Blood glucose sensor probe automatic assembly method and apparatus

Abstract

This invention provides an automated assembly method and apparatus for blood glucose sensor probes, relating to the field of automated blood glucose sensor assembly. The method includes: acquiring the identification information of an electrode strip; based on the identification information, acquiring a single-needle-level quality judgment result corresponding to the electrode strip, the single-needle-level quality judgment result including the qualification or non-qualification of multiple probes on the electrode strip; according to the single-needle-level quality judgment result, controlling an actuator to perform a discriminative assembly operation based on the single-needle-level quality judgment result; wherein, for probes judged as unqualified, the actuator is controlled to skip them; for probes judged as qualified, the actuator is controlled to perform a removal operation and insert the removed qualified probes into the sensor housing; and bending the qualified probes inserted into the sensor housing. This invention provides an automated assembly scheme for blood glucose sensor probes that can integrate front-end quality data, possess single-needle-level intelligent decision-making capabilities, and achieve a closed-loop data flow throughout the entire process.

Description

Technical Field

[0001] This invention relates to the field of automated blood glucose sensor assembly technology, and in particular to an automated method and apparatus for assembling blood glucose sensor probes. Background Technology

[0002] In the field of automated assembly of blood glucose sensor probes, although existing technologies have gradually replaced purely manual operations, there are still several technical shortcomings that urgently need to be addressed, mainly reflected in the disconnect between data flow and material flow: (1) Insufficient data utilization leads to severe material loss. In the current production process, the single-needle-level electrical performance test of the electrode strip in the previous process generates precise quality data containing whether each probe is qualified (OK) or not (NG). However, this critical data is not effectively transferred and integrated into the subsequent automated assembly process. The commonly used automatic pin insertion and bending equipment, as independent execution units, cannot acquire and utilize this data. Therefore, even if there are only a few NG probes on the electrode strip, the equipment will still process the entire electrode strip indiscriminately, resulting in the overall scrapping or ineffective processing of high-value materials containing multiple qualified probes, causing significant material waste and increased production costs.

[0003] (2) Automated equipment has limited functionality and lacks selective operation capabilities. Existing automated assembly equipment is usually pre-programmed to perform fixed sequential actions, essentially acting as an "actuator" and lacking the "judgment" function to make dynamic decisions based on real-time input information. Because it cannot receive and analyze single-needle quality data from upstream processes, these devices cannot identify specific probes before assembly, thus failing to achieve a selective operation mode of "skipping NG probes and assembling only OK probes." This leads to ineffective processing of non-conforming products, occupies equipment capacity, and may introduce production instability or potential quality risks due to physical abnormalities of NG probes.

[0004] (3) Broken quality information chain and poor traceability. Due to the aforementioned data isolation and functional limitations, a complete data link cannot be established for a single probe, from the original test results, through assembly process parameters, to the final product. The quality information generated during the production process is fragmented and discontinuous, making it impossible to achieve full-process quality traceability for individual probes. When product quality problems occur, it is difficult to accurately locate the specific probe location, assembly batch, and process conditions. This not only hinders effective quality analysis and process optimization but also fails to meet the stringent requirements of the medical device industry for product lifecycle traceability.

[0005] In summary, existing technologies lack an automated assembly solution that can integrate upstream quality data, possess single-needle-level intelligent decision-making capabilities, and achieve a closed-loop data flow throughout the entire process. Summary of the Invention

[0006] Based on this, the purpose of this invention is to provide an automated assembly method for blood glucose sensor probes, which can provide an automated assembly scheme for blood glucose sensor probes that can integrate upstream quality data, have single-needle-level intelligent decision-making function, and realize closed-loop data throughout the entire process.

[0007] This invention provides an automated assembly method for a blood glucose sensor probe, comprising the following steps: S1. Obtain the identification information of the electrode strip; S2. Based on the identification information, obtain the single-needle-level quality judgment result corresponding to the electrode strip. The single-needle-level quality judgment result includes the judgment of whether each of the multiple probes on the electrode strip is qualified or not. S3. Based on the single-needle quality judgment result, control the actuator to perform a discriminative assembly operation; wherein, for probes judged as unqualified, control the actuator to skip them; for probes judged as qualified, control the actuator to perform a removal operation and insert the removed qualified probes into the sensor housing; S4. Bend and shape the qualified probe that has been inserted into the sensor housing.

