Biopsy needle winding and percussion dual-purpose inspection device and automatic inspection equipment thereof

Abstract

The invention discloses a biopsy needle winding and percussion dual-purpose inspection device and automatic inspection equipment thereof.The inspection device comprises a base, a push-pull force detection meter, a push-pull mechanism and a fixing table, the fixing table is fixedly arranged on the base, and the push-pull force detection meter is arranged on the base in a linear sliding mode; the push-pull force detector is provided with a force sensor and a connector, the connector is connected to the force sensor, the force sensor is used for detecting the push force and the pull force borne by the connector, and the push-pull mechanism is connected with the push-pull force detector. The automatic inspection equipment comprises a machine frame, a mechanical arm, a product feeding conveyor, a product discharging conveyor and the inspection device, the inspection device is installed on an installation table top of the machine frame, the mechanical arm is installed on the machine frame, and the product feeding conveyor and the product discharging conveyor are arranged on the input side and the output side of the machine frame respectively. The semi-automatic biopsy needle detection device can replace manual work to detect whether the winding and percussion processes of the semi-automatic biopsy needle are smooth or not, and automation is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of semi-automatic biopsy needle detection, and in particular to a biopsy needle winding and firing dual-purpose detection device and automated detection equipment thereof. Background Art

[0002] A biopsy needle is a medical device that is suitable for use in a variety of organs, including the kidneys, liver, and lungs. It can be used to take living tissue samples and absorb cells from pyramidal tumors and tumors of unknown types.

[0003] Among them, the semi-automatic biopsy needle has a simple structure, low cost, and is easy to use, and is widely used. The structure of the semi-automatic biopsy needle 2 is roughly as follows Fig. 9 As shown, handles 2.2 are provided on both sides of the housing 2.1, and through holes 2.4 are provided on the handles 2.2. A push-pull seat 2.3 is provided at the rear of the housing 2.1. When winding, the housing 2.1 is fixed by inserting fingers into the through holes 2.4 on the handles 2.2, and then the push-pull seat 2.3 is pulled backwards, and it will automatically lock after being pulled backwards to complete the winding of the semi-automatic biopsy needle 2; when it is necessary to fire, the push-pull seat 2.3 is pushed forward, and after being pushed forward to the right position, continue to apply force, and the semi-automatic biopsy needle 2 will automatically fire.

[0004] In the production process, in order to ensure the quality of the semi-automatic biopsy needle 2, it is necessary to test whether the winding and firing of the semi-automatic biopsy needle 2 are smooth. The existing detection method is to manually operate the semi-automatic biopsy needle 2 to wind and fire to determine whether it is smooth, which usually has the following problems:

[0005] 1. Manual inspection is to judge whether the pushing and pulling process is smooth by feeling it with fingers. The force applied during the operation will greatly affect the judgment of the product. The result is completely subjective, which makes the inspection result fluctuate greatly and cannot be standardized.

[0006] 2. Manual inspection takes a long time and affects production efficiency. Summary of the invention

[0007] The first object of the present invention is to provide a biopsy needle winding and firing dual-purpose testing device, which can replace manual testing to determine whether the winding and firing processes of a semi-automatic biopsy needle are smooth.

[0008] The second object of the present invention is to provide an automated testing device, which uses the biopsy needle winding and firing dual-purpose testing device to achieve automatic testing of semi-automatic biopsy needles.

[0009] The first object of the present invention is achieved by the following technical solutions:

[0010] A dual-purpose inspection device for winding and firing a biopsy needle, characterized in that it includes a base, a push-pull force detector, a push-pull mechanism and a fixed platform, the fixed platform is fixedly arranged on the base, the shell of the biopsy needle can be fixed to the fixed platform, the push-pull force detector can be arranged on the base for linear sliding, the direction of linear sliding of the push-pull force detector is parallel to the operation direction of winding and firing the biopsy needle, the push-pull force detector is provided with a force sensor and a connector, the connector is connected to the force sensor, the thrust and pull applied to the connector are detected by the force sensor, the push-pull seat of the biopsy needle can be fixed to the connector, the push-pull mechanism is connected to the push-pull force detector, and the push-pull force detector is driven to slide linearly by the push-pull mechanism.

