Medical endoscope handle steel wire welding and riveting equipment

Abstract

The application discloses a medical endoscope handle steel wire welding and riveting equipment, and technical scheme points are as follows: a sleeve loading assembly is arranged, a sleeve positioning mechanism is arranged on the sleeve loading assembly, a first visual system is used for detecting a sleeve on a detection station, a wire feeding assembly is arranged, the wire feeding assembly comprises a wire feeding mechanism and a moving mechanism, the wire feeding mechanism is used for feeding a steel wire, the moving mechanism is used for driving the wire feeding mechanism to move along a rack, a second visual system is used for detecting whether wire threading is completed, a third visual system is used for detecting whether a product after wire threading and welding is a qualified product, and a fixed-length cutting assembly is used for recognizing and cutting the length of the steel wire.

Description

Technical Field

[0001] This invention relates to the field of endoscope handle processing equipment, and more specifically to a medical endoscope handle wire welding and riveting equipment. Background Technology

[0002] With the continuous development of medicine, endoscopes, which are commonly used in medical care, are also constantly being improved. They have gradually evolved from rigid endoscopes to flexible tube endoscopes. Furthermore, with the deepening of research on optical fibers, fiber optic endoscopes have been developed, which has enabled endoscopes to be used more widely in medical applications.

[0003] Chinese Patent CN110786815A discloses an adjustable wire assembly, an operating handle, and an endoscope. It includes a chain connector with a wire connector attached to it. The wire connector has a welded head that is fixed to a traction wire. The welded head passes through the wire connector and forms an axial hook connection with it. The chain connector has a blind hole for mounting the wire connector. Multiple continuous slots are distributed axially on the outer wall of the wire connector. A locking block mounting hole is provided on the wall of the blind hole, and a locking block is installed within it. The front end of the locking block can be inserted into the slot to prevent the wire connector from dislodging from the opening of the blind hole. The operating handle includes the aforementioned wire assembly; the endoscope includes the aforementioned operating handle.

[0004] Therefore, the wire assembly and operating handle are crucial components of an endoscope. Consequently, the processing of the endoscope handle wire is extremely important. Currently, the processing of the endoscope handle wire involves attaching a sleeve to the wire after processing. However, the sleeve's manufacturing process can lead to dimensional deviations, causing errors when threading and connecting the wire to the sleeve. This results in defective handle wires, which severely impact the overall usability of the endoscope. Therefore, a device capable of processing endoscope handle wires is urgently needed. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a medical endoscope handle wire welding and riveting device to solve the technical problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A medical endoscope handle wire welding and riveting device, comprising:

[0008] The sleeve feeding assembly is installed on the machine body. The sleeve feeding assembly is equipped with a sleeve positioning mechanism and a detection station. The sleeve feeding assembly is used to feed the sleeve to the detection station of the sleeve positioning mechanism.

[0009] The first vision system is installed on the machine body and is used to inspect the tube sleeve located at the inspection station, identify whether the tube sleeve is in the center position and identify the outline of the tube sleeve. When the inspection is qualified, a misalignment signal is generated and the positioning mechanism is controlled to make the tube sleeve vertically misaligned so that the tube sleeve is kept in a horizontal position.

[0010] The wire feeding assembly includes a wire output mechanism and a moving mechanism. The wire output mechanism is used to output the wire located on the wire wheel. The moving mechanism is used to drive the wire output mechanism to move along the frame. When the positioning mechanism moves the tube sleeve vertically to the horizontal position, it generates a wire threading signal. The moving mechanism drives the wire output mechanism to the positioning mechanism and threads the wire through the tube sleeve.

[0011] The second vision system is located on one side of the first vision system. The second vision system is used to detect the wire after it has been threaded, to identify whether the pipe sleeve has been threaded, and to generate a welding signal when the threading is completed.

[0012] A riveting assembly for riveting and welding a wire-threaded sleeve upon receiving a welding signal;

[0013] The third vision system is located on one side of the second vision system along the direction of the moving mechanism. The third vision system is used to detect whether the riveted and welded pipe sleeves and steel wires are qualified products. When they are identified as qualified products, a fixed-length signal is generated.

[0014] A fixed-length cutting assembly is used to identify the length of a steel wire and cut it to a fixed length.