[0008] In addition, the automatic assembly method for blood glucose sensor probes according to the present invention may also have the following additional technical features: Furthermore, in step S2, the single-needle quality assessment results are obtained from the database in the form of an array.

[0009] Furthermore, the single-needle-level quality judgment result is mapped to the register bit of the programmable logic controller, and the actuator is controlled to perform skip or pull-out operations by reading the register bit status.

[0010] Furthermore, in step S4, the bending and forming process is executed through a closed-loop control system, specifically including: The bending die head is driven to rotate by a servo motor, and the rotation angle is fed back in real time by an encoder. The motor output is adjusted based on the deviation between the feedback angle and the target angle to control the bending angle error within a preset range.

[0011] Furthermore, following step S4, step S5 is also included: S5. Obtain the physical storage location information of the finished product formed by the qualified probe, and after associating and binding the full process data of the finished product with the physical storage location information, store it in the database; wherein, the full process data includes at least the identification information of the electrode strip, the single needle-level quality judgment result, and the relevant parameters of the bending and forming.

[0012] Another aspect of the present invention provides an automated assembly device for blood glucose sensor probes, comprising: The host computer is configured to retrieve the single-needle quality judgment array from the database based on the electrode strip's identification information; A programmable logic controller (PLC), which is communicatively connected to the host computer, is configured to receive and store the decision array, wherein each element of the decision array is mapped to a specific register bit of the PLC, and the state of each register bit corresponds to the pass / fail determination of a probe at a specific position on the electrode strip; An actuator, connected to the programmable logic controller, is configured to perform a traversal operation on the probes on the electrode strip under the control of the programmable logic controller, based on the state sequence of the register bits. When traversing to a certain bit, if its state indicates that the probe is qualified, the actuator drives the plug-in assembly to perform a plug-out and plug-in operation on the probe. If its state indicates that the probe is unqualified, the actuator is controlled to skip the probe bit.

[0013] In addition, the automated assembly device for blood glucose sensor probes according to the present invention may also have the following additional technical features: Furthermore, the host computer is connected to the database and configured to obtain the single-needle-level quality judgment array through a structured query language; The host computer and the programmable logic controller are connected via an industrial Ethernet network.

[0014] Furthermore, the actuator includes a single-needle insertion / removal module and a bending module; The single-pin insertion / removal module is configured to perform the removal and insertion operations; The bending module is configured to perform a bending and shaping operation on the probe that has been inserted into the sensor housing.

[0015] Furthermore, the device also includes a pin station for positioning the sensor housing; The interface between the single-pin insertion / removal module and the pin insertion station is provided with a positioning structure, which includes a positioning pin and a sleeve with a fit tolerance of H7 / g6.

[0016] Furthermore, the device also includes an electrode strip positioning module for fixing the electrode strip, the electrode strip positioning module being provided with a precision limiting groove.

[0017] Compared with the prior art, the technical solution provided by the present invention can bring the following significant beneficial effects: 1. It enables data-driven selective assembly, which greatly improves material utilization and economic benefits.

[0018] This invention enables the assembly system to communicate with an upstream database in real time, acquiring and utilizing single-needle-level quality assessment data, thereby endowing the equipment with intelligent decision-making capabilities. The system can accurately identify and skip non-conforming (NG) probes, performing subsequent precision assembly and bending operations only on conforming (OK) probes. This fundamentally solves the problem of conforming probes being scrapped along with the existing technology due to "blind processing," minimizing material loss and directly reducing production costs.

[0019] 2. By deeply integrating intelligent decision-making with precise execution, the production process has been optimized and reliability has been improved.

[0020] This invention does not simply replace manual operations, but rather constructs an integrated intelligent system encompassing "perception-decision-execution." Through dynamic control based on real-time data, the system completes probe quality assessment and selective assembly within a single continuous process, eliminating additional offline sorting or rework steps, shortening production cycle time, and improving overall production efficiency. Simultaneously, it avoids equipment interference or secondary quality problems that might be caused by NG probes entering precision workstations, enhancing the stability and reliability of the production process.

[0021] 3. A closed-loop quality data system at the single-needle level was established, enabling precise traceability and quality control.

