A needle mounting apparatus and a needle mounting method

Abstract

The present application relates to needle tube assembly equipment field, disclose a kind of needle equipment and needle method, can install needle tube with high precision.The present application includes support;Storage tank, be located in the support, the storage tank is equipped with discharge port;Conveying wheel, rotatably be located in the support, the conveying wheel is equipped with multiple transfer slots, the transfer slot is located in the circumferential side of the conveying wheel, the circumferential side of the conveying wheel is docked with the storage tank and after rotation multiple transfer slots can respectively dock the discharge port;Steering assembly, including steering slot, first power piece and second power piece, the steering slot rotatably be located in the support, after the rotation of the conveying wheel, the transfer slot can be moved to the steering slot, the first power piece drives the steering slot rotation;Guide block, rotatably be located in the support, the steering slot and the guide block are communicated by pipeline, the second power piece is used to drive the needle tube on the steering slot along the pipeline transport to the guide block;Insert needle head, detachably be located in the support, the insert needle head is equipped with through-hole;Positioning head, detachably be located in the support, the positioning head is equipped with positioning plane.

Description

Technical Field

[0001] This invention relates to the field of needle assembly equipment, and in particular to a needle loading device and a needle loading method. Background Technology

[0002] Current syringe assembly processes largely rely on manual operation, assembling syringes one by one. However, the precision of the needle tip and the close arrangement of the syringes make accurate needle positioning a technical challenge. During assembly, the syringe must be precisely inserted into the needle hole of the needle plate; any minute error can lead to assembly failure. Precise alignment of the syringe and the needle hole is crucial, placing extremely high demands on the accuracy of the assembly system. During assembly, the orientation of the syringe, the perpendicularity deviation of the needle tip based on the needle plate, and the flatness deviation of the needle plate can all cause damage to the needle sheath or deformation of the syringe, thus affecting its functionality.

[0003] To optimize this process, introducing automated or semi-automated assembly technologies is a viable approach. This not only reduces human error but also significantly improves assembly speed and accuracy. Furthermore, innovating the design of syringes and needle tips to improve structural rationality and operational fault tolerance is also a key strategy for enhancing the performance of existing assembly systems. Through these measures, a significant improvement in the efficiency and reliability of the syringe assembly process can be expected. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a needle loading device that can load needles with high precision and improve production efficiency.

[0005] The present invention also proposes a needle loading method having the above-mentioned needle loading device.

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

[0007] support;

[0008] A storage tank is provided on the support, and the storage tank is provided with a discharge port;

[0009] A conveyor wheel is rotatably mounted on the bracket. The conveyor wheel is provided with multiple transfer grooves, which are located on the periphery of the conveyor wheel. The periphery of the conveyor wheel connects to the storage tank, and after rotation, each of the multiple transfer grooves can connect to the discharge port.

[0010] The steering assembly includes a steering groove, a first power component, and a second power component. The steering groove is rotatably mounted on the bracket. After the conveying wheel rotates, the transfer groove can move to the steering groove. The first power component drives the steering groove to rotate.

[0011] A guide block is rotatably mounted on the bracket, and the steering groove and the guide block are connected by a pipe. The second power component is used to drive the needle tube on the steering groove to be transported along the pipe to the guide block.

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

[0013] A positioning head is detachably mounted on the guide block, and the positioning head has a positioning plane.

[0014] According to some embodiments of the present invention, a pressure pin assembly is further included, the pressure pin assembly including a pressure block and a third power member, the pressure block being disposed on the bracket and located above the insertion pin head, the third power member driving the pressure block to move toward the insertion pin head.

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

[0016] According to some embodiments of the present invention, a frame is also included, the frame being provided with a transfer assembly for driving the support 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 an adsorption element for adsorbing the needle.

[0018] According to some embodiments of the present invention, the steering assembly further includes a third photographing assembly for photographing the steering groove, the third photographing assembly being electrically connected to the first power component.

[0019] According to some embodiments of the present invention, a locking component is further included, the locking component comprising:

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

[0021] A locking element passes through the connecting protrusion and connects to the bracket, thereby fixing the guide block and the bracket relative to each other.

