the needle and the material can maintain their original positions without adjustment, thereby minimizing structural changes to the needle insertion device and reducing production costs. In other words, this application can minimize structural changes and achieve assembly of the needle and material under various assembly gaps.

[0007] In one embodiment of the present invention, the moving component drives the needle-taking component to move, the needle-inserting component acquires a needle from the needle-taking component, and after acquiring the needle, the needle-inserting component drives the needle to move relative to the material.

[0008] In one embodiment of the present invention, the needle insertion device further includes a fixed needle component, and the needle insertion assembly includes an assembly gripper. After the assembly gripper holds the needle, it drives the needle to move to abut against the fixed needle component.

[0009] By adopting the above technical solution, when the needle is driven to move relative to the material by the needle insertion assembly, the distance the needle moves under the action of the needle insertion assembly is fixed for ease of control. However, the relative positions of the needle and the needle insertion assembly may not be the same. If the relative positions of the needle and the needle insertion assembly are not the same, the fixed distance the needle moves under the drive of the needle insertion assembly may result in either an excessively large or insufficient movement of the needle relative to the material, thus preventing the needle from reaching the preset position. Therefore, when the needle contacts the fixed needle component, the relative positions of the needle and the needle insertion assembly can be adjusted to be the same, so that the fixed distance the needle moves under the drive of the needle insertion assembly can reach the preset position.

[0010] In one embodiment of the present invention, the needle insertion device further includes a material positioning drive and a material positioning gripper, wherein the material positioning drive drives the material positioning gripper to clamp the material and the material positioning gripper clamps the material at one end of the needle assembly.

[0011] By adopting the above technical solution, when the material is held by the fixed-position gripper, the position of the part of the material held by the fixed-position gripper is determined by the position of the fixed-position gripper. However, there is an error in the material held by the fixed-position gripper, resulting in higher positional accuracy for the part of the material closer to the fixed-position gripper and lower positional accuracy for the part farther away from the fixed-position gripper. During the assembly of the material and the needle, the position of the end of the material assembled with the needle requires the most accurate positioning. Therefore, the fixed-position gripper holds the end of the material assembled with the needle, thereby improving the positional accuracy of that end and facilitating the assembly of the material and the needle.

[0012] In one embodiment of the present invention, the needle insertion device further includes a control element and a control drive element, wherein the control drive element drives the control element to move and then acts on the conveying device to control the conveying device to be in a relaxed state of releasing the needle.

[0013] In one embodiment of the present invention, the control element includes a first control part and a second control part, the conveying device includes a clamping part and a controlled part, the control drive element drives the first control part and the second control part to move towards each other to clamp the controlled part and drive the controlled part to move, and after the controlled part moves under the drive of the control drive element, it causes the clamping part to be in a relaxed state of releasing the needle.

[0014] By adopting the above technical solution, in which the first control unit and the second control unit are driven by the control drive to clamp the controlled part and move the controlled part, the effects of the first control unit on the controlled part and the effects of the second control unit on the controlled part can cancel each other out, thereby reducing the effect of the control drive on the conveying device.

[0015] In one embodiment of the present invention, the needle insertion device further includes a needle placement component, a needle loading component, and a needle loading drive component. The needle placement component is provided with a needle loading groove, and the needle loading component is provided with a fixed needle groove and a needle retrieval groove that are connected. When the needle loading drive component drives the needle loading component to move to the point where the fixed needle groove and the needle loading groove are connected, the needle entering the needle loading groove is engaged in the fixed needle groove. When the needle loading drive component drives the needle loading component to move to the point where the fixed needle groove is no longer connected to the needle loading groove, the needle retrieval component retrieves the needle in the fixed needle groove through the needle retrieval groove.

[0016] By adopting the above technical solution, when the needle is located on the needle-releasing component, the needles are in a stacked state. When the needle-upper driving component drives the needle-upper component to move until it connects with the fixed needle slot, since the upper needle slot is located on the needle-releasing component, some needles on the needle-upper component will enter the upper needle slot. However, only one needle that enters the upper needle slot can enter the fixed needle slot. Therefore, when the needle-upper driving component drives the needle-upper component to move until it is no longer connected with the fixed needle slot, the needle that entered the fixed needle slot will move with the needle-upper component to leave the upper needle slot, thereby achieving single needle feeding. The needle-retrieval slot facilitates the needle-retrieval assembly to retrieve needles from the fixed needle slot.

[0017] The present invention also provides a medical device production line, including the above-mentioned needle insertion device.

