Needle mounting equipment and needle mounting method

Abstract

The invention relates to the field of needle tube assembly equipment, and discloses needle mounting equipment and a needle mounting method, which can be used for mounting a needle tube at high precision. The device comprises a bracket, the material storage tank is arranged on the bracket, and a material outlet is formed in the material storage tank; the conveying wheel is rotatably arranged on the support, a plurality of transfer grooves are formed in the conveying wheel and are formed in the peripheral side of the conveying wheel, the peripheral side of the conveying wheel is in butt joint with the material storage groove, and the plurality of transfer grooves can be in butt joint with the discharging port after rotation; the steering assembly comprises a steering groove, a first power piece and a second power piece, the steering groove is rotatably formed in the support, after the conveying wheels rotate, the transfer groove can move to the steering groove, and the first power piece drives the steering groove to rotate; the guide block is rotatably arranged on the support, the steering groove is communicated with the guide block through a pipeline, and the second power piece is used for driving the needle tube on the steering groove to be conveyed to the guide block along the pipeline; the pin head is detachably arranged on the support, and a through hole is formed in the pin head; the positioning head is detachably arranged on the support, and the positioning head is provided with a positioning plane.

Description

Technical Field

[0001] The invention relates to the field of needle tube assembly equipment, in particular to a needle assembly device and a needle assembly method. Background Art

[0002] The current needle assembly process mostly relies on manual operation to assemble the needles one by one. However, the fineness of the needle head and the close arrangement of the needles make accurate positioning of the needles a technical challenge. During assembly, the needles must be accurately inserted into the pinholes of the needle plate, and any slight error may cause assembly failure. The precise alignment of the needles and the pinholes is crucial, which places extremely high standards on the accuracy of the assembly system. During the assembly process, the orientation of the needle installation, the verticality deviation of the needle head based on the needle plate, and the flatness deviation of the needle plate may all cause damage to the needle sleeve or deformation of the needle, thereby affecting the functionality of the needle.

[0003] In order to optimize this process, the introduction of automated or semi-automated assembly technology is a feasible way, which can not only reduce human errors, but also significantly improve the speed and accuracy of assembly. In addition, innovating the design of needles and needle heads to improve their structural rationality and operational fault tolerance is also a key strategy to improve the performance of existing assembly systems. Through these measures, it can be expected that the efficiency and reliability of the needle assembly process will be significantly improved. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a needle installation device that can install needle tubes with high precision and improve production efficiency.

[0005] The present invention also provides a needle loading method having the needle loading device.

[0006] On the one hand, according to the needle loading device of the embodiment of the present invention,

[0007] Bracket;

[0008] A material storage trough is arranged on the bracket, and the material storage trough is provided with a material discharge port;

[0009] A conveying wheel is rotatably arranged on the bracket, and a plurality of transfer grooves are arranged on the conveying wheel, and the transfer grooves are arranged on the peripheral side of the conveying wheel, and the peripheral side of the conveying wheel is connected to the material storage tank, and after rotation, the plurality of transfer grooves can be connected to the discharge port respectively;

[0010] A steering assembly, comprising a steering trough, a first power member and a second power member, wherein the steering trough is rotatably arranged on the bracket, and after the conveying wheel is rotated, the transfer trough can move to the steering trough, and the first power member drives the steering trough to rotate;

[0011] A guide block is rotatably arranged on the bracket, the steering groove and the guide block are connected through a pipeline, and the second power member is used to drive the needle tube on the steering groove to be transported along the pipeline to the guide block;

[0012] A pin head is detachably mounted on the guide block, and the pin head is provided with a through hole;

[0013] The positioning head is detachably arranged on the guide block, and the positioning head is provided with a positioning plane.

[0014] According to some embodiments of the present invention, a needle pressing assembly is further included, wherein the needle pressing assembly includes a pressing block and a third power member, wherein the pressing block is disposed on the bracket and located above the pin head, and the third power member drives the pressing block to move toward the pin head.

[0015] According to some embodiments of the present invention, a first photographing component is further included, wherein the first photographing component is disposed on the bracket and is used to photograph the needle plate.

[0016] According to some embodiments of the present invention, a frame is further included, and the frame is provided with a transfer component, and the transfer component is used to drive the bracket to move in the up-down, left-right and front-back directions.

[0017] According to some embodiments of the present invention, the steering assembly further includes a suction piece, and the suction piece is used to suction the needle tube.

[0018] According to some embodiments of the present invention, the steering assembly further includes a third photographing assembly, wherein the third photographing assembly is used to photograph the steering groove, and the third photographing assembly is electrically connected to the first power member.

[0019] According to some embodiments of the present invention, a locking assembly is further included, wherein the locking assembly includes:

[0020] A connecting protrusion is provided on the guide block, the bracket is provided with a first spherical groove, the connecting protrusion is provided with a first spherical surface, and the first spherical surface cooperates with the first spherical groove;

[0021] A locking piece passes through the connecting protrusion and is connected to the bracket, so that the guide block and the bracket are relatively fixed.

