Insulin needle assembling device

Abstract

The present invention relates to the technical field of insulin needle processing devices, and in particular to an insulin needle assembling device. The present invention has the advantages of highly automated and modular design. By means of the close cooperation of a needle supply portion, a needle pickup portion, a needle insertion portion and a seat supply portion, a complete process from needle supply to precise fitting of needles with needle seats is realized, thereby not only improving the assembly efficiency and accuracy, but also ensuring the hygiene and safety throughout the process.

Description

An insulin needle assembly device Technical Field

[0001] This invention relates to the field of insulin needle processing equipment technology, specifically an insulin needle assembly device. Background Technology

[0002] In the production of insulin needles, a crucial step involves attaching the needle to the needle hub. In the early stages of insulin needle production, due to technological limitations, this was primarily done manually. While manual assembly of the needle and hub was possible, it was inefficient, and the sharp needles posed a significant risk of injury to workers. Furthermore, variations in the force applied by different workers resulted in needles of inconsistent lengths, failing to meet standardized production requirements. Therefore, a system capable of replacing manual labor in assembling the needle and hub is urgently needed. Summary of the Invention

[0003] To avoid and overcome the technical problems existing in the prior art, the present invention provides an insulin needle assembly device. The present invention can effectively reduce manual intervention, thereby improving the production efficiency of insulin needles.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An insulin needle assembly device includes a needle supply section for providing a needle tip, a needle retrieval section for removing the needle tip from the needle supply section, a needle insertion section for taking the needle tip retrieved from the needle retrieval section and inserting it into a needle hub located at a needle insertion position, and a needle hub supply section for continuously supplying a needle hub to the needle insertion position.

[0006] As a further embodiment of the present invention: the needle supply unit includes a needle box mounted on a support frame for storing needles, with horizontally placed needles stacked side by side in the needle box from top to bottom; a rectangular needle drop hole is provided at the bottom of the needle box for the needles to fall vertically, and the length direction of the needle drop hole is parallel to the length direction of the needles in the needle box; a needle retrieval plate is rotatably mounted below the needle drop hole, and the rotation axis of the needle retrieval plate is parallel to the length direction of the needles in the needle box; the outer circumferential surface of the rotating needle retrieval plate fits against the opening of the needle drop hole to block the needles in the needle drop hole, and a needle storage slot is provided on the outer circumferential surface of the needle retrieval plate, which can only accommodate one needle at a time, and the length direction of the needle storage slot is parallel to the length direction of the needles in the needle box; the needle storage slot is provided with a magnetic element that can magnetically attract the needles in the needle storage slot, and the tail of the needle protrudes out of the needle storage slot.

[0007] As a further embodiment of the present invention: guide grooves extending vertically are provided on both sides of the needle box, and pressure rods are inserted into both guide grooves at the same time. The pressure rods press on the needle head, and counterweights are installed at both ends of the pressure rods.

[0008] As a further aspect of the present invention: the pressure rod is cylindrical, and a rotation gap is left between it and the guide groove; the rod body of the pressure rod has multiple annular grooves with a depth smaller than the needle radius, which are used to embed the uppermost row of needles in the needle box, and each annular groove is arranged sequentially connected along the axial direction of the pressure rod.

[0009] As a further embodiment of the present invention: the counterweight is a hollow cylinder and is arranged coaxially with the pressure rod; a cylindrical rolling cavity is formed coaxially inside the counterweight, and multiple balls are placed inside the rolling cavity. Multiple protrusions are provided on the inner wall surface of the rolling cavity that can collide with the balls and bounce the balls up, and a channel is formed between adjacent protrusions for the balls to pass through.

[0010] As a further embodiment of the present invention: the needle retrieval part includes a needle retrieval clamp that can be opened and closed to clamp the tail of the needle in the needle storage groove rotated to the needle retrieval position, and a needle retrieval telescopic rod for mounting the needle retrieval clamp, and the needle retrieval telescopic rod can push the needle retrieval clamp that clamps the needle to the junction position along the length direction of the needle storage groove opening at the needle retrieval position.

