Method for detecting existence and state of shaping needle

Abstract

The invention discloses a method for detecting the existence and state of a shaping needle, and the method comprises the following steps: S1, a detection assembly is arranged at the outlet ends of two conveying rollers, the detection assembly comprises a light projector and a light receiver, and a light coverage space is formed between the light projector and the light receiver; when the shaping needle does not enter the light coverage space, the luminous flux received by the light receiver is A, and when the shaping needle is just put into the two conveying rollers, the luminous flux received by the light receiver is B; a threshold value C is set, and C is larger than or equal to B and smaller than A; s2, after the unshaped part is placed between the two conveying rollers, when the luminous flux is changed from A to B, it is judged that the shaping needle is successfully placed into the two conveying rollers; and S3, two conveying rollers are controlled to rotate, meanwhile, the luminous flux received by the light receiver is detected, the detected luminous flux is compared with C, and whether the shaping needle is qualified or not is judged. The method provided by the invention can reliably detect the unshaped part with a small diameter.

Description

Technical Field

[0001] This invention relates to the field of interventional consumables, and more specifically to a method for detecting the presence and condition of orthokeratology needles. Background Technology

[0002] Microcatheters are commonly used in interventional procedures, such as in aneurysm surgery, where they are used to insert coils into the aneurysm. The key challenge in this process is generating a treatment plan based on vascular / aneurysm imaging data, and then shaping the microcatheter according to that plan. Using the shaped microcatheter, along with a high-temperature fumigation process, the microcatheter is then fixed in its final shape. This finalized microcatheter significantly improves the success rate of successful insertion on the first attempt.

[0003] In existing technologies, a straight shaping needle can be shaped to the desired shape based on vascular / aneurysm imaging data using a wire shaping device, such as the wire shaping device described in patent document CN 115055604 B. Figure 1 and Figure 2 As shown, the shaping needle after shaping includes a shaped part and an unshaped part (which is a straight structure). Finally, the unshaped part is fed into two conveyor rollers, which clamp the unshaped part. After the conveyor rollers rotate, they transport the shaped needle to the finished product box.

[0004] In actual operation, the pressure between the conveyor rollers (which can be controlled by adjusting the gap) needs to be adjusted. If the pressure is too low, the unshaped part cannot be properly rolled out (i.e., the shaping needle cannot be conveyed to the finished product box); if the pressure is too high, the unshaped part will bend into an arc shape after coming out of the conveyor rollers, and excessive bending will render it unusable. See [link to relevant documentation]. Figure 3 At this point, the shaping needle is unqualified. However, if the bending is slight, the shaping needle is usable and considered qualified. See [link / reference]. Figure 4 .

[0005] Human arteries have a diameter of less than 1 cm, therefore the inner diameter of the microcatheter inserted into the artery is even smaller, and the size of the shaping needle placed inside the microcatheter is even smaller, with a diameter between 0.1 and 0.3 mm. To determine whether the conveyor roller has placed the shaping needle, a sensing structure is needed for detection. Current technology typically uses capacitive proximity switches or inductive switches for detection. However, these two types of switches have limitations in detecting items, especially regarding the size of the items being detected, and are not suitable for detecting small items, meaning they cannot effectively detect shaping needles. Furthermore, capacitive proximity switches and inductive switches can only detect the presence or absence of an item, not its state. Summary of the Invention

[0006] To address the above-mentioned problems, this invention proposes a method for detecting the presence and status of shaping needles.

