Needle displacement device and needle mounting apparatus

Abstract

The application discloses a needle displacement device and a needle mounting equipment. A clamping jaw mechanism on a rotating mechanism is driven by a transfer mechanism to move to a needle positioning station, the clamping jaw mechanism clamps a needle to be turned, then the transfer mechanism drives the clamping jaw mechanism on the rotating mechanism to a needle sending station, after the clamping jaw mechanism reaches the needle sending station, image data of the needle can be collected by an image recognition mechanism, so that the orientation of the blade surface of the needle can be determined, then the rotating mechanism drives the clamping jaw mechanism to rotate, so that the needle is rotated until the blade surface of the needle is turned to a required preset orientation, thereby realizing the orientation displacement of the blade surface of the needle in a mechanized manner, ensuring the consistency of the orientation of the blade surface of the needle, and improving the efficiency of the needle displacement.

Description

Technical Field

[0001] This application relates to the field of medical needle assembly technology, and in particular to a needle displacement device and needle loading equipment. Background Technology

[0002] When inserting medical needles into needle holders, it is crucial to ensure that the cutting edges face in the same direction. This not only improves operational efficiency but also ensures safety and reduces patient discomfort.

[0003] However, the orientation of the needle tip is currently mostly changed manually, which is inefficient. Utility Model Content

[0004] The purpose of this application is to provide a needle repositioning device and a needle loading equipment, which realizes the orientation repositioning of the needle cutting surface through mechanization, ensures the consistency of the needle cutting surface orientation, and improves the efficiency of needle repositioning.

[0005] The embodiments of this application can be implemented as follows:

[0006] In a first aspect, embodiments of this application provide a needle displacement device, including an image recognition mechanism, a transfer mechanism, a rotation mechanism, and a gripper mechanism;

[0007] The gripper mechanism is disposed on the rotating mechanism and is used to clamp or release the needle. The gripper mechanism has a needle loading station and a needle feeding station.

[0008] The rotating mechanism is disposed on the transfer mechanism and can drive the gripper mechanism to translate and switch between the needle feeding station and the needle delivery station under the drive of the transfer mechanism;

[0009] When the gripper mechanism is located at the needle feeding station, the image recognition mechanism can acquire image data of the needle tip, and the rotation mechanism can drive the gripper mechanism to rotate according to the image data so that the cutting surface of the needle tip rotates to a preset orientation.

[0010] In the above embodiment, the transfer mechanism can first drive the gripper mechanism on the rotating mechanism to move to the needle feeding station. The gripper mechanism clamps the needle whose blade surface needs to be turned. Then, the transfer mechanism drives the gripper mechanism on the rotating mechanism to the needle feeding station. After the gripper mechanism reaches the needle feeding station, the image recognition mechanism can collect the image data of the needle, thereby determining the orientation of the needle blade surface. Then, the rotating mechanism can drive the gripper mechanism to rotate, so that the needle rotates until the needle blade surface is turned to the required preset orientation. This mechanized realization of the needle blade surface orientation change ensures the consistency of the needle blade surface orientation and improves the efficiency of needle repositioning.

[0011] In an optional embodiment, the rotating mechanism includes a rotating support, a rotating drive, and a rotating shaft;

[0012] The rotating support is disposed on the transfer mechanism and can rotate under the drive of the transfer mechanism;

[0013] The rotating support shaft is rotatably mounted on the rotating support.

[0014] The rotary drive component is mounted on the rotary support;

[0015] The gripper mechanism is fixed to the rotating support shaft.

[0016] In the above embodiment, a rotating support carries the rotary drive, the rotary shaft, and the gripper mechanism. Driven by the transfer mechanism, the rotary shaft, the rotary drive, the gripper mechanism, and the needle tip are translated, enabling the gripper mechanism to translate between the needle feeding station and the needle delivery station. The rotary shaft serves as the carrier of the gripper mechanism and, driven by the rotary drive, rotates the gripper mechanism, thereby achieving needle tip displacement.

[0017] In an optional embodiment, the rotary drive is a motor, the base of the rotary drive is fixed to the side of the rotary support away from the transfer mechanism, and the output shaft of the rotary drive extends between the rotary support and the transfer mechanism.

[0018] The rotating support shaft passes through the rotating support, and the portion of the rotating support shaft located between the rotating support and the transfer mechanism is connected to the rotating drive component.

[0019] In the above embodiment, selecting a motor as the rotary drive component can provide stable torque, and its base is fixed on a rotating support. The motor output shaft and the rotating support shaft are both inserted into the gap between the rotating support and the transfer mechanism for transmission connection. This makes reasonable use of the space between the rotating support and the transfer mechanism, improving structural compactness and space utilization.

[0020] In an optional embodiment, the rotating support includes a rotating carrier plate and a support frame connected to the rotating carrier plate;

[0021] The rotating carrier plate is disposed on the transfer mechanism, and the rotating support shaft is rotatably connected to both the rotating carrier plate and the support frame.

[0022] In the above embodiment, the rotating carrier plate supports the gripper mechanism, and the rotating support shaft is rotatably connected to both the rotating carrier plate and the support frame. This increases the mating area between the rotating support shaft and the rotating support, thereby improving the stability of the gripper mechanism and the needle.

[0023] In an optional embodiment, the gripper mechanism includes a gripper mounting base, a gripper drive, a gripper, and a limiting member;

[0024] The gripper mounting base is connected to the rotating mechanism;

[0025] The gripper drive and the limiting member are fixed to the gripper mounting base;

[0026] The gripper is disposed on the gripper mounting base and connected to the gripper driving member, which is used to drive the gripper to loosen or clamp.

[0027] The limiting member is provided with a needle insertion hole for inserting a needle, and the needle insertion hole corresponds to the clamping opening of the gripper.

