Insulin needle assembling device

Abstract

The invention relates to the technical field of insulin needle processing devices, in particular to an insulin needle assembling device. Compared with the prior art, the automatic assembling machine has the advantages that the automatic assembling machine is high in automation and modular design, the complete process from needle head supply to precise combination of needle heads and needle bases is achieved through close fit of the needle supply part, the needle taking part, the needle inserting part and the base supply part, the assembling efficiency and accuracy are improved, and sanitation and safety of the whole process are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of insulin needle processing devices, in particular to an insulin needle assembling device. Background Art

[0002] In the process of insulin needle production, a very important step is involved, which is to plug the needle into the needle holder. In the early stage of insulin needle production, due to technical limitations, manual plugging was mostly used. Although the assembly of the needle and the needle holder can be achieved through manual plugging, its efficiency is low, and during the plugging process, the sharp needle can easily injure employees by mistake; at the same time, due to the different forces applied by different employees during the plugging process, the lengths of the needles after plugging are different, which does not meet the unified production standards. It can be seen that there is an urgent need for a set of equipment that can replace manual labor to complete the assembly of needles and needle holders. Summary of the invention

[0003] In order to avoid and overcome the technical problems existing in the prior art, the present invention provides an insulin needle assembly device, which can effectively reduce manual participation to improve the production efficiency of insulin needles.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] An insulin needle assembly device comprises a needle supply part for providing needles, a needle removal part for taking out needles from the needle supply part, a needle insertion part for taking out the needles taken out by the needle removal part and inserting them on a needle seat at a needle insertion position, and a seat supply part for continuously providing needle seats to the needle insertion position.

[0006] As a further scheme of the present invention: the needle supply part includes a needle box installed on a support frame for storing needles, and each horizontally placed needle is stacked side by side in the needle box from top to bottom; a rectangular needle dropping hole for vertically dropping needles is provided at the bottom of the needle box, and the length direction of the needle dropping hole is parallel to the length direction of the needles in the needle box; a needle retrieval disk is rotatably installed below the needle dropping hole, and the rotation axis of the needle retrieval disk is parallel to the length direction of the needles in the needle box; the outer circumferential surface of the rotating needle retrieval disk is fitted at the orifice of the needle dropping hole to block the needle in the needle dropping hole, and a needle storage groove that can only accommodate one needle at a time is provided on the outer circumferential surface of the needle retrieval disk, and the groove length direction of the needle storage groove is parallel to the length direction of the needle in the needle box; the needle storage groove is arranged with a magnetic member that can magnetically adsorb the needle in the needle storage groove, and the tail of the needle is exposed outside the needle storage groove.

[0007] As a further solution of the present invention: guide grooves extending in the vertical direction are provided on both sides of the needle box, pressure rods are inserted into the two guide grooves at the same time, the pressure rods press on the needle head, and counterweights are installed at both ends of the pressure rods.

[0008] As a further solution of the present invention: the pressure rod is cylindrical and has a rotation gap between it and the guide groove; the rod body of the pressure rod is coaxially concave with multiple annular grooves with a depth smaller than the radius of the needle and used to embed the top row of needles in the needle box, and the annular grooves are arranged in sequence along the axial direction of the pressure rod.

[0009] As a further solution of the present invention: the counterweight block is a hollow cylinder and is arranged coaxially with the pressure rod; a cylindrical rolling cavity is coaxially formed inside the counterweight block, and a plurality of balls are placed in the rolling cavity. A plurality of protrusions that can collide with the balls and lift the balls are arranged on the inner wall surface of the rolling cavity, and channels for the balls to pass through are formed between adjacent protrusions.

[0010] As a further solution of the present invention: the needle retrieval part includes a needle retrieval forceps which can be opened and closed to clamp the tail of the needle in the needle storage slot rotated to the needle retrieval position, and a needle retrieval telescopic rod for installing the needle retrieval forceps, and the needle retrieval telescopic rod can push the needle retrieval forceps that clamp the needle to the intersection position along the length direction of the notch of the needle storage slot at the needle retrieval position.

[0011] As a further solution of the present invention: a support plate is installed on the telescopic end of the telescopic needle retrieval rod that telescopes in the vertical direction, the needle retrieval forceps are rotatably installed on the support plate, and the rotation axis of the needle retrieval forceps coincides with the axis of the needle on the needle retrieval forceps.

