A multi-station needle assembling machine
By introducing sliding components and intelligent clamping blocks into the multi-station needle fitting machine, the problem of multi-point error accumulation is solved, achieving high-precision and efficient needle body pressing and ensuring accurate docking between the needle body and the needle holder.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SHENZHEN LAIEN INTELLIGENT EQUIP CO LTD
- Filing Date
- 2026-05-20
- Publication Date
- 2026-07-10
AI Technical Summary
In existing multi-station needle fitting machines, the cumulative error of multiple point actions leads to the loss of pressing and alignment accuracy, and cannot effectively eliminate mechanical clearance error, affecting the accuracy and integrity of the needle pressing process.
The multi-station needle fitting machine uses a sliding assembly driven by linear motors No. 1, No. 2, and No. 3, combined with an intelligent clamping block and a control chip, to achieve synchronous positioning of the needle and needle insertion, reducing error accumulation.
It improves the centering accuracy and needle insertion speed of the needle fitting machine, prevents needle bending or breakage caused by errors in independent mechanisms, and ensures accurate docking between the needle body and the needle holder.
Smart Images
Figure CN122353259A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to an industrial robot, and more specifically, to a multi-station needle fitting machine. Background Technology
[0002] In the field of automated acupuncture needle production, the needle fitting process—which involves precisely pressing the micro-needle into the central blind hole of the needle holder—usually employs a multi-station rotary structure to achieve continuous production. This type of equipment typically has a needle loading station, an adhesive application station, a pressing station, and a material unloading station arranged sequentially along an indexing turntable. Each station is operated by an independently driven actuator.
[0003] In actual production scenarios, the aforementioned multi-station architecture has an inherent and unavoidable technical problem: the cumulative error of multiple point movements damages the pressing and alignment accuracy. Specifically, when the equipment is running continuously, the sources of error exhibit a multi-source superposition characteristic—during the intermittent rotation of the indexing turntable, its positioning mechanism inevitably has inherent repetitive positioning gaps; simultaneously, the clamping mechanism of the needle-feeding station is driven by independent cams or cylinders to complete the gripping and positioning of the needle, and the reciprocating motion of this actuator itself also has guide gaps and stroke errors; when the clamping assembly carrying the needle rotates with the turntable to the pressing station, the gap errors of the aforementioned independent actuators and the indexing error of the turntable are superimposed, forming an error transmission chain from the initial positioning of the needle-feeding station to the final positioning of the pressing station.
[0004] The aforementioned cumulative error manifests at the press-fitting station as an unpredictable, micrometer-level radial offset between the needle axis held in the elastic component and the needle seat hole axis fixed below the station. In traditional structural designs, due to the lack of a linkage mechanism capable of compensating for errors across stations, the press-fitting mechanism can only perform a downward pressing action along a preset fixed trajectory. When there is an offset between the needle axis and the needle seat hole axis, the tail end of the needle forms a point or line contact with the opening of the needle seat hole at the moment of pressing, rather than an ideal surface contact guiding state. For micro-needles, although this offset is small, it is enough to cause the needle to bend and deform during the pressing process, or the needle tip to deviate from the needle seat hole and hit the edge of the hole opening, causing the needle to break or the needle seat to shatter. To address the problem of loss of alignment accuracy caused by the accumulation of errors at multiple points, some existing equipment attempts to reduce the source of error by improving the processing and assembly accuracy of the actuators at each station. However, under continuous operation, the existence of mechanical gaps is inevitable, and simply relying on the accumulation of accuracy cannot fundamentally eliminate the error. In view of this, the present invention proposes a multi-station needle fitting machine. Summary of the Invention
[0005] The purpose of this invention is to provide a multi-station needle fitting machine to solve the problem mentioned in the background art of the loss of pressing and alignment accuracy caused by the accumulation of errors in the multi-station independent actuators of the needle fitting machine.
