Automatic equipment for assembling metal needle on plastic needle tube

Abstract

The invention provides automatic equipment for assembling a plastic needle tube with a metal needle, the metal needle comprises a long needle and a short needle, and the interior of the plastic needle tube is matched with the long needle or the short needle according to a preset radial angle. The automatic equipment comprises a rack, a short needle feeding device, a long needle feeding device, a needle tube feeding device and a needle and needle tube assembling device, the short needle feeding device and the long needle feeding device respectively comprise a flexible vibration disc, a needle driving mechanism, a needle clamping mechanism, a clamping detection camera and an angle detection camera; the invention aims to provide the automatic equipment for assembling the metal needle on the plastic needle tube so as to solve the problem of low production efficiency of manual needle and needle tube detection and manual assembly.

Description

Technical Field

[0001] The invention belongs to the field of automatic assembly equipment, and in particular relates to an automatic equipment for assembling a plastic needle tube with a metal needle. Background Art

[0002] Products with plastic needles equipped with metal needles, such as syringes, blood collection needles, drainage needles and insulin syringes, include plastic needles and metal needles assembled with each other. The assembled plastic needles and metal needles are currently assembled manually. During assembly, it is necessary to manually take out a 0.3mm fine needle, manually take out and put the needle tube, and manually check whether the needle and the needle tube are qualified. This manual assembly method has low production efficiency. In particular, there is an existing insulin syringe, in which the plastic needle tube needs to be adapted to a long needle and a short needle according to a preset radial angle. The needle angle is manually visually adjusted, which is time-consuming and labor-intensive, and the product defect rate is high. Summary of the invention

[0003] In view of this, the present invention aims to provide an automated device for assembling a plastic syringe with a metal needle to solve the problem of low production efficiency caused by manual inspection and assembly of needles and syringes.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows: An automated device for assembling a plastic needle tube with a metal needle, wherein the metal needle comprises a long needle and a short needle, and the interior of the plastic needle tube is adapted to the long needle and / or the short needle according to a set radial angle, and the automated device comprises a frame and a short needle feeding device, a long needle feeding device, a needle tube feeding device and a needle and needle tube assembly device arranged on the frame; The short needle feeding device and the long needle feeding device respectively include a flexible vibration disk, a needle driving mechanism, a needle clamping mechanism, a clamping detection camera and an angle detection camera; a needle clamping mechanism is arranged above the flexible rotating disk, and the needle clamping mechanism is used to clamp the metal needle, and the needle clamping mechanism is connected to the needle driving mechanism, and the needle driving mechanism is used to drive the needle clamping mechanism to reciprocate along the X-axis, Y-axis and Z-axis to drive the needle clamping mechanism to transport the metal needle from the flexible vibration disk to the needle and needle tube assembly device; the clamping detection camera is arranged above the needle clamping mechanism, and is used to obtain the position of the metal needle; the angle detection camera is arranged outside the flexible vibration disk, and is used to obtain the radial angle of the metal needle; The needle tube feeding device comprises a vibration disk, a needle tube clamping mechanism, a needle tube driving mechanism and a needle tube detection camera; a needle tube clamping mechanism is arranged above the discharge port of the vibration disk, the needle tube clamping mechanism is connected to the needle tube driving mechanism, and the needle tube driving mechanism is used to drive the needle tube clamping mechanism to reciprocate along the X-axis, Y-axis and Z-axis to drive the needle tube clamping mechanism to transport the needle tube from the vibration disk to the needle and needle tube assembly device; the needle tube detection camera is used to detect whether the needle tube is qualified, and the needle tube detection camera is arranged outside the discharge port; The needle and needle tube assembly device comprises a needle fixing fixture, a needle angle adjustment mechanism, a needle tube fixing block, a needle tube pushing mechanism and a needle tube transporting mechanism; wherein the needle fixing fixture is arranged in front of the needle angle adjustment mechanism, and the needle tube fixing block and the needle tube transporting mechanism are arranged behind the needle angle adjustment mechanism; the needle tube fixing block is provided with a groove for placing the needle tube; the needle tube transporting mechanism is used to transport the needle tube placed on the needle tube fixing block to the needle tube pushing mechanism; The needle angle adjustment mechanism is used to rotate the metal needle angle radially, and includes a mounting plate and two adjustment components, and a needle tube pushing channel is formed between the two adjustment components; the two adjustment components respectively include an electric control rotating table, a pneumatic three-jaw chuck and a driving mechanism; the pneumatic three-jaw chuck is arranged on the electric control rotating table; the mounting plate is connected to the adjustment driving mechanism, and the adjustment driving mechanism is used to drive the needle angle adjustment mechanism to reciprocate along the Z axis and the Y axis, including a Z-axis linear slide and a Y-axis linear slide; The needle fixing fixture is used to clamp the metal needle from the pneumatic three-jaw chuck, and includes two clamping mechanisms arranged opposite to each other; the clamping mechanism includes a guide rail, a slider and a clamping block, the clamping block is connected to the slider, the slider is mounted on the guide rail, and the slider is driven by a servo motor to reciprocate along the guide rail; the needle fixing fixture is arranged on a moving platform, the moving platform is mounted on a linear guide rail, and the servo motor drives the moving platform to reciprocate along the linear guide rail; The needle tube pushing mechanism is used to push the needle tube to the needle fixing clamp, and includes a pushing guide rail, a pushing slider and a needle tube clamp; the needle tube clamp is used to clamp the needle tube, the needle tube clamp is connected to the pushing slider, the pushing slider is mounted on the pushing guide rail and is driven by a servo motor to reciprocate along the pushing guide rail, and the pushing guide rail is passed through the needle tube pushing channel.