[0012] As a further solution of the present invention: the needle insertion part includes a multi-degree-of-freedom manipulator, at the end of which is fixedly installed a needle insertion clamp that can be opened and closed to clamp the needle head at the intersection position, and the multi-degree-of-freedom manipulator can drive the needle insertion clamp to vertically insert the needle into the needle seat in the seat supply part; the multi-degree-of-freedom manipulator includes an axial telescopic rod fixedly installed on the workbench, and the telescopic direction of the axial telescopic rod is parallel to the axial direction of the needle located at the intersection; the telescopic end of the axial telescopic rod is fixedly installed with a radial telescopic rod, and the telescopic direction of the radial telescopic rod is perpendicular to the telescopic direction of the axial telescopic rod; the telescopic end of the radial telescopic rod is fixedly installed with a plumb telescopic rod, and the telescopic direction of the plumb telescopic rod is perpendicular to the telescopic direction of the radial telescopic rod; the telescopic end of the plumb telescopic rod is fixedly installed with a fixed plate, and the needle insertion clamp is hinged on the fixed plate, and the flipping part can perform a flipping action to rotate the needle to a plumb state with the tail of the needle facing downward.

[0013] As a further solution of the present invention: the flipping part includes a driving telescopic rod installed on a fixed plate, a rack is fixedly installed on the telescopic end of the driving telescopic rod, and the length direction of the rack is parallel to the axial direction of the needle head located at the intersection; the pin insertion pliers is hinged to the fixed plate through a hinge shaft, and the hinge shaft and the pin insertion pliers are fixedly connected to each other; the end of the hinge shaft is coaxially fixed with a gear that is meshed with the rack to drive the pin insertion pliers to complete the flipping action.

[0014] As a further solution of the present invention: the supply seat part includes a swivel ring rotatably installed on the workbench, and the rotating axis of the swivel ring is arranged vertically; a plurality of positioning blocks are evenly arranged in sequence along the circumference of the swivel on the upper ring surface of the swivel, and the positioning blocks are provided with a clamping groove for clamping the needle seat. The swivel can perform a feeding action to rotate each needle seat in sequence to the needle insertion position below the needle insertion clamp.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The advantages of the present invention lie in its highly automated and modular design. Through the close cooperation of the needle supply part, the needle removal part, the needle insertion part and the needle seat part, a complete process from needle supply to precise combination of the needle and the needle seat is realized, which not only improves the assembly efficiency and accuracy, but also ensures the hygiene and safety of the whole process.

[0017] 2. The needle supply part of the present invention adopts a needle box installed on a support frame to store needles in order. Each needle is placed horizontally and stacked side by side in sequence. Such a design not only saves space, but also improves the stability and accessibility of the needles. What is more clever is that a rectangular needle drop hole is designed at the bottom of the needle box, and its length direction is parallel to the length direction of the needle, ensuring the stability and accuracy of the needle when it falls vertically. In addition, the needle supply part is also equipped with a rotary needle retrieval tray, and its rotation axis is consistent with the length direction of the needle. Such a design enables the needle retrieval tray to effectively block the needle in the needle drop hole when the outer circumferential surface fits the orifice of the needle drop hole, thereby avoiding the accidental drop of the needle. The needle storage slot design on the needle retrieval tray is even more ingenious, and can only accommodate one needle at a time, ensuring the accuracy and consistency of needle retrieval. At the same time, a magnetic piece is also equipped in the needle storage slot, which can magnetically adsorb the needle so that the tail of the needle is exposed outside the needle storage slot, which is convenient for needle retrieval and ensures the stability and safety of the needle.

[0018] 3. The guide grooves and inserted pressure rods on both sides of the needle box can further improve the stability of the needles and the convenience of taking them. The pressure rod presses on the needles and maintains balance through the counterweights at both ends. At the same time, a rotation gap is left between the pressure rod and the guide groove, so that the pressure rod can rotate slightly when subjected to external force, thereby more flexibly adapting to needles of different sizes. The design of multiple coaxially concave annular grooves on the pressure rod body provides convenience for embedding the top row of needles in the needle box. The pressure rod presses on the middle of the needles in the needle box, and the top row of needles are embedded in the annular grooves, which can maintain its stability and avoid the shaking and dislocation of the needles due to the vibration of the device during the processing, making the needle removal process smoother.