[0022] On the other hand, a needle loading method according to an embodiment of the present invention includes a needle loading device according to the above embodiment of the present invention.

[0023] A needle installation method comprises the following steps:

[0024] Pre-position, install the positioning head on the guide block, rotate and adjust the direction of the guide block and move the bracket so that the guide plane of the positioning head is completely in contact with the needle plate, fix the guide block and replace the positioning head with the pin head;

[0025] Photo positioning: photographing the needle plate through the first camera assembly to locate the pinhole on the needle plate;

[0026] Moving the bracket to move the pin head to above the corresponding pin hole;

[0027] Transport the needle tube, drive the conveying wheel to rotate, the needle tube in the storage tank falls into the transfer tank of the conveying wheel, and the needle tube leaves the conveying wheel and is transported to the needle head on the guide block;

[0028] Needle installation: install the needle tube on the needle head onto the needle plate.

[0029] According to some embodiments of the present invention, a needle pressure detection step A is also included, in which the position of the needle tube is detected by a displacement sensor. If the needle tube moves to the corresponding position, the next step is continued; if the needle tube cannot move to the corresponding position, the work is stopped.

[0030] According to some embodiments of the present invention, the needle tube installation step also includes a needle pressure detection step B, in which the pressure of the needle tube during the downward pressing process is detected by a pressure sensor. When the needle tube does not move to the corresponding position, if the pressure is greater than a threshold value, the operation is stopped; if the pressure is less than the threshold value, the operation continues.

[0031] The embodiments of the present invention have at least the following beneficial effects:

[0032] A large number of needle tubes can be placed in the storage trough in advance, which is convenient for long-term work. The needle tubes are discharged from the discharge port below the storage trough; a motor is provided on the conveying wheel, which can drive the conveying wheel to rotate continuously so that the needle tubes can be transported to the steering assembly one by one. The size of the transfer trough is suitable for the diameter of the needle tube. A transfer trough is provided on the conveying wheel. The conveying wheel rotates on the bracket. When the conveying wheel docks with the discharge port of the discharge trough, the needle tube just falls into the transfer trough. The conveying wheel continues to rotate, and the transfer trough can move to the steering trough. The needle tube just falls on the corresponding position of the steering trough. The steering trough determines the direction of the needle tube and determines whether the steering trough controls the first power member to drive the steering trough to rotate, so that the needle tube faces the correct direction. The steering groove and the guide block are connected by a pipeline, so that the needle tube of the steering groove is transported to the guide block through the second power member. The guide block is rotatably arranged on the bracket, and the guide block can slightly adjust the angle so that the needle tube can be vertically inserted into the needle plate; when it is necessary to adjust the verticality of the positioning head, the positioning head is installed on the guide block, the angle of the guide block is adjusted to make the positioning plane fit the needle plate, the guide block is fixed to keep the corresponding angle, the needle head is replaced, and the needle tube is inserted into the needle plate along the through hole. The positioning angle of the positioning head can ensure that the needle tube can be vertically inserted into the needle plate, prevent the needle tube from being inserted at an angle, resulting in damage to the needle tube, and improve the accuracy and yield of the product.

[0033] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0035] Figure 1 It is a schematic diagram of the overall structure of the needle loading device according to an embodiment of the present invention;

[0036] Figure 2 for Figure 1 A schematic structural diagram of the bracket part from a first viewing angle is shown;

[0037] Figure 3 for Figure 1 A schematic diagram of the structure of the bracket part from a second viewing angle is shown;

[0038] Figure 4 for Figure 1 A schematic diagram of the structure of the storage tank and the steering assembly shown;

[0039] Figure 5 for Figure 1 The structural schematic diagram of the guide block pressing needle structure shown;

[0040] Figure 6 for Figure 6A schematic diagram of the structure of a pipeline cutting section is shown;

[0041] Figure 7 for Figure 6 A schematic structural diagram of a cut section of the locking assembly is shown;

[0042] Figure 8 for Figure 1 A schematic structural diagram of a second photographing assembly is shown;

[0043] Fig. 9 for Figure 1 The structural schematic diagram of the optical calibration plate shown;

[0044] Reference numerals:

[0045] Frame 100, transfer assembly 110, second camera assembly 120, refractive lens 121, lens 122, optical calibration plate 130, fourth power member 140

[0046] The bracket 200 includes a first photographing component 210;

[0047] The material storage tank 300 and the material outlet 310 limit piece 320;

[0048] Conveying wheel 400, transfer trough 410;

[0049] Steering assembly 500, steering groove 510, first power member 520, second power member 530, third camera assembly 550;

[0050] Guide block 600, pin head 610, through hole 611, first connection plane 612, positioning head 620, positioning plane 621, second connection plane 622, pipeline 630, guide channel 631, guide channel 632;

[0051] Pressure needle assembly 700, pressure block 710, third power member 720, pressure sensor 730, displacement sensor 740

[0052] Locking assembly 800 , connecting protrusion 810 , and locking member 820 . DETAILED DESCRIPTION

[0053] The following content will describe several embodiments of the present invention, including embodiments corresponding to the drawings. It can be understood that the drawings are used to assist in understanding the technical features and technical solutions of the present invention, and should not be understood as limiting the scope of protection of the present invention.

