Grabbing device for safety needles and material taking and transferring system

Abstract

The invention belongs to the technical field of safety needle automatic detection, and relates to a grabbing device for safety needles and a material taking and transferring system. The grabbing device for the safety needle comprises a supporting frame, a lifting seat plate, a transmission driving mechanism, a micro-motion seat plate, a clamp connecting plate, a lifting driving cylinder, a micro-motion driving cylinder and a clamp assembly, a transmission guide rail is arranged on the supporting frame, the lifting seat plate is installed on the transmission guide rail of the supporting frame, and the transmission driving mechanism is in transmission connection with the lifting seat plate; the micro-motion seat plate is arranged below the lifting seat plate; the clamp connecting plate is used for connecting a clamp assembly; the lifting driving cylinder is mounted on the lifting seat plate and connected with the micro-motion seat plate, and the micro-motion driving cylinder is mounted on the micro-motion seat plate and connected with the clamp connecting plate; and the clamp assembly is mounted below the clamp connecting plate. The grabbing device can be tightly matched with the intermediate variable pitch device, and it can be ensured that the safety needle is not twisted in the transfer process and is stably and accurately transferred to a tension detection system.

Description

Technical Field

[0001] The invention relates to a grabbing device for a safety needle and a material taking and transferring system, belonging to the technical field of automatic detection of safety needles. Background Art

[0002] In the medical field, injection needles, blood collection needles, dispensing needles, flushing needles and other medical needles are widely used in various treatment and diagnosis processes. However, after use, most of these medical needles are discarded. Since traditional injection needles, blood collection needles, dispensing needles, flushing needles and other medical needles do not have safety protection devices, workers are often injured by needle sticks when cleaning waste and recycling, and there is also a risk of cross infection. For this reason, professionals have designed a variety of safety needles that can hide the needles after use to prevent harm to the human body. The sliding sleeve protection safety needle is one of them that is very convenient to operate.

[0003] The so-called sliding sleeve protection safety needle Z00, such as Figure 1-3 As shown, it includes a needle handle Z01 and a needle Z14 inserted in the needle handle Z01. The needle handle Z01 connects the needle Z14 with a hose Z12. The rear end of the hose Z12 is generally provided with a needle holder Z13. The needle handle Z01 is provided with a wing Z04. It also includes an inner sleeve Z05, an outer sleeve Z09 and a protective cap Z11 which are sleeved on the needle handle Z01. The factory state of the safety needle Z00 is that the outer sleeve Z09 and the inner sleeve Z05 are sleeved on the root of the needle handle Z01 in sequence, and the protective cap Z11 is sleeved on the head of the needle handle Z01 and protects the needle Z14. When in use, the medical staff pulls off the protective cap Z11, and it can be used like a normal needle. Before discarding after use, as Figure 3 As shown, the medical staff only needs to gently pull the outer sliding sleeve Z09 to make the outer sliding sleeve Z09 and the inner sliding sleeve Z05 unfold in sequence to protect the needle Z14. In this way, the needle Z14 will not stab the staff during the garbage transportation process, so it is called a safety needle Z00.

[0004] In order to prevent the inner sleeve Z05 and the outer sleeve Z09 from sliding randomly and affecting normal use, or from retracting under external force after being pulled apart and exposing the needle Z14 when discarded, a locking mechanism needs to be provided on the needle handle Z01, the inner sleeve Z05 and the outer sleeve Z09, and the locking mechanism includes a first card slot Z02 provided at the rear of the needle handle Z01, a second card slot Z03 provided at the front of the needle handle Z01, a first buckle Z06 provided at the rear of the inner sleeve Z05, a third card slot Z07 provided at the rear of the inner sleeve Z05, a fourth card slot Z08 provided at the front of the inner sleeve Z05 and a second buckle Z10 provided at the rear of the outer sleeve Z09. In the factory state, if Figure 1As shown, the first card slot Z02 and the first buckle Z06, the third card slot Z07 and the second buckle Z10 are respectively engaged with each other in a locked state, which will not affect normal operation. Figure 2 As shown, the first buckle Z06 and the second slot Z03, the second buckle Z10 and the fourth slot Z08 are respectively engaged in a locked state and will not retract.

[0005] Since the inner sleeve Z05, outer sleeve Z09 and needle handle Z01 are generally made of plastic, their slots and buckles cannot ensure precise fit, and the safety needle Z00 needs to be connected to adjacent parts by gluing on the production line, the inner sleeve Z05, outer sleeve Z09 and needle handle Z01 may be too tightly fitted in the factory state. If the medical staff cannot easily pull the sleeve, the environmental protection requirements for discarding the safety needle Z00 cannot be met. Therefore, it is very important to control the sleeve tension of each safety needle Z00 within the standard requirements, and whether it meets the requirements requires a pull-out test.

[0006] At present, this work can only be done by manual sampling, which has the following shortcomings: first, the efficiency is too low and comprehensive testing is not possible; second, the force is based on feeling without accurate standards; third, the stroke is not well controlled. Once it is pulled to the locked state when it is discarded, the whole thing is scrapped and cannot be restored. Given that the amount of safety needles used as disposable consumables is very large, this inefficient and inaccurate manual testing method obviously cannot meet actual needs. Therefore, in the production process of safety needles, an efficient and accurate tension detection system is needed to conduct comprehensive testing of safety needles.

[0007] In order to ensure that the safety needle can smoothly enter the comprehensive testing process, it is first necessary to use the material transfer system to smoothly transfer the safety needle from the production line to the fixture of the tensile testing system.

[0008] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present inventive concept, and therefore, it may contain information that does not constitute the prior art. Summary of the invention

[0009] The purpose of the present invention is to provide a new technical solution to improve or solve the technical problems existing in the prior art as described above.

[0010] The technical solution provided by the present invention is as follows: a grabbing device for a safety needle, comprising:

[0011] A supporting frame, wherein a transmission guide rail is provided on the supporting frame;

[0012] A lifting seat plate, wherein the lifting seat plate is provided with a slider matched with the transmission guide rail, and the lifting seat plate is installed on the transmission guide rail of the support frame through the slider;

[0013] A transmission drive mechanism, the transmission drive mechanism is connected to the lifting seat plate in a transmission manner,

[0014] A micro-motion seat plate, arranged below the lifting seat plate;

[0015] A fixture connecting plate, used to connect and support the fixture assembly below;

[0016] A lifting drive cylinder, wherein the lifting drive cylinder is mounted on the lifting seat plate, and a piston rod of the lifting drive cylinder passes downward through the lifting seat plate and is connected to the micro-motion seat plate;

[0017] A micro-motion drive cylinder, wherein the micro-motion drive cylinder is mounted on the micro-motion seat plate, and a piston rod of the micro-motion drive cylinder passes downward through the micro-motion seat plate and is connected to the fixture connecting plate;

[0018] A clamp assembly is installed below the clamp connecting plate and is used to clamp and release the safety needle or other materials to be tested.

