Full-automatic medical suture winding and packaging equipment

Abstract

The present application relates to the technical field of medical suture automatic packaging, in particular to a kind of medical suture full-automatic winding packaging equipment, including winding module, positioning folding module and transfer module, winding module includes winding device and wiring device, positioning folding module includes positioning mould, first folding mechanism, pressing plate, needle turning mechanism and second folding mechanism, transfer module includes shell feeding mechanism and suture grabbing mechanism, by winding medical suture to form regular coil, then coil is folded and packaged by realizing packaging shell through automatic mechanism, and then the packaging processing of needle medical suture is achieved, the regular packaging of needle suture is realized, and the suture will not appear any winding knot, and the packaging process is fully automated, with high processing efficiency.

Description

Technical Field

[0001] This invention relates to the field of automated packaging technology for medical sutures, and particularly to a fully automated winding and packaging device for medical sutures. Background Technology

[0002] In order to ensure sterility throughout the processing of medical sutures and eliminate the risk of infection, the medical sutures are processed in a sterile workshop during the production stage and then immediately sealed in medical-grade sterile packaging in a sterile environment, without coming into contact with the external environment at all.

[0003] Before use, medical staff need to check the "sterile indicator" on the packaging to confirm that the packaging is not damaged and the sterility is not compromised. After opening, it can be used directly in surgery without additional sterilization.

[0004] For example, Chinese invention patent application No. 201680012074.4 discloses a packaging package with needle-stitched thread. When removing the needle-stitched thread stored in the packaging package, the thread can be removed without tangling, and the thread is less likely to rub against any point on the packaging package. In addition, the specific steps for sealing the thread are also disclosed.

[0005] However, the above technical solutions only provide a method and steps similar to the packaging steps of the needle-stitched suture in this application, and do not provide an automated packaging structure for realizing the needle-stitched suture.

[0006] Furthermore, Chinese invention patent application number 201920836054.X discloses an inner packaging bag assembly unit for an automatic suture assembly machine; it includes an inner packaging bag feeding module and a suture bag assembly module; the inner packaging bag feeding module includes a horizontal feeding line with multiple positioning grooves spaced parallel to each other for positioning the inner packaging bag; the suture bag assembly module includes an upper adsorption component, a lower adsorption component, and a thread card pushing component; the upper adsorption component includes an upper adsorption head for adsorbing the upper surface of the inner packaging bag opening side, the lower adsorption component includes a lower adsorption head for adsorbing the lower surface of the inner packaging bag opening side, and the thread card pushing component includes a pushing block for pushing the suture thread card into the opening of the inner packaging bag opened by the two adsorption heads.

[0007] However, the patent only discloses a fully automatic packaging device for sealing the sewing thread in a packaging bag, which is not the same as the automated packaging sewing thread device in this application. Summary of the Invention

[0008] To address the above problems, this invention provides a fully automated winding and packaging device for medical sutures. The device winds the medical sutures into regular coils, and then uses an automated mechanism to fold and package the coils into a casing, thus achieving the packaging of medical sutures with needles. This results in regular packaging of the sutures without any tangling or knotting. The packaging process is fully automated and highly efficient.

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] A fully automated medical suture winding and packaging device includes:

[0011] Winding module, positioning and folding module, and transfer module;

[0012] The winding module includes a winding device and a wiring device. The winding device clamps the needle tip of the suture thread and rotates it to wind and wind the suture thread. The wiring device winds, straightens, and limits the suture thread.

[0013] The positioning and folding module includes a positioning mold, a first folding mechanism, a pressure plate, a needle-flipping mechanism, and a second folding mechanism. The top of the positioning mold is equipped with a packaging shell and a completed suture thread, with the suture thread located above the packaging shell. The positioning mold is cyclically moved along a preset path. The first folding mechanism, the pressure plate, and the second folding mechanism are sequentially arranged along the preset path. The first folding mechanism cooperates with the positioning mold to fold the first and second folds of the packaging shell by 180° to cover the thread. The pressure plate cooperates with the positioning mold to fold the third fold of the packaging shell by 90°. The needle-flipping mechanism picks up the needle tip, flips it 180°, and places it above the first fold. The second folding mechanism folds the third fold by 90°, with the third fold covering the needle tip.

[0014] The transfer module includes a shell feeding mechanism and a stitching thread gripping mechanism. The shell feeding mechanism grips the packaged shells one by one and loads them onto the positioning mold. The stitching thread gripping mechanism grips the finished stitching thread one by one and lays it onto the positioning mold on which the packaged shells are loaded.

[0015] As an improvement, the winding device includes a turntable, a needle clamp, and a winding rod;

[0016] The turntable is self-rotating;

[0017] The needle clamp is disposed on the turntable, and the needle clamp is configured to open and close, and the needle clamp is configured to clamp and position the needle.

[0018] The winding rods are symmetrically arranged on the turntable, and the winding rods are designed to expand and contract and swing, and are wound around the wire.

[0019] As an improvement, the wiring device includes an electric slide, a sliding seat, a V-shaped seat, a floating wire wheel, a fixed wire wheel, a wire seat, a wire pressing roller, and a wire ring;

[0020] The electric slide is horizontally arranged, and the electric slide drives the sliding seat to move laterally. The sliding seat includes a horizontal section and an inclined section.

[0021] The V-shaped seat is installed on the horizontal section, and a V-shaped groove is provided on the V-shaped seat, with a wire laid on the top of the V-shaped groove;

[0022] The floating guide wheel is installed on the horizontal section. One side of the floating guide wheel is elastically abutted and limited, and an annular guide groove is opened on the floating guide wheel, in which the wire is wound.

[0023] The fixed guide wheel is rotatably mounted on the inclined section. The fixed guide wheel has an annular guide groove, and a wire is wound in the guide groove.

[0024] The conductor seat is installed on the inclined section, and the conductor seat has a V-shaped guide groove and a wire pressing groove to guide the wire.

[0025] The pressing roller is positioned directly opposite the pressing groove, and the pressing roller cooperates with the pressing groove to limit the position of the thread body;

[0026] The guide ring is installed directly below the pressure roller, and an open guide groove is provided at the center of the guide ring.

[0027] As an improvement, the positioning mold includes a mold base, a positioning clamping block, a snap-edge seat, a limiting rod, a first ejector tongue, a second ejector tongue, and a third ejector tongue;

[0028] The top of the mold base is horizontally positioned.