[0019] 4. The rolling cavity and ball design inside the counterweight not only reduces the weight of the counterweight, but also increases the downward pressure of the pressure rod through the collision and lifting of the ball and the protrusion, avoiding the situation where the needles inside the needle box are stuck due to backlog and cannot fall, and improving the stability and flexibility during the needle removal process. This design not only improves the assembly efficiency, but also ensures the safety and reliability of the entire assembly process.

[0020] 5. The needle retrieval part realizes accurate clamping and pushing of the tail of the needle in the needle storage slot through the combination of the openable needle retrieval forceps and the needle retrieval telescopic rod. The needle retrieval forceps can clamp the tail of the needle in the needle storage slot rotated to the needle retrieval position, and the needle retrieval telescopic rod can push the needle retrieval forceps that clamp the needle to the intersection along the length of the needle storage slot at the needle retrieval position, which provides convenience for the subsequent needle insertion operation.

[0021] 6. In the design of the telescopic rod for needle retrieval, a support plate is installed on the telescopic end, and the needle retrieval forceps are rotatably installed on the support plate, and the rotation axis of the needle retrieval forceps coincides with the axis of the needle on the needle retrieval forceps. This design ensures the stability and accuracy of the needle retrieval forceps when clamping the needle, and avoids needle retrieval failure or needle damage caused by the misalignment of the needle retrieval forceps and the needle axis.

[0022] 7. The needle insertion part adopts a multi-degree-of-freedom manipulator, and the end of the multi-degree-of-freedom manipulator is fixedly installed with a needle insertion clamp that can be opened and closed to clamp the needle head at the junction. The multi-degree-of-freedom manipulator can drive the needle insertion clamp to vertically insert the needle into the needle seat in the seat supply part, realizing the automation and accuracy of the needle insertion process. The three telescopic rods of the manipulator cooperate with each other, so that the needle insertion clamp can accurately reach the junction and clamp the needle, and then vertically insert it into the needle seat.

[0023] 8. The pin insertion forceps are also equipped with a flipping part, which realizes the flipping action of the pin insertion forceps by driving the combination of the telescopic rod, rack and gear. The flipping part can make the needle rotate to a vertical state with the tail of the needle facing downward, which provides a guarantee for the precise combination of the needle and the needle seat.

[0024] 9. The supply seat part adopts a rotating ring rotatably mounted on the workbench, and multiple positioning blocks are evenly arranged in the circumferential direction on the rotating ring, and the positioning blocks are provided with a slot for clamping the needle seat. The rotating ring can make each needle seat rotate to the pin insertion position under the pin insertion clamp in turn, providing a continuous supply of needle seats for the pin insertion part. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 It is a front view of the assembly structure of the needle supply part and the needle removal part in the present invention.

[0027] Figure 3 It is a rear view of the assembly structure of the needle supply part and the needle removal part in the present invention.

[0028] Figure 4 It is a schematic diagram of the split structure of the needle supply part in the present invention.

[0029] Figure 5 It is a schematic diagram of the assembly structure of the pressure rod and the counterweight block in the present invention.

[0030] Figure 6 It is a structural schematic diagram of the needle removal disk in the present invention.

[0031] Figure 7 It is a structural schematic diagram of the seat portion in the present invention.

[0032] Figure 8 It is a schematic diagram of the assembly structure of the support rod and the roller in the present invention.

[0033] In the figure: 1, workbench; 11, support frame; 2, needle supply unit; 21, needle box; 211, guide groove; 212, needle drop hole; 213, positioning hole; 22, needle removal plate; 221, needle storage groove; 23, pressure rod; 231, annular groove; 24, counterweight; 241, protrusion; 242, ball bearing; 25, stop pin; 3, needle removal unit; 31, needle removal telescopic rod; 32, support plate; 33, needle removal motor; 34, needle removal forceps; 4, needle insertion unit; 41, Multi-degree-of-freedom manipulator; 411, axial telescopic rod; 412, radial telescopic rod; 413, vertical telescopic rod; 42, fixed plate; 43, flipping part; 431, driving telescopic rod; 432, rack; 433, hinge shaft; 434, gear; 44, needle pliers; 5, seat part; 51, swivel; 52, positioning block; 521, slot; 53, support rod; 531, roller; 6, identification part; 61, camera; a, needle head; b, needle seat. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figures 1 to 8 In an embodiment of the present invention, an insulin needle assembly device includes a workbench 1 installed on the ground, on which a needle supply part 2, a needle removal part 3, a needle insertion part 4, a turning part 43, a seat part 5, and an identification part 6 are sequentially installed.

