Biopsy needle winding and percussion dual-purpose inspection device and automatic inspection equipment thereof
By designing a dual-purpose testing device for both winding and firing biopsy needles and an automated testing equipment, and by using a force sensor to detect push and pull forces, the subjective and time-consuming problems of manual testing of semi-automatic biopsy needles are solved, achieving standardized and efficient automated testing.
Patent Information
- Application Number
- CN202520017434.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-03
- Publication Date
- 2025-12-30
- Estimated Expiration
- 2035-01-03
AI Technical Summary
The winding and firing tests of existing semi-automatic biopsy needles rely on manual operation, which leads to highly subjective results, long processing times, and a lack of standardization, thus affecting production efficiency.
Design a biopsy needle winding and firing dual-purpose testing device, including a push-pull force detector, a push-pull mechanism and a fixed platform. The push-pull force is detected in real time by a force sensor, and the device is combined with automated testing equipment to realize the automated testing of semi-automatic biopsy needles.
This technology enables standardized testing of the semi-automatic biopsy needle winding and firing process, improving the accuracy and efficiency of testing and reducing manual intervention.
Smart Images
Figure CN223741941U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the detection technical field of semi-automatic biopsy needle, specifically relates to a biopsy needle stringing and firing dual-purpose testing device and automatic testing equipment thereof. BACKGROUND
[0002] The biopsy needle is a kind of medical instrument, is suitable for kidney, liver, lung and various organs, and can be used for the biopsy of pyramidal tumor and unknown tumor and the aspiration of cell.
[0003] Among them, the semi-automatic biopsy needle is simple in structure, low in cost and convenient to use, and is widely used.The structure of the semi-automatic biopsy needle 2 is substantially as shown in Figure 9 The handle 2.2 is provided with a through hole 2.4, and a push-pull seat 2.3 is arranged at the rear of the shell 2.1.In stringing, the shell 2.1 is fixed by inserting the finger into the through hole 2.4 on the handle 2.2, and then the push-pull seat 2.3 is pulled backward, and after being pulled to the position, it is automatically locked, and the stringing of the semi-automatic biopsy needle 2 is completed;When firing is needed, the push-pull seat 2.3 is pushed forward, and after being pushed to the position, the semi-automatic biopsy needle 2 is automatically fired out.
[0004] In the production process, in order to ensure the quality of the semi-automatic biopsy needle 2, the stringing and firing of the semi-automatic biopsy needle 2 need to be tested.The existing detection method is to manually operate the semi-automatic biopsy needle 2 to string and fire to judge whether it is smooth, which usually has the following problems:
[0005] 1, manual operation for testing is to judge whether it is smooth by the feeling of finger to the push-pull process, and the size of force applied in the operation process will greatly affect the judgment of product, and the result is completely subjective judgment, so that the test result is large, and cannot be standardized;
[0006] 2, manual operation for testing consumes long time, and affects production efficiency. UTILITY MODEL CONTENTS
[0007] The first object of the utility model is to provide a biopsy needle stringing and firing dual-purpose testing device, which can replace manual operation to test whether the stringing and firing of the semi-automatic biopsy needle are smooth.
[0008] The second object of the utility model is to provide an automatic testing equipment, which adopts the biopsy needle stringing and firing dual-purpose testing device to realize automatic testing of the semi-automatic biopsy needle.
[0009] The first object of the utility model is realized by the following technical scheme:
[0010] The utility model provides a biopsy needle's stringing and firing dual-purpose testing device, its characterized in being: including base, push -and -pull force detection gauge, push -and -pull mechanism and fixed platform, fixed platform is fixedly arranged on the top of base, the shell of biopsy needle can cooperate with fixed to the fixed platform, push -and -pull force detection gauge can be linearly slid and be arranged on the top of base, the linear sliding direction of push -and -pull force detection gauge is parallel with the operating direction of biopsy needle's stringing and firing, push -and -pull force detection gauge is equipped with force sensor and connecting head, connecting head is connected on force sensor, and the push -and -pull force that connecting head received is detected through force sensor, and the push -and -pull seat of biopsy needle can cooperate with fixed to connecting head, and push -and -pull mechanism is connected with push -and -pull force detection gauge, and push -and -pull mechanism drives push -and -pull force detection gauge to carry out linear sliding.