[0007] The technical solution adopted in this invention is as follows:

[0008] A method for detecting the presence and state of a shaping needle, wherein the shaping needle is a shaped needle, and the shaping needle includes an unshaped part and a shaped part connected in sequence. The method for detecting the presence and state of the shaping needle includes the following steps:

[0009] S1. A detection assembly is installed at the outlet end of two conveying rollers. The two conveying rollers are used to clamp and convey the unshaped part. The detection assembly includes a pair of opposite and spaced-apart optical fiber heads. One optical fiber head is a transmitter, and the other optical fiber head is a receiver. The transmitter emits light to the receiver. The direction of the light emitted by the transmitter is parallel to the axis of the conveying roller. The receiver receives the light from the transmitter. A light coverage space is formed between the transmitter and the receiver. When the shaping needle has not entered the light coverage space, the light flux received by the receiver is the largest, which is A. When the shaping needle is just inserted into the two conveying rollers, the light coverage space is between the two conveying rollers and the shaped part, and the unshaped part is located in the light coverage space. The light flux received by the receiver is the smallest, which is B. A threshold C is set, where C is greater than or equal to B and less than A.

[0010] S2. After placing the unshaped part of the shaping needle between the two conveying rollers, if the light flux received by the light receiver changes from A to B, it is determined that the shaping needle has been successfully placed between the two conveying rollers.

[0011] S3. After the shaping needle is successfully placed into the two conveyor rollers, control the rotation of the two conveyor rollers and simultaneously detect the light flux received by the light receiver. When the light flux received by the light receiver is greater than or equal to B and less than or equal to C, the shaping needle is deemed qualified and the two conveyor rollers continue to rotate. When the light flux received by the light receiver is greater than C and less than A, the two conveyor rollers stop rotating. If the light flux received by the light receiver after the conveyor rollers stop rotating is still greater than C and less than A, the shaping needle is deemed unqualified.

[0012] This application utilizes the combination of a projector and a receiver to obtain luminous flux values. This detection method can detect small-sized items (e.g., unshaped portions with a diameter of 0.1 mm). Changes in luminous flux values ​​can detect the presence and state of shaping needles. Specifically, after placing the unshaped portion of the shaping needle between two conveyor rollers, if the luminous flux received by the receiver changes from A to B, the shaping needle is considered successfully placed on the two conveyor rollers. When the luminous flux received by the receiver is between A and B, it can be determined that the unshaped portion is bent. When the luminous flux received by the receiver is greater than or equal to B and less than or equal to C, it indicates a small degree of bending, and the shaping needle is qualified. When the luminous flux received by the receiver is greater than C and less than or equal to A, it indicates a large degree of bending, and the shaping needle is unqualified. In other words, the method of this application can reliably detect small-diameter unshaped portions, determining not only the presence or absence of shaping needles but also the state (degree of bending) of the unshaped portion after being compressed by the conveyor rollers.

[0013] When the luminous flux received by the receiver is greater than C and less than A, the two conveyor rollers stop rotating. If the luminous flux received by the receiver is still greater than C and less than A after the conveyor rollers stop rotating, the shaping needle is determined to be unqualified. This judgment method can prevent false judgments, that is, it can eliminate the situation where the luminous flux is greater than C and less than A when the shaping needle has just fallen.

[0014] In one embodiment of the present invention, the extrusion pressure on the shaping needle can be adjusted between the two conveying rollers;

[0015] In step S3, when the shaping needle is determined to be unqualified, a first correction operation is performed. The first correction operation includes: transferring the shaping needle to another position for correction, so that the bent unshaped part is corrected into a straight line, and adjusting the two conveying rollers to reduce the squeezing force of the conveying rollers on the shaping needle.

[0016] After the first correction operation is completed, the corrected shaping needle is put back between the two conveyor rollers.

[0017] When the shaping needle is determined to be unqualified, it means that the force of the two conveying rollers is too large, causing the unshaped part to bend too much. This application can straighten the excessively bent unshaped part through the first correction operation, and reduce the squeezing force of the conveying rollers on the shaping needle. This allows the bending degree to be reduced when the corrected shaping needle is conveyed again. Through one or more first correction operations, qualified shaping needles can be obtained.

[0018] In one embodiment of the present invention, the time from the start of rotation of the two conveying rollers to the crushing of the unshaped part and the falling of the shaping needle is t1;

[0019] In step S3, timing begins when the conveyor rollers start rotating. After time t2, t2 is greater than or equal to t1. When the light flux received by the light receiver is greater than or equal to A, it is determined that the shaping needle has been normally conveyed out from the two conveyor rollers.