[0036] The seat portion 5 includes a swivel ring 51 rotatably mounted on the workbench 1, the annular surface of the swivel ring 51 is arranged horizontally, and the swivel axis of the swivel ring 51 is arranged vertically. On the upper annular surface of the swivel ring 51, a plurality of positioning blocks 52 are evenly arranged in sequence along the circumference of the swivel ring 51, and each positioning block 52 is provided with a slot 521 for clamping the needle seat b. The swivel ring 51 rotates so that each needle seat b clamped in the slot 521 rotates in sequence to the pin insertion position below the pin insertion clamp 44 and waits for the pin to be inserted. In order to improve the stability of the rotation of the swivel ring 51, a plurality of support rods 53 are installed on the workbench 1 at the bottom of the swivel ring 51, and each support rod 53 is equidistantly arranged in sequence along the circumference of the swivel ring 51. A roller 531 is hinged on the top of the support rod 53, and the rotation axis of the roller 531 is perpendicular to the rotation axis of the swivel 51, and the wheel surface of the roller 531 rolls together with the lower ring surface of the swivel 51. When the servo motor drives the swivel 51 to rotate, the support rod 53 and the roller 531 cooperate to avoid eccentricity of the swivel 51 and improve the stability of the rotation of the swivel 51.

[0037] The needle supply part 2 includes a needle box 21 installed on the support frame 11 for storing needles a. The needle box 21 has a needle storage space that is larger at the top and smaller at the bottom, and the thickness of the needle storage space is slightly larger than the length of the needle a to prevent the needle a from getting stuck in the needle box 21, so that the horizontally placed needles a can be stacked side by side from top to bottom in the needle box 21. A rectangular needle drop hole 212 is provided at the bottom of the needle box 21 for the needle a to drop vertically, and the length direction of the needle drop hole 212 is parallel to the length direction of the needle a in the needle box 21. A disc-shaped needle removal disk 22 is rotatably installed below the needle drop hole 212, and the rotation axis of the needle removal disk 22 is parallel to the length direction of the needle a in the needle box 21. The outer circumferential surface of the rotating needle retrieval disk 22 fits against the opening of the needle drop hole 212 to block the needle a in the needle drop hole 212, and then a needle storage groove 221 that can only accommodate one needle a at a time is opened on the outer circumferential surface of the needle retrieval disk 22, and the groove length direction of the needle storage groove 221 is parallel to the length direction of the needle a in the needle box 21; the needle storage groove 221 is arranged with a magnetic part that can magnetically adsorb the needle a in the needle storage groove 221, and the tail of the needle a is exposed outside the needle storage groove 221, so that when the needle retrieval disk 22 is driven by the servo motor to rotate, the needle storage groove 221 passes through the needle drop hole 212, and one needle a falls into the needle storage groove 221, and the tail of the needle a is exposed outside the needle storage groove 221, which is convenient for clamping by the needle retrieval forceps 34. Under the adsorption action of the electromagnet as the magnetic force part, the needle a turns away from the drop hole along with the needle storage groove 221, and rotates 180 degrees to the needle retrieval position at the bottom of the needle retrieval tray 22, so as to be clamped by the needle retrieval forceps 34. Positioning holes 213 are provided on both sides of the needle drop hole 212 on the needle box 21. A U-shaped card-shaped stop pin 25 is inserted into the positioning hole 213 to block the needle drop hole 212 to prevent the needle a from falling, so as to block the needle a when replacing the needle retrieval tray 22. The needle can also be removed from the needle retrieval tray 22 by vacuum adsorption. That is, a small vacuum pump is arranged in the needle retrieval tray 22, and the vacuum pump is connected to the suction hole provided at the bottom of the needle storage groove 221, so as to adsorb the needle a in the needle storage groove 221.