[0011] The utility model further provides a technical scheme: the upper surface of the fixed platform is provided with fixed lugs on both sides, and a recess is arranged in the middle of the upper surface of the fixed platform, part of the shell of the biopsy needle is embedded in the recess during testing, and the handles on both sides of the shell of the biopsy needle are respectively sleeved on the fixed lugs.
[0012] The utility model further provides a technical scheme: a clamping groove is arranged on the connecting head, and the push -and -pull seat of the biopsy needle is clamped in the clamping groove during testing.
[0013] The utility model further provides a technical scheme: the upper surface of the base is provided with sliding rails on both sides, and a sliding block is fixedly arranged on the lower surface of the push -and -pull force detection gauge, the sliding block is located between the sliding rails on both sides, and the two side edges of the sliding block are respectively connected with the sliding rails in a sliding mode.
[0014] The utility model further provides a technical scheme: the push -and -pull mechanism is fixedly installed at one end of the base away from the fixed platform, the push -and -pull force detection gauge is installed between the push -and -pull mechanism and the fixed platform, and the telescopic rod of the push -and -pull mechanism that can be telescopically adjusted is connected with the push -and -pull force detection gauge.
[0015] The utility model further provides a technical scheme: the push -and -pull force detection gauge is provided with an alarm module for alarming when the force detected by the force sensor exceeds a set value.
[0016] The utility model further provides a technical scheme: the push -and -pull force detection gauge is provided with a display module for displaying the force detected by the force sensor.
[0017] The second object of the utility model is achieved by the following technical scheme:
[0018] An automatic testing device, characterized in that: it comprises a rack, a mechanical hand, a product feeding conveyor, a product discharging conveyor and the testing device, the rack is provided with a mounting table, the testing device is mounted on the mounting table, the mechanical hand is mounted on the rack, the product feeding conveyor and the product discharging conveyor are respectively arranged on the input side and the output side of the rack, and are respectively used for feeding biopsy needles and discharging biopsy needles after testing.
[0019] The further technical scheme of the utility model discloses: the mechanical arm includes the translation mechanism, the elevating system and the sucking disc for sucking the biopsy needle, the elevating system sets up on the translation mechanism, and the sucking disc sets up on the elevating system, and the translation mechanism can drive the elevating system and the sucking disc to translate between the product feeding conveyor, the testing device and the product sending conveyor.
[0020] Compared with the prior art, the utility model has the following beneficial effects:
[0021] 1, the utility model discloses the shell and push-pull seat of the semi-automatic biopsy needle to be tested are fixed on the fixed platform and the connecting head correspondingly and can be tested, and in the testing process, the push-pull mechanism will drive the push-pull force detection meter to move to pull the upper chord and the front push firing of the biopsy needle, and the force sensor detects the force in the upper chord and the firing process in real time, and then whether the detected force exceeds the set value can judge the upper chord and the firing of the semi-automatic biopsy needle whether smooth. Visible, the utility model can replace artificial and test whether the upper chord and the firing process of the semi-automatic biopsy needle are smooth.
[0022] 2, the automatic testing equipment of the utility model cooperates through the product feeding conveyor, the mechanical arm and the product sending conveyor, realizes the feeding of the semi-automatic biopsy needle to be tested, the semi-automatic biopsy needle is grabbed and put into the testing device, the semi-automatic biopsy needle after testing is taken out and is put on the product sending conveyor and is output, finally realizes the automatic testing of the semi-automatic biopsy needle. BRIEF DESCRIPTION OF DRAWINGS
[0023] Figure 1 It is the three-dimensional schematic view of the testing device of the utility model embodiment;
[0024] Figure 2 It is the three-dimensional schematic view of the partial component of the testing device of the utility model embodiment when splitting;
[0025] Figure 3 It is the three-dimensional schematic view when the semi-automatic biopsy needle is fixed to the testing device of the utility model embodiment;
[0026] Figure 4 It is the three-dimensional schematic view of the automatic testing equipment of the utility model embodiment;
[0027] Figure 5 It is the three-dimensional schematic view when the automatic testing equipment of the utility model embodiment hides part and seals the board;
[0028] Figure 6 It is the three-dimensional schematic view when the automatic testing equipment of the utility model embodiment hides part and seals the board and the product feeding conveyor and the product sending conveyor;
[0029] Figure 7is a stereogram of the mechanical hand of the automatic inspection equipment of the embodiment of the utility model;
[0030] Figure 8 is a stereogram of the mechanical hand of the automatic inspection equipment of the embodiment of the utility model;
[0031] Figure 9 is a structural schematic view of a prior semi-automatic biopsy needle.