[0029] The positioning clamp is installed on one side of the mold base, and the positioning clamp clamps and positions the needle.

[0030] The fastening seat is installed on the top of the mold base, and there are two sets of the fastening seat, which fasten the two sides of the encapsulation shell respectively;

[0031] The limiting rod is lifted and installed inside the mold base, and the limiting rod is inserted into the positioning hole on the packaging shell;

[0032] The first, second, and third ejector tongues are all mounted on the mold base in a lifting manner. The first ejector tongue lifts the first folded edge, the second ejector tongue lifts the second folded edge, and the third ejector tongue lifts the third folded edge.

[0033] As an improvement, the first folding mechanism includes a push plate and a push bar that are horizontally telescopically movable. The push plate is U-shaped and presses to fold the first folded edge. The push bar is elongated and presses to fold the second folded edge.

[0034] As an improvement, the needle-flipping mechanism includes a pneumatic gripper that moves horizontally in the lateral direction and vertically in the longitudinal direction, which grips and moves the needle tip.

[0035] As an improvement, the second folding mechanism includes a folding plate that is horizontally telescopically movable, the folding plate being U-shaped, and the folding plate pressing and folding the third fold edge.

[0036] As an improvement, the outer casing feeding mechanism includes a hopper and a vacuum nozzle;

[0037] The hopper stores stacked packaging shells, and the material carrier plate at the bottom of the hopper is adjustable for lifting and floating.

[0038] The vacuum nozzle is configured to move horizontally and rise and fall vertically, and it picks up the packaging shell in the hopper and transfers it to the positioning mold.

[0039] As an improvement, the suture gripping mechanism includes a robotic arm, a first gripper, and a second gripper;

[0040] The robotic arm drives the first gripper and the second gripper to move and be positioned.

[0041] The first gripper grips the needle tip, and the second gripper grips the thread.

[0042] As an improvement, the positioning module is provided in six sets, all of which are mounted on a rotating disk and rotated cyclically by the rotating disk.

[0043] Along the rotation path of the rotary disk, there are sequentially arranged a feeding station, a first folding station, a second folding station, a third folding station, an inspection station, and a discharging station;

[0044] The outer shell feeding mechanism is located at the feeding station, the first folding mechanism is located at the first folding station, the pressure plate is located between the first folding station and the third folding station, the needle flipping mechanism and the second folding mechanism are both located at the third folding station, the detection station is equipped with a detection mechanism, and the discharge station is equipped with a discharge mechanism.

[0045] The beneficial effects of this invention are as follows:

[0046] (1) The present invention uses a winding module to preposition the needle of the suture and simultaneously wind the suture body. Then, the needle and suture body are transferred to the positioning and folding module in conjunction with the transfer module. The positioning and folding module is used to fold the packaging shell, thereby realizing the packaging shell to encapsulate the suture. The entire packaging process is fully automated, with high packaging efficiency, low human intervention, and high sterility.

[0047] (2) The present invention positions the packaging shell by positioning the positioning mold, so that the packaging shell can be folded in a predetermined order, so that the packaging shell will not be misaligned during the sequential folding process, thus ensuring the consistency and stability of the folded seam. Furthermore, due to the corresponding step-by-step folding process, the folding effect is better.

[0048] (3) The present invention uses a wire winder and a wire maker to wind the thread body of the sewing thread, so that the thread body is wound in a regular O-shape. After the thread body is wound, the thread body can be quickly released by the shrinkage of the wire winder rod. During the winding process, the wire winder rod can limit the thread body, making it difficult for the thread body to come off.

[0049] (4) This invention utilizes a shell feeding mechanism to automatically feed the packaged shell, and with the setting of a rotating disk, it can drive the positioning mold to rotate and cycle, thereby realizing a fully automatic cycle from feeding, folding, inspection and unloading. During the packaging process, each processing step is closely connected and the overall processing sequence is well-ordered.

[0050] (5) When the suture is sealed, the present invention takes into account the interference of the needle to the suture sealing and prepositions the needle so that the needle can be stably positioned when the sealing shell is folded. At the same time, the needle can be folded into the sealing shell by the needle flipping mechanism at the end. After the sealing shell is finally sealed, the needle is completely wrapped inside the sealing shell, which is safe and reliable.

[0051] In summary, this invention has the advantages of high automation, good encapsulation effect, excellent antibacterial effect, and high encapsulation efficiency, and is especially suitable for the field of automatic suture encapsulation technology. Attached Figure Description

[0052] Figure 1 This is a schematic diagram of the three-dimensional structure of the suture of the present invention; Figure 2 This is a schematic diagram of the three-dimensional structure of the packaging shell of the present invention;

[0053] Figure 3 This is a schematic diagram of the three-dimensional structure of the packaging device of the present invention. Figure 1 ; Figure 4 This is a schematic diagram of the three-dimensional structure of the packaging device of the present invention. Figure 2;

[0054] Figure 5 This is a schematic diagram showing the working state of the winding module and the positioning and folding module of the present invention;

[0055] Figure 6 This is a three-dimensional structural diagram of the winder of the present invention; Figure 7 This is a cross-sectional view of the winding mechanism of the present invention;

[0056] Figure 8 for Figure 7 Enlarged structural diagram at point B; Figure 9 for Figure 6 Enlarged structural diagram at point A in the middle;

[0057] Figure 10 Enlarged schematic diagram of the three-dimensional structure of the needle clamping block of the present invention; Figure 11 This is a schematic diagram of the three-dimensional structure of the moving clamping block of the present invention;

[0058] Figure 12 This is a three-dimensional structural diagram of the wiring device of the present invention; Figure 13 for Figure 12 Enlarged structural diagram at point E;

[0059] Figure 14 A cross-sectional view of the wiring device of the present invention; Figure 15 This is a three-dimensional structural diagram of the wire connector of the present invention;

[0060] Figure 16 This is a schematic diagram of the three-dimensional structure of the wire loop of the present invention; Figure 17 This is a schematic diagram of the distribution structure of each station on the rotary disk of the present invention;

[0061] Figure 18 This is a schematic diagram of the structure below the rotating disk of the present invention. Figure 1 ; Figure 19 This is a schematic diagram of the structure below the rotating disk of the present invention. Figure 2 ;