[0019] Compared with the prior art, the above-mentioned technical solution provided by the present invention has the following beneficial effects: when the safety needle is placed on the intermediate transfer device according to the preset position, the needle holder will be placed in the limit groove of the needle holder's upright plate, and at the same time, the upright plate will firmly support the two limit points of the catheter. During the flipping process, the flap will steadily support the wing on the safety needle, so that it gradually rotates from an inclined state to a horizontal state, ensuring that the safety needle is accurately leveled. However, since the wing and the needle holder are connected by a hose, the hose will be twisted when the wing rotates from an inclined state to a horizontal state. The design of the grasping device of the present invention takes into account the hose twisting problem encountered by the safety needle during the transfer process. By providing a micro-motion seat plate and a micro-motion drive cylinder, the part of the safety needle close to the wing can be lifted a small distance first, and then the safety needle can be released and put down. The safety needle will fall steadily on the horizontal flap of the intermediate transfer device, and then the clamp assembly will be driven down again by the lifting drive cylinder to firmly clamp and lift the safety needle, thereby avoiding the twisting and deformation of the hose during the transfer process. Therefore, the grasping device of the present invention can cooperate closely with the intermediate transfer device, which can not only realize the rapid and accurate transfer of the safety needle from the intermediate transfer device to the tension detection system fixture, thereby improving the efficiency of the safety needle tension detection and reducing the tediousness and errors of manual operation, but also ensure that the safety needle is not twisted during the transfer process and is smoothly and accurately transferred to the tension detection system, thereby ensuring the accuracy and effectiveness of the detection results.

[0020] Based on the above technical solution, the present invention can also be improved as follows.

[0021] Furthermore, the clamp assembly includes one or more manipulators, each of which includes a dislocation driving mechanism and two parallel jaw fixing plates, each of which has a plurality of clamping claws spaced apart below the jaw fixing plates, and the dislocation driving mechanism can drive the two jaw fixing plates to move in a dislocated manner.

[0022] The beneficial effects of adopting the above further scheme are: first, through the control of the staggered driving mechanism, the two parallel clamping jaws fixing plates are staggered and moved, which drives the opening and closing of the paired clamping jaws on the clamping jaw fixing plates, so that the safety needle can be accurately and firmly clamped and released; secondly, the configuration of one or more manipulators enables the system to have parallel processing capabilities, and the manipulators can work at the same time to clamp different parts of the safety needle respectively, thereby ensuring the stability and accuracy of the safety needle during the overall transfer process; finally, the multiple clamping jaws arranged at intervals under each clamping jaw fixing plate enable the system to clamp multiple safety needles at one time, thereby improving the transfer efficiency and shortening the time of the detection process.

[0023] Furthermore, the dislocation driving mechanism includes a jaw driving cylinder, a left vertical plate, a right vertical plate, a vertical guide shaft, a left connecting rod and a right connecting rod. The cylinder body of the jaw driving cylinder is fixed on the left vertical plate, the telescopic shaft of the jaw driving cylinder is connected to the right vertical plate, and the two jaw fixing plates are respectively connected under the left vertical plate and the right vertical plate. The telescopic shaft of the jaw driving cylinder can drive the two jaw fixing plates to move in a dislocation when it is telescoped. The vertical guide shaft is installed on the clamp connecting plate in a manner that it can move up and down. One end of the left connecting rod is hinged to the vertical guide shaft, and the other end of the left connecting rod is hinged to the left vertical plate. One end of the right connecting rod is hinged to the vertical guide shaft, and the other end of the right connecting rod is hinged to the right vertical plate.

[0024] The beneficial effect of adopting the above further solution is that the telescopic shaft of the clamp driving cylinder can stably drive the right vertical plate and the clamp fixing plate thereunder to move relative to the left vertical plate and the clamp fixing plate thereunder during the telescopic process. At the same time, the hinged design of the vertical guide shaft and the left connecting rod and the right connecting rod ensures the stability and movement accuracy of the clamp fixing plate during the dislocation movement.

[0025] Furthermore, the manipulator also includes a left-side shaft fixing seat plate, a right-side shaft fixing seat plate and one or more transverse guide shafts, the left-side shaft fixing seat plate and the right-side shaft fixing seat plate are relatively arranged on both sides of the clamp connecting plate, the two ends of the transverse guide shaft are respectively connected to the left-side shaft fixing seat plate and the right-side shaft fixing seat plate, and the middle of the transverse guide shaft passes through the left vertical plate and the right vertical plate.

[0026] The beneficial effect of adopting the above-mentioned further scheme is that the two ends of the transverse guide shaft are tightly connected to the left shaft fixing seat plate and the right shaft fixing seat plate respectively, forming a stable transverse support structure, and the middle part of the transverse guide shaft passes through the left vertical plate and the right vertical plate, providing guidance for their movement, which not only improves the stability and accuracy of the left vertical plate and the right vertical plate during movement, but also effectively reduces the deviation caused by vibration or external force interference, thereby ensuring the precise alignment of the clamping claw fixing plate and the clamping claws thereon.

[0027] Furthermore, the clamp assembly includes a manipulator for clamping a protective cap, a manipulator for clamping the front end of a hose, a manipulator for clamping the rear end of a hose, and a manipulator for clamping a needle holder, which are arranged in sequence perpendicular to the direction of the transmission guide rail. The manipulator for clamping the protective cap is used to clamp or release the protective cap, the manipulator for clamping the front end of the hose is used to clamp or release the front end portion of the hose, the manipulator for clamping the rear end of the hose is used to clamp or release the rear end portion of the hose, and the manipulator for clamping the needle holder is used to clamp or release the needle holder. The manipulator for clamping the rear end of the hose is adjacent to the manipulator for clamping the needle holder and shares a set of the offset drive mechanisms.

[0028] The beneficial effects of adopting the above further scheme are: first, the clamp assembly realizes the precise clamping and release of the safety needle and its related components including the protective cap, the front end of the hose, the rear end of the hose and the needle holder through multiple manipulators arranged in sequence perpendicular to the direction of the transmission guide rail. Each manipulator is specially designed for the component it is responsible for, ensuring the stability and accuracy of clamping; secondly, the manipulator that clamps the rear end of the hose is adjacent to the manipulator that clamps the needle holder and shares a set of offset drive mechanisms. The two manipulators can move synchronously to ensure that the relative positions of the rear end of the hose and the needle holder remain unchanged during the clamping and releasing process, which not only saves space and cost, but also improves the overall coordination and efficiency of the system; in addition, each manipulator can work simultaneously or sequentially, and the order of clamping and releasing can be flexibly adjusted according to actual needs, thereby realizing the rapid and efficient transfer of the safety needle and its components.

[0029] Furthermore, the clamp assembly also includes a first upper pressing plate and a second upper pressing plate, wherein the first upper pressing plate is mounted on a manipulator for clamping the front end of the hose, and the second upper pressing plate is mounted on a manipulator for clamping the rear end of the hose.

[0030] The beneficial effect of adopting the above further scheme is that by respectively installing the first upper pressure plate and the second upper pressure plate on the manipulator that clamps the front end of the hose and the manipulator that clamps the rear end of the hose, a certain pressure can be applied to the material (such as the front and rear end parts of the hose) during the clamping or transfer process, which helps to ensure the stability of the material during the clamping process and prevent it from falling off or shifting due to vibration or external force interference.