[0005] Furthermore, the needle driving mechanism includes a first X-axis linear slide, a first Y-axis linear slide, and a first Z-axis movable slide, which are driven by servo motors respectively.

[0006] Furthermore, the needle clamping mechanism includes a pneumatic telescopic rod, a clamping arm, a rotating chuck and a fixed chuck. The pneumatic telescopic rod is installed in the clamping arm, and the pneumatic telescopic rod is connected to the rotating chuck through a transmission shaft. The fixed chuck is arranged opposite to the rotating chuck, and the clamping arm is fixedly connected to the clamping arm through a connecting piece.

[0007] Furthermore, the needle tube detection camera is arranged along the needle tube transportation track, including a first detection camera arranged along the vertical direction and a second detection camera arranged along the horizontal direction.

[0008] Furthermore, the needle tube driving mechanism includes a second X-axis linear slide, a second Y-axis linear slide, and a second Z-axis movable slide, which are driven by servo motors respectively.

[0009] Furthermore, the clamping detection camera is arranged along the vertical direction, and the angle detection camera is arranged along the horizontal direction.

[0010] Furthermore, the needle tube fixing block includes multiple needle tube fixing blocks, which are arranged at intervals with each other, and one of the needle tube fixing blocks is arranged corresponding to the needle tube clamp of the needle tube pushing mechanism; the needle tube transporting mechanism includes a needle tube suction cup, a transporting arm, a Z-axis cylinder and an X-axis cylinder; the transporting arm is arranged in the horizontal direction, and multiple needle tube suction cups are arranged on it, and the needle tube suction cups are used to hold the needle tube, and the multiple needle tube suction cups are arranged corresponding to the needle tube fixing block, the Z-axis cylinder drives the transporting arm to reciprocate along the Z-axis direction, and the X-axis cylinder drives the transporting arm to reciprocate along the X-axis direction.

[0011] Furthermore, the short needle loading device and the long needle loading device are arranged radially symmetrically with each other, and the angle detection camera is arranged close to the needle angle adjustment mechanism.

[0012] Furthermore, the needle tube driving mechanism extends to the needle tube fixing block; and the needle tube fixing block is arranged along the X-axis direction.

[0013] Furthermore, it also includes a PLC controller, which is respectively connected to the needle driving mechanism, needle clamping mechanism, needle tube clamping mechanism, needle tube driving mechanism, fixing fixture, needle angle adjustment mechanism, needle tube fixing block, needle tube pushing mechanism, needle tube transporting mechanism, clamping detection camera, angle detection camera and needle tube detection camera, so as to control the needle driving mechanism, needle clamping mechanism, needle tube clamping mechanism, needle tube driving mechanism, fixing fixture, needle angle adjustment mechanism, needle tube fixing block, needle tube pushing mechanism and needle tube transporting mechanism to perform corresponding actions according to the metal needle position information, metal needle radial angle information and needle tube qualification information transmitted by the clamping detection camera, angle detection camera and needle tube detection camera.