[0062] Figure 20 This is a schematic diagram of the internal structure of the positioning mold of the present invention; Figure 21 This is a schematic diagram of the three-dimensional structure of the positioning mold of the present invention;

[0063] Figure 22 for Figure 21 Enlarged schematic diagram of the structure at point C; Figure 23 This is a schematic diagram showing the positioning of the outer casing of the present invention on the positioning mold;

[0064] Figure 24 This is a three-dimensional structural diagram of the buckle seat of the present invention; Figure 25 This is a three-dimensional structural diagram of the internal components of the positioning mold of the present invention;

[0065] Figure 26 This is a schematic diagram of the three-dimensional structure of the push plate of the present invention; Figure 27 This is a schematic diagram of the pusher structure of the present invention;

[0066] Figure 28 This is a schematic diagram of the three-dimensional structure of the pressure strip of the present invention; Figure 29 This is a three-dimensional structural diagram of the second folding structure of the present invention;

[0067] Figure 30 This is a three-dimensional structural diagram of the needle-turning mechanism of the present invention; Figure 31 This is a schematic diagram of the three-dimensional structure of the silo of the present invention;

[0068] Figure 32 This is a three-dimensional structural diagram of the material discharge mechanism of the present invention; Figure 33 This is a schematic diagram of the three-dimensional structure of the vacuum nozzle of the present invention;

[0069] Figure 34 This is a three-dimensional structural diagram of the suture gripping mechanism of the present invention;

[0070] Figure 35 This is a schematic diagram of the three-dimensional structure of the first and second grippers of the present invention;

[0071] Figure 36 This is a three-dimensional structural diagram of the detection mechanism of the present invention.

[0072] Figure reference numerals:

[0073] 10 suture thread, 101 needle, 102 thread body, 20 outer casing, 20 first fold, 201 second fold, 202 third fold, 203 positioning hole, 204 cutting edge, 205 cutting edge, 206 horizontal cutting edge.

[0074] Winding module I, winder 1, turntable 11, synchronous pulley 111, drive motor 112, needle clamp 12, fixed clamp 121, moving clamp 122, elastic element 123, guide ramp 124, push rod 125, cylinder 126, winding rod 13, extrusion head 131, upper push rod 132, extrusion groove 133, upper push cylinder 134, wire guide 2, electric slide table 21, sliding seat 22, horizontal section 221, inclined section 222, V-shaped seat 23, V-shaped wire groove 231, floating wire guide wheel 24, guide groove 241, fixed wire guide wheel 25, wire groove 251, wire seat 26, V-shaped guide groove 261, pressure groove 262, pressure roller 27, adjusting cylinder 271, wire ring 28, guide ring groove 281.

[0075] Positioning and Folding Module II, Positioning Mold 3, Rotary Disk 30, Ejector Pin 300, Electric Spindle 3000, Loading Station 301, First Folding Station 302, Second Folding Station 303, Third Folding Station 304, Inspection Station 305, Unloading Station 306, Ejector Pin Cylinder 307, Lower Pressure Plate 308, Mold Base 31, Positioning Clamp Block 32, Movable Positioning Clamp Block 321, Side Cylinder 322, Fixed Positioning Clamp Block 323, Edge Clamping Seat 33, Return Spring Component 330, Slot 331, Extrusion Rod 332, Horizontal Ejector Rod 333, Horizontal Extrusion Cylinder 334, Fixed Disk 335, Limiting Rod 34, Lifting Block 341, Drive Cylinder 3 42, First top tongue 35, Lifting block 351, Lifting cylinder 352, Second top tongue 36, Third top tongue 37, Lifting cylinder 371, First folding mechanism 4, Push plate 41, Push plate cylinder 411, Push bar 42, Push bar cylinder 421, Pressure bar 43, Lifting cylinder 431, Flat pushing cylinder 432, Pressure plate 5, Limiting pressure plate 51, Flipping needle mechanism 6, Pneumatic gripper 61, Mounting column 611, Horizontal slide rail assembly 612, Horizontal slide plate 613, Horizontal pneumatic gripper cylinder 614, Longitudinal slide rail assembly 615, Longitudinal slide plate 616, Longitudinal pneumatic gripper cylinder 617, Second folding mechanism 7, Folding plate 71, Pushing cylinder 711;

[0076] Testing agency 40, visual camera 401;

[0077] Discharge mechanism 50, vacuum discharge nozzle 501, shaftless cylinder 502, discharge lifting cylinder 503;

[0078] Transfer module III, outer shell feeding mechanism 8, hopper 81, vacuum nozzle 82, carrier plate 83, electric push rod 831, sewing thread gripping mechanism 9, robot arm 91, first gripper 92, second gripper 93. Detailed Implementation

[0079] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0080] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 invention.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0082] Example 1:

[0083] like Figures 1-5 As shown, a fully automated medical suture winding and packaging device includes:

[0084] Winding module I, positioning and folding module II, and transfer module III;

[0085] The winding module I includes a winding device 1 and a wiring device 2. The winding device 1 clamps the needle 101 of the suture 10 and rotates it to wind and wind the thread body 102 of the suture 10. The wiring device 2 winds, straightens and limits the thread body 102.

[0086] The wiring device 2 combs the wire 102 so that it is arranged in a smooth, straight line. This makes it easier for the winding device 1 to wind the wire 1, so that the wire 102 can be smoothly wound around the winding device 1. This avoids the wire from getting tangled during the winding process. The finished wire is stacked in an O-shape.

[0087] The positioning and folding module II includes a positioning mold 3, a first folding mechanism 4, a pressure plate 5, a needle-flipping mechanism 6, and a second folding mechanism 7. The top of the positioning mold 3 is equipped with a packaging shell 20 and a completed suture 10. The suture 10 is located above the packaging shell 20. The positioning mold 3 is cyclically moved along a preset path. The first folding mechanism 4, the pressure plate 5, and the second folding mechanism 7 are arranged sequentially along the preset path. The first folding mechanism 4 cooperates with the positioning mold 3 to fold the first fold 201 and the second fold 202 of the packaging shell 20 by 180° to cover the suture 102. The pressure plate 5 cooperates with the positioning mold 3 to fold the third fold 203 of the packaging shell 20 by 90°. The needle-flipping mechanism 6 picks up the needle 101, flips it 180°, and places it above the first fold 201. The second folding mechanism 7 folds the third fold 203 by 90°, and the third fold 203 covers the needle 101.

