A gripping device for safety needles and a pick-and-place system

Abstract

The present application belongs to the technical field of automatic detection of safety needles, and relates to a grabbing device for safety needles and a material taking and transferring system. The grabbing device for safety needles comprises a support 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. The support frame is provided with a transmission guide rail, the lifting seat plate is installed on the transmission guide rail of the support frame, the transmission driving mechanism is in transmission connection with the lifting seat plate, and the micro-motion seat plate is arranged below the lifting seat plate. The clamp connecting plate is used for connecting the clamp assembly. The lifting driving cylinder is arranged on the lifting seat plate and connected with the micro-motion seat plate, the micro-motion driving cylinder is arranged on the micro-motion seat plate and connected with the clamp connecting plate, and the clamp assembly is installed below the clamp connecting plate. The grabbing device can be closely matched with the transfer gear changing device, can ensure that the safety needle does not twist during the transfer process, and is stably and accurately transferred to the tension detection system.

Description

Technical Field

[0001] This invention relates to a gripping device and a material handling and transfer system for safety needles, belonging to the field of automated safety needle detection technology. Background Technology

[0002] In the medical field, medical needles such as injection needles, blood collection needles, medication dispensing needles, and irrigation needles are widely used in various treatment and diagnostic procedures. However, most of these medical needles are simply discarded after use. Because traditional injection needles, blood collection needles, medication dispensing needles, and irrigation needles lack safety protection devices, workers often suffer needle pricks during waste disposal and recycling, and there is also a risk of cross-infection. Therefore, professionals have designed various safety needles that can conceal the needle tip after use to prevent harm to the human body. The sliding sleeve-protected safety needle is one such convenient type.

[0003] The so-called sliding sleeve protected safety needle Z00, such as Figure 1-3 As shown, the needle includes a needle handle Z01 and a needle Z14 inserted into the needle handle Z01. The needle handle Z01 connects the needle Z14 to a flexible tube Z12. The rear end of the flexible tube Z12 generally has a needle holder Z13. The needle handle Z01 is provided with a wing Z04. It also includes an inner sliding sleeve Z05, an outer sliding sleeve Z09, and a protective cap Z11 fitted onto the needle handle Z01. In the factory configuration, the safety needle Z00 has the outer sliding sleeve Z09 and the inner sliding sleeve Z05 sequentially fitted onto the base of the needle handle Z01, and the protective cap Z11 fitted onto the head of the needle handle Z01 and protecting the needle Z14. During use, medical personnel remove the protective cap Z11, and it can be used like a regular needle. Before disposal, it should be... Figure 3 As shown, medical staff can easily unfold the outer sliding sleeve Z09 and the inner sliding sleeve Z05 by gently pulling the outer sliding sleeve Z09, thus protecting the needle Z14. This prevents the needle Z14 from pricking staff during waste transfer and handling, hence the name "safety needle Z00".

[0004] To prevent the inner sliding sleeve Z05 and outer sliding sleeve Z09 from sliding arbitrarily and affecting normal use, or from retracting under external force after being pulled open when discarded, thus exposing the needle tip Z14, a locking mechanism needs to be provided on the needle handle Z01, inner sliding sleeve Z05, and outer sliding sleeve Z09. The locking mechanism includes a first slot Z02 at the rear of the needle handle Z01, a second slot Z03 at the front of the needle handle Z01, a first latch Z06 at the rear of the inner sliding sleeve Z05, a third slot Z07 at the rear of the inner sliding sleeve Z05, a fourth slot Z08 at the front of the inner sliding sleeve Z05, and a second latch Z10 at the rear of the outer sliding sleeve Z09. In the factory-set condition, such as... Figure 1As shown, the first slot Z02 and the first buckle Z06, the third slot Z07 and the second buckle Z10 are respectively engaged and locked, which will not affect normal operation. When it is necessary to discard and open, as... 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 and locked, and will not retract.

[0005] Since the inner sliding sleeve Z05, outer sliding sleeve Z09, and needle handle Z01 are generally made of plastic, their slots and buckles cannot guarantee a very precise fit. Furthermore, the safety needle Z00 needs to be connected to adjacent components on the production line via adhesive application. In its factory state, the inner sliding sleeve Z05, outer sliding sleeve Z09, and needle handle Z01 may be too tightly fitted. If medical personnel cannot easily pull the sliding sleeves, the environmental requirement for discarding the safety needle Z00 will not be met. Therefore, it is crucial to control the sliding sleeve pull force of each safety needle Z00 within the standard requirement range; whether this requirement is met requires a pull-out test.

[0006] Currently, this work relies on manual sampling and inspection, which has several drawbacks: firstly, it's inefficient and cannot provide comprehensive testing; secondly, the required force lacks accurate standards and is based on intuition; and thirdly, the stroke is difficult to control, and once it reaches the locked state (the point of failure), the entire device is rendered unusable and cannot be restored. Given the very large quantity of safety pins used as disposable consumables, this inefficient and inaccurate manual inspection method clearly cannot meet the actual needs. Therefore, a highly efficient and accurate tensile testing system is needed in the production process of safety pins to comprehensively test them.

[0007] To ensure that the safety pin can smoothly enter the full testing process, it is first necessary to use the material handling and transfer system to smoothly transfer the safety pin from the production line to the fixture of the tensile testing system.

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

[0009] The purpose of this 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 this invention is as follows: A gripping device for safety pins, comprising:

[0011] A support frame, on which a transmission guide rail is provided;

[0012] A lifting seat plate is provided with a slider that cooperates with the transmission guide rail. The lifting seat plate is mounted on the transmission guide rail of the support frame through the slider.

[0013] The transmission drive mechanism is connected to the lifting seat plate via a transmission connection.