[0022] This invention automatically associates and binds electrode strip identification, single-needle quality status, assembly process parameters (such as bending angle), and finished product storage location to construct a complete and traceable single-needle-level electronic quality file. This completely streamlines the information chain from raw material testing to finished product output, fully meeting the mandatory traceability requirements of the medical device industry and providing a solid data foundation for quality analysis, defect diagnosis, and continuous process improvement during production, significantly enhancing product quality control.

[0023] 4. It ensured the consistency of key parameters of the final product, and improved product performance and reliability.

[0024] Under the closed-loop control provided by this invention, the accuracy (e.g., angular error) of key assembly steps (such as probe bending) can be strictly controlled within an extremely small range (e.g., ±0.5°). This high degree of consistency ensures that every qualified probe can achieve the preset performance standard in the final sensor, fundamentally reducing product performance differences caused by manual operation or traditional automation fluctuations, and improving the overall reliability and batch stability of the product. Attached Figure Description

[0025] Figure 1 A flowchart of the automatic assembly method for blood glucose sensor probes in the first embodiment of the present invention.

[0026] Figure 2This is a plan view of the automatic assembly device for blood glucose sensor probes in the second embodiment of the present invention; Figure 3 This is a schematic diagram of the feeding unit in the second embodiment of the present invention; Figure 4 for Figure 3 Top view; Figure 5 This is a schematic diagram of the assembly unit in the second embodiment of the present invention; Figure 6 for Figure 5 Top view; Figure 7 This is a planar schematic diagram of the transfer unit in the second embodiment of the present invention; Figure 8 This is a schematic diagram of the bending unit in the second embodiment of the present invention; Figure 9 for Figure 8 Top view; Figure 10 This is a schematic diagram of the structure of the finished pallet in the second embodiment of the present invention; Figure 11 This is a schematic diagram of the outer shell feeding module in the second embodiment of the present invention; Explanation of key component symbols:

[0027] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0028] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0029] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] To facilitate understanding of the present invention, several embodiments are given below. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention will be more thorough and complete.

[0032] Example 1 Please see Figure 1 The figure shows an automatic assembly method for a blood glucose sensor probe according to the first embodiment of the present invention, including the following steps S1-S5: S1. Obtain the identification information of the electrode strip.

[0033] In this embodiment, each electrode strip has a unique number, which corresponds to different identification information. The scanning module successfully reads the unique number of the electrode strip (e.g., 2000), and the host computer uses this number (2000) as an index key to query the database to obtain the identification information of the electrode strip.

[0034] The database returns a data set corresponding to the electrode strip number, and its structure is shown in Table 1: Table 1:

[0035] Specifically, the database primarily outputs an "OK / NG decision array" with a fixed length and order, matching the number of probes in the electrode strip. For example, when the number of probes in the electrode strip is 10, the array length output by the database is also 10; when the number of probes in the electrode strip is N, the array length output by the database is also N, and so on, allowing the number of probes in the electrode strip to be increased or decreased. It should be further noted that this solution does not impose a specific limit on the exact number of probes in the electrode strip; the choice can be made based on the actual situation.

[0036] S2. Based on the identification information, obtain the single-needle-level quality judgment result corresponding to the electrode strip. The single-needle-level quality judgment result includes the judgment of whether each of the multiple probes on the electrode strip is qualified or not.

[0037] In this embodiment, the single-needle-level quality assessment results are obtained from the database in array form. Furthermore, the single-needle-level quality assessment results are mapped to register bits of the programmable logic controller (PLC), and the actuator is controlled to perform skip or pull-out operations by reading the register value status.

[0038] As a concrete example, let's illustrate this scheme with 12 probes within the electrode strip. According to the example in Table 1 above, the generated array might be: [OK, NG, ..., OK]. In this array, index 0 corresponds to probe 20001, index 1 corresponds to probe 20002, and so on, up to index 11 corresponding to probe 20012. The generated 12-bit "OK / NG judgment array" is precisely written into the pre-allocated, fixed register memory address area of ​​the PLC. The state (OK / NG) of each probe is represented by a numerical value, typically 1 for OK and 0 for NG.