[0006] To solve the above problems, a multi-station needle dispensing machine is provided, including an operating table. A needle dispensing component is provided on the upper side of the operating table. The needle dispensing component includes a first positioning component. A second positioning component is provided on the first positioning component. The second positioning component includes a second linear track. A needle loading component is provided on one side of the second linear track. The needle assembly includes a third moving part that is slidably disposed on one side of the second linear track, and the sliding direction of the third moving part is parallel to the upper surface of the operating table; Multiple sliders are slidably arranged on the side of the third mover away from the second linear track. Each slider is provided with an electric push rod on its upper side for controlling its up and down sliding. The electric push rod is fixedly arranged on the upper side of the third mover. The slider has a control button on its lower side that corresponds to its position. The control button is fixed on one side of the third mover, and there is a certain distance between the slider and the control button in the initial state.
[0007] The third actuator slides along the direction set by the second linear track to adjust it to the upper side of the needle holder. When the electric push rod is started, it pushes the slider downward and delivers the needle to the top of the needle holder. After the slider delivers the needle to the designated position, it immediately presses the control button and triggers it.
[0008] As a further improvement to this technical solution, a connecting block is fixedly provided on the side of the slider away from the third mover, and a plurality of intelligent clamping blocks corresponding to each slider are fixedly provided on the side of the connecting block away from the slider. The intelligent clamping block has a control chip fixedly installed inside, corresponding to the control button.
[0009] When the control button is triggered, the control chip inside the intelligent clamping block immediately controls the intelligent clamping block to release its grip on the needle below, so that the positioning and needle insertion operations are completed simultaneously. This prevents the independent operation of each mechanism during the needle insertion process from causing the error to gradually accumulate, thereby improving the centering accuracy and needle insertion speed of the device.
[0010] As a further improvement to this technical solution, the first positioning component includes two support frames that are symmetrically fixed on the upper side of the operating table, and a first linear track is fixedly installed on the upper side of each of the two support frames. Each of the two linear tracks has a moving element slidably mounted on it, and a linear motor is fixedly mounted on one side of each linear track to control the corresponding moving element to slide.
[0011] When the No. 1 linear motor starts, it drives the No. 1 moving element to slide along the direction set by the No. 1 linear track.
[0012] As a further improvement to this technical solution, a crossbeam is provided on the upper side of the support frame, and the two ends of the crossbeam are fixedly connected to two No. 1 moving parts, and the crossbeam is perpendicular to the two support frames.
[0013] When the first mover slides, it drives the crossbeam to slide until the position of the crossbeam is adjusted to be above each of the fourth movers.
[0014] As a further improvement to this technical solution, the second linear track is slidably disposed on the lower side of the crossbeam, and a second linear motor for driving the third moving part to slide is fixedly disposed at one end of the second linear track.
[0015] After adjusting the position of the second linear track, start the second linear motor to drive the third mover to slide until it is adjusted to the upper side of the corresponding needle seat, thus completing the positioning of the third mover.
[0016] As a further improvement to this technical solution, a second moving element is fixedly installed on the upper side of the second linear track, and a third linear track is fixedly installed on the side of the crossbeam near the second moving element. The second moving element is slidably installed on one side of the third linear track, and a third linear motor for driving the second moving element to slide is fixedly installed at one end of the third linear track.
[0017] After adjusting the position of the crossbeam, start the No. 3 linear motor to drive the No. 2 mover to slide along the direction set by the No. 3 linear track, and drive the No. 2 linear track to adjust its position until the No. 2 linear track is adjusted to the upper side of each No. 4 mover, so as to lay the foundation for the subsequent needle-feeding process.
[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this multi-station needle fitting machine, the third mover slides along the direction set by the second linear track to the top of the needle holder. Then, by activating the electric push rod, it drives each slider to slide down and moves the intelligent clamping block closer to the needle holder. When the intelligent clamping block slides to the needle-feeding station, the slider just contacts and triggers the control button, causing the control chip inside the intelligent clamping block to control it to release the clamp on the needle and complete the needle-feeding process. This allows the positioning and needle-feeding processes to be completed synchronously, preventing the independent operation of each mechanism during the needle-feeding process from causing the gradual accumulation of errors and improving the centering accuracy of the device.