[0031] Furthermore, the clamp assembly also includes a wing pressure plate, which is arranged adjacent to the manipulator that clamps the protective cap, the upper end of the wing pressure plate is connected to the left shaft fixing seat plate and the right shaft fixing seat plate, and a plurality of pressing grooves are provided below the wing pressure plate.

[0032] The beneficial effect of adopting the above further scheme is that during the process of clamping or releasing the protective cap, a stable pressure can be applied to the wing through the pressure groove under the wing pressure plate, which helps to ensure that the wing remains horizontal during the clamping process and prevents the wing from tilting.

[0033] Furthermore, the transmission drive mechanism includes a transmission motor, a synchronous belt, a transmission driving wheel and a transmission driven wheel. The transmission motor and the transmission driven wheel are both fixed on the support frame. The transmission driving wheel is installed on the output shaft of the transmission motor. The synchronous belt is arranged around the transmission driving wheel and the transmission driven wheel. The lifting seat plate is connected to the synchronous belt through a supporting plate and a pressing plate. The rotation of the synchronous belt can drive the lifting seat plate to move along the transmission guide rail.

[0034] The beneficial effect of adopting the above further solution is that the transmission motor is the power source, and the transmission driving wheel on its output shaft drives the synchronous belt to rotate, and the synchronous belt is arranged around the transmission driving wheel and the transmission driven wheel to form a stable transmission path. The lifting seat plate is connected to the synchronous belt through the supporting plate and the pressing plate, so that the rotation of the synchronous belt can directly drive the lifting seat plate to move along the transmission guide rail.

[0035] Furthermore, a longitudinal guide shaft is provided between the lifting seat plate and the fixture connecting plate, the lower end of the longitudinal guide shaft is fixed to the fixture connecting plate, and the upper end of the longitudinal guide shaft passes through the micro-motion seat plate and then slides onto the lifting seat plate.

[0036] The beneficial effect of adopting the above further solution is that the longitudinal guide shaft enhances the connection stability and guidance between the lifting seat plate, the micro-motion seat plate and the fixture connection plate. The lower end of the longitudinal guide shaft is fixed to the fixture connection plate, and the upper end passes through the micro-motion seat plate and then slides through the lifting seat plate, so that the lifting seat plate and the micro-motion seat plate can maintain stable guidance during the movement, reducing the error caused by shaking or offset. At the same time, the longitudinal guide shaft also plays a supporting and positioning role, so that the lifting seat plate and the micro-motion seat plate can reach the specified position more accurately.

[0037] A material transfer system for safety needles, comprising the above-mentioned grabbing device and an intermediate transfer device, wherein the grabbing device is arranged above the intermediate transfer device, and the intermediate transfer device comprises:

[0038] A slideway plate, wherein a plurality of slideways are provided on the slideway plate, and an angle is formed between the extension directions of two adjacent slideways;

[0039] A plurality of groups of single slider assemblies, each group of the single slider assemblies comprises a pitch-changing frame, a guide wheel and a positing plate for positioning the safety needle, one or more positing plates are mounted on the upper part of the pitch-changing frame, the guide wheel is rotatably mounted on the bottom of the pitch-changing frame, and is respectively and adaptively mounted in each slideway on the slideway plate;

[0040] At least one pitch-changing guide shaft, the pitch-changing frame is provided with an axial hole, the pitch-changing guide shaft passes through the axial hole of each group of the single-slider assembly, so that the pitch-changing frame can slide along the axial direction of the pitch-changing guide shaft;

[0041] Axle frames, two axle frames are arranged oppositely on both sides of the pitch-changing mechanism, and two ends of the pitch-changing guide shaft are respectively mounted on the axle frames on both sides;

[0042] The variable pitch drive mechanism is used to drive the slide plate to move up and down, thereby driving the guide wheel to move along the slide, and then driving the variable pitch frame to slide axially along the variable pitch guide shaft, so that two adjacent groups of single slider assemblies are moved closer to or away from each other.

[0043] The beneficial effect of adopting the above-mentioned further scheme is that the intermediate pitch change device of the present invention arranges a plurality of slideways on its slide plate, and drives the slide plate to move through the pitch change driving mechanism. Under the guiding action of the slideway, the guide wheel can move along a preset path, thereby driving the entire single slider assembly to adjust its position along the pitch change guide shaft. The intermediate pitch change device can flexibly adjust the spacing between two adjacent groups of single slider assemblies, and finally achieve the purpose of adjusting the spacing between adjacent safety needles. The intermediate pitch change device not only adapts to the arrangement spacing of different production lines, but also can match the gripping spacing of the gripping device, and cooperates with the gripping device to realize the smooth transfer of the safety needle from the production line to the tension detection system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0045] Figure 1 is a schematic diagram of the structure of a safety needle;

[0046] Figure 2 This is a schematic diagram of the structure of the safety needle in a state where the inner sliding sleeve and the outer sliding sleeve are pulled apart;

[0047] Figure 3 This is an exploded view of a safety pin;

[0048] Figure 4 It is a structural schematic diagram of the grabbing device of the present invention;

[0049] Figure 5 It is a schematic diagram of the structure of the grabbing device of the present invention when the supporting frame is not installed;

[0050] Figure 6 For the present invention Figure 5 The main view;

[0051] Figure 7 For the present invention Figure 6 Left view of

[0052] Figure 8 It is a structural schematic diagram of the material taking and transferring system of the present invention;

[0053] Fig. 9 It is a schematic diagram of the three-dimensional structure of the intermediate distance conversion device of the present invention;

[0054] Fig.10 For the present invention Fig. 9 A magnified view of part A;

[0055] Fig.11 It is a schematic diagram of the internal structure of the intermediate shifting device of the present invention;

[0056] Fig.12 It is a structural schematic diagram of a single slider assembly of the present invention being installed on a slideway of a slideway plate through a guide wheel;

[0057] Fig.13 is a front view of the slide board of the present invention;

[0058] Fig.14 It is a structural schematic diagram of the present invention in which the flap and the safety needle are in an inclined state when the uprighting mechanism is lowered to a low position;

[0059] Fig.15 It is a structural schematic diagram of the flap of the correcting mechanism of the present invention being moved by the shifting block to flip the safety needle to a horizontal position;

[0060] Fig.16 It is a front view of the uprighting mechanism of the present invention when it is lowered to the low position;

[0061] Fig.17 For the present invention Fig.16 Left view of

[0062] Fig.18 It is a front view of the uprighting mechanism of the present invention when it rises to a high position;

[0063] Fig.19 For the present invention Fig.18 Left view of

[0064] Fig. 20 It is a structural schematic diagram of the grabbing device of the present invention grabbing the safety needle above the middle-mounted variable-distance device;

[0065] Fig.21 For the present invention Fig. 20 A magnified view of part B;