[0039] In this embodiment, an example of mapping each probe state using a numerical value is as follows: Status of probe 20001 (array index 0) → D100; Status of probe 20002 (array index 1) → D101; ... Status of probe 20012 (array index 11) → D111; The 12-bit "OK / NG judgment array" generated by the host computer will be precisely written into the pre-allocated fixed register memory address area of ​​the PLC. The status (OK / NG) of each probe is represented by a value in the register; industry convention uses 1 for OK and 0 for NG. There is a strict sequential correspondence between the index positions of this array and the PLC bit addresses, as illustrated in the following example: The state of array index 0 (corresponding to probe 20001) is mapped to D100; The state of array index 1 (corresponding to probe 20002) is mapped to D101; ... The state of array index 11 (corresponding to probe 20012) is mapped to D111.

[0040] During communication, the host computer actively sends a "write register" command to the PLC. This command frame contains the target start address (such as the protocol address corresponding to D100 to D111) and the packaged decision array data. Through a single efficient network communication, the synchronous update of the status of all 12 probes can be completed.

[0041] S3. Based on the single-needle quality judgment result, the control actuator performs a discriminative assembly operation based on the single-needle quality judgment result; wherein, for probes judged as unqualified, the control actuator skips them; for probes judged as qualified, the control actuator performs a removal operation and inserts the removed qualified probes into the sensor housing.

[0042] As a concrete example, the PLC program first reads the values ​​of the global instruction registers (e.g., D100 to D111). If the value is SKIP_AND_NEXT (e.g., when all 12 registers from D100 to D111 are 0), it indicates skipping and proceeding to the next one. Specifically, on the one hand, the PLC immediately terminates all subsequent processing of that electrode strip; on the other hand, the system triggers the next work cycle to prepare for processing the new electrode strip. If the value is PROCEED (e.g., when at least one register from D100 to D111 is 1), it indicates continuing / progressing. Specifically, the PLC enters the precision assembly cycle of the probe and the blood glucose sensor housing. Specifically, the PLC program controls the servo axis of the single-needle plug-in module to move it to the physical coordinates of the first probe. At this time, the program calculates an index and associates it with the register address (e.g., D100) that stores the status of the first probe.

[0043] Furthermore, regarding the PLC's bit logic judgment: The PLC's ladder diagram program executes an instruction similar to "if bit 1 is ready and bit D100 is 1". Specifically, if the condition is true (OK): the PLC will activate the output point, driving the pneumatic gripper to perform a series of picking, moving, and inserting actions. If the condition is false (NG): the above output loop will not activate, and the PLC will directly trigger an instruction to move the module to the next probe position. This process will cycle 12 times. Internally, the program typically has a counter or indexer that automatically points to the next target coordinate and the next bit register (such as D101, D102...) after each station is completed, until all 12 stations have been processed.

[0044] The judgment algorithm in this technical solution includes a comprehensive exception handling mechanism. If the host computer sends a query to the database and does not receive a response within a set time (e.g., 3 seconds), or if the returned data is in an incorrect format, the host computer will automatically retry up to 3 times. If the retry still fails, the host computer will send a "data anomaly" signal to the PLC and trigger an audible and visual alarm to prompt the operator to intervene and check. At the same time, the system will suspend the processing of the current electrode strip to prevent the inflow of erroneous data from causing batch assembly errors.

[0045] S4. Bend and shape the qualified probe that has been inserted into the sensor housing.

[0046] In this embodiment, bending is performed by a closed-loop control system. Specifically, the bending die head is driven to rotate by a servo motor, the rotation angle is fed back in real time by an encoder, and the motor output is adjusted based on the deviation between the feedback angle and the target angle to control the bending angle error within a preset range.

[0047] Specifically, the Z-axis servo motor of the bending module integrates a high-resolution absolute encoder (e.g., 20 bits or higher per revolution). The system employs a PID closed-loop control algorithm to monitor and adjust the motor torque and rotation angle in real time. The parameters of the PID closed-loop control algorithm are optimized using engineering tuning methods (e.g., the Ziegler-Nichols method). Its control objective is to ensure that the dynamic response overshoot during the bending process is less than 5% and to quickly eliminate steady-state errors. In this embodiment, when the angle value fed back by the encoder deviates from the preset target value (e.g., 90°) by more than ±0.5°, the PLC immediately triggers a correction command, driving the motor to fine-tune until the angle reaches the target, ensuring that the bending angle error is strictly controlled within ±0.5°.