[0011] As a further embodiment of the present invention: a support plate is installed on the telescopic end of the needle-retrieving telescopic rod that extends and retracts in the vertical direction, and the needle-retrieving forceps are rotatably mounted on the support plate, with the rotation axis of the needle-retrieving forceps coinciding with the axis of the needle tip on the needle-retrieving forceps.

[0012] As a further embodiment of the present invention: the needle insertion part includes a multi-degree-of-freedom manipulator, the end of which is fixedly mounted with a needle insertion clamp that can open and close to grip the needle head at the junction position. The multi-degree-of-freedom manipulator can drive the needle insertion clamp to vertically insert the needle into the needle seat in the needle seat part. The multi-degree-of-freedom manipulator includes an axial telescopic rod fixedly mounted on the worktable, the extension direction of the axial telescopic rod being parallel to the axial direction of the needle at the junction position. A radial telescopic rod is fixedly mounted on the extension end of the axial telescopic rod, the extension direction of the radial telescopic rod being perpendicular to the extension direction of the axial telescopic rod. A vertical telescopic rod is fixedly mounted on the extension end of the radial telescopic rod, the extension direction of the vertical telescopic rod being perpendicular to the extension direction of the radial telescopic rod. A fixing plate is fixedly mounted on the extension end of the vertical telescopic rod, the needle insertion clamp is hinged to the fixing plate, and the flipping part can perform a flipping action to rotate the needle to a vertical state with the needle tail pointing downwards.

[0013] As a further embodiment of the present invention: the flipping part includes a drive telescopic rod mounted on a fixed plate, a rack is fixedly mounted on the telescopic end of the drive telescopic rod, and the length direction of the rack is parallel to the axial direction of the needle located at the intersection position; the needle inserter is hinged to the fixed plate through a hinge shaft, and the hinge shaft and the needle inserter are fixedly connected to each other; the end of the hinge shaft is coaxially fixedly connected to a gear that meshes with the rack to drive the needle inserter to complete the flipping action.

[0014] As a further embodiment of the present invention: the feeding unit includes a rotating ring rotatably mounted on the workbench, the rotation axis of the rotating ring being arranged vertically; a plurality of positioning blocks are evenly arranged sequentially along the circumference of the rotating ring on the upper ring surface, and the positioning blocks are provided with slots for engaging the needle seats, and the rotating ring can perform a feeding action that causes each needle seat to rotate sequentially to the needle insertion position below the needle insertion clamp.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The advantages of this invention lie in its highly automated and modular design. Through the close cooperation of the needle supply section, needle retrieval section, needle insertion section and needle seat section, a complete process from needle supply to precise combination of needle and needle seat is realized, which not only improves assembly efficiency and accuracy, but also ensures hygiene and safety throughout the process.

[0017] 2. The needle supply unit of this invention uses a needle box mounted on a support frame to store needles in an orderly manner. Each needle is placed horizontally and stacked side by side. This design not only saves space but also improves the stability and accessibility of the needles. More ingeniously, the bottom of the needle box has a rectangular needle drop hole, the length of which is parallel to the length of the needle, ensuring the stability and accuracy of the needle when it falls vertically. Furthermore, the needle supply unit is equipped with a rotating needle retrieval plate, the axis of rotation of which is aligned with the length of the needle. This design allows the retrieval plate to effectively hold the needle in the drop hole when its outer circumference is in contact with the hole, preventing accidental drops. The needle storage slot on the retrieval plate is also ingeniously designed, accommodating only one needle at a time, ensuring precision and consistency in needle retrieval. Simultaneously, the storage slot is equipped with a magnetic component that magnetically attracts the needle, allowing the tail of the needle to protrude from the storage slot, facilitating retrieval while ensuring needle stability and safety.

[0018] 3. The guide grooves and insertable pressure rods on both sides of the needle box further improve the stability and ease of needle retrieval. The pressure rod presses on the needle, maintaining balance through counterweights at both ends. A rotational clearance between the pressure rod and the guide groove allows for slight rotation under external force, flexibly adapting to needles of different sizes. The multiple coaxially recessed annular grooves on the pressure rod further facilitate the insertion of the top row of needles into the needle box. The pressure rod presses on the middle of the needles inside the needle box, while the top row of needles is embedded in the annular grooves, maintaining stability and preventing misalignment due to device vibration during processing, thus making needle retrieval smoother.