[0066] In the figure, 600, intermediate pitch-changing device; 610, pitch-changing mechanism; 611, slide plate; 6111, slide; 612, single slider assembly; 6121, pitch-changing frame; 6122, guide wheel; 6123, second hose aligning plate; 6124, third hose aligning plate; 613, pitch-changing guide shaft; 614, pitch-changing drive mechanism; 6141, pitch-changing drive cylinder; 6142, guide rod; 615, shaft frame; 616, needle holder aligning plate; 620, aligning mechanism; 621, aligning Guide shaft; 622, flap; 623, alignment frame; 624, shift block; 625, alignment drive mechanism; 6251, cylinder seat; 6252, alignment drive cylinder; 6253, guide shaft bracket; 626, cap alignment plate; 627, first hose alignment plate; 628, rotating shaft; 630, support frame; 631, sliding seat plate; 632, mobile drive mechanism; 640, connecting rod assembly; 641, first connecting rod; 642, second connecting rod; 651, baffle frame; 652, upper baffle;

[0067] 700, gripping device; 710, support frame; 720, lifting seat plate; 731, transmission motor; 732, synchronous belt; 733, transmission driving wheel; 734, transmission driven wheel; 740, micro-motion seat plate; 750, fixture connecting plate; 760, lifting drive cylinder; 770, micro-motion drive cylinder; 780, fixture assembly; 781, manipulator for clamping protective cap; 782, manipulator for clamping the front end of hose; 783, manipulator for clamping the rear end of hose; 784, manipulator for clamping Manipulator of needle holder; 785, first upper pressing plate; 786, second upper pressing plate; 787, wing pressing plate; 788, dislocation driving mechanism; 7881, clamp driving cylinder; 7882, left vertical plate; 7883, right vertical plate; 7884, vertical guide shaft; 7885, left connecting rod; 7886, right connecting rod; 789, clamp fixing plate; 790, clamping claw; 791, left shaft fixing seat plate; 792, right shaft fixing seat plate; 793, transverse guide shaft; 794, longitudinal guide shaft;

[0068] Z00, safety needle; Z01, needle handle; Z02, first slot; Z03, second slot; Z04, wing; Z05, inner sleeve; Z06, first buckle; Z07, third slot; Z08, fourth slot; Z09, outer sleeve; Z10, second buckle; Z11, protective cap; Z12, hose; Z13, needle holder; Z14, needle. DETAILED DESCRIPTION

[0069] The serial numbers assigned to the components herein, such as "first" and "second", are only used to distinguish the objects described and do not imply any priority in order or specific technical meaning. In addition, the concepts of "connection" and "coupling" mentioned in this application, unless otherwise specified, are deemed to include both direct connection (coupling) and indirect connection (coupling).

[0070] When interpreting the description of this application, it is necessary to clarify that the terms such as "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc., which indicate positions or positional relationships, are based on the perspectives and layouts shown in the drawings, and are intended to facilitate explanation and simplify the description process, rather than being absolute limitations on the actual positions, construction methods, and operating modes of the devices or components. Therefore, these terms should not be understood as restrictive interpretations of the content of this application.

[0071] The principles and features of the present invention are described below in conjunction with examples. The examples are only used to explain the present invention and are not used to limit the scope of the present invention.

[0072] The technical solution provided by the present invention is as follows:

[0073] like Figure 4-Figure 7 As shown, a grasping device 700 for a safety needle comprises: a support frame 710, on which a transmission guide rail is provided; a lifting seat plate 720, on which a slider matching the transmission guide rail is provided, and the lifting seat plate 720 is installed on the transmission guide rail of the support frame 710 through the slider; a transmission drive mechanism, which is transmission-connected to the lifting seat plate 720, and a micro-motion seat plate 740 is arranged below the lifting seat plate 720; a fixture connecting plate 750, which is used to connect and support the fixture assembly 780 below; a lifting drive mechanism; and a lifting drive mechanism. Cylinder 760, the lifting drive cylinder 760 is installed on the lifting seat plate 720, and the piston rod of the lifting drive cylinder 760 passes downward through the lifting seat plate 720 and is connected to the micro-motion seat plate 740; micro-motion drive cylinder 770, the micro-motion drive cylinder 770 is installed on the micro-motion seat plate 740, and the piston rod of the micro-motion drive cylinder 770 passes downward through the micro-motion seat plate 740 and is connected to the fixture connecting plate 750; fixture assembly 780, the fixture assembly 780 is installed below the fixture connecting plate 750, and is used to clamp and release the safety needle or other materials to be detected.

[0074] In addition, in this embodiment, the clamp assembly 780 includes four robots, namely, a robot for clamping the protective cap, a robot for clamping the front end of the hose, a robot for clamping the rear end of the hose, and a robot for clamping the needle holder. Of course, the number of the robots can also be one or more, and the number of the robots can be set according to actual needs. The manipulator for clamping the protective cap, the manipulator for clamping the front end of the hose, the manipulator for clamping the rear end of the hose and the manipulator for clamping the needle holder are arranged in sequence perpendicular to the direction of the transmission guide rail. The manipulator for clamping the protective cap is used to clamp or release the protective cap, the manipulator for clamping the front end of the hose is used to clamp or release the front end part of the hose, the manipulator for clamping the rear end of the hose is used to clamp or release the rear end part of the hose, and the manipulator for clamping the needle holder is used to clamp or release the needle holder. The clamp assembly 780 realizes precise clamping and release of the safety needle and its related components including the protective cap, the front end of the hose, the rear end of the hose and the needle holder through multiple manipulators arranged in sequence perpendicular to the direction of the transmission guide rail. Each manipulator is specially designed for the component it is responsible for to ensure the stability and accuracy of clamping. The manipulators include a dislocation drive mechanism 788 and two parallel gripper fixing plates 789. A plurality of gripper claws 790 are spaced apart below each of the gripper fixing plates 789. The dislocation drive mechanism 788 can drive the two gripper fixing plates 789 to move in a dislocation. More specifically, the dislocation drive mechanism 788 includes a gripper drive cylinder 7881, a left vertical plate 7882, a right vertical plate 7883, a vertical guide shaft 7884, a left connecting rod 7885, and a right connecting rod 7886. The cylinder body of the gripper drive cylinder 7881 is fixed on the left vertical plate 7882. The telescopic shaft of the gripper drive cylinder 7881 is connected to the right vertical plate 7883. The two gripper fixing plates 789 are respectively connected below the left vertical plate 7882 and the right vertical plate 7883. The gripper drive When the telescopic shaft of the cylinder 7881 is extended and retracted, it can drive the two clamping claw fixing plates 789 to move in an offset manner. The vertical guide shaft 7884 is installed on the clamp connecting plate 750 in a manner that it can move up and down. One end of the left connecting rod 7885 is hinged to the vertical guide shaft 7884, and the other end of the left connecting rod 7885 is hinged to the left vertical plate 7882. One end of the right connecting rod 7886 is hinged to the vertical guide shaft 7884, and the other end of the right connecting rod 7886 is hinged to the right vertical plate 7883. During the extension and retraction process, the telescopic shaft of the clamping claw driving cylinder 7881 can stably drive the right vertical plate 7883 and the clamping claw fixing plate 789 below it to move in an offset manner relative to the left vertical plate 7882 and the clamping claw fixing plate 789 below it. At the same time, the hinged design of the vertical guide shaft 7884 and the left connecting rod 7885 and the right connecting rod 7886 ensures the stability and movement accuracy of the clamp fixing plate 789 during the misaligned movement process.In addition, in this embodiment, the manipulator holding the rear end of the hose and the manipulator holding the needle holder are arranged adjacent to each other and share a set of offset drive mechanisms 788. The two manipulators can act synchronously to ensure that the relative positions of the rear end of the hose and the needle holder remain unchanged during the clamping and releasing process, which not only saves space and cost, but also improves the overall coordination and efficiency of the system. In addition, each manipulator can work simultaneously or sequentially, and the order of clamping and releasing can be flexibly adjusted according to actual needs, thereby realizing the rapid and efficient transfer of the safety needle and its components.