[0015] As a further improvement of the present invention, the first vision system includes a recognition module, wherein the recognition module is configured with a recognition strategy, and the recognition strategy is specifically as follows:

[0016] After the sleeve is fed to the inspection station via the sleeve feeding assembly, the vision inspection camera is triggered to identify the end contour of the sleeve and form an end face image. Based on the end face image, the center point of the sleeve is located and marked. At the same time, the outline of the inner diameter of the sleeve in the end face image is identified and an inner diameter outline is generated. Quadrant points of the inner diameter outline are identified and marked to form quadrant point marks. Based on the quadrant points, edge lines tangent to the inner diameter outline are drawn. The edge lines form an external rectangle. A perpendicular line is established with the center point position to the edge line, and the distance to each edge line is calculated to generate a vertical distance value. It is then determined whether the vertical distance value is equal to the radius of the inner diameter outline. The identification module is also equipped with a deviation threshold. If the difference between the vertical distance value and the radius of the inner diameter outline is within the deviation threshold range, the sleeve is determined to be a sleeve with a qualified end face. If the difference exceeds the deviation threshold range, a rejection signal is generated, and the unqualified sleeve is rejected.

[0017] As a further improvement of the present invention, the first vision system further includes a misalignment module, wherein the misalignment module is configured with a misalignment recognition strategy, and the misalignment recognition strategy specifically includes:

[0018] When the recognition module detects that the tube sleeve is qualified at the end face, it generates a misalignment signal and controls the positioning mechanism to drive the tube sleeve to rotate from a vertical position to a horizontal position. At this time, the vision camera recognizes the tube sleeve and generates an outer wall image. It extracts the projection lines of the end of the outer wall image to generate an end face horizontal line, and extracts the projection lines of the side wall of the outer wall image to generate a side horizontal line. It identifies whether the end face horizontal line and the side horizontal line are straight lines and determines whether the end face horizontal line and the side horizontal line are perpendicular. If the end face horizontal line and the side horizontal line are straight lines and perpendicular to each other, a threading signal is generated.

[0019] As a further improvement of the present invention, the first vision system further includes a positioning alarm module, wherein the positioning alarm module is configured with a positioning alarm strategy and a positioning alarm threshold, and the positioning alarm strategy is specifically as follows:

[0020] After the sleeve is fed through the sleeve feeding assembly, the timer starts. If the time exceeds the positioning alarm threshold and the sleeve has not been detected to have reached the detection station, an alarm will be triggered to indicate that the sleeve is misaligned.

[0021] As a further improvement of the present invention, the second vision system includes a wire threading module, wherein the wire threading module is configured with a wire threading strategy, and the wire threading strategy specifically includes:

[0022] The system identifies the sleeve and handle after the steel wire is threaded through them and generates a wire-threading image. It extracts the outlines of the sleeve and handle from the wire-threading image and identifies whether there is a gap between the sleeve and the handle. If there is a gap between the sleeve and the handle, a defective mark is generated and the sleeve marked with the defective mark is removed.

[0023] As a further improvement of the present invention, the second vision system further includes a detection module and a missing component alarm module. The detection module is configured with a welding detection strategy and a welding threshold. The welding detection strategy is specifically as follows:

[0024] When the wire-threading image is detected as a qualified product, a detection signal is generated. Upon receiving the detection signal, the detection module checks whether the sleeve is threaded with steel wire. If steel wire is detected, the module checks whether the distance between the steel wire and the welding rod in the sleeve is within the welding threshold range. If the distance between the steel wire and the welding rod exceeds the welding threshold or if steel wire is missing from the sleeve, a re-threading signal is generated. The moving mechanism is then controlled to move the wire-exiting mechanism to the sleeve feeding assembly for re-threading. If steel wire is missing from the sleeve twice consecutively, a missing wire alarm signal is generated. The missing wire alarm module then issues an alarm indicating that the sleeve is missing.

[0025] As a further improvement of the present invention, the third vision system includes a solder joint detection module, wherein the solder joint detection module is configured with a solder joint detection strategy, and the solder joint detection strategy is specifically as follows:

[0026] By triggering the industrial camera's illumination lamp, the weld point is illuminated. The projected image after illumination is then captured, and it is identified whether there are any protrusions in the projected image. If there are protrusions at the weld point in the projected image, it indicates that the weld point is unqualified. The pipe sleeve with unqualified weld points is marked as defective and discarded.

[0027] As a further improvement of the present invention, the sleeve feeding assembly includes a vibratory feeder mechanism and a discharge pipe. The vibratory feeder mechanism is disposed on the machine body. The sleeve is placed in the vibratory feeder mechanism and is conveyed to the discharge pipe by vibration. The discharge pipe is used to guide the sleeve to the detection station and keep it in a vertical position.