[0054] The following will be combined with the embodiments and drawings to clearly and completely describe the concept, specific structure and technical effects of the present invention, so as to fully understand the purpose, scheme and effect of the present invention. It should be noted that the embodiments and features in the embodiments of this application can be combined with each other without conflict.

[0055] It should be noted that, unless otherwise clearly defined, when a feature is referred to as "fixed", "connected" or "installed" on another feature, it can be directly fixed or connected to another feature, or it can be indirectly fixed or connected to another feature. The words "fixed", "connected" or "installed" should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0056] It should be noted that the description of the orientation or position relationship indicated by up, down, left, right, top, bottom, front, back, inside, outside, etc. used in the present invention is based on the orientation or position relationship of the drawings or embodiments, and is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0057] It should be noted that the term "and / or" used in the present invention includes any combination of one or more related listed items, "above", "below", "within", etc. are understood to include the number itself.

[0058] It should be noted that, in the present invention, the description of first and second is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the sequence of the indicated technical features.

[0059] It should be noted that, unless otherwise clearly defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art. The terms used in this specification are only for describing specific embodiments and are not intended to limit the present invention.

[0060] Reference Figure 1-Figure 9 The basic embodiment of the first aspect of the present invention provides a needle loading device, comprising:

[0061] Bracket 200;

[0062] A material storage tank 300 is provided on the bracket 200, and the material storage tank 300 is provided with a material outlet 310;

[0063] The conveying wheel 400 is rotatably disposed on the bracket 200. A plurality of transfer grooves 410 are disposed on the conveying wheel 400. The transfer grooves 410 are disposed on the periphery of the conveying wheel 400. The periphery of the conveying wheel 400 is connected to the material storage tank 300. After rotation, the plurality of transfer grooves 410 can be connected to the discharge port 310 respectively.

[0064] The steering assembly 500 includes a steering trough 510, a first power member 520 and a second power member 530. The steering trough 510 is rotatably disposed on the bracket 200. After the conveying wheel 400 rotates, the transfer trough 410 can move to the steering trough 510. The first power member 520 drives the steering trough 510 to rotate.

[0065] The guide block 600 is rotatably disposed on the bracket 200. The steering groove 510 and the guide block 600 are connected through a pipeline 630. The second power member 530 is used to drive the needle tube on the steering groove 510 to be transported along the pipeline 630 to the guide block 600.

[0066] The pin head 610 is detachably mounted on the guide block 600 , and the pin head 610 is provided with a through hole 611 ;

[0067] The positioning head 620 is detachably disposed on the guide block 600 , and the positioning head 620 is provided with a positioning plane 621 .

[0068] According to the embodiment of the present invention, by such an arrangement, at least the following effects can be achieved: a large number of needle tubes can be placed in the storage trough 300 in advance, which is convenient for long-term work, and the needle tubes are discharged from the discharge port 310 below the storage trough 300; a motor is provided on the conveying wheel 400, which can drive the conveying wheel 400 to rotate continuously so that the needle tubes can be transported to the steering assembly 500 one by one, and the size of the transfer trough 410 is suitable for the diameter of the needle tube. A transfer trough 410 is provided on the conveying wheel 400, and the conveying wheel 400 rotates on the bracket 200. When the conveying wheel 400 docks with the discharge port 310 of the discharge trough, the needle tube just falls into the transfer trough 410, and the conveying wheel 400 continues to rotate, and the transfer trough 410 can move to the steering trough 510, and the needle tube just falls on the corresponding position of the steering trough 510. The steering trough 510 determines whether the steering trough 510 controls the driving of the first power member 520 by determining the direction of the needle tube. The steering groove 510 rotates to make the needle tube face the correct direction; the steering groove 510 and the guide block 600 are connected by the pipeline 630, so that the needle tube of the steering groove 510 is transported to the guide block 600 through the second power member 530, and the guide block 600 is rotatably arranged on the bracket 200. The guide block 600 can slightly adjust the angle so that the needle tube can be vertically inserted into the needle plate; when it is necessary to adjust the verticality of the positioning head 620, by installing the positioning head 620 on the guide block 600, adjusting the angle of the guide block 600, so that the positioning plane 621 fits the needle plate, fixing the guide block 600, so that the guide block 600 maintains the corresponding angle, replacing the needle head 610, and the needle tube is inserted into the needle plate along the through hole 611. The positioning angle of the positioning head 620 can ensure that the needle tube can be vertically inserted into the needle plate, preventing the needle tube from being inserted at an angle and causing damage to the needle tube, thereby improving the accuracy and yield of the product.

