Minimally invasive injection and infusion needle three-side machining circulation system

Abstract

The invention discloses a minimally invasive injection and infusion needle three-face machining circulation system, and belongs to the technical field of medical instrument machining equipment, the minimally invasive injection and infusion needle three-face machining circulation system comprises a fixed seat, a rotary disc, a rotary motor, a needle feeding mechanism, a needle discharging mechanism and three sets of machining stations, a needle clamping mechanism is arranged at the edge of the rotary disc, and an indexing stop block in a regular triangular prism shape is arranged at one end of a needle clamping shaft of the needle clamping mechanism; and a clamping part is arranged at the other end. The pin feeding mechanism, the three sets of machining stations and the pin discharging mechanism are sequentially arranged along the periphery of the rotary disc, three indexing protruding rods are fixedly arranged on the boss and arranged on the downstream sides of the machining stations respectively, and when the indexing check block rotates along with the rotary disc to abut against any indexing protruding rod, the indexing check block is forced to drive the pin clamping shaft to rotate by 120 degrees. The indexing mechanism is simplified in structure, reliable in indexing action and low in manufacturing cost, avoids complex sector gear and indexing gear transmission systems in the prior art, is convenient to maintain, and is suitable for scenes such as research and development trial-manufacture, process debugging and small-batch customization.

Description

Technical Field

[0001] This invention belongs to the field of medical device processing equipment technology, specifically relating to a three-sided processing and transfer system for minimally invasive injection needles. Background Technology

[0002] Traditional straight-hole infusion needles (beveled needles) are typically manufactured by cutting a bevel at one end of a stainless steel tube and grinding a cutting edge around it. Their insertion mechanism relies on the beveled needle tip cutting against the surrounding tissue. However, during puncture, skin or blood vessel wall tissue opposite the needle hole is cut off, forming tiny tissue debris. This debris can easily clog the needle tube and enter the body with the medication, potentially causing bacterial infection or becoming insoluble vascular waste, posing a risk of thrombosis and, in severe cases, endangering the patient's life. To address these fundamental shortcomings, the industry has proposed an innovative design for minimally invasive infusion needles. These needles have a closed conical tip, while the medication passage is located on three facets near the tip, commonly known as a three-sided needle. During insertion, the three-sided needle body gently expands rather than cuts the tissue, achieving debris-free infusion and fundamentally solving the clinical risks of traditional straight-hole needles.

[0003] The three facets of a triangular needle require extremely high geometric precision and surface quality to ensure its puncture performance. In the prior art, invention patents with authorization announcement numbers CN118636024B and CN118513618B disclose a triangular needle electrical discharge machining device and its rotary indexing device, which can realize processes such as needle loading, automatic indexing rotation, grinding, drilling, and needle unloading. However, its rotary indexing uses a method of meshing sector gears and indexing gears during rotation. This mechanism has a precise and complex structure, high equipment cost, and inconsistent maintenance. Meanwhile, this device adopts a multi-needle parallel processing design, with each needle clamping mechanism containing multiple (e.g., 4) needle clamping units, allowing multiple needles to be processed simultaneously in one rotation, suitable for mass production. However, when dealing with scenarios such as R&D verification, process debugging, small-batch customization, or rework, independent parameter debugging and process verification are required for each needle. In the multi-needle parallel mode, individual adjustments to each needle are not possible, resulting in low debugging efficiency and high cost.

[0004] Therefore, there is an urgent need to provide a three-sided processing system for minimally invasive infusion needles that is structurally simplified, reliably indexed, and capable of independently processing individual needle bodies. This system can meet the flexible needs of scenarios such as R&D debugging and small-batch customization, and can also be flexibly combined with core processing modules (such as grinding and drilling) to balance economy and applicability. Summary of the Invention

[0005] To address the shortcomings of the prior art, this invention provides a three-sided processing and transfer system for minimally invasive infusion needles. The indexing mechanism has a simpler structure than existing equipment, lower manufacturing costs, and is easy to maintain. It is suitable for scenarios such as R&D trials, process debugging, and small-batch customization. It can be flexibly combined with core processing modules (such as grinding and drilling) to balance economy and applicability.