[0048] S5. Obtain the physical storage location information of the finished product formed by the qualified probe, and then associate and bind the full process data of the finished product with the physical storage location information and store it in the database.

[0049] The complete process data includes at least the electrode strip identification information, single-needle quality assessment results, and relevant bending and forming parameters. The complete process data of the finished product is linked and bound to the physical storage location information and stored in a database to achieve single-needle quality traceability.

[0050] In the technical solution of this application, each module is uniformly scheduled by a PLC, forming a closed-loop automated production line of "material feeding → barcode scanning → positioning → pin insertion → bending → material collection". Furthermore, the same robotic arm integrates material feeding and collection, significantly improving cycle time efficiency and space utilization. It should be further noted that the single-pin quality judgment results in the database originate from the previous process (based on probe electrical performance testing) and are not part of the innovation of this solution; therefore, they will not be elaborated upon further in this application.

[0051] Example 2 The automatic assembly device for blood glucose sensor probes in the second embodiment of the present invention includes a host computer, a programmable logic controller (PLC), and an actuator. The host computer and the PLC form a control system, specifically: The host computer is configured to retrieve a single-needle-level quality judgment array from the database based on the electrode strip's identification information. Specifically, the host computer communicates with the database and is configured to retrieve the single-needle-level quality judgment array using a structured query language. Furthermore, the host computer and the database server are connected via a local area network (LAN) to ensure low latency and high bandwidth transmission for large-volume data queries. In this embodiment, the database server is located locally or within the workshop network, running a MySQL database management system (DBMS) as a central data warehouse responsible for storing and managing all raw detection data of the electrode strips (such as probe current values, judgment results, etc.). Specifically, the host computer runs dedicated control software that integrates or calls the corresponding database connection driver, interacting with the database through standard SQL query language to achieve data retrieval and verification.

[0052] Secondly, the programmable logic controller (PLC) communicates with the host computer and is configured to receive and store a decision array. Each element of the decision array is mapped to a specific register bit of the PLC, and the state of each register bit corresponds to the pass / fail determination of a probe at a specific position on the electrode strip. Specifically, the host computer and the PLC establish a stable and reliable physical connection via industrial Ethernet and are configured with the correct IP address, achieving interoperability across three network layers. Furthermore, the PLC and the host computer agree to use the standard Modbus TCP protocol for communication. In this architecture, the host computer acts as a client, actively initiating connections and writing instructions; the PLC acts as a server, listening for and responding to requests from the host computer.

[0053] Furthermore, the actuator is connected to the programmable logic controller (PLC) and is configured to perform a traversal operation on the probes on the electrode strip according to the state sequence of the register bits under the control of the PLC. When traversing to a certain bit, if its state indicates that the probe is qualified, the plug-in assembly is driven to perform a plug-in and plug-out operation on the probe. If its state indicates that the probe is unqualified, the actuator is controlled to skip the probe bit.

[0054] For details, please see Figures 2-11The actuator includes a bending unit and a PLC connected to the bending unit. The bending unit includes a three-axis bending servo platform 140, a bending module 110 mounted on the three-axis bending servo platform 140, and a bending station 120 located at one end of the bending module 110. A Z-axis servo motor 130 is mounted on the three-axis bending servo platform 140, and the Z-axis servo motor 130 integrates a high-resolution absolute encoder. The Z-axis servo motor 130 is connected to the bending station 120. The PLC is connected to the Z-axis servo motor 130 to control the bending station 120 to bend the probe in the blood glucose sensor. The bending module 110 includes a bending die head, used to perform high-precision probe bending on the bending station 120. The bending station 120 is used to precisely fix the components (blood glucose sensor housing and probe) from the pin insertion station 410 in a known, unchanging position. This ensures that the relative spatial relationship between the probe and the die is completely consistent every time the bending die is pressed down, thus providing the most fundamental guarantee for achieving a bending angle accuracy of ±0.5°. Furthermore, the interface between the insertion station 410 and the single-needle insertion module is equipped with a positioning structure made of hard alloy. The positioning structure includes a precision positioning pin and a sleeve, with a tolerance design of H7 / g6 level, ensuring that the repeatability of the positioning accuracy during docking is better than ±0.05mm. This guarantees the coaxiality of the probe and the micro-hole 900 on the blood glucose sensor housing, avoiding scratches or damage during insertion.