[0014] Compared with the prior art, the automated equipment for assembling a plastic needle tube with a metal needle according to the present invention has the following advantages: The automated equipment for assembling a plastic needle tube with a metal needle described in the present invention can actually clamp, transport and detect the metal needle and the needle tube through a short needle loading device, a long needle loading device, a needle tube loading device and a needle and needle tube assembly device. The short needle or the long needle is rotated to a correct angle by a needle angle adjustment mechanism, and the needle fixing fixture removes the needle with the correct angle, which is then transported to the needle tube pushing mechanism by a needle tube transporting mechanism and then transported to the needle fixing fixture by the needle tube pushing mechanism to complete the assembly. This replaces the manual placement, detection and assembly method for needle and needle tube assembly, thereby improving production efficiency and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the automation equipment according to an embodiment of the present invention; Figure 2 It is a schematic diagram of the structure of the short needle feeding device and the long needle feeding device according to an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a needle tube feeding device according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the needle clamping mechanism according to an embodiment of the present invention; Figure 5 Schematic diagram of the needle and needle tube assembly device according to an embodiment of the present invention Figure 1 ; Figure 6 Schematic diagram of the needle and needle tube assembly device according to an embodiment of the present invention Figure 2 ; Figure 7 This is a schematic diagram of the structure of the needle angle adjustment mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the needle tube transport mechanism according to an embodiment of the present invention; Fig. 9 This is a schematic diagram of the top view of the automation equipment according to an embodiment of the present invention; Fig.10 This is a schematic diagram of the double-needle product structure according to an embodiment of the present invention.

[0016] Description of reference numerals: 1- short needle feeding device; 2- long needle feeding device; 3- needle and needle tube assembly device; 4- needle tube feeding device; 5- frame; 6- short needle; 7- long needle; 8- needle tube; 10- hopper; 11- flexible rotating disk; 12- needle clamping mechanism; 13- angle detection camera; 14- first X-axis linear slide; 15- first Y-axis linear slide; 16- first Z-axis moving slide; 17- clamping detection camera; 18- needle driving mechanism; 20- vibration disk; 21- discharge port; 22- second X-axis linear slide; 23- second Y-axis linear slide; 24- second Z-axis moving slide; 25- needle tube clamping mechanism; 26- second detection camera; 27- first detection camera; 28- needle tube detection camera; 29- needle tube driving mechanism; 30- needle fixing fixture; 31-needle angle adjustment mechanism; 3101-mounting plate; 3102-electrically controlled rotating table; 3103-pneumatic three-jaw chuck; 3104-Z-axis linear slide; 3105-Y-axis linear slide; 3107-needle tube pushing channel; 32-needle tube fixing block; 33-needle tube pushing mechanism; 3301-pushing slider; 3302-pushing guide rail; 3303-needle tube clamp; 34-needle tube transporting mechanism; 35-guide rail; 36-slider; 37-clamping block; 38-moving table; 39-linear guide rail; 40-servo motor; 41-gripping arm; 42-pneumatic telescopic rod; 43-connecting piece; 44-fixed chuck; 45-rotating chuck; 46-transmission shaft; 47-needle tube suction cup; 48-Z-axis cylinder; 49-X-axis cylinder; 50-transporting arm. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0018] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0019] like Figure 1 As shown, an automated device for assembling a plastic needle tube with a metal needle, wherein the metal needle includes a long needle and a short needle, and the interior of the plastic needle tube is adapted to the long needle and / or the short needle according to a set radial angle, characterized in that: the automated device includes a frame 5 and a short needle feeding device 1, a long needle feeding device 2, a needle tube feeding device 4 and a needle and needle tube assembly device 3 arranged on the frame 5; like Figure 2As shown, the short needle feeding device 1 and the long needle feeding device 2 respectively include a flexible vibration disk 11, a needle driving mechanism 18, a needle clamping mechanism 12, a clamping detection camera 17 and an angle detection camera 13; a needle clamping mechanism 12 is arranged above the flexible rotating disk 11, and the needle clamping mechanism 12 is used to clamp the metal needle, and the needle clamping mechanism 12 is connected to the needle driving mechanism, and the needle driving mechanism 18 is used to drive the needle clamping mechanism 12 to reciprocate along the X-axis, Y-axis and Z-axis to drive the needle clamping mechanism 12 to transport the metal needle from the flexible vibration disk 11 to the needle and needle tube assembly device 3; the clamping detection camera 17 is arranged above the needle clamping mechanism 12, for obtaining the position of the metal needle; the angle detection camera 13 is arranged on the outside of the flexible vibration disk 11, for obtaining the radial angle of the metal needle; wherein, the short needle feeding device 1 and the long needle feeding device 2 can achieve: according to the metal needle position obtained by the clamping detection camera 17, drive the needle clamping mechanism 12 to clamp the metal needle from the flexible vibration disk 11 and transport it to the needle tube assembly device 3, and obtain the radial angle of the metal needle through the angle detection camera 13.