[0088] First, a paper packaging shell 20 is laid flat on the positioning mold 3. Then, a suture 10 is placed on top of the packaging shell 20. The thread 102 of the suture 10 is placed at the center of the packaging shell 20, while the needle 101 of the suture 10 is clamped and positioned on the positioning mold 3 outside the packaging shell 20. This avoids interference from the needle 101 when the packaging shell 20 is folded. At the same time, it also facilitates the gripping and positioning when the needle 101 is flipped and placed into the packaging shell later.

[0089] In addition, after the packaging shell 20 is laid flat on the positioning mold 3 and the sewing thread 10 is placed on the packaging shell 20, the packaging shell 20 will first be folded 180° by the first folding mechanism 4 in conjunction with the positioning mold 3. Specifically, the positioning mold 3 first folds the first folding edge 201 and the second folding edge 202 by 90°, so that the first folding edge 201 and the second folding edge 202, which were originally horizontal, are turned into vertical. Then, the first folding mechanism 4 squeezes and folds the first folding edge 201 and the second folding edge 202, so that the first folding edge 201 and the second folding edge 202, which were originally vertical, are turned back into horizontal. Compared with the initial state, the first folding edge 201 and the second folding edge 202 have been flipped 180° from the initial state. At this time, the first folding edge 201 and the second folding edge 202 have completed the wrapping of the wound thread 102.

[0090] Next, the pressure plate 5, together with the positioning mold 3, folds the third fold 203 of the packaging shell 20 by 90°, so that the third fold 203 changes from a horizontal state to a vertical state. Then, the needle flipping mechanism 6 first clamps the needle 101 and flips it 180°, turning it from the outside of the packaging shell 20 to be placed above the first fold 201. Then, the second flipping mechanism 7 completes the final flipping, so that the third fold 203 changes from vertical to horizontal to cover the needle 101, thus completing the packaging of the suture 10.

[0091] It should also be noted that a slanted cutting edge 205 is provided at the crease of the first fold 201, and a horizontal cutting edge 206 is provided at the edge of the third fold 203 corresponding to the cutting edge. After the third fold 203 is folded over to cover the needle 101, the edge of the horizontal cutting edge 206 of the third fold 203 will be inserted into the cutting edge 205, thus locking the third fold 203 and making the encapsulation shell 20 completely encapsulate the suture 10.

[0092] The transfer module III includes a shell feeding mechanism 8 and a suture gripping mechanism 9. The shell feeding mechanism 8 grips the encapsulated shells 20 one by one and loads them onto the positioning mold 3. The encapsulated shells 20 are laid flat on the positioning mold 3. The suture gripping mechanism 9 grips the sutures 10 that have been wound and lays them onto the positioning mold 3 on which the encapsulated shells 20 are loaded. At this time, the encapsulated shells 20 are in a horizontally unfolded state. When the sutures 10 are laid on the encapsulated shells 20, the thread 102 is rolled up on the encapsulated shells 20, and the needle 101 is located outside the encapsulated shells 20.

[0093] Example 2:

[0094] Referring to Example 1, the difference between Example 2 and Example 1 lies in:

[0095] like Figures 6-16 As shown, two sets of winding devices 1 are arranged side by side. The winding device 1 includes a turntable 11, a needle clamp 12 and a winding rod 13.

[0096] The turntable 11 is configured to rotate independently;

[0097] The needle clamp 12 is disposed on the turntable 11. The needle clamp 12 is openable and closable, and the needle clamp 12 clamps the needle 101 for positioning.

[0098] The winding rod 13 is symmetrically arranged on the turntable 11. The winding rod 13 is arranged to expand and contract and swing, and the winding rod 13 is arranged to wind around the line 102.

[0099] Specifically, the turntable 11 is rotatably mounted on a horizontal mounting plate. A bearing is provided between the turntable 11 and the rotatable mounting part of the mounting plate. A synchronous pulley 111 is provided at the lower end of the turntable 11. The synchronous pulley 111 and the synchronous belt are connected to the drive motor 112 for transmission, and the drive motor 112 drives the turntable 11 to rotate.

[0100] In addition, a needle clamping block 12 is provided at the outer circumferential edge of the turntable 11. The needle clamping block 12 consists of a fixed clamping block 121 and a movable clamping block 122. The fixed clamping block 121 is fixedly installed on the turntable 11, while the movable clamping block 122 is movable relative to the fixed clamping block 121. Specifically, an elastic element 123 is provided on the back side of the movable clamping block 122 relative to the movable clamping block 121. A wedge-shaped guide ramp 124 is provided on the side of the movable clamping block 122 facing the fixed clamping block 121. A corresponding push rod 125 is provided on the turntable 11 perpendicular to the guide ramp 124 of the movable clamping block 122. The end of the push rod 125 that corresponds to the guide ramp 124 is also ramped. A set of push rods 125 is provided on the mounting plate. The corresponding cylinder 126 pushes and drives the push rod 125 to press against the guide ramp 124, causing the movable clamping block 122 to move away from the fixed clamping block 121 and compress the elastic element 123. At this time, the needle 101 can be placed into the gap between the movable clamping block 122 and the fixed clamping block 121. After the needle 101 is placed, the cylinder 126 releases the pushing and pressing, and the spring element 123 returns to its elasticity, so that the movable clamping block 122 and the fixed clamping block 121 complete the clamping and limiting of the needle 101. Specifically, before the winding of the thread 102, the needle 101 is clamped and positioned by the needle clamping block 12. After the winding of the thread 102 is completed, the needle clamping block 12 releases the needle 101.

[0101] Furthermore, when the winding rod 13 is symmetrically installed on the turntable 11, the winding rod 13 is oscillatingly installed on the turntable 11, and the end of the winding rod 13 that is oscillating inside the turntable 11 is provided with an elliptical extrusion head 131. The central axis of the turntable 11 is hollow, and the extrusion head 131 is located exactly at the hollow position. An upper push rod 132 is inserted at the hollow position, and the top of the upper push rod 132 is provided with an extrusion groove 133 that matches the extrusion head 131. The upper push rod 132 is driven by the lower upper push cylinder 134 to lift it up. Specifically, initially... The winding rod 13 is set in an inverted V-shape with the winding rod open outwards. Then, the turntable 11 rotates actively, winding the linearly arranged wire 102 on the wire cutter 2 onto the V-shaped winding rod 13. After the wire 102 is wound, the upper cylinder 134 pulls down, driving the upper push rod 132 downwards. This causes the extrusion groove 133 to cooperate with the extrusion head 131, turning the inverted V-shaped winding rod 13 into a parallel winding rod 13. This allows the subsequently wound wire 102 to be directly picked up and detached from the winding rod 13.