[0011] A further technical solution of the present invention is: fixed protrusions are respectively provided on both sides of the upper surface of the fixed platform, and a groove is provided in the middle of the upper surface of the fixed platform. During inspection, part of the shell of the biopsy needle is embedded in the groove, and the handles on both sides of the shell of the biopsy needle are respectively covered on the fixed protrusions.

[0012] A further technical solution of the present invention is that a card slot is provided on the connector, and the push-pull seat of the biopsy needle is inserted into the card slot during detection.

[0013] A further technical solution of the present invention is: slide rails are respectively provided on both sides of the upper side of the base, a slider is fixedly provided under the push-pull force detector, the slider is located between the slide rails on both sides, and both side edges of the slider are slidably connected to the slide rails.

[0014] A further technical solution of the present invention is: the push-pull mechanism is fixedly installed at one end of the base away from the fixed platform, the push-pull force detector is installed between the push-pull mechanism and the fixed platform, and the telescopic rod of the push-pull mechanism that can perform telescopic activities is connected to the push-pull force detector.

[0015] A further technical solution of the present invention is that the push-pull force detection meter is provided with an alarm module for giving an alarm when the force detected by the force sensor exceeds a set value.

[0016] A further technical solution of the present invention is that the push-pull force detection meter is provided with a display module for displaying the force detected by the force sensor.

[0017] The second object of the present invention is achieved by the following technical solutions:

[0018] An automated inspection device, characterized in that it comprises a frame, a manipulator, a product feeding conveyor, a product sending conveyor and the inspection device, wherein a mounting table is provided in the frame, the inspection device is mounted on the mounting table, the manipulator is mounted on the frame, the product feeding conveyor and the product sending conveyor are respectively arranged on the input side and the output side of the frame, and are respectively used to feed in the biopsy needle and send out the biopsy needle that has completed the inspection.

[0019] A further technical solution of the present invention is: the manipulator includes a translation mechanism, a lifting mechanism and a suction cup for sucking the biopsy needle, the lifting mechanism is arranged on the translation mechanism, the suction cup is arranged on the lifting mechanism, and the translation mechanism can drive the lifting mechanism and the suction cup to translate between the product feeding conveyor, the inspection device and the product feeding conveyor.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention can inspect the shell and the push-pull seat of the semi-automatic biopsy needle to be inspected by fixing them on the fixed platform and the connector accordingly. During the inspection process, the push-pull mechanism will drive the push-pull force detector to move to pull the biopsy needle backward to wind it up and push it forward to fire it. The force sensor detects the force during the winding and firing process in real time. Then, by comparing whether the detected force exceeds the set value, it can be determined whether the winding and firing of the semi-automatic biopsy needle are smooth. It can be seen that the present invention can replace manual inspection of whether the winding and firing process of the semi-automatic biopsy needle is smooth.

[0022] 2. The automated inspection equipment of the present invention realizes the delivery of the semi-automatic biopsy needle to be inspected, grabs the delivered semi-automatic biopsy needle and places it into the inspection device, takes out the inspected semi-automatic biopsy needle and places it on the product delivery conveyor for output, and finally realizes the automated inspection of the semi-automatic biopsy needle through the cooperation of the product delivery conveyor, the robot and the product delivery conveyor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a three-dimensional schematic diagram of an inspection device according to an embodiment of the present invention;

[0024] Figure 2 is a three-dimensional schematic diagram of some components of the inspection device according to an embodiment of the present invention when they are disassembled;

[0025] Figure 3 is a three-dimensional schematic diagram of a semi-automatic biopsy needle being fixed to the inspection device of an embodiment of the present invention;

[0026] Figure 4 is a three-dimensional schematic diagram of an automated inspection device according to an embodiment of the present invention;

[0027] Figure 5 is a three-dimensional schematic diagram of the automated inspection equipment of an embodiment of the present invention when a portion of the sealing plate is hidden;

[0028] Figure 6 It is a three-dimensional schematic diagram of the automated inspection equipment according to the embodiment of the present invention when a portion of the sealing plate is hidden and the product is fed into the conveyor and the product is sent out of the conveyor;

[0029] Figure 7 It is one of the three-dimensional schematic diagrams of the manipulator of the automated inspection equipment according to the embodiment of the present invention;

[0030] Figure 8 This is the second three-dimensional schematic diagram of the manipulator of the automated inspection equipment according to the embodiment of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of an existing semi-automatic biopsy needle.