[0018] By adopting the above technical solution, the medical device production line using this needle insertion device has a wide range of applications.

[0019] In one embodiment of the present invention, the medical device production line includes a clamping assembly, the clamping assembly including a first clamping member and a second clamping member, the first clamping member clamping a material, and the second clamping member clamping a needle assembled with the material.

[0020] By employing the above technical solution, when the needle and material are assembled, their relative positions are usually fixed using glue or other fixing methods. Therefore, the relative positions of the needle and material are not fixed after assembly. Especially when the assembly gap between the needle and material is large, the needle is prone to detaching from the material after assembly but before its relative position is fixed by fixing methods. Therefore, the first clamping member and the second clamping member respectively clamp the material and the needle assembled with the material, thereby preventing the assembled needle from moving relative to the material.

[0021] The present invention also provides a medical device production line, including the above-mentioned needle insertion device, wherein the medical device production line includes a clamping assembly that elastically clamps the material and / or the needle assembled with the material. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the pin insertion device in an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the feeding assembly and the needle picking assembly in an embodiment of the present invention;

[0024] Figure 3 for Figure 2 Enlarged view of region A in the middle;

[0025] Figure 4 This is a schematic diagram of the structure of the needle-picking component, the moving component, and the detection component in an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the control component in the top view of an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the control component for the upward viewing direction in an embodiment of the present invention.

[0028] Figure 7 This is a schematic diagram of the structure of the feeding assembly, needle picking assembly, moving assembly, detection assembly and needle insertion assembly in an embodiment of the present invention;

[0029] Figure 8 This is a schematic diagram of the pin assembly in an embodiment of the present invention.

[0030] Reference numerals: 100, feeding assembly; 110, storage component; 111, notch; 120, needle placement component; 121, needle mounting groove; 130, needle mounting component; 131, needle fixing groove; 132, needle picking groove; 140, needle mounting drive component; 200, needle picking assembly; 210, needle picking drive component; 220, needle picking gripper; 300, moving assembly; 310, moving drive component; 320, rotating shaft; 330, rotating frame; 400, detection assembly; 500, control assembly; 510, control drive component; 520, control... Components; 521, First control unit; 522, Second control unit; 523, First linkage unit; 524, Second linkage unit; 525, Linkage shaft; 526, Fixing unit; 600, Fixed needle assembly; 610, Fixed needle drive unit; 620, Fixed needle component; 700, Inserted needle assembly; 710, Assembly drive unit; 720, Assembly gripper; 730, Fixed material drive unit; 740, Fixed material gripper; 800, Clamping assembly; 810, First clamping component; 820, Second clamping component; 821, Clamping part; 822, Controlled part. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] It should be noted that when a component is said to be "mounted on" another component, it can be directly mounted on the other component or may be interspersed with a component. When a component is said to be "set on" another component, it can be directly set on the other component or may be interspersed with a component. When a component is said to be "fixed to" another component, it can be directly fixed to the other component or may be interspersed with a component.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0034] Embodiments of the present invention first provide, as follows Figure 1 The illustrated pin insertion device includes a feeding assembly 100, a pin picking assembly 200, a moving assembly 300, a detection assembly 400, a control assembly 500, and a pin insertion assembly 700.

[0035] Reference Figure 2 and Figure 3 The feeding assembly 100 includes a storage unit 110, a needle placement unit 120, a needle loading unit 130, and a needle loading drive unit 140. The storage unit 110 is located above the needle placement unit 120, and its bottom has a notch 111, allowing needles to move spontaneously from the storage unit 110 to the needle placement unit 120 under their own weight. Therefore, when there are few needles on the needle placement unit 120, needles in the storage unit 110 can spontaneously move to the needle placement unit 120. The needle placement unit 120 has a needle loading groove 121 that extends through it, allowing the needle loading unit 130 to pass through at least partially. The needle loading drive unit 140 drives the upper end of the needle loading unit 130 upwards until it passes through the needle loading groove 121. The upper end of the upper needle member 130 is recessed to form a needle-fixing groove 131. The upper needle member 130 also has a needle-taking groove 132 communicating with the needle-fixing groove 131. When a needle is placed in the needle-fixing groove 131, the portion of the needle except for the part entering the needle-taking groove 132 is supported by the upper needle member 130, while the portion of the needle entering the needle-taking groove 132 is suspended in mid-air. Figure 3 In the specific embodiment shown, the needle-taking groove 132 divides the fixed needle groove 131 into two sections. When the needle is on the needle-releasing member 120, the needles are in a stacked state. During feeding, the upper needle drive member 140 first drives the upper end of the upper needle member 130 downward to enter the upper needle groove 121. At this time, the needles on the needle-releasing member 120 also enter the upper needle groove 121, and only one needle can enter the fixed needle groove 131. Subsequently, the upper needle drive member 140 drives the upper end of the upper needle member 130 upward to exit the upper needle groove 121. At this time, the needles in the upper needle groove 121 also exit the upper needle groove 121 along with the upper needle member 130, and the needles in the fixed needle groove 131 also move with the upper needle member 130, thereby realizing single needle feeding.