[0102] The wiring device 2 used for laying the wiring body 102 specifically includes an electric slide table 21, a sliding seat 22, a V-shaped seat 23, a floating wire wheel 24, a fixed wire wheel 25, a wire seat 26, a wire pressing roller 27, and a wire ring 28.

[0103] The electric slide 21 is horizontally arranged, and the electric slide 21 drives the sliding seat 22 to move laterally. The sliding seat 22 includes a horizontal section 221 and an inclined section 222.

[0104] The V-shaped seat 23 is installed on the horizontal section 221. A V-shaped groove 231 is provided on the V-shaped seat 23, and a wire body 102 is laid on the top of the V-shaped groove 231.

[0105] The floating guide wheel 24 is installed on the horizontal section 221. One side of the floating guide wheel 24 is elastically abutted and limited, and an annular guide groove 241 is opened on the floating guide wheel 24. The wire body 102 is wound in the guide groove 241.

[0106] The fixed guide wheel 25 is rotatably mounted on the inclined section 222. The fixed guide wheel 25 has an annular guide groove 251, and the wire body 102 is wound in the guide groove 251.

[0107] The wire seat 26 is installed on the inclined section 222. The wire seat 26 has a V-shaped guide groove 261 and a wire pressing groove 262 for guiding the wire body 102.

[0108] The pressing roller 27 is positioned directly opposite the pressing groove 262, and the pressing roller 27 cooperates with the pressing groove 262 to limit the position of the thread body 102.

[0109] The guide ring 28 is installed directly below the pressure roller 27, and an open guide ring groove 281 is provided at the center of the guide ring 28.

[0110] Specifically, the electric slide table 21 is set along the line body 102, and the corresponding sliding seat 22 is driven by the electric slide table 21 to move along the direction perpendicular to the line body 102, adjusting the position of the line body 102. The line body 102 is laid along the V-shaped guide groove 261 of the V-shaped seat 23. The line body 102 passes sequentially through the guide groove 241 on the floating guide wheel 24, the guide groove 251 on the fixed guide wheel 25, and finally reaches the V-shaped guide groove 261 and the wire pressing groove 262 at the guide seat 26. Finally, it passes through the guide ring groove 281 of the guide ring 28. It is important to note that a pressure roller 27 is provided at the pressure groove 262. The pressure roller 27 is driven by the adjusting cylinder 271 to move and adjust in the horizontal direction. Through the cooperation of the pressure roller 27 and the pressure groove 262, the thread 102 is limited to prevent it from falling off, so that the thread 102 can always be transported in an orderly manner when it is being wound. In addition, the guide ring 28 adopts an open guide ring groove 281, which is also to facilitate the quick and smooth manual threading of the sewing thread 10 when it is laid manually.

[0111] Example 3:

[0112] Referring to Example 1, the difference between Example 3 and Example 1 lies in the following:

[0113] like Figures 17-30 , Figure 36 As shown, the positioning mold 3 includes a mold base 31, a positioning clamping block 32, a snap-edge seat 33, a limiting rod 34, a first ejector tongue 35, a second ejector tongue 36, and a third ejector tongue 37.

[0114] The top of the mold base 31 is horizontally positioned;

[0115] The positioning clamp 32 is installed on one side of the mold base 31, and the positioning clamp 32 clamps and positions the needle 101.

[0116] The fastening seat 33 is installed on the top of the mold base 31. Two sets of the fastening seat 33 are provided to fasten the two sides of the encapsulation shell 20 respectively.

[0117] The limiting rod 34 is lifted and installed inside the mold base 31, and the limiting rod 34 is inserted into the positioning hole 204 on the packaging shell 20.

[0118] The first tongue 35, the second tongue 36 and the third tongue 37 are all mounted on the mold base 31 in a lifting manner. The first tongue 35 lifts the first folded edge 201, the second tongue 36 lifts the second folded edge 202 and the third tongue 37 lifts the third folded edge 203.

[0119] Furthermore, the positioning module 3 is provided in six sets, all of which are mounted on the rotating disk 30 and rotated and cyclically by the rotating disk 30.

[0120] Along the rotation path of the rotary disk 30, there are sequentially arranged a feeding station 301, a first folding station 302, a second folding station 303, a third folding station 304, an inspection station 305, and a discharge station 306.

[0121] The outer shell feeding mechanism 8 is located at the feeding station 301, the first folding mechanism 4 is located at the first folding station 302, the pressure plate 5 is located between the first folding station 302 and the third folding station 304, the needle flipping mechanism 6 and the second folding mechanism 7 are both located at the third folding station 304, the detection station 305 is equipped with a detection mechanism 40, the discharge station 306 is equipped with a discharge mechanism 50, and a discharge channel and a receiving hopper are located next to the discharge mechanism 50. The discharge channel outputs the packaged outer shell 20 that has been grabbed by the discharge mechanism 50, and the receiving hopper receives the packaged outer shell 20.

[0122] It should be noted that the rotating disk 30 is driven to rotate by the electric spindle 3000 below. The six sets of positioning molds 3 are evenly distributed on the circumferential edge of the rotating disk 30. Each set of positioning molds 3 corresponds to the loading station 301, the first folding station 302, the second folding station 303, the third folding station 304, the inspection station 305, and the unloading station 306 on the rotating disk 30. The rotating disk 30 is used to switch the positioning molds 3 between the various stations.

[0123] To further explain, the mold base 31 is horizontally mounted on the rotating disk 30, and the positioning clamp 32 is mounted on the mold base 31. The structure and working principle of the positioning clamp 32 are similar to those of the needle clamp 12 mentioned above. The difference is that the movable positioning clamp 321 in the positioning clamp 32 is directly driven by the side cylinder 322 to move relative to the fixed positioning clamp 323. The movable positioning clamp 321 is also reset by the elastic compression of the spring. The elastic force of the spring drives the movable positioning clamp 321 to cooperate with the fixed positioning clamp 323 to clamp and fix the needle 101. When unlocking, the side cylinder 322 pushes to unlock, so that the movable positioning clamp 321 moves away from the fixed positioning clamp 323, thereby releasing the needle 101.