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

[0023] A needle loading method includes the following steps:

[0024] Pre-positioning: 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 needle head;

[0025] Photo positioning: The first camera component takes a picture of the needle plate and locates the needle holes on the needle plate.

[0026] Move the support so that the insertion pin is above the corresponding pin hole;

[0027] The needle is transported by driving the conveyor wheel to rotate. The needle in the storage tank falls into the transfer groove of the conveyor wheel, and the needle leaves the conveyor wheel and is transported to the insertion head on the guide block.

[0028] Needle installation: Install the needle tube on the needle tip onto the needle plate.

[0029] According to some embodiments of the present invention, a needle pressure detection step A is further 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 operation is stopped.

[0030] According to some embodiments of the present invention, the needle installation step further includes a needle pressure detection step B, in which a pressure sensor detects the pressure during the needle pressing process. If the pressure is greater than a threshold when the needle has not moved to the corresponding position, the operation stops; if the pressure is less than the threshold, the operation continues.

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

[0032] The storage tank can hold a large number of syringes in advance for long-term operation. The syringes are discharged from the outlet at the bottom of the storage tank. A motor on the conveyor wheel drives it to rotate continuously, transporting the syringes one by one to the steering assembly. The transfer trough is sized to fit the diameter of the syringes. The conveyor wheel rotates on a support. When the conveyor wheel aligns with the outlet of the discharge trough, the syringe falls into the transfer trough. As the conveyor wheel continues to rotate, the transfer trough moves to the steering trough, where the syringe falls precisely at the corresponding position. The steering trough determines the direction of the syringe and controls the first power component to rotate it, ensuring the syringes face the correct direction. The steering groove and the guide block are connected by a pipe, allowing the needle tube in the steering groove to be transported to the guide block via a second power component. The guide block is rotatably mounted on the bracket and its angle can be slightly adjusted to allow the needle tube to be inserted vertically into the needle plate. When it is necessary to adjust the verticality of the positioning head, the positioning head is mounted on the guide block, the angle of the guide block is adjusted so that the positioning plane fits the needle plate, the guide block is fixed to maintain the corresponding angle, the needle head is replaced, and the needle tube is inserted into the needle plate along the through hole. By positioning the angle with the positioning head, it can be ensured that the needle tube can be inserted vertically into the needle plate, preventing the needle tube from being inserted at an angle and causing damage to the needle tube, thereby improving the product accuracy and yield.

[0033] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

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

[0035] Figure 1 This 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 The diagram shown is a first-view structural schematic of the support structure.

[0037] Figure 3 for Figure 1 The diagram shows a second-view structural schematic of the support structure.

[0038] Figure 4 for Figure 1 The diagram shows the structure of the storage tank and the steering assembly;

[0039] Figure 5 for Figure 1 The diagram shows the structure of the guide block pressure pin.

[0040] Figure 6 for Figure 6The diagram shows a structural schematic of a pipe cut cross-section;

[0041] Figure 7 for Figure 6 The diagram shows a cross-sectional view of the locking component.

[0042] Figure 8 for Figure 1 The diagram shows the structure of the second imaging component;

[0043] Figure 9 for Figure 1 The diagram shows the structure of the optical calibration plate.

[0044] Figure label:

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

[0046] Stand 200, first camera component 210;

[0047] Storage tank 300, discharge port 310, limiting piece 320;

[0048] Conveyor wheel 400, transfer trough 410;

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

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

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

[0052] Locking component 800, connecting protrusion 810, locking element 820. Detailed Implementation

[0053] The following will describe several embodiments of the present invention, including embodiments corresponding to the accompanying drawings. It should 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 construed as limiting the scope of protection of the present invention.

[0054] The following will provide a clear and complete description of the concept, specific structure, and technical effects of the present invention in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, solution, and effects of the present invention. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0055] It should be noted that, unless otherwise explicitly defined, when a feature is referred to as "fixed," "connected," or "installed" on another feature, it can be directly fixed or connected to the other feature, or it can be indirectly fixed or connected to the other feature. The terms "fixed," "connected," and "installed" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0056] It should be noted that the descriptions of orientations or positional relationships indicated by terms such as up, down, left, right, top, bottom, front, back, inside, and outside used in this invention are based on the orientations or positional relationships indicated by the accompanying drawings or embodiments. They are only for the purpose of facilitating the description of this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0057] It should be noted that the term "and / or" as used in this invention includes any combination of one or more of the related listed items, "several" means one or more, "multiple" means two or more, "greater than", "less than", "exceeding" are understood to exclude the number itself, and "above", "below", "within" are understood to include the number itself.