[0069] It can be understood that the turning groove 510 can be located below the conveying wheel 400. When the transfer groove 410 moves to the top of the turning groove 510, the needle tube naturally falls due to gravity and just falls into the turning groove 510. The turning groove 510 can also be provided with a guide slope. Please refer to the attached figure. The needle tube slides along the guide slope into the turning groove 510.

[0070] It can be understood that the turning groove 510 is provided with a groove running through the front and back, the needle tube can fall into the groove, and after rotation, both sides of the turning groove 510 can be connected to the pipeline 630 respectively.

[0071] In some embodiments, the pin pressing assembly 700 includes a pressing block 710 and a third power member 720 . The pressing block 710 is disposed on the bracket 200 and located above the pin head 610 . The third power member 720 drives the pressing block 710 to move toward the pin head 610 .

[0072] Some needle tubes can naturally fall into the needle grooves of the needle plate due to gravity, while some needle tubes cannot fall directly into the needle plate due to certain friction between the needle plate and the needle plate. The needle pressing assembly 700 can press the needle tubes into the needle plate.

[0073] In some embodiments, the pressure needle assembly 700 further includes a pressure sensor 730 . The pressure sensor 730 is disposed on the pressing block 710 . The pressure sensor 730 is used to detect the pressure of the pressing block 710 .

[0074] The pressure sensor 730 is arranged on the pressing block 710. When the pressing block 710 is pressed against the pressing needle, it can detect the pressure between the needle tube and the needle plate. During the pressing process of the needle tube, if the pressure is less than the threshold value, the pressing component works normally. If the pressure is greater than the threshold value, the needle hole of the needle plate may be blocked, the angle may be skewed, the position may be skewed, etc., resulting in excessive pressure. The pressing component is controlled to stop working and an alarm is issued to remind the staff to deal with it in time to prevent damage to the needle tube or the needle plate.

[0075] It can be understood that the pressure during the normal downward pressing process of the pressure component gradually increases, and the threshold is the pressure at which the pressure component just reaches the maximum moving distance.

[0076] In some embodiments, the needle pressing assembly 700 further includes a displacement sensor 740 , which is disposed on the bracket 200 , and is used to detect the position of the needle tube.

[0077] The displacement sensor 740 can detect the moving distance of the needle tube and determine whether the needle tube has moved into place. The displacement sensor 740 can detect the position of the needle tube. If the needle tube moves to the corresponding position, the next step will be continued. If the needle tube cannot move to the corresponding position, the work will be stopped to ensure that the needle tube can move to the corresponding position.

[0078] In some embodiments, a first photographing component 210 is further included. The first photographing component 210 is disposed on the bracket 200 and is used to photograph the needle plate.

[0079] The first camera component 210 and the pin head 610 are both arranged on the bracket 200. The relative positions of the first camera component 210 and the pin head 610 can be determined. The first camera component 210 can detect the position of the pinhole on the needle plate. After the position is determined, the bracket 200 is controlled to move so that the pin head 610 can be moved to the corresponding position, thereby realizing accurate positioning of the pin head 610.

[0080] In some embodiments, the third power member 720 is a voice coil motor or a telescopic cylinder.

[0081] In some embodiments, a frame 100 is further included, and the frame 100 is provided with a transfer assembly 110, and the transfer assembly 110 is used to drive the bracket 200 to move in the up-down, left-right, and front-back directions.

[0082] The frame 100 is used to support the entire device. The transfer assembly 110 is a three-axis processing platform, which is provided with a plurality of transport power parts and can move the bracket 200 on the frame 100 arbitrarily.

[0083] In some embodiments, a limiting plate 320 is provided in the material storage tank 300, and the distance between the limiting plate 320 and the inner wall of the material storage tank 300 is greater than the diameter of one needle tube and less than the diameter of three needle tubes.

[0084] The needle tube is placed above the limiting plate 320, and the limiting plate 320 is located in the middle of the storage trough 300. The needle tube can pass through the limiting plate 320 and the inner wall of the storage trough 300 and fall to the discharge port 310 located below. The limiting plate 320 divides the storage trough 300 into two parts to prevent the needle tubes below from being piled up and the pressure between the needle tubes from being too high, which affects the transportation effect of the conveying wheel 400.

[0085] In some embodiments, the steering assembly 500 further includes a suction piece, which is used to suction the needle tube.

[0086] The adsorption member is a suction cup structure that can provide negative pressure power, which can fix the needle tube in the steering groove 510 to prevent the needle tube from falling during the rotation process.

[0087] In some embodiments, the turning groove 510 is provided with a V-shaped groove.

[0088] When the needle tube falls into the turning groove 510, it can slide along the inner wall of the V-shaped groove to the middle of the V-shaped groove. The needle tube is in the middle and the position of each needle tube can be kept consistent, ensuring that subsequent work can be carried out accurately.

[0089] In some embodiments, the minimum distance between the circumference of the delivery wheel 400 and the material storage tank 300 is less than the diameter of a needle tube.