[0019] 4. The internal rolling cavity and ball bearing design of the counterweight not only reduces its weight but also increases the downward pressure of the pressure rod through the collision and jolting of the balls against the protrusions. This prevents needles from getting stuck due to pressure inside the needle box, thus improving the stability and flexibility of the needle retrieval process. This design not only improves assembly efficiency but also ensures the safety and reliability of the entire assembly process.

[0020] 5. The needle retrieval unit, through the combination of a collapsible needle pliers and a needle retrieval telescopic rod, achieves precise gripping and pushing of the needle tail in the needle storage slot. The needle pliers can clamp the needle tail in the needle storage slot rotated to the needle retrieval position, while the needle retrieval telescopic rod can push the needle pliers holding the needle head along the length of the needle storage slot opening at the needle retrieval position to the junction position, providing convenience for subsequent needle insertion operations.

[0021] 6. In the design of the needle extraction telescopic rod, a support plate is installed on its telescopic end. The needle extraction forceps are rotated and mounted on the support plate, and the rotation axis of the needle extraction forceps coincides with the axis of the needle tip on the needle extraction forceps. This design ensures the stability and accuracy of the needle extraction forceps when gripping the needle tip, and avoids needle extraction failure or needle tip damage caused by misalignment between the axis of the needle extraction forceps and the needle tip.

[0022] 7. The needle insertion section employs a multi-degree-of-freedom robotic arm. The end effector of this arm is fixedly equipped with needle clamps that can open and close to grip the needle tip at the junction position. The multi-degree-of-freedom robotic arm drives the needle clamps to vertically insert the needle tip into the needle holder in the needle supply section, achieving automation and precision in the needle insertion process. The three telescopic rods of the robotic arm work together to ensure that the needle clamps accurately reach the junction position, grip the needle tip, and then vertically insert it into the needle holder.

[0023] 8. The needle inserter is also equipped with a flipping mechanism, which, through a combination of a drive telescopic rod, rack, and gear, enables the needle inserter to flip. The flipping mechanism can rotate the needle to a vertical position with the tail of the needle pointing downwards, ensuring a precise connection between the needle and the needle holder.

[0024] 9. The needle holder supply unit adopts a rotating ring mounted on the worktable. Multiple positioning blocks are evenly arranged circumferentially on the ring, and the positioning blocks have slots for engaging the needle holders. The ring can perform a feeding action that rotates each needle holder sequentially to the needle insertion position below the needle insertion clamp, providing a continuous supply of needle holders to the needle insertion unit. Attached Figure Description

[0025] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0026] Figure 2 is a front view of the assembly structure of the needle supply section and the needle removal section in this invention.

[0027] Figure 2 is a rear view of the assembly structure of the needle supply section and the needle removal section in this invention.

[0028] Figure 4 is a schematic diagram of the disassembled structure of the needle supply part in this invention.

[0029] Figure 5 is a schematic diagram of the assembly structure of the pressure bar and the counterweight in this invention.

[0030] Figure 6 is a schematic diagram of the needle-retrieving disc in this invention.

[0031] Figure 7 is a schematic diagram of the structure of the seat in this invention.

[0032] Figure 8 is a schematic diagram of the assembly structure of the support rod and roller in this invention.