[0032] The meaning of the reference signs in the drawing is as follows:
[0033] 1-inspection device;1.1-base;1.2-fixed table;1.3-pull detection meter;1.4-pull mechanism;1.5- telescopic rod;1.6-slideway;1.7- connector;1.8- clamping groove;1.9-fixed lug;1.10-groove;1.11-slideway;1.12-slideway;1.13-slideway;2- semi-automatic biopsy needle;2.1-housing;2.2-handle;2.3-pull seat;2.4-perforation;3-product feeding conveyor;4-product feeding conveyor;5-frame;5.1- sealing plate;5.2-mounting surface;5.3-product access;6-lifting mechanism;6.1-lifting frame;6.2-;6.3- vertical guide strip;6.4-vertical rack;6.5-second gear;7-translation mechanism;7.1-horizontal guide rail;7.2-horizontal rack;7.3-horizontal moving block;7.4-first motor;7.5-first gear;7.6-horizontal guide groove;7.7-slideway;8-suction cup. DETAILED DESCRIPTION
[0034] The utility model is further described below in combination with the embodiment.
[0035] In the description of the utility model, it needs to be understood that the orientation description, such as the orientation or position relationship of up, down, front, back, left, right and the like indicated is based on the orientation or position relationship shown in the drawing, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as the limitation of the utility model.
[0036] In the description of the utility model, the meaning of several is one or more, and the meaning of multiple is two or more, and greater than, less than, more than and the like are not included in the number, and above, below and the like are included in the number.If it is described to first, second, it is only used for distinguishing technical features for the purpose, and therefore cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.
[0037] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be understood broadly, and the specific meaning of the above words in the utility model can be determined by the person skilled in the art in combination with the specific content of the technical scheme.
[0038] Embodiment:
[0039] As Figures 1 to 3 The utility model discloses a biopsy needle upper string and firing dual-purpose testing device 1, it includes base 1.1, push -and -pull force detection meter 1.3, push -and -pull mechanism 1.4 and fixed platform 1.2.
[0040] The base 1.1 of this embodiment is flat, horizontally arranged. The fixed platform 1.2 is fixedly arranged on the upper surface of the base 1.1 and close to one end of the base 1.1. The fixed platform 1.2 is provided with two cylindrical fixed lugs 1.9 on the upper surface of the two sides, respectively. The size of the fixed lugs 1.9 is matched with the size of the perforations 2.4 of the handles 2.2 on the two sides of the shell 2.1 of the semi-automatic biopsy needle 2. The middle part of the fixed platform 1.2 is provided with a groove 1.10, and the width of the groove 1.10 is matched with the width of the shell 2.1 of the semi-automatic biopsy needle 2. During testing, the semi-automatic biopsy needle 2 is placed from top to bottom, and the shell 2.1 of the semi-automatic biopsy needle 2 is partially embedded in the groove 1.10, and the handles 2.2 on the two sides of the shell 2.1 are exactly fitted on the fixed lugs 1.9, so that the horizontal position of the shell 2.1 of the semi-automatic biopsy needle 2 is fixed.
[0041] The push -and -pull force detection meter 1.3 is used for connecting with the push -and -pull seat 2.3 of the semi-automatic biopsy needle 2 to be detected, so as to perform the stringing and firing operation on the semi-automatic biopsy needle 2. The push -and -pull force detection meter 1.3 is arranged on the upper surface of the base 1.1, and the center of the push -and -pull force detection meter 1.3 and the center of the fixed platform 1.2 are located on the same vertical plane. The lower surface of the push -and -pull force detection meter 1.3 is fixedly provided with a sliding block 1.11, and the upper surface of the base 1.1 is provided with two slide rails 1.6 on the two sides, respectively. The sliding block 1.11 is located between the two slide rails 1.6, and the two side edges of the sliding block 1.11 are respectively connected with the slide rails 1.6 in a sliding mode. The specific structure of the sliding connection between the sliding block 1.11 and the slide rail 1.6 is that the slide rail 1.6 is fixedly installed on the upper surface of the base 1.1 through a bolt, the inner side of the lower surface of the slide rail 1.6 is provided with a sliding groove 1.13, and the two side edges of the bottom of the sliding block 1.11 are provided with sliding edges 1.12 protruding to the side edges, and the sliding edges 1.12 are limited to slide in the sliding groove 1.13.