[0058] It should be noted that the use of "first" and "second" in this invention is only for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of technical features or the order of the technical features.

[0059] It should be noted that, unless otherwise expressly defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and not for limiting the invention.

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

[0061] Bracket 200;

[0062] The storage tank 300 is mounted on the support 200, and the storage tank 300 is provided with a discharge port 310;

[0063] The conveyor wheel 400 is rotatably mounted on the support 200. The conveyor wheel 400 is provided with multiple transfer grooves 410. The transfer grooves 410 are located on the periphery of the conveyor wheel 400. The periphery of the conveyor wheel 400 is connected to the storage trough 300. After rotation, the multiple transfer grooves 410 can be connected to the discharge port 310 respectively.

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

[0065] The guide block 600 is rotatably mounted on the bracket 200. The steering groove 510 and the guide block 600 are connected by a pipe 630. The second power unit 530 is used to drive the needle on the steering groove 510 to be transported along the pipe 630 to the guide block 600.

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

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

[0068] According to an embodiment of the present invention, by such arrangement, at least the following effects can be achieved: a large number of syringes can be pre-placed in the storage tank 300 for long-term operation; the syringes are discharged from the outlet 310 below the storage tank 300; a motor is provided on the conveyor wheel 400, which can drive the conveyor wheel 400 to rotate continuously, so that the syringes can be transported one by one to the steering assembly 500; the size of the transfer groove 410 is suitable for the diameter of the syringe; the conveyor wheel 400 is provided with the transfer groove 410; the conveyor wheel 400 rotates on the bracket 200; when the conveyor wheel 400 aligns with the outlet 310 of the discharge tank, the syringe falls into the transfer groove 410; the conveyor wheel 400 continues to rotate, and the transfer groove 410 can move to the steering groove 510; the syringe falls exactly at the corresponding position in the steering groove 510; the steering groove 510 determines whether to control the first power component 520 to drive by judging the direction of the syringe. The steering groove 510 rotates to orient the needle tube in the correct direction. The steering groove 510 and the guide block 600 are connected by a pipe 630, allowing the needle tube in the steering groove 510 to be transported to the guide block 600 via the second power component 530. The guide block 600 is rotatably mounted on the bracket 200 and can be slightly adjusted in angle to allow the needle tube to be inserted vertically into the needle plate. When it is necessary to adjust the verticality of the positioning head 620, the positioning head 620 is mounted on the guide block 600, and the angle of the guide block 600 is adjusted so that the positioning plane 621 fits against the needle plate. The guide block 600 is then fixed to maintain the corresponding angle. The needle insertion head 610 is replaced, and the needle tube is inserted into the needle plate along the through hole 611. The positioning head 620 is used to position the angle, ensuring that the needle tube can be inserted vertically into the needle plate, preventing needle tube insertion deviation and damage, and improving product accuracy and yield.

[0069] It is understandable that the turning groove 510 can be located slightly below the conveyor wheel 400. When the transfer groove 410 moves above the turning groove 510, the needle will fall naturally due to gravity and just fall into the turning groove 510. The turning groove 510 can also be provided with a guide ramp, as shown in the attached figure. The needle slides down the guide ramp into the turning groove 510.

[0070] Understandably, the steering groove 510 has a through groove, allowing the needle to fall into the groove, and after rotation, both sides of the steering groove 510 can be connected to the pipe 630 respectively.

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

[0072] Some needle tubes can fall naturally into the needle groove of the needle plate by gravity, while others cannot fall directly into the needle plate due to friction between them. 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 disposed on the pressure block 710, and the pressure sensor 730 is used to detect the pressure of the pressure block 710.

[0074] Pressure sensor 730 is located on pressure block 710. When pressure block 710 presses against the needle, it can detect the pressure between the needle tube and the needle plate. During the needle tube pressing down, if the pressure is less than the threshold, the pressing component works normally. If the pressure is greater than the threshold, the needle plate may experience problems such as blocked opening, angle deviation, or position deviation, resulting in excessive pressure. This will control the pressing component to stop working and trigger an alarm to remind the staff to handle the situation in time and prevent damage to the needle tube or needle plate.

[0075] It is understandable that the pressure gradually increases during the normal pressing process of the pressure component, and the threshold is the pressure at which the pressure component reaches its maximum moving distance.

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

[0077] The displacement sensor 740 can detect the movement distance of the needle to determine whether the needle has moved into position. If the needle moves to the corresponding position, the next step continues; if the needle cannot move to the corresponding position, the work stops to ensure that the needle can move to the corresponding position.

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

[0079] Both the first imaging component 210 and the pin head 610 are mounted on the bracket 200. The relative positions of the first imaging component 210 and the pin head 610 can be determined. The first imaging component 210 can detect the position of the pin hole on the needle plate. After determining the position, the bracket 200 is controlled to move so that the pin head 610 can move to the corresponding position, thereby achieving precise positioning of the pin head 610.

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

[0081] In some embodiments, the system further includes a frame 100, which is provided with a transfer assembly 110 for driving the support 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 machining platform with multiple transport power components, which can move the support 200 arbitrarily on the frame 100.

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

[0084] The needle is placed above the limiting plate 320, which is located in the middle of the storage tank 300. The needle can fall through the space between the limiting plate 320 and the inner wall of the storage tank 300 to the discharge port 310 located below. The limiting plate 320 divides the storage tank 300 into two parts to prevent the needle from accumulating below. Excessive pressure between the needles would affect the transportation effect of the conveyor wheel 400.

[0085] In some embodiments, the steering assembly 500 further includes an adsorption element for adsorbing the needle.

[0086] The suction component is a suction cup structure that can provide negative pressure, which can fix the needle in the turning groove 510 and prevent the needle from falling off during rotation.

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

[0088] When the needle 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 is in the middle and the position of each needle is kept consistent, ensuring that subsequent work can be carried out accurately.

[0089] In some embodiments, the minimum distance between the periphery of the conveyor wheel 400 and the storage trough 300 is less than the diameter of a needle.

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

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

[0092] In some embodiments, the second power component 530 is a pneumatic power component or a telescopic cylinder.

[0093] The wind pressure power component is a wind generator. By setting a negative pressure wind device in the pipe 630, or a positive pressure wind device on the side of the turning groove 510 opposite to the pipe 630, the needle can be blown towards the guide block 600. A telescopic cylinder is set on the side of the turning groove 510 opposite to the pipe 630, which can push the needle towards the pipe 630 and move it along the pipe 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 is electrically connected to the first power member 520.

[0095] The third photographic component 550 is used to photograph the steering groove 510, to determine the orientation of the needle in the steering groove 510, and to control whether the first moving member rotates to adjust the orientation of the needle.

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

[0097] In some embodiments, a locking component 800 is also included, the locking component 800 comprising:

[0098] A 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, the first spherical surface and the first spherical groove are matched;

[0099] The locking element 820 passes through the connecting protrusion 810 and connects to the bracket 200, thereby fixing the guide block 600 and the bracket 200 relative to each other.

[0100] The first spherical surface and the first spherical groove cooperate to allow the connecting protrusion 810 located on the guide block 600 to rotate relative to the spherical surface. The spherical structure allows the guide block 600 to be adjusted around the center of the spherical surface, enabling omnidirectional angle adjustment. When the locking member 820 is released, the connecting protrusion 810 can be adjusted in angle. When the locking member 820 is locked, it abuts against the connecting protrusion 810, fixing the guide block 600 on the bracket 200. This facilitates the disassembly and installation of the locking member 820 and makes angle adjustment convenient.

[0101] Understandably, due to the limitations of the spherical structure, the adjustable angle of the guide block 600 is relatively small. However, the error angle of the needle plate is generally also very small. Therefore, the verticality requirement can be met by adjusting the guide block 600 to a small angle.

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

[0103] Threaded connections are a widely used type of detachable fixed connection. They have advantages such as simple structure, reliable connection, and convenient assembly and disassembly. Threaded assembly and disassembly facilitate the removal and installation of the locking component 820 and make it easy to adjust the angle.