[0124] Furthermore, the retaining seat 33 consists of two sets of retaining seats 33, left and right. Both sets of retaining seats 33 are slidably mounted on the mold base 31, and the left and right sets of retaining seats 33 move towards or away from each other. The top of each retaining seat 33 is provided with a slot 331 that engages with the encapsulation shell 20. A return spring 330 and a pressing rod 332 are respectively provided on both sides of each retaining seat 33. The end of the pressing rod 332 extending outward from the retaining seat 33 is provided with a guide ramp. The mold base 31 is provided with a horizontal push rod 333 that corresponds to and cooperates with the guide ramp of the pressing rod 332. The horizontal push rod 333 also has a ramp that corresponds to and cooperates with the guide ramp. Horizontal pressing cylinders 334 are provided at both the loading station 301 and the unloading station 306 to press the horizontal push rod 333. These horizontal pressing cylinders 334 are fixedly mounted. On the fixed disk 335 fixedly installed at the center of the rotating disk 30, the fixed disk 335 is connected to the gearbox of the electric spindle 3000 by a fixed connection. At the loading station 301, the horizontal cylinder 334 presses the horizontal push rod 333, causing the left and right sets of retaining seats 33 to move in opposite directions. When the package shell 20 is placed on the mold base 31, the horizontal cylinder 334 releases the pressure, and the left and right sets of retaining seats 33 move towards each other through the return spring 330, so that the slot 331 fits with the two ends of the package shell 20, thereby positioning the package shell 20. At the unloading station 306, the horizontal cylinder 334 presses the horizontal push rod 333, causing the left and right sets of retaining seats 33 to move in opposite directions, and the slot 331 disengages from the fitting limit of the package shell 20, so that the package shell 20 can be unloaded.

[0125] Furthermore, the limit rods 34 are lifted and installed on the mold base 31, and all the limit rods 34 are installed on the same lifting block 341. At the loading station 301, located below the rotary disk 30, a drive cylinder 342 is provided to drive the limit rods 34 to lift. At the loading station 301, the drive cylinder 342 drives the lifting block 341 to lift, so that all the limit rods 34 are lifted synchronously. Specifically, at the loading station 301, when the packaging shell 20 is mounted on the mold base 31... The drive cylinder 342 first raises the limit rod 34, causing the positioning hole 204 on the package shell 20 to interlock with the limit rod 34, thus positioning the package shell 20. Then, the retaining seat 33 fits into the package shell 20 through the slot 331. After the fit is complete, the drive cylinder 342 resets, causing the limit rod 34 to reset. In this way, when the package shell 20 is being fed, the slot 331 of the retaining seat 33 can perfectly fit into the package shell 20.

[0126] Furthermore, the first ejector tongue 35, the second ejector tongue 36, and the third ejector tongue 37 are all mounted on the mold base 31 in a lifting manner, and correspond to the first folded edge 201, the second folded edge 202, and the third folded edge 203, respectively. The first ejector tongue 35, the second ejector tongue 36, and the third ejector tongue 37 respectively fold the first folded edge 201, the second folded edge 202, and the third folded edge 203 from the horizontal state by 90°, so that the first folded edge 201, the second folded edge 202, and the third folded edge 203 are folded to the vertical state. Among them, the material loading station 30 is located at the vertical position. At point 1, below the rotating disk 30, there is a lifting block 351 that drives the first tongue 35 and the second tongue 36 to lift synchronously. The lifting block 351 is driven by the lifting cylinder 352 to lift, so that the first folded edge 201 and the second folded edge 202 are folded. At the second folding station 303, there is a lifting cylinder 371 that lifts the third tongue 37 and folds the third folded edge 203, which is also folded 90° from the horizontal state to the vertical state.

[0127] It is important to emphasize that when lifting and folding the third top tongue 37, it is necessary to cooperate with the pressure plate 5. The pressure plate 5 is arc-shaped and is located between the first folding station 302 and the second folding station 303. The function of the pressure plate 5 is to limit the first folded edge 201 and the second folded edge 202 that have been folded, so as to prevent the first folded edge 201 and the second folded edge 202 from lifting to a certain extent due to the material properties. The pressure plate 5 is used to maintain the folding of the first folded edge 201 and the second folded edge 202 for a certain period of time. At the second folding station 303, the pressure plate 5 is equipped with a limiting pressure plate 51 to limit the 90° folding of the third folded edge 203. The limiting pressure plate 51 is L-shaped. In addition, an arc-shaped pressure plate 5 is also provided between the third folding station 304 and the inspection station 305 to keep the third folded edge 203 folded to a horizontal state.

[0128] The first folding mechanism 4 for folding the first fold 201 and the second fold 202 specifically includes a push plate 41 and a push bar 42 that are horizontally telescopically movable. The push plate 41 is U-shaped and presses to fold the first fold 201. The push bar 42 is elongated and presses to fold the second fold 202.

[0129] Specifically, the first folding mechanism 4 is located at the first folding station 302. The push plate 41 is pushed by the push plate cylinder 411 installed on the fixed plate 335. The push plate 41 squeezes and folds the first folded edge 201. The first folded edge 201 is folded from a vertical state to a horizontal state by the squeeze of the push plate 41. The first folded edge 201 is used to cover the line body 102. The push bar 42 is pushed by the push bar cylinder 421 fixedly installed on the working platform. The push bar 42 squeezes and folds the second folded edge 202. The second folded edge 202 is folded from a vertical state to a horizontal state by the squeeze of the push bar 42. It is important to emphasize that the folding of the second folded edge 202 is the folding of the corner of the third folded edge 203, which is to facilitate the unpacking of the outer shell 20.

[0130] It should also be noted that before the pusher 42 folds the second fold 202, a pressure strip 43 is also provided at the first folding station 302. The pressure strip 43 is set parallel to the pusher 42. The pressure strip 43 is driven by the lifting cylinder 431 and the flat pushing cylinder 432 to move horizontally and vertically. The pressure strip 43 presses the third fold 203 to prevent the third fold 203 from folding and lifting up when the second fold 202 is folded, thereby ensuring the horizontal state of the third fold 203.