[0055] To achieve rapid feeding of electrode strips and probes, this embodiment further includes a feeding unit. The feeding unit includes an electrode strip feeding module 210 and a scanning module 220 located on one side of the electrode strip feeding module 210. The scanning module 220 includes a servo motion platform 221 and functional modules mounted on and movably connected to the servo motion platform 221. The functional modules include a scanning gun 222, a vacuum nozzle 223, and a rotary cylinder connected to the vacuum nozzle 223. The scanning gun 222 is positioned above the electrode strip feeding module 210 to scan the electrode strips within the electrode strip feeding module 210. A PLC is connected to the feeding unit. Specifically, the electrode strip feeding module 210 includes a tray support 211, an electrode strip cassette 212 mounted on the tray support 211, and electrode strips 213 mounted on the electrode strip cassette 212. The servo motion platform 221 is arranged parallel to the tray support 211 to ensure accurate scanning of the electrode strips 213 by the scanning gun 222.

[0056] The scanning module is used to accurately bind the uniquely identified electrode strip to the quality data in the database. The unique identifier includes QR codes and barcodes; the quality data includes OK and NG arrays. Through the integrated vacuum nozzle 223 and servo motion platform 221, the electrode strip is automatically picked up, transported, and precisely positioned, ensuring that the electrode strip is accurately placed in the correct posture at the core station of the electrode strip positioning module 310, providing a benchmark for all subsequent precision operations.

[0057] In this embodiment, to achieve automated assembly of the probe and the blood glucose sensor housing, the device further includes a transfer unit and an assembly unit connecting the transfer unit and the feeding unit. The assembly unit includes an electrode strip positioning module 310 and a single-needle insertion / removal module 320 movably connected to the electrode strip positioning module 310. The single-needle insertion / removal module is configured to perform extraction and insertion operations. Specifically, the transfer unit includes a needle insertion station 410, which is equipped with the blood glucose sensor housing. The single-needle insertion / removal module 320 includes a needle insertion module 323 for assembling the probe to insert it into the blood glucose sensor housing. The electrode strip positioning module 310 is used to position the electrode strip, which includes several probes. The PLC is connected to the assembly unit and the transfer unit respectively. Specifically, the needle insertion station 410 is used to position the blood glucose sensor housing to ensure that the probe grasped by the single-needle insertion / removal module can accurately align with the micro-hole 900 on the sensor housing. Furthermore, the transfer unit also includes an XY servo platform 430 and a suction cup module 420 mounted on the XY servo platform 430. The pin insertion station 410 is slidably connected to the XY servo platform 430, and the PLC is connected to the XY servo platform 430. The suction cup module 420 includes a vacuum suction cup, which is used to transfer the blood glucose sensor with the inserted probe from the pin insertion station 410 to the bending station 120, ensuring the physical integrity of the material flow between the stations.

[0058] Secondly, the single-needle insertion / removal module 320 includes a three-axis servo platform 322, a pneumatic gripper 321, and a pressure sensor. Based on the OK / NG judgment array issued by the host computer, it performs a discriminative operation on each probe on the electrode strip. Specifically, if it is an OK probe, the pneumatic gripper 321 removes the probe with a constant clamping force (e.g., 5±0.5N) and inserts it into the micro-socket 900 in the blood glucose sensor housing of the insertion station 410 via the servo motion platform 221; if it is an NG probe, the module skips the probe and moves to the next needle position.

[0059] In this embodiment, the electrode strip positioning module 310 is used as a reference positioning station for all probe processing operations (such as NG needle rejection and OK needle removal) in the entire assembly process. Its core function is to provide a precise and repeatable fixed position for the electrode strip from the scanning module 220 through a precision limiting groove.

[0060] After implementing automated probe feeding and assembly processes, to achieve full-process automation, automated feeding of the blood glucose sensor housing is also required. Therefore, in this embodiment, the equipment also includes a robotic arm assembly 500 and a housing feeding module 800. The housing feeding module includes a vibratory feeder 600, which accommodates the sensor housing and outputs it after leveling it through vibration. The robotic arm assembly 500 connects the housing feeding module 800 to the pin insertion station 410 to transfer the blood glucose sensor housing from the housing feeding module 800 to the pin insertion station 410. The housing feeding module 800 is used to implement the housing supply unit of the assembly line, automatically arranging the disordered housings into a uniform, preset posture, laying the foundation for the subsequent stable grasping by the robotic arm.