[0019] 2. In this multi-station needle fitting machine, during the needle insertion process, the No. 1 linear motor is started to drive the No. 1 moving part to slide, which in turn drives the crossbeam to adjust its position. At the same time, the No. 3 linear motor is started to drive the No. 2 moving part to slide, so as to complete the position adjustment of the needle insertion component. This allows it to quickly switch to the next needle seat after completing one needle insertion process, without the need to frequently adjust the needle seat position during the needle insertion process, which further improves the needle insertion speed and accuracy of the device. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the needle fitting assembly structure of the present invention; Figure 3 This is a schematic diagram of the structure of the first positioning component of the present invention; Figure 4 This is a rear view of the needle fitting assembly structure of the present invention; Figure 5 This is a front view of the needle fitting assembly structure of the present invention; Figure 6 This is a schematic diagram of the upper needle assembly structure of the present invention; Figure 7 This is a schematic diagram of the support component structure of the present invention; Figure 8 This is a schematic diagram of the storage component structure of the present invention; Figure 9 This is a bottom view of the storage component structure of the present invention.
[0021] The meanings of the labels in the diagram are as follows: 1. Operating table; 2. Needle assembly; 21. First positioning assembly; 211. Support frame; 212. Linear rail No. 1; 213. Mover No. 1; 214. Linear motor No. 1; 215. Crossbeam; 22. Second positioning component; 221. Linear track No. 2; 222. Linear motor No. 2; 223. Moving element No. 2; 224. Linear track No. 3; 225. Linear motor No. 3; 23. Needle mounting assembly; 231. No. 3 moving part; 232. Slider; 233. Electric actuator; 234. Control button; 235. Connecting block; 236. Intelligent clamping block; 3. Support components; 31. Pad plate; 32. Linear motor No. 4; 33. Moving element No. 4; 4. Storage components; 41. Storage plate; 42. Turntable; 43. Support plate; 44. Drive motor; 5. Conveyor track; 6. Multi-axis robotic arm. Detailed Implementation
[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.
[0024] Example 1 First, please refer to Figure 1 and Figure 7 The purpose of this embodiment is to provide a multi-station needle fitting machine, including an operating table 1. A needle fitting assembly 2 is provided on the upper side of the operating table 1. The needle fitting assembly 2 includes a first positioning assembly 21. A second positioning assembly 22 is provided on the first positioning assembly 21. A support assembly 3 is provided on the lower side of the second positioning assembly 22. The support assembly 3 includes a pad 31 fixedly installed on the upper side of the operating table 1. Multiple linear motors 32 are fixedly installed on the upper side of the pad 31. Each of the multiple linear motors 32 has a moving part 33 slidably installed on it. When inserting a needle, the needle holder to be inserted is placed on the upper side of each moving part 33. Then, the linear motor 32 is started to drive the corresponding moving part 33 to slide to one end of the pad 31 to wait for the needle to be inserted.
[0025] For further details, please refer to Figures 1-3The first positioning component 21 includes two support frames 211 symmetrically fixed on the upper side of the operating table 1. A first linear track 212 is fixedly installed on the upper side of each of the two support frames 211. A first mover 213 is slidably installed on each of the two first linear tracks 212. A first linear motor 214 for controlling the corresponding first mover 213 to slide is fixedly installed on one side of the first linear track 212. A crossbeam 215 is installed on the upper side of the support frame 211. The two ends of the crossbeam 215 are fixedly connected to the two first movers 213 respectively. The crossbeam 215 is perpendicular to the two support frames 211. By starting the first linear motor 214, the first mover 213 is driven to slide, and the crossbeam 215 is driven to slide to the upper side of each fourth mover 33. The sliding direction of the fourth mover 33 is consistent with that of the crossbeam 215, so as to ensure that the crossbeam 215 can slide accurately to the upper side of each fourth mover 33.