[0028] In the above embodiment, the gripper mounting base supports the gripper drive, the gripper, and the limiting member. The gripper drive is connected to the gripper, so that the gripper drive provides power to the gripper, enabling the gripper to clamp or release the needle. The needle insertion hole provided on the limiting member corresponds to the clamping port of the gripper, which can limit the needle. In this way, the needle is both clamped by the gripper and its radial position is limited by the needle insertion port, thereby ensuring the stability of the needle and ensuring the accuracy of the needle cutting surface turning to the preset orientation.

[0029] In an optional embodiment, the limiting member is provided with a clearance notch, and the pin hole communicates with the clearance notch;

[0030] The fingers of the gripper extend into the clearance notch.

[0031] In the above embodiment, the limiting member is provided with an avoidance notch to allow the fingers of the gripper to enter. Since the needle insertion hole is connected to the avoidance notch, the needle will enter the avoidance notch after being inserted from the insertion port, and then be clamped by the gripper, thereby achieving the clamping and limiting of the needle and improving the structural compactness.

[0032] In an optional embodiment, the transfer mechanism includes a transfer base, a transfer drive, and a transfer slide rail assembly;

[0033] The rotating mechanism is slidably mounted on the transfer base via the transfer slide rail assembly;

[0034] The transfer drive component is fixed to the transfer base and is connected to the rotation mechanism via a transmission connection.

[0035] In the above embodiment, the transfer base serves to support the transfer drive component, the transfer slide rail assembly, and the rotating mechanism. The rotating mechanism is slidably mounted on the transfer base via the transfer slide rail assembly, ensuring the accuracy and smoothness of its movement direction during translation. The transfer drive component provides power to the rotating mechanism to drive it to translate on the transfer base.

[0036] In an optional embodiment, the image recognition mechanism includes a first illumination lamp, a fixed base, and a camera and a second illumination lamp disposed on the fixed base;

[0037] The first lighting lamp is disposed on the transfer mechanism;

[0038] When the gripper mechanism is located at the needle feeding station, the first light and the second light are located on both sides of the gripper mechanism;

[0039] The camera is used to acquire image data of the needle.

[0040] In the above embodiment, the needle on the gripper mechanism located at the needle feeding station is illuminated by the first and second lights simultaneously, thereby increasing the brightness of the needle on the gripper mechanism. This is beneficial for the camera to take pictures and collect image data of the needle, making the image clearer and easier to identify the orientation of the blade.

[0041] Secondly, this application provides a needle loading device, including a needle dispensing device, a needle feeding and loading device, and the needle displacement device described in the above embodiments.

[0042] The needle feeding device is used to supply the needle with the blade surface to be adjusted to the gripper mechanism located at the needle feeding station.

[0043] The feeding and loading device is used to take the needle with the cutting edge turned to a preset orientation from the gripper mechanism located at the needle feeding station and load it into the needle holder according to the image data.

[0044] The above-described embodiments, including the needle repositioning device described above, also have corresponding beneficial effects, which will not be repeated here. It should be noted that the needle feeding device can provide the gripper mechanism located at the needle feeding station with a needle of the desired cutting surface facing upwards. The gripper mechanism can then hold the needle. The needle feeding and loading device can determine the height of the needle, thus accurately removing the needle from the gripper mechanism and loading it into the needle holder. This achieves mechanized needle repositioning and loading operations, improving the efficiency of needle feeding and loading.

[0045] In an optional embodiment, the feeding and needle loading device includes a support platform mechanism, a feeding and unloading mechanism, a transverse movement mechanism, a lifting mechanism disposed on the transverse movement mechanism, and a needle-picking gripper mechanism disposed on the lifting mechanism.

[0046] The support platform mechanism is located on one side of the transfer mechanism and is used to place the needle holder.

[0047] The loading and unloading mechanism is used to place the needle holder on the support mechanism or remove the needle holder from the support mechanism;

[0048] The lateral movement mechanism is used to drive the lifting mechanism to move laterally between the needle picking position and the needle loading position;

[0049] The lifting mechanism is used to drive the needle-picking gripper mechanism to move up and down;

[0050] The needle-retrieving gripper mechanism is used to remove the needle from the gripper mechanism and insert the needle into the needle holder.

[0051] In the above embodiment, the loading and unloading mechanism can place the needle holder on or remove it from the support mechanism. The traversing mechanism drives the lifting mechanism to extend the needle-picking gripper mechanism above the gripper mechanism, and then drives the lifting mechanism to remove the needle from the gripper mechanism. The needle then returns to its original position and is inserted into the needle holder on the support mechanism, thus achieving automated needle picking and loading operations.

[0052] In an optional embodiment, the lateral movement mechanism includes a lateral movement base, a lateral movement drive, and a lateral movement slide rail assembly;

[0053] The lifting mechanism is mounted on the transverse base via the transverse slide rail assembly;

[0054] The lateral movement drive component is fixed to the lateral movement base and is connected to the lifting mechanism via a transmission connection.

[0055] In the above embodiment, the transverse base serves to support the transverse drive component, the transverse slide rail assembly, the lifting assembly, and the needle-picking gripper mechanism. The lifting mechanism is slidably mounted on the transverse base via the transverse slide rail assembly, ensuring the accuracy and smoothness of the movement direction during the transverse movement process. The transverse drive component provides power to the lifting mechanism to drive it to move transversely on the transverse base.

[0056] In an optional embodiment, the lifting mechanism includes a lifting seat, a lifting drive component, and a lifting slide rail assembly;

[0057] The lifting seat is disposed on the traverse mechanism;

[0058] The needle-picking gripper mechanism is slidably mounted on the lifting base via the lifting slide rail assembly;

[0059] The lifting drive component is fixed to the lateral movement mechanism and is connected to the needle-picking gripper mechanism via a transmission connection.

[0060] In the above embodiment, the lifting base serves to support the lifting drive component, the lifting slide rail assembly, and the needle-retrieving gripper mechanism, and can carry the lifting drive component, the lifting slide rail assembly, and the needle-retrieving gripper mechanism together for lateral movement under the drive of the lateral movement mechanism. The needle-retrieving gripper mechanism is slidably mounted on the lifting base via the lifting slide rail assembly, ensuring the accuracy and smoothness of its movement direction during the lifting process. The lifting drive component provides power to the needle-retrieving gripper mechanism to drive it to move up and down on the lifting base.

[0061] In an optional embodiment, the needle-retrieving gripper mechanism includes a needle-retrieving gripper base, a needle-retrieving gripper drive, and needle-retrieving grippers;

[0062] The needle-picking gripper seat is disposed in the lifting mechanism;

[0063] The needle retrieval gripper drive is fixed to the needle retrieval gripper seat and connected to the needle retrieval gripper, and is used to drive the needle retrieval gripper to clamp or release the needle.

[0064] In the above embodiment, the needle chuck seat serves to support the needle chuck drive and the needle chuck. The needle chuck drive is connected to the needle chuck and provides power to the needle chuck so that the needle chuck can clamp or release the needle.

[0065] In an optional embodiment, the loading and unloading mechanism includes a material base, a telescopic translation drive, a telescopic translation slide rail assembly, a support gripper base, a support gripper drive, and a support gripper.

[0066] The bracket gripper seat is slidably mounted on the material seat via the telescopic translation slide rail assembly;

[0067] The telescopic translation drive component is connected to the bracket gripper seat in a transmission manner;

[0068] The support claw drive is fixed to the support claw seat and connected to the support claw, and is used to drive the support claw to clamp or release the needle support.

[0069] In the above embodiment, the material holder serves to support the telescopic translation drive component, the telescopic translation slide rail assembly, the support gripper seat, the support gripper drive component, and the support gripper. The support gripper seat is slidably mounted on the material holder via the telescopic translation slide rail assembly, ensuring the accuracy and smoothness of the movement direction during the translation process of the support gripper seat carrying the support gripper and the support gripper drive component. The telescopic translation drive component provides power to the support gripper seat to drive the support gripper seat to move laterally on the material holder. The support gripper drive component can drive the support gripper to clamp or release the needle support.

[0070] In the optional implementation set, the platform mechanism includes a platform support, a support platform, a platform lifting slide rail assembly, and a platform lifting drive component;

[0071] The support platform is slidably mounted on the support platform via the support platform lifting slide rail assembly, and the support platform is used to place the needle holder.

[0072] The platform lifting drive is connected to the support platform.

[0073] In the above embodiment, the support platform serves to support the support frame, the support platform, the support lifting slide rail assembly, and the support lifting drive. The support platform for placing the needle holder is slidably mounted on the support frame via the support lifting slide rail assembly, ensuring the accuracy and stability of the movement direction of the support gripper seat carrying the support gripper and the support gripper drive during the lifting and lowering process. The support lifting drive provides power to the support platform, driving it to move laterally on the material base. Attached Figure Description

[0074] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0075] Figure 1 This is a schematic diagram of the needle loading device according to an embodiment of this application;

[0076] Figure 2 for Figure 1 One of the schematic diagrams of the needle displacement device;

[0077] Figure 3 for Figure 1 Schematic diagram of the needle displacement device (Part 2);

[0078] Figure 4 for Figure 2 and Figure 3 One of the schematic diagrams of the combined structure of the rotating mechanism and the gripper mechanism;

[0079] Figure 5 for Figure 2 and Figure 3 Schematic diagram of the combined structure of the rotating mechanism and the gripper mechanism (Part 2);

[0080] Figure 6 for Figure 2 Enlarged view of part A in the middle;

[0081] Figure 7 for Figure 1 Schematic diagram of the loading and unloading device;

[0082] Figure 8 for Figure 7 One of the schematic diagrams showing the concealed pier mechanism;

[0083] Figure 9 for Figure 7 Schematic diagram two showing the concealed pier mechanism;

[0084] Figure 10 for Figure 7 Schematic diagram three showing the concealed pier mechanism;

[0085] Figure 11 for Figure 7 One of the schematic diagrams of the central support structure;

[0086] Figure 12 for Figure 7 The second schematic diagram of the central support platform mechanism.

[0087] Icons: 100-Needle positioning device; 110-Image recognition mechanism; 111-First illumination lamp; 112-Second illumination lamp; 113-Camera; 114-Fixed base; 120-Transfer mechanism; 121-Transfer base; 122-Transfer drive component; 123-Transfer slide rail assembly; 124-Transfer transmission assembly; 130-Rotation mechanism; 131-Rotation support; 1310-Rotation carrier plate; 1311-Support frame; 132-Rotation drive component; 133-Rotation support shaft; 134-Bearing; 140-Gripper mechanism; 141-Gripper mounting base; 142-Gripper drive component; 143-Gripper; 144-Limiting component; 1440-Needle insertion hole; 1441-Avoidance notch; 145-Rotation transmission assembly; 1450-Driving wheel; 1452-Driven wheel; 1 453-Synchronous belt; 200-Feeding and needle loading device; 210-Support mechanism; 211-Support bracket; 212-Support holding platform; 213-Support lifting drive; 214-Support lifting transmission assembly; 2140-Facial cam; 2141-Driven roller; 215-Cam slide rail assembly; 216-Support lifting slide rail assembly; 220-Feeding and unloading mechanism; 221-Material seat; 222-Support gripper seat; 223-Support gripper; 230-Transverse movement mechanism; 231-Transverse movement base; 232-Transverse movement drive; 233-Transverse movement slide rail assembly; 240-Lifting mechanism; 241-Lifting seat; 242-Lifting drive; 250-Needle retrieval gripper mechanism; 251-Needle retrieval gripper seat; 252-Needle retrieval gripper drive; 253-Needle retrieval gripper; 300-Needle tip. Detailed Implementation

[0088] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0089] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0090] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0091] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application 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, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0092] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0093] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0094] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0095] refer to Figures 1 to 3 This application discloses a needle loading device, which includes a needle dispensing device, a needle feeding and loading device 200, and a needle displacement device 100.

[0096] The needle repositioning device 100 can rotate the cutting surface of the needle 300 to the desired preset orientation, thereby mechanizedly realizing the orientation repositioning of the cutting surface of the needle 300, ensuring the consistency of the orientation of the cutting surface of the needle 300, and improving the efficiency of the needle 300 repositioning.

[0097] The needle displacement device 100 includes an image recognition mechanism 110, a transfer mechanism 120, a rotation mechanism 130, and a gripper mechanism 140;

[0098] The gripper mechanism 140 is disposed on the rotating mechanism 130 and is used to clamp or release the needle 300. The gripper mechanism 140 has a needle loading station and a needle feeding station.

[0099] The rotating mechanism 130 is disposed on the transfer mechanism 120 and can drive the gripper mechanism 140 to move and switch between the needle feeding station and the needle delivery station under the drive of the transfer mechanism 120.

[0100] When the gripper mechanism 140 is in the needle feeding position, the image recognition mechanism 110 can acquire image data of the needle tip 300, and the rotation mechanism 130 can drive the gripper mechanism 140 to rotate according to the image data so that the cutting surface of the needle tip 300 is rotated to a preset orientation.

[0101] The needle feeding device is used to supply the needle 300 with the blade side to be adjusted to the gripper mechanism 140 located at the needle feeding station;

[0102] The needle feeding device 200 is used to take the needle 300 with the blade surface turned to a preset orientation from the gripper mechanism 140 located at the needle feeding station and put it into the needle 300 holder according to the image data.

[0103] In this way, the transfer mechanism 120 can first drive the gripper mechanism 140 on the rotating mechanism 130 to move to the needle feeding station. The needle feeding device can provide the gripper mechanism 140 at the needle feeding station with the needle 300 with the desired blade orientation. The gripper mechanism 140 can then clamp the needle 300 with the desired blade orientation. Then, the transfer mechanism 120 drives the gripper mechanism 140 on the rotating mechanism 130 to the needle feeding station. After the gripper mechanism 140 reaches the needle feeding station, the image recognition mechanism 110 can collect the image data of the needle 300, thereby determining the blade orientation of the needle 300. Then, the rotating mechanism 130 can drive the gripper mechanism 140 to rotate, so that the needle 300 rotates until the blade of the needle 300 turns to the required preset orientation. This mechanized realization of the orientation change of the needle 300 blade ensures the consistency of the needle 300 blade orientation and improves the efficiency of the needle 300 orientation change. Based on the image data from the image recognition mechanism 110, the needle feeding and loading device 200 can determine the height of the needle 300. Therefore, the needle feeding and loading device 200 can accurately remove the needle 300 from the gripper mechanism 140 and load it into the needle 300 holder, realizing mechanized needle 300 repositioning and loading operations, and improving the efficiency of needle loading and loading.

[0104] In detail, the transfer mechanism 120 includes a transfer base 121, a transfer drive 122, and a transfer slide rail assembly 123; the rotation mechanism 130 is slidably disposed on the transfer base 121 via the transfer slide rail assembly 123; the transfer drive 122 is fixed to the transfer base 121 and is connected to the rotation mechanism 130 in a transmission manner.

[0105] In this way, the transfer base 121 serves to support the transfer drive 122, the transfer slide rail assembly 123, and the rotating mechanism 130. The rotating mechanism 130 is slidably mounted on the transfer base 121 via the transfer slide rail assembly 123, ensuring the accuracy and smoothness of the rotating mechanism 130's movement direction during translation. The transfer drive 122 provides power to the rotating mechanism 130 to drive it to translate on the transfer base 121.

[0106] The transfer drive 122 includes, but is not limited to, a motor. Its torque can be converted into a linear driving force that can drive the rotating mechanism 130 to translate through a transfer transmission assembly 124, such as a lead screw assembly, a gear and rack assembly, a belt drive assembly, or a chain drive assembly. That is, in order to realize the power transmission of the rotating drive 132, the transfer mechanism 120 also includes a transfer transmission assembly 124. The transfer drive 122 is connected to the rotating mechanism 130 through the transfer transmission assembly 124. The transfer transmission assembly 124 can also play the role of deceleration and power amplification, thereby reducing the load on the transfer drive 122 and improving the control accuracy of the translation of the rotating mechanism 130.

[0107] In order to ensure that the gripper mechanism 140 stops precisely at the needle feeding station and the needle delivery station, a transfer proximity switch can be set on the transfer base 121 at the positions corresponding to the needle feeding station and the needle delivery station of the gripper mechanism 140. The transfer proximity switch can be a photoelectric sensor, a Hall sensor, etc. In this way, when the transfer drive 122 drives the rotating mechanism 130 to move, if the transfer proximity switch detects the transfer marker on the rotating mechanism 130, it can stop, thereby making the gripper mechanism 140 stop at the needle feeding station or the needle delivery station.

[0108] refer to Figure 4 and Figure 5 The rotating mechanism 130 includes a rotating support 131, a rotating drive 132, and a rotating shaft 133. The rotating support 131 is disposed on the transfer mechanism 120 and can rotate under the drive of the transfer mechanism 120. That is, the rotating support 131 is slidably disposed on the transfer base 121 through the transfer slide rail assembly 123. The transfer drive 122 is connected to the rotating support 131 through the transfer transmission assembly 124, so that the transfer drive 122 can drive the rotating support 131 to perform linear translation on the transfer base 121. The rotating shaft 133 is rotatably disposed on the rotating support 131. The rotating drive 132 is mounted on the rotating support 131. The gripper mechanism 140 is fixed to the rotating shaft 133.

[0109] In this way, the rotating support 131 supports the rotating drive 132, the rotating shaft 133, and the gripper mechanism 140. Driven by the transfer mechanism 120, the rotating shaft 133, the rotating drive 132, the gripper mechanism 140, and the needle 300 are moved in translation, realizing the translation of the gripper mechanism 140 between the needle feeding station and the needle delivery station. The rotating shaft 133 serves as the carrier of the gripper mechanism 140 and drives the gripper mechanism 140 to rotate under the drive of the rotating drive 132, thereby realizing the displacement of the needle 300.

[0110] The rotary drive 132 includes, but is not limited to, a motor. The base of the rotary drive 132 is fixed to the side of the rotary support 131 opposite to the transfer mechanism 120. The output shaft of the rotary drive 132 extends between the rotary support 131 and the transfer mechanism 120; that is, the base of the rotary drive 132 is fixed to the upper side of the rotary support 131, and the output shaft of the rotary drive 132 passes through the rotary support 131 and extends to the lower side of the rotary support 131. The rotary support shaft 133 passes through the rotary support 131, and the portion of the rotary support shaft 133 located between the rotary support 131 and the transfer base 121 of the transfer mechanism 120 is connected to the rotary drive 132 for transmission.

[0111] Choosing a motor as the rotary drive component 132 provides stable torque, and its base is fixed on the rotary support 131. The motor output shaft and the rotary support shaft 133 are both inserted into the gap between the rotary support 131 and the transfer mechanism 120 for transmission connection. This makes reasonable use of the space between the rotary support 131 and the transfer mechanism 120, improving the structural compactness and space utilization.

[0112] The rotating support 131 includes a rotating carrier plate 1310 and a support frame 1311 connected to the rotating carrier plate 1310. The rotating carrier plate 1310 is disposed on the transfer mechanism 120, and the rotating shaft 133 is rotatably connected to both the rotating carrier plate 1310 and the support frame 1311. In this way, the rotating carrier plate 1310 serves to support the gripper mechanism 140, and the rotating shaft 133 is rotatably connected to both the rotating carrier plate 1310 and the support frame 1311, which can increase the mating area between the rotating shaft 133 and the rotating support 131, thereby improving the stability of the gripper mechanism 140 and the needle 300.

[0113] In order to realize the power transmission of the rotary drive 132, the rotary mechanism 130 also includes a rotary transmission assembly 145. The rotary transmission assembly 145 is also located on the side of the rotary support 131 near the transfer base 121, which has a high space utilization rate. The rotary drive 132 is connected to the rotary support shaft 133 through the rotary transmission assembly 145. In this way, the rotary transmission assembly 145 can transmit the power of the rotary drive 132 to the rotary support shaft 133 to drive the rotary support shaft 133 to drive the entire gripper mechanism 140 to rotate.

[0114] The rotary transmission assembly 145 can be a belt drive, for example, it includes a driving pulley 1450, a driven pulley 1452, and a synchronous belt 1453 wound around the driving pulley 1450 and the driven pulley 1452. The driving pulley 1450 is coaxially connected to the output shaft of the rotary drive 132, and the driven pulley 1452 is coaxially connected to the rotary support shaft 133. The diameter of the driving pulley 1450 can be larger than the diameter of the driven pulley 1452, which can also reduce speed and amplify power, reduce the load on the rotary drive 132, and facilitate the control of the rotational accuracy of the gripper mechanism 140. Of course, since the gripper mechanism 140 is lightweight, if the accuracy requirement is not high, the diameter of the driving pulley 1450 can also be smaller than or equal to the diameter of the driven pulley 1452.

[0115] The rotating support shaft 133 can be rotatably connected to the rotating carrier plate 1310 and the support frame 1311 by using a bearing 134, so as to ensure rotational accuracy and smoothness, while ensuring axial support.

[0116] Of course, the rotary transmission assembly 145 is not limited to the belt drive assembly mentioned above; it can also be a gear assembly or chain drive assembly or other components used to transmit torque.

[0117] In order to precisely control the rotation of the gripper mechanism 140 carrying the needle 300 and ensure that the cutting edge of the needle 300 faces the preset orientation, an encoder can be used to detect and provide feedback on the rotation angle and position of the output shaft of the rotary drive 132 in real time.

[0118] Continue to refer to Figure 4 and Figure 5 The gripper mechanism 140 includes a gripper mounting base 141, a gripper drive 142, a gripper 143, and a limiting member 144. The gripper mounting base 141 is connected to the rotating mechanism 130, that is, the gripper mounting base 141 is connected to the rotating support shaft 133, so that the rotating support shaft 133 can drive the gripper mounting base 141 to rotate under the drive of the rotating drive 132. The gripper drive 142 can be a cylinder, which, along with the limiting member 144, is fixed to the gripper mounting base 141. The gripper 143 is disposed on the gripper mounting base 141 and connected to the gripper drive 142, and the gripper drive 142 is used to drive the gripper 143 to loosen or clamp. The limiting member 144 is provided with a needle insertion hole 1440 for inserting a needle 300, and the needle insertion hole 1440 corresponds to the clamping opening of the gripper 143.

[0119] The gripper mounting base 141 supports the gripper drive 142, gripper 143, and limiting member 144. The gripper drive 142 is connected to the gripper 143, so that the gripper drive 142 provides power to the gripper 143, enabling the gripper 143 to clamp or release the needle 300. The needle insertion hole 1440 provided on the limiting member 144 corresponds to the clamping port of the gripper 143, which can limit the needle 300. In this way, the needle 300 is both clamped by the gripper 143 and its radial position is limited by the needle insertion port, thereby ensuring the stability of the needle 300 and ensuring the accuracy of the needle 300's cutting surface turning to the preset orientation.

[0120] refer to Figure 6 The limiting member 144 is provided with a clearance notch 1441, and the needle insertion hole 1440 communicates with the clearance notch 1441; the fingers of the gripper 143 extend into the clearance notch 1441. By providing the clearance notch 1441 through the limiting member 144 to allow the fingers of the gripper 143 to enter, and since the needle insertion hole 1440 communicates with the clearance notch 1441, the needle 300 will enter the clearance notch 1441 after being inserted from the insertion port, and then be clamped by the gripper 143, thereby achieving clamping and limiting of the needle 300 and improving the structural compactness.

[0121] Continue to refer to Figures 1 to 3The image recognition mechanism 110 includes a first illumination lamp 111, a fixed base 114, and a camera 113 and a second illumination lamp 112 disposed on the fixed base 114. The first illumination lamp 111 is disposed on the transfer base 121 of the transfer mechanism 120. When the gripper mechanism 140 is located at the needle feeding station, the first illumination lamp 111 and the second illumination lamp 112 are respectively located on both sides of the gripper mechanism 140. The camera 113 is used to acquire image data of the needle 300.

[0122] In this way, the needle 300 on the gripper mechanism 140 located at the needle feeding station is illuminated by the first light 111 and the second light 112 simultaneously, which can improve the brightness of the needle 300 on the gripper mechanism 140, which is beneficial for the camera 113 to take pictures and collect image data of the needle 300, making the image clearer and easier to identify the orientation of the blade.

[0123] refer to Figure 1 and Figure 7 The needle loading and unloading device 200 includes a support mechanism 210, a loading and unloading mechanism 220, a traversing mechanism 230, a lifting mechanism 240 disposed on the traversing mechanism 230, and a needle-picking gripper mechanism 250 disposed on the lifting mechanism 240. The support mechanism 210 is disposed on one side of the transfer mechanism 120 and is used to place the needle 300 support. The loading and unloading mechanism 220 is used to place the needle 300 support on the support mechanism 210 or to remove the needle 300 support from the support mechanism 210. The traversing mechanism 230 is used to drive the lifting mechanism 240 to move laterally between the needle picking position and the needle loading position. The lifting mechanism 240 is used to drive the needle-picking gripper mechanism 250 to lift and lower. The needle-picking gripper mechanism 250 is used to remove the needle 300 from the gripper mechanism 140 and load the needle 300 into the needle 300 support.

[0124] In this way, the loading and unloading mechanism 220 can place the needle 300 holder on the support mechanism 210 or remove it from the support mechanism 210. The traversing mechanism 230 drives the lifting mechanism 240 to move the needle-picking gripper mechanism 250 above the gripper mechanism 140. Then, the lifting mechanism 240 drives the needle-picking gripper mechanism 250 to remove the needle 300 from the gripper mechanism 140. Then, it returns to its original position and is inserted into the needle 300 holder on the support mechanism 210, realizing automated needle picking and loading operations.

[0125] refer to Figures 8 to 10 The transverse mechanism 230 includes a transverse base 231, a transverse drive component 232, and a transverse slide rail assembly 233; the lifting mechanism 240 is mounted on the transverse base 231 via the transverse slide rail assembly 233; the transverse drive component 232 is fixed to the transverse base 231 and is connected to the lifting mechanism 240 in a transmission manner.

[0126] In this way, the transverse base 231 serves to support the transverse drive component 232, the transverse slide rail assembly 233, the lifting assembly, and the needle-picking gripper mechanism 250. The lifting mechanism 240 is slidably mounted on the transverse base 231 via the transverse slide rail assembly 233, ensuring the accuracy and smoothness of the movement direction of the lifting mechanism 240 during transverse movement. The transverse drive component 232 provides power to the lifting mechanism 240 to drive it to move transversely on the transverse base 231.

[0127] The lateral drive component 232 can be a cylinder, hydraulic cylinder or electric push rod or other component that provides linear drive force, thereby directly driving the lifting mechanism 240 to lateral movement.

[0128] The lifting mechanism 240 includes a lifting base 241, a lifting drive component 242, and a lifting slide rail assembly. The lifting base 241 is disposed on the transverse mechanism 230, specifically slidably disposed on the transverse base 231 via the transverse slide rail assembly 233. The needle-picking gripper mechanism 250 is slidably disposed on the lifting base 241 via the lifting slide rail assembly. The lifting drive component 242 is fixed to the transverse mechanism 230 and is connected to the needle-picking gripper mechanism 250 in a transmission manner.

[0129] Thus, the lifting seat 241 serves to support the lifting drive component 242, the lifting slide rail assembly, and the needle-picking gripper mechanism 250, and can carry the lifting drive component 242, the lifting slide rail assembly, and the needle-picking gripper mechanism 250 together for lateral movement under the drive of the lateral movement mechanism 230. The needle-picking gripper mechanism 250 is slidably mounted on the lifting seat 241 via the lifting slide rail assembly, ensuring the accuracy and smoothness of the movement direction of the needle-picking gripper mechanism 250 during the lifting process. The lifting drive component 242 provides power to the needle-picking gripper mechanism 250 to drive the needle-picking gripper mechanism to rise and fall on the lifting seat 241.

[0130] The lifting drive component 242 includes, but is not limited to, a motor. The lifting mechanism 240 also includes a lifting transmission component, which can be a lead screw assembly, a gear and rack assembly, a belt drive assembly, or a chain drive assembly, etc. The lifting drive component 242 is connected to the needle-picking gripper mechanism 250 through the lifting transmission component. In this way, the lifting transmission component can convert the torque of the lifting drive component 242 into a linear driving force to drive the needle-picking gripper mechanism to perform lifting and lowering movements. Moreover, the lifting transmission component can also play a power amplification role and reduce the load on the lifting drive component 242.

[0131] Specifically, the needle retrieval gripper mechanism 250 includes a needle retrieval gripper base 251, a needle retrieval gripper drive 252, and a needle retrieval gripper 253. The needle retrieval gripper base 251 is disposed on the lifting mechanism 240, specifically slidably disposed on the lifting base 241 via a lifting slide rail assembly. The needle retrieval gripper drive 252 can be a cylinder, which is fixed to the needle retrieval gripper base 251 and connected to the needle retrieval gripper 253, used to drive the needle retrieval gripper 253 to clamp or release the needle tip 300. The needle retrieval gripper base 251 serves to support the needle retrieval gripper drive 252 and the needle retrieval gripper 253. The needle retrieval gripper drive 252 is connected to the needle retrieval gripper 253 and provides power to the needle retrieval gripper 253 so that the needle retrieval gripper 253 can clamp or release the needle tip 300.

[0132] Continue to refer to Figures 8 to 10 The loading / unloading mechanism 220 includes a material base 221, a telescopic translation drive, a telescopic translation slide rail assembly, a support gripper base 222, a support gripper drive, and a support gripper 223. The support gripper base 222 is slidably mounted on the material base 221 via the telescopic translation slide rail assembly. The telescopic translation drive is connected to the support gripper base 222 via a transmission connection. The support gripper drive is fixed to the support gripper base 222 and connected to the support gripper 223, and is used to drive the support gripper 223 to clamp or release the needle 300 support. The telescopic translation drive can be a cylinder, a motor screw module, or similar device to drive the support gripper base 222 to move.

[0133] Thus, the material holder 221 serves to support the telescopic translation drive, the telescopic translation slide rail assembly, the bracket gripper seat 222, the bracket gripper drive, and the bracket gripper 223. The bracket gripper seat 222 is slidably mounted on the material holder 221 via the telescopic translation slide rail assembly, ensuring the accuracy and smoothness of the movement direction during the translation process of the bracket gripper seat 222 carrying the bracket gripper 223 and the bracket gripper drive. The telescopic translation drive provides power to the bracket gripper seat 222 to drive it to move laterally on the material holder 221. The bracket gripper drive can then drive the bracket gripper 223 to clamp or release the needle 300 bracket.

[0134] refer to Figure 11 and Figure 12The support mechanism 210 includes a support bracket 211, a support platform 212, a support lifting slide rail assembly 216, and a support lifting drive component 213. The support platform 212 is slidably mounted on the support bracket 211 via the support lifting slide rail assembly 216, and is used to place the needle 300 support. The support lifting drive component 213 is connected to the support platform 212 via a transmission connection. The support bracket 211 serves to support the support bracket 211, the support platform 212, the support lifting slide rail assembly 216, and the support lifting drive component 213. The support platform 212, which is used to place the needle 300 support, is slidably mounted on the support bracket 211 via the support lifting slide rail assembly 216, ensuring the accuracy and stability of the movement direction of the support gripper seat 222 carrying the support gripper 223 and the support gripper drive component during the translation process of the support platform 212 lifting. The lifting drive unit 213 provides power to the support platform 212, driving the support platform 212 to move laterally on the material seat 221.

[0135] The pier lifting drive 213 can be a cylinder, hydraulic cylinder or electric push rod or other component that can provide linear driving force. The pier lifting drive 213 is mounted flat on the pier support 211. Therefore, the linear driving force provided by the pier lifting drive 213 is in the horizontal direction. In order to change the power direction of the pier lifting drive 213, the pier mechanism 210 also includes a pier lifting transmission assembly 214 and a cam slide rail assembly 215. The lifting transmission assembly includes a face cam 2140 and a driven roller 2141. The face cam 2140 is slidably mounted on the pier support 211 through the cam slide rail assembly 215. The driven roller 2141 is rotatably mounted on the bottom of the pier support 211 and presses against the face cam 2140. The pier lifting drive 213 is connected to the face cam 2140.

[0136] In this way, the face cam 2140 is driven by the platform lifting drive 213 to translate on the platform support 211. The driven roller 2141 rolls with the cam surface of the face cam 2140 to achieve height changes, thereby driving the support platform 212 to rise and fall. It also acts as a power amplification, thereby reducing the back pressure of the platform lifting drive 213 and ensuring the safety of the pneumatic pipeline used to drive the platform lifting drive 213. The cam slide rail assembly 215 ensures the accuracy of the direction of movement and the smoothness of movement when the face cam 2140 moves horizontally.

[0137] Of course, in some embodiments, the platform lifting drive 213 can also be fixed vertically on the platform support 211 to directly drive the support platform 212 to lift.

[0138] In summary, this application discloses a needle repositioning device 100 and a needle loading device, which can mechanically realize the orientation repositioning of the needle tip 300 blade surface, ensure the consistency of the needle tip 300 blade surface orientation, and improve the efficiency of needle tip 300 repositioning.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A needle displacement device, characterized in that, It includes an image recognition mechanism (110), a transfer mechanism (120), a rotation mechanism (130), and a gripper mechanism (140); The gripper mechanism (140) is disposed on the rotating mechanism (130) for clamping or releasing the needle (300), and the gripper mechanism (140) has a needle loading station and a needle feeding station; The rotating mechanism (130) is disposed on the transfer mechanism (120) and can drive the gripper mechanism (140) to translate and switch between the needle feeding station and the needle delivery station under the drive of the transfer mechanism (120); When the gripper mechanism (140) is located at the needle feeding station, the image recognition mechanism (110) can acquire image data of the needle tip (300), and the rotation mechanism (130) can drive the gripper mechanism (140) to rotate according to the image data so that the cutting edge of the needle tip (300) rotates to a preset orientation.

2. The needle displacement device according to claim 1, characterized in that, The rotating mechanism (130) includes a rotating support (131), a rotating drive (132), and a rotating shaft (133); The rotating support (131) is disposed on the transfer mechanism (120) and can rotate under the drive of the transfer mechanism (120); The rotating support shaft (133) is rotatably mounted on the rotating support (131); The rotary drive (132) is mounted on the rotary support (131); The gripper mechanism (140) is fixed to the rotating support shaft (133).

3. The needle displacement device according to claim 2, characterized in that, The rotary drive (132) is a motor. The base of the rotary drive (132) is fixed on the side of the rotary support (131) away from the transfer mechanism (120). The output shaft of the rotary drive (132) extends between the rotary support (131) and the transfer mechanism (120). The rotating shaft (133) passes through the rotating support (131), and the portion of the rotating shaft (133) located between the rotating support (131) and the transfer mechanism (120) is connected to the rotating drive (132) for transmission.

4. The needle displacement device according to claim 2, characterized in that, The rotating support (131) includes a rotating carrier plate (1310) and a support frame (1311) connected to the rotating carrier plate (1310); The rotating carrier plate (1310) is disposed on the transfer mechanism (120), and the rotating support shaft (133) is rotatably connected to both the rotating carrier plate (1310) and the support frame (1311).

5. The needle displacement device according to claim 1, characterized in that, The gripper mechanism (140) includes a gripper mounting base (141), a gripper drive (142), a gripper (143), and a limiting member (144); The gripper mounting base (141) is connected to the rotating mechanism (130); The gripper drive (142) and the limiting member (144) are fixed to the gripper mounting base (141); The gripper (143) is disposed on the gripper mounting base (141) and connected to the gripper drive (142). The gripper drive (142) is used to drive the gripper (143) to loosen or clamp. The limiting member (144) is provided with a needle insertion hole (1440) for inserting a needle (300), and the needle insertion hole (1440) corresponds to the clamping opening of the gripper (143).

6. The needle displacement device according to claim 5, characterized in that, The limiting member (144) is provided with a clearance notch (1441), and the pin hole (1440) is connected to the clearance notch (1441); The fingers of the gripper (143) extend into the clearance notch (1441).

7. The needle displacement device according to claim 1, characterized in that, The transfer mechanism (120) includes a transfer base (121), a transfer drive (122), and a transfer slide rail assembly (123); The rotating mechanism (130) is slidably disposed on the transfer base (121) via the transfer slide rail assembly (123); The transfer drive (122) is fixed to the transfer base (121) and is connected to the rotation mechanism (130) in a transmission manner.

8. The needle displacement device according to claim 1, characterized in that, The image recognition mechanism (110) includes a first illumination lamp (111), a fixed base (114), a camera (113) disposed on the fixed base (114), and a second illumination lamp (112); The first lighting lamp (111) is disposed on the transfer mechanism (120); When the gripper mechanism (140) is located at the needle feeding station, the first light (111) and the second light (112) are located on both sides of the gripper mechanism (140); The camera (113) is used to acquire image data of the needle (300).

9. A needle loading device, characterized in that, It includes a needle feeding device, a needle loading device (200), and a needle displacement device as described in any one of claims 1-8; The needle feeding device is used to supply the needle (300) with the blade surface to be adjusted to the gripper mechanism (140) located at the needle feeding station; The feeding and loading device (200) is used to take the needle (300) with the cutting surface turned to a preset orientation from the gripper mechanism (140) located at the needle feeding station and load it into the needle (300) holder according to the image data.

10. The needle loading device according to claim 9, characterized in that, The feeding and needle loading device (200) includes a support platform mechanism (210), a feeding and unloading mechanism (220), a transverse movement mechanism (230), a lifting mechanism (240) disposed in the transverse movement mechanism (230), and a needle-picking gripper mechanism (250) disposed in the lifting mechanism (240). The support platform mechanism (210) is located on one side of the transfer mechanism (120) and is used to place the needle (300) support. The loading and unloading mechanism (220) is used to place the needle (300) holder on the support mechanism (210) or to remove the needle (300) holder from the support mechanism (210); The lateral movement mechanism (230) is used to drive the lifting mechanism (240) to move laterally between the needle picking position and the needle loading position; The lifting mechanism (240) is used to drive the needle-picking gripper mechanism (250) to lift up and down; The needle-retrieving gripper mechanism (250) is used to remove the needle (300) from the gripper mechanism (140) and insert the needle (300) into the needle (300) holder.

11. The needle loading device according to claim 10, characterized in that, The lateral movement mechanism (230) includes a lateral movement base (231), a lateral movement drive (232), and a lateral movement slide rail assembly (233); The lifting mechanism (240) is mounted on the transverse base (231) via the transverse slide rail assembly (233); The lateral drive component (232) is fixed to the lateral base (231) and is connected to the lifting mechanism (240) in a transmission manner.

12. The needle loading device according to claim 10, characterized in that, The lifting mechanism (240) includes a lifting seat (241), a lifting drive component (242), and a lifting slide rail assembly; The lifting seat (241) is disposed on the transverse mechanism (230); The needle-picking gripper mechanism (250) is slidably mounted on the lifting seat (241) via the lifting slide rail assembly; The lifting drive (242) is fixed to the transverse mechanism (230) and is connected to the needle-picking gripper mechanism (250) in a transmission manner.

13. The needle loading device according to claim 10, characterized in that, The needle retrieval gripper mechanism (250) includes a needle retrieval gripper base (251), a needle retrieval gripper drive (252), and a needle retrieval gripper (253); The needle-taking gripper seat (251) is disposed on the lifting mechanism (240); The needle retrieval gripper drive (252) is fixed to the needle retrieval gripper seat (251) and connected to the needle retrieval gripper (253), and is used to drive the needle retrieval gripper (253) to clamp or release the needle tip (300).

14. The needle loading device according to claim 10, characterized in that, The loading and unloading mechanism (220) includes a material base (221), a telescopic translation drive, a telescopic translation slide rail assembly, a support gripper base (222), a support gripper drive, and a support gripper (223); The bracket gripper seat (222) is slidably disposed on the material seat (221) via the telescopic translation slide rail assembly; The telescopic translation drive component is connected to the bracket gripper seat (222) in a transmission connection; The bracket gripper drive is fixed to the bracket gripper seat (222) and connected to the bracket gripper (223), and is used to drive the bracket gripper (223) to clamp or release the needle (300) bracket.

15. The needle loading device according to claim 10, characterized in that, The platform mechanism (210) includes a platform support (211), a support platform (212), a platform lifting slide rail assembly (216), and a platform lifting drive component (213); The support platform (212) is slidably disposed on the support bracket (211) via the support platform lifting slide rail assembly (216), and the support platform (212) is used for placing the needle (300) support. The platform lifting drive (213) is connected to the support platform (212) in a transmission connection.

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