Automatic detection device and method for intramedullary nail

Abstract

The present invention provides an automatic intramedullary nail inspection device and method. The inspection device includes a pneumatic chuck, a first transmission assembly, and a clamping mechanism. The pneumatic chuck can switchably clamp the proximal and distal ends of the intramedullary nail. The first transmission assembly is connected to the pneumatic chuck and includes a first moving assembly and at least one second turntable assembly. The first moving assembly can drive the pneumatic chuck to move, thereby adjusting the distance between the intramedullary nail and the claw disk. The at least one second turntable assembly can drive the pneumatic chuck to flip up and down to adjust the orientation of the intramedullary nail's axial hole. The clamping mechanism includes a second transmission assembly and a claw disk. The claw disk and the pneumatic chuck are spaced apart along a first direction X. The claw disk is provided with at least one claw assembly. The second transmission assembly can drive the claw disk to grasp a testing tool and insert the tool into the axial hole of the intramedullary nail. The present invention can automatically detect the axial hole of the intramedullary nail, overcoming the shortcomings of current manual inspection methods and improving the efficiency and accuracy of intramedullary nail product inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an automatic detection device and method for intramedullary nails. Background Art

[0002] While the registered dimensions of intramedullary nails are limited, limited to their length and the outer diameters of their distal and proximal ends, the axial hole dimensions involved in the surgical procedure are also crucial and require testing. Currently, axial hole dimension testing of intramedullary nails is mostly performed manually. The following issues often arise when using a gauge: 1. Inspectors can easily misselect the gauge, leading to misjudgment; 2. While specifications for intramedullary nails vary, some fitting dimensions remain the same, making it easy for batches to be mixed during testing; 3. There are numerous gauge models, making the selection process time-consuming and labor-intensive; 4. Due to the multitude of test items, some dimensions may be missed; 5. Uneven force applied by the operator to the gauge can lead to inaccurate test data. Summary of the Invention

[0003] The object of the present invention is to provide an automatic detection device and method for intramedullary nails, so as to at least to some extent solve the technical problems raised in the above background technology.

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

[0005] An automatic detection device for intramedullary nails, comprising:

[0006] a pneumatic chuck arranged along a first horizontal direction X and configured to switchably clamp the proximal end and the distal end of the intramedullary nail;

[0007] a first transmission assembly connected to the pneumatic chuck, comprising a first moving assembly and at least one set of second turntable assemblies, wherein the first moving assembly is capable of driving the pneumatic chuck to move along the first direction X, and the at least one set of second turntable assemblies is capable of driving the pneumatic chuck to flip up and down to adjust the orientation of the axial hole of the intramedullary nail;

[0008] The clamping mechanism includes a second transmission assembly and a claw plate connected to each other, the claw plate and the pneumatic chuck are arranged at intervals along the first direction X, the claw plate is provided with at least one claw assembly, and the second transmission assembly is capable of driving the claw plate to grasp the inspection tool and insert the inspection tool into the axial hole of the intramedullary nail.

[0009] In the automatic intramedullary nail detection device of the embodiment of the present invention, a pneumatic chuck is used to clamp the end of the intramedullary nail. The first moving component can drive the pneumatic chuck to move along the first direction X, thereby adjusting the distance between the intramedullary nail and the claw disk. At least one set of second turntable components can drive the pneumatic chuck to flip up and down to adjust the orientation of the axial hole of the intramedullary nail. The second transmission component can drive the claw disk to grab the inspection tool so that the inspection tool can be inserted into the axial hole of the intramedullary nail, thereby achieving the purpose of automatically detecting the size of the axial hole of the intramedullary nail, overcoming the shortcomings of current manual inspection such as prone to false detection, missed detection, mixed batches, time and labor consumption, and inconsistent inspection standards, thereby improving the efficiency and accuracy of product inspection.

[0010] In some embodiments, the first moving assembly includes a first guide rail, a first slider and a first motor, the pneumatic chuck is connected to the first slider, the first slider is arranged on the first guide rail, the first guide rail is arranged along the first direction X in the horizontal direction, the pneumatic chuck and the claw disk are arranged at intervals along the first direction X, and the pneumatic chuck can slide along the first guide rail to adjust the distance between the pneumatic chuck and the claw disk.

[0011] In some embodiments, the pneumatic chuck includes a collet and a driving member, and the driving member is capable of driving the collet to open or close to loosen or clamp the end of the intramedullary nail.

[0012] In some embodiments, a checking tool warehouse is further included, and the checking tool warehouse is used to place a plurality of the checking tools, and the plurality of the checking tools are placed in layers from top to bottom.

[0013] In some embodiments, a driving member and a driven member connected to each other are provided in the first guide rail, the output shaft of the first motor is connected to the driving member, the first slider is connected to the driven member, and the first motor can drive the driving member to rotate, thereby driving the driven member to move along the first direction X.

[0014] In some embodiments, the end cap of the gauge is hexagonal in design.

[0015] In some embodiments, the first transmission assembly further includes a first turntable assembly, the first turntable assembly being connected to the pneumatic chuck, and the rotation of the first turntable assembly can drive the pneumatic chuck to rotate about the first direction X.

[0016] In some embodiments, the second turntable assembly is arranged along a second horizontal direction Y, the second direction Y is perpendicular to the first direction X, and is perpendicular to the axial direction of the pneumatic chuck. The second turntable assembly is connected to the pneumatic chuck, and the rotation of the second turntable assembly can drive the pneumatic chuck to flip up and down, so that the axial direction of the axial hole of the intramedullary nail at the other end opposite to the clamped end is parallel to the first direction X.

[0017] In some embodiments, the fourth movable component and a first visual module provided on the fourth movable component are further included, wherein the first visual module can scan and identify the bending angle of the clamped intramedullary nail, and the fourth movable component is arranged along the first direction X.

[0018] In some embodiments, the first turntable assembly includes a first turntable and a second motor connected to each other, the second motor can drive the turntable to rotate, the turntable is connected to the pneumatic chuck, and the rotation axis of the turntable is parallel to the first direction X.

[0019] In some embodiments, the second transmission assembly includes a rotation assembly capable of driving the jaw disc to rotate about a vertical direction so that at least one of the jaw assemblies can be switchably aligned with the intramedullary nail.

[0020] In some embodiments, the claw assembly includes a connecting arm and a claw that are connected to each other, the connecting arm extends in a horizontal direction, and a driving structure is provided in the connecting arm, and the driving structure can drive the claw to rotate along its axis.