[0131] The needle-flipping mechanism 6 includes a pneumatic gripper 61 that moves horizontally in the lateral direction and vertically in the longitudinal direction. The pneumatic gripper 61 grips and moves the needle tip 101. Specifically, the pneumatic gripper 61 is installed by a mounting column 611. A horizontal slide rail assembly 612 is installed on the top of the mounting column 611. A horizontal slide plate 613 is provided on the horizontal slide rail assembly 612. The horizontal slide plate 613 is pushed horizontally by a horizontal pneumatic gripper cylinder 614. Correspondingly, a longitudinal slide rail assembly 615 is provided on the horizontal slide plate 613. A longitudinal slide plate 616 is slidably provided on the longitudinal slide rail assembly 615. The pneumatic gripper 61 is installed on the longitudinal slide plate 616. A longitudinal pneumatic gripper cylinder 617 is provided above the longitudinal slide plate 616 to drive the longitudinal slide plate 616 to move vertically.

[0132] The second folding mechanism 7 includes a folding plate 71 that is horizontally telescopically movable. The folding plate 71 is U-shaped and the folding plate 71 presses and folds the third fold 203. Specifically, the folding plate 71 is driven by a push cylinder 711 mounted on the workbench to press the third fold 203.

[0133] Specifically, when the positioning mold 3 rotates and moves to the third folding station 304, the needle flipping mechanism 6 first uses the pneumatic gripper 61 to clamp the needle 101 and flip it. Therefore, a side cylinder 322 for unlocking the positioning clamp 32 is provided at the third folding station 304. The side cylinder 322 first unlocks the positioning clamp 32, and then the pneumatic gripper 61 clamps the needle 101 and flips it onto the packaging shell 20. After that, the pneumatic gripper 61 resets, and the push cylinder 711 drives the folding plate 71 to push, flipping the third folding edge 203, which is in a vertical state, to a horizontal state, covering the needle 101.

[0134] The inspection mechanism 40 at inspection station 305 uses a vision camera 401 located above inspection station 305 to inspect the interlocking and engagement of the shearing blade 205 and horizontal blade 206 on the packaging shell 20 of the positioning mold 3 at inspection station 305. It should be noted that an upward-lifting ejector pin 300 is positioned on the positioning mold 3 directly opposite the shearing blade 205. The ejector pin 300, lifted by the ejector cylinder 301 below inspection station 305, pushes the shearing blade 205 upward, causing it to tilt upwards and engage with the horizontal blade 206. 6. After the interlocking is completed, and when the ejector pin 300 pushes upward, the corresponding pressure plate 308 above the package shell 20 also presses down on the package shell 20, so that the ejector pin can push up the shearing blade 205. During the inspection, the vision camera 401 first takes a picture of the package shell 20 below. After taking the picture, the image is compared with the pre-stored package shell image by the processor. If the shape of the package shell that has been cut to the point where the shearing blade 205 and the horizontal blade 206 interlock is consistent with the pre-stored image, it is qualified. If the package shell that has not completed the interlocking is inconsistent with the pre-stored image, it is unqualified.

[0135] Furthermore, the positioning mold 3 located at the unloading station 306 needs to unlock the snap fastener 33 from the packaging shell 20. Therefore, a horizontal cylinder 334 is provided at the unloading station 306. The horizontal cylinder 334 unlocks the snap fastener 33, and then the unloading mechanism 50 vacuum-adsorbs the packaging shell 20, so that the packaging shell 20 is detached from the positioning mold 3 for unloading.

[0136] Specifically, such as Figure 32 As shown, the discharge mechanism 50 includes a vacuum discharge nozzle 501. The vacuum discharge nozzle 501 is driven to reciprocate in the horizontal direction by a horizontally arranged shaftless cylinder 502. In the vertical direction, the vacuum discharge nozzle 501 is also driven to move in the vertical direction by a discharge lifting cylinder 503, so that the vacuum discharge nozzle 501 can press down to adsorb the packaging shell 20 for discharge.

[0137] Example 4:

[0138] Referring to Examples 1-3, the difference between Example 4 and Examples 1-3 is that:

[0139] like Figure 31 , Figure 33 As shown, the outer casing feeding mechanism 8 includes a hopper 81 and a vacuum nozzle 82;

[0140] The hopper 81 stores stacked packaging shells 20. The material carrier plate 83 at the bottom of the hopper 81 is adjustable for lifting and floating. The material carrier plate 83 is driven to lift and lower by a vertically set electric push rod 831.

[0141] The vacuum nozzle 82 moves horizontally and rises and falls vertically. The vacuum nozzle 82 picks up the packaged shell 20 in the hopper 81 and transfers it to the positioning mold 3. Specifically, the moving structure of the vacuum nozzle 82 is the same as the moving and lifting structure of the vacuum discharge nozzle 501, which will not be described in detail here. The vacuum nozzle 82 picks up the stacked packaged shells 20 from the top of the hopper 81 and transfers them one by one to the positioning mold 3 located at the loading station 301.

[0142] Correspondingly, such as Figure 34 , Figure 35 As shown, the suture gripping mechanism 9 includes a robotic arm 91, a first gripper 92, and a second gripper 93;

[0143] The robotic arm 91 drives the first gripper 92 and the second gripper 93 to move and be positioned.

[0144] The first gripper 92 grips the needle 101, and the second gripper 93 grips the thread 102.

[0145] Specifically, after the vacuum nozzle 82 completes the adsorption and feeding of the packaging shell 20, the robot arm 91 grasps the needle 101 and the thread 102 through the first gripper 92 and the second gripper 93. After grasping, the needle 101 and the thread 102 are moved to the packaging shell 20 on the positioning mold 3, where the needle 101 is clamped and fixed at the positioning clamping block 32 on the positioning mold 3. Therefore, through the cooperation of the shell feeding mechanism 8 and the sewing thread grasping mechanism 9, the feeding of the packaging shell 20 and the sewing thread 10 is realized.