[0032] Meaning of reference numerals in the figure:

[0033] 1-testing device; 1.1-base; 1.2-fixed platform; 1.3-push-pull force detector; 1.4-push-pull mechanism; 1.5-telescopic rod; 1.6-slide rail; 1.7-connector; 1.8-slot; 1.9-fixed protrusion; 1.10-groove; 1.11-slider; 1.12-slide edge; 1.13-slideway; 2-semi-automatic biopsy needle; 2.1-housing; 2.2-handle; 2.3-push-pull seat; 2.4-punch hole; 3-product feeding conveyor; 4-product delivery conveyor; 5-frame; 5.1-covering plate; 5.2-installation table; 5.3-product entrance and exit; 6-lifting mechanism; 6.1-lifting frame; 6.2-; 6.3-vertical guide bar; 6.4-vertical rack; 6.5-second gear; 7-translation mechanism; 7.1-horizontal guide rail; 7.2-horizontal rack; 7.3-horizontal moving block; 7.4-first motor; 7.5-first gear; 7.6-horizontal guide groove; 7.7-slide hole; 8-suction cup. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with embodiments.

[0035] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0037] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0038] Example:

[0039] like Figures 1 to 3 The biopsy needle winding and firing dual-purpose testing device 1 of this embodiment is shown, which includes a base 1.1, a push-pull force detector 1.3, a push-pull mechanism 1.4 and a fixing platform 1.2.

[0040] The base 1.1 of this embodiment is in the shape of a flat plate and is arranged horizontally. The fixed platform 1.2 is fixedly arranged on the top of the base 1.1 and close to one end of the base 1.1. Cylindrical fixed protrusions 1.9 are arranged on both sides of the top of the fixed platform 1.2. The size of the fixed protrusions 1.9 is adapted to the perforations 2.4 of the handles 2.2 on both sides of the shell 2.1 of the semi-automatic biopsy needle 2. A groove 1.10 is arranged in the middle of the fixed platform 1.2. The width of the groove 1.10 is adapted to the width of the shell 2.1 of the semi-automatic biopsy needle 2. When inspecting, the semi-automatic biopsy needle 2 is put in from top to bottom, and part of the shell 2.1 of the semi-automatic biopsy needle 2 is embedded in the groove 1.10. The handles 2.2 on both sides of the shell 2.1 are just covered on the fixed protrusions 1.9, so as to fix the horizontal position of the shell 2.1 of the semi-automatic biopsy needle 2.

[0041] The push-pull force detector 1.3 is used to connect with the push-pull seat 2.3 of the semi-automatic biopsy needle 2 to be detected, so as to wind and fire the semi-automatic biopsy needle 2. The push-pull force detector 1.3 is arranged on the top of the base 1.1, and the center of the push-pull force detector 1.3 and the center of the fixed platform 1.2 are located on the same vertical plane. A slider 1.11 is fixedly arranged below the push-pull force detector 1.3, and slide rails 1.6 are arranged on both sides of the top of the base 1.1, respectively. The slider 1.11 is located between the slide rails 1.6 on both sides, and the two sides of the slider 1.11 are respectively connected to the slide rails 1.6 for sliding. The specific structure of the sliding connection between the slider 1.11 and the slide rail 1.6 is as follows: the slide rail 1.6 is fixedly installed on the top of the base 1.1 by bolts, and a slide groove 1.13 is arranged on the inner side of the bottom of the slide rail 1.6, and slide edges 1.12 protruding to the sides are arranged on both sides of the bottom of the slider 1.11, and the slide edges 1.12 are restricted to slide in the slide groove 1.13.