[0090] The minimum distance is smaller than the diameter of a needle tube, which can prevent the needle tube from falling into the gap between the discharge trough along the conveying wheel 400. A certain gap is set between the discharge trough along the conveying wheel 400 to prevent friction between the storage trough 300 and the conveying wheel 400.

[0091] In some embodiments, the first power member 520 is a rotary motor or a rotary cylinder.

[0092] In some embodiments, the second power member 530 is a wind pressure power member or a telescopic cylinder.

[0093] The wind pressure power part is a wind generator. By setting a negative pressure wind power device on the pipeline 630, or setting a positive pressure wind power device on the side of the turning groove 510 opposite to the pipeline 630, the needle tube can be blown toward the guide block 600; a telescopic cylinder is set on the side of the turning groove 510 opposite to the pipeline 630, which can push the needle tube toward the pipeline 630 and move it along the pipeline 630 to the guide block 600.

[0094] In some embodiments, the steering assembly 500 further includes a third photographing assembly 550 , which is used to photograph the steering groove 510 , and the third photographing assembly 550 is electrically connected to the first power member 520 .

[0095] The third camera assembly 550 is used to photograph the steering slot 510, to determine the orientation of the needle tube in the steering slot 510, and to control whether the first movable member rotates to adjust the orientation of the needle tube.

[0096] Furthermore, the steering assembly 500 is also provided with a lifting mechanism, which is used to drive the steering trough 510 to move in the up and down directions. Before the steering trough 510 rotates, the steering trough 510 is first moved upward or downward to separate the steering trough 510 from other components to prevent interference between the steering trough 510 and other components during rotation.

[0097] In some embodiments, a locking assembly 800 is further included, and the locking assembly 800 includes:

[0098] The connecting protrusion 810 is provided on the guide block 600, the bracket 200 is provided with a first spherical groove, and the connecting protrusion 810 is provided with a first spherical surface, and the first spherical surface and the first spherical groove are matched;

[0099] The locking member 820 passes through the connecting protrusion 810 and is connected to the bracket 200 , so that the guide block 600 and the bracket 200 are relatively fixed.

[0100] The first spherical surface and the first spherical groove cooperate so that the connecting protrusion 810 located on the guide block 600 can rotate relative to the spherical surface. The spherical structure can adjust the guide block 600 around the center of the spherical surface, and can adjust the angle in all directions. Loosen the locking piece 820, and the connecting protrusion 810 can adjust the angle. Lock the locking piece 820, and the locking piece 820 abuts against the connecting protrusion 810, so that the guide block 600 is fixed on the bracket 200, which is conducive to the disassembly and installation of the locking piece 820 and facilitates the adjustment of the angle.

[0101] It is understandable that, due to the limitation of the spherical limiting structure, the adjustable angle of the guide block 600 is relatively small, but in general the error angle of the needle plate is also very small, therefore, the guide block 600 can be adjusted to a relatively small angle to meet the verticality requirement.

[0102] In some embodiments, the locking member 820 and the bracket 200 are threadedly connected.

[0103] The threaded connection is a widely used detachable fixed connection, which has the advantages of simple structure, reliable connection, and convenient assembly and disassembly. The threaded disassembly and assembly facilitates the disassembly and installation of the locking member 820 and facilitates the adjustment of the angle.

[0104] In some embodiments, the connecting protrusion 810 is provided with a second spherical groove, which is provided on the side of the connecting protrusion 810 opposite to the first spherical surface, and the locking member 820 is provided with a second spherical surface, which cooperates with the second spherical groove.

[0105] When the connecting protrusion 810 rotates, the second spherical groove is arranged on the side of the connecting protrusion 810 opposite to the first spherical surface, and the position of the second spherical surface does not change. The second spherical surface is provided by the locking piece 820, and the second spherical surface and the second spherical groove cooperate to ensure that there is always a maximum contact area between the two, thereby improving the locking effect of the locking piece 820.

[0106] In some embodiments, the pin head 610 is provided with a first connection plane 612 , the first connection plane 612 is in contact with the guide block 600 , and the extension direction of the through hole 611 is perpendicular to the first connection plane 612 .

[0107] The first connecting plane 612 fits the guide block 600 , and the extension direction of the through hole 611 is perpendicular to the first connecting plane 612 . By determining the position of the first connecting plane 612 , it is ensured that the through hole 611 can extend vertically, thereby ensuring the verticality of the needle tube insertion.

[0108] In some embodiments, the positioning head 620 is provided with a second connection plane 622 , the second connection plane 622 is in contact with the guide block 600 , and the second connection plane 622 is parallel to the positioning plane 621 .

[0109] The second connection plane 622 fits the guide block 600 , and the second connection plane 622 is parallel to the positioning plane 621 . The position of the second connection plane 622 is determined to ensure that the positioning plane 621 and the second connection plane 622 are parallel, thereby ensuring the positioning accuracy of the guide block 600 .

[0110] In some embodiments, the guide block 600 is provided with a guide channel 631 and a guide channel 632, the pipeline 630, the guide channel 631, and the guide channel 632 are connected in sequence, and the diameter of the guide channel 632 gradually decreases from top to bottom.