[0020] like Figure 3 As shown, the needle tube feeding device 4 includes a vibration disk 20, a needle tube clamping mechanism 25, a needle tube driving mechanism 29 and a needle tube detection camera 28; a needle tube clamping mechanism 25 is arranged above the discharge port 21 of the vibration disk 20, and the needle tube clamping mechanism 25 is connected to the needle tube driving mechanism 29, and the needle tube driving mechanism 29 is used to drive the needle tube clamping mechanism 25 to reciprocate along the X-axis, Y-axis and Z-axis to drive the needle tube clamping mechanism 25 to transport the needle tube from the vibration disk 20 to the needle and needle tube assembly device 3; the needle tube detection camera 28 is used to detect whether the needle tube is qualified, and the needle tube detection camera 28 is arranged outside the discharge port 21; wherein, the needle tube feeding device 4 can realize: the needle tube driving mechanism 29 drives the needle tube clamping mechanism 25 to transport the needle tube from the vibration disk 20 to the needle tube assembly device 3, and the needle tube detection camera 28 is used to detect whether the needle tube is qualified; like Figure 5 and Figure 6 As shown, the needle and needle tube assembly device 3 includes a needle fixing fixture 30, a needle angle adjustment mechanism 31, a needle tube fixing block 32, a needle tube pushing mechanism 33 and a needle tube transporting mechanism 34; wherein the needle fixing fixture 30 is arranged in front of the needle angle adjustment mechanism 31, and the needle tube fixing block 32 and the needle tube transporting mechanism 34 are arranged behind the needle angle adjustment mechanism 31; the needle tube fixing block 32 is provided with a groove for placing the needle tube; the needle tube transporting mechanism 34 is used to transport the needle tube placed on the needle tube fixing block 32 to the needle tube pushing mechanism 33; like Figure 7As shown, the needle angle adjustment mechanism 31 is used to radially rotate the metal needle angle, including a mounting plate 3101 and two adjustment components, and a needle tube pushing channel 3107 is formed between the two adjustment components; the two adjustment components respectively include an electric-controlled rotating table 3102, a pneumatic three-jaw chuck 3103 and a driving mechanism; the pneumatic three-jaw chuck 3103 is arranged on the electric-controlled rotating table 3102; the mounting plate 3101 is connected to the adjustment driving mechanism, and the adjustment driving mechanism is used to drive the needle angle adjustment mechanism 31 to reciprocate along the Z-axis and the Y-axis, including a Z-axis linear slide 3104 and a Y-axis linear slide 3105; wherein, the two adjustment components can be used to adjust the radial angles of the long needle and the short needle respectively, and support the long needle and the short needle to be adapted into the needle tube at different angles respectively.

[0021] like Figure 5 and Figure 6 As shown, the needle fixing fixture 30 is used to clamp the metal needle from the pneumatic three-jaw chuck 3103, and includes two clamping mechanisms arranged opposite to each other; the clamping mechanism includes a guide rail 35, a slider 36 and a clamping block 37, the clamping block 37 is connected to the slider 36, the slider 36 is mounted on the guide rail 35, and the slider 36 is driven by a servo motor to reciprocate along the guide rail; the needle fixing fixture 30 is arranged on a moving platform 38, and the moving platform is mounted on a linear guide rail 39, and the servo motor 40 drives the moving platform 38 to reciprocate along the linear guide rail 39; wherein, the needle fixing fixture 30 reciprocates along the linear guide rail 39 to clamp the metal needle from the two adjustment components; preferably, in this embodiment, the two clamping blocks 37 are now provided with grooves on the inner side for placing long needles and / or short needles, and the two clamping blocks 37 can clamp a long needle and a short needle at the same time.