[0006] To achieve the above objectives, the technical solution of this invention is as follows: A three-sided processing system for minimally invasive infusion needles includes a fixed base, a rotary table, a rotary motor, a needle-attaching mechanism, a needle-dismounting mechanism, and three processing stations. The fixed base has a boss at its upper end; the rotary table is rotatably connected to the top of the boss and driven by the rotary motor; at least one radially arranged needle-clamping mechanism is provided at the edge of the rotary table; the needle-clamping mechanism includes a needle-clamping seat and a needle-clamping assembly; the needle-clamping seat is connected to the rotary table; the needle-clamping assembly includes a needle-clamping shaft rotatably connected to the needle-clamping seat and a regular polygonal prism-shaped indexing stop coaxially fixed to one end of the needle-clamping shaft; the other end of the needle-clamping shaft has a clamping part for clamping the minimally invasive infusion needle; the needle-attaching mechanism and the three processing stations... The workstations and needle-feeding mechanisms are arranged sequentially along the outer periphery of the rotary table. Three indexing protrusions are fixedly mounted on the boss, and the three indexing protrusions are respectively located on the downstream side of each group of processing workstations. Rollers are rotatably connected to the three apex corners of the indexing block on the side away from the needle clamping shaft. An arc-shaped guide rail is provided between every two indexing protrusions on the boss. The starting end of the arc-shaped guide rail is a ramp surface. When the indexing block rotates with the rotary table to abut against any of the indexing protrusions, the indexing block is forced to drive the needle clamping shaft to rotate 120°. After the indexing block completes the indexing rotation, the rollers and the arc-shaped guide rail roll together to provide auxiliary support for the indexing block and the needle clamping shaft, preventing them from shaking during subsequent idle rotation.

[0007] Preferably, the clamping part includes a positioning groove at the end of the needle shaft, a clamping groove adjacent to the positioning groove, and a clamp rotatably connected to the needle shaft via a fixed shaft. The jaws of the clamp correspond to the clamping groove, and a first spring is connected between the tail of the clamp and the needle shaft, causing the jaws to tend to close into the clamping groove. Pressing the tail of the clamp opens the jaws, facilitating the placement and removal of the minimally invasive infusion needle.

[0008] Preferably, the needle feeding mechanism includes a needle feeding seat, on which a needle box, a needle feeding mechanism, and a needle pushing mechanism are provided. The needle feeding mechanism is located on the lower inner side of the needle box. The bottom of the needle box has a needle drop opening, and a needle support seat is located directly below the needle drop opening. The needle support seat has a needle support groove. The needle pushing mechanism cooperates with the needle support seat to push the minimally invasive infusion needle in the needle support groove into the clamping part on the needle clamping shaft.

[0009] Preferably, the needle feeding mechanism includes a needle ring and a needle feeding motor. The needle ring is a horizontally arranged cylindrical structure and is rotatably installed in the needle box. At least two needle feeding slots parallel to its central axis are evenly distributed on its outer circumference. A needle-distributing roller is provided above the needle ring. The outer circumference of the needle-distributing roller is arranged in a circular array with needle-distributing brushes corresponding to the number of needle feeding slots. The needle-distributing brushes cooperate with the needle ring. The needle-distributing roller is drivenly connected to the needle feeding motor.

[0010] Preferably, one end of the needle-feeding roller is connected to a drive gear, which meshes with a driven gear located at one end of the needle ring. The drive gear is connected to a needle-feeding motor. When the needle ring rotates to receive the needle body, the needle-feeding roller rotates in the opposite direction to drive the needle-feeding brush to push the needle body that has not fallen into the needle-feeding groove into the groove, thus avoiding empty grooves in the needle-feeding groove.

[0011] Preferably, two baffles are provided between the upper and lower sections of the needle box. The two baffles are inserted into slots on opposite side walls of the needle box and are stacked one on top of the other. The opening state between the two baffles can be changed by pulling outward or pushing inward. The area above the baffles is a storage area. When there are no needles in the needle box, the needles can be replenished. A rated replenishment rate can also be set to continuously replenish needles.

[0012] Preferably, the needle-pushing mechanism includes a movable plate, a first needle-pushing cylinder, a pin ejector, a needle-pushing block, and a second needle-pushing cylinder. The needle support seat is fixedly connected to the movable plate, and the movable plate is slidably connected to the upper needle seat. The first needle-pushing cylinder is fixedly connected to the upper needle seat, and its output shaft is connected to the movable plate. The needle-pushing block is slidably connected to the movable plate. A guide rod is connected to the side of the needle-pushing block away from the center of the rotary table. A second spring is sleeved on the guide rod, and a transition plate is slidably connected to it. The second spring is located between the transition plate and the needle-pushing block. The second needle-pushing cylinder is fixedly connected to the movable plate, and its output shaft is connected to the transition plate. The pin ejector is located on the side of the needle-pushing block near the center of the rotary table and is coaxially arranged with the needle support groove on the needle support seat.