[0038] As the needle a is continuously taken away by the needle tray 22, the needle a in the needle box 21 gradually sinks. In order to further improve the stability of the sinking, guide grooves 211 extending in the vertical direction are provided on both sides of the needle box 21. Pressure rods 23 are inserted in the two guide grooves 211 at the same time. The pressure rods 23 press on the needle a, and counterweights 24 are installed at both ends of the pressure rods 23. The pressure rod 23 is cylindrical, and there is a rotation gap between it and the guide grooves 211; the rod body of the pressure rod 23 is coaxially concave with multiple annular grooves 231 with a groove depth less than the radius of the needle a and used to embed the needle a in the uppermost row of the needle box 21, and each annular groove 231 is arranged in sequence along the axial direction of the pressure rod 23. The pressure rod 23 presses on the middle of the needles a in the needle box 21, and at the same time, the needles a in the uppermost row are embedded in the annular groove 231, which can keep them stable and avoid the needles a shaking and misalignment due to the vibration of the device during the processing, making the needle removal process smoother.

[0039] The counterweight block 24 is a hollow cylinder and is arranged coaxially with the pressure rod 23; a cylindrical rolling cavity is coaxially formed inside the counterweight block 24, and a plurality of balls 242 are placed in the rolling cavity. A plurality of protrusions 241 that can collide with and lift the balls 242 are arranged on the inner wall surface of the rolling cavity, and a passage for the balls 242 to pass through is formed between adjacent protrusions 241. The design of the rolling cavity and the balls 242 arranged inside the counterweight block 24 not only reduces the weight of the counterweight block 24, but also, when the entire device is running, the balls 242 will collide and lift with the protrusions 241 during the rolling process due to vibration, thereby increasing the downward pressure trend of the pressure rod 23, avoiding the situation in which the needle a cannot fall due to the backlog of needles a stuck inside the needle box 21, and improving the stability during the needle removal process. When the device vibrates during operation, due to the clearance between the pressure rod 23 and the guide hole, and the smaller rolling between the annular groove 231 and the needle a, the ball 242 will roll between the protrusions 241 in the rolling cavity; at the same time, the slightly raised protrusion 241 will cause the ball 242 passing through it to be lifted up, and then fall down and collide with the counterweight 24, thereby providing an intermittent and repetitive downward pressure vibration force for the pressure rod 23, so as to regularly push the needle a to gather at the drop hole, avoid the needle a on the lower side of the needle box 21 and the needle a on the upper side from being piled up and stuck to each other, thereby improving the continuity of the feeding.

[0040] The needle removal part 3 includes a needle removal forceps 34 that can be opened and closed to clamp the tail of the needle a in the needle storage slot 221 rotated to the needle removal position, and a needle removal telescopic rod 31 for installing the needle removal forceps 34. The needle removal forceps 34 adopts a commonly used automatic clamping jaw structure, which can realize the clamping of the needle a. The telescopic motor of the needle removal telescopic rod 31 drives the needle removal forceps 34 to move to the needle removal position, and the jaws open and clamp at the tail of the needle a. Then the needle removal telescopic rod 31 is extended to push the needle a downward along the long direction of the notch of the needle storage slot 221 to the intersection position. At this time, the camera 61 in the recognition part 6 will take a picture of the needle a in the intersection position, and send the photographed photo to the computer. The computer calculates the angle that the needle a needs to rotate to the standard position based on the position of the incision of the needle a in the photo, and then transmits the information to the needle removal motor 33, and the drive motor drives the needle removal forceps 34 to rotate the corresponding angle around the axis of the needle a on the needle removal forceps 34 so that the needle a is in the standard position.