[0033] In the diagram: 1. Workbench; 11. Support frame; 2. Needle supply section; 21. Needle box; 211. Guide groove; 212. Needle drop hole; 213. Positioning hole; 22. Needle extraction plate; 221. Needle storage slot; 23. Pressure rod; 231. Annular groove; 24. Counterweight; 241. Protrusion; 242. Ball bearing; 25. Stop pin; 3. Needle extraction section; 31. Needle extraction telescopic rod; 32. Support plate; 33. Needle extraction motor; 34. Needle extraction pliers; 4. Needle insertion section; 41. Multi-degree-of-freedom manipulator; 411, Axial telescopic rod; 412, Radial telescopic rod; 413, Vertical telescopic rod; 42, Fixing plate; 43, Flipping part; 431, Drive telescopic rod; 432, Rack; 433, Hinge shaft; 434, Gear; 44, Pin inserter; 5, Sealing part; 51, Rotary ring; 52, Positioning block; 521, Slot; 53, Support rod; 531, Roller; 6, Identification part; 61, Camera; a, Needle; b, Needle base. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please refer to Figures 1 to 8. In this embodiment of the invention, an insulin needle assembly device includes a workbench 1 installed on the ground. The workbench 1 is sequentially equipped with a needle supply section 2, a needle retrieval section 3, a needle insertion section 4, a flipping section 43, a seat section 5, and an identification section 6.

[0036] The needle holder 5 includes a rotating ring 51 rotatably mounted on a worktable 1. The ring surface of the rotating ring 51 is horizontally arranged, and the rotation axis of the rotating ring 51 is vertically arranged. Multiple positioning blocks 52 are evenly arranged sequentially along the circumference of the upper ring surface of the rotating ring 51, and each positioning block 52 has a slot 521 for engaging the needle holder b. The rotating ring 51 rotates, causing each needle holder b engaged in the slot 521 to rotate sequentially to the needle insertion position below the needle inserter 44, awaiting needle insertion. To improve the stability of the rotating ring 51, multiple support rods 53 are installed on the worktable 1 at the bottom of the rotating ring 51, and each support rod 53 is arranged equidistantly along the circumference of the rotating ring 51. A roller 531 is hinged to the top of the support rod 53. The rotation axis of the roller 531 is perpendicular to the rotation axis of the rotating ring 51, and the wheel surface of the roller 531 rolls and fits together with the lower ring surface of the rotating ring 51. When the servo motor drives the rotating ring 51 to rotate, the support rod 53 and the roller 531 cooperate to avoid the rotating ring 51 from becoming eccentric and improve the stability of the rotating ring 51.

[0037] The needle supply unit 2 includes a needle box 21 mounted on a support frame 11 for storing needles a. The needle box 21 has a needle storage space that is wider at the top and narrower at the bottom, with the thickness of the storage space slightly greater than the length of the needle a to prevent the needle a from getting stuck in the needle box 21. This allows the horizontally placed needles a to be stacked side-by-side in the needle box 21 from top to bottom. A rectangular needle drop hole 212 is provided at the bottom of the needle box 21 for the needles a to fall vertically, and the length direction of the needle drop hole 212 is parallel to the length direction of the needles a inside the needle box 21. A disc-shaped needle pick-up plate 22 is rotatably mounted below the needle drop hole 212, and the axis of rotation of the needle pick-up plate 22 is parallel to the length direction of the needles a inside the needle box 21. The outer circumferential surface of the rotating needle-retrieving disc 22 is fitted against the opening of the needle-dropping hole 212 to block the needle a in the needle-dropping hole 212. Then, a needle storage groove 221 is opened on the outer circumferential surface of the needle-retrieving disc 22, which can only hold one needle a at a time. The length direction of the needle storage groove 221 is parallel to the length direction of the needle a in the needle box 21. The needle storage groove 221 is equipped with a magnetic element that can magnetically attract the needle a in the needle storage groove 221. The tail of the needle a is exposed outside the needle storage groove 221. When the needle-retrieving disc 22 rotates under the drive of the servo motor, the needle storage groove 221 passes through the needle-dropping hole 212, and one needle a falls into the needle storage groove 221. The tail of the needle a is exposed outside the needle storage groove 221, which is convenient for the needle-retrieving forceps 34 to grasp. Under the attraction of the electromagnet acting as the magnetic component, needle a rotates 180 degrees from the needle storage slot 221 away from the drop hole and to the lowest needle retrieval position of the needle retrieval plate 22, where it is picked up by the needle retrieval forceps 34. Positioning holes 213 are provided on both sides of the needle drop hole 212 on the needle box 21. U-shaped locking pins 25 are inserted into the positioning holes 213 to block the needle drop hole 212 and prevent needle a from falling, thus blocking needle a when changing the needle retrieval plate 22. The needle retrieval plate 22 can also be used to retrieve needles using vacuum suction. A small vacuum pump is arranged in the needle retrieval plate 22, connected to a suction hole at the bottom of the needle storage slot 221, thereby attracting needle a into the needle storage slot 221.