[0013] Preferably, the needle-feeding mechanism includes a needle-feeding base, a movable base, a turntable, and a movable needle-feeding seat. The movable base is slidably connected to the needle-feeding base and is connected to a screw and nut mechanism for driving its sliding. The turntable is rotatably connected to the upper end of the movable base and is driven by a first rotary motor. The movable needle-feeding seat is rotatably connected to the upper part of the other end of the turntable and is driven by a second rotary motor. A needle-feeding cylinder is installed on the movable needle-feeding seat. The output shaft of the needle-feeding cylinder is connected to a needle-clamping gripper. Through the coordinated drive of the first and second rotary motors, the needle-feeding gripper can flexibly adjust its posture within a limited space to adapt to needle-clamping mechanisms in different positions.

[0014] Preferably, the upper needle mechanism is provided with an upper needle opening cylinder on the side near the center of the rotary table, and the lower needle mechanism is provided with a lower needle opening cylinder on the side near the center of the rotary table. The output shafts of the upper needle opening cylinder and the lower needle opening cylinder are both arranged upwards to press the clamp tail of the clamping part to open the jaws, so as to facilitate the insertion or removal of the needle body.

[0015] Preferably, all three processing stations are grinding mechanisms, or drilling mechanisms, or a combination of grinding and drilling mechanisms, which can be flexibly configured according to actual process requirements.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention uses the mechanical contact between the regular triangular prism indexing stop and the indexing protrusion to achieve 120° automatic indexing. The structure is simple and intuitive, the operation is reliable, the manufacturing cost is low, and it avoids the complex sector gear and indexing gear transmission system in the prior art. It is easy to maintain. Through the cooperation of the roller and the arc-shaped guide rail, it forms an auxiliary support for the clamping needle shaft after indexing, which improves the stability of the indexing process. (2) The present invention has a compact structure and is easy to operate, making it suitable for scenarios such as R&D trial production, process debugging, and small-batch customization. It complements existing mass production line equipment and fills the technological gap in this sub-field. (3) The present invention integrates the automatic needle feeding mechanism, the rotary indexing and clamping mechanism, the processing station and the automatic needle unloading mechanism into a complete set of circulation system, which enables continuous production from feeding, clamping, indexing circulation, processing to unloading, greatly improving production efficiency; (4) The present invention uses the cooperation between the needle ring and the needle roller. The needle ring rotates to receive the needle body, and the needle roller rotates in the opposite direction to drive the needle brush to push the needle body that has not fallen into the needle feeding groove into the groove. This effectively avoids the phenomenon of empty groove and ensures the continuity of material supply. The design of the double baffle plate facilitates the replenishment of material in the storage area, and the replenishment rate can be controlled by adjusting the opening. The structure is simple and practical. (5) The needle feeding mechanism of the present invention adopts a two-stage pushing structure, in which the first needle-pushing cylinder drives the needle support seat to approach as a whole and the second needle-pushing cylinder drives the pin-electrode to push the needle body into the positioning groove. The needle feeding mechanism adopts an elastic transition connection structure, which realizes flexible pushing. When the pushing resistance is abnormal, the spring can absorb the excessive pushing force to avoid rigid impact damage to the precision needle tip. The flexible compensation effect of the spring can automatically adapt to the assembly error and ensure that the needle body is accurately positioned. This design significantly improves the success rate of needle feeding and reduces the scrap rate. It is especially suitable for high-precision automated processing of micro needles. Finally, with the precise pressing of the clamp tail by the needle feeding clamping cylinder, the needle body is smoothly and accurately transferred from the needle support groove to the clamp positioning groove. (6) The needle-feeding mechanism of the present invention adopts a dual rotating structure of turntable and needle-feeding movable seat, and with the radial sliding of the moving seat, it realizes the flexible movement of needle-feeding pneumatic gripper in a limited space with multiple degrees of freedom, and can accurately align with the needle clamping mechanism of different work positions to quickly and without damage remove finished needles. (7) The present invention adopts a modular design, which can flexibly configure the processing station type (grinding, drilling or combination) according to actual production needs, and can also easily integrate other functional modules such as testing, with good scalability and adaptability. Attached Figure Description

[0017] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings.