[0028] As a further improvement of the present invention, the fixed-length cutting assembly includes a length measuring mechanism and a laser cutting mechanism. The length measuring mechanism is used to measure the length of the fixed-length steel wire, and the laser cutting mechanism is used to laser cut the fixed-length steel wire.

[0029] The beneficial effects of this invention are as follows: The sleeve is conveyed by the sleeve feeding assembly. When the sleeve is conveyed to the inspection station, the first vision system uses a vision camera to inspect and identify the sleeve located at the inspection station and kept in a vertical state. After the inspection is completed, the misalignment signal is reviewed and the positioning mechanism is controlled to move the sleeve to a horizontal state. At this time, the moving mechanism drives the wire feeding mechanism to move to the inspection station to thread the steel wire. After the steel wire is threaded, the sleeve is moved to the second vision system to inspect and identify the sleeve after the steel wire is threaded. After passing the inspection, the riveting assembly is used to rivet and weld the sleeve. The third vision system is used to inspect and identify the riveted and welded sleeve. The qualified sleeve is moved and the fixed length cutting assembly is used to cut the steel wire to a fixed length to form the final product. Through multiple stations and multiple vision inspections, the overall processing accuracy is improved, and the processed endoscope handle steel wire meets the usage requirements. Attached Figure Description

[0030] Figure 1 A three-dimensional structural diagram illustrating the present invention;

[0031] Figure 2 To illustrate the internal structure of the organism;

[0032] Figure 3 This is a structural diagram illustrating the sleeve loading assembly, vision system, and riveting assembly;

[0033] Figure 4 This is a schematic diagram illustrating the structure of the casing feeding assembly and the wire feeding assembly;

[0034] Figure 5 To illustrate the structural diagram of the length measuring mechanism;

[0035] Figure 6 This is a schematic diagram illustrating the structure of the wire feeding assembly and the length measuring mechanism.

[0036] Reference numerals in the attached drawings: 1. Sleeve feeding assembly; 11. Vibratory feeder mechanism; 12. Discharge pipe; 2. Sleeve positioning mechanism; 3. First vision system; 4. Wire feeding assembly; 41. Wire discharge mechanism; 42. Moving mechanism; 5. Second vision system; 6. Riveting assembly; 7. Third vision system; 8. Fixed length cutting assembly; 81. Length measuring mechanism; 82. Laser cutting mechanism. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0038] refer to Figures 1 to 6 The image shows a specific embodiment of a medical endoscope handle wire welding and riveting device of the present invention, which includes a sleeve feeding assembly 1, a first vision system 3, a wire feeding assembly 4, a second vision system 5, a riveting assembly 6, a third vision system 7, and a fixed-length cutting assembly 8, all mounted on the machine body. The sleeve feeding assembly 1 is provided with a sleeve positioning mechanism 2, and the sleeve positioning mechanism 2 is provided with a detection station. The sleeve feeding assembly 1 is used to feed the sleeve to the detection station of the sleeve positioning mechanism 2. At this time, the sleeve is kept in a vertical setting when it is located at the detection station. The sleeve feeding assembly 1 includes a vibratory feeder mechanism 11 and a discharge pipe 12. The vibratory feeder mechanism 11 is mounted on the machine body. The sleeve is placed inside the vibratory feeder mechanism 11 and is conveyed to the discharge pipe 12 by vibration. The discharge pipe 12 is used to guide the sleeve to the inspection station and is set in a vertical position. The working method and working principle of the vibratory feeder to vibrate the workpiece in the vibratory feeder to the discharge pipe 12 by vibration is the existing technology principle and will not be described in detail here.

[0039] The first vision system 3 is mounted on the machine body and is used to inspect the tube sleeve located at the inspection station, identify whether the tube sleeve is in the center position and identify the outline of the tube sleeve. When the inspection is qualified, a misalignment signal is generated, and the positioning mechanism is controlled to vertically misalign the tube sleeve to keep the tube sleeve in a horizontal position. The wire feeding assembly 4 includes a wire output mechanism 41 and a moving mechanism 42. The wire output mechanism 41 is used to feed the wire located on the wire wheel. The moving mechanism 42 is used to drive the wire output mechanism 41 to move along the frame. When the positioning mechanism vertically misaligns the tube sleeve to a horizontal position, a wire threading signal is generated. The moving mechanism 42 drives the wire output mechanism 41 to the positioning mechanism and threads the wire onto the tube sleeve.