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

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

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

[0107] The first connecting plane 612 and the guide block 600 are in contact. 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, the through hole 611 can be extended vertically, thus ensuring the verticality of the needle insertion.

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

[0109] The second connecting plane 622 and the guide block 600 are in contact. The second connecting plane 622 and the positioning plane 621 are parallel. By determining the position of the second connecting plane 622, the positioning plane 621 and the second connecting plane 622 are ensured to be parallel, thus 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 pipe 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] The needle tube is transported along the route to the guide block 600 by the sequential connection of the pipe 630, guide channel 631, and guide channel 632. The diameter of the guide channel 632 gradually decreases from top to bottom, which guides the needle tube so that it can finally fall into the needle hole in the middle.

[0112] In some embodiments, rack 100;

[0113] Support 200, mounted on rack 100;

[0114] The first photographic unit is located on the bracket 200;

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

[0116] The insertion pin 610 is located on the bracket 200;

[0117] The second camera component 120 is mounted on the frame 100;

[0118] An optical calibration plate 130 is located directly above the second imaging component 120 and below the first imaging component 210. Multiple positioning marks are provided on both the upper and lower sides of the optical calibration plate 130, and the multiple positioning marks are arranged symmetrically.

[0119] In this setup, both the first imaging component 210 and the pin head 610 are mounted on the bracket 200. The first imaging component 210 can detect the position of the pin hole on the pin plate. After determining the position, it controls the bracket 200 to move, allowing the pin head 610 to move to the corresponding position, thus achieving the positioning of the pin head 610. The second imaging component 120 can capture images directly below the optical calibration plate 130. After the first imaging component 210 moves to the system default position directly above the optical calibration plate 130, it captures images of the top and bottom of the optical calibration plate 130. By comparing the two sets of images, since the patterns on the top and bottom sides are completely symmetrical, the first imaging component 210 can be quickly calculated by comparing the two patterns. To compensate for the positional deviation of the second imaging component 120, the optical calibration plate 130 is moved away, and the transfer component 110 moves the support 200 so that the pin head 610 is moved directly above the second imaging component 120, with the pin head aligned with the center of the second imaging component 120. Whether it is in the center can be determined by the image taken by the second imaging component 120. The distance moved by the transfer component 110 is compensated for by the positional deviation of the first imaging component 210 and the second imaging component 120, and the relative distance between the first imaging component 210 and the pin head 610 can be calculated. By setting two imaging components, the distance between the first imaging component 210 and the pin head 610 can be effectively calculated, ensuring the pin insertion accuracy of the pin head 610.

[0120] Understandably, the positional deviation of the first camera component 210 and the second camera component 120 can be quickly calculated by comparing the two patterns. This can be done by calculating the distance between the shooting centers of the first camera component 210 and the second camera component 120 and the center of the optical calibration plate 130; or by making the pattern of one of the camera components symmetrical and then comparing the two patterns.

[0121] In applications such as machine vision, image measurement, photogrammetry, and 3D reconstruction, the optical calibration plate 130 is used to correct lens 122 distortion; determine the conversion relationship between physical dimensions and pixels; and determine the relationship between the 3D geometric position of a point on the surface of a spatial object and its corresponding point in the image. This requires establishing a geometric model of camera imaging.

[0122] By photographing a flat plate with a fixed-interval pattern array using a camera and then performing calibration algorithms, the camera's geometric model can be derived, resulting in high-precision measurement and reconstruction results. The flat plate with the fixed-interval pattern array is the calibration plate.

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

[0124] Lens 122 captures an image of optical calibration plate 130 through refraction lens 122, so that the image captured by lens 122 forms a pattern symmetrical to the original image. In the deviation calculation, the positional deviation of the first imaging component 210 and the second imaging component 120 can be quickly calculated by comparing the two patterns. This deviation can be calculated by the distance between the shooting centers of the first imaging component 210 and the second imaging component 120 and the center of 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 formed more accurate, which is beneficial for the calculation of deviation.

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

[0128] The through-hole 611 makes the shape and pattern of the upper and lower sides of the optical calibration plate 130 completely symmetrical. Moreover, the through-hole 611 structure also allows the second imaging 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, multiple positioning markers form a grid.