[0021] In some embodiments, the rotating assembly includes a driving gear and an annular guide rail, the claw plate is arranged on the annular guide rail, the annular guide rail is provided with external teeth that engage with the driving gear, the driving gear is connected to a third motor, and the third motor can drive the driving gear to rotate, thereby driving the annular guide rail and the claw plate to rotate.

[0022] In some embodiments, the clamping claw includes two clamping claw pieces, the inner sides of the two clamping claw pieces facing each other are flat, and the driving structure can drive the two clamping claw pieces to open and close.

[0023] In some embodiments, a second visual module is provided on the claw disk, and the second visual module is located above the connecting arm and is used to scan and identify the axial hole of the intramedullary nail.

[0024] In some embodiments, the rotating assembly further includes a base and a plurality of positioning members disposed on the base, the driving gear and the annular guide rail are rotatably disposed on the base, and the plurality of positioning members are all located on the inner side of the annular guide rail to limit the movement of the annular guide rail relative to the base.

[0025] In some embodiments, the second transmission assembly further includes a second moving assembly, which is arranged in a horizontal direction. The second moving assembly is disposed on the upper end surface of the annular guide rail, and the claw plate is disposed on the upper end surface of the second moving assembly. The second moving assembly can drive the claw plate to move in a horizontal direction.

[0026] In some embodiments, the positioning member includes a roller and a fixed pin, the roller is rotatably sleeved on the fixed pin, the fixed pin is fixedly connected to the base, and the outer surface of the roller is provided with a circumferential groove that is rollingly connected to the annular guide rail.

[0027] In some embodiments, the second transmission assembly further includes a third moving assembly, the third moving assembly is arranged in a vertical direction, the third moving assembly is connected to the base, and the third moving assembly can drive the base to move up and down.

[0028] In some embodiments, the second transmission assembly further includes a third turntable assembly, which is connected to the claw disk. The third turntable assembly is disposed on the second moving assembly and rotates in a vertical direction, thereby driving the claw disk to rotate.

[0029] An automatic intramedullary nail detection method, using the above-mentioned automatic intramedullary nail detection device, has the following operating steps:

[0030] 1) Detection of the proximal axial hole of the intramedullary nail:

[0031] The pneumatic chuck clamps the distal end of the intramedullary nail;

[0032] At least one set of the second turntable assemblies drives the pneumatic chuck to flip up and down to adjust the orientation of the proximal axial hole of the intramedullary nail;

[0033] The first moving assembly drives the pneumatic chuck to move along the first direction X;

[0034] The second transmission assembly is capable of driving the claw disc to grab the inspection tool and insert the inspection tool into the proximal axial hole of the intramedullary nail;

[0035] II) Detection of the distal axial hole of the intramedullary nail:

[0036] The pneumatic chuck clamps the proximal end of the intramedullary nail;

[0037] At least one set of the second turntable assemblies drives the pneumatic chuck to flip up and down to adjust the orientation of the distal axial hole of the intramedullary nail;

[0038] The first moving assembly drives the pneumatic chuck to move along the first direction X;

[0039] The second transmission assembly can drive the claw plate to grab the inspection tool and insert the inspection tool into the distal axial hole of the intramedullary nail. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 is a cross-sectional view of an intramedullary nail to be inspected according to an embodiment of the present invention;

[0042] Figure 2 This is an overall schematic diagram of an automatic intramedullary nail detection device according to an embodiment of the present invention;

[0043] Figure 3 Schematic diagram of the cooperation between the pneumatic chuck and the first transmission assembly according to an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of the cooperation between the claw plate and the second transmission assembly according to an embodiment of the present invention;

[0045] Figure 5 is a schematic diagram of a rotating assembly according to an embodiment of the present invention;

[0046] Figure 6 A schematic diagram of a claw disk according to an embodiment of the present invention;

[0047] Figure 7 is a schematic diagram of a positioning member according to an embodiment of the present invention;

[0048] Figure 8 Schematic diagram of a testing fixture according to an embodiment of the present invention.

[0049] in:

[0050] 1. Pneumatic chuck;

[0051] 2. U-shaped bracket;

[0052] 3. First moving assembly; 31. First guide rail; 32. First slider; 33. First motor;

[0053] 4. First turntable assembly; 41. First turntable; 42. Second motor;

[0054] 5. Second turntable assembly;

[0055] 6. Claw plate; 61. Claw assembly; 611. Connecting arm; 612. Claw; 613. Plane; 614. Second vision module;

[0056] 7. The third turntable assembly;

[0057] 8. Second mobile component;

[0058] 9. The third mobile component;

[0059] 10. Rotating assembly; 101. Driving gear; 102. Third motor; 103. Annular guide rail; 104. Fixing hole;

[0060] 11. Base;

[0061] 12. Positioning member; 121. Fixing pin; 122. Roller; 123. Circumferential groove; 124. Support column;

[0062] 13. L-shaped bracket;

[0063] 14. First visual module;

[0064] 15. Fourth turntable assembly;

[0065] 16. Fourth mobile component;

[0066] 17. Inspection fixture warehouse;

[0067] 18. Checking fixture; 181. Type I checking fixture; 182. Type II checking fixture; 183. Type III checking fixture;

[0068] 100, intramedullary nail; 1001, smooth hole; 1002, threaded hole; 1003, U-shaped groove. DETAILED DESCRIPTION

[0069] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0070] Reference below Figures 1-8 An automatic intramedullary nail detection device according to an embodiment of the present invention is described.

[0071] The automatic intramedullary nail detection device of the embodiment of the present invention comprises a pneumatic chuck 1 , a first transmission assembly and a clamping mechanism, and is used to detect whether the sizes of the proximal end of the intramedullary nail 100 and the axial holes at the distal end of the intramedullary nail 100 are qualified.

[0072] The pneumatic chuck 1 is used to switchably clamp the proximal end and the distal end of the intramedullary nail 100. The pneumatic chuck 1 is arranged along a first horizontal direction X. A first transmission assembly is connected to the pneumatic chuck 1. The first transmission assembly includes a first moving assembly 3 and at least one set of second turntable assemblies 5. The first moving assembly 3 can drive the pneumatic chuck 1 to move along the first direction X. The at least one set of second turntable assemblies 5 can drive the pneumatic chuck 1 to flip up and down to adjust the orientation of the axial hole of the intramedullary nail 100. The clamping mechanism includes a second transmission assembly and a claw plate 6 that are interconnected. The claw plate 6 and the pneumatic chuck 1 are arranged at intervals along the first direction X. The claw plate 6 is provided with at least one claw assembly 61. The second transmission assembly can drive the claw plate 6 to grasp the inspection tool 18 and insert the inspection tool 18 into the axial hole of the intramedullary nail 100.