[0041] The needle insertion part 4 includes a multi-degree-of-freedom manipulator 41, at the end of which is fixedly mounted a needle insertion clamp 44 that can be opened and closed to clamp the head of the needle a at the junction position. The multi-degree-of-freedom manipulator 41 can drive the needle insertion clamp 44 to vertically insert the needle a into the needle seat b in the seat supply part 5. The needle insertion clamp 44 adopts a commonly used automatic clamping jaw structure, which can realize the clamping of the needle a. The multi-degree-of-freedom manipulator 41 includes an axial telescopic rod 411 fixedly installed on the workbench 1, and the telescopic direction of the axial telescopic rod 411 is parallel to the axial direction of the needle a located at the intersection; a radial telescopic rod 412 is fixedly installed on the telescopic end of the axial telescopic rod 411, and the telescopic direction of the radial telescopic rod 412 is perpendicular to the telescopic direction of the axial telescopic rod 411; a plumb telescopic rod 413 is fixedly installed on the telescopic end of the radial telescopic rod 412, and the telescopic direction of the plumb telescopic rod 413 is perpendicular to the telescopic direction of the radial telescopic rod 412; a fixed plate 42 is fixedly installed on the telescopic end of the plumb telescopic rod 413, and a needle clamp 44 is hinged on the fixed plate 42, and the flipping part 43 can make the needle a rotate to a plumb state with the tail of the needle a facing downward.

[0042] The flipping part 43 includes a driving telescopic rod 431 installed on the fixed plate 42, and a rack 432 is fixedly installed on the telescopic end of the driving telescopic rod 431, and the length direction of the rack 432 is parallel to the axial direction of the needle a located at the intersection; the pin insertion forceps 44 are hinged on the fixed plate 42 through a hinge shaft 433, and the hinge shaft 433 and the pin insertion forceps 44 are fixed to each other; the end of the hinge shaft 433 is coaxially fixed with a gear 434 that is in transmission engagement with the rack 432 to drive the pin insertion forceps 44 to complete the flipping action. The flipping action of the pin insertion forceps 44 is achieved by the combination of the driving telescopic rod 431, the rack 432 and the gear 434. The flipping part 43 can make the needle a rotate to a vertical state with the tail of the needle a facing downward, which provides a guarantee for the precise combination of the needle a and the needle seat b.

[0043] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An insulin needle assembly device, characterized in that: The invention comprises a needle supply part (2) for providing a needle (a), a needle removal part (3) for taking out the needle (a) from the needle supply part (2), a needle insertion part (4) for taking out the needle (a) taken out by the needle removal part (3) and inserting it into a needle seat (b) located at a needle insertion position, and a seat supply part (5) for continuously providing the needle seat (b) to the needle insertion position.

2. An insulin needle assembly device according to claim 1, characterized in that: The needle supply part (2) comprises a needle box (21) mounted on a support frame (11) for storing needles (a), wherein the needles (a) placed horizontally are stacked side by side in the needle box (21) from top to bottom; a rectangular needle drop hole (212) is provided at the bottom of the needle box (21) for the needles (a) to drop vertically, and the hole length direction of the needle drop hole (212) is parallel to the length direction of the needles (a) in the needle box (21); a needle removal disk (22) is rotatably mounted below the needle drop hole (212), and the rotation axis of the needle removal disk (22) is aligned with the needles (a) in the needle box (21). The length directions are parallel to each other; the outer circumferential surface of the rotating needle retrieval disk (22) fits the opening of the needle drop hole (212) to block the needle (a) in the needle drop hole (212); a needle storage groove (221) capable of accommodating only one needle (a) at a time is provided on the outer circumferential surface of the needle retrieval disk (22); the groove length direction of the needle storage groove (221) is parallel to the length direction of the needle (a) in the needle box (21); the needle storage groove (221) is provided with a magnetic part capable of magnetically adsorbing the needle (a) in the needle storage groove (221), and the tail of the needle (a) is exposed outside the needle storage groove (221).

3. An insulin needle assembly device according to claim 2, characterized in that: Both sides of the needle box (21) are provided with guide grooves (211) extending in the vertical direction, and pressure rods (23) are inserted into the two guide grooves (211) at the same time. The pressure rods (23) are pressed on the needle head (a), and counterweights (24) are installed at both ends of the pressure rods (23).

4. An insulin needle assembly device according to claim 3, characterized in that: The pressure rod (23) is cylindrical and has a rotation gap between it and the guide groove (211); the rod body of the pressure rod (23) is coaxially concave with a plurality of annular grooves (231) having a groove depth less than the radius of the needles (a) and used for embedding the needles (a) in the uppermost row of the needle box (21), and the annular grooves (231) are arranged in series along the axial direction of the pressure rod (23).