[0022] like Figure 5 and Figure 6 As shown, the needle tube pushing mechanism 33 is used to push the needle tube to the needle fixing fixture 30, including a pushing guide rail 3302, a pushing slider 3301 and a needle tube clamp 3303; the needle tube clamp 3303 is used to clamp the needle tube, the needle tube clamp 3303 is connected to the pushing slider 3301, the pushing slider 3301 is mounted on the pushing guide rail 3302 and is driven by a servo motor to reciprocate along the pushing guide rail 3302, and the pushing guide rail 3302 is penetrated in the needle tube pushing channel 3107. In this embodiment, preferably, the needle tube clamp 3303 adopts a pneumatic double-claw chuck to clamp the needle tube; the needle tube pushing mechanism 33 pushes the needle tube to the needle fixing fixture 30, the needle tube on the needle tube pushing mechanism 33 is aligned with the metal needle clamped by the fixing fixture 30, and the metal needle clamped by the needle fixing fixture 30 is inserted into the needle tube, which can achieve one long needle and one short needle to be simultaneously adapted to the needle tube at one time, thereby improving the adaptation accuracy and the assembly efficiency.

[0023] Embodiment 1 of the present invention: Taking the assembly and adaptation of a double-needle product as an example, the double-needle product is as follows Fig.10As shown, the double-needle product includes a long needle 7 and a short needle 6, and the inside of the plastic needle tube 8 is adapted to the long needle 7 and / or the short needle 6 according to the set radial angle; the working steps of the automated equipment for assembling a plastic needle tube with a metal needle using the present embodiment include: a first step, the clamping detection camera provided in the short needle feeding device and the long needle feeding device takes a photo to obtain the needle position, and the needle clamping mechanism is started according to the needle position to clamp the short needle and the long needle from the flexible vibration disk respectively, and the radial angle of the metal needle is obtained by taking a photo by the angle detection camera, and then transported to the needle angle adjustment mechanism; a second step, according to the radial angle of the metal needle, the short needle and the long needle are rotated to the correct placement angle by the needle angle adjustment mechanism; a third step, the long needle and the short needle with the right angle are removed by the needle fixing fixture; the needle tube is clamped by the needle tube clamping mechanism, and transported to the needle tube detection camera for detection without defect, and then transported to the needle tube fixing block, and after being transported to the needle tube pushing mechanism by the needle tube transporting mechanism, the needle tube is transported to the needle fixing fixture by the needle tube pushing mechanism to complete the assembly.

[0024] Embodiment 2 of the present invention: Taking the assembly of short-needle products as an example, the working steps of an automated device for assembling a plastic needle tube with a metal needle using this embodiment include: the first step is to select a short-needle loading device separately, use a clamping detection camera to take pictures to obtain the needle position, and start the needle clamping mechanism according to the needle position to clamp the short needles from the flexible vibration disk respectively, use the angle detection camera to take pictures to obtain the radial angle of the short needle, and transport it to the needle angle adjustment mechanism; the second step is to rotate it to the correct placement angle through the needle angle adjustment mechanism according to the radial angle of the metal needle; the third step is to remove the short needle with the correct angle through the needle fixing fixture; the needle tube clamping mechanism clamps the needle tube, transports it to the needle tube detection camera for inspection, and then transports it to the needle tube fixing block. After being transported to the needle tube pushing mechanism by the needle tube transporting mechanism, the needle tube is transported to the needle fixing fixture by the needle tube pushing mechanism to complete the assembly. Similarly, when assembling long-needle products, a long-needle loading device can be selected separately.

[0025] like Figure 2 As shown, the needle driving mechanism 18 includes a first X-axis linear slide 14, a first Y-axis linear slide 15 and a first Z-axis movable slide 16 which are driven by servo motors respectively.

[0026] like Figure 4 As shown, the needle clamping mechanism 12 includes a pneumatic telescopic rod 42, a clamping arm 41, a rotating chuck 45 and a fixed chuck 44. The pneumatic telescopic rod 42 is set inside the clamping arm 41, and the pneumatic telescopic rod 42 is connected to the rotating chuck 45 through a transmission shaft 46. The fixed chuck 44 is arranged opposite to the rotating chuck 45, and the clamping arm 41 is fixedly connected to the clamping arm 41 through a connecting piece 43. Similarly, the needle tube clamping mechanism 25 described in this embodiment also adopts the above structure.