[0040] The first vision system 3 includes a recognition module, which is configured with a recognition strategy. The recognition strategy is specifically as follows:

[0041] After the sleeve is fed to the inspection station via the sleeve feeding assembly 1, the vision inspection camera is triggered to identify the end contour of the sleeve and form an end face image. Based on the end face image, the center point of the sleeve is located and marked. At the same time, the outline of the inner diameter of the sleeve in the end face image is identified and an inner diameter outline is generated. Quadrant points of the inner diameter outline are identified and marked to form quadrant point marks. Based on the quadrant points, edge lines tangent to the inner diameter outline are drawn. The edge lines form an external rectangle. A perpendicular line is established with the center point position to the edge line, and the distance to each edge line is calculated to generate a vertical distance value. It is then determined whether the vertical distance value is equal to the radius of the inner diameter outline. The identification module is also equipped with a deviation threshold. If the difference between the vertical distance value and the radius of the inner diameter outline is within the deviation threshold range, the sleeve is determined to be a sleeve with a qualified end face. If the difference exceeds the deviation threshold range, a rejection signal is generated, and the unqualified sleeve is rejected.

[0042] The first vision system 3 further includes a misalignment module, which is configured with a misalignment recognition strategy. The misalignment recognition strategy is specifically as follows:

[0043] When the recognition module detects that the tube sleeve is qualified at the end face, it generates a misalignment signal and controls the positioning mechanism to drive the tube sleeve to rotate from a vertical position to a horizontal position. At this time, the vision camera recognizes the tube sleeve and generates an outer wall image. It extracts the projection lines of the end of the outer wall image to generate an end face horizontal line, and extracts the projection lines of the side wall of the outer wall image to generate a side horizontal line. It identifies whether the end face horizontal line and the side horizontal line are straight lines and determines whether the end face horizontal line and the side horizontal line are perpendicular. If the end face horizontal line and the side horizontal line are straight lines and perpendicular to each other, a threading signal is generated.

[0044] The first vision system 3 further includes a positioning alarm module, which is configured with a positioning alarm strategy and a positioning alarm threshold. The positioning alarm strategy is specifically as follows:

[0045] After the sleeve is fed through the sleeve feeding assembly 1, the timer starts. If the time exceeds the positioning alarm threshold and the sleeve has not been detected to reach the detection station, an alarm will be triggered to indicate that the sleeve is misaligned.

[0046] The second vision system 5 is disposed on one side of the first vision system 3. The second vision system 5 is used to detect after the steel wire is threaded, to identify whether the tube sleeve has been threaded. When the threading is identified as complete, a welding signal is generated. The riveting assembly 6 is used to rivet and weld the tube sleeve with the steel wire threaded on it when the welding signal is received.

[0047] The second vision system 5 includes a threading module, which is configured with a threading strategy. The threading strategy is specifically as follows:

[0048] The system identifies the sleeve and handle after the steel wire is threaded through them, forming a wire-threading image. The contours of the sleeve and handle are extracted from the wire-threading image, and the presence of a gap between them is identified. If a gap exists directly between the sleeve and handle, a defective mark is generated, and the sleeve marked with the defective mark is discarded. The second vision system 5 also includes a detection module and a missing part alarm module. The detection module is configured with a welding detection strategy and a welding threshold. The welding detection strategy specifically includes:

[0049] When the wire-threading image is detected as a qualified product, a detection signal is generated. When the detection module receives the detection signal, it checks whether the sleeve is threaded with steel wire. When steel wire is detected, it checks whether the distance between the steel wire and the welding rod in the sleeve is within the welding threshold range. If the distance between the steel wire and the welding rod exceeds the welding threshold or if steel wire is missing from the sleeve, a re-threading signal is generated. The moving mechanism 42 is controlled to drive the wire-exiting mechanism 41 to move to the sleeve feeding assembly 1 for re-threading. If steel wire is missing from the sleeve twice in a row, a missing alarm signal is generated. The missing alarm module provides an alarm prompt that the sleeve is missing.