[0111] By connecting the pipeline 630, the guide channel 631 and the guide channel 632 in sequence, the needle tube can be transported along the route to the guide block 600. The diameter of the guide channel 632 gradually decreases from top to bottom to guide the needle tube, so that the needle tube can finally fall into the needle hole in the middle.

[0112] In some embodiments, rack 100;

[0113] A bracket 200 is provided on the frame 100;

[0114] A first photographing mechanism, provided on the bracket 200;

[0115] The transfer assembly 110 is used to drive the bracket 200 to move in the up-down, left-right and front-back directions;

[0116] The pin head 610 is provided on the bracket 200;

[0117] The second camera assembly 120 is disposed on the frame 100;

[0118] The optical calibration plate 130 is disposed directly above the second camera assembly 120 and below the first camera assembly 210. A plurality of positioning marks are disposed on both upper and lower sides of the optical calibration plate 130, and the plurality of positioning marks are symmetrically disposed up and down.

[0119] Under this setting, the first camera component 210 and the pin head 610 are both arranged on the bracket 200. The first camera component 210 can detect the position of the pinhole on the pin plate. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can move to the corresponding position to achieve the positioning of the pin head 610; the second camera component 120 can take pictures directly below the optical calibration plate 130. After the first camera component 210 moves to the system default position directly above the optical calibration plate 130, the first camera component 210 takes pictures directly above the optical calibration plate 130. The two groups of photos are compared. Since the patterns on the upper and lower sides are completely symmetrical to each other, the first camera component 210 can be quickly calculated by comparing the two patterns. and the position deviation of the second camera component 120, remove the optical calibration plate 130, and the transfer component 110 moves the bracket 200 to move the pin head 610 to the top of the second camera component 120, and align the pin head to the center of the second camera component 120. Whether it is at the center can be judged after shooting by the second camera component 120. The distance moved by the transfer component 110 is compensated by the position deviation of the first camera component 210 and the second camera component 120, and the relative distance between the first camera component 210 and the pin head 610 can be calculated. By setting two camera components, the distance between the first camera component 210 and the pin head 610 can be effectively calculated to ensure the pin processing accuracy of the pin head 610.

[0120] It can be understood that the position deviation of the first camera component 210 and the second camera component 120 can be quickly calculated by comparing the two patterns. It can be calculated by the distance between the shooting centers of the first camera component 210 and the second camera component 120 relative to the center of the optical calibration plate 130; it can also be calculated by making the pattern of one of the camera components symmetrical and then overlapping the two patterns for comparison and judgment.

[0121] In applications such as machine vision, image measurement, photogrammetry, and three-dimensional reconstruction, the optical calibration plate 130 needs to establish a geometric model of camera imaging in order to correct the distortion of the lens 122; determine the conversion relationship between physical size and pixels; and determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and its corresponding point in the image.

[0122] By shooting a flat plate with a fixed-pitch pattern array with a camera and calculating it with a calibration algorithm, the geometric model of the camera can be obtained, thereby obtaining high-precision measurement and reconstruction results. The flat plate with a fixed-pitch pattern array is the calibration plate.

[0123] In some embodiments, the second photographing component 120 includes a refractive lens 121 and a lens 122 , and the lens 122 photographs the optical calibration plate 130 through the refractive lens 122 .

[0124] The lens 122 shoots the optical calibration plate 130 through the refracting lens 122, so that the lens 122 shoots a pattern that is symmetrical to the original pattern. In the deviation calculation, the position deviation of the first camera component 210 and the second camera component 120 can be quickly calculated by comparing the two patterns. It can be calculated by the distance between the shooting centers of the first camera component 210 and the second camera component 120 relative to the center of the optical calibration plate 130.

[0125] In some embodiments, the angle between the refractive lens 121 and the horizontal plane is 45 degrees.

[0126] The 45-degree lens makes the pattern it forms more precise, which is beneficial for the calculation of deviation.

[0127] In some embodiments, the positioning mark is a through hole 611 , and the through hole 611 passes through the optical calibration plate 130 .

[0128] Through the through hole 611 that passes through the upper and lower parts, the shapes and patterns of the upper and lower sides of the optical calibration plate 130 are completely symmetrical. In addition, the through hole 611 structure can also allow the second camera component 120 to directly photograph the pin head 610 through the through hole 611. Under this structure, the optical calibration plate 130 can be removed.

[0129] In some embodiments, the plurality of positioning marks form a grid.

[0130] The optical calibration plate 130 with a grid pattern can determine the conversion relationship between physical size and pixels, which is conducive to quickly calculating the position deviation through the length of the grid, with higher calculation accuracy and easy use.

[0131] In some embodiments, the positioning mark array is distributed on the optical calibration plate 130 .

[0132] The array-distributed optical calibration plate 130 can determine the distance between different positioning marks. By determining the conversion relationship between physical size and pixels, it is helpful to quickly calculate the position deviation through the length of the grid, with higher calculation accuracy and easy use.