[0027] like Figure 3As shown, the needle tube detection camera 28 is arranged along the needle tube transport track, including a first detection camera 27 arranged in the vertical direction and a second detection camera 26 arranged in the horizontal direction; the first detection camera 27 and the second detection camera 26 adopt 600W pixel CCD industrial cameras. The needle tube driving mechanism 29 includes a second X-axis linear slide 22, a second Y-axis linear slide 23 and a second Z-axis moving slide 24 driven by servo motors respectively. The clamping detection camera 17 is arranged in the vertical direction, and the angle detection camera 13 is arranged in the horizontal direction; the clamping detection camera 17 and the angle detection camera 13 adopt 600W pixel CCD industrial cameras.

[0028] like Figure 5 , Figure 6 and Figure 8 As shown, the needle tube fixing block 32 includes multiple needle tube fixing blocks 32, which are arranged at intervals from each other, and one of the needle tube fixing blocks 32 is arranged corresponding to the needle tube clamp 3303 of the needle tube pushing mechanism 33; the needle tube transporting mechanism 34 includes a needle tube suction cup 47, a transport arm 50, a Z-axis cylinder 48 and an X-axis cylinder 49; the transport arm 50 is arranged in the horizontal direction, and multiple needle tube suction cups 47 are arranged on it, and the needle tube suction cup 47 is used to hold the needle tube, and the multiple needle tube suction cups 47 are arranged corresponding to the needle tube fixing block 32, the Z-axis cylinder 48 drives the transport arm 50 to reciprocate along the Z-axis direction, and the X-axis cylinder 49 drives the transport arm 50 to reciprocate along the X-axis direction. Among them, the needle tube transport mechanism 34 has multiple needle tube suction cups 47 sucking needle tubes from the corresponding needle tube fixing block 32, the Z-axis cylinder 48 drives the transport arm 50 to rise or fall along the Z-axis, and the X-axis cylinder 49 drives the transport arm 50 along the X-axis direction, so as to load the needle tube to the needle tube clamp 3303 of the needle tube pushing mechanism 33, and simultaneously unload it to another adjacent needle tube fixing block 32. The needle tube transport mechanism can realize synchronous loading and unloading, improve work efficiency, have a simple structure, and have low production cost.

[0029] like Fig. 9 As shown, the short needle feeding device 1 and the long needle feeding device 2 are arranged radially symmetrically with each other, and the angle detection camera 13 is arranged close to the needle angle adjustment mechanism 31. The needle tube driving mechanism 29 extends to the needle tube fixing block 32; the needle tube fixing block 32 is arranged along the X-axis direction. The layout is reasonable, the structure is compact, and the space occupied is reduced.

[0030] It also includes a PLC controller, which is respectively connected to the needle driving mechanism 18, the needle clamping mechanism 12, the needle tube clamping mechanism 25, the needle tube driving mechanism 29, the fixing fixture 30, the needle angle adjustment mechanism 31, the needle tube fixing block 32, the needle tube pushing mechanism 33, the needle tube transporting mechanism 34, the clamping detection camera 17, the angle detection camera 13 and the needle tube detection camera 28, so as to control the needle driving mechanism 18, the needle clamping mechanism 12, the needle tube clamping mechanism 25, the needle tube driving mechanism 29, the fixing fixture 30, the needle angle adjustment mechanism 31, the needle tube fixing block 32, the needle tube pushing mechanism 33 and the needle tube transporting mechanism 34 to perform corresponding actions according to the metal needle position information, the metal needle radial angle information and the needle tube qualification information transmitted by the clamping detection camera 17, the angle detection camera 13 and the needle tube detection camera 28.