[0042] The push -and -pull mechanism 1.4 of this embodiment is fixedly installed on the end of the base 1.1 away from the fixed platform 1.2, and the push -and -pull force detection meter 1.3 is located between the push -and -pull mechanism 1.4 and the fixed platform 1.2. The telescopic rod 1.5 of the push -and -pull mechanism 1.4 is connected with the sliding block 1.11 of the push -and -pull force detection meter 1.3.
[0043] The push-pull mechanism 1.4 of the embodiment is a conventional electric telescopic rod device, which is provided with a motor and a telescopic rod 1.5, and the telescopic rod 1.5 is driven by the motor to perform telescopic movement. In other embodiments, the push-pull mechanism 1.4 can also be a device such as a pneumatic cylinder or a hydraulic cylinder that can provide linear motion power.
[0044] The push-pull force detector 1.3 is mainly provided with a force sensor, a connecting head 1.7, an alarm module and a display module. The force sensor is located in the push-pull force detector 1.3, the connecting head 1.7 is located at one end of the push-pull force detector 1.3 close to the fixed table 1.2, and the connecting head 1.7 is connected to the force sensor. The push-pull force detector 1.3 can detect the push and pull forces received by the connecting head 1.7 through the force sensor. The alarm module is used to alarm when the force detected by the force sensor exceeds the set value, and the display module is used to display the force detected by the force sensor.
[0045] In other embodiments, the force signal of the force sensor can also be output to an external computer or other external device. The detected force is recorded by the external device and compared with the set value. When the detected force exceeds the set value, the external device alarms.
[0046] Each manufacturer can set the above force set value according to the needs. The set values for the two processes of cocking and firing of the semi-automatic biopsy needle 2 are different. For example, the set value of the embodiment is that the detected force during the cocking process cannot exceed 30N, and the detected force during the firing process cannot exceed 5N.
[0047] The connecting head 1.7 of the embodiment is provided with a clamping groove 1.8, which is in the shape of a "T". The push-pull seat 2.3 of the semi-automatic biopsy needle 2 is also in the shape of a "T". During the detection process, the push-pull seat 2.3 of the semi-automatic biopsy needle 2 is placed from top to bottom, and the push-pull seat 2.3 of the semi-automatic biopsy needle 2 is clamped into the clamping groove 1.8. The push-pull force detector 1.3 is connected to the push-pull seat 2.3 of the semi-automatic biopsy needle 2 through the connecting head 1.7.
[0048] As Figures 4 to 8As shown, the embodiment also discloses an automatic inspection equipment, which comprises a rack 5, a mechanical hand, a product feeding conveyor 3, a product discharging conveyor 4 and the inspection device. The side of the rack 5 is provided with an enclosing plate 5.1, and the rack 5 is internally provided with a horizontal installation table 5.2, the inspection device 1 is horizontally installed on the installation table 5.2, and the mechanical hand is installed on the rack 5 and located above the inspection device 1. The two sides of the rack 5 are respectively an input side and an output side, and product entrances 5.3 are correspondingly arranged on the two sides, the product feeding conveyor 3 and the product discharging conveyor 4 are arranged on the input side and the output side of the rack 5 respectively, and the ends of the product feeding conveyor 3 and the product discharging conveyor 4 respectively extend to the two side edges of the inspection device 1 from the product entrances 5.3, and the product feeding conveyor 3 and the product discharging conveyor 4 are respectively used for feeding the semi-automatic biopsy needle 2 and discharging the semi-automatic biopsy needle 2 after the inspection. The product feeding conveyor 3 and the product discharging conveyor 4 of the embodiment are both belt conveyors.