[0073] In the automatic intramedullary nail detection device of the embodiment of the present invention, the pneumatic chuck 1 is used to clamp the end of the intramedullary nail 100, the first moving component 3 is used to adjust the distance between the pneumatic chuck 1 and the claw disk 6, at least one set of second turntable components 5 can drive the pneumatic chuck 1 to flip up and down, and can adjust the orientation of the axial hole of the intramedullary nail 100 clamped by the pneumatic chuck 1, and the second transmission component can drive the claw disk 6 to grab the inspection tool 18 and insert the inspection tool 18 into the axial hole of the intramedullary nail 100, thereby achieving the purpose of automatically detecting the axial hole size of the intramedullary nail 100, overcoming the shortcomings of current manual inspection such as prone to false detection, missed detection, mixed batches, time and labor consumption, and inconsistent inspection standards, thereby improving the efficiency and accuracy of intramedullary nail 100 product inspection.

[0074] The automatic intramedullary nail detection device of the present invention includes a control system electrically connected to various components of the automatic intramedullary nail detection device to control the automatic operation of the automatic intramedullary nail detection device. The components and control principles of the control system are all prior art and will not be described in detail here.

[0075] like Figure 2 As shown, the first moving assembly 3 of the embodiment of the present invention includes a first guide rail 31, a first slider 32 and a first motor 33. The pneumatic chuck 1 is connected to the first slider 32. The first slider 32 is arranged on the first guide rail 31. The first guide rail 31 is along the first horizontal direction X (see Figure 2 The pneumatic chuck 1 and the jaw plate 6 are arranged in a first direction X with a spacing therebetween. The pneumatic chuck 1 can slide along the first guide rail 31 to adjust the distance between the pneumatic chuck 1 and the jaw plate 6. Specifically, the control system is electrically connected to the first motor 33. The control system can activate or deactivate the first motor 33, thereby controlling the movement of the pneumatic chuck 1.

[0076] When the end of the intramedullary nail 100 to be inspected is installed into the pneumatic chuck 1, a certain distance is pre-set between the pneumatic chuck 1 and the claw plate 6 to prevent interference between the intramedullary nail 100 and the claw plate 6. During inspection, the position of the intramedullary nail 100 in the first direction X needs to be adjusted to be closer to the claw plate 6 so that the inspection fixture 18 can be inserted into the axial hole of the intramedullary nail 100. Therefore, by providing the first guide rail 31, the first slider 32, and the first motor 33, the first motor 33 can drive the first slider 32 to slide along the first guide rail 31, thereby driving the pneumatic chuck 1 and the intramedullary nail 100 connected to the first slider 32 to move along the first direction X, thereby adjusting the distance between the free end of the intramedullary nail 100 (i.e., the end of the intramedullary nail 100 opposite the clamped end) and the inspection fixture 18, thereby facilitating the installation and inspection of the intramedullary nail 100.

[0077] Furthermore, a driving member and a driven member connected to each other are provided in the first guide rail 31, the output shaft of the first motor 33 is connected to the driving member, the first slider 32 is connected to the driven member, and the first motor 33 can drive the driving member to rotate, thereby driving the driven member to move along the first direction X.

[0078] In the embodiment of the present invention, the active element is a gear, and the driven element is a rack. The gear is fixedly connected to the output shaft of the first motor 33, and the outer teeth of the gear mesh with the rack. The first motor 33 drives the gear to rotate, and the gear drives the rack to move in the first direction X, thereby driving the first slider 32 connected to the rack and the pneumatic chuck 1 to move in the first direction X. To avoid interference between the gear and the first slider 32, the gear and the first slider 32 are respectively arranged on either side of the rack. Thus, the meshing transmission of the gear and the rack ensures a smooth transmission process, ensuring stable operation of the pneumatic chuck 1 along the first guide rail 31, generating little noise during operation, and extending the service life of the first guide rail 31.

[0079] In other embodiments, the driven member may also be a chain; or the driving member may be a pulley and the driven member may be a belt; or the driving member may be a worm gear and the driven member may be a worm.

[0080] In the automatic intramedullary nail detection device according to an embodiment of the present invention, the pneumatic chuck 1 includes a collet and a driving member. The driving member can drive the collet to open or close to loosen or clamp the end of the intramedullary nail 100 .

[0081] Preferably, the driving member can adopt a solenoid valve or other structure in the prior art. The specific control principle and control method are all in the prior art and will not be described in detail here. The driving member is electrically connected to the control system, and the control system can control the opening or closing of the jacket through the driving member.

[0082] Preferably, the jacket is replaceable to accommodate intramedullary nails 100 of varying diameters. The jacket's clamping force is adjustable, ensuring stable clamping while avoiding damage to the product surface, with a clamping accuracy of 0.03 mm. The replaceable jacket and adjustable jacket clamping force are prior art and will not be further elaborated here.

[0083] The intramedullary nail 100 to be tested is an orthopedic internal fixation device among medical devices and needs to be implanted in the bone marrow cavity. As is known to all, the bone marrow cavity of a person has different degrees of curvature, and the shape of the intramedullary nail 100 is generally similar to the shape of the bone marrow cavity. Therefore, the intramedullary nail 100 also has a bending angle, such as Figure 1 Because the intramedullary nail 100 has a bending angle, after one end of the intramedullary nail 100 is installed in the pneumatic chuck 1, the axis of the axial hole at the free end of the intramedullary nail 100 does not necessarily face the first horizontal direction X. Only when the axis of the axial hole at the free end of the intramedullary nail 100 is adjusted to face the first horizontal direction X can the inspection tool 18 be inserted into the axial hole of the intramedullary nail 100 for inspection.

[0084] Therefore, if Figure 2 As shown, the automatic intramedullary nail detection device according to an embodiment of the present invention includes a fourth movable assembly 16 and a first visual module 14 disposed on the fourth movable assembly 16 . The first visual module 14 is capable of scanning and identifying the bending angle of the clamped intramedullary nail 100 . The fourth movable assembly 16 is arranged along a first direction X. Specifically, the first visual module 14 and the fourth movable assembly 16 are both electrically connected to a control system. The first visual module 14 is capable of feeding back information obtained from scanning the intramedullary nail 100 to the control system. The control system controls the movement of the first transmission assembly, and thereby controls the movement of the pneumatic chuck 1 , to adjust the axial hole at the free end of the intramedullary nail 100 to face the first direction X for easier detection.