[0020] When the light flux received by the receiver is less than A after time t2, it is determined that the shaping needle has not been properly conveyed from the two conveying rollers. At this time, a second correction operation is performed. The second correction operation is to adjust the two conveying rollers to increase the squeezing force of the conveying rollers on the shaping needle.

[0021] When t2 is greater than or equal to t1, especially when t2 is greater than t1, a margin can be left to ensure that the shaping needle is successfully delivered. If the light flux received by the light receiver is less than A after time t2, it is determined that the shaping needle has not been properly delivered from the two conveying rollers. This indicates that the force of the two conveying rollers on the unshaped part is small. After one or more second correction operations, it can be ensured that the conveying rollers can drive the unshaped part to move normally.

[0022] In practical application, after the second correction operation is completed, step S3 is repeated.

[0023] In one embodiment of the present invention, after the shaping needle is successfully placed into the two conveying rollers, the finished product box is controlled to move to the underside of the shaping needle;

[0024] In step S3, when it is determined that the shaping needle has been normally conveyed out from the two conveying rollers, the finished product box is controlled to move to the picking position for the operator to pick up.

[0025] In practical applications, the specific movement path of the finished product box is not limited. For example, the finished product box can move up and down. When the light flux received by the receiver is greater than or equal to A after time t2, the finished product box is controlled to move up for the operator to pick up.

[0026] In one embodiment of the present invention, in the first correction operation, the bent unshaped portion is corrected into a straight shape by a correction component. The correction component includes two pressure blocks that can move away from and close to each other. The moving direction of the pressure blocks is perpendicular to the axis of the conveying roller and also perpendicular to the conveying direction of the conveying roller for conveying the unshaped portion.

[0027] In one embodiment of the present invention, the correction assembly further includes a drive element for driving the pressure block to move.

[0028] In one embodiment of the present invention, in the first correction operation, the shaping needle is transferred between the correction component and two conveying rollers by a transfer component.

[0029] In practical applications, the transfer assembly can be a conventional translation structure such as an electric push rod, a ball screw pair, or a cylinder.

[0030] In one embodiment of the present invention, the detection component further includes an optical fiber amplifier and a signal receiver; the transmitter and the receiver are respectively connected to the optical fiber amplifier via optical fibers; the optical fiber amplifier is connected to the signal receiver via a communication cable, and the signal receiver is used to receive the light flux information of the receiver.

[0031] In one embodiment of the present invention, the detection component further includes a controller, and the signal receiver is connected to the controller via a communication cable.

[0032] In one embodiment of the present invention, C is greater than B and less than A; t2 is greater than t1.

[0033] The beneficial effects of this invention are as follows: This application can obtain the value of light flux through the cooperation of a projector and a receiver. This detection method can detect small-sized items (such as unshaped parts with a diameter of 0.1 mm). The presence and state of the shaping needle can be detected by the change in the value of the light flux. Specifically, after the unshaped part of the shaping needle is placed between two conveying rollers, if the light flux received by the receiver changes from A to B, it is determined that the shaping needle has been successfully placed between the two conveying rollers. When the light flux received by the receiver is between A and B, it can be determined that the unshaped part is bent. When the light flux received by the receiver is greater than or equal to B and less than or equal to C, it indicates that the degree of bending is small and the shaping needle is qualified. When the light flux received by the receiver is greater than C and less than or equal to A, it indicates that the degree of bending is large and the shaping needle is unqualified. That is, the method of this application can reliably detect unshaped parts with a small diameter, and can not only determine the presence or absence of the shaping needle, but also determine the state (degree of bending) of the unshaped part after being squeezed by the conveying rollers. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the shaping needle after the shaping process is completed;

[0035] Figure 2 This is a schematic diagram showing the unshaped part of the shaping needle just inserted into the two conveyor rollers;

[0036] Figure 3 This is a schematic diagram of a shaping needle that causes excessive bending of the unshaped part due to excessive force exerted by the conveyor roller on the unshaped part;

[0037] Figure 4 This is a schematic diagram of a shaping needle with a relatively small degree of curvature in the unshaped portion;

[0038] Figure 5 This is a schematic diagram showing the shape-forming needle just being inserted into the two conveyor rollers on one side, which have a light projector and a light receiver.