[0130] The optical calibration plate 130 with a grid pattern can determine the conversion relationship between physical dimensions and pixels, which is beneficial for quickly calculating the positional deviation through the length of the grid, with higher calculation accuracy and ease of use.

[0131] In some embodiments, the positioning marker 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 beneficial to quickly calculate the position deviation through the length of the grid, resulting in higher calculation accuracy and ease of use.

[0133] In some embodiments, a fourth power member 140 is also included, which is used to drive the optical calibration plate 130 closer to or further away from the top of the second imaging component 120.

[0134] The optical calibration plate 130 is moved by the fourth power component 140 to move it closer to or further away from the top of the second imaging component 120, so as to facilitate the subsequent shooting operation of the second imaging component 120 on the pin head 610.

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

[0136] Pre-positioning: 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 needle head 610.

[0137] Photo positioning: The first camera component 210 takes a picture of the needle plate and locates the needle hole on the needle plate.

[0138] Move the support 200 so that the insertion pin 610 moves above the corresponding pin hole;

[0139] The needle is transported, the conveyor wheel 400 is driven to rotate, the needle in the storage tank 300 falls into the transfer groove 410 of the conveyor wheel 400, the needle leaves the conveyor 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 tip 610 onto the needle plate.

[0141] By mounting the positioning head 620 on the guide block 600 and adjusting the angle of the guide block 600 to make the positioning plane 621 fit against the needle plate, and fixing the guide block 600 to maintain the corresponding angle, the needle insertion head 610 is replaced, and the needle tube is inserted into the needle plate along the through hole 611. The positioning head 620 is used to position the angle, ensuring that the needle tube can be inserted vertically into the needle plate and preventing the needle tube from being inserted at an angle. The first imaging component 210 and the needle insertion head 610 are both mounted on the bracket 200, and their relative positions can be determined. The first imaging component 210 can detect the position of the needle hole on the needle plate. After determining the position, the bracket 200 is controlled to move, so that the needle insertion head 610 can move to the corresponding position, achieving precise positioning of the needle insertion head 610. A large number of needles can be placed in the storage tank 300 in advance. The needle tubes are designed for long-term operation and are discharged from the outlet 310 below the storage tank 300. A motor is mounted on the conveyor wheel 400, driving it to rotate continuously and transporting each needle tube to the steering assembly 500. The transfer trough 410 is sized to fit the diameter of the needle tubes. The conveyor wheel 400 rotates on the support 200. When the conveyor wheel 400 aligns with the outlet 310 of the discharge tank, the needle tube falls into the transfer trough 410. The conveyor wheel 400 continues to rotate, transporting each needle tube to the insertion head 610. A pressure assembly presses the needle tubes onto the needle plate. The entire process ensures the flatness of the needle plate and corrects the perpendicularity deviation of the insertion head 610, automatically inserting multiple needle tubes into the needle plate. This results in high efficiency, high processing precision, and effectively reduced wear between the needle plate and the needle tubes.

[0142] In some embodiments, a needle pressure detection step A is further 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 operation is stopped.

[0143] The displacement sensor 740 can detect the movement distance of the needle to determine whether the needle has moved into position. If the needle moves to the corresponding position, the next step continues; if the needle cannot move to the corresponding position, the work stops to ensure that the needle can move to the corresponding position.

[0144] In some embodiments, the needle installation step further includes a needle pressure detection step B, in which the pressure sensor 730 detects the pressure during the needle pressing process. If the pressure is greater than a threshold when the needle has not moved to the corresponding position, the operation stops; if the pressure is less than the threshold, the operation continues.

[0145] Pressure sensor 730 is located on pressure block 710. When pressure block 710 presses against the needle, it can detect the pressure between the needle tube and the needle plate. During the needle tube pressing down, if the pressure is less than the threshold, the pressing component works normally. If the pressure is greater than the threshold, the needle plate may experience problems such as blocked opening, angle deviation, or position deviation, resulting in excessive pressure. This will control the pressing component to stop working and trigger an alarm to remind the staff to handle the situation in time and prevent damage to the needle tube or needle plate.

[0146] It is understandable that the pressure gradually increases during the normal pressing process of the pressure component, and the threshold is the pressure at which the pressure component reaches its maximum moving distance.