[0075] The manipulator also includes a left-side shaft fixing seat plate 791, a right-side shaft fixing seat plate 792 and one or more transverse guide shafts 793. The left-side shaft fixing seat plate 791 and the right-side shaft fixing seat plate 792 are relatively arranged on both sides of the clamp connecting plate 750, and the two ends of the transverse guide shaft 793 are respectively connected to the left-side shaft fixing seat plate 791 and the right-side shaft fixing seat plate 792, and the middle of the transverse guide shaft 793 passes through the left vertical plate 7882 and the right vertical plate 7883. The two ends of the transverse guide shaft 793 are closely connected to the left shaft fixing seat plate 791 and the right shaft fixing seat plate 792 respectively, forming a stable supporting structure, and the middle part of the transverse guide shaft 793 passes through the left vertical plate 7882 and the right vertical plate 7883, providing a guide for their movement, which not only improves the stability and accuracy of the left vertical plate 7882 and the right vertical plate 7883 during movement, but also effectively reduces the deviation caused by vibration or external force interference, thereby ensuring the precise alignment of the clamping claw fixing plate 789 and the clamping claw 790 thereon.

[0076] The clamp assembly 780 further includes a first upper pressing plate 785 and a second upper pressing plate 786. The first upper pressing plate 785 is mounted on the manipulator holding the front end of the hose, and the second upper pressing plate 786 is mounted on the manipulator holding the rear end of the hose. By mounting the first upper pressing plate 785 and the second upper pressing plate 786 on the manipulator holding the front end of the hose and the manipulator holding the rear end of the hose, respectively, a certain pressure can be applied to the material (such as the front end and rear end of the hose) during the clamping or transfer process, which helps to ensure the stability of the material during the clamping process and prevent it from falling off or shifting due to vibration or external force interference.

[0077] The clamp assembly 780 further includes a wing pressing plate 787, which is disposed adjacent to the manipulator for clamping the protective cap, and the upper end of the wing pressing plate 787 is connected to the left shaft fixing seat plate 791 and the right shaft fixing seat plate 792, and a plurality of pressing grooves are disposed below the wing pressing plate 787. In the process of clamping or releasing the protective cap, a stable pressure can be applied to the wing through the pressing grooves below the wing pressing plate 787, which helps to ensure that the wing remains in a horizontal state during the clamping process and prevents the wing from tilting.

[0078] The transmission drive mechanism includes a transmission motor 731, a synchronous belt 732, a transmission driving wheel 733 and a transmission driven wheel 734. The transmission motor 731 and the transmission driven wheel 734 are both fixed on the support frame 710. The transmission driving wheel 733 is installed on the output shaft of the transmission motor 731. The synchronous belt 732 is arranged around the transmission driving wheel 733 and the transmission driven wheel 734. The lifting seat plate 720 is connected to the synchronous belt 732 through a supporting plate and a pressing plate. The rotation of the synchronous belt 732 can drive the lifting seat plate 720 to move along the transmission guide rail. The transmission motor 731 is a power source. The transmission driving wheel 733 on its output shaft drives the synchronous belt 732 to rotate. The synchronous belt 732 is arranged around the transmission driving wheel 733 and the transmission driven wheel 734 to form a stable transmission path. The lifting seat plate 720 is connected to the synchronous belt 732 through a supporting plate and a pressing plate, so that the rotation of the synchronous belt 732 can directly drive the lifting seat plate 720 to move along the transmission guide rail.

[0079] A longitudinal guide shaft 794 is provided between the lifting seat plate 720 and the fixture connecting plate 750, the lower end of the longitudinal guide shaft 794 is fixed on the fixture connecting plate 750, and the upper end of the longitudinal guide shaft 794 passes through the micro-motion seat plate 740 and then slides through the lifting seat plate 720. The longitudinal guide shaft 794 enhances the connection stability and guidance between the lifting seat plate 720, the micro-motion seat plate 740 and the fixture connecting plate 750. The lower end of the longitudinal guide shaft 794 is fixed on the fixture connecting plate 750, and the upper end passes through the micro-motion seat plate 740 and then slides through the lifting seat plate 720, so that the lifting seat plate 720 and the micro-motion seat plate 740 can maintain stable guidance during the movement, reducing the error caused by shaking or offset. At the same time, the longitudinal guide shaft 794 also plays a supporting and positioning role, so that the lifting seat plate 720 and the micro-motion seat plate 740 can reach the designated position more accurately.

[0080] like Figure 8 As shown, a material transfer system for safety needles includes the grabbing device 700 and an intermediate transfer device 600. The grabbing device 700 is arranged above the intermediate transfer device 600. Figure 9-Figure 19As shown, the intermediate pitch changing device 600 includes a pitch changing mechanism 610, and the pitch changing mechanism 610 includes: a slide plate 611, on which a plurality of slideways 6111 are provided, and an angle is formed between the extension directions of two adjacent slideways 6111; a plurality of groups of single slider assemblies 612, each group of the single slider assemblies 612 includes a pitch changing frame 6121, a guide wheel 6122 and a straightening plate for positioning the safety needle, the pitch changing frame 6121 carries the straightening plate and the guide wheel 6122, one or more straightening plates are mounted on the upper part of the pitch changing frame 6121, the guide wheel 6122 is rotatably mounted on the bottom of the pitch changing frame 6121, and is respectively and adaptively mounted in each slideway 6111 on the slide plate 611, and the guide wheel 6122 is guided by the slideway 6111. Able to move along a preset path; at least one pitch-changing guide shaft 613, the pitch-changing frame 6121 is provided with an axial hole, the pitch-changing guide shaft 613 passes through the axial hole of each group of the single slider assembly 612, so that the pitch-changing frame 6121 can slide along the axial direction of the pitch-changing guide shaft 613; an axis frame 615, two axis frames 615 are relatively arranged on both sides of the pitch-changing mechanism 610, and the two ends of the pitch-changing guide shaft 613 are respectively installed on the axis frames 615 on both sides; a pitch-changing drive mechanism 614, the pitch-changing drive mechanism 614 is used to drive the slide plate 611 to move up and down, thereby driving the guide wheel 6122 to move along the slide 6111, and then driving the pitch-changing frame 6121 to slide along the axial direction of the pitch-changing guide shaft 613, so that two adjacent groups of single slider assemblies 612 are close to or away from each other. Fig.13 As shown, the center distance D between the starting ends of every two adjacent slideways 6111 is equal, the center distance d between the ending ends of every two adjacent slideways 6111 is also equal, and the center distance D between the starting ends of the slideways 6111 is greater than the center distance d between the ending ends.