[0026] And, please see Figures 2-4 The second positioning component 22 includes a second linear track 221, which is slidably disposed on the lower side of the crossbeam 215. A second mover 223 is fixedly disposed on the upper side of the second linear track 221. A third linear track 224 is fixedly disposed on the side of the crossbeam 215 near the second mover 223. The second mover 223 is slidably disposed on one side of the third linear track 224. A third linear motor 225 for driving the second mover 223 to slide is fixedly disposed at one end of the third linear track 224. After the position of the crossbeam 215 is adjusted, the third linear motor 225 is started to drive the second mover 223 to slide along the direction set by the third linear track 224, and drive the second linear track 221 to adjust its position until the second linear track 221 is adjusted to the upper side of each fourth mover 33, so as to lay the foundation for the subsequent needle-feeding process.
[0027] For further details, please refer to Figures 1-5 A needle-feeding assembly 23 is provided on one side of the second linear track 221. The needle-feeding assembly 23 includes a third moving part 231 that is slidably disposed on one side of the second linear track 221. The sliding direction of the third moving part 231 is parallel to the upper surface of the operating table 1, so as to ensure that the needle can be vertically dropped into the corresponding position on the needle holder during the needle-feeding process. Furthermore, a second linear motor 222 is fixedly installed at one end of the second linear track 221 to drive the third mover 231 to slide. After adjusting the position of the second linear track 221, the third mover 231 is driven to slide by starting the second linear motor 222 until it is adjusted to the upper side of the corresponding needle seat, so as to complete the positioning of the third mover 231. Multiple sliders 232 are slidably arranged on the side of the third mover 231 away from the second linear track 221. Each slider 232 has an electric push rod 233 on its upper side for controlling its up and down sliding. The electric push rod 233 is fixedly arranged on the upper side of the third mover 231. After the third mover 231 is positioned, the corresponding slider 232 is pushed down by activating each electric push rod 233. A connecting block 235 is fixedly arranged on the side of the slider 232 away from the third mover 231. Multiple intelligent clamping blocks 236, each corresponding to a slider 232, are fixedly arranged on the side of the connecting block 235 away from the slider 232. As the slider 232 slides down, it drives the intelligent clamping blocks 236 to slide down and transports the needle to the needle holder. Furthermore, a control button 234 corresponding to the position is provided on the lower side of the slider 232. The control button 234 is fixedly set on one side of the third mover 231. In the initial state, there is a certain distance between the slider 232 and the control button 234. The slider 232 does not contact the control button 234 in the early stage of sliding down. When the slider 232 slides to contact the control button 234, the needle held by the lower side of the intelligent clamping block 236 is inserted into the designated position on the needle holder. Simultaneously, when the slider 232 is pressed, the control button 234 is triggered. The intelligent clamping block 236 has a control chip corresponding to the control button 234 fixedly installed inside. On the one hand, the electric push rod 233 pushes the slider 232 to slide downward, and drives the intelligent clamping block 236 holding the needle to slide above the needle seat to complete the positioning. On the other hand, after the slider 232 delivers the needle to the designated position, it immediately presses the control button 234 and triggers it. At the same time, the control chip inside the intelligent clamping block 236 immediately controls the intelligent clamping block 236 to release its clamping of the needle below, so that the positioning and needle loading operations are completed at the same time. This prevents the independent operation of each mechanism during the needle loading process from causing the error to gradually accumulate, and improves the centering accuracy and needle loading speed of the device.