[0039] Figure 6 This is a schematic diagram of the light-covered space formed by the projector and the receiver;

[0040] Figure 7 This is a schematic diagram of the unshaped portion within the light-covered space;

[0041] Figure 8 This is a connection diagram of the detection components;

[0042] Figure 9 This is a schematic diagram showing a smaller degree of curvature in the unshaped portion;

[0043] Figure 10 This is a schematic diagram when the unshaped part has a large degree of curvature;

[0044] Figure 11 This is a schematic diagram of the two pressure plates of the correction component when they are separated from each other;

[0045] Figure 12 This is a schematic diagram showing the two pressure plates of the correction assembly when they are close to each other.

[0046] Figure 13 This is a schematic diagram of an initialization process;

[0047] Figure 14 This is a diagram illustrating a workflow.

[0048] The labels for the attached figures are as follows:

[0049] 1. Shaping needle; 11. Unshaped part; 12. Shaping part; 2. Conveyor roller; 21. Exit end; 3. Detection assembly; 31. Projector; 32. Receiver; 33. Light coverage space; 34. Fiber optic amplifier; 35. Fiber optic cable; 36. Signal receiver; 37. Communication cable; 38. Controller; 4. Finished product box; 5. Correction assembly; 51. Pressure block. Detailed Implementation

[0050] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0051] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0052] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0053] The present invention will now be described in detail with reference to the accompanying drawings.

[0054] This embodiment discloses a method for detecting the presence and state of shaping needles, such as... Figure 1 As shown, the shaping needle 1 is a shaped needle. The shaping needle 1 includes an unshaped part 11 and a shaped part 12 connected in sequence. The method for detecting the presence and status of the shaping needle includes the following steps:

[0055] S1, such as Figure 5 , 6 As shown in Figures 7 and 8, a detection assembly 3 is provided at the outlet end 21 of the two conveying rollers 2. The two conveying rollers 2 are used to clamp and convey the unshaped portion 11. The detection assembly 3 includes a pair of opposing and spaced-apart optical fiber heads 35. One optical fiber head 35 is a transmitter 31, and the other optical fiber head 35 is a receiver 32. The transmitter 31 is used to emit light to the receiver 32. The direction of the light emitted by the transmitter 31 is parallel to the axis of the conveying roller 2. The receiver 32 is used to receive light from the transmitter. The light source 31 forms a light coverage space 33 between the light projector 31 and the light receiver 32. When the shaping needle 1 has not entered the light coverage space 33, the light flux received by the light receiver 32 is the largest, which is A. When the shaping needle 1 is just placed into the two conveying rollers 2, the light coverage space 33 is between the two conveying rollers 2 and the shaping part 12, and the unshaped part 11 is located in the light coverage space 33. The light flux received by the light receiver 32 is the smallest, which is B. A threshold C is set, which is greater than or equal to B and less than A.

[0056] S2, such as Figure 5As shown, after the unshaped part 11 of the shaping needle 1 is placed between the two conveying rollers 2, if the light flux received by the light receiver 32 changes from A to B, it is determined that the shaping needle 1 has been successfully placed between the two conveying rollers 2.

[0057] S3. After the shaping needle 1 is successfully placed into the two conveying rollers 2, control the rotation of the two conveying rollers 2, and at the same time detect the light flux received by the light receiver 32. When the light flux received by the light receiver 32 is greater than or equal to B and less than or equal to C, the shaping needle 1 is deemed qualified, and the two conveying rollers 2 continue to rotate. When the light flux received by the light receiver 32 is greater than C and less than A, the two conveying rollers 2 stop rotating. If the light flux received by the light receiver 32 after the conveying rollers 2 stop rotating is still greater than C and less than A, the shaping needle 1 is deemed unqualified.