[0085] Specifically, the first visual module 14 can be a camera or a camera. The specific working principle is already in the existing technology and will not be repeated here.

[0086] The structure and function of the fourth moving assembly 16 in this embodiment are the same as those of the first moving assembly 3, including a guide rail, a slider and a motor, which will not be described in detail here. Among them, the first visual module 14 is connected to the slider, which is arranged on the guide rail, and the guide rail is arranged along the first horizontal direction X.

[0087] Specifically, if Figure 2 As shown, the first visual module 14 faces the intramedullary nail 100 and is driven by the fourth moving component 16 to scan and identify the bending angle and overall appearance of the intramedullary nail 100 .

[0088] The automatic detection device for intramedullary nails according to the embodiment of the present invention is as follows: Figure 2 and Figure 3As shown, the first transmission assembly further includes a first turntable assembly 4 , which is connected to the pneumatic chuck 1 . Rotation of the first turntable assembly 4 can drive the pneumatic chuck 1 to rotate about a first direction X. Thus, the first turntable assembly 4 drives the pneumatic chuck 1 to rotate, thereby adjusting the axial hole at the free end of the intramedullary nail 100 to face the first direction X.

[0089] Furthermore, the first turntable assembly 4 includes a first turntable 41 and a second motor 42 connected to each other. The second motor 42 can drive the first turntable 41 to rotate. The first turntable 41 is connected to the pneumatic chuck 1, and the rotation axis of the first turntable 41 is parallel to the first direction X. Specifically, the control system is electrically connected to the second motor 42. The control system can start or stop the second motor 42. When the second motor 42 is started, it can drive the first turntable 41 to rotate, thereby driving the pneumatic chuck 1 to rotate.

[0090] Specifically, the pneumatic chuck 1 is connected to the U-shaped bracket 2 through the first turntable assembly 4, and the second motor 42 is fixed on the middle arm of the U-shaped bracket 2. The setting of the U-shaped bracket 2 will not interfere with the rotation of the first turntable 41 and the self-rotation movement of the pneumatic chuck 1.

[0091] The output shaft of the second motor 42 of the embodiment of the present invention is fixedly connected to the driving wheel, and the driven wheel is disposed within and connected to the first turntable 41. The driving wheel and the driven wheel are meshed with each other. The second motor 42 drives the driving wheel to rotate, and the driving wheel drives the driven wheel to rotate. The driving wheel is a small gear and the driven wheel is a large gear. The high-speed rotation of the second motor 42 can be converted into a relatively low-speed rotation of the first turntable 41, thereby driving the pneumatic chuck 1 to rotate stably around the first direction X. Therefore, the gear meshing transmission method can achieve the required speed and torque ratio, ensuring stable rotation of the first turntable 41 and the pneumatic chuck 1.

[0092] In other embodiments, the first turntable assembly 4 may also adopt a worm gear drive or a belt drive.

[0093] The automatic detection device for intramedullary nails according to the embodiment of the present invention is as follows: Figure 2 and Figure 3 As shown, the second turntable assembly 5 is arranged along the second horizontal direction Y (see Figure 2 The second turntable assembly 5 is arranged along the second direction Y (as indicated by the arrow in the middle), the second direction Y is perpendicular to the first direction X, and is also perpendicular to the axial direction of the pneumatic chuck 1. The second turntable assembly 5 is connected to the pneumatic chuck 1, and rotation of the second turntable assembly 5 can cause the pneumatic chuck 1 to flip up and down, so that the axial direction of the axial hole at the free end of the intramedullary nail 100 is parallel to the first direction X. Specifically, the second turntable assembly 5 is arranged along the second direction Y, and the pneumatic chuck 1 is arranged along the first direction X. The second direction Y is perpendicular to the first direction X. Therefore, when the second turntable assembly 5 rotates about the second direction Y, it will cause the pneumatic chuck 1 connected thereto to flip up and down.

[0094] Specifically, the pneumatic chuck 1 is connected to the first moving assembly 3 via the first turntable assembly 4 , the U-shaped bracket 2 and the second turntable assembly 5 , and the motor of the second turntable assembly 5 is connected to the first slider 32 .

[0095] The structure and function of the second turntable assembly 5 in this embodiment are similar to those of the first turntable assembly 4, comprising an interconnected turntable and motor, which will not be described in detail here. Specifically, a control system is electrically connected to the motor and can activate or deactivate the motor. The turntable is connected to the pneumatic chuck 1 and arranged along the second direction Y such that the turntable's rotational axis is parallel to the second direction Y and perpendicular to the axis of the pneumatic chuck 1. Consequently, when the motor drives the turntable to rotate, the turntable drives the pneumatic chuck 1 to flip up and down.

[0096] In the automatic intramedullary nail detection device of an embodiment of the present invention, the first turntable assembly 4 can drive the pneumatic chuck 1 to rotate about the first direction X, and the rotation of the second turntable assembly 5 can drive the pneumatic chuck 1 to flip up and down. The first turntable assembly 4 and the second turntable assembly 5 cooperate to adjust the orientation of the axial hole at the free end of the intramedullary nail 100, so that the axial direction of the axial hole at the free end of the intramedullary nail 100 is parallel to the first direction X and coincides with the axial direction of the inspection tool 18 grasped by the claw disk 6, so that the inspection tool 18 can be inserted into the axial hole of the intramedullary nail 100, thereby improving the accuracy of detection.

[0097] Preferably, if Figure 1 and Figure 2 As shown, the second turntable assembly 5 is provided in two groups. The two groups of second turntable assemblies 5 are respectively arranged on both sides of the pneumatic chuck 1 along the second direction Y. The two groups of second turntable assemblies 5 are electrically connected to the control system, which can control the synchronous movement of the two groups of second turntable assemblies 5. The two turntables located on both sides of the pneumatic chuck 1 act on the pneumatic chuck 1 simultaneously, controlling the pneumatic chuck 1 to rise or sink a certain angle, thereby ensuring the smooth movement of the pneumatic chuck 1. Specifically, the turntables of the second turntable assembly 5 are respectively fixedly connected to the two arms of the U-shaped bracket 2. The rotation of the second turntable assembly 5 drives the movement of the U-shaped bracket 2, and the pneumatic chuck 1 then flips a certain angle along with the U-shaped bracket 2.