[0133] In some embodiments, a fourth power member 140 is further included, and the fourth power member 140 is used to drive the optical calibration plate 130 to approach or move away from directly above the second camera assembly 120 .

[0134] The optical calibration plate 130 is moved by the fourth power member 140 to be close to or away from the top of the second camera assembly 120 , so as to facilitate the subsequent shooting operation of the second camera assembly 120 on the pin head 610 .

[0135] A needle mounting method according to a basic embodiment of the second aspect of the present invention comprises the following steps:

[0136] Pre-position, install the positioning head 620 on the guide block 600, rotate and adjust the direction of the guide block 600 and move the bracket 200, so that the guide plane of the positioning head 620 is completely in contact with the needle plate, fix the guide block 600 and replace the positioning head 620 with the pin head 610;

[0137] Photo positioning: photographing the needle plate through the first camera assembly 210 to locate the pinhole on the needle plate;

[0138] Move the bracket 200 to move the pin head 610 to the top of the corresponding pinhole;

[0139] Transport the needle tube, drive the conveying wheel 400 to rotate, and the needle tube in the storage tank 300 falls into the transfer groove 410 of the conveying wheel 400, and the needle tube leaves the conveying wheel 400 and is transported to the needle head 610 on the guide block 600;

[0140] Needle installation: install the needle tube on the needle head 610 onto the needle plate.

[0141] By installing the positioning head 620 on the guide block 600, adjusting the angle of the guide block 600, making the positioning plane 621 fit the needle plate, fixing the guide block 600, making the guide block 600 maintain the corresponding angle, replacing the pin head 610, and inserting the needle tube into the needle plate along the through hole 611. By positioning the angle of the positioning head 620, it can be ensured that the needle tube can be vertically inserted into the needle plate to prevent the needle tube from being inserted obliquely; the first camera component 210 and the pin head 610 are both arranged on the bracket 200, and the relative position of the first camera component 210 and the pin head 610 can be determined. The position of the pinhole on the needle plate can be detected by the first camera component 210. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can be moved to the corresponding position to achieve accurate positioning of the pin head 610; a large number of needles can be placed in the storage tank 300 in advance. Tube, convenient for long-term work, the needle tube is discharged from the discharge port 310 below the storage tank 300; a motor is provided on the conveying wheel 400, which can drive the conveying wheel 400 to rotate continuously so that the needle tubes can be transported to the steering assembly 500 one by one, and the size of the transfer groove 410 is suitable for the diameter of the needle tube. The conveying wheel 400 is provided with a transfer groove 410, and the conveying wheel 400 rotates on the bracket 200. When the conveying wheel 400 docks with the discharge port 310 of the discharge tank, the needle tube just falls into the transfer groove 410, and the conveying wheel 400 continues to rotate to transport the needle tubes one by one to the needle head 610; the needle tube is pressed onto the needle plate by the pressure assembly; the entire processing process can determine the flatness of the needle plate, correct the deviation of the verticality of the needle head 610, and automatically insert multiple needle tubes into the needle plate, with high working efficiency and high processing accuracy, and effectively reducing the wear between the needle plate and the needle tube.

[0142] In some embodiments, a needle pressure detection step A is also included, in which the position of the needle tube is detected by the displacement sensor 740. If the needle tube moves to the corresponding position, the next step is continued. If the needle tube cannot move to the corresponding position, the work is stopped.

[0143] The displacement sensor 740 can detect the moving distance of the needle tube and determine whether the needle tube has moved into place. The displacement sensor 740 can detect the position of the needle tube. If the needle tube moves to the corresponding position, the next step will be continued. If the needle tube cannot move to the corresponding position, the work will be stopped to ensure that the needle tube can move to the corresponding position.

[0144] In some embodiments, the needle tube installation step also includes a needle pressure detection step B, in which the pressure of the needle tube during the downward pressing process is detected by the pressure sensor 730. When the needle tube does not move to the corresponding position, if the pressure is greater than the threshold value, the operation is stopped, and if it is less than the threshold value, the operation continues.

[0145] The pressure sensor 730 is arranged on the pressing block 710. When the pressing block 710 is pressed against the pressing needle, it can detect the pressure between the needle tube and the needle plate. During the pressing process of the needle tube, if the pressure is less than the threshold value, the pressing component works normally. If the pressure is greater than the threshold value, the needle hole of the needle plate may be blocked, the angle may be skewed, the position may be skewed, etc., resulting in excessive pressure. The pressing component is controlled to stop working and an alarm is issued to remind the staff to deal with it in time to prevent damage to the needle tube or the needle plate.

[0146] It can be understood that the pressure during the normal downward pressing process of the pressure component gradually increases, and the threshold is the pressure at which the pressure component just reaches the maximum moving distance.

[0147] It should be noted that in this specification, terms such as "one embodiment", "some embodiments", "basic embodiment", "extended embodiment" etc. may be used to describe several embodiments of the present invention. The specific features, structures, materials or characteristics of the several embodiments may be combined in accordance with the principles and purposes of the present invention.