[0036] Reference Figure 2 and Figure 4 The needle retrieval assembly 200 includes a needle retrieval drive 210 and a needle retrieval gripper 220. The needle retrieval drive 210 first drives the needle retrieval gripper 220 to move until it is aligned with the needle in the fixed needle slot 131 and opens the needle retrieval gripper 220. Then, it drives the needle retrieval gripper 220 to close and enter the needle retrieval slot 132. At the same time, the needle retrieval gripper 220 holds the needle in the fixed needle slot 131. Finally, it drives the needle retrieval gripper 220 to reset, completing the needle retrieval.

[0037] Reference Figure 4The moving assembly 300 includes a moving drive 310, a rotating shaft 320, and a rotating frame 330. The moving drive 310 is connected to the rotating shaft 320 and drives the rotating shaft 320 to rotate around its axis. The rotating frame 330 is connected to the rotating shaft 320 and can rotate with it. The needle-picking drive 210 is connected to the rotating frame 330, so that it can rotate with the rotating frame 330. Before the moving drive 310 drives the needle-picking drive 210 to rotate, the angle between the needle and the horizontal plane is α. After the moving drive 310 drives the needle-picking drive 210 to rotate, the angle between the needle and the horizontal plane is β. Where 0 ≤ α ≤ 30° and 60° ≤ β ≤ 90°. Specifically, α can be 0°, 10°, 20°, or 30°. β can be 60°, 70°, 80°, or 90°.

[0038] When the pin insertion assembly 700 stops driving the pin to move relative to the material, the pin and the material will no longer move relative to each other. In other words, the pin can only be assembled with the material under the drive of the pin insertion assembly 700. Therefore, when the assembly gap between the pin and the material is large, the movement of the pin relative to the material is also within the control range of the pin insertion assembly 700, thereby avoiding the situation where the movement of the pin relative to the material is too large and the assembly structure does not meet expectations.

[0039] When the movement of the needle relative to the material is driven by the needle insertion assembly 700, the needle does not need to change from a horizontal to a vertical position to achieve assembly with the material. However, in this application, the needle remains in a position as close as possible to or in a horizontal position before the movement assembly 300 is driven. The needle also remains in a position as close as possible to or in a vertical position after the movement assembly 300 is driven. In this way, during the assembly process, both the needle and the material can maintain their original positions without adjustment, thereby minimizing structural changes to the needle insertion device and reducing production costs. In other words, this application can minimize structural changes and achieve assembly of the needle and material under various assembly gaps.

[0040] Reference Figure 4 The detection component 400 detects the rotation amplitude of the rotating shaft 320.

[0041] Figure 5 and Figure 6The control assembly 500 includes a control drive 510 and a control component 520. The control component 520 includes a first control unit 521, a second control unit 522, a first linkage unit 523, a second linkage unit 524, a linkage shaft 525, and a fixing unit 526. The first control unit 521, fixing unit 526, first linkage unit 523, control drive 510, and second linkage unit 524 are arranged sequentially. The second control unit 522 is connected to the first linkage unit 523. One end of the linkage shaft 525 is connected to the first control unit 521, and the other end passes through the fixing unit 526 and the first linkage unit 523 before connecting to the second linkage unit 524. To enhance the smoothness of the operation of the control assembly 500, the fixing unit 526 can be added between the first linkage unit 523 and the second linkage unit 524. Therefore, one end of the linkage shaft 525 is connected to the first control unit 521, and the other end needs to pass through the fixing unit 526, the first linkage unit 523, and the fixing unit 526 before connecting to the second linkage unit 524. Both the fixed part 526 and the first linkage part 523 are movably connected to the linkage shaft 525. The control drive member 510 drives the first linkage part 523 and the second linkage part 524 to move in opposite directions, thereby the first linkage part 523 drives the second control part 522 to move, and the second linkage part 524 drives the first control part 521 to move via the linkage shaft 525. The second control part 522 is closer to the first linkage part 523 and the second linkage part 524 than the first control part 521. Therefore, when the first linkage part 523 and the second linkage part 524 move in opposite directions, the first control part 521 and the second control part 522 move towards each other, thereby enabling the first control part 521 and the second control part 522 to act on the conveying device, so that the conveying device is in a released state.

[0042] Reference Figure 1 The needle-fixing assembly 600 includes a needle-fixing drive 610 and a needle-fixing component 620. The needle-fixing drive 610 is connected to the control drive 510, and the needle-fixing drive 610 can drive the needle-fixing component 620 to move.

[0043] Reference Figure 7 and Figure 8The pin insertion assembly 700 includes an assembly drive 710, an assembly gripper 720, a material fixing drive 730, and a material fixing gripper 740. The assembly drive 710 drives the assembly gripper 720 to move and align with the rotated pin, clamping the rotated pin. When the material removal drive releases the rotated pin, the assembly drive 710 drives the assembly gripper 720 to move until the pin and the fixed pin assembly 620 abut against each other, thus aligning the pin with one end of the material assembly. When the pin insertion assembly 700 drives the pin to move relative to the material, the distance the pin moves under the action of the pin insertion assembly 700 is fixed for ease of control. However, the relative positions of the pin and the pin insertion assembly 700 may not be the same. If the relative positions of the pin and the pin insertion assembly 700 are not the same, the fixed distance the pin moves under the drive of the pin insertion assembly 700 may result in either an excessively large or insufficient movement of the pin relative to the material, preventing the pin from reaching the preset position. Therefore, when the needle and the fixed needle assembly 620 come into contact, the relative positions of the needle and the insertion needle assembly 700 can be adjusted to be the same, so that the needle can move a fixed distance under the drive of the insertion needle assembly 700 to reach the preset position. The fixed material drive unit 730 drives the fixed material gripper 740 to move to the end where the material is assembled with the needle. When the fixed material gripper 740 grips the material, the position of the part of the material held by the fixed material gripper 740 is determined by the position of the fixed material gripper 740. However, there is an error in the fixed material gripper 740 gripping the material, resulting in higher position accuracy for the part of the material closer to the fixed material gripper 740 and lower position accuracy for the part farther away from the fixed material gripper 740. When assembling the material and the needle, the position of the end where the material is assembled with the needle needs to be accurately positioned the most. Therefore, the fixed material gripper 740 grips the end where the material is assembled with the needle, thereby improving the positional accuracy of the end where the material is assembled with the needle, which is beneficial to the assembly of the material and the needle.

[0044] An embodiment of the present invention further provides a medical device production line, including a conveying device and the aforementioned needle insertion device. The medical device production line employing this needle insertion device has a wide range of applications. The conveying device includes multiple clamping assemblies 800 and a circulating drive. The circulating drive drives the multiple clamping assemblies 800 to move cyclically. Each clamping assembly 800 includes a first clamping member 810 and a second clamping member 820. Driven by compressed air, a motor, or other driving methods, the first clamping member 810 is used to clamp and release materials. The second clamping member 820 includes a clamping part 821 and a controlled part 822. The clamping part 821 clamps the needle assembled with the material. The controlled part 822 is located between the first control part 521 and the second control part 522, so that when the control drive member 510 drives the first control part 521 and the second control part 522 to move, the first control part 521 and the second control part 522 can clamp the controlled part 822. Under the action of the first control part 521 and the second control part 522, the controlled part 822 moves and causes the clamping part 821 to be in a released state. If the control drive member 510 drives the first control part 521 to move the controlled part, the controlled part will also act in the opposite direction to the control drive member 510 through the first control part 521, thereby causing the control drive member 510 to be subjected to force. Under the stress state, the control drive member 510 is prone to damage. However, by using the control drive 510 to drive the first control unit 521 and the second control unit 522 to clamp and move the controlled part, the effects of the first control unit 521 and the second control unit 522 on the controlled part can cancel each other out, thereby reducing the effect of the control drive 510 on the conveying device. When the needle and material are assembled, their relative positions are usually fixed using glue or other fixing methods. Therefore, the relative positions of the needle and material are not fixed after assembly. Especially when the assembly gap between the needle and material is large, the needle is prone to detach from the material after assembly but before the relative positions are fixed. Therefore, the first clamping member 810 and the second clamping member 820 respectively clamp the material and the needle assembled with the material, thereby preventing the assembled needle from moving relative to the material.