[0098] Preferably, if Figure 1 and Figure 2 As shown, the first movable assembly 3 is provided in two groups, and the two groups of first movable assemblies 3 are arranged parallel and spaced apart along the second direction Y. The two groups of second turntable assemblies 5 are respectively connected to the two groups of first movable assemblies 3. The two groups of first movable assemblies 3 are electrically connected to a control system. The control system can control the synchronous movement of the two groups of first movable assemblies 3 to ensure the synchronous sliding of the pneumatic chuck 1 and the second turntable assembly 5, thereby ensuring smooth operation.

[0099] The automatic detection device for intramedullary nails according to the embodiment of the present invention is as follows: Figure 2 As shown, the fourth turntable assembly 15 is connected to the first visual module 14. Rotation of the fourth turntable assembly 15 can cause the first visual module 14 to flip up and down. Specifically, the fourth turntable assembly 15 is also connected to the fourth movable assembly 16. Therefore, the fourth turntable assembly 15 and the first visual module 14 can move simultaneously along the first direction X. Thus, the fourth movable assembly 16 and the fourth turntable assembly 15 can work together to more conveniently and accurately scan the bending angle and overall appearance of the intramedullary nail 100.

[0100] The structure and function of the fourth turntable assembly 15 of this embodiment are the same as those of the first turntable assembly 4, including a turntable and a motor connected to each other, and a control system electrically connected to the motor. The control system can start or shut down the motor, which will not be described in detail here.

[0101] In the automatic intramedullary nail detection device according to the embodiment of the present invention, the claw plate 6 is provided with at least one claw assembly 61 for grasping the inspection tool 18 .

[0102] Preferably, if Figure 4 and Figure 6 As shown, the claw plate 6 includes four claw assemblies 61 , which are distributed in a cross shape. The four claw assemblies 61 can simultaneously grasp four different inspection tools 18 .

[0103] In other embodiments, the number of the claw assemblies 61 may be two, three, five, six, etc.

[0104] Furthermore, the claw assembly 61 includes a connecting arm 611 and a claw 612 connected to each other. The connecting arm 611 extends horizontally and has a driving structure disposed therein. The driving structure is capable of driving the claw 612 to rotate along its axis. Thus, the claw 612 can rotate to facilitate insertion of the inspection tool 18 into the axial hole of the intramedullary nail 100.

[0105] Furthermore, the claw 612 includes two claw pieces, the inner sides of the two claw pieces relative to each other are planes 613, and the driving structure can drive the two claw pieces to open and close. Thus, the claw pieces that can open and close facilitate the claw 612 to grasp the inspection tool 18.

[0106] The driving structure of this embodiment is electrically connected to the control system, which can drive the claw 612 to rotate along its axis and control the opening and closing of the claw piece. The composition and control principle of the driving structure are all existing technologies and will not be repeated here.

[0107] In the automatic intramedullary nail detection device of the embodiment of the present invention, a second visual module 614 is provided on the claw plate 6 . The second visual module 614 is located above the connecting arm 611 and is used to scan and identify the axial hole of the intramedullary nail 100 .

[0108] Preferably, the claw plate 6 is provided with a plurality of claws 612 , and the axes of the plurality of claws 612 are all located on the same horizontal plane. Therefore, the number of the second visual module 614 is set to one to meet the demand.

[0109] like Figure 2-5 As shown, the second transmission assembly of the embodiment of the present invention includes a rotating assembly 10, which can drive the claw plate 6 to rotate in a vertical direction so that at least one claw assembly 61 can be switchably aligned with the intramedullary nail 100. As a result, it is possible to complete the inspection of at least one axial hole in the intramedullary nail 100 by grasping the inspection tool 18 in one go, thereby improving inspection efficiency.

[0110] Specifically, the rotating assembly 10 is electrically connected to the control system, and the control system controls the rotating assembly 10 to rotate to realize the rotation of the jaw plate 6 so that at least one inspection tool 18 can be switchably inserted into the axial hole of the intramedullary nail 100 for inspection.

[0111] Preferably, the jaw plate 6 of this embodiment includes four jaw assemblies 61. During use, the control system controls the rotation assembly 10 to rotate at a frequency of 90° / time, enabling the inspection tool 18 to switchably inspect the axial hole size of the intramedullary nail 100. Similarly, in other embodiments, when the jaw plate 6 includes two jaw assemblies 61, the rotation assembly 10 rotates at a frequency of 180° / time; when the jaw plate 6 includes three jaw assemblies 61, the rotation assembly 10 rotates at a frequency of 120° / time, and so on.

[0112] Furthermore, if Figure 5 As shown, the rotating assembly 10 includes a driving gear 101 and an annular guide rail 103. The claw plate 6 is arranged on the annular guide rail 103. The annular guide rail 103 is provided with external teeth that mesh with the driving gear 101. The driving gear 101 is connected to the third motor 102. The third motor 102 can drive the driving gear 101 to rotate, and then drive the annular guide rail 103 and the claw plate 6 to rotate, so that the multiple gauges 18 can be switchably aligned with the axial hole of the intramedullary nail 100.

[0113] Preferably, the driving gear 101 is a small gear, and the annular guide rail 103 is a driven large gear with external teeth. When the driving gear 101 drives the annular guide rail 103, it will decelerate and increase the torque to ensure the stable operation of the annular guide rail 103.

[0114] Specifically, the control system is electrically connected to the third motor 102, and the control system can start or stop the third motor 102. In this embodiment, the structure and function of the third motor 102 are the same as those of the first motor 33, and will not be described in detail here.

[0115] The automatic detection device for intramedullary nails according to the embodiment of the present invention is as follows: Figure 4 and Figure 5As shown, the rotating assembly 10 includes a base 11 and a plurality of positioning members 12 disposed on the base 11. A driving gear 101 and an annular guide rail 103 are rotatably mounted on the base 11. The plurality of positioning members 12 are located inside the annular guide rail 103 to restrict movement of the annular guide rail 103 relative to the base 11. Thus, the claw plate 6 and the rotating assembly 10 are both mounted on the base 11. Due to the restriction of the annular guide rail 103 by the plurality of positioning members 12, the annular guide rail 103 does not move relative to the base 11 during rotation and remains meshed with the driving gear 101, ensuring stable operation of the annular guide rail 103 and, consequently, the stable operation of the claw plate 6.