[0042] The push-pull mechanism 1.4 of this embodiment is fixedly installed on one end of the base 1.1 away from the fixed platform 1.2, the push-pull force detector 1.3 is located between the push-pull mechanism 1.4 and the fixed platform 1.2, and the telescopic rod 1.5 of the push-pull mechanism 1.4 that can perform telescopic activities is connected to the slider 1.11 of the push-pull force detector 1.3.

[0043] The push-pull mechanism 1.4 of this embodiment is a conventional electric telescopic rod device, which is provided with a motor and a telescopic rod 1.5, and the motor drives the telescopic rod 1.5 to perform telescopic movement. In other embodiments, the push-pull mechanism 1.4 can also be a device such as a cylinder or a hydraulic cylinder that can provide linear motion power.

[0044] The push-pull force detector 1.3 is mainly provided with a force sensor, a connector 1.7, an alarm module and a display module. The force sensor is located inside the push-pull force detector 1.3. The connector 1.7 is located at one end of the push-pull force detector 1.3 close to the fixed platform 1.2. The connector 1.7 is connected to the force sensor. The force sensor can detect the push and pull forces on the connector 1.7. The alarm module is used to alarm when the force detected by the force sensor exceeds the set value. The display module is used to display the force detected by the force sensor.

[0045] In another embodiment, the force signal of the force sensor can also be output to an external device such as an external computer, and the detected force can be recorded by the external device and compared with the set value. When the detected force exceeds the set value, an alarm can be issued by the external device.

[0046] Each manufacturer can set the force setting value according to the demand, and the setting values ​​for the winding and firing processes of the semi-automatic biopsy needle 2 are different. For example, the setting value of this embodiment is: the force detected during the winding process cannot exceed 30N, and the force detected during the firing process cannot exceed 5N.

[0047] The connector 1.7 of the present embodiment is provided with a card slot 1.8, which is in a "T" shape. The push-pull seat 2.3 of the semi-automatic biopsy needle 2 is also in a "T" shape. When the semi-automatic biopsy needle 2 is inserted from top to bottom during the detection process, the push-pull seat 2.3 of the semi-automatic biopsy needle 2 can be fitted into the card slot 1.8, and the push-pull force detector 1.3 is connected to the push-pull seat 2.3 of the semi-automatic biopsy needle 2 through the connector 1.7.

[0048] like Figures 4 to 8 As shown, this embodiment also discloses an automated inspection device, which includes a frame 5, a manipulator, a product feeding conveyor 3, a product sending conveyor 4 and the inspection device. A sealing plate 5.1 is provided on the side of the frame 5, a horizontal mounting table 5.2 is provided inside the frame 5, the inspection device 1 is horizontally mounted on the mounting table 5.2, and the manipulator is mounted on the frame 5 and is located above the inspection device 1. The two sides of the frame 5 are respectively the input side and the output side, and the two sides are respectively provided with product inlets and outlets 5.3, the product feeding conveyor 3 and the product sending conveyor 4 are respectively provided on the input side and the output side of the frame 5, the ends of the product feeding conveyor 3 and the product sending conveyor 4 extend from the product inlets and outlets 5.3 to the two sides of the inspection device 1, and the product feeding conveyor 3 and the product sending conveyor 4 are respectively used to feed the semi-automatic biopsy needle 2 in and send out the semi-automatic biopsy needle 2 that has completed the inspection. In this embodiment, the product feeding conveyor 3 and the product sending conveyor 4 are both belt conveyors.

[0049] The manipulator includes a translation mechanism 7, a lifting mechanism 6 and a suction cup 8 for sucking the biopsy needle. The translation mechanism 7 is arranged above the inspection device 1, and includes a horizontal guide rail 7.1, a horizontal moving block 7.3 and a first motor 7.4. The horizontal guide rail 7.1 is horizontally fixed on the frame 5. The two ends of the horizontal guide rail 7.1 are respectively located above the ends of the product feeding conveyor 3 and the product sending conveyor 4. The middle part of the horizontal guide rail 7.1 is located above the inspection device 1. A horizontal rack 7.2 is arranged below the horizontal guide rail 7.1. The horizontal moving block 7.3 is slidably connected to the horizontal guide rail 7.1 through a horizontal guide groove 7.6 at the upper end. The first motor 7.4 is installed on the horizontal moving block 7.3. A first gear 7.5 is arranged on the output shaft of the first motor 7.4. The first gear 7.5 is meshed with the horizontal rack 7.2. The first motor 7.4 drives the first gear 7.5 to rotate, so as to drive the horizontal moving block 7.3 to move along the horizontal guide rail 7.1.

[0050] The lifting mechanism 6 is arranged on the horizontal moving block 7.3 of the translation mechanism 7. The lifting mechanism 6 includes a lifting frame 6.1 and a second motor 6.2. The lifting frame 6.1 is provided with a vertical guide bar 6.3 and a vertical rack 6.4 arranged opposite to each other. The vertical guide bar 6.3 and the vertical rack 6.4 are both inserted into a vertical downward sliding hole 7.7 in the middle of the horizontal moving block 7.3 and can slide up and down in the sliding hole 7.7. The second motor 6.2 is installed on the horizontal moving block 7.3. A second gear 6.5 is arranged on the output shaft of the second motor 6.2. The second gear 6.5 is located between the vertical guide bar 6.3 and the vertical rack 6.4 and meshes with the vertical rack 6.4. The lifting frame 6.1 can be driven to rise and fall by driving the second gear 6.5 to rotate by the second motor 6.2.

[0051] The suction cup 8 is arranged below the lifting frame 6 . 1 of the lifting mechanism 6 , and the suction cup 8 is used to suck the semi-automatic biopsy needle 2 to realize the lifting and lowering of the semi-automatic biopsy needle 2 .

[0052] The use process of the automated inspection equipment of this embodiment is as follows:

[0053] The semi-automatic biopsy needle 2 to be inspected can be placed on the product feeding conveyor 3 by an external automated robotic arm. The semi-automatic biopsy needle 2 is parallel to the inspection device 1 and corresponds to the position where the semi-automatic biopsy needle 2 is fixed on the inspection device 1. The semi-automatic biopsy needle 2 is transported to the side of the inspection device 1 by the product feeding conveyor 3. The position of the semi-automatic biopsy needle 2 can be detected by a conventional position sensor. The translation mechanism 7 of the robotic arm drives the suction cup 8 to move to the top of the product feeding conveyor 3, and then the suction cup 8 is lowered by the lifting mechanism 6, and finally the shell 2.1 of the semi-automatic biopsy needle 2 is sucked by the suction cup 8.

[0054] After the suction cup 8 sucks the semi-automatic biopsy needle 2, the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to rise together, and then the translation mechanism 7 drives the suction cup 8 and the semi-automatic biopsy needle 2 to move to the top of the inspection device 1, and then the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to descend. When they are in place, the handle 2.2 of the semi-automatic biopsy needle 2 will be sleeved on the fixed protrusion 1.9 from top to bottom, and part of the shell 2.1 of the semi-automatic biopsy needle 2 is embedded in the groove 1.10, and the push-pull seat 2.3 of the semi-automatic biopsy needle 2 is inserted into the card slot 1.8 from top to bottom, and the suction cup releases the biopsy needle 2. At this time, Figure 3 shown.

[0055] Then the push-pull mechanism 1.4 is started, and the push-pull mechanism 1.4 first pulls back the push-pull force detector 1.3, and pulls back the push-pull seat 2.3 of the semi-automatic biopsy needle 2 through the push-pull force detector 1.3, so that the semi-automatic biopsy needle 2 is wound up. During this process, the force sensor checks the pulling force in real time to complete the inspection of the pulling force for winding up. After that, the push-pull mechanism 1.4 pushes the push-pull force detector 1.3 forward, and pushes the push-pull seat 2.3 of the semi-automatic biopsy needle 2 forward through the push-pull force detector 1.3, and finally the semi-automatic biopsy needle 2 is fired. During this process, when the force detected by the force sensor exceeds the corresponding set value, the alarm module will be triggered or an alarm will be issued through an external device.