[0147] It should be noted that in this specification, terms such as "one embodiment", "some embodiments", "basic embodiment", and "extended embodiment" may be used to describe several embodiments of the present invention, and the specific features, structures, materials or characteristics in the several embodiments may be combined in accordance with the principles and spirit 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 embodiments. As long as they achieve the technical effects of the present invention 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, without departing from the principles and purpose of the present invention, should be included within the scope of protection disclosed in the present invention and should be considered to fall within the protection scope of the present invention.

Claims

1. A needle loading apparatus, characterized by, include: Bracket (200); A storage tank (300) is provided on the support (200), and the storage tank (300) is provided with a discharge port (310); A conveyor wheel (400) is rotatably mounted on the support (200). The conveyor wheel (400) is provided with a plurality of transfer grooves (410). The transfer grooves (410) are located on the periphery of the conveyor wheel (400). The periphery of the conveyor wheel (400) is connected to the storage tank (300). After rotation, the plurality of transfer grooves (410) can be connected to the discharge port (310) respectively. The steering assembly (500) includes a steering groove (510), a first power component (520), and a second power component (530). The steering groove (510) is rotatably disposed on the bracket (200). After the conveyor wheel (400) rotates, the transfer groove (410) can move to the steering groove (510). The first power component (520) drives the steering groove (510) to rotate. A guide block (600) is rotatably mounted on the bracket (200). The steering groove (510) and the guide block (600) are connected by a pipe (630). The second power component (530) is used to drive the needle tube on the steering groove (510) to be transported along the pipe (630) to the guide block (600). The insertion head (610) is detachably disposed on the guide block (600). The insertion head (610) is provided with a through hole (611). The positioning head (620) is installed behind the guide block (600), and the positioning plane is in contact with the needle plate to fix the guide block (600). The positioning head (620) can be replaced with the insertion head (610). A positioning head (620) is detachably disposed on the guide block (600), and the positioning head (620) is provided with a positioning plane (621). The locking assembly (800) includes a connecting protrusion (810) and a locking member (820). The connecting protrusion (810) is disposed 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. The first spherical surface and the first spherical groove cooperate. 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.

2. The needle loading device of claim 1, wherein: It also includes a pressure pin assembly (700), which includes a pressure block (710) and a third power member (720). The pressure block (710) is disposed on the bracket (200) and located above the insertion pin head (610). The third power member (720) drives the pressure block (710) to move toward the insertion pin head (610).

3. The needle loading device of claim 1, wherein: It also includes a first photographing component (210), which is disposed on the bracket (200) and is used to photograph the needle plate.

4. The needle loading device of claim 1, wherein: It also includes a frame (100) with a transfer assembly (110) for driving the support (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) also includes an adsorption element for adsorbing the needle.

6. The needle loading device according to claim 1, characterized in that: The steering assembly (500) further includes a third photographing assembly (550) for photographing the steering groove (510), and the third photographing assembly (550) is electrically connected to the first power component (520).

7. A needle loading method, applied to the needle loading device according to any one of claims 1-6, characterized in that: Includes the following steps: Pre-positioning: 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 positioning 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 needle head (610). Photo positioning: The needle plate is photographed by the first photo-taking component (210) to locate the needle hole on the needle plate; The movable bracket (200) moves the insertion pin (610) above the corresponding pin hole; The needle is transported by driving the conveyor wheel (400) to rotate. The needle in the storage tank (300) falls into the transfer groove (410) of the conveyor wheel (400). The needle leaves the conveyor wheel (400) and is transported to the needle head (610) on the guide block (600). Needle installation: The needle tube on the insertion needle (610) is installed onto the needle plate.

8. The needle loading method according to claim 7, characterized in that: It also includes a needle pressure detection step A, in which the position of the needle is detected by a displacement sensor (740). If the needle moves to the corresponding position, the next step continues; if the needle cannot move to the corresponding position, the work stops.

9. The needle loading method according to claim 7, characterized in that: The needle installation process also includes a needle pressure detection step B, in which the pressure sensor (730) detects the pressure during the needle pressing process. If the pressure is greater than the threshold when the needle has not moved to the corresponding position, the operation stops; if the pressure is less than the threshold, the operation continues.

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