[0148] Although some embodiments of the present invention have been shown and described in this specification, the present invention should not be limited to the above-mentioned embodiments. As long as the technical effects of the present invention are achieved by the same or equivalent means, any changes, modifications, equivalent substitutions and equivalent variations of these embodiments within the spirit and principles disclosed in the present invention and without departing from the principles and purpose of the present invention should be included in the scope of protection disclosed in the present invention and should be deemed to be within the scope of protection of the present invention.

Claims

1. A needle loading device, characterized in that: include: Bracket (200); A material storage trough (300) is disposed on the support (200), and the material storage trough (300) is provided with a material discharge port (310); A conveying wheel (400) is rotatably disposed on the support (200), and a plurality of transfer grooves (410) are disposed on the conveying wheel (400). The transfer grooves (410) are disposed on the peripheral side of the conveying wheel (400), and the peripheral side of the conveying wheel (400) is connected to the material storage tank (300), and after rotation, the plurality of transfer grooves (410) can be connected to the discharge port (310) respectively; A steering assembly (500) comprises a steering trough (510), a first power member (520) and a second power member (530); the steering trough (510) is rotatably arranged on the bracket (200); after the conveying wheel (400) rotates, the transfer trough (410) can move to the steering trough (510); and the first power member (520) drives the steering trough (510) to rotate; A guide block (600) is rotatably disposed on the bracket (200); the steering groove (510) and the guide block (600) are connected via a pipeline (630); the second power member (530) is used to drive the needle tube on the steering groove (510) to be transported along the pipeline (630) to the guide block (600); A pin head (610) is detachably mounted on the guide block (600), and the pin head (610) is provided with a through hole (611); The positioning head (620) is detachably arranged on the guide block (600), and the positioning head (620) is provided with a positioning plane (621).

2. The needle loading device according to claim 1, characterized in that: The invention also comprises a needle pressing assembly (700), wherein the needle pressing assembly (700) comprises a pressing block (710) and a third power member (720), wherein the pressing block (710) is arranged on the bracket (200) and is located above the pin head (610), and the third power member (720) drives the pressing block (710) to move toward the pin head (610).

3. The needle loading device according to claim 1, characterized in that: It also includes a first photographing component (210), wherein the first photographing component (210) is arranged on the bracket (200), and the first photographing component (210) is used to photograph the needle plate.

4. The needle loading device according to claim 1, characterized in that: It also includes a frame (100), wherein the frame (100) is provided with a transfer assembly (110), and the transfer assembly (110) is used to drive the bracket (200) to move in the up-down, left-right, and front-back directions.

5. The needle loading device according to claim 1, characterized in that: The steering assembly (500) further comprises a suction piece, and the suction piece is used to suction the needle tube.

6. The needle loading device according to claim 1, characterized in that: The steering assembly (500) further comprises a third photographing assembly (550), wherein the third photographing assembly (550) is used to photograph the steering slot (510), and the third photographing assembly (550) is electrically connected to the first power member (520).

7. The needle loading device according to claim 1, characterized in that: Also included is a locking assembly (800), the locking assembly (800) comprising: A connecting protrusion (810) is provided on the guide block (600), the bracket (200) is provided with a first spherical groove, the connecting protrusion (810) is provided with a first spherical surface, and the first spherical surface and the first spherical groove are matched; A locking member (820) passes through the connecting protrusion (810) and is connected to the bracket (200), so that the guide block (600) and the bracket (200) are relatively fixed.

8. A needle loading method, applied to the needle loading device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Pre-positioning, installing the positioning head (620) on the guide block (600), rotating and adjusting the direction of the guide block (600) and moving the bracket (200) so that the guide plane of the positioning head (620) is completely in contact with the needle plate, fixing the guide block (600) and replacing the positioning head (620) with the pin head (610); Photographing and positioning, photographing the needle plate by a first photographing component (210) to locate the pinhole on the needle plate; Moving the bracket (200) to move the pin head (610) to above the corresponding pin hole; Transporting the needle tube, driving the conveying wheel (400) to rotate, so that the needle tube in the storage tank (300) falls into the transfer tank (410) of the conveying wheel (400), and the needle tube leaves the conveying wheel (400) and is transported to the needle head (610) on the guide block (600); Needle head installation: install the needle tube on the needle head (610) onto the needle plate.

9. The needle-installing method according to claim 8, characterized in that: It also includes a needle pressing detection step A, in which the position of the needle tube is detected by a displacement sensor (740). If the needle tube moves to the corresponding position, the next step of operation is continued; if the needle tube cannot move to the corresponding position, the operation is stopped.

10. The needle-installing method according to claim 8, characterized in that: The needle tube installation step also includes a needle pressing detection step B, in which the pressure of the needle tube during the pressing process is detected by a pressure sensor (730). When the needle tube has not moved to the corresponding position, if the pressure is greater than the threshold value, the operation is stopped, and if it is less than the threshold value, the operation continues.

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