[0081] When the variable pitch drive mechanism 614 drives the slide plate 611 to move up and down, the movement of the slide plate 611 drives the guide wheel 6122 to move along the slide 6111, and the movement of the guide wheel 6122 drives the variable pitch frame 6121 to move along the variable pitch guide shaft 613, so as to adjust the spacing between each group of single slider assemblies 612. When the slide plate 611 moves upward, the guide wheel 6122 moves toward the end along the slide 6111, and each group of single slider assemblies 612 approaches each other. When the slide plate 611 moves downward, the guide wheel 6122 moves toward the starting end along the slide 6111, and each group of single slider assemblies 612 moves away from each other.

[0082] In this embodiment, two positioning plates are installed on the upper part of the variable distance frame 6121, which are the second hose positioning plate 6123 and the third hose positioning plate 6124. The second hose positioning plate 6123 is provided with a second hose positioning limit groove, and the third hose positioning plate 6124 is provided with a third hose positioning limit groove.

[0083] The intermediate distance changing device 600 also includes a positioning mechanism 620, which includes a positioning guide shaft 621, a flap 622, a positioning drive mechanism 625 and a plurality of groups of positioning frames 623. The positioning guide shaft 621 passes through the shaft hole on each group of the positioning frames 623. The positioning frames 623 are connected to the distance changing frames 6121 through a connecting rod assembly 640. The positioning drive mechanism 625 is connected to the positioning guide shaft 621 in a transmission manner. The positioning drive mechanism 625 can The aligning frame 623 is capable of driving the aligning frame 623 to move up and down. The aligning frame 623 is provided with a rotating shaft 628. The flap 622 is rotatably mounted on the rotating shaft 628. The axis of the rotating shaft 628 is parallel to the placement direction of the safety needle. A shift block 624 is provided on one side of the flap 622. The shift block 624 is fixed on the pitch-changing frame 6121. When the aligning frame 623 moves upward, the shift block 624 shifts the flap 622 to make it horizontal. When the safety needle is placed on the intermediate pitch-changing device 600, the front and rear ends of the needle handle (i.e., the hose and the protective cap part) will be clamped. Since the hose has a certain flexibility, when the safety needle is placed, the disc on the needle handle may be tilted. At this time, when the shift block 624 shifts the flap 622 to flip, the flap 622 can level the tilted disc by rotating.

[0084] In this embodiment, the rotating shaft 628 can rotate around its axis, and the flap 622 is fixed on the rotating shaft 628. When the shift block 624 shifts the flap 622, the flap 622 can rotate along with the rotating shaft 628. In addition, there is another configuration: the rotating shaft 628 is set as a fixed structure, and the flap 622 is installed on the rotating shaft 628 through a torsion spring. When the shift block 624 shifts the flap 622, the flap 622 can rotate around the fixed rotating shaft 628 alone.

[0085] The connecting rod assembly 640 includes a first connecting rod 641 and a second connecting rod 642 . The alignment frame 623 , the first connecting rod 641 , the second connecting rod 642 and the pitch-changing frame 6121 together form a parallelogram connecting rod mechanism.

[0086] The upper part of the alignment frame 623 is provided with two alignment plates, which are a protective cap alignment plate 626 and a first hose alignment plate 627. The protective cap alignment plate 626 and the first hose alignment plate 627 are respectively provided with a protective cap alignment limit groove and a first hose alignment limit groove. The two ends of the rotating shaft 628 are respectively connected to the protective cap alignment plate 626 and the first hose alignment plate 627. In the present embodiment, the two ends of the rotating shaft 628 are respectively connected to the protective cap alignment plate 626 and the first hose alignment plate 627. Of course, the rotating shaft 628 can also be installed by other structural supports.

[0087] The intermediate distance changing device 600 also includes a needle holder upright plate 616 for placing the needle holder, and the needle holder upright plate 616 is provided with a needle holder upright limit groove. The rear end of the distance changing frame 6121 is connected to a bridge plate, and the needle holder upright plate 616 is installed on the bridge plate.

[0088] When the safety needle is accurately placed in the predetermined position, its protective cap will be limited and installed in the protective cap positive position limiting groove, and the hose will be firmly installed in the first hose positive position limiting groove, the second hose positive position limiting groove and the third hose positive position limiting groove in sequence along the length direction, and the needle holder will be limited and installed in the needle holder positive position limiting groove.

[0089] The alignment driving mechanism 625 includes a cylinder seat 6251, an alignment driving cylinder 6252 and a guide shaft bracket 6253. The cylinder seat 6251 is arranged between the two shaft frames 615. The cylinder seat 6251 is used to support the driving cylinder. In the present embodiment, the guide shaft bracket 6253 is U-shaped. The two arms of the guide shaft bracket 6253 are connected to the two ends of the alignment guide shaft 621. The driving shaft of the alignment driving cylinder 6252 is connected to the guide shaft bracket 6253. The cylinder body of the alignment driving cylinder 6252 is hinged on the cylinder seat 6251, and the driving shaft of the alignment driving cylinder 6252 is tilted. When the driving shaft of the alignment driving cylinder 6252 is extended, it can drive the alignment frame 623 to move obliquely upward to a high position. When the driving shaft of the alignment driving cylinder 6252 is retracted, it can drive the alignment frame 623 to move obliquely downward to a low position.

[0090] The variable pitch drive mechanism 614 includes a variable pitch drive cylinder 6141 and a guide rod 6142. The cylinder body of the variable pitch drive cylinder 6141 is fixed on the cylinder seat 6251. The drive shaft of the variable pitch drive cylinder 6141 is transmission-connected to the slide plate 611. A guide rod 6142 is also provided between the slide plate 611 and the cylinder seat 6251. When the driving shaft of the variable pitch drive cylinder 6141 extends upward, the slide plate 611 is driven to move upward, and the guide wheel 6122 installed at the bottom of the variable pitch frame 6121 moves downward along the slide 6111, and each group of single slider assemblies 612 gradually approaches each other, so that the safety pins provided on the single slider assemblies 612 approach each other. Conversely, when the driving shaft of the variable pitch drive cylinder 6141 retracts, the slide plate 611 is driven to move downward, and the guide wheel 6122 installed at the bottom of the variable pitch frame 6121 moves upward along the slide 6111, and each group of single slider assemblies 612 gradually moves away from each other, so that the safety pins provided on the single slider assemblies 612 move away from each other.