[0038] As the needle a is continuously carried away by the needle-removing disc 22, the needle a inside the needle box 21 gradually sinks. To further improve the stability of the sinking, guide grooves 211 extending vertically are opened on both sides of the needle box 21. Pressure rods 23 are inserted into both guide grooves 211, pressing the needle a. Counterweights 24 are installed at both ends of the pressure rods 23. The pressure rods 23 are cylindrical, and there is a rotation gap between them and the guide grooves 211. The rod body of the pressure rod 23 has multiple annular grooves 231 with a depth smaller than the radius of the needle a, which are used to embed the uppermost row of needles a in the needle box 21. The annular grooves 231 are arranged sequentially along the axial direction of the pressure rod 23. The pressure rod 23 presses against the middle of the needle a inside the needle box 21, while the uppermost row of needles a is embedded in the annular groove 231, which can keep them stable and prevent the needles a from shaking and becoming misaligned due to the vibration of the device during processing, making the needle removal process smoother.

[0039] The counterweight 24 is a hollow cylinder, coaxially arranged with the pressure rod 23. A cylindrical rolling cavity is coaxially formed inside the counterweight 24, containing multiple balls 242. Multiple protrusions 241 are provided on the inner wall of the rolling cavity, which collide with and bounce the balls 242. Channels for the balls 242 to pass through are formed between adjacent protrusions 241. This design of the rolling cavity and balls 242 inside the counterweight 24 not only reduces the weight of the counterweight 24, but also, during operation, the vibration causes the balls 242 to collide with and bounce against the protrusions 241, increasing the downward pressure of the pressure rod 23. This prevents the needle a from becoming stuck due to pressure inside the needle box 21, thus improving the stability during needle retrieval. When the device vibrates during operation, due to the clearance fit between the pressure rod 23 and the guide hole, and the small rolling between the annular groove 231 and the needle a, the ball 242 rolls between the protrusions 241 in the rolling cavity; at the same time, the slightly upward protrusions 241 will cause the ball 242 passing by to be bounced up and then fall down to collide with the counterweight 24, thereby providing the pressure rod 23 with an intermittent and repetitive downward vibration force to regularly push the needle a to gather at the discharge hole, avoiding the needle a on the lower side of the needle box 21 from being stuck together by the needle a on the upper side, thus improving the continuity of material supply.

[0040] The needle retrieval unit 3 includes a needle retrieval clamp 34 that can open and close to clamp the tail of the needle a in the needle storage slot 221, which is rotated to the needle retrieval position, and a needle retrieval telescopic rod 31 for mounting the needle retrieval clamp 34. The needle retrieval clamp 34 adopts a common automatic clamping jaw structure, which can achieve the clamping of the needle a. The telescopic motor, which serves as the needle retrieval telescopic rod 31, drives the needle retrieval clamp 34 to move to the needle retrieval position, and the jaws open and clamp the tail of the needle a. Then, the needle retrieval telescopic rod 31 extends, pushing the needle a downward along the length of the needle storage slot 221 to the junction position. At this time, the camera 61 in the recognition unit 6 will take a picture of the needle a in the junction position and send the picture to the computer. The computer calculates the angle at which the needle a needs to be rotated to the standard position based on the position of the cut of the needle a in the picture, and then transmits the information to the needle retrieval motor 33. The drive motor drives the needle retrieval clamp 34 to rotate around the axis of the needle a on the needle retrieval clamp 34 by the corresponding angle so that the needle a is in the standard position.

[0041] The needle insertion section 4 includes a multi-degree-of-freedom manipulator 41. A needle clamp 44, