Acupuncture needle insertion detection and waste discharge device and needle insertion machine

Abstract

The utility model discloses an acupuncture needle insertion detection and waste discharge device and a needle insertion machine, which are used for defective product detection and waste discharge during needle insertion production of acupuncture needles in the needle insertion machine, and the acupuncture needle insertion detection and waste discharge device comprises an insertion needle transfer module, an insertion needle clamping jaw, a visual detection module and a waste discharge module, the visual detection module is used for detecting acupuncture needles on the needle inserting clamping jaw and outputting a signal indicating that defective products are detected; the waste discharge mechanism comprises a waste discharge acting part and a waste discharge container; and the waste discharge action part is an assembly which is used for obtaining a defective product detection signal sent by the visual detection module, acting on defective products and transferring the defective products to a waste discharge container. According to the scheme, part of defects can be detected and eliminated before pin insertion, so that the pin insertion yield is improved, waste of gluing raw materials caused by poor pin insertion is reduced, dies in subsequent procedures are protected against damage, meanwhile, the visual inspection time of operators before packaging is shortened, and the fatigue strength of the operators is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to acupuncture needle production technical field, concretely relates to an acupuncture needle inserting needle detection and waste disposal device, inserting needle machine. BACKGROUND

[0002] Acupuncture needle is a kind of traditional Chinese medical treatment appliance, under the guidance of traditional Chinese medical theory, acupuncture needle appliance is inserted into patient's body according to certain angle, and using twirling and lifting and inserting etc. Acupuncture manipulation is used to stimulate specific parts of human body to achieve the purpose of treating diseases. With the development and promotion of traditional Chinese medicine, the application of acupuncture needle is more and more, and the demand for acupuncture needle product is more and more, so high-efficiency, high-quality acupuncture needle production and packaging are required. In the field of acupuncture needle production technology, acupuncture needle inserting needle machine is usually used to bend, cut and insert acupuncture needle.

[0003] In the process of realizing the utility model, the applicant finds that the defective rate in the production process of inserting needle machine is about 8%, and the defects mainly concentrate on no needle tip, needle skew, needle length, needle short etc. If such defective products flow into the next production process and are packaged into finished products, the defects such as needle skew and needle length may damage the mold used in the subsequent process, and the cost of replacing the damaged mold is high, and the defects such as no needle tip and needle short need to be removed by manual inspection before packaging, and the visual inspection operation is carried out before packaging by using personnel visual inspection, and the corresponding operation is carried out manually, so the operation intensity is high, and the fatigue intensity of operation personnel is high after long-time visual inspection.

[0004] Therefore, how to solve the problems of damaging mold and high manual inspection intensity caused by defective products in the subsequent process of inserting needle machine has become the subject to be studied and solved by the utility model. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing an acupuncture needle inserting needle detection and waste disposal device and inserting needle machine.

[0006] To achieve the above object, the first aspect of the utility model provides an acupuncture needle inserting needle detection and waste disposal device, which is used for detecting defective products and removing waste during acupuncture needle insertion production by inserting needle machine. The inserting needle machine has a workbench, a presequence station and an inserting needle station arranged on the workbench. The inserting needle detection and waste disposal device comprises an inserting needle transfer module, an inserting needle gripper, a visual inspection module and a waste disposal module.

[0007] The inserting needle transfer module is arranged on the workbench, and the inserting needle transfer module has a transfer end.

[0008] The inserting needle gripper is installed on the transfer end of the inserting needle transfer module, and the inserting needle gripper is driven by the inserting needle transfer module to displace between the presequence station and the inserting needle station. The inserting needle gripper has a clamping part for clamping acupuncture needle.

[0009] The visual detection module is arranged on the moving path of the pin clamp jaw, and the acupuncture needle on the pin clamp jaw is detected by the visual detection module and a signal of detecting defective products is output.

[0010] The waste discharge module is arranged on the moving path of the pin clamp jaw, and the waste discharge module comprises a waste discharge action part and a waste discharge container.

[0011] To achieve the above-mentioned purpose, the second aspect of the utility model provides an acupuncture needle inserting machine, the acupuncture needle inserting machine has a workbench and a presequence station and an acupuncture needle inserting station arranged on the workbench, the presequence station comprises a needle blank blanking station, a needle length and short limiting and pre-bending station, a precise bending station, a needle blank waste discharge station, a correction station and a cutting station, and the needle inserting detection and waste discharge device of the first aspect of the utility model is arranged between the cutting station and the acupuncture needle inserting station.

[0012] The related contents of the utility model are explained as follows:

[0013] 1. In the above technical solution of the utility model, the acupuncture needle inserting detection and waste discharge device is designed to solve the problems of damaged molds and high labor intensity in subsequent processes caused by defective products, and the acupuncture needle inserting machine using the acupuncture needle inserting detection and waste discharge device is provided, the acupuncture needle inserting detection and waste discharge device is arranged between the presequence station and the acupuncture needle inserting station of the acupuncture needle inserting machine, the acupuncture needle on the pin clamp jaw is detected by the visual detection module and a signal of detecting defective products is output, the waste discharge action part acts on the defective products after the visual detection module detects the defective products and moves the defective products to the waste discharge container, so as to achieve the purpose of automatic detection and automatic waste discharge, and the defective products such as no needle tip, needle skew, needle length and needle short do not occur in subsequent acupuncture needle production, part of defective products can be detected and removed before acupuncture, the acupuncture yield is improved, the waste of adhesive raw materials caused by defective acupuncture is saved, the mold in the subsequent process is protected from being damaged, the detection time of the operator before packaging is reduced, the fatigue strength of the operator is reduced, the existing operation process is optimized, the production cost is reduced, and the product yield and quality are improved.

[0014] 2. In the above technical solution, the visual detection module comprises a visual camera, the visual camera faces the moving path of the clamping part on the pin clamp jaw, the acupuncture needle clamped by the clamping part on the pin clamp jaw is acquired by the visual camera, the defective product information is acquired by visual detection, and a signal of detecting defective products is output, the detection is accurate and fast.

[0015] 3. In the above technical solution, the visual detection module further comprises a light source, which is arranged on both sides of the moving path of the clamping part of the needle clamp to further improve the accuracy and speed of visual detection.

[0016] 4. In the above technical solution, the waste discharge part comprises a waste discharge nozzle, the waste container is located below the moving path of the needle clamp, and the waste discharge nozzle is arranged to be aligned with the clamping part of the needle clamp at least when the needle clamp is moved above the waste container. The needle detection and waste discharge device is configured to: after the visual detection module detects a defective acupuncture needle clamped on the clamping part and sends a defective product detection signal, the clamping part of the needle clamp is moved close to the waste container, the defective product is released from the clamping part, the defective product on the clamping part is aligned with the waste discharge nozzle, and the defective product is blown into the waste container. This scheme can reliably, stably and quickly discharge defective products.

[0017] 5. In the above technical solution, the waste discharge nozzle is positioned and connected with the moving end of the needle moving module, and the waste discharge nozzle and the needle clamp are driven synchronously by the needle moving module, so as to optimize the structure layout, make the overall structure of the needle machine more reasonable, and make the execution of blowing off defective products more reliable and stable.

[0018] 6. In the above technical solution, the waste discharge part further comprises a negative pressure part arranged in the waste container, and a negative pressure suction is provided from the negative pressure part to the inside of the waste container, so as to further reliably and stably adsorb the defective products blown off by the waste discharge nozzle into the waste container, avoid the defective acupuncture needles from being blown to other stations of the needle machine, and avoid the failure of the needle machine.

[0019] 7. In the above technical solution, the needle moving module comprises a moving support, a translation assembly and a lifting assembly, the moving support is installed on a workbench, the translation assembly is installed on the moving support, the lifting assembly is installed on the translation assembly, and the lifting assembly is in transmission cooperation with the moving end, so that the reasonable needle moving module is set to jointly realize the waste discharge and needle operation, so that the waste is discharged before the needle operation to avoid the flow of defective products into the next process.

[0020] 8. In the above technical solution, the needle detection and waste discharge device further comprises a needle blank waste discharge module arranged between the previous stations, which discharges the needle blank waste to reduce the generation of defective products.

[0021] 9. In the above technical solution, the needle blank waste discharge module comprises a suction channel, and the needle blank waste is discharged by the suction channel.

[0022] 10. In the present application, unless otherwise clearly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the communication between two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0023] 11. In the present application, the terms "upper", "lower", "bottom", "inner", "outer" and the like indicate the orientation or position relationship shown in the drawings, and are only used for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0024] 12. In addition, in the description of the present application, it should be noted that if "first", "second" and the like are used to limit the parts in this paper, those skilled in the art should know that "first", "second" and the like are used only for the convenience of describing the present application and simplifying the description, and have no special meaning unless otherwise stated.

[0025] Due to the use of the above scheme, the present application has the following advantages and effects compared with the prior art:

[0026] The utility model discloses a above -mentioned scheme mainly is to the pin machine produces the defective product and brings the damage mould, artificial visual inspection intensity higher problem existing in the subsequent process, and the acupuncture needle pin detection and waste disposal device of innovative design, the acupuncture needle pin detection and waste disposal device of using the pin machine of this acupuncture needle pin detection and waste disposal device, the acupuncture needle pin detection and waste disposal device set in the front sequence station and pin station between pin machine, the acupuncture needle on acupuncture needle jaw is detected by visual detection module and exports the signal of detecting defective product, and the defective product signal of detecting that visual detection module sends is obtained by waste disposal function part and acts on defective product, and makes defective product remove and load to waste disposal container, to this to complete the work purpose of automatic detection and automatic waste disposal, thereby making the defective product such as no needle tip, needle crooked, needle long, needle short not appear in the subsequent acupuncture needle production, can detect part defective before pinning, and eliminate, to improve the pinning yield, save the waste of adhesive raw material caused by pinning defective, protect the mould of subsequent process and not be damaged, reduce the visual inspection time of operation personnel before packaging simultaneously and reduce the operation fatigue intensity, optimize the existing operation process, reduce production cost, make product yield and quality can be promoted. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is the three-dimensional structure schematic diagram (view angle one) of the utility model embodiment;

[0028] Figure 2 It is the three-dimensional structure schematic diagram (view angle one) of the utility model embodiment; Figure 1

[0029] Figure 3 It is the three-dimensional structure schematic diagram (view angle two) of the acupuncture needle of the utility model embodiment;

[0030] Figure 4 It is the plane schematic diagram in the utility model embodiment.

[0031] The following parts of the drawings are as follows:

[0032] 1, workbench;

[0033] 2, front sequence station;

[0034] 21, needle blank blanking station;22, needle length limit and pre-bending station;23, accurate bending station;24, needle blank waste discharge station;25, correction station;26, cutting station;3, pin station;

[0035] 4, pin transfer module;401, transfer end;

[0036] 41, transfer support;42, translation assembly;43, lifting assembly;

[0037] 5, pin jaw;51, clamping part;

[0038] ​6. Visual inspection module;

[0039] 61. Visual camera; 62. Light source;

[0040] 7. Waste discharge module;

[0041] 71. Waste discharge unit; 711. Waste vent nozzle; 72. Waste discharge container; 73. Needle blank waste discharge module; 730. Adsorption channel;

[0042] 9. Acupuncture needles. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0044] This utility model aims to solve the problems of mold damage and high manual inspection intensity in subsequent processes caused by defective products generated by the needle insertion machine. It innovatively designs an acupuncture needle insertion detection and waste removal device and a needle insertion machine using the acupuncture needle insertion detection and waste removal device to improve the needle insertion yield, while reducing the visual inspection time of operators before packaging and reducing the fatigue intensity of operation.

[0045] Example 1, as Figures 1 to 4 As shown, Embodiment 1 of this utility model discloses an acupuncture needle insertion detection and waste removal device, which is used for defective product detection and waste removal of acupuncture needles 9 during needle insertion production in a needle insertion machine. The needle insertion machine has a workbench 1 and a pre-processing station 2 and a needle insertion station 3 arranged on the workbench 1. The needle insertion detection and waste removal device includes a needle transfer module 4, a needle clamp 5, a vision detection module 6, and a waste removal module 7.

[0046] The pin transfer module 4 is arranged on the workbench 1, and the pin transfer module 4 has a transfer end 401.

[0047] The needle clamp 5 is installed on the transfer end 401 of the needle transfer module 4. The needle transfer module 4 drives the needle clamp 5 to move between the previous station 2 and the needle station 3. The needle clamp 5 has a clamping part 51 for clamping the acupuncture needle 9.

[0048] The visual inspection module 6 is positioned on the moving path of the needle clamp 5. The visual inspection module 6 detects the acupuncture needles 9 on the needle clamp 5 and outputs a signal indicating that a defective product has been detected.

[0049] The waste discharge module 7 is arranged on the moving path of the pin clamp 5, and the waste discharge module 7 comprises a waste discharge action part 71 and a waste container 72.

[0050] The working process of the embodiment one of the utility model can refer to the following:

[0051] The pin clamp 5 is driven by the pin transfer module 4 to move towards the previous station 2, and the acupuncture needle 9 is clamped by the clamping part 51 of the pin clamp 5, then the pin clamp 5 is driven by the pin transfer module 4 to move towards the pin station 3, and visual detection is performed by the visual detection module 6 before reaching the pin station 3, if a defective product is detected, the clamping part 51 of the pin clamp 5 is sent with an instruction to release the acupuncture needle 9, and the waste discharge action part 71 is sent with an instruction to discharge waste, so that the defective product on the clamping part 51 is transferred into the waste container 72; if the detected product is a good product, the waste discharge action part 71 does not work, and the pin clamp 5 is driven by the pin transfer module 4 to enter the pin station 3 to perform normal pin insertion operation.

[0052] Through the implementation of the embodiment one of the utility model, the problems of damaged mold and high artificial inspection intensity in subsequent processes caused by defective products of the pin insertion machine are mainly solved, the acupuncture needle insertion detection and waste discharge device is innovatively designed, the pin insertion machine using the acupuncture needle insertion detection and waste discharge device is used, the acupuncture needle insertion detection and waste discharge device is arranged between the previous station 2 and the pin station 3 of the pin insertion machine, the acupuncture needle 9 on the pin clamp 5 is detected by the visual detection module 6 and a signal of a detected defective product is output, the waste discharge action part 71 acts on the defective product after the visual detection module 6 detects the signal of the detected defective product, and the defective product is transferred into the waste container 72, so that the working purpose of automatic detection and automatic waste discharge is achieved, and the defective products such as no needle tip, needle skew, needle length and needle shortening do not appear in subsequent acupuncture needle 9 production, part of defective products can be detected before pin insertion and removed, and the pin insertion yield is improved.

[0053] In the above embodiment one of the utility model, as shown in Figure 2 The visual detection module 6 comprises a visual camera 61, the visual camera 61 faces the moving path of the clamping part 51 of the pin clamp 5, the acupuncture needle 9 clamped by the clamping part 51 of the pin clamp 5 is acquired by the visual camera 61, defective product information is acquired by visual detection, and a signal of a detected defective product is output, and the detection is accurate and fast.

[0054] More specifically, as Figure 2As shown, the visual detection module 6 further comprises a light source 62, which is arranged on both sides of the moving path of the clamping part 51 of the pin clamp 5 and is separate from the visual camera 61, so that the image captured by the visual camera 61 is clearer, thereby further improving the accuracy and speed of visual detection.

[0055] In the above embodiment one of the utility model, as Figure 2 As shown, the exhaust function part 71 comprises an exhaust nozzle 711, and the exhaust container 72 is located below the moving path of the pin clamp 5, and the exhaust nozzle is arranged to be aligned with the clamping part 51 of the pin clamp 5 at least when the pin clamp 5 is moved to above the exhaust container 72, and the pin detection and exhaust device is configured to: after the visual detection module 6 detects that the acupuncture needle 9 clamped on the clamping part 51 is a defective product and sends out a defective product detection signal, the clamping part 51 of the pin clamp 5 is moved to be close to the exhaust container 72, the clamping part 51 of the pin clamp 5 releases the defective product, the defective product on the clamping part 51 is aligned with the exhaust nozzle, and the defective product is blown into the exhaust container 72. In this way, the defective product is exhausted, which is reliable, stable and fast.

[0056] Specifically, as Figure 2 As shown, the exhaust nozzle is positioned and connected with the pin clamp 5 or the moving end 401 of the pin moving module 4, and the exhaust nozzle and the pin clamp 5 are driven synchronously by the pin moving module 4, so as to optimize the structure layout, make the overall structure of the pin machine more reasonable, and make the execution of blowing off the defective product more reliable and stable. The utility model is not limited thereto, and the exhaust nozzle is arranged at a corresponding position near the exhaust container 72, and the exhaust nozzle can also align with the acupuncture needle 9 on the clamping part 51 after the clamping part 51 is moved to be close to the exhaust container 72.

[0057] Further, the exhaust function part 71 further comprises a negative pressure part (not shown in the figure) arranged in the exhaust container 72, and the negative pressure part provides negative pressure suction towards the inside of the exhaust container 72, so as to further reliably and stably adsorb the defective product blown off through the exhaust nozzle into the exhaust container 72, avoid the defective acupuncture needle 9 from being blown to other stations of the pin machine, and avoid the failure of the pin machine.

[0058] In the above embodiment one of the utility model, as Figure 2As shown, the pin transfer module 4 includes a transfer support 41, a translation assembly 42, and a lifting assembly 43, the transfer support 41 is installed on the workbench 1, the translation assembly 42 is installed on the transfer support 41, the lifting assembly 43 is installed on the translation assembly 42, and the lifting assembly 43 is in transmission cooperation with the transfer end 401, so that the reasonable pin transfer module 4 is arranged to jointly realize the waste discharge and pin operation, so that the waste is discharged before the pin is inserted, and the defective product is prevented from flowing into the next process.

[0059] The translation assembly 42 and the lifting assembly 43 are both linear drive mechanisms, and the linear drive mechanism adopts one of the following mechanisms:

[0060] (a) a cylinder, a piston rod of the cylinder serving as an action end of the linear drive mechanism;

[0061] (b) a linear motor, a rotor of the linear motor serving as an action end of the linear drive mechanism;

[0062] (c) a combination of a control motor and a screw mechanism, wherein the control motor is a stepper motor or a servo motor, the screw nut mechanism is composed of a screw and a nut to form a screw pair, the control motor is in transmission connection with the screw, and the nut serves as an action end of the linear drive mechanism;

[0063] (d) a combination of a control motor and a pulley mechanism, wherein the control motor is a stepper motor or a servo motor, the pulley mechanism is composed of a pulley and a belt to form a linear motion pair, the control motor is connected with the belt through a wheel set, and the belt serves as an action end of the linear drive mechanism.

[0064] In the above embodiment one of the utility model, the pin detection and waste discharge device still contains the needle blank waste discharge module 73 arranged between the previous work station 2, the needle blank waste is discharged by the needle blank waste discharge module 73, and the generation of defective products is reduced.

[0065] Specifically, the needle blank waste discharge module 73 includes an adsorption channel 730, and the needle blank waste is also adsorbed and discharged by the adsorption channel 730, and the adsorption channel 730 and the negative pressure part can adopt the same negative pressure source, without other additional driving force, cost saving, compact and simple structure.

[0066] In embodiment two, the utility model discloses a pin inserting machine, the pin inserting machine has a workbench 1, a previous work station 2 and a pin inserting station 3 arranged on the workbench 1, the previous work station 2 includes a needle blank blanking station 21, a needle length limit and pre-bending station 22, a fine bending station 23, a needle blank waste discharge station 24, a correction station 25 and a cutting station 26, and the acupuncture needle pin detection and waste discharge device in the utility model embodiment one is arranged between the cutting station 26 and the pin inserting station 3.

[0067] Next, an acupuncture needle insertion machine using an acupuncture needle insertion detection and waste discharge device is described in detail.

[0068] In this detailed embodiment, the insertion machine includes a workbench 1, a needle blank unloading station 21, a needle length limit and pre-bending station 22, a fine bending station 23, a needle blank waste discharge station 24, a correction station 25, a cutting station 26, an insertion station 3, and a visual detection station arranged between the cutting station 26 and the insertion station 3, and the visual detection station is provided with an acupuncture needle insertion detection and waste discharge device.

[0069] The needle blank unloading station 21 is provided with a needle blank fixing clamp; the needle length limit and pre-bending station 22 is provided with an electric cylinder and a pre-bending cylinder; the fine bending station 23 is provided with a fine bending cylinder; the needle blank waste discharge station 24 is provided with a needle blank waste discharge module 73, which includes a suction channel 730; the correction station 25 is provided with a correction block; the cutting station 26 is provided with a cutting head; and the insertion station 3 is provided with an insertion bearing jig, a bearing jig horizontal movement module, and an insertion horizontal movement module.

[0070] The acupuncture needle insertion detection and waste discharge device includes an insertion movement module 4, an insertion gripper 5, a visual detection module 6, and a waste discharge module 7.

[0071] The insertion movement module 4 is arranged on the workbench 1 and has a movement end 401; the insertion movement module 4 includes a movement support 41, a translation assembly 42, and a lifting assembly 43, the movement support 41 is installed on the workbench 1, the translation assembly 42 is installed on the movement support 41, the lifting assembly 43 is installed on the translation assembly 42, and the lifting assembly 43 is in transmission cooperation with the movement end 401.

[0072] The insertion gripper 5 is installed on the movement end 401 of the insertion movement module 4 and is driven by the insertion movement module 4 to move between the previous station 2 and the insertion station 3, and the insertion gripper 5 is provided with a clamping part 51 for clamping an acupuncture needle 9;

[0073] The visual detection module 6 is arranged on the moving path of the insertion gripper 5 and detects the acupuncture needle 9 on the insertion gripper 5 and outputs a signal of a defective product; the visual detection module 6 includes a visual camera 61, which is directly opposite the moving path of the clamping part 51 on the insertion gripper 5. The visual detection module 6 further includes a light source 62, which is arranged on both sides of the moving path of the clamping part 51 on the insertion gripper 5 separately from the visual camera 61.

[0074] The waste removal module is arranged on the moving path of the pin clamp jaw 5, and the waste removal module comprises a waste removal action part 71 and a waste removal container 72. The waste removal action part 71 is a component for acting on the defective product after the visual detection module 6 sends a detection signal of the defective product, and moving the defective product to the waste removal container 72. The waste removal action part 71 comprises a waste removal nozzle 711, and the waste removal container 72 is arranged below the moving path of the pin clamp jaw 5. The waste removal nozzle is arranged to be aligned with the clamping part 51 of the pin clamp jaw 5 at least when the pin clamp jaw 5 is moved to above the waste removal container 72. The waste removal nozzle is connected with the moving end 401 of the pin moving module 4 or the pin clamp jaw 5, and the waste removal nozzle is driven synchronously with the pin clamp jaw 5 by the pin moving module 4. The waste removal action part 71 further comprises a negative pressure part arranged in the waste removal container 72, and the negative pressure part provides negative pressure suction to the inside of the waste removal container 72.

[0075] The working flow of the detailed embodiment can be referred to as follows:

[0076] The working flow of the pin machine device can be referred to as follows:

[0077] 1. In the pin blank blanking station 21, the pin blank is blanked to the pin blank fixing clamp.

[0078] 2. In the pin length and short limit and pre-bending station 22, the pin blank is adjusted in length and short limit by the electric cylinder, and the pin blank is pre-bent by the pre-bending cylinder.

[0079] 3. In the fine bending station 23, the fine bending is performed by the fine bending cylinder.

[0080] 4. In the correction station 25, the correction is performed by the correction block.

[0081] 5. In the cutting station 26, the cutting is performed by the cutting head.

[0082] 6. The pin clamp jaw 5 is driven by the pin moving module 4 to move towards the cutting station 26, and the acupuncture needle 9 is clamped by the pin clamp jaw 5.

[0083] 7. In the visual detection station, the defects such as pin length, pin short, pin angle, presence or absence of needle tip, double needle, etc. can be detected. When the defective product is detected, the pin clamp jaw 5 releases the acupuncture needle 9, the defective product is blown by the waste removal nozzle into the waste removal container 72, and the negative pressure part in the waste removal container 72 works at the same time.

[0084] 8. The good product is driven by the pin clamp jaw 5 to move to the pin carrying fixture, and the pin is inserted into the pin carrying fixture.

[0085] 9. The pin carrying fixture is moved by the carrying fixture transverse moving module to move to different positions for pin insertion.