[0028] To ensure the needle-attaching process can continue, please refer to [link / reference]. Figures 1-9 A storage component 4 is provided on one side of the support component 3 for temporarily storing the needle seat after the needle is inserted. Both the support component 3 and the storage component 4 are located between two support frames 211. The storage component 4 includes a storage plate 41 rotatably mounted on the upper side of the operating table 1. A multi-axis robotic arm 6 for moving the needle seat is fixedly mounted on one side of the operating table 1. As a common existing technology, the structure and function of the multi-axis robotic arm 6 will not be described in this solution. After the needle seat on the upper side of a fourth mover 33 completes the needle insertion process, the multi-axis robotic arm 6 is operated to clamp and move the needle seat after the needle insertion process to the upper side of the storage plate 41 for temporary storage. Furthermore, a turntable 42 is fixedly installed on the lower side of the storage plate 41. The turntable 42 rotates and passes through the middle of the operating table 1. A support plate 43 is rotatably connected to the lower side of the turntable 42. The support plate 43 is fixedly installed on the lower side of the operating table 1. A drive motor 44 for driving the turntable 42 to rotate is fixedly installed on the lower side of the support plate 43. When one side of the storage plate 41 is full of needle seats, the drive motor 44 is started to drive the storage plate 41 to rotate, so that the side without needle seats is rotated to the side of the support assembly 3 and continues to store needle seats. Secondly, the upper side of the operating table 1 is symmetrically fixed with conveyor rails 5 for conveying needle seats. As a common existing technology, the structure and function of the conveyor rails 5 will not be described in this solution. The two conveyor rails 5 are respectively set on both sides of the support component 3 and the storage component 4. The multi-axis robotic arm 6 is set between the two conveyor rails 5. After the storage plate 41 is full of needle seats, the multi-axis robotic arm 6 is operated to move the needle seats to the upper side of the conveyor rails 5 and convey them to the subsequent processing equipment to clear the position on the storage plate 41, so that the subsequent needle loading process can continue and ensure the smooth operation of the device.
[0029] Therefore, based on the above, the working principle of this invention can be summarized as follows: First, the needle holder to be needled is placed on the upper side of the fourth mover 33, and the fourth linear motor 32 is started to drive the fourth mover 33 to slide to one end of the pad 31. Then, the first linear motor 214 is started to drive the first mover 213 to slide, and the crossbeam 215 is driven to slide to the upper side of each fourth mover 33. Then, the third linear motor 225 is started to drive the second linear track 221 to slide to the upper side of each fourth mover 33 to complete the positioning of the second linear track 221. Then, the second linear motor 222 is started to drive the third mover 231 to slide to the upper side of the corresponding fourth mover 33. During the needle insertion process, the electric push rod 233 is started to drive the slider 232 to slide downward and clamp the needle. The intelligent clamping block 236, which holds the needle, is conveyed to the needle holder. When the intelligent clamping block 236 is conveyed to the designated position, the slider 232 contacts the control button 234 and triggers it. At this time, the control chip inside the intelligent clamping block 236 immediately controls the intelligent clamping block 236 to release the clamp on the needle, so that the positioning and needle-feeding processes are completed synchronously. This prevents the error from gradually increasing due to the independent operation of each mechanism during the needle-feeding process. Then, the needle holder with the needle-feeding completed is moved to the storage plate 41 for temporary storage by operating the multi-axis robotic arm 6. After the storage plate 41 is full of needle holders, the needle holders on the storage plate 41 are moved to the upper side of the conveying track 5 by operating the multi-axis robotic arm 6 again, and then conveyed to the subsequent processing equipment through the conveying track 5 to ensure that the needle-feeding process can continue.
[0030] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.