[0045] It is understandable that the second clamping member 820 can be a pneumatic finger clamp. In this case, the control member 520 is an inflation head. The control drive member 510 drives the control member 520 to connect with the second clamping member 820, so that the control member 520 can inflate the second clamping member 820. After inflation, the second clamping member 820 is in a relaxed state with the needle released. When the control drive member 510 drives the control member 520 to no longer connect with the second clamping member 820, the second clamping member 820 deflates and is in a clamping state.

[0046] It is understandable that the first clamping member 810 elastically clamps the material, and the clamping part 821 elastically clamps the needle that has been assembled with the material. At this time, the control component 500 does not need to be set.

[0047] The technical features of the above-described embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0048] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any appropriate changes and variations made to the above embodiments within the essential spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A medical device production line, comprising a needle insertion device, the needle insertion device including a needle retrieval assembly (200) and a needle insertion assembly (700), the needle retrieval assembly (200) being used to retrieve a needle, characterized in that: The needle insertion assembly (700) is used to drive the needle to move relative to the material until the assembly is completed. The needle insertion device also includes a moving assembly (300). The moving assembly (300) is used to drive the needle to rotate after the needle taking assembly (200) takes the needle and before the needle insertion assembly (700) drives the needle to move. The angle between the needle and the horizontal plane before the moving assembly (300) drives the needle is α, and the angle between the needle and the horizontal plane after the moving assembly (300) drives the needle is β, where 0≤α≤30° and 60°≤β≤90°. The needle retrieval assembly (200) includes a needle retrieval drive (210) and a needle retrieval gripper (220), wherein the needle retrieval drive (210) is capable of driving the needle retrieval gripper (220) to retrieve a needle; The pin insertion assembly (700) includes an assembly drive (710) and an assembly gripper (720). The assembly drive (710) drives the assembly gripper (720) to move and align with the rotated pin and clamp the rotated pin. The pin insertion device also includes a fixed pin member (620). The assembly drive (710) drives the assembly gripper (720) to move until the pin and the fixed pin member (620) abut against each other to adjust the relative positions of the pin and the pin insertion assembly (700) to be the same. The needle insertion assembly (700) further includes a material positioning drive (730) and a material positioning gripper (740). The material positioning drive (730) drives the material positioning gripper (740) to move to the end where the material is clamped and assembled with the needle. The material positioning drive (730) drives the material positioning gripper (740) to clamp the material. The material positioning gripper (740) clamps the end where the material is clamped and assembled with the needle. The medical device production line also includes a conveying device, and the needle insertion device also includes a control component (520) and a control drive component (510). The control drive component (510) drives the control component (520) to move and then acts on the conveying device to control the conveying device to be in a relaxed state of releasing the needle. The conveying device includes a plurality of clamping components (800). Each clamping component (800) includes a first clamping component (810) and a second clamping component (820). The first clamping component (810) is used to clamp and release the material. The second clamping component (820) clamps the needle that has been assembled with the material and includes a clamping part (821) and a controlled part (822). The control drive component (510) drives the controlled part (822) and causes the controlled part (822) to move. After the controlled part (822) moves under the drive of the control drive component (510), it causes the clamping part (821) to be in a relaxed state of releasing the needle.

2. The medical device production line according to claim 1, characterized in that: The moving component (300) drives the needle-taking component (200) to move, the needle-inserting component (700) obtains the needle from the needle-taking component (200), and after obtaining the needle, the needle-inserting component (700) drives the needle to move relative to the material.

3. The medical device production line according to claim 1, characterized in that: The control unit (520) includes a first control unit (521) and a second control unit (522). The control drive unit (510) drives the first control unit (521) and the second control unit (522) to move toward each other to clamp the controlled part (822) and move the controlled part (822).

4. The medical device production line according to claim 1, characterized in that: The needle insertion device further includes a needle placement component (120), a needle loading component (130), and a needle loading drive component (140). The needle placement component (120) is provided with a needle loading groove (121), and the needle loading component (130) is provided with a fixed needle groove (131) and a needle retrieval groove (132) that are connected. When the needle loading drive component (140) drives the needle loading component (130) to move to the point where the fixed needle groove (131) and the needle loading groove (121) are connected, the needle entering the needle loading groove (121) is inserted into the fixed needle groove (131). When the needle loading drive component (140) drives the needle loading component (130) to move to the point where the fixed needle groove (131) is no longer connected to the needle loading groove (121), the needle retrieval assembly (200) retrieves the needle in the fixed needle groove (131) through the needle retrieval groove (132).

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