[0014] A micro-motion base plate is located below the lifting base plate;

[0015] The clamping connection plate is used to connect to and support the clamping assembly below;

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

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

[0018] A clamp assembly, mounted below the clamp connecting plate, is used to clamp and release safety needles 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 turning distance device in a preset position, the needle holder is placed in the limiting groove of the needle holder upright plate. At the same time, the upright plate will stably support the two limiting points of the guide tube. During the flipping process, the flip plate will smoothly support the wing on the safety needle, so that it gradually rotates from the inclined state to the 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 twist when the wing rotates from the inclined state to the horizontal state. The gripping device of the present invention takes into account the problem of hose twisting encountered by the safety needle during the transfer process. By setting a micro-motion base plate and a micro-motion drive cylinder, the part of the safety needle near the wing can be lifted a small distance first, and then released and the safety needle is put down. The safety needle will fall smoothly on the horizontal flip plate of the intermediate turning distance device. Then, the lifting drive cylinder drives the clamp assembly to descend again, firmly clamping and lifting the safety needle, thereby avoiding the twisting and deformation of the hose during the transfer process. Therefore, the gripping device of the present invention can work closely with the center-shifting device, which can not only realize the rapid and accurate transfer of the safety pin from the center-shifting device to the tensile testing system fixture, thus improving the efficiency of safety pin tensile testing and reducing the tediousness and error of manual operation, but also ensure that the safety pin does not twist during the transfer process and is transferred smoothly and accurately to the tensile testing system, thereby ensuring the accuracy and effectiveness of the test results.

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

[0021] Furthermore, the fixture assembly includes one or more robotic arms, each robotic arm including a misalignment drive mechanism and two parallel gripper fixing plates. Each gripper fixing plate has several gripping claws spaced apart below it. The misalignment drive mechanism can drive the two gripper fixing plates to move in a misaligned manner.

[0022] The advantages of adopting the above-mentioned further solution are as follows: First, through the control of the misaligned drive mechanism, the two parallel gripper fixing plates move in a misaligned manner, driving the opening and closing action of the paired gripping claws on the gripper fixing plates, thereby enabling precise and secure gripping and release of safety pins; Second, the configuration of one or more robotic arms enables the system to have the ability to process in parallel, allowing the robotic arms to work simultaneously and grip different parts of the safety pins, thus ensuring the stability and accuracy of the safety pins during the overall transfer process; Finally, the multiple gripping claws spaced apart below each gripper fixing plate enable the system to grip multiple safety pins at once, improving transfer efficiency and shortening the inspection process time.

[0023] Furthermore, the misalignment drive mechanism includes a gripper drive 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 gripper drive cylinder is fixed to the left vertical plate, and the telescopic shaft of the gripper drive cylinder is connected to the right vertical plate. Two gripper fixing plates are respectively connected below the left and right vertical plates. When the telescopic shaft of the gripper drive cylinder extends or retracts, it can drive the two gripper fixing plates to move in a misaligned manner. The vertical guide shaft is mounted on the fixture connecting plate in a way that allows it to 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-mentioned further solution is that, during the extension and retraction process, the telescopic shaft of the gripper drive cylinder can stably drive the right vertical plate and the gripper fixing plate below it to move in a misaligned manner relative to the left vertical plate and the gripper fixing plate below it. At the same time, the hinged design of the vertical guide shaft with the left and right connecting rods ensures the stability and movement accuracy of the gripper fixing plate during the misaligned movement.

[0025] Furthermore, the robot also includes a left axis fixing plate, a right axis fixing plate, and one or more transverse guide shafts. The left axis fixing plate and the right axis fixing plate are arranged opposite to each other on both sides of the fixture connecting plate. The two ends of the transverse guide shaft are respectively connected to the left axis fixing plate and the right axis fixing 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 solution is that the two ends of the transverse guide shaft are closely connected to the left shaft fixing plate and the right shaft fixing plate respectively, forming a stable transverse support structure. The middle part of the transverse guide shaft passes through the left and right vertical plates, providing guidance for their movement. This not only improves the stability and accuracy of the left and right vertical plates during movement, but also effectively reduces deviations caused by vibration or external force interference, thereby ensuring the precise alignment of the gripper fixing plate and its gripper claws.

[0027] Furthermore, the clamp assembly includes a robotic arm for clamping a protective cap, a robotic arm for clamping the front end of a flexible tube, a robotic arm for clamping the rear end of a flexible tube, and a robotic arm for clamping a needle holder, arranged sequentially perpendicular to the direction of the transmission guide rail. The robotic arm for clamping the protective cap is used to clamp or release the protective cap, the robotic arm for clamping the front end of the flexible tube is used to clamp or release the front end portion of the flexible tube, the robotic arm for clamping the rear end of the flexible tube is used to clamp or release the rear end portion of the flexible tube, and the robotic arm for clamping the needle holder is used to clamp or release the needle holder. The robotic arm for clamping the rear end of the flexible tube and the robotic arm for clamping the needle holder are arranged adjacent to each other and share a set of the misalignment drive mechanism.

[0028] The advantages of adopting the above-mentioned further solution are as follows: First, the clamping assembly, through multiple robotic arms arranged sequentially perpendicular to the direction of the transmission guide rail, achieves precise gripping and release of the safety needle and its related components, including the cap, the front end of the tubing, the rear end of the tubing, and the needle holder. Each robotic arm is specifically designed for the component it is responsible for, ensuring the stability and accuracy of gripping. Second, the robotic arm holding the rear end of the tubing and the robotic arm holding the needle holder are arranged adjacent to each other and share a set of staggered drive mechanisms. The two robotic arms can move synchronously, ensuring that the relative position of the rear end of the tubing and the needle holder remains unchanged during gripping and release. This not only saves space and cost but also improves the overall coordination and efficiency of the system. In addition, each robotic arm can work simultaneously or sequentially, and the gripping and release order can be flexibly adjusted according to actual needs, thereby achieving rapid and efficient transfer of the safety needle and its components.