Claims
1. A multi-station needle-dispensing machine, comprising an operating table (1), wherein a needle-dispensing assembly (2) is disposed on the upper side of the operating table (1), the needle-dispensing assembly (2) comprising a first positioning assembly (21), characterized in that: The first positioning component (21) is provided with a second positioning component (22), the second positioning component (22) includes a second linear track (221), and a needle-up component (23) is provided on one side of the second linear track (221). The needle assembly (23) includes a third mover (231) slidably disposed on one side of the second linear track (221), and the sliding direction of the third mover (231) is parallel to the upper surface of the operating table (1); The third mover (231) has multiple sliders (232) slidably arranged on the side away from the second linear track (221). Each slider (232) has an electric push rod (233) on its upper side for controlling its up and down sliding. The electric push rod (233) is fixedly arranged on the upper side of the third mover (231). The slider (232) is provided with a control button (234) corresponding to its position on the lower side. The control button (234) is fixedly set on one side of the third mover (231), and there is a certain distance between the slider (232) and the control button (234) in the initial state.
2. The multi-station needle fitting machine according to claim 1, characterized in that: A connecting block (235) is fixedly provided on the side of the slider (232) away from the third mover (231), and a plurality of intelligent clamping blocks (236) corresponding to each slider (232) are fixedly provided on the side of the connecting block (235) away from the slider (232). The intelligent clamping block (236) is internally equipped with a control chip corresponding to the control button (234).
3. The multi-station needle fitting machine according to claim 1, characterized in that: The first positioning component (21) includes two support frames (211) that are symmetrically fixed on the upper side of the operating table (1), and a first linear track (212) is fixedly installed on the upper side of each of the two support frames (211). A first mover (213) is slidably installed on each of the two first linear tracks (212), and a first linear motor (214) for controlling the corresponding first mover (213) to slide is fixedly installed on one side of the first linear track (212).
4. The multi-station needle fitting machine according to claim 3, characterized in that: A crossbeam (215) is provided on the upper side of the support frame (211). The two ends of the crossbeam (215) are fixedly connected to two first movers (213) respectively, and the crossbeam (215) is perpendicular to the two support frames (211).
5. The multi-station needle fitting machine according to claim 4, characterized in that: The second linear track (221) is slidably disposed on the lower side of the crossbeam (215), and a second linear motor (222) for driving the third mover (231) to slide is fixedly disposed at one end of the second linear track (221).
6. The multi-station needle fitting machine according to claim 4, characterized in that: A second mover (223) is fixedly installed on the upper side of the second linear track (221). A third linear track (224) is fixedly installed on the side of the crossbeam (215) near the second mover (223). The second mover (223) is slidably installed on one side of the third linear track (224), and a third linear motor (225) for driving the second mover (223) to slide is fixedly installed at one end of the third linear track (224).
7. The multi-station needle fitting machine according to claim 4, characterized in that: The second positioning component (22) is provided with a support component (3) on its lower side. The support component (3) includes a pad (31) fixedly installed on the upper side of the operating table (1). Multiple No. 4 linear motors (32) are fixedly installed on the upper side of the pad (31). Each of the four linear motors (32) is slidably equipped with a fourth mover (33), and the sliding direction of the fourth mover (33) is consistent with that of the crossbeam (215).
8. The multi-station needle fitting machine according to claim 7, characterized in that: A storage component (4) is provided on one side of the support component (3). Both the support component (3) and the storage component (4) are located between two support frames (211). The storage component (4) includes a storage plate (41) that is rotatably mounted on the upper side of the operating table (1).
9. The multi-station needle fitting machine according to claim 8, characterized in that: A turntable (42) is fixedly installed on the lower side of the storage plate (41), and the turntable (42) rotates and passes through the middle of the operating table (1); The lower side of the turntable (42) is rotatably connected to a support plate (43), which is fixedly installed on the lower side of the operating table (1). A drive motor (44) for driving the turntable (42) to rotate is fixedly installed on the lower side of the support plate (43).
10. The multi-station needle fitting machine according to claim 8, characterized in that: The upper side of the operating table (1) is symmetrically fixed with conveying rails (5) for conveying needle seats. The two conveying rails (5) are respectively set on both sides of the support component (3) and the storage component (4). A multi-axis robotic arm (6) for moving the needle holder is fixedly installed on one side of the operating table (1), and the multi-axis robotic arm (6) is located between two conveying tracks (5).