[0049] The mechanical hand comprises a translation mechanism 7, a lifting mechanism 6 and a suction disc 8 for sucking the biopsy needle. The translation mechanism 7 is arranged above the inspection device 1 and comprises a horizontal guide rail 7.1, a horizontal moving block 7.3 and a first motor 7.4, the horizontal guide rail 7.1 is horizontally fixed on the rack 5, the two ends of the horizontal guide rail 7.1 are respectively located above the ends of the product feeding conveyor 3 and the product discharging conveyor 4, the middle part of the horizontal guide rail 7.1 is located above the inspection device 1, the lower surface of the horizontal guide rail 7.1 is provided with a horizontal rack 7.2, the horizontal moving block 7.3 is slidably connected to the horizontal guide rail 7.1 through a horizontal guide slot 7.6 at the upper end, the first motor 7.4 is installed on the horizontal moving block 7.3, a first gear 7.5 is arranged on the output shaft of the first motor 7.4, the first gear 7.5 is engaged with the horizontal rack 7.2, and the horizontal moving block 7.3 can be driven to move along the horizontal guide rail 7.1 by rotating the first gear 7.5 driven by the first motor 7.4.
[0050] The lifting mechanism 6 is arranged on the horizontal moving block 7.3 of the translation mechanism 7, and the lifting mechanism 6 comprises a lifting frame 6.1 and a second motor 6.2. The lifting frame 6.1 is provided with a vertical guide strip 6.3 and a vertical rack 6.4 arranged oppositely, and the vertical guide strip 6.3 and the vertical rack 6.4 are both fitted into a vertical downward sliding hole 7.7 in the middle part of the horizontal moving block 7.3 and can slide up and down in the sliding hole 7.7. The second motor 6.2 is installed on the horizontal moving block 7.3, a second gear 6.5 is arranged on the output shaft of the second motor 6.2, the second gear 6.5 is located between the vertical guide strip 6.3 and the vertical rack 6.4 and is engaged with the vertical rack 6.4. The lifting frame 6.1 can be driven to lift by rotating the second gear 6.5 driven by the second motor 6.2.
[0051] The suction cup 8 is arranged below the lifting frame 6.1 of the lifting mechanism 6, and is used to suck the semi-automatic biopsy needle 2 to achieve the lifting and lowering of the semi-automatic biopsy needle 2.
[0052] The use process of the automatic inspection device of the embodiment is as follows:
[0053] The semi-automatic biopsy needle 2 to be inspected can be placed on the product feeding conveyor 3 by an external automatic mechanical arm, and is parallel to the inspection device 1 and corresponds to the position of the inspection device 1 where the semi-automatic biopsy needle 2 is fixed. The semi-automatic biopsy needle 2 is conveyed to the side of the inspection device 1 by the product feeding conveyor 3, and the position of the semi-automatic biopsy needle 2 can be detected by a conventional position sensor. The translation mechanism 7 of the mechanical hand drives the suction cup 8 to move above the product feeding conveyor 3, and then the suction cup 8 is lowered by the lifting mechanism 6, and finally the suction cup 8 sucks the shell 2.1 of the semi-automatic biopsy needle 2.
[0054] After the suction cup 8 sucks the semi-automatic biopsy needle 2, the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to rise together, and then the translation mechanism 7 drives the suction cup 8 and the semi-automatic biopsy needle 2 to move to the upper side of the inspection device 1. Then the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to descend, and when the handle 2.2 of the semi-automatic biopsy needle 2 is from top to bottom on the fixed protrusion 1.9, the shell 2.1 of the semi-automatic biopsy needle 2 is partially embedded in the groove 1.10, the push-pull seat 2.3 of the semi-automatic biopsy needle 2 is from top to bottom in the card slot 1.8, and the suction cup releases the biopsy needle 2. At this time, as shown in the figure. Figure 3
[0055] Then the push-pull mechanism 1.4 is started. The push-pull mechanism 1.4 first pulls the push-pull force detection meter 1.3 backward, pulls the push-pull seat 2.3 of the semi-automatic biopsy needle 2 backward through the push-pull force detection meter 1.3, so that the semi-automatic biopsy needle 2 is cocked. In this process, the force sensor checks the pulling force in real time to complete the inspection of the pulling force of the cocking. Then the push-pull mechanism 1.4 pushes the push-pull force detection meter 1.3 forward, pushes the push-pull seat 2.3 of the semi-automatic biopsy needle 2 forward through the push-pull force detection meter 1.3, and finally makes the semi-automatic biopsy needle 2 fire. In this process, the force sensor checks the pushing force in real time to complete the inspection of the pushing force of the cocking. In this process, when the force detected by the force sensor exceeds the corresponding set value, the alarm module will be triggered or an alarm will be given through an external device.