[0050] The third vision system 7 is located on one side of the second vision system 5 along the direction of the moving mechanism 42. The third vision system 7 is used to detect whether the riveted and welded sleeve and steel wire are qualified products, generating a fixed-length signal when they are identified as qualified. The fixed-length cutting assembly 8 is used to identify the length of the steel wire and cut it to a fixed length. The third vision system 7 includes a weld point detection module, which is configured with a weld point detection strategy. The specific weld point detection strategy is as follows:

[0051] By triggering the industrial camera's illumination lamp, the weld point is illuminated. The projected image after illumination is then captured, and it is identified whether there are any protrusions in the projected image. If there are protrusions at the weld point in the projected image, it indicates that the weld point is unqualified. The pipe sleeve with unqualified weld points is marked as defective and discarded.

[0052] The fixed-length cutting assembly 8 includes a length measuring mechanism 81 and a laser cutting mechanism 82. The length measuring mechanism 81 is used to measure the length of a fixed-length steel wire, and the laser cutting mechanism 82 is used to laser cut the fixed-length steel wire.

[0053] Working principle and its effects:

[0054] The tubing is conveyed through the tubing feeding assembly 1. When the tubing is conveyed to the inspection station, the first vision system 3 uses a vision camera to inspect and identify the tubing located at the inspection station and kept in a vertical position. After the inspection is completed, the misalignment signal is reviewed and the positioning mechanism is controlled to move the tubing to a horizontal position. At this time, the moving mechanism 42 drives the wire feeding mechanism to move to the inspection station to thread the steel wire. After the steel wire is threaded, the tubing is moved to the second vision system 5 to inspect and identify the tubing after the steel wire is threaded. After passing the inspection, the riveting assembly 6 is used to rivet and weld the tubing. The third vision system 7 is used to inspect and identify the riveted and welded tubing. The qualified tubing is moved and the fixed length cutting assembly 8 is used to cut the steel wire to a fixed length to form the final product. Through multiple stations and multiple vision inspections, the overall processing accuracy is improved, and the processed endoscope handle steel wire meets the usage requirements.

[0055] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A medical endoscope handle steel wire welding and riveting press device, characterized by, The utility model relates to a kind of sleeve feeding assembly (1) for being arranged on the body, sleeve feeding assembly (1) is provided with sleeve positioning mechanism (2) on the body, sleeve positioning mechanism (2) is provided with detection station, and sleeve feeding assembly (1) is used to feed sleeve to the detection station of sleeve positioning mechanism (2);First vision system (3) is arranged on the body, and it is used to detect the sleeve on detection station, identify whether sleeve is in centering position and identify the outline of sleeve, generate misposition signal when detecting qualified, and control the positioning mechanism to move vertically mispositioned sleeve, so that sleeve keeps horizontal position state;Wire feeding assembly (4) includes wire outlet mechanism (41) and moving mechanism (42), wire outlet mechanism (41) is used to send out the steel wire on wire wheel, and moving mechanism (42) is used to drive wire outlet mechanism (41) to move along rack, generate threading signal when positioning mechanism vertically mispositioned sleeve to horizontal position, and moving mechanism (42) drives wire outlet mechanism (41) to move to positioning mechanism and thread sleeve;Second vision system (5) is arranged on the side of first vision system (3), and second vision system (5) is used to detect after steel wire is threaded, identify whether sleeve is completed threading, generate welding signal when identifying completed threading;Riveting assembly (6) is used to rivet and weld sleeve threaded with steel wire when receiving welding signal;Third vision system (7) is arranged on the side of second vision system (5) along the direction of moving mechanism (42), and third vision system (7) is used to detect whether sleeve and steel wire after riveting and welding belong to qualified product, generate fixed length signal when identifying as qualified product;Fixed length cutting assembly (8) is used to identify the length of steel wire and cut fixed length steel wire;The first vision system (3) includes identification module, identification module is configured with identification strategy, and the identification strategy is specifically as follows: after feeding to detection station by sleeve feeding assembly (1), trigger vision detection camera, identify the end profile of sleeve to form end face image, position to the center point of sleeve based on end face image and mark, identify the outline of inner diameter of sleeve in end face image and generate inner diameter contour line simultaneously, identify and mark quadrant point of inner diameter contour line to form quadrant point mark, based on quadrant point, do the tangent line of inner diameter contour line, the tangent line constitutes circumscribed rectangle, establish perpendicular line perpendicular to tangent line with center point position, and calculate the distance to each tangent line to generate perpendicular distance value, and judge whether perpendicular distance value is equal to the radius of inner diameter contour line, identification module is further configured with deviation threshold value, if the difference between perpendicular distance value and the radius of inner diameter contour line is within deviation threshold value range, then determine that the sleeve is end face qualified sleeve, if the difference exceeds deviation threshold value range, generate rejection signal, and reject the sleeve that does not meet. ​ ​ ​ ​ ​ ​ ​ ​ ​ 2. The medical endoscope handle steel wire welding riveting and pressing equipment according to claim 1, characterized in that: The first vision system (3) further comprises a misalignment module, and a misalignment identification strategy is arranged in the misalignment module. When the identification module detects that the sleeve is a sleeve with a qualified end face, a misalignment signal is generated, the positioning mechanism is controlled to drive the sleeve to rotate from a vertical state to a horizontal position state, at this time, the vision camera identifies the sleeve and generates an outer wall image, a projection line of an end portion of the outer wall image is extracted to generate an end face horizontal line, and a projection line of a side wall of the outer wall image is extracted to generate a side face horizontal line, whether the end face horizontal line and the side face horizontal line are straight lines is identified, and whether the end face horizontal line and the side face horizontal line are perpendicular is judged, if the end face horizontal line and the side face horizontal line are straight lines, and the end face horizontal line and the side face horizontal line are perpendicular, a threading signal is generated.