[0058] This application utilizes the cooperation of a projector 31 and a receiver 32 to obtain the luminous flux value. This detection method can detect small-sized items (e.g., an unshaped portion 11 with a diameter of 0.1 mm). The presence and state of the shaping needle 1 can be detected by changes in the luminous flux value. Specifically, after placing the unshaped portion 11 of the shaping needle 1 between two conveyor rollers 2, if the luminous flux received by the receiver 32 changes from A to B, it is determined that the shaping needle 1 has been successfully placed between the two conveyor rollers 2. When the luminous flux received by the receiver 32 is between A and B, it can be determined that the unshaped portion 11 is bent. When the luminous flux received by the receiver 32 is greater than or equal to B and less than or equal to C, it indicates a small degree of bending. See [link to relevant documentation]. Figure 9 Shaping needle 1 is qualified; when the light flux received by the light receiver 32 is greater than C and less than or equal to A, it indicates that the degree of bending is relatively large, and it is ready to proceed. Figure 10 The shaping needle 1 is defective. That is, the method of this application can reliably detect the small diameter unshaped part 11, and can not only determine the presence or absence of the shaping needle 1, but also determine the state (degree of bending) of the unshaped part 11 after being squeezed by the conveying roller 2.

[0059] When the luminous flux received by the light receiver 32 is greater than C and less than A, the two conveying rollers 2 stop rotating. If the luminous flux received by the light receiver 32 is still greater than C and less than A after the conveying rollers 2 stop rotating, the shaping needle 1 is determined to be unqualified. This judgment method can prevent false judgments, that is, it can eliminate the situation where the luminous flux is greater than C and less than A when the shaping needle 1 has just fallen.

[0060] In this embodiment, the extrusion pressure on the shaping needle 1 can be adjusted between the two conveying rollers 2;

[0061] In step S3, when the shaping needle 1 is determined to be unqualified, the first correction operation is performed. The first correction operation includes: transferring the shaping needle 1 to another position for correction, so that the bent unshaped part 11 is corrected into a straight line, and adjusting the two conveying rollers 2 at the same time to reduce the squeezing force of the conveying rollers 2 on the shaping needle 1.

[0062] After the first correction operation is completed, the corrected shaping needle 1 is put back between the two conveying rollers 2.

[0063] When the shaping needle 1 is determined to be unqualified, it means that the force of the two conveying rollers is too large, causing the unshaped part 11 to bend too much. This application can straighten the excessively bent unshaped part 11 through the first correction operation, and reduce the squeezing force of the conveying roller 2 on the shaping needle 1. This allows the bending degree to be reduced when the corrected shaping needle 1 is conveyed again. Through one or more first correction operations, qualified shaping needles 1 can be obtained.

[0064] In this embodiment, the time from the start of rotation of the two conveying rollers 2 until the unshaped part 11 is crushed out and the shaping needle 1 falls off is t1;

[0065] In step S3, timing begins when the conveyor roller 2 starts rotating. After time t2, t2 is greater than or equal to t1. When the light flux received by the light receiver 32 is greater than or equal to A, it is determined that the shaping needle 1 has been normally conveyed out from the two conveyor rollers 2.

[0066] When the light flux received by the light receiver 32 is less than A after time t2, it is determined that the shaping needle 1 is not properly conveyed from the two conveying rollers 2. At this time, the second correction operation is performed. The second correction operation is to adjust the two conveying rollers 2 to increase the squeezing force of the conveying rollers 2 on the shaping needle 1.

[0067] When t2 is greater than or equal to t1, especially when t2 is greater than t1, a margin can be left to ensure that the shaping needle 1 is successfully delivered. If the light flux received by the light receiver 32 is less than A after time t2, it is determined that the shaping needle 1 has not been properly delivered from the two conveying rollers 2, indicating that the force of the two conveying rollers 2 on the unshaped part 11 is small. After one or more second correction operations, it can be ensured that the conveying rollers 2 can normally drive the unshaped part 11 to move.