[0116] Furthermore, if Figure 7 As shown, the positioning member 12 includes a roller 122 and a fixed pin 121. The roller 122 is rotatably mounted on the fixed pin 121. The fixed pin 121 is fixedly connected to the base 11. The outer surface of the roller 122 is provided with a circumferential groove 123 and is in rolling connection with the annular guide rail 103. As a result, the fixed pin 121 is fixedly connected to the base 11 so that the position of the positioning member 12 as a whole relative to the base 11 is fixed. The roller 122 is rotatably connected to the fixed pin 121, and the outer surface of the roller 122 is provided with a circumferential groove 123 and is in rolling connection with the annular guide rail 103. This can achieve that the fixed pin 121 of the positioning member 12 limits the displacement of the annular guide rail 103 relative to the base 11 in its radial and axial directions. At the same time, the roller 122 of the positioning member 12 can roll with the rotation of the annular guide rail 103, and will not limit the rotation of the annular guide rail 103 relative to the base 11.

[0117] Furthermore, the circumferential groove 123 provided on the outer surface of the roller 122 is V-shaped, and the annular guide rail 103 is provided with a protrusion, which is in rolling connection with the circumferential groove 123, thereby supporting the annular guide rail 103 and preventing the annular guide rail 103 from contacting the base 11. Therefore, when the annular guide rail 103 tends to move upward during rotation, the V-shaped circumferential groove 123 exerts a downward force on the annular guide rail 103 to prevent it from moving upward; when the annular guide rail 103 tends to sink during rotation, the V-shaped circumferential groove 123 exerts an upward force on the annular guide rail 103 to prevent it from sinking and contacting the base 11, thereby affecting its rotation.

[0118] Furthermore, the positioning member 12 of this embodiment further includes a support column 124, which is also rotatably mounted on the fixed pin 121 and is located below the roller 122. The support column 124 supports the roller 122 and the annular guide rail 103, thereby preventing the annular guide rail 103 from contacting the base 11 and thus preventing interference with the rotation of the annular guide rail 103. In other embodiments, the roller 122 and the support column 124 may also be integrally formed.

[0119] The automatic detection device for intramedullary nails according to the embodiment of the present invention is as follows: Figure 2 and Figure 4 As shown, the second transmission assembly includes a second moving assembly 8, which is arranged horizontally and is located on the upper end surface of the annular guide rail 103. The claw plate 6 is also located on the upper end surface of the second moving assembly 8. The second moving assembly 8 can drive the claw plate 6 to move horizontally. This facilitates horizontal movement to clamp the inspection tool 18 and horizontal movement to bring the inspection tool 18 grasped by the claw 612 close to the intramedullary nail 100 for inspection.

[0120] Specifically, the control system is electrically connected to the second movable assembly 8. The control system can control the operation of the second movable assembly 8, thereby controlling the horizontal movement of the claw plate 6. In this embodiment, the structure and function of the second movable assembly 8 are the same as those of the first movable assembly 3, including a guide rail, a slider, and a motor, and will not be repeated here.

[0121] Preferably, the upper end surface of the annular guide rail 103 is provided with a plurality of fixing holes 104, and the second movable assembly 8 can be selectively fixed in some of the fixing holes 104. Thus, the installation position of the second movable assembly 8 on the annular guide rail 103 is selective. In addition, the provision of multiple fixing holes 104 can also reduce weight.

[0122] The automatic detection device for intramedullary nails according to the embodiment of the present invention is as follows: Figure 2 and Figure 4 As shown, the second transmission assembly also includes a third movable assembly 9, which is arranged in a vertical direction and connected to the base 11. The third movable assembly 9 can drive the base 11 to move up and down. In this way, the height of the claw plate 6 can be adjusted so that the inspection tool 18 clamped by the claw 612 is aligned with the axial hole of the intramedullary nail 100 for inspection.

[0123] Specifically, the control system is electrically connected to the third movable assembly 9. The control system is capable of controlling the operation of the third movable assembly 9, thereby controlling the vertical movement of the claw plate 6 to adjust the height of the inspection fixture 18. In this embodiment, the structure and function of the third movable assembly 9 are the same as those of the first movable assembly 3, including a guide rail, a slider, and a motor, and will not be further described here.

[0124] Furthermore, the base 11 is fixedly connected to the third moving assembly 9 via an L-shaped bracket 13. To improve the stability of the base 11 and the rotating assembly 10 and the claw plate 6 fixed thereto, the length of one side plate connecting the L-shaped bracket 13 and the base 11 can be lengthened.

[0125] In other embodiments, a set of third moving components 9 and L-shaped brackets 13 may be optionally added to the other side opposite to the base 11 .

[0126] The items that need to be inspected for the intramedullary nail 100 include but are not limited to the optical hole 1001 at the distal end of the intramedullary nail 100, the threaded hole 1002 at the proximal end of the intramedullary nail 100, and the U-shaped groove 1003. Figure 1 Therefore, the inspection tool 18 used for inspection includes but is not limited to different types of type I inspection tools 181, type II inspection tools 182, and type III inspection tools 183, such as Figure 8 shown.

[0127] Among them, the I-type inspection fixture 181 includes different types of go / no-go gauge combinations, and the rods of the go / no-go gauges are smooth and are used to detect the light hole 1001. The detection of a light hole 1001 of one size requires a set of I-type inspection fixtures 181, that is, a set of go / no-go gauge combinations. Except for the different diameters of the rods of the go and no-go gauges, the rest of the go and no-go gauges are the same. The diameter of the rod of the go gauge is the minimum diameter of the light hole 1001, and the diameter of the rod of the no-go gauge is the maximum diameter of the light hole 1001. In a set of go / no-go gauge combinations, the go gauge can be inserted into the light hole 1001, and the no-go gauge cannot be inserted into the light hole 1001, and the size of the light hole 1001 is qualified.

[0128] Type II inspection fixture 182 includes different types of thread go gauge / thread stop gauge combinations, and the rod of thread go gauge / thread stop gauge is provided with thread for detecting threaded hole 1002. Similarly, if the thread go gauge can be inserted into threaded hole 1002 and the thread stop gauge cannot be inserted into threaded hole 1002, the size of threaded hole 1002 is qualified.

[0129] Type III inspection fixture 183 includes different types of U-groove profiling go gauge / U-groove profiling no-go gauge combinations, which are used to detect U-groove 1003. Similarly, if the U-groove profiling go gauge can be inserted into the U-groove 1003 and the U-groove profiling no-go gauge cannot be inserted into the U-groove 1003, the size of the U-groove 1003 is qualified.

[0130] Furthermore, the end cap of the gauge 18 adopts a hexagonal design, and the inner sides of the two opposing claws of the claw 612 used to grasp the gauge 18 are flat surfaces 613, which facilitates grasping the gauge 18. The hexagonal design of the end cap of the gauge 18 is superior to that of a cylindrical design, because the inner sides of the two opposing claws of the claw 612 are flat surfaces 613, which can easily cause the gauge 18 to swing sideways when grasping a cylindrical gauge 18 radially, affecting inspection. The hexagonal design of the end cap of the gauge 18 is also superior to that of a square design, because the hexagonal design increases the number of possible grasping positions and makes them closer together, so the claw 612 only needs to rotate a small angle to grasp the gauge 18.