[0086] The above embodiments are only for illustrating the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and cannot limit the protection scope of the present application. Any equivalent changes or modifications made in accordance with the spirit and essence of the present application shall be covered within the protection scope of the present application.

Claims

1. An acupuncture needle insertion detection and waste removal device, used for detecting and removing defective acupuncture needles (9) during needle insertion production in a needle insertion machine, wherein the needle insertion machine has a workbench (1) and a pre-processing station (2) and a needle insertion station (3) arranged on the workbench (1), characterized in that, The pin detection and waste removal device includes a pin transfer module (4), a pin gripper (5), a vision inspection module (6), and a waste removal module (7); The pin transfer module (4) is arranged on the workbench (1), and the pin transfer module (4) has a transfer end (401); The needle clamp (5) is installed on the transfer end (401) of the needle transfer module (4). The needle transfer module (4) drives the needle clamp (5) to move between the previous station (2) and the needle station (3). The needle clamp (5) has a clamping part (51) for clamping acupuncture needles (9). The visual inspection module (6) is set on the moving path of the needle clamp (5). The visual inspection module (6) detects the acupuncture needles (9) on the needle clamp (5) and outputs a signal that a defective product has been detected. The waste discharge module (7) is located on the moving path of the pin clamp (5). The waste discharge module (7) includes a waste discharge action part (71) and a waste discharge container (72). The waste discharge action part (71) is a component used to obtain the defective product detection signal issued by the visual inspection module (6), act on the defective product, and transfer the defective product to the waste discharge container (72).

2. The acupuncture needle insertion detection and waste removal device according to claim 1, characterized in that: The visual inspection module (6) includes a visual camera (61) which is positioned directly opposite the moving path of the clamping part (51) on the pin gripper (5).

3. The acupuncture needle insertion detection and waste removal device according to claim 2, characterized in that, The visual inspection module (6) also includes a light source (62), which and the visual camera (61) are respectively located on both sides of the moving path of the clamping part (51) on the pin clamp (5).

4. The acupuncture needle insertion detection and waste removal device according to claim 1, characterized in that, The waste discharge unit (71) includes a waste gas nozzle (711), and the waste discharge container (72) is located below the moving path of the pin clamp (5). The waste gas nozzle is arranged such that at least when the pin clamp (5) is transferred above the waste discharge container (72), the waste gas nozzle is aligned with the clamping part (51) of the pin clamp (5).

5. The acupuncture needle insertion detection and waste removal device according to claim 4, characterized in that, The exhaust nozzle is positioned and connected to the transfer end (401) of the pin clamp (5) or the pin transfer module (4), and the exhaust nozzle and the pin clamp (5) are synchronously driven by the pin transfer module (4).

6. The acupuncture needle insertion detection and waste removal device according to claim 4, characterized in that, The waste discharge unit (71) also includes a negative pressure unit provided in the waste discharge container (72), which provides negative pressure suction towards the interior of the waste discharge container (72).

7. The acupuncture needle insertion detection and waste removal device according to claim 1, characterized in that, The pin transfer module (4) includes a transfer bracket (41), a translation component (42), and a lifting component (43). The transfer bracket (41) is mounted on the workbench (1). The translation component (42) is mounted on the transfer bracket (41). The lifting component (43) is mounted on the translation component (42). The lifting component (43) is in transmission cooperation with the transfer end (401).

8. The acupuncture needle insertion detection and waste removal device according to claim 1, characterized in that, The pin insertion detection and waste discharge device also includes a pin blank waste discharge module (73) located between the preceding work stations (2).

9. The acupuncture needle insertion detection and waste removal device according to claim 8, characterized in that, The blank waste discharge module (73) includes an adsorption channel (730).

10. A pin insertion machine, characterized in that, The needle insertion machine has a workbench (1) and a pre-processing station (2) and a needle insertion station (3) arranged on the workbench (1). The pre-processing station (2) includes a needle blank feeding station (21), a needle length limiting and pre-bending station (22), a fine bending station (23), a needle blank waste discharge station (24), a correction station (25), and a cutting station (26). An acupuncture needle insertion detection and waste discharge device as described in any one of claims 1 to 9 is provided between the cutting station (26) and the needle insertion station (3).

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