[0056] After the test of cocking and firing of the semi-automatic biopsy needle 2 is completed, the suction cup 8 re-sucks the semi-automatic biopsy needle 2, the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to rise together, then the translation mechanism 7 drives the suction cup 8 and the semi-automatic biopsy needle 2 to move to the upper side of the product delivery conveyor 4, the lifting mechanism 6 drives the suction cup 8 and the semi-automatic biopsy needle 2 to descend together, and finally the semi-automatic biopsy needle 2 is placed on the product delivery conveyor 4, and the product delivery conveyor 4 delivers the semi-automatic biopsy needle 2 on it outward.
[0057] The above embodiments of the utility model are not the limitation of the protection scope of the utility model, and the implementation mode of the utility model is not limited to this, and other various forms of modification, replacement or change of the above structure of the utility model are made according to the ordinary technical knowledge and conventional means in the field, and all should fall within the protection scope of the utility model without departing from the above basic technical thought of the utility model.
Claims
1. A dual-purpose testing device for biopsy needle winding and firing, characterized in that: The device comprises a base, a push-pull force detector, a push-pull mechanism and a fixing table. The fixing table is fixed on the base. The shell of the biopsy needle can be fixed on the fixing table. The push-pull force detector can slide linearly on the base. The sliding direction of the push-pull force detector is parallel to the operation direction of the upper string and the firing of the biopsy needle. The push-pull force detector is provided with a force sensor and a connecting head. The connecting head is connected to the force sensor. The force sensor detects the push force and the pull force on the connecting head. The push-pull seat of the biopsy needle can be fixed on the connecting head. The push-pull mechanism is connected to the push-pull force detector. The push-pull mechanism drives the push-pull force detector to slide linearly.
2. The biopsy needle cocking and firing dual verification device of claim 1, wherein: The upper surface of the fixing table is provided with fixing lugs on both sides. The upper surface of the fixing table is provided with a groove in the middle. Part of the shell of the biopsy needle is embedded in the groove during the inspection. The handles on both sides of the shell of the biopsy needle are respectively sleeved on the fixing lugs.
3. The biopsy needle cocking and firing dual verification device of claim 1, wherein: The connecting head is provided with a clamping groove. The push-pull seat of the biopsy needle is clamped in the clamping groove during the detection.
4. The biopsy needle cocking and firing dual verification device of claim 1, wherein: The upper surface of the base is provided with sliding rails on both sides. The lower surface of the push-pull force detector is fixedly provided with sliding blocks. The sliding blocks are located between the sliding rails on both sides. The two sides of the sliding blocks are respectively connected to the sliding rails.
5. The biopsy needle cocking and firing dual verification device of claim 1, wherein: The push-pull mechanism is fixedly installed on the end of the base away from the fixing table. The push-pull force detector is installed between the push-pull mechanism and the fixing table. The telescopic rod of the push-pull mechanism is connected to the push-pull force detector.
6. The biopsy needle cocking and firing dual verification device of claim 1, wherein: The push-pull force detector is provided with an alarm module for alarming when the force detected by the force sensor exceeds the set value.
7. The biopsy needle cocking and firing dual verification device of claim 1, wherein: The push-pull force detector is provided with a display module for displaying the force detected by the force sensor.
8. An automated inspection apparatus, characterized by: The device comprises a rack, a mechanical hand, a product feeding conveyor, a product discharging conveyor and the inspection device of any one of claims 1 to 7. The rack is provided with a mounting table. The inspection device is mounted on the mounting table. The mechanical hand is mounted on the rack. The product feeding conveyor and the product discharging conveyor are respectively arranged on the input side and the output side of the rack, and are respectively used for feeding the biopsy needle and discharging the biopsy needle after the inspection.
9. The automated inspection apparatus of claim 8, wherein: The mechanical hand comprises a translation mechanism, a lifting mechanism and a suction cup for sucking the biopsy needle. The lifting mechanism is arranged on the translation mechanism. The suction cup is arranged on the lifting mechanism. The translation mechanism can drive the lifting mechanism and the suction cup to translate between the product feeding conveyor, the inspection device and the product discharging conveyor.