[0131] The automatic intramedullary nail inspection device according to the embodiment of the present invention further includes a tool bin 17 for placing a plurality of tools 18 . The tools 18 are arranged in layers from top to bottom to facilitate accurate grasping by the claws 612 .

[0132] The operation process of the automatic intramedullary nail detection device according to the embodiment of the present invention is as follows:

[0133] 1) Inspection of the proximal axial hole of the intramedullary nail 100:

[0134] The pneumatic chuck 1 clamps the distal end of the intramedullary nail 100;

[0135] At least one set of second turntable assemblies 5 drives the pneumatic chuck 1 to flip up and down to adjust the orientation of the proximal axial hole of the intramedullary nail 100;

[0136] The first moving assembly 3 drives the pneumatic chuck 1 to move along the first direction X;

[0137] The second transmission assembly can drive the claw plate 6 to grab the checking tool 18 and insert the checking tool 18 into the proximal axial hole of the intramedullary nail 100 .

[0138] This embodiment specifically includes:

[0139] Step 1. The control system identifies the model of the intramedullary nail 100 to be tested or the model of the intramedullary nail 100 is manually input into the control system;

[0140] Step 2. Manually insert the distal end of the intramedullary nail 100 into the jacket of the pneumatic chuck 1, and the control system controls the jacket to close to clamp the intramedullary nail 100;

[0141] Step 3. The control system controls the movement of the fourth moving assembly 16 and the fourth turntable assembly 15 , thereby controlling the movement of the first visual module 14 to scan and identify the bending angle of the clamped intramedullary nail 100 ;

[0142] Step 4. The first visual module 14 scans the intramedullary nail 100 and obtains information that is fed back to the control system. The control system controls the movement of the first turntable assembly 4 and the second turntable assembly 5, and further coordinates the movement of the pneumatic chuck 1 to adjust the axis direction of the proximal axial hole of the intramedullary nail 100 to the horizontal first direction X.

[0143] Step 5. The control system controls the first moving assembly 3 to move so that the intramedullary nail 100 to be inspected is close to the claw plate 6;

[0144] Step 6. According to the program settings, the control system controls the movement of the rotating assembly 10, the second movable assembly 8, the third movable assembly 9, and the third turntable assembly 7, thereby controlling the claw plate 6 to perform three-dimensional (rotational, up and down, and forward and backward) movement to grab the required Type II and Type III gauges 182 and 183 from the gauge bin 17;

[0145] Step 7. The control system controls the third moving assembly 9 to move, so that the second visual module 614 can identify the axial threaded hole 1002 of the intramedullary nail 100;

[0146] Step 8. The control system controls the movement of the rotating assembly 10, the second moving assembly 8 and the third turntable assembly 7. The claws 612 clamp the inspection tool 18 to inspect the proximal axial threaded hole 1002 and the U-shaped groove 1003 of the intramedullary nail 100 in turn. The inspection results will be displayed on the device screen.

[0147] II) Inspection of the distal axial hole of the intramedullary nail 100:

[0148] The pneumatic chuck 1 clamps the proximal end of the intramedullary nail 100;

[0149] At least one set of second turntable assemblies 5 drives the pneumatic chuck 1 to flip up and down to adjust the orientation of the distal axial hole of the intramedullary nail 100;

[0150] The first moving assembly 3 drives the pneumatic chuck 1 to move along the first direction X;

[0151] The second transmission assembly can drive the claw plate 6 to grab the checking tool 18 and insert the checking tool 18 into the distal axial hole of the intramedullary nail 100 .

[0152] This embodiment specifically includes:

[0153] Step 1. The control system controls the first moving assembly 3 to move so that the intramedullary nail 100 is away from the claw plate 6;

[0154] Step 2. The control system controls the jacket of the pneumatic chuck 1 to loosen, and the proximal end of the intramedullary nail 100 is manually inserted into the jacket of the pneumatic chuck 1 . The control system controls the jacket to clamp the intramedullary nail 100 again.

[0155] Step 3. The control system controls the movement of the fourth moving assembly 16 and the fourth turntable assembly 15 , thereby controlling the movement of the first visual module 14 to scan and identify the bending angle of the clamped intramedullary nail 100 ;

[0156] Step 4. The information obtained by the first visual module 14 scanning the intramedullary nail 100 is fed back to the control system. The control system controls the movement of the first turntable assembly 4 and the second turntable assembly 5, and further coordinates the movement of the pneumatic chuck 1 to adjust the axis direction of the distal axial optical hole 1001 of the intramedullary nail 100 to the first horizontal direction X.

[0157] Step 5. The control system controls the first moving assembly 3 to move the intramedullary nail 100 to be inspected close to the claw plate 6 to adjust the distance between the intramedullary nail 100 and the claw plate 6;

[0158] Step 6. According to the program settings, the control system controls the movement of the rotating assembly 10, the second moving assembly 8, the third moving assembly 9, and the third turntable assembly 7, thereby controlling the claw plate 6 to perform three-dimensional (rotational, up and down, and forward and backward) movement, placing the Type II and Type III gauges 182, 183 into the gauge bin 17, and grabbing the required Type I gauge 181 from the gauge bin 17;

[0159] Step 7. The control system controls the third moving assembly 9 to move, so that the second visual module 614 can identify the axial optical hole 1001 of the intramedullary nail 100;

[0160] Step 8. The control system controls the rotation assembly 10, the second moving assembly 8 and the third turntable assembly 7 to move. The clamping claw 612 clamps the inspection tool 18 to inspect the optical hole 1001 at the distal end of the intramedullary nail 100. The inspection result will be displayed on the screen of the device.

[0161] 3) Detection equipment reset

[0162] Step 1. The control system controls the first moving assembly 3 to move so that the intramedullary nail 100 is away from the claw plate 6;

[0163] Step 2. The control system controls the pneumatic chuck 1 to loosen the chuck sleeve, and the intramedullary nail 100 is manually removed;

[0164] Step 3. The control system controls the movement of the rotating assembly 10 , the second moving assembly 8 , the third moving assembly 9 and the third turntable assembly 7 , controls the claw plate 6 to move in three dimensions (rotation, up and down, front and back), and places the inspection tool 18 back into the inspection tool bin 17 .

[0165] Step 4. Close the control system program and end the test.