[0061] After the probes are assembled with the blood glucose sensor housing, they are fully assembled by the receiving unit of the equipment. Specifically, the receiving unit includes a receiving module 700, which has several finished product trays 710, each with several slots to accommodate finished products. The receiving module 700 is used to orderly receive and accommodate completed products. Furthermore, by employing a matrix-style tray arrangement, high-density storage of finished products is achieved. The receiving module 700 can also simultaneously upload all information, such as the unique identifier of the finished product (e.g., electrode strip ID), assembly data for each probe, and key bending angle parameters, to a database. As a specific example, the robotic arm assembly 500 is used to automate the handling of the sensor housing between four key nodes: the housing feeding module 800600, the pin insertion station 410, the bending station 120, and the receiving module 700.

[0062] The technical solution of this application realizes automatic bending of the probe through closed-loop control of a three-axis servo platform and a high-precision encoder in the Z-axis servo motor, avoiding manual operation, improving work efficiency and ensuring product quality. Specifically, the probe status is obtained through the bending station, the bending command is obtained based on the probe status, the motor torque and rotation angle are obtained based on the bending command, the probe is bent based on the motor torque and rotation angle and the bending angle of the probe is identified until the bending status of the probe meets the preset requirements, thus completing the bending.

[0063] The working principle of this solution is as follows: Upon system startup, the PLC sends a feeding command to the scanning module 220. The servo platform of the scanning module 220 drives the scanning gun to move above the electrode strip feeding module 210 and reads the unique identifier of the electrode strip. The read identifier data is then uploaded to the host computer, which retrieves the corresponding probe quality judgment result ("OK / NG array") from the MySQL database and sends the judgment result ("OK / NG array") back to the PLC. When all the judgment results obtained by the PLC are NG, the electrode strip is deemed to have no value, and the scanning module is instructed to skip this strip and prepare to process the next one to avoid invalid work. When the judgment results obtained by the PLC include OK, the scanning module is instructed to drive the vacuum nozzle to pick up the electrode strip. After the posture is adjusted by the rotary cylinder, the servo platform accurately places it on the electrode strip positioning module (108) and outputs a "ready" signal to the system.

[0064] After the electrode strip positioning module 310 reads the PLC "ready" signal, the cylinder drives the pressure block to press the electrode strip. When the integrated pressure sensor detects that the pressure value reaches the set threshold (e.g., 0.5MPa), the PLC digital output point (e.g., Q0.0) of the electrode strip positioning module 310 outputs a 24V DC high-level signal as a "ready" signal and outputs a "ready" signal to the system. Simultaneously with the electrode strip feeding, the robotic arm assembly 500 grabs the sensor housing from the housing feeding module 800 and transfers it to the pin insertion station 410 for precise positioning.

[0065] Upon receiving the "ready" signal, the single-needle insertion / removal module 320 moves its three-axis servo platform to probe position 1 of the electrode strip. The PLC sends a real-time command for the probe to the insertion / removal module based on a pre-stored "OK / NG array." When the command is OK, the pneumatic gripper performs a precision extraction action, then transfers the probe into the housing located at the insertion station 410, and outputs a "ready" signal to the system. When the command is NG, the single-needle insertion / removal module 320 skips the current probe and moves to the next position. Once the probe is inserted, the vacuum suction cup of the suction cup module 420, confirmed by a pressure sensor, adsorbs the component, and its XY servo platform smoothly and slowly transfers it to the bending station 120, outputting a "ready" signal to the system. After the bending station 120 confirms the component is in place, its positioning fixture quickly locks (sensor housing), providing a constant reference for bending. The X / Y axes of the bending module 110 first drive the bending die head to complete the centering and positioning. Then, the Z-axis servo motor (integrated encoder) drives the die head to rotate, performing the bending action. The system ensures that the bending angle error is no greater than ±0.5° through full closed-loop control. After bending, the robotic arm assembly 500 picks up the finished product from the bending station 120 and transfers it to the receiving module 700. The robotic arm accurately places the finished product into the designated matrix slot of the finished product tray 710. At the same time, the host computer automatically triggers data recording, binding the unique identifier of the finished product (electrode strip ID), the assembly position number and quality status of all probes, bending angle, timestamp, and other full-process data to the tray slot, and uploading it to the database to achieve "single-needle-level quality traceability".