5. An insulin needle assembly device according to claim 4, characterized in that: The counterweight block (24) is a hollow cylinder and is coaxially arranged with the pressure rod (23); a cylindrical rolling cavity is coaxially formed inside the counterweight block (24), and a plurality of balls (242) are placed in the rolling cavity. A plurality of protrusions (241) that can collide with the balls (242) and lift the balls (242) are arranged on the inner wall surface of the rolling cavity, and channels for the balls (242) to pass through are formed between adjacent protrusions (241).

6. An insulin needle assembly device according to any one of claims 1 to 5, characterized in that: The needle retrieval part (3) comprises a needle retrieval forceps (34) which can be opened and closed to clamp the tail of the needle (a) in the needle storage groove (221) rotated to the needle retrieval position, and a needle retrieval telescopic rod (31) for installing the needle retrieval forceps (34), and the needle retrieval telescopic rod (31) can push the needle retrieval forceps (34) for clamping the needle (a) to the intersection position along the length direction of the notch of the needle storage groove (221) at the needle retrieval position.

7. An insulin needle assembly device according to claim 6, characterized in that: A support plate (32) is installed on the telescopic end of the needle retrieval telescopic rod (31) that telescopes in the vertical direction, and the needle retrieval forceps (34) are rotatably installed on the support plate (32), and the rotation axis of the needle retrieval forceps (34) and the axis of the needle head (a) on the needle retrieval forceps (34) coincide with each other.

8. An insulin needle assembly device according to claim 7, characterized in that: The needle insertion part (4) comprises a multi-degree-of-freedom manipulator (41), at the end of which a needle insertion clamp (44) is fixedly mounted, which can be opened and closed to clamp the head of the needle (a) at the junction, and the multi-degree-of-freedom manipulator (41) can drive the needle insertion clamp (44) to vertically insert the needle (a) into the needle seat (b) in the seat supply part (5); the multi-degree-of-freedom manipulator (41) comprises an axial telescopic rod (411) fixedly mounted on the workbench (1), the telescopic direction of the axial telescopic rod (411) is parallel to the axial direction of the needle (a) at the junction; the telescopic end of the axial telescopic rod (411) is fixedly mounted on the workbench (1) A radial telescopic rod (412) is installed, and the telescopic direction of the radial telescopic rod (412) is perpendicular to the telescopic direction of the axial telescopic rod (411); a vertical telescopic rod (413) is fixedly installed on the telescopic end of the radial telescopic rod (412), and the telescopic direction of the vertical telescopic rod (413) is perpendicular to the telescopic direction of the radial telescopic rod (412); a fixing plate (42) is fixedly installed on the telescopic end of the vertical telescopic rod (413), and the needle clamp (44) is hinged on the fixing plate (42), and the flip part (43) can make the needle (a) rotate to a vertical state and flip the tail of the needle (a) downward.

9. An insulin needle assembly device according to claim 8, characterized in that: The flipping portion (43) comprises a driving telescopic rod (431) mounted on the fixed plate (42); a rack (432) is fixedly mounted on the telescopic end of the driving telescopic rod (431); and the length direction of the rack (432) is parallel to the axial direction of the needle head (a) located at the intersection; the pin insertion forceps (44) are hinged on the fixed plate (42) through a hinge shaft (433); the hinge shaft (433) and the pin insertion forceps (44) are fixedly connected to each other; and a gear (434) is coaxially fixedly connected to the end of the hinge shaft (433) and is in transmission meshing engagement with the rack (432) so as to drive the pin insertion forceps (44) to complete the flipping action.

10. An insulin needle assembly device according to claim 9, characterized in that: The supply seat part (5) comprises a rotating ring (51) rotatably mounted on the workbench (1), and the rotating axis of the rotating ring (51) is arranged vertically; a plurality of positioning blocks (52) are evenly arranged in sequence along the circumference of the rotating ring (51) on the upper ring surface of the rotating ring (51), and a clamping groove (521) for clamping the needle seat (b) is provided on the positioning block (52), and the rotating ring (51) can perform a feeding action to make each needle seat (b) rotate in sequence to the needle insertion position below the needle insertion clamp (44).

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