[0018] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the connection structure between the rotary table and the boss in this invention; Figure 3 This is a schematic diagram of the distribution structure of the needle clamping mechanism, indexing stop, and indexing protrusion of the present invention; Figure 4 This is a cross-sectional view of the needle clamping mechanism of the present invention; Figure 5 This is a schematic diagram of the needle-attaching mechanism of the present invention; Figure 6 This is a schematic diagram of the needle-attaching mechanism of the present invention from another perspective; Figure 7 For the present invention Figure 6 Schematic diagram of the internal structure of the middle needle box and upper needle holder; Figure 8 For the present invention Figure 7 Enlarged structural diagram at point A in the middle; Figure 9 This is a schematic diagram of the needle ring structure of the present invention; Figure 10 This is a schematic diagram of the structure of the pusher block, the ejector pin, and the pin support of the present invention; Figure 11 For the present invention Figure 10 A schematic diagram of the cross-sectional structure; Figure 12 This is a schematic diagram of the needle-feeding mechanism of the present invention; Figure 13 This is a schematic diagram of the structure in use of the present invention; In the diagram: 1. Fixed base, 2. Rotary disk, 3. Boss, 4. Needle clamping mechanism, 401. Needle clamping seat, 402. Needle clamping shaft, 403. Indexing stop, 404. Roller, 405. Positioning groove, 406. Clamping groove, 407. Fixed shaft, 408. Clamp, 409. First spring, 5. Needle feeding mechanism, 501. Needle feeding seat, 502. Needle box, 503. Needle drop port, 504. Needle support seat, 5041. Needle support groove, 505. Needle ring, 5051. Needle feed groove, 506. Needle feed motor, 507. Needle shifting roller, 508. Needle shifting brush, 509. Driving gear, 5010. Driven gear 5011. Wheel, 5012. Material storage area, 5013. Movable plate, 5014. First push needle cylinder, 5015. Ejector pin, 5016. Push needle block, 5017. Second push needle cylinder, 5018. Guide rod, 5019. Second spring, 5020. Transition plate, 5021. Slot, 6. Needle lowering mechanism, 601. Needle lowering base, 602. Moving seat, 603. Turntable, 604. Needle lowering movable seat, 605. Needle lowering cylinder, 606. Needle clamping gripper, 7. Indexing protrusion, 8. Arc-shaped guide rail, 801. Ramp surface, 9. Upper needle opening clamp cylinder, 10. Material collection box. Detailed Implementation

[0019] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0020] In the description of this invention, it should be understood that the terms "middle", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", 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.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances.

[0022] like Figure 1As shown, a minimally invasive infusion needle three-sided processing system includes a fixed base 1, a rotary table 2, a rotary motor (not shown), an upper needle mechanism 5, an lower needle mechanism 6, and three processing stations. The upper end of the fixed base has a boss 3. The rotary table is rotatably connected to the top of the boss and driven by the rotary motor. At least one radially arranged needle clamping mechanism 4 is provided at the edge of the rotary table. All three processing stations can be grinding mechanisms, drilling mechanisms, or a combination of both. Figure 13 As shown, in actual application, this embodiment has 8 needle clamping mechanisms, corresponding to 8 workstations on the fixed base. Each group of processing workstations includes one grinding mechanism and one drilling mechanism, for a total of 3 grinding mechanisms and 3 drilling mechanisms. The process flow of the 8 workstations is as follows: needle insertion mechanism (workstation 1), grinding mechanism of the first facet (workstation 2), drilling mechanism of the first facet (workstation 3), grinding mechanism of the second facet (workstation 4), drilling mechanism of the second facet (workstation 5), grinding mechanism of the third facet (workstation 6), drilling mechanism of the third facet (workstation 7), and needle insertion mechanism (workstation 8).

[0023] Combination Figures 2 to 4 As shown, eight needle clamping mechanisms are evenly distributed in a circular array. Each needle clamping mechanism 4 includes a needle clamping seat 401 and a needle clamping assembly. The needle clamping seat is connected to a rotary table and fixedly attached to the lower edge of the rotary table. The needle clamping assembly includes a needle clamping shaft 402 rotatably connected to the needle clamping seat via a bearing, and a regular polygonal prism-shaped indexing block 403 coaxially fixed to one end of the needle clamping shaft near the central axis of the rotary table. The other end of the needle clamping shaft is provided with a clamping part for clamping the minimally invasive infusion needle. The clamping part includes a positioning groove 405 at the end of the needle clamping shaft, a clamping groove 406 adjacent to the positioning groove, and a clamp 408 rotatably connected to the needle clamping shaft via a fixed shaft 407. The jaws of the clamp correspond to the clamping groove, and a first spring 409 connects the tail of the clamp to the needle clamping shaft, causing the jaws to tend to close into the clamping groove. During operation, press the tail of the clamp 408 to open the jaws, allowing the minimally invasive infusion needle to be placed into the positioning groove 405; release the tail, and the jaws will return to their original position under the action of the first spring 409, clamping the needle body.