[0066] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An automated assembly method for a blood glucose sensor probe, characterized in that, Includes the following steps: S1. Obtain the identification information of the electrode strip; S2. Based on the identification information, obtain the single-needle-level quality judgment result corresponding to the electrode strip. The single-needle-level quality judgment result includes the judgment of whether each of the multiple probes on the electrode strip is qualified or not. S3. Based on the single-needle quality judgment result, control the actuator to perform a discriminative assembly operation; wherein, for probes judged as unqualified, control the actuator to skip them; for probes judged as qualified, control the actuator to perform a removal operation and insert the removed qualified probes into the sensor housing; S4. Bend and shape the qualified probe that has been inserted into the sensor housing.

2. The method of claim 1, wherein the blood glucose sensor probe is automatically assembled by the steps of: In step S2, the single-needle quality assessment results are obtained from the database in array form.

3. The method of claim 1, wherein the blood glucose sensor probe is automatically assembled by the steps of: The single-needle quality judgment result is mapped to the register bit of the programmable logic controller, and the actuator is controlled to perform skip or pull-out operation by reading the register bit status. ​ 4. The method of claim 1, wherein the blood glucose sensor probe is automatically assembled by the steps of: In step S4, the bending and forming process is executed through a closed-loop control system, specifically including: ​ The bending die head is driven to rotate by a servo motor, and the rotation angle is fed back in real time by an encoder. The motor output is adjusted based on the deviation between the feedback angle and the target angle to control the bending angle error within a preset range.

5. The method of claim 1, wherein the blood glucose sensor probe is automatically assembled by the steps of: Following step S4, step S5 is also included: ​ S5. Obtain the physical storage location information of the finished product formed by the qualified probe, and after associating and binding the full process data of the finished product with the physical storage location information, store it in the database; wherein, the full process data includes at least the identification information of the electrode strip, the single needle-level quality judgment result, and the relevant parameters of the bending and forming.

6. A blood glucose sensor probe automatic assembly apparatus characterized by, include: The host computer is configured to retrieve the single-needle-level quality judgment array from the database based on the electrode strip's identification information; A programmable logic controller (PLC), which is communicatively connected to the host computer, is configured to receive and store the decision array, wherein each element of the decision array is mapped to a specific register bit of the PLC, and the state of each register bit corresponds to the pass / fail determination of a probe at a specific position on the electrode strip; An actuator, connected to the programmable logic controller, is configured to perform a traversal operation on the probes on the electrode strip under the control of the programmable logic controller, based on the state sequence of the register bits. When traversing to a certain bit, if its state indicates that the probe is qualified, the actuator drives the plug-in assembly to perform a plug-out and plug-in operation on the probe. If its state indicates that the probe is unqualified, the actuator is controlled to skip the probe bit.

7. The blood glucose sensor probe automatic assembly apparatus according to claim 6, wherein, The host computer is connected to the database and is configured to obtain the single-needle quality judgment array through a structured query language. The host computer and the programmable logic controller are connected via an industrial Ethernet network.

8. The blood glucose sensor probe automatic assembly apparatus according to claim 6, wherein, The actuator includes a single-pin insertion / removal module and a bending module; The single-pin insertion / removal module is configured to perform the removal and insertion operations; The bending module is configured to perform a bending and shaping operation on the probe that has been inserted into the sensor housing.

9. The blood glucose sensor probe automatic assembly apparatus according to claim 8, wherein, The device also includes a pin station for positioning the sensor housing; The interface between the single-pin insertion / removal module and the pin insertion station is provided with a positioning structure, which includes a positioning pin and a sleeve with a fit tolerance of H7 / g6.

10. The blood glucose sensor probe automatic assembly apparatus according to claim 8, wherein, The device also includes an electrode strip positioning module for fixing the electrode strip, the electrode strip positioning module being provided with a precision limiting groove.

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