[0091] The intermediate shifting device 600 also includes a baffle frame 651, and the baffle frame 651 includes a left baffle, a right baffle, a front baffle and an upper baffle 652. The left baffle, the right baffle and the front baffle are arranged around the peripheral side of the positioning frame 623. The upper baffle 652 is arranged above the front baffle, and the two ends of the upper baffle 652 are respectively connected to the left baffle and the right baffle through springs. In the process of the flap 622 leveling the inclined disc, the upper baffle 652 can effectively prevent the safety needle from being accidentally ejected. At the same time, when placing the safety needle, the operator can gently pull the upper baffle 652 a certain distance to avoid it interfering with the installation of the safety needle.

[0092] In addition, in this embodiment, the intermediate shifting device 600 also includes a supporting frame 630, a sliding seat plate 631 is connected between the two axis frames 615, and a moving drive mechanism 632 is provided on the supporting frame 630. The moving drive mechanism 632 can drive the sliding seat plate 631 and the structure installed above the sliding seat plate 631 to move along a predetermined path on the supporting frame 630.

[0093] The working process of transferring the safety needles on the production line to the safety needle tension detection system using the material transfer system of the present invention is as follows:

[0094] S1. The working process of using the intermediate pitch changing device 600 for positioning and pitch changing is as follows:

[0095] S11, preparation stage: First, the safety needle is placed above the intermediate distance device 600 according to the preset position. During this process, the needle holder is placed in the limit groove of the needle holder alignment plate 616. At the same time, the alignment plate supports the two limit points of the hose to ensure the position of the hose is accurate. At this time, the telescopic shaft of the alignment drive cylinder 6252 is in a retracted state, and the alignment frame 623 is in a low position, ready for the next alignment operation.

[0096] S12, alignment stage: First, the alignment drive cylinder 6252 is started, and its telescopic shaft is connected to the alignment guide shaft 621 through the U-shaped guide shaft bracket 6253. When the telescopic shaft of the drive cylinder is extended, due to the inclined setting of the drive shaft, the alignment frame 623 moves obliquely upward in parallel under the coordinated action of the four-bar linkage, as shown in FIG. Figure 16-19 As shown. Fig.14 and Fig.15 As shown, when the alignment frame 623 slowly rises, the shifting block 624 fixed on the pitch-changing frame 6121 will touch and shift the flap 622. During the flipping process, the flap 622 holds the wing on the safety needle, causing it to gradually rotate from an inclined state to a horizontal state, thereby leveling it. When the alignment frame 623 moves to the highest position, the hose at the rear end of the needle handle is held by the hose alignment plate, and the protective cap is firmly held by the protective cap alignment plate 626, thereby completing the entire alignment process.

[0097] S13, pitch change stage: start the pitch change drive cylinder 6141, whose drive shaft is connected to the slide plate 611. Driven by the pitch change drive cylinder 6141, the slide plate 611 moves in the vertical direction. As the slide plate 611 moves, the guide wheel 6122 installed at the bottom of the pitch change frame 6121 moves along the preset slide 6111 path (i.e., slide 6111). The movement of the guide wheel 6122 enables the pitch change frame 6121 to slide axially along the pitch change guide shaft 613. As the guide wheel 6122 and the pitch change frame 6121 continue to move, the distance between each group of single slider assemblies 612 is adjusted accordingly. Since there is an angle between the extension directions of two adjacent slideways 6111, and the center distance D at the starting end of the slideway 6111 is greater than the center distance d at the end, when the slideway plate 611 moves upward, each group of single slider assemblies 612 gradually approaches each other, thereby driving the safety pins placed above the variable pitch frame 6121 to gradually approach each other; and when the slideway plate 611 moves downward, each group of single slider assemblies 612 gradually moves away from each other, thereby driving the safety pins placed above the variable pitch frame 6121 to gradually move away from each other.

[0098] The distance changing process provides necessary distance adjustment for the grabbing device 700 to transfer the safety needle from the distance changing device 600 to the tension detection system.

[0099] S2. The working process of transferring the safety needle by using the grabbing device 700 is as follows:

[0100] S21, first, start the transmission motor 731, drive the synchronous belt 732 to rotate, and then drive the lifting seat plate 720 to move smoothly along the transmission guide rail to the top of the intermediate shifting device 600, in preparation for grabbing the safety needle;

[0101] S22, when the lifting seat plate 720 reaches the designated position, the micro-drive cylinder 770 is started, and its piston rod passes downward through the micro-drive seat plate 740 and is connected to the clamp connection plate 750. When the piston rod of the micro-drive cylinder 770 extends downward, the clamp assembly 780 moves slightly downward accordingly. At this time, the clamping claws 790 of each manipulator (including the manipulator 781 for clamping the protective cap, the manipulator 782 for clamping the front end of the hose, the manipulator 783 for clamping the rear end of the hose, and the manipulator 784 for clamping the needle holder) located below the clamp connection plate 750 are all in an open state. When the manipulator descends to the clamping height, the dislocation drive mechanism 788 on it will drive the two clamping claw fixing plates 789 to dislocation and move, so that the paired clamping claws 790 are tightly closed, thereby firmly clamping all parts of the safety needle.

[0102] According to actual needs, only the gripping claws 790 on the manipulator 781 for gripping the protective cap and the manipulator 782 for gripping the front end of the hose can be controlled to be closed, so as to securely grasp the end of the safety needle close to the wing. Of course, the gripping claws 790 of the manipulators at all positions can also be controlled to be closed, so as to grasp the safety needle as a whole.

[0103] S23, then, after the telescopic axis of the micro-drive cylinder 770 is slightly moved upward for a certain distance, the dislocation drive mechanism 788 on the manipulator is controlled again to drive the two clamping claw fixing plates 789 to displace and move, so that the paired clamping claws 790 are reopened, and the safety needle falls back onto the intermediate shifting device 600;

[0104] S24. Then, the lifting drive cylinder 760 is started, and its piston rod extends downward. At the same time, the clamping claws 790 of all manipulators located below the clamp connection plate 750 remain in an open state. When the manipulator reaches the clamping height, the dislocation drive mechanism 788 on the manipulator drives the two clamping claw fixing plates 789 to move dislocation, so that the paired clamping claws 790 are closed and clamp the safety needle again. At this time, the telescopic shaft of the lifting drive cylinder 760 is controlled to move upward for a distance to lift the safety needle to a certain height. Then, the transmission motor 731 is activated to drive the synchronous belt 732 to rotate, driving the lifting seat plate 720 to move along the transmission guide rail to the placenta above the tension detection system, in preparation for placing the safety needle.

[0105] The present invention firstly automatically places the safety needles on the production line to a position where the needle handles are horizontal through the intermediate distance-changing device 600, and adjusts the spacing between adjacent safety needles to ensure that the spacing requirements of the grabbing device 700 are met. Subsequently, the safety needles are grabbed by the micro-drive cylinder 770 of the grabbing device 700, and then put down after being grabbed. This step is intended to prevent the hose from being twisted and deformed during the transfer process. Finally, the grabbing device 700 safely transfers the safety needles from the intermediate distance-changing device 600 to the tension detection system for automatic detection. The present invention improves the automation degree and transfer efficiency of the safety needle tension detection.