[0024] Combination Figures 1 to 3As shown, the upper needle mechanism 5, three sets of processing stations, and the lower needle mechanism 6 are arranged sequentially and at intervals along the outer circumference of the rotary table. Three indexing protrusions 7 are fixedly provided on the boss, and the three indexing protrusions are respectively located on the downstream side of each set of processing stations. When the indexing stop 403 rotates with the rotary table 2 to abut against any of the indexing protrusions 7, driven by the continued rotation of the rotary table 2, the indexing stop 403 is forced to rotate around its axis, and drives the clamping needle 402 and the held minimally invasive infusion needle to rotate synchronously by 120°, completing one automatic indexing. To further improve the stability of the indexing process, rollers 404 are rotatably connected at the three apex points on the side of the indexing stop 403 away from the clamping needle axis 402. An arc-shaped guide rail 8 is provided on the boss 3 between every two indexing protrusions 7, and the starting end of the arc-shaped guide rail 8 is a ramp surface 801. After the indexing stop 403 completes a 120° rotation, the roller 404 enters the ramp surface of the arc-shaped guide rail 8 and rolls with it, providing auxiliary support for the indexing stop 403 and the needle clamp shaft 402, preventing them from shaking during subsequent idling.

[0025] like Figures 5 to 8 As shown, the needle feeding mechanism 5 includes a needle holder 501, on which a needle box 502, a needle feeding mechanism, and a needle pushing mechanism are mounted. The needle box 502 is a hollow structure with an open top; the upper section is a cuboid, and the lower section has a cavity that is smaller at the bottom and larger at the top. Two baffle plates 5011 are provided between the upper and lower sections of the needle box 502. The two baffle plates 5011 are inserted into slots 5021 on opposite side walls of the needle box 502, and are stacked one on top of the other. The opening state between the two baffle plates 5011 can be changed by pulling outward or pushing inward. The area above the baffle plates 5011 is a storage area. When there are no needles in the needle box, replenishment can be performed, or a rated replenishment rate can be set for continuous needle replenishment.

[0026] The needle feeding mechanism is located on the lower inner side of the needle box 502. The needle feeding mechanism includes a needle ring 505 and a needle feeding motor 506. (Combined) Figure 9 As shown, the needle ring 505 is a horizontally positioned cylindrical structure rotatably mounted within the needle box 502. Ten needle feeding slots 5051, parallel to its central axis, are evenly distributed on its outer circumference. Above the needle ring is a needle-feeding roller 507. Ten sets of needle-feeding brushes 508 are arranged in a circular array around the outer circumference of the needle-feeding roller 507. The needle-feeding brushes cooperate with the needle ring, and their positions correspond one-to-one with the needle feeding slots. One end of the needle-feeding roller 507 is connected to a driving gear 509, which meshes with a driven gear 5010 located at one end of the needle ring 505. The driving gear 509 is connected to a needle feeding motor 506. When the needle ring rotates to receive a needle, the needle-feeding roller rotates in the opposite direction, driving the needle-feeding brushes to push any needles that have not yet fallen into the needle feeding slots into the slots, thus preventing empty slots from appearing.

[0027] The needle box 502 has a needle drop port 503 at the bottom. A needle support seat 504 is located directly below the needle drop port. The needle support seat 504 has a needle support groove 5041 that radially passes through the needle support seat. The needle pushing mechanism cooperates with the needle support seat to push the minimally invasive infusion needle in the needle support groove into the clamping part on the needle clamping shaft.

[0028] Combination Figures 5 to 8 , Figure 10 and Figure 11 As shown, the needle-pushing mechanism includes a movable plate 5013, a first needle-pushing cylinder 5014, a needle-pushing block 5015, a push-pin component 5016, and a second needle-pushing cylinder 5017. A needle support seat 504 is fixedly connected to the movable plate 5013, and the movable plate 5013 is slidably connected to the upper needle seat 501. The first needle-pushing cylinder 5014 is fixedly connected to the upper needle seat 501, and its output shaft is connected to the movable plate 5013, used to drive the movable plate 5013 and the needle support seat 504 to move towards or away from the center of the rotary table 2. The needle-pushing block 5015 is slidably connected to the movable plate 5013. A guide rod 5018 is connected to the side of the needle-pushing block away from the center of the rotary table 2. A second spring 5019 is sleeved on the guide rod 5018, and a transition plate 5020 is slidably connected to it. The second spring 5019 is located between the transition plate 5020 and the needle-pushing block 5015. The second push needle cylinder 5017 is fixedly connected to the movable plate 5013, and its output shaft is connected to the transition plate 5020 to drive the push needle block 5015 to slide relative to the movable plate 5013. The ejector needle 5016 is located on the side of the push needle block 5015 near the center of the rotary table 2, and is coaxially arranged with the needle support groove 5041 on the needle support seat 504. The upper needle seat 501 is provided with an upper needle opening cylinder 9 on the side near the center of the rotary table 2, and its output shaft is arranged upward to press the tail of the clamp 408 to open the jaws. The push needle mechanism adopts an elastic transition connection structure, that is, the second push needle cylinder is flexibly connected to the push needle block 5015 through the transition plate 5020, the guide rod 5018 and the second spring 5019. This design allows the driving force of the second push needle cylinder to be buffered by the second spring before being transmitted to the ejector needle. When the pushing resistance increases abnormally, the second spring is compressed to absorb the excessive pushing force, avoiding rigid impact damage to the minimally invasive infusion needle. Meanwhile, the flexible compensation function of the second spring can automatically adapt to the slight coaxiality deviation between the needle support groove and the positioning groove of the clamping part, ensuring that the needle body enters the positioning groove smoothly and accurately.