[0029] Furthermore, the clamp assembly also includes a first upper pressure plate and a second upper pressure plate, the first upper pressure plate being mounted on the robotic arm at the front end of the clamping hose, and the second upper pressure plate being mounted on the robotic arm at the rear end of the clamping hose.

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

[0031] Furthermore, the clamping assembly also includes a wing plate, which is disposed adjacent to the manipulator holding the protective cap. The upper end of the wing plate is connected to the left shaft fixing plate and the right shaft fixing plate, and a number of pressing grooves are provided below the wing plate.

[0032] The advantage of adopting the above-mentioned further solution is that it can apply stable pressure to the wing through the pressure groove under the wing pressure plate during the clamping or releasing of the protective cap, 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 drive wheel, and a transmission driven wheel. The transmission motor and the transmission driven wheel are both fixed on the support frame. The transmission drive wheel is mounted on the output shaft of the transmission motor. The synchronous belt is arranged around the transmission drive wheel and the transmission driven wheel. The lifting seat plate is connected to the synchronous belt through a support plate and a pressure 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-mentioned further solution is that the transmission motor serves as the power source, driving the synchronous belt to rotate via the transmission drive pulley on its output shaft. The synchronous belt surrounds the transmission drive pulley and the transmission driven pulley, forming a stable transmission path. The lifting seat plate is connected to the synchronous belt via a support plate and a pressure plate, allowing the rotation of the synchronous belt to 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 clamp connecting plate. The lower end of the longitudinal guide shaft is fixed on the clamp connecting plate, and the upper end of the longitudinal guide shaft passes through the micro-motion seat plate and slides on the lifting seat plate.

[0036] The beneficial effect of adopting the above-mentioned 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 clamp connecting plate. The lower end of the longitudinal guide shaft is fixed to the clamp connecting plate, and the upper end passes through the micro-motion seat plate and slides onto the lifting seat plate, ensuring stable guidance for both the lifting seat plate and the micro-motion seat plate during movement and reducing errors caused by shaking or offset. Simultaneously, the longitudinal guide shaft also serves as a support and positioning element, enabling the lifting seat plate and the micro-motion seat plate to reach the designated position more accurately.

[0037] A material handling and transfer system for safety needles includes the aforementioned gripping device and a center-shifting device, the gripping device being disposed above the center-shifting device, the center-shifting device comprising:

[0038] A slide plate, wherein the slide plate is provided with a plurality of slide tracks, and there is an included angle between the extending directions of two adjacent slide tracks;

[0039] Several sets of single slider assemblies, each set of single slider assemblies includes a pitch changer, a guide wheel and a positioning plate for positioning the safety pin, one or more of the positioning plates are installed on the upper part of the pitch changer, the guide wheel is rotatably installed on the bottom of the pitch changer and is respectively adapted to be installed in each slide of the slide plate;

[0040] At least one pitch guide shaft is provided, and the pitch frame is provided with a shaft hole. The pitch guide shaft passes through the shaft hole of each group of single slider assemblies, so that the pitch frame can slide along the axial direction of the pitch guide shaft.

[0041] Two shaft brackets are arranged opposite each other on both sides of the pitch-changing mechanism, and the two ends of the pitch-changing guide shaft are respectively mounted on the shaft brackets on both sides;

[0042] A 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 sets of single slider assemblies move closer or further apart.

[0043] The beneficial effect of adopting the above-mentioned further solution is that the intermediate pitch change device of the present invention sets several slides on its slide plate and drives the slide plate to move through the pitch change drive mechanism. Under the guidance of the slides, the guide wheel can move along the 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 distance between two adjacent single slider assemblies, and finally achieve the purpose of adjusting the distance between adjacent safety pins. The intermediate pitch change device not only adapts to the layout spacing of different production lines, but also matches the gripping spacing of the gripping device, and works with the gripping device to realize the smooth transfer of safety pins from the production line to the tension detection system. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of the safety pin.

[0046] Figure 2 A schematic diagram of the inner and outer sliding sleeves of the safety pin in the opened state;

[0047] Figure 3 An exploded view of the safety pin;

[0048] Figure 4 This is a schematic diagram of the gripping device of the present invention;

[0049] Figure 5 This is a schematic diagram of the gripping device of the present invention without the support frame installed;

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

[0051] Figure 7 For the present invention Figure 6 The left view;

[0052] Figure 8 This is a schematic diagram of the material handling and transfer system of the present invention;

[0053] Figure 9 This is a three-dimensional structural diagram of the pitch conversion device of the present invention;

[0054] Figure 10 For the present invention Figure 9 Enlarged view of part A;

[0055] Figure 11 This is a schematic diagram of the internal structure of the pitch conversion device of the present invention;

[0056] Figure 12 This is a schematic diagram of the single slider assembly of the present invention mounted on the slide rail of the slide plate via a guide wheel;

[0057] Figure 13 This is a front view of the slide plate of the present invention;

[0058] Figure 14 This is a schematic diagram of the structure of the positioning mechanism of the present invention, in which the flap and safety pin are in an inclined state when the positioning mechanism is lowered to the low position;

[0059] Figure 15 This is a schematic diagram of the structure of the positioning mechanism of the present invention, in which the flip plate is moved by the action of the lever to flip the safety pin to a horizontal position.