[0106] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping device for a safety needle, characterized in that: include: A support frame (710), wherein a transmission guide rail is provided on the support frame (710); A lifting seat plate (720), wherein the lifting seat plate (720) is provided with a slider matched with the transmission guide rail, and the lifting seat plate (720) is installed on the transmission guide rail of the support frame (710) through the slider; A transmission drive mechanism, the transmission drive mechanism is in transmission connection with the lifting seat plate (720), A micro-movement seat plate (740) is arranged below the lifting seat plate (720); A fixture connecting plate (750) for connecting and supporting the fixture assembly (780) below; A lifting drive cylinder (760), wherein the lifting drive cylinder (760) is installed on the lifting seat plate (720), and a piston rod of the lifting drive cylinder (760) passes downward through the lifting seat plate (720) and is connected to the micro-motion seat plate (740); A micro-motion drive cylinder (770), wherein the micro-motion drive cylinder (770) is mounted on the micro-motion seat plate (740), and a piston rod of the micro-motion drive cylinder (770) passes downward through the micro-motion seat plate (740) and is connected to the fixture connecting plate (750); A clamp assembly (780) is installed below the clamp connecting plate (750) and is used to clamp and release the safety needle or other materials to be tested.

2. The gripping device for a safety needle according to claim 1, characterized in that: The clamp assembly (780) includes one or more manipulators, each of which includes a dislocation driving mechanism (788) and two parallel clamping jaw fixing plates (789). A plurality of clamping jaws (790) are arranged at intervals below each of the clamping jaw fixing plates (789). The dislocation driving mechanism (788) can drive the two clamping jaw fixing plates (789) to move in a dislocation manner.

3. The grabbing device for a safety needle according to claim 2, characterized in that: The dislocation driving mechanism (788) comprises a clamping jaw driving cylinder (7881), a left vertical plate (7882), a right vertical plate (7883), a vertical guide shaft (7884), a left connecting rod (7885) and a right connecting rod (7886). The cylinder body of the clamping jaw driving cylinder (7881) is fixed on the left vertical plate (7882), the telescopic shaft of the clamping jaw driving cylinder (7881) is connected to the right vertical plate (7883), and two clamping jaw fixing plates (789) are respectively connected to the bottom of the left vertical plate (7882) and the right vertical plate (7883). When the telescopic shaft of the cylinder (7881) is extended or retracted, it can drive the two clamping jaw fixing plates (789) to move in an offset manner. The vertical guide shaft (7884) is installed on the clamp connecting plate (750) in a manner that it can move up and down. One end of the left connecting rod (7885) is hinged to the vertical guide shaft (7884), and the other end of the left connecting rod (7885) is hinged to the left vertical plate (7882). One end of the right connecting rod (7886) is hinged to the vertical guide shaft (7884), and the other end of the right connecting rod (7886) is hinged to the right vertical plate (7883).

4. The gripping device for a safety needle according to claim 3, characterized in that: The robot also includes a left-side shaft fixing seat plate (791), a right-side shaft fixing seat plate (792) and one or more transverse guide shafts (793), wherein the left-side shaft fixing seat plate (791) and the right-side shaft fixing seat plate (792) are relatively arranged on both sides of the clamp connecting plate (750), and the two ends of the transverse guide shaft (793) are respectively connected to the left-side shaft fixing seat plate (791) and the right-side shaft fixing seat plate (792), and the middle of the transverse guide shaft (793) passes through the left vertical plate (7882) and the right vertical plate (7883).

5. The grabbing device for a safety needle according to claim 2, characterized in that: The clamp assembly (780) also includes a manipulator (781) for clamping a protective cap, a manipulator (782) for clamping a front end of a hose, a manipulator (783) for clamping a rear end of a hose, and a manipulator (784) for clamping a needle holder. The manipulator for clamping the rear end of the hose is arranged adjacent to the manipulator for clamping the needle holder and shares a set of the offset drive mechanisms (788).

6. The grabbing device for a safety needle according to claim 5, characterized in that: The clamp assembly (780) also includes a first upper pressure plate (785) and a second upper pressure plate (786), wherein the first upper pressure plate (785) is mounted on a manipulator at the front end of the clamping hose, and the second upper pressure plate (786) is mounted on a manipulator at the rear end of the clamping hose.

7. The grabbing device for a safety needle according to claim 5, characterized in that: The clamp assembly (780) further comprises a wing pressing plate (787), wherein the wing pressing plate (787) is arranged adjacent to the manipulator for clamping the protective cap, and a plurality of pressing grooves are arranged below the wing pressing plate (787).

8. The grabbing device for a safety needle according to claim 1, characterized in that: The transmission driving mechanism comprises a transmission motor (731), a synchronous belt (732), a transmission driving wheel (733) and a transmission driven wheel (734); the transmission motor (731) and the transmission driven wheel (734) are both fixed on the support frame (710); the transmission driving wheel (733) is installed on the output shaft of the transmission motor (731); the synchronous belt (732) is arranged around the transmission driving wheel (733) and the transmission driven wheel (734); the lifting seat plate (720) is connected to the synchronous belt (732) via a supporting plate and a pressing plate; the rotation of the synchronous belt (732) can drive the lifting seat plate to move along the transmission guide rail.

9. The grabbing device for a safety needle according to claim 1, characterized in that: A longitudinal guide shaft (794) is provided between the lifting seat plate (720) and the fixture connecting plate (750), the lower end of the longitudinal guide shaft (794) is fixed on the fixture connecting plate (750), and the upper end of the longitudinal guide shaft (794) passes through the micro-motion seat plate (740) and then slides through the lifting seat plate (720).

10. A material transfer system for safety needles, characterized in that: The method comprises a gripping device (700) according to any one of claims 1 to 9, and further comprises an intermediate distance changing device (600), wherein the gripping device (700) is arranged above the intermediate distance changing device (600), and the intermediate distance changing device (600) comprises a distance changing mechanism (610), and the distance changing mechanism (610) comprises: A slideway plate (611), wherein a plurality of slideways (6111) are provided on the slideway plate (611), and an angle is formed between the extension directions of two adjacent slideways (6111); A plurality of groups of single slider assemblies (612), each group of the single slider assemblies (612) comprising a variable distance frame (6121), a guide wheel (6122) and a positioning vertical plate for positioning the safety needle, one or more of the positioning vertical plates being mounted on the upper portion of the variable distance frame (6121), the guide wheel (6122) being mounted on the bottom portion of the variable distance frame (6121) and being respectively and adaptively mounted in each slideway (6111) on the slideway plate (611); At least one pitch-changing guide shaft (613), an axial hole is formed on the pitch-changing frame (6121), the pitch-changing guide shaft (613) passes through the axial hole of each group of the single-slider assembly (612), and the pitch-changing frame (6121) can slide along the axial direction of the pitch-changing guide shaft (613); Axle frames (615), wherein two axle frames (615) are arranged oppositely on two sides of the pitch-changing mechanism (610), and two ends of the pitch-changing guide shaft (613) are respectively mounted on the axle frames (615) on the two sides; A variable pitch drive mechanism (614), wherein the variable pitch drive mechanism (614) is used to drive the slide plate (611) to move up and down.

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