[0029] The working principle of the needle feeding mechanism 5 is as follows: The needle feeding motor 506 starts, driving the needle ring 505 to rotate clockwise, while simultaneously driving the needle-dispensing roller 507 to rotate counterclockwise via gear transmission. The needle feeding groove 5051 on the needle ring 505 receives the needles falling from the needle box 502, and the needle-dispensing brush 508 pushes the needles that have not fallen into the needle feeding groove 5051 into the groove, avoiding empty grooves. When the needle feeding groove 5051 carrying the needles rotates to the bottom, the needles fall from the needle drop outlet 503 into the needle support groove 5041 of the needle support seat 504. The output shaft of the needle opening cylinder 9 extends, pressing against the tail of the clamp 408, causing the jaws to open. The first needle pushing cylinder 5014 is activated, driving the movable plate 5013 and the needle support seat 504 to move closer to the needle clamping mechanism 4, so that the needle support groove 5041 is aligned with the positioning groove 405 on the needle clamping shaft 402. The second pusher cylinder 5017 actuates, its output shaft pushing the transition plate 5020 forward. The transition plate 5020 transmits pushing force to the pusher block 5015 through the second spring 5019. Due to the buffering effect of the second spring 5019, the pusher block 5015 and the ejector pin 5016 push the needle body into the positioning groove 405 at a gentle and smooth speed. If slight resistance is encountered during the pushing process (such as slight misalignment between the needle body and the positioning groove), the second spring 5019 is slightly compressed, giving the ejector pin 5016 a slight floating ability to adaptively adjust the pushing posture and ensure the needle body is smoothly inserted. After the needle is pushed into place, the second spring 5019 returns to its original state, completing one complete gentle pushing process. The needle opening cylinder 9 resets, and the clamp 408 resets under the action of the first spring 409, clamping the needle body. The first pusher cylinder 5014 and the second pusher cylinder 5017 reset, completing one needle insertion cycle.

[0030] like Figure 12 As shown, the needle-feeding mechanism 6 includes a needle-feeding base 601, a movable base 602, a turntable 603, and a movable needle-feeding seat 604. The movable base 602 is slidably connected to the needle-feeding base 601 and is connected to a screw-nut mechanism (existing technology, not described in detail here, but shown in the figure) that drives its sliding. The turntable 603 is rotatably connected to the upper end of the movable base 602 and is driven by a first rotary motor (not shown in the figure). The movable needle-feeding seat 604 is rotatably connected to the upper part of the other end of the turntable 603 and is driven by a second rotary motor (not shown in the figure). Through the coordinated drive of the first and second rotary motors, the needle-clamping gripper 606 can flexibly adjust its posture within a limited space. A needle-feeding cylinder 605 is mounted on the movable needle-feeding seat 604, and the output shaft of the needle-feeding cylinder 605 is connected to the needle-clamping gripper 606. Below the needle gripper 606 is a needle-opening cylinder (not shown in the figure, connected to the upper needle opening cylinder), whose output axis is set upward to press the tail of the gripper 408, causing the jaws to open. A collection box 10 is provided on one side of the needle-down mechanism. The collection box is located on a fixed base, and the needle-down mechanism places the finished needles uniformly into the collection box.

[0031] The working principle of the needle-feeding mechanism 6 is as follows: The rotary table 2 rotates the needle-clamping mechanism 4, which holds the finished needle, to the needle-feeding position. The output shaft of the needle-feeding opening cylinder extends, pressing against the tail of the clamp 408, causing the jaws to open. The first and second rotary motors work together to adjust the posture of the turntable 603 and the needle-feeding movable seat 604, so that the needle-clamping gripper 606 aligns with the finished needle in the positioning groove 405. The output shaft of the needle-feeding cylinder 605 extends, and the needle-clamping gripper 606 moves downward to clamp the needle. The screw and nut mechanism drives the movable seat 602 to slide radially outward, pulling the needle out of the positioning groove 405. The needle-feeding opening cylinder resets, and the clamp 408 resets under the action of the first spring 409. The needle-feeding cylinder 605 resets, the needle-clamping gripper 606 releases, and the finished needle is placed into the collection box 10, completing the needle-feeding action.