[0146] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A fully automated medical suture winding and packaging device, characterized in that, include: Winding module (I), positioning and folding module (II), and transfer module (III); The winding module (I) includes a winding device (1) and a wiring device (2). The winding device (1) clamps the needle (101) of the suture thread (10) and rotates it to rotate and wind the thread body (102) of the suture thread (10). The wiring device (2) winds, straightens and limits the thread body (102). The positioning and folding module (II) includes a positioning mold (3), a first folding mechanism (4), a pressure plate (5), a folding needle mechanism (6), and a second folding mechanism (7). The top of the positioning mold (3) is fitted with a packaging shell (20) and a completed suture thread (10). The suture thread (10) is located above the packaging shell (20). The positioning mold (3) is cyclically moved along a preset path. The first folding mechanism (4), the pressure plate (5), and the second folding mechanism (7) are sequentially arranged along the preset path. The first folding mechanism (4) and the positioning mold (6) are connected in series. 3) The first fold (201) and the second fold (202) of the packaging shell (20) are folded 180° to cover the line body (102). The pressure plate (5) cooperates with the positioning mold (3) to fold the third fold (203) of the packaging shell (20) by 90°. The needle flipping mechanism (6) clamps the needle (101), flips it 180° and places it above the first fold (201). The second folding mechanism (7) folds the third fold (203) by 90°, and the third fold (203) covers the needle (101). The transfer module (III) includes a shell loading mechanism (8) and a stitching thread gripping mechanism (9). The shell loading mechanism (8) grips the encapsulated shells (20) one by one and mounts them onto the positioning mold (3). The stitching thread gripping mechanism (9) grips the finished stitching thread (10) one by one and lays it on the positioning mold (3) which is loaded with the encapsulated shells (20). The wiring device (2) includes an electric slide (21), a sliding seat (22), a V-shaped seat (23), a floating wire wheel (24), a fixed wire wheel (25), a wire seat (26), a wire pressing roller (27), and a wire ring (28). The electric slide (21) is arranged horizontally and drives the sliding seat (22) to move horizontally. The sliding seat (22) includes a horizontal section (221) and an inclined section (222). The V-shaped seat (23) is installed on the horizontal section (221), and a V-shaped groove (231) is provided on the V-shaped seat (23), with a wire body (102) laid on the top of the V-shaped groove (231). The floating guide wheel (24) is installed on the horizontal section (221). One side of the floating guide wheel (24) is elastically abutted and limited, and an annular guide groove (241) is provided on the floating guide wheel (24). The wire body (102) is wound in the guide groove (241). The fixed guide wheel (25) is rotatably mounted on the inclined section (222). The fixed guide wheel (25) has an annular guide groove (251) and a wire body (102) is wound in the guide groove (251). The wire seat (26) is installed on the inclined section (222). The wire seat (26) has a V-shaped guide groove (261) and a wire pressing groove (262) for guiding the wire body (102). The pressure roller (27) is positioned directly opposite the pressure groove (262), and the pressure roller (27) cooperates with the pressure groove (262) to limit the movement of the thread body (102); The wire guide ring (28) is installed directly below the pressure roller (27), and an open guide ring groove (281) is provided at the center of the wire guide ring (28). The positioning mold (3) includes a mold base (31), a positioning clamp (32), a snap-edge seat (33), a limiting rod (34), a first top tongue (35), a second top tongue (36), and a third top tongue (37). The top of the mold base (31) is horizontally positioned; The positioning clamp (32) is installed on one side of the mold base (31), and the positioning clamp (32) clamps and positions the needle (101); The snap-fit ​​seat (33) is installed on the top of the mold base (31). There are two sets of snap-fit ​​seats (33), which respectively fasten the two sides of the encapsulation shell (20). The limiting rod (34) is lifted and installed inside the mold base (31), and the limiting rod (34) is inserted into the positioning hole (204) on the packaging shell (20); The first tongue (35), the second tongue (36) and the third tongue (37) are all mounted on the mold base (31). The first tongue (35) lifts the first folded edge (201), the second tongue (36) lifts the second folded edge (202), and the third tongue (37) lifts the third folded edge (203).

2. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The winding device (1) includes a turntable (11), a needle clamp (12), and a winding rod (13). The turntable (11) is set to rotate independently; The needle clamp (12) is disposed on the turntable (11). The needle clamp (12) is openable and closeable, and the needle clamp (12) clamps the needle (101) for positioning. The winding rod (13) is symmetrically arranged on the turntable (11). The winding rod (13) is oscillating and expanding, and the winding rod (13) is wound around the wire (102).

3. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The first folding mechanism (4) includes a push plate (41) and a push bar (42) that are horizontally telescopically movable. The push plate (41) is U-shaped and presses and folds the first fold (201). The push bar (42) is long and strip-shaped and presses and folds the second fold (202).

4. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The needle flipping mechanism (6) includes a pneumatic gripper (61) that moves horizontally in the lateral direction and vertically in the longitudinal direction. The pneumatic gripper (61) grips the needle tip (101) and moves it.

5. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The second folding mechanism (7) includes a folding plate (71) that is horizontally telescopically movable. The folding plate (71) is U-shaped and presses and folds the third fold (203).

6. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The outer shell feeding mechanism (8) includes a hopper (81) and a vacuum nozzle (82). The hopper (81) stores stacked packaging shells (20), and the material carrier plate (83) at the bottom of the hopper (81) is adjustable by lifting and floating. The vacuum nozzle (82) is movable in the horizontal direction and raised and lowered in the vertical direction. The vacuum nozzle (82) grabs the packaging shell (20) in the hopper (81) and transfers it to the positioning mold (3).

7. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The suture gripping mechanism (9) includes a robotic arm (91), a first gripper (92) and a second gripper (93). The robotic arm (91) drives the first gripper (92) and the second gripper (93) to move and be positioned. The first gripper (92) grips the needle (101), and the second gripper (93) grips the thread (102).

8. The fully automatic winding and packaging equipment for medical sutures according to claim 1, characterized in that: The positioning module (3) is provided in six sets. The positioning module (3) is installed on the rotating disk (30) and rotated and circulated by the rotating disk (30). Along the rotation path of the rotary disk (30), there are sequentially arranged a feeding station (301), a first folding station (302), a second folding station (303), a third folding station (304), an inspection station (305), and a discharge station (306). The outer shell feeding mechanism (8) is located at the feeding station (301), the first folding mechanism (4) is located at the first folding station (302), the pressure plate (5) is located between the first folding station (302) and the third folding station (304), the needle turning mechanism (6) and the second folding mechanism (7) are both located at the third folding station (304), the detection station (305) is provided with a detection mechanism (40), and the discharge station (306) is provided with a discharge mechanism (50).

Images