[0031] The needle clamping mechanism of the embodiment of the present application can clamp the metal needle from the flexible vibration disk and transport it to the needle angle adjustment mechanism; the needle angle adjustment mechanism rotates the short needle or the long needle to the correct angle; the needle fixing fixture removes the needle with the correct angle; the needle tube clamping mechanism clamps the needle tube and transports it to the needle tube inspection camera for inspection to find no defects, then transports it to the needle tube fixing block, transports it to the needle tube pushing mechanism by the needle tube transporting mechanism, and then transports it to the needle fixing fixture by the needle tube pushing mechanism to complete the assembly; thereby improving production efficiency and product quality.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An automated device for fitting a plastic needle tube with a metal needle, wherein the metal needle comprises a long needle and a short needle, and the interior of the plastic needle tube is adapted to fit the long needle and / or the short needle at a set radial angle, characterized in that: The automated equipment comprises a frame (5) and a short needle loading device (1), a long needle loading device (2), a needle tube loading device (4) and a needle and needle tube assembly device (3) arranged on the frame (5); The short needle feeding device (1) and the long needle feeding device (2) respectively comprise a flexible vibration disk (11), a needle driving mechanism (18), a needle clamping mechanism (12), a clamping detection camera (17) and an angle detection camera (13); a needle clamping mechanism (12) is arranged above the flexible rotating disk (11), the needle clamping mechanism (12) is used to clamp the metal needle, the needle clamping mechanism (12) is connected to the needle driving mechanism, the needle driving mechanism (18) is used to drive the needle clamping mechanism (12) to reciprocate along the X-axis, Y-axis and Z-axis, so as to drive the needle clamping mechanism (12) to transport the metal needle from the flexible vibration disk (11) to the needle and needle tube assembly device (3); the clamping detection camera (17) is arranged above the needle clamping mechanism (12) and is used to obtain the position of the metal needle; the angle detection camera (13) is arranged outside the flexible vibration disk (11) and is used to obtain the radial angle of the metal needle; The needle tube feeding device (4) comprises a vibration disk (20), a needle tube clamping mechanism (25), a needle tube driving mechanism (29) and a needle tube detection camera (28); a needle tube clamping mechanism (25) is arranged above the discharge port (21) of the vibration disk (20), the needle tube clamping mechanism (25) is connected to the needle tube driving mechanism (29), and the needle tube driving mechanism (29) is used to drive the needle tube clamping mechanism (25) to reciprocate along the X-axis, Y-axis and Z-axis, so as to drive the needle tube clamping mechanism (25) to transport the needle tube from the vibration disk (20) to the needle and needle tube assembly device (3); the needle tube detection camera (28) is used to detect whether the needle tube is qualified, and the needle tube detection camera (28) is arranged outside the discharge port (21); The needle and needle tube assembly device (3) comprises a needle fixing fixture (30), a needle angle adjustment mechanism (31), a needle tube fixing block (32), a needle tube pushing mechanism (33) and a needle tube transporting mechanism (34); wherein the needle fixing fixture (30) is arranged in front of the needle angle adjustment mechanism (31), and the needle tube fixing block (32) and the needle tube transporting mechanism (34) are arranged behind the needle angle adjustment mechanism (31); a groove for placing the needle tube is arranged on the needle tube fixing block (32); and the needle tube transporting mechanism (34) is used to transport the needle tube placed on the needle tube fixing block (32) to the needle tube pushing mechanism (33); The needle angle adjustment mechanism (31) is used to rotate the metal needle angle in the radial direction, and comprises a mounting plate (3101) and two adjustment components, wherein a needle tube pushing channel (3107) is formed between the two adjustment components; the two adjustment components respectively comprise an electrically controlled rotating table (3102), a pneumatic three-jaw chuck (3103) and a driving mechanism; the pneumatic three-jaw chuck (3103) is arranged on the electrically controlled rotating table (3102); the mounting plate (3101) is connected to the adjustment driving mechanism, and the adjustment driving mechanism is used to drive the needle angle adjustment mechanism (31) to reciprocate along the Z axis and the Y axis, and comprises a Z axis linear slide (3104) and a Y axis linear slide (3105); The needle fixing fixture (30) is used to clamp a metal needle from the pneumatic three-jaw chuck (3103), and comprises two clamping mechanisms arranged opposite to each other; the clamping mechanism comprises a guide rail (35), a slider (36) and a clamping block (37); the clamping block (37) is connected to the slider (36); the slider (36) is mounted on the guide rail (35); the slider (36) is driven by a servo motor to reciprocate along the guide rail; the needle fixing fixture (30) is arranged on a moving platform (38); the moving platform is mounted on a linear guide rail (39); the servo motor (40) drives the moving platform (38) to reciprocate along the linear guide rail (39); The needle tube pushing mechanism (33) is used to push the needle tube to the needle fixing fixture (30), and comprises a pushing guide rail (3302), a pushing slider (3301) and a needle tube clamp (3303); the needle tube clamp (3303) is used to clamp the needle tube, the needle tube clamp (3303) is connected to the pushing slider (3301), the pushing slider (3301) is mounted on the pushing guide rail (3302) and is driven by a servo motor to reciprocate along the pushing guide rail (3302), and the pushing guide rail (3302) is penetrated by the needle tube pushing channel (3107).

2. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The needle driving mechanism (18) comprises a first X-axis linear slide (14), a first Y-axis linear slide (15) and a first Z-axis movable slide (16) which are driven by servo motors respectively.

3. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The needle clamping mechanism (12) comprises a pneumatic telescopic rod (42), a clamping arm (41), a rotating chuck (45) and a fixed chuck (44); the pneumatic telescopic rod (42) is sleeved inside the clamping arm (41); the pneumatic telescopic rod (42) is connected to the rotating chuck (45) via a transmission shaft (46); the fixed chuck (44) and the rotating chuck (45) are arranged opposite to each other; and the clamping arm (41) is fixedly connected to the clamping arm (41) via a connecting piece (43).

4. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The needle tube detection camera (28) is arranged along the needle tube transport track, and comprises a first detection camera (27) arranged in a vertical direction and a second detection camera (26) arranged in a horizontal direction.

5. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The needle tube driving mechanism (29) comprises a second X-axis linear slide (22), a second Y-axis linear slide (23) and a second Z-axis movable slide (24), which are driven by servo motors respectively.

6. The automated equipment for fitting a plastic needle tube with a metal needle according to claim 1, characterized in that: The gripping detection camera (17) is arranged in a vertical direction, and the angle detection camera (13) is arranged in a horizontal direction.

7. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The needle tube fixing block (32) comprises a plurality of needle tube fixing blocks (32) which are arranged at intervals from each other, wherein one of the needle tube fixing blocks (32) is arranged corresponding to the needle tube clamp (3303) of the needle tube pushing mechanism (33); the needle tube transporting mechanism (34) comprises a needle tube suction cup (47), a transporting arm 50, a Z-axis cylinder (48) and an X-axis cylinder (49); the transporting arm 50 is arranged in a horizontal direction, and a plurality of needle tube suction cups (47) are arranged on it, the needle tube suction cup (47) being used to suck and hold the needle tube, the plurality of needle tube suction cups (47) being arranged corresponding to the needle tube fixing block (32), the Z-axis cylinder (48) driving the transporting arm (50) to move back and forth along the Z-axis direction, and the X-axis cylinder (49) driving the transporting arm (50) to move back and forth along the X-axis direction.

8. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The short needle loading device (1) and the long needle loading device (2) are arranged radially symmetrically with each other, and the angle detection camera (13) is arranged close to the needle angle adjustment mechanism (31).

9. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The needle tube driving mechanism (29) extends to the needle tube fixing block (32); the needle tube fixing block (32) is arranged along the X-axis direction.

10. The automated equipment for assembling a plastic needle tube with a metal needle according to claim 1, characterized in that: The invention also comprises a PLC controller, which is respectively connected to the needle driving mechanism (18), the needle clamping mechanism (12), the needle tube clamping mechanism (25), the needle tube driving mechanism (29), the fixing fixture (30), the needle angle adjustment mechanism (31), the needle tube fixing block (32), the needle tube pushing mechanism (33), the needle tube transporting mechanism (34), the clamping detection camera (17), the angle detection camera (13) and the needle tube detection camera (28), so as to control the needle driving mechanism (18), the needle clamping mechanism (12), the needle tube clamping mechanism (25), the needle tube driving mechanism (29), the fixing fixture (30), the needle angle adjustment mechanism (31), the needle tube fixing block (32), the needle tube pushing mechanism (33) and the needle tube transporting mechanism (34) to perform corresponding actions according to the metal needle position information, the metal needle radial angle information and the needle tube qualification information transmitted by the clamping detection camera (17), the angle detection camera (13) and the needle tube detection camera (28).

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