[0032] The specific workflow of this invention is as follows: S1, Needle loading: The minimally invasive infusion needles to be processed are placed in batches into the storage area 5012 of the needle box 502. The two baffles 5011 are in the open state. The needle body falls to the lower section of the needle box 502 under the action of gravity. According to the working principle of the needle loading mechanism described in the embodiment, the needle body is automatically fed into the positioning groove 405 of the needle clamping mechanism 4 and clamped. At this time, the clamp is located at the bottom of the needle clamping mechanism. S2, First facet processing: Start the rotary motor to drive the rotary table 2 to rotate, and rotate the needle clamping mechanism 4 to the first processing station (station 2, station 3) to process the first facet (in this embodiment, grinding and drilling). S3, First automatic indexing: The rotary table 2 continues to rotate, and the indexing stop 403 contacts the first indexing protrusion 7. Driven by the rotary table 2, the indexing stop 403 is forced to rotate 120°, which drives the needle clamping shaft 402 and the needle body to rotate synchronously, and rotates the second edge to the processing position. After the indexing is completed, the roller 404 enters the arc-shaped guide rail 8 and transitions smoothly. S4, Second facet machining: The needle body is moved to the second set of machining stations (station 4, station 5) to complete the second facet machining (same as grinding and drilling). S5, Second automatic indexing: The rotary table 2 continues to rotate, the indexing stop 403 contacts the second indexing protrusion 7, and is forced to rotate 120° again, turning the third facet to the processing position; S6, third facet machining: The needle body is moved to the third group of machining stations (station 6, station 7) to complete the third facet machining (same as grinding and drilling). S7, Third automatic indexing: The rotary table 2 continues to rotate, the indexing stop 403 contacts the third indexing protrusion 7, and is forced to rotate 120° again, turning the first facet to the machining position. At this time, the clamp is located at the bottom of the needle clamping mechanism. S8, Needle insertion: According to the needle insertion working principle described in the embodiment, the finished needle is taken out from the needle clamping mechanism 4; S9, Cyclic processing: Repeat S2-S8 to achieve continuous automated production.

[0033] In practical applications, to integrate functions such as grinding and drilling, reduce frequent transfers between multiple sets of equipment, simplify the operation process, shorten the processing cycle, and improve production efficiency, each processing station in this embodiment includes one grinding station and one drilling station. Specifically, as follows... Figure 3 and Figure 13 As shown, the corresponding workflow is as follows: needle insertion (station 1), grinding of the first facet (station 2), drilling of the first facet (station 3), first automatic indexing, grinding of the second facet (station 4), drilling of the second facet (station 5), second automatic indexing, grinding of the third facet (station 6), drilling of the third facet (station 7), third automatic indexing, needle insertion (station 8). After the third automatic indexing, the clamp is positioned directly below the needle clamping mechanism, facilitating pressure application to the tail end to achieve needle insertion or insertion. Furthermore, the specific structures of the grinding and drilling mechanisms are not technical innovations of this invention and will not be elaborated here; similar devices in the prior art can also be used to achieve the corresponding functions.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or basic characteristics. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within the present invention.

Claims

1. A three-sided processing and transfer system for minimally invasive infusion needles, comprising a fixed base, a rotary table, a rotary motor, an upper needle mechanism, an lower needle mechanism, and three sets of processing stations, characterized in that: The upper end of the fixed base is provided with a boss. The rotary disk is rotatably connected to the top of the boss and driven by a rotary motor. At least one radially arranged needle clamping mechanism is provided at the edge of the rotary disk. The needle clamping mechanism includes a needle clamping seat and a needle clamping assembly. The needle clamping seat is connected to the rotary disk. The needle clamping assembly includes a needle clamping shaft rotatably connected to the needle clamping seat and a regular polygonal prism-shaped indexing stop coaxially fixed to one end of the needle clamping shaft. The other end of the needle clamping shaft is provided with a clamping part for clamping a minimally invasive infusion needle. The needle uppering mechanism, three sets of processing stations, and needle lowering mechanism are located along the outer edge of the rotary disk. The components are arranged sequentially, with three indexing protrusions fixedly mounted on the boss. The three indexing protrusions are respectively located on the downstream side of each group of processing stations. Rollers are rotatably connected to the three apex points on the side of the indexing block away from the needle clamping shaft. An arc-shaped guide rail is provided on the boss between every two indexing protrusions. The starting end of the arc-shaped guide rail is a ramp surface. When the indexing block rotates with the rotary table to abut against any of the indexing protrusions, the indexing block is forced to drive the needle clamping shaft to rotate 120°. After the indexing block completes the indexing rotation, the rollers and the arc-shaped guide rails roll in cooperation.

2. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 1, characterized in that: The clamping part includes a positioning groove at the end of the needle shaft, a clamping groove adjacent to the positioning groove, and a clamp rotatably connected to the needle shaft via a fixed shaft. The jaws of the clamp correspond to the clamping groove, and a first spring is connected between the tail of the clamp and the needle shaft, so that the jaws tend to close into the clamping groove.

3. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 1, characterized in that: The needle feeding mechanism includes a needle holder, on which a needle box, a needle delivery mechanism, and a needle pushing mechanism are provided. The needle delivery mechanism is located on the lower inner side of the needle box. The bottom of the needle box has a needle drop opening, and a needle support seat is located directly below the needle drop opening. The needle support seat has a needle support groove. The needle pushing mechanism cooperates with the needle support seat to push the minimally invasive infusion needle in the needle support groove into the clamping part on the needle clamping shaft.

4. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 3, characterized in that: The needle feeding mechanism includes a needle ring and a needle feeding motor. The needle ring is a horizontally arranged cylindrical structure and is rotatably installed inside the needle box. At least two needle feeding slots are evenly distributed on its outer circumference, parallel to its central axis. A needle-feeding roller is provided above the needle ring. The outer circumference of the needle-feeding roller is arranged in a circular array with needle-feeding brushes corresponding to the number of needle feeding slots. The needle-feeding brushes cooperate with the needle ring. The needle-feeding roller is drivenly connected to the needle feeding motor.

5. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 4, characterized in that: One end of the needle-feeding roller is connected to a drive gear, which meshes with a driven gear located at one end of the needle ring. The drive gear is connected to a needle-feeding motor. When the needle ring rotates to receive the needle body, the needle-feeding roller rotates in the opposite direction to drive the needle-feeding brush to push the needle body that has not fallen into the needle-feeding groove into the groove.

6. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 3, characterized in that: Two baffles are provided between the upper and lower sections of the needle box. The two baffles are inserted into slots on opposite side walls of the needle box. They are stacked one on top of the other. The opening state between the two baffles can be changed by pulling them outward or pushing them inward. The area above the baffles is a storage area.

7. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 3, characterized in that: The needle-pushing mechanism includes a movable plate, a first needle-pushing cylinder, a pin ejector, a needle-pushing block, and a second needle-pushing cylinder. The needle support seat is fixedly connected to the movable plate, and the movable plate is slidably connected to the upper needle seat. The first needle-pushing cylinder is fixedly connected to the upper needle seat, and its output shaft is connected to the movable plate. The needle-pushing block is slidably connected to the movable plate. A guide rod is connected to the side of the needle-pushing block away from the center of the rotary table. A second spring is sleeved on the guide rod, and a transition plate is slidably connected to it. The second spring is located between the transition plate and the needle-pushing block. The second needle-pushing cylinder is fixedly connected to the movable plate, and its output shaft is connected to the transition plate. The pin ejector is located on the side of the needle-pushing block near the center of the rotary table and is coaxially arranged with the needle support groove on the needle support seat.

8. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 1, characterized in that: The needle-feeding mechanism includes a needle-feeding base, a movable base, a turntable, and a movable needle-feeding seat. The movable base is slidably connected to the needle-feeding base and is connected to a screw and nut mechanism that drives its sliding. The turntable is rotatably connected to the upper end of the movable base and is driven by a first rotary motor. The movable needle-feeding seat is rotatably connected to the upper part of the other end of the turntable and is driven by a second rotary motor. A needle-feeding cylinder is installed on the movable needle-feeding seat, and the output shaft of the needle-feeding cylinder is connected to a needle-clamping gripper.

9. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 1, characterized in that: The upper needle mechanism is provided with an upper needle opening cylinder on the side near the center of the rotary table, and the lower needle mechanism is provided with a lower needle opening cylinder on the side near the center of the rotary table. The output shafts of both the upper and lower needle opening cylinders are upwardly arranged to press the clamping part to open the clamping state.

10. The three-sided processing and transfer system for minimally invasive infusion needles as described in claim 1, characterized in that: All three processing stations are either grinding mechanisms, drilling mechanisms, or a combination of grinding and drilling mechanisms.

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