[0060] Figure 16 This is a front view of the positioning mechanism of the present invention when it is lowered to the low position;

[0061] Figure 17 For the present invention Figure 16 The left view;

[0062] Figure 18 This is a front view of the positioning mechanism of the present invention when it is raised to the high position;

[0063] Figure 19 For the present invention Figure 18 The left view;

[0064] Figure 20 This is a schematic diagram of the gripping device of the present invention gripping a safety pin above the mid-mounted variable pitch device;

[0065] Figure 21 For the present invention Figure 20 Enlarged view of part B;

[0066] In the diagram, 600 is the pitch changing device; 610 is the pitch changing mechanism; 611 is the slide plate; 6111 is the slide; 612 is the single slider assembly; 6121 is the pitch changing frame; 6122 is the guide wheel; 6123 is the second hose positioning plate; 6124 is the third hose positioning plate; 613 is the pitch changing guide shaft; 614 is the pitch changing drive mechanism; 6141 is the pitch changing drive cylinder; 6142 is the guide rod; 615 is the shaft frame; 616 is the needle holder positioning plate; 620 is the positioning mechanism; 621 is the positioning... 622. Guide shaft; 623. Flip plate; 624. Alignment frame; 625. Alignment block; 626. Alignment drive mechanism; 627. Cylinder seat; 628. Alignment drive cylinder; 629. Guide shaft bracket; 620. Protective cap alignment plate; 621. First flexible hose alignment plate; 622. Rotary shaft; 633. Support frame; 644. Sliding seat plate; 655. Moving drive mechanism; 666. Linkage assembly; 647. First link; 648. Second link; 659. Baffle frame; 650. Upper baffle.

[0067] 700. Gripping device; 710. Support frame; 720. Lifting seat plate; 731. Transmission motor; 732. Synchronous belt; 733. Transmission drive 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. Robotic arm for gripping protective caps; 782. Robotic arm for gripping the front end of a flexible hose; 783. Robotic arm for gripping the rear end of a flexible hose; 784. For gripping... The robotic arm of the needle holder; 785, first upper pressure plate; 786, second upper pressure plate; 787, wing plate; 788, misalignment drive mechanism; 7881, gripper drive cylinder; 7882, left side upright plate; 7883, right side upright plate; 7884, vertical guide shaft; 7885, left side connecting rod; 7886, right side connecting rod; 789, gripper fixing plate; 790, gripper; 791, left side shaft fixing plate; 792, right side shaft fixing 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 sliding sleeve; Z06, First buckle; Z07, Third slot; Z08, Fourth slot; Z09, Outer sliding sleeve; Z10, Second buckle; Z11, Protective cap; Z12, Tube; Z13, Needle holder; Z14, Needle tip. Detailed Implementation

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

[0070] When interpreting the description of this application, it should be clarified that terms such as "upper," "lower," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating directions or positional relationships, are based on the perspective and layout shown in the accompanying drawings. They are intended to facilitate explanation and simplify the description process, and are not absolute limitations on the actual location, construction method, or operating mode of the described device or element. Therefore, these terms should not be construed as restrictive interpretations of the content of this application.

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

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

[0073] like Figures 4-7 As shown, a gripping device 700 for safety pins includes: a support frame 710 with a transmission guide rail; a lifting seat plate 720 with a slider cooperating with the transmission guide rail, the lifting seat plate 720 being mounted on the transmission guide rail of the support frame 710 via the slider; a transmission drive mechanism connected to the lifting seat plate 720; a micro-motion seat plate 740 disposed below the lifting seat plate 720; a clamp connecting plate 750 for connecting and supporting a clamp assembly 780 below; and a lifting drive mechanism. Cylinder 760, the lifting drive cylinder 760 is mounted 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 mounted 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 clamp connecting plate 750; clamp assembly 780, the clamp assembly 780 is mounted below the clamp connecting plate 750, and is used to clamp and release the safety needle or other materials to be tested.

[0074] In addition, in this embodiment, the clamp assembly 780 includes four robotic arms, namely a robotic arm for holding the protective cap, a robotic arm for holding the front end of the tubing, a robotic arm for holding the rear end of the tubing, and a robotic arm for holding the needle holder. Of course, the number of robotic arms can also be one or more, and the number of robotic arms can be set according to actual needs. The robotic arm holding the protective cap, the robotic arm holding the front end of the tubing, the robotic arm holding the rear end of the tubing, and the robotic arm holding the needle holder are arranged sequentially perpendicular to the direction of the transmission guide rail. The robotic arm holding the protective cap is used to grip or release the protective cap. The robotic arm holding the front end of the tubing is used to grip or release the front end of the tubing. The robotic arm holding the rear end of the tubing is used to grip or release the rear end of the tubing. The robotic arm holding the needle holder is used to grip or release the needle holder. The clamping assembly 780, through multiple robotic arms arranged sequentially perpendicular to the direction of the transmission guide rail, realizes the precise gripping and release of safety needles and their related components, including the protective cap, the front end of the tubing, the rear end of the tubing, and the needle holder. Each robotic arm is specially designed for the component it is responsible for, ensuring the stability and accuracy of gripping. Each robotic arm includes a misalignment drive mechanism 788 and two parallel gripper fixing plates 789. Each gripper fixing plate 789 has several gripping claws 790 spaced apart below it. The misalignment drive mechanism 788 can drive the two gripper fixing plates 789 to move in a misaligned manner. More specifically, the misalignment 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 to the left vertical plate 7882, and 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. When the telescopic shaft of cylinder 7881 extends or retracts, it can drive the two gripper fixing plates 789 to move out of alignment. The vertical guide shaft 7884 is mounted on the clamp connecting plate 750 in a way that allows it to 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 upright 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 upright plate 7883. During the extension and retraction process, the telescopic shaft of gripper drive cylinder 7881 can stably drive the right upright plate 7883 and the gripper fixing plate 789 below it to move out of alignment relative to the left upright plate 7882 and the gripper fixing plate 789 below it. Meanwhile, the hinged design of the vertical guide shaft 7884 with the left connecting rod 7885 and the right connecting rod 7886 ensures the stability and movement accuracy of the gripper fixing plate 789 during the misalignment movement process.Furthermore, in this embodiment, the robotic arm holding the rear end of the tubing and the robotic arm holding the needle holder are arranged adjacent to each other and share a set of misalignment drive mechanisms 788. The two robotic arms can move synchronously, ensuring that the relative positions of the rear end of the tubing and the needle holder remain unchanged during gripping and releasing. This not only saves space and cost but also improves the overall coordination and efficiency of the system. In addition, each robotic arm can work simultaneously or sequentially, and the gripping and releasing order can be flexibly adjusted according to actual needs, thereby achieving rapid and efficient transfer of the safety needle and its components.