[0056] After completing the winding and firing inspection of the semi-automatic biopsy needle 2, the suction cup 8 re-sucks the semi-automatic biopsy needle 2, and the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to rise together, and then the translation mechanism 7 drives the suction cup 8 and the semi-automatic biopsy needle 2 to move to the top of the product delivery conveyor 4, and the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to descend together, and finally the semi-automatic biopsy needle 2 is placed on the product delivery conveyor 4, and the product delivery conveyor 4 transports the semi-automatic biopsy needle 2 product thereon to the outside.

[0057] The above embodiments of the present invention are not intended to limit the protection scope of the present invention, and the implementation modes of the present invention are not limited thereto. All other modifications, replacements or changes made to the above structures of the present invention based on the above contents of the present invention, in accordance with common technical knowledge and customary means in the art, without departing from the above basic technical ideas of the present invention, should fall within the protection scope of the present invention.

Claims

1. A biopsy needle winding and firing dual-purpose inspection device, characterized in that: The invention comprises a base, a push-pull force detector, a push-pull mechanism and a fixed platform, wherein the fixed platform is fixed on the base, the shell of the biopsy needle can be fixed on the fixed platform in cooperation, the push-pull force detector can be arranged on the base so as to slide linearly, the linear sliding direction of the push-pull force detector is parallel to the operation direction of winding and firing the biopsy needle, the push-pull force detector is provided with a force sensor and a connector, the connector is connected to the force sensor, the push and pull force applied to the connector is detected by the force sensor, the push-pull seat of the biopsy needle can be fixed on the connector in cooperation, the push-pull mechanism is connected to the push-pull force detector, and the push-pull force detector is driven to slide linearly by the push-pull mechanism.

2. The biopsy needle winding and firing dual-purpose inspection device according to claim 1, characterized in that: The upper sides of the fixing platform are respectively provided with fixing protrusions, and the upper middle part of the fixing platform is provided with a groove, during inspection, part of the shell of the biopsy needle is embedded in the groove, and the handles on both sides of the shell of the biopsy needle are respectively sleeved on the fixing protrusions.

3. The biopsy needle winding and firing dual-purpose inspection device according to claim 1, characterized in that: The connector is provided with a slot, and the push-pull seat of the biopsy needle is inserted into the slot during detection.

4. The biopsy needle winding and firing dual-purpose inspection device according to claim 1, characterized in that: Slide rails are respectively arranged on both sides of the upper side of the base, and a slider is fixedly arranged on the lower side of the push-pull force detector. The slider is located between the slide rails on both sides, and both side edges of the slider are respectively slidably connected to the slide rails.

5. The biopsy needle winding and firing dual-purpose inspection device according to claim 1, characterized in that: The push-pull mechanism is fixedly mounted on one end of the base away from the fixed platform, the push-pull force detector is mounted between the push-pull mechanism and the fixed platform, and the telescopic rod of the push-pull mechanism that can perform telescopic activities is connected to the push-pull force detector.

6. The biopsy needle winding and firing dual-purpose inspection device according to claim 1, characterized in that: The push-pull force detector is provided with an alarm module for giving an alarm when the force detected by the force sensor exceeds a set value.

7. The biopsy needle winding and firing dual-purpose inspection device according to claim 1, characterized in that: The push-pull force detector is provided with a display module for displaying the force detected by the force sensor.

8. An automated inspection device, characterized in that: The invention comprises a frame, a manipulator, a product feeding conveyor, a product feeding conveyor and the inspection device according to any one of claims 1 to 7, wherein the frame is provided with a mounting table, the inspection device is mounted on the mounting table, the manipulator is mounted on the frame, the product feeding conveyor and the product feeding conveyor are respectively arranged on the input side and the output side of the frame, and are respectively used for feeding in the biopsy needle and sending out the biopsy needle after the inspection.

9. The automated inspection device according to claim 8, characterized in that: The manipulator includes a translation mechanism, a lifting mechanism and a suction cup for sucking the biopsy needle. The lifting mechanism is arranged on the translation mechanism, and the suction cup is arranged on the lifting mechanism. The translation mechanism can drive the lifting mechanism and the suction cup to translate between the product feeding conveyor, the inspection device and the product feeding conveyor.

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