[0068] In practical application, after the second correction operation is completed, step S3 is repeated.

[0069] like Figure 5 As shown, in this embodiment, after the shaping needle 1 is successfully placed into the two conveying rollers 2, the finished product box 4 is controlled to move to the underside of the shaping needle 1.

[0070] In step S3, when it is determined that the shaping needle 1 has been normally conveyed out from the two conveying rollers 2, the finished product box 4 is controlled to move to the picking position for the operator to pick up.

[0071] In practical applications, the specific movement path of the finished product box 4 is not limited. For example, the finished product box 4 can move up and down. When the light flux received by the light receiver 32 is greater than or equal to A after time t2, the finished product box 4 is controlled to move up for the operator to pick up.

[0072] like Figure 11 and 12 As shown, in this embodiment, during the first correction operation, the bent unshaped portion 11 is straightened into a straight shape by the correction component 5. The correction component 5 includes two pressure blocks 51 that can move away from and close to each other. The moving direction of the pressure blocks 51 is perpendicular to the axis of the conveying roller 2, and also perpendicular to the conveying direction of the conveying roller 2 for conveying the unshaped portion 11.

[0073] In this embodiment, the correction component 5 further includes a driving element (not shown in the figure) for driving the pressure block 51 to move.

[0074] In this embodiment, during the first correction operation, the shaping needle 1 is transferred between the correction assembly 5 and the two conveying rollers 2 via a transfer assembly (not shown in the figure). In practical applications, the transfer assembly can be a conventional translation structure such as an electric push rod with a clamping structure, a ball screw pair, or a cylinder.

[0075] like Figure 8 As shown, in this embodiment, the detection component 3 further includes an optical fiber amplifier 34 and a signal receiver 36; the projector 31 and the receiver 32 are respectively connected to the optical fiber amplifier 34 via optical fiber 35; the optical fiber amplifier 34 is connected to the signal receiver 36 via a communication cable 37, and the signal receiver 36 is used to receive the light flux information of the receiver 32.

[0076] like Figure 8 As shown, in this embodiment, the detection component 3 further includes a controller 38, and the signal receiver 36 is connected to the controller 38 via a communication cable 37.

[0077] In practical applications, preferably, C is greater than B and less than A, which allows for movement of the bending; preferably, t2 is greater than t1, which leaves a margin to ensure reliable and stable operation of the program.

[0078] The method of this embodiment can be implemented in a molding device. An initialization process can be performed before actual operation, one such initialization process is as follows: Figure 13 As shown.

[0079] After the initialization process is complete, the workflow will proceed. One type of workflow is as follows: Figure 14 As shown.

[0080] For the same batch of shaping needles 1 (with no changes in shape, size, or material), initialization only needs to be performed once; the values ​​of A, B, C, and t1 will not change. If the specifications of shaping needle 1 change, it needs to be initialized again, and the values ​​of A, B, C, and t1 need to be regenerated.

[0081] The above description is merely a preferred embodiment of the present invention and does not limit the scope of patent protection of the present invention. Any equivalent structural transformations made based on the description and drawings of the present invention, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present invention.