[0075] The robotic arm also includes a left axis fixing plate 791, a right axis fixing plate 792, and one or more transverse guide shafts 793. The left axis fixing plate 791 and the right axis fixing plate 792 are arranged opposite to each other on both sides of the fixture connecting plate 750. The two ends of the transverse guide shaft 793 are respectively connected to the left axis fixing plate 791 and the right axis fixing 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 tightly connected to the left shaft fixing plate 791 and the right shaft fixing plate 792 respectively, forming a stable support structure. The middle part of the transverse guide shaft 793 passes through the left vertical plate 7882 and the right vertical plate 7883, providing guidance for their movement. This 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 deviations caused by vibration or external force interference, thereby ensuring the precise alignment of the gripper fixing plate 789 and its gripper 790.

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

[0077] The clamping assembly 780 also includes a wing plate 787, which is disposed adjacent to the robotic arm that holds the protective cap. The upper end of the wing plate 787 is connected to the left axis fixing plate 791 and the right axis fixing plate 792. Several pressure grooves are provided below the wing plate 787. During the gripping or releasing of the protective cap, stable pressure is applied to the wing plate through the pressure grooves below the wing plate 787, helping to ensure that the wing plate remains horizontal during gripping and preventing it from tilting.

[0078] The transmission drive mechanism includes a transmission motor 731, a synchronous belt 732, a transmission drive pulley 733, and a transmission driven pulley 734. The transmission motor 731 and the transmission driven pulley 734 are both fixed to the support frame 710. The transmission drive pulley 733 is mounted on the output shaft of the transmission motor 731. The synchronous belt 732 surrounds the transmission drive pulley 733 and the transmission driven pulley 734. The lifting seat plate 720 is connected to the synchronous belt 732 via a support plate and a pressure plate. Rotation of the synchronous belt 732 can drive the lifting seat plate 720 to move along the transmission guide rail. The transmission motor 731 serves as the power source, driving the synchronous belt 732 to rotate via the transmission drive pulley 733 on its output shaft. The synchronous belt 732 surrounds the transmission drive pulley 733 and the transmission driven pulley 734, forming a stable transmission path. The lifting seat plate 720 is connected to the synchronous belt 732 via the support plate and the pressure plate, allowing the rotation of the synchronous belt 732 to 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 clamp connecting plate 750. The lower end of the longitudinal guide shaft 794 is fixed to the clamp connecting plate 750, and the upper end of the longitudinal guide shaft 794 passes through the micro-motion seat plate 740 and then slides on 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 clamp connecting plate 750. The lower end of the longitudinal guide shaft 794 is fixed to the clamp connecting plate 750, and the upper end passes through the micro-motion seat plate 740 and then slides on the lifting seat plate 720, so that the lifting seat plate 720 and the micro-motion seat plate 740 can maintain stable guidance during movement, reducing errors 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 handling and transfer system for safety needles includes the gripping device 700 and a center-shifting device 600. The gripping device 700 is disposed above the center-shifting device 600. Figures 9-19As shown, the pitch changing device 600 includes a pitch changing mechanism 610, which includes: a slide plate 611 with a plurality of slides 6111 on it, the extension directions of two adjacent slides 6111 forming an angle; and a plurality of single slider assemblies 612, each of which includes a pitch changing frame 6121, a guide wheel 6122, and a positioning plate for positioning the safety pin. The pitch changing frame 6121 carries the positioning plate and the guide wheel 6122. One or more positioning plates are mounted on the upper part of the pitch changing frame 6121, and the guide wheel 6122 is rotatably mounted on the bottom of the pitch changing frame 6121 and is respectively fitted into each slide 6111 on the slide plate 611. Through the guiding action of the slides 6111, the guide wheel 6122... It can move along a preset path; at least one variable pitch guide shaft 613, the variable pitch bracket 6121 has a shaft hole, the variable pitch guide shaft 613 passes through the shaft hole of each group of single slider assemblies 612, so that the variable pitch bracket 6121 can slide along the axial direction of the variable pitch guide shaft 613; shaft brackets 615, two shaft brackets 615 are arranged opposite to each other on both sides of the variable pitch mechanism 610, and the two ends of the variable pitch guide shaft 613 are respectively mounted on the shaft brackets 615 on both sides; variable pitch drive mechanism 614, the variable pitch 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 variable pitch bracket 6121 to slide along the axial direction of the variable pitch guide shaft 613, so that adjacent groups of single slider assemblies 612 move closer or further away from each other. Figure 13 As shown, the center distance D at the starting end of each pair of adjacent slides 6111 is equal, and the center distance d at the end of each pair of adjacent slides 6111 is also equal, and the center distance D at the starting end of the slides 6111 is greater than the center distance d at the end.

[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 causes the guide wheel 6122 to move along the slide plate 6111. The movement of the guide wheel 6122 causes the variable pitch frame 6121 to move along the variable pitch guide shaft 613, thereby adjusting the spacing between each group of single slider assemblies 612. When the slide plate 611 moves upward, the guide wheel 6122 moves towards the end of the slide plate 6111, and each group of single slider assemblies 612 moves closer to each other. When the slide plate 611 moves downward, the guide wheel 6122 moves towards the starting end of the slide plate 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 pitch changer 6121, namely a second hose positioning plate 6123 and a third hose positioning plate 6124. The second hose positioning plate 6123 is provided with a second hose positioning limiting groove, and the third hose positioning plate 6124 is provided with a third hose positioning limiting groove.