3. The medical endoscope handle steel wire welding and riveting press equipment according to claim 2, characterized in that: The first vision system (3) further comprises a positioning alarm module, and a positioning alarm strategy and a positioning alarm threshold are arranged in the positioning alarm module. After the sleeve is fed by the sleeve feeding assembly (1), timing is started, if the sleeve does not reach the detection station when the positioning alarm threshold is exceeded, an alarm is given to prompt that the sleeve is misaligned. The second vision system (5) comprises a threading module, and a threading strategy is arranged in the threading module.

4. The medical endoscope handle steel wire welding and riveting press equipment according to claim 1, characterized in that: The sleeve and the handle after the steel wire is threaded are identified and a threading image is formed, the outlines of the sleeve and the handle in the threading image are extracted, and whether there is a gap between the sleeve and the handle is identified, if there is a gap between the sleeve and the handle, a defective product mark is generated, and the sleeve marked with the defective product mark is removed. The second vision system (5) further comprises a detection module and a missing installation alarm module, a welding detection strategy and a welding threshold are arranged in the detection module, and the welding detection strategy is specifically as follows.

5. The medical endoscope handle steel wire welding riveting and pressing equipment according to claim 4, characterized in that: When the detection image is a qualified product, a detection signal is generated, the detection module detects whether the steel wire is threaded in the sleeve when the detection signal is received, and detects whether the distance between the steel wire and the welding rod in the sleeve is within the welding threshold range when it is detected that the steel wire is threaded, if the distance between the steel wire and the welding rod exceeds the welding threshold or the steel wire is missing in the sleeve, a re-threading signal is generated, the moving mechanism (42) is controlled to drive the wire removing mechanism (41) to move to the sleeve feeding assembly (1) to re-thread the steel wire, if the steel wire is missing in the sleeve is detected for two times in succession, a missing installation alarm signal is generated, and the missing installation alarm module gives an alarm to prompt that the sleeve is missing. The third vision system (7) comprises a welding point detection module, and a welding point detection strategy is arranged in the welding point detection module.

6. The medical endoscope handle steel wire welding riveting and pressing equipment according to claim 5, characterized in that: The illumination lamp of the industrial camera is triggered, the welding point position is irradiated by the illumination lamp, and whether a convex point appears in the projection image is identified after the projection image after irradiation is collected, if the welding point position in the projection image appears a convex point, it indicates that the welding point is unqualified, the sleeve with unqualified welding point is marked as a defective product, and the sleeve marked with the defective product mark is removed. ​ 7. The medical endoscope handle steel wire welding and riveting press equipment according to claim 6, characterized in that: The sleeve feeding assembly (1) comprises a vibrating disc mechanism (11) and a discharging pipeline (12), the vibrating disc mechanism (11) is arranged on the machine body, the vibrating disc mechanism (11) is used for placing the sleeve and conveying the sleeve to the discharging pipeline (12) through oscillation, and the discharging pipeline (12) is used for guiding the sleeve to the detection station and keeping the vertical state.

8. The medical endoscope handle steel wire welding and riveting press equipment according to any one of claims 1 to 7, characterized in that: The fixed-length cutting assembly (8) comprises a length measuring mechanism (81) and a laser cutting mechanism (82), the length measuring mechanism (81) is used for measuring the length of the fixed-length steel wire, and the laser cutting mechanism (82) is used for laser cutting the fixed-length steel wire.

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