Claims

1. A method for detecting the presence and state of a shaping needle, wherein the shaping needle is a shaped needle, the shaping needle comprising an unshaped portion and a shaped portion connected in sequence, characterized in that, The following steps are involved: S1. A detection assembly is installed at the outlet end of two conveying rollers. The two conveying rollers are used to clamp and convey the unshaped part. The detection assembly includes a pair of opposite and spaced-apart optical fiber heads. One optical fiber head is a transmitter, and the other optical fiber head is a receiver. The transmitter emits light to the receiver. The direction of the light emitted by the transmitter is parallel to the axis of the conveying roller. The receiver receives the light from the transmitter. A light coverage space is formed between the transmitter and the receiver. When the shaping needle has not entered the light coverage space, the light flux received by the receiver is the largest, which is A. When the shaping needle is just inserted into the two conveying rollers, the light coverage space is between the two conveying rollers and the shaped part, and the unshaped part is located in the light coverage space. The light flux received by the receiver is the smallest, which is B. A threshold C is set, where C is greater than or equal to B and less than A. S2. After placing the unshaped part of the shaping needle between the two conveying rollers, if the light flux received by the light receiver changes from A to B, it is determined that the shaping needle has been successfully placed between the two conveying rollers. S3. After the shaping needle is successfully placed into the two conveyor rollers, control the rotation of the two conveyor rollers and simultaneously detect the light flux received by the light receiver. When the light flux received by the light receiver is greater than or equal to B and less than or equal to C, the shaping needle is deemed qualified and the two conveyor rollers continue to rotate. When the light flux received by the light receiver is greater than C and less than A, the two conveyor rollers stop rotating. If the light flux received by the light receiver after the conveyor rollers stop rotating is still greater than C and less than A, the shaping needle is deemed unqualified.

2. The method for detecting the presence and state of shaping needles as described in claim 1, characterized in that, The extrusion pressure on the shaping needle can be adjusted between the two conveying rollers; In step S3, when the shaping needle is determined to be unqualified, a first correction operation is performed. The first correction operation includes: transferring the shaping needle to another position for correction, so that the bent unshaped part is corrected into a straight line, and adjusting the two conveying rollers to reduce the squeezing force of the conveying rollers on the shaping needle. After the first correction operation is completed, the corrected shaping needle is put back between the two conveyor rollers.

3. The method for detecting the presence and state of shaping needles as described in claim 2, characterized in that, The time from the start of rotation of the two conveyor rollers until the unshaped part is crushed out and the shaping needle falls off is t1; In step S3, timing begins when the conveyor rollers start rotating. After time t2, t2 is greater than or equal to t1. When the light flux received by the light receiver is greater than or equal to A, it is determined that the shaping needle has been normally conveyed out from the two conveyor rollers. When the light flux received by the receiver is less than A after time t2, it is determined that the shaping needle has not been properly conveyed from the two conveying rollers. At this time, a second correction operation is performed. The second correction operation is to adjust the two conveying rollers to increase the squeezing force of the conveying rollers on the shaping needle.

4. The method for detecting the presence and state of shaping needles as described in claim 3, characterized in that, After the shaping needle is successfully inserted into the two conveyor rollers, control the finished product box to move to the underside of the shaping needle; In step S3, when it is determined that the shaping needle has been normally conveyed out from the two conveying rollers, the finished product box is controlled to move to the picking position for the operator to pick up.

5. The method for detecting the presence and state of shaping needles as described in claim 2, characterized in that, In the first correction operation, the bent, unshaped portion is straightened into a straight shape by a correction component. The correction component includes two pressure blocks that can move away from and close to each other. The movement direction of the pressure blocks is perpendicular to the axis of the conveying roller and also perpendicular to the conveying direction of the conveying roller for conveying the unshaped portion.

6. The method for detecting the presence and state of shaping needles as described in claim 5, characterized in that, The correction assembly also includes a drive element for moving the pressure block.

7. The method for detecting the presence and state of shaping needles as described in claim 6, characterized in that, In the first correction operation, the shaping needle is transferred between the correction assembly and the two conveyor rollers by the transfer assembly.

8. The method for detecting the presence and state of shaping needles as described in claim 1, characterized in that, The detection component also includes an optical fiber amplifier and a signal receiver; the transmitter and the receiver are respectively connected to the optical fiber amplifier via optical fibers; the optical fiber amplifier is connected to the signal receiver via a communication cable, and the signal receiver is used to receive the light flux information of the receiver.

9. The method for detecting the presence and state of shaping needles as described in claim 8, characterized in that, The detection component also includes a controller, and the signal receiver is connected to the controller via a communication cable.

10. The method for detecting the presence and state of shaping needles as described in claim 3, characterized in that, C is greater than B and less than A; t2 is greater than t1.

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