[0166] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0167] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature specified as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0168] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection, or communication; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0169] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0170] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic detection device for intramedullary nails, characterized in that: include: a pneumatic chuck arranged along a first horizontal direction X and configured to switchably clamp the proximal end and the distal end of the intramedullary nail; a first transmission assembly connected to the pneumatic chuck, the first transmission assembly comprising a first moving assembly, a first turntable assembly, and at least one set of second turntable assemblies, the first moving assembly being capable of driving the pneumatic chuck to move along the first direction X, the first turntable assembly being capable of driving the pneumatic chuck to rotate about the first direction X, and at least one set of second turntable assemblies being capable of driving the pneumatic chuck to flip up and down to cooperatively adjust the orientation of the axial hole of the intramedullary nail; a fourth movable assembly and a first visual module provided on the fourth movable assembly, wherein the first visual module is capable of scanning and identifying a bending angle of the clamped intramedullary nail, and the fourth movable assembly is arranged along the first direction X; a clamping mechanism comprising a second transmission assembly and a claw plate connected to each other, the claw plate and the pneumatic chuck being spaced apart along the first direction X, the claw plate being provided with at least one claw assembly, the second transmission assembly being capable of driving the claw plate to grasp a gauge and insert the gauge into the axial hole of the intramedullary nail; The second transmission assembly includes a rotating assembly, a second moving assembly and a third turntable assembly, the rotating assembly includes a driving gear and an annular guide rail, the claw disk is provided on the annular guide rail, the annular guide rail is provided with external teeth engaged with the driving gear, the driving gear is connected to the third motor, and the third motor can drive the driving gear to rotate, thereby driving the annular guide rail and the claw disk to rotate in a vertical direction; the second moving assembly is arranged in a horizontal direction, the second moving assembly is provided on the upper end surface of the annular guide rail, and the claw disk is provided on the upper end surface of the second moving assembly, and the second moving assembly can drive the claw disk to move in a horizontal direction; the third turntable assembly is connected to the claw disk, and the third turntable assembly is provided on the second moving assembly and rotates around the vertical direction, which can drive the claw disk to rotate.

2. The automatic intramedullary nail detection device according to claim 1, characterized in that: The first moving assembly includes a first guide rail, a first slider, and a first motor. The pneumatic chuck is connected to the first slider. The first slider is disposed on the first guide rail. The first guide rail is arranged along the first direction X. The pneumatic chuck can slide along the first guide rail to adjust the distance between the intramedullary nail and the jaw plate. And / or, the pneumatic chuck includes a collet and a driving member, and the driving member can drive the collet to open or close to loosen or clamp the end of the intramedullary nail; And / or, it further includes a gauge bin, wherein the gauge bin is used to place a plurality of the gauges, and the plurality of the gauges are placed in layers from top to bottom.

3. The automatic intramedullary nail detection device according to claim 2, characterized in that: A driving member and a driven member connected to each other are provided in the first guide rail, the output shaft of the first motor is connected to the driving member, and the first slider is connected to the driven member. The first motor can drive the driving member to rotate, thereby driving the driven member to move along the first direction X; And / or, the end cap of the inspection tool adopts a hexagonal design.

4. The automatic intramedullary nail detection device according to claim 1, characterized in that: The second turntable assembly is arranged along a second horizontal direction Y, the second direction Y is perpendicular to the first direction X, and is perpendicular to the axial direction of the pneumatic chuck. The second turntable assembly is connected to the pneumatic chuck, and the rotation of the second turntable assembly can drive the pneumatic chuck to flip up and down, so that the axial direction of the axial hole of the other end of the intramedullary nail opposite to the clamped end is parallel to the first direction X.

5. The automatic intramedullary nail detection device according to claim 1, characterized in that: The first turntable assembly includes a first turntable and a second motor connected to each other, the second motor can drive the first turntable to rotate, the first turntable is connected to the pneumatic chuck, and the rotation axis of the first turntable is parallel to the first direction X.

6. The automatic intramedullary nail detection device according to claim 1, characterized in that: The claw assembly includes a connecting arm and a claw that are connected to each other. The connecting arm extends in a horizontal direction. A driving structure is provided in the connecting arm, and the driving structure can drive the claw to rotate along its axis.

7. The automatic intramedullary nail detection device according to claim 6, characterized in that: The clamping claw comprises two clamping claw pieces, the inner sides of the two clamping claw pieces facing each other are flat, and the driving structure can drive the two clamping claw pieces to open and close; And / or, a second visual module is provided on the claw plate, and the second visual module is located above the connecting arm and is used for scanning and identifying the axial hole of the intramedullary nail.

8. The automatic intramedullary nail detection device according to claim 1, characterized in that: The rotating assembly also includes a base and a plurality of positioning members arranged on the base. The driving gear and the annular guide rail are rotatably arranged on the base. The plurality of positioning members are all located on the inner side of the annular guide rail to limit the movement of the annular guide rail relative to the base.

9. The automatic intramedullary nail detection device according to claim 8, characterized in that: The positioning member includes a roller and a fixed pin, the roller is rotatably sleeved on the fixed pin, the fixed pin is fixedly connected to the base, and the outer surface of the roller is provided with a circumferential groove which is in rolling connection with the annular guide rail; And / or, the second transmission assembly further includes a third movable assembly, the third movable assembly is arranged in a vertical direction, the third movable assembly is connected to the base, and the third movable assembly can drive the base to move up and down.

10. An automatic detection method for intramedullary nails, using the automatic detection device for intramedullary nails according to any one of claims 1 to 9, characterized in that: The steps are as follows: 1) Detection of the proximal axial hole of the intramedullary nail: The pneumatic chuck clamps the distal end of the intramedullary nail; At least one set of the second turntable assemblies drives the pneumatic chuck to flip up and down to adjust the orientation of the proximal axial hole of the intramedullary nail; The first moving assembly drives the pneumatic chuck to move along the first direction X; The second transmission assembly is capable of driving the claw disc to grab the inspection tool and insert the inspection tool into the proximal axial hole of the intramedullary nail; II) Detection of the distal axial hole of the intramedullary nail: The pneumatic chuck clamps the proximal end of the intramedullary nail; At least one set of the second turntable assemblies drives the pneumatic chuck to flip up and down to adjust the orientation of the distal axial hole of the intramedullary nail; The first moving assembly drives the pneumatic chuck to move along the first direction X; The second transmission assembly can drive the claw plate to grab the inspection tool and insert the inspection tool into the distal axial hole of the intramedullary nail.

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