[0083] The pitch conversion device 600 further includes a positioning mechanism 620, which includes a positioning guide shaft 621, a flap 622, a positioning drive mechanism 625, and several sets of positioning brackets 623. The positioning guide shaft 621 passes through a shaft hole on each set of positioning brackets 623. The positioning brackets 623 are connected to the pitch conversion frame 6121 via a connecting rod assembly 640. The positioning drive mechanism 625 is drively connected to the positioning guide shaft 621. The device can drive the alignment frame 623 to move up and down horizontally. The alignment frame 623 is equipped with a rotating shaft 628. The flip plate 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 pin. A lever 624 is provided on one side of the flip plate 622. The lever 624 is fixed to the pitch-changing frame 6121. When the alignment frame 623 moves upward, the lever 624 moves the flip plate 622 to a horizontal position. When the safety pin is placed on the pitch-changing device 600, its front and rear ends (i.e., the tubing and cap) are clamped. Due to the flexibility of the tubing, the disc on the pin handle may tilt when the safety pin is placed. At this time, when the lever 624 moves the flip plate 622 to flip, the flip plate 622 can rotate to level the tilted disc.

[0084] In this embodiment, the rotating shaft 628 is rotatable about its axis, and the flap 622 is fixed on the rotating shaft 628. When the toggle block 624 moves the flap 622, the flap 622 can rotate with the rotating shaft 628. Alternatively, another configuration exists: the rotating shaft 628 is a fixed structure, and the flap 622 is mounted on the rotating shaft 628 via a torsion spring. When the toggle block 624 moves the flap 622, the flap 622 can rotate independently about the fixed rotating shaft 628.

[0085] The linkage assembly 640 includes a first link 641 and a second link 642. The alignment frame 623, the first link 641, the second link 642, and the pitch changer 6121 together form a parallelogram linkage mechanism.

[0086] The upper part of the positioning frame 623 is provided with two positioning upright plates, namely the cap positioning upright plate 626 and the first hose positioning upright plate 627. The cap positioning upright plate 626 and the first hose positioning upright plate 627 are respectively provided with cap positioning limiting groove and first hose positioning limiting groove. The two ends of the rotating shaft 628 are respectively connected to the cap positioning upright plate 626 and the first hose positioning upright plate 627. In this embodiment, the two ends of the rotating shaft 628 are respectively connected to the cap positioning upright plate 626 and the first hose positioning upright plate 627. Of course, the rotating shaft 628 can also be supported and installed by other structures.

[0087] The pitch-changing device 600 further includes a needle holder positioning plate 616 for placing the needle holder. The needle holder positioning plate 616 is provided with a needle holder positioning limiting groove. The rear end of the pitch-changing frame 6121 is connected to a bridging plate, and the needle holder positioning plate 616 is mounted on the bridging plate.

[0088] Once the safety needle is accurately placed in the predetermined position, its protective cap will be fixedly installed in the protective cap positioning groove, and the tubing will be securely installed sequentially in the first tubing positioning groove, the second tubing positioning groove, and the third tubing positioning groove along the length direction. The needle holder will be fixedly installed in the needle holder positioning groove.

[0089] The positioning drive mechanism 625 includes a cylinder base 6251, a positioning drive cylinder 6252, and a guide shaft bracket 6253. The cylinder base 6251 is disposed between two shaft brackets 615 and is used to support the drive cylinder. In this embodiment, the guide shaft bracket 6253 is U-shaped, and its two arms are connected to the two ends of the positioning guide shaft 621. The drive shaft of the positioning drive cylinder 6252 is connected to the guide shaft bracket 6253. The cylinder body of the positioning drive cylinder 6252 is hinged to the cylinder base 6251, and the drive shaft of the positioning drive cylinder 6252 is inclined. When the drive shaft of the positioning drive cylinder 6252 extends, it can drive the positioning bracket 623 to move obliquely upward to a high position. When the drive shaft of the positioning drive cylinder 6252 retracts, it can drive the positioning bracket 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 connected to the slide plate 611. The guide rod 6142 is also provided between the slide plate 611 and the cylinder seat 6251. When the drive shaft of the variable pitch drive cylinder 6141 extends upward, it drives the slide plate 611 to move upward, and the guide wheel 6122 installed at the bottom of the variable pitch frame 6121 moves downward along the slide 6111. The groups of single slider assemblies 612 gradually move closer, so that the safety pins provided on the single slider assemblies 612 move closer to each other. Conversely, when the drive shaft of the variable pitch drive cylinder 6141 retracts, it drives the slide plate 611 to move downward, and the guide wheel 6122 installed at the bottom of the variable pitch frame 6121 moves upward along the slide 6111. The groups of single slider assemblies 612 gradually move away from each other, so that the safety pins provided on the single slider assemblies 612 move away from each other.

[0091] The pitch-changing device 600 further includes a baffle frame 651, which includes a left baffle, a right baffle, a front baffle, and an upper baffle 652. The left baffle, right baffle, and front baffle surround the periphery of the positioning frame 623. The upper baffle 652 is positioned above the front baffle, and both ends of the upper baffle 652 are connected to the left baffle and the right baffle respectively by springs. During the process of the flip plate 622 leveling the tilted disc, the upper baffle 652 can effectively prevent the safety pin from being accidentally pushed out. At the same time, when placing the safety pin, the operator can gently pull the upper baffle 652 a certain distance away to avoid it interfering with the installation of the safety pin.

[0092] In addition, in this embodiment, the intermediate torque device 600 also includes a support frame 630, a sliding seat plate 631 is connected between two shaft frames 615, and a moving drive mechanism 632 is provided on the support 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 support frame 630.

[0093] The working process of transferring safety pins from the production line to the safety pin tension detection system using the material handling and transfer system of the present invention is as follows:

[0094] S1. The working process of using the 600-degree pitch changer for both positioning and pitch adjustment is as follows:

[0095] S11. Preparation Stage: First, place the safety needle above the centering torque device 600 according to the preset position. During this process, the needle holder is placed in the limiting groove of the needle holder positioning plate 616. At the same time, the positioning plate supports the two limiting points of the tubing to ensure the accurate positioning of the tubing. At this time, the telescopic shaft of the positioning drive cylinder 6252 is in the retracted state, and the positioning frame 623 is in the low position, preparing for the subsequent positioning operation.

[0096] S12, Orientation Stage: First, the orientation drive cylinder 6252 is activated. Its telescopic shaft is connected to the orientation guide shaft 621 via the U-shaped guide shaft bracket 6253. When the telescopic shaft of the drive cylinder extends, due to the inclined setting of the drive shaft, the orientation bracket 623 moves obliquely upward and parallel under the coordinated action of the four-bar linkage mechanism, as shown. Figure 16-19 As shown. Figure 14 and Figure 15 As shown, when the alignment frame 623 slowly rises, the lever 624 fixed on the pitch changer 6121 will touch and actuate the flip plate 622. During the flipping process, the flip plate 622 supports the wing on the safety needle, causing it to gradually rotate from an inclined state to a horizontal state and level it. When the alignment frame 623 moves to the highest position, the hose at the rear end of the needle handle is supported by the hose alignment plate, while the cap is firmly supported by the cap alignment plate 626, thus completing the entire alignment process.

[0097] S13, Pitch Variable Stage: Start the pitch variable drive cylinder 6141, whose drive shaft is connected to the slide plate 611. Driven by the pitch variable 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 variable frame 6121 moves along the preset slide path 6111 (i.e., slide 6111). The movement of the guide wheel 6122 enables the pitch variable frame 6121 to slide along the axial direction of the pitch variable guide shaft 613. As the guide wheel 6122 and the pitch variable 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 slide rails 6111, and the center distance D at the starting end of the slide rail 6111 is greater than the center distance d at the ending end, when the slide rail plate 611 moves upward, each group of single slider assemblies 612 gradually approaches each other, thereby causing the safety pins placed above the variable pitch frame 6121 to gradually approach each other; while when the slide rail plate 611 moves downward, each group of single slider assemblies 612 gradually moves away from each other, thereby causing the safety pins placed above the variable pitch frame 6121 to gradually move away from each other.

[0098] The pitch-changing process provides the necessary spacing adjustment for the gripping device 700 to transfer the safety pin from the pitch-changing device 600 to the tension detection system.

[0099] S2. The process of using the gripping device 700 to transfer the safety pin is as follows:

[0100] S21. First, start the transmission motor 731 to drive the synchronous belt 732 to rotate, which in turn drives the lifting seat plate 720 to move smoothly along the transmission guide rail to above the intermediate turning pitch device 600, in preparation for grabbing the safety pin.

[0101] S22. When the lifting seat plate 720 reaches the designated position, the micro-motion drive cylinder 770 is activated. Its piston rod passes downward through the micro-motion seat plate 740 and connects with the clamp connecting plate 750. When the piston rod of the micro-motion drive cylinder 770 extends downward, the clamp assembly 780 moves downward slightly. At this time, the gripping claws 790 of each robotic arm (including robotic arm 781 for gripping the protective cap, robotic arm 782 for gripping the front end of the tubing, robotic arm 783 for gripping the rear end of the tubing, and robotic arm 784 for gripping the needle holder) located below the clamp connecting plate 750 are all in the open state. When the robotic arm descends to the clamping height, the misalignment drive mechanism 788 on it will drive the two gripping claw fixing plates 789 to move in a misaligned manner, so that the paired gripping claws 790 close tightly, thereby firmly clamping all parts of the safety needle.

[0102] Depending on the actual needs, you can choose to close only the gripper 790 on the robotic arm 781 used to hold the cap and the robotic arm 782 used to hold the tip of the hose, so as to securely grasp the end of the safety pin near the wing. Of course, you can also close the gripper 790 on all robotic arms to grasp the safety pin as a whole.

[0103] S23. Next, by controlling the extension axis of the micro-motion drive cylinder 770 to move slightly upward a certain distance, the misalignment drive mechanism 788 on the robotic arm is controlled again to drive the two gripper fixing plates 789 to move in a misaligned manner, so that the pair of gripper claws 790 reopen and the safety pin falls back onto the intermediate turning pitch device 600.

[0104] S24. Subsequently, the lifting drive cylinder 760 is activated, and its piston rod extends downward. Simultaneously, all the gripping claws 790 of the robotic arms located below the clamping connecting plate 750 remain open. When the robotic arms reach the clamping height, the misalignment drive mechanism 788 on the robotic arms drives the two gripper fixing plates 789 to move in a misaligned manner, causing the paired gripping claws 790 to close and clamp the safety pin again. At this time, the telescopic axis of the lifting drive cylinder 760 is controlled to move upward a certain distance, raising the safety pin to a certain height. Subsequently, the transmission motor 731 is activated, driving the synchronous belt 732 to rotate, causing the lifting seat plate 720 to move along the transmission guide rail to above the placenta of the tension detection system, preparing for the placement of the safety pin.

[0105] This invention first uses a pitch-shifting device 600 to automatically position the safety pins on the production line to a horizontal position with the pin handle, and adjusts the spacing between adjacent safety pins to ensure that the gripping spacing requirements of the gripping device 700 are met. Then, the micro-motion drive cylinder 770 of the gripping device 700 grips the safety pin and then lowers it. This step aims to prevent the hose from twisting or deforming during the transfer process. Finally, the gripping device 700 safely transfers the safety pin from the pitch-shifting device 600 to the tensile strength detection system for automatic detection. This invention improves the automation level and transfer efficiency of safety pin tensile strength 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 principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A gripping device for safety pins, characterized in that, include: A support frame (710) is provided with a transmission guide rail; A lifting seat plate (720) is provided with a slider that cooperates with the transmission guide rail. The lifting seat plate (720) is mounted on the transmission guide rail of the support frame (710) by means of the slider. A transmission drive mechanism is connected to the lifting seat plate (720) in a transmission manner. A micro-motion seat plate (740) is disposed below the lifting seat plate (720); A clamping connection plate (750) is used to connect to and support the clamping assembly (780) below. A lifting drive cylinder (760) is mounted 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 connects to the micro-motion seat plate (740). A micro-motion drive cylinder (770) is mounted on the micro-motion base plate (740). The piston rod of the micro-motion drive cylinder (770) passes downward through the micro-motion base plate (740) and is connected to the clamp connecting plate (750). A clamp assembly (780) is mounted below the clamp connecting plate (750) for gripping and releasing safety pins or other materials to be tested; The clamp assembly (780) includes one or more robotic arms, each robotic arm including a misalignment drive mechanism (788) and two parallel gripper fixing plates (789). Each gripper fixing plate (789) has several gripping claws (790) spaced apart below it. The misalignment drive mechanism (788) can drive the two gripper fixing plates (789) to move in a misaligned manner. The misalignment drive mechanism (788) includes a gripper drive cylinder (7881), a left side plate (7882), a right side 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 side plate (7882), and the telescopic shaft of the gripper drive cylinder (7881) is connected to the right side plate (7883). Two gripper fixing plates (789) are respectively connected below the left side plate (7882) and the right side plate (7883). When the telescopic shaft of the cylinder (7881) extends or retracts, it can drive the two clamp fixing plates (789) to move in a staggered manner. The vertical guide shaft (7884) is mounted on the clamp connecting plate (750) in a way that allows it to 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 upright 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 upright plate (7883). The clamp assembly (780) further includes a robotic arm (781) for clamping the cap, a robotic arm (782) for clamping the front end of the tubing, a robotic arm (783) for clamping the rear end of the tubing, and a robotic arm (784) for clamping the needle holder. The robotic arm for clamping the rear end of the tubing and the robotic arm for clamping the needle holder are arranged adjacent to each other and share a set of the misalignment drive mechanism (788).

2. The gripping device for safety pins according to claim 1, characterized in that, The robotic arm also includes a left axis fixing plate (791), a right axis fixing plate (792), and one or more transverse guide shafts (793). The left axis fixing plate (791) and the right axis fixing plate (792) are arranged opposite to each other on both sides of the fixture connecting plate (750). The two ends of the transverse guide shaft (793) are respectively connected to the left axis fixing plate (791) and the right axis fixing plate (792), and the middle of the transverse guide shaft (793) passes through the left vertical plate (7882) and the right vertical plate (7883).

3. The gripping device for safety pins according to claim 1, characterized in that, The clamp assembly (780) further includes a first upper pressure plate (785) and a second upper pressure plate (786), the first upper pressure plate (785) being mounted on the robotic arm at the front end of the clamping hose and the second upper pressure plate (786) being mounted on the robotic arm at the rear end of the clamping hose.

4. The gripping device for safety pins according to claim 1, characterized in that, The clamp assembly (780) also includes a wing plate (787), which is disposed adjacent to the manipulator holding the protective cap, and a plurality of pressure grooves are provided below the wing plate (787).

5. The gripping device for safety pins according to claim 1, characterized in that, The transmission drive mechanism includes a transmission motor (731), a synchronous belt (732), a transmission drive pulley (733), and a transmission driven pulley (734). The transmission motor (731) and the transmission driven pulley (734) are both fixed on the support frame (710). The transmission drive pulley (733) is mounted on the output shaft of the transmission motor (731). The synchronous belt (732) is arranged around the transmission drive pulley (733) and the transmission driven pulley (734). The lifting seat plate (720) is connected to the synchronous belt (732) through a support plate and a pressure plate. The rotation of the synchronous belt (732) can drive the lifting seat plate to move along the transmission guide rail.

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

7. A material handling and transfer system for safety needles, characterized in that, The gripping device (700) according to any one of claims 1-6 further includes a pitch-changing device (600), the gripping device (700) being disposed above the pitch-changing device (600), the pitch-changing device (600) including a pitch-changing mechanism (610), the pitch-changing mechanism (610) including: A slide plate (611) is provided with a plurality of slides (6111), and there is an included angle between the extending directions of two adjacent slides (6111); Several sets of single slider assemblies (612), each set of single slider assemblies (612) includes a pitch bracket (6121), a guide wheel (6122) and a positioning plate for positioning the safety pin. One or more of the positioning plates are installed on the upper part of the pitch bracket (6121), and the guide wheel (6122) is installed on the bottom of the pitch bracket (6121) and is respectively adapted to be installed in each slide rail (6111) on the slide plate (611). At least one pitch guide shaft (613) is provided, and the pitch bracket (6121) has a shaft hole. The pitch guide shaft (613) passes through the shaft hole of each set of single slider assemblies (612), and the pitch bracket (6121) can slide along the axial direction of the pitch guide shaft (613). Shaft bracket (615), two shaft brackets (615) are arranged opposite to each other on both sides of the pitch mechanism (610), and the two ends of the pitch guide shaft (613) are respectively mounted on the shaft brackets (615) on both sides; A variable pitch drive mechanism (614) is used to drive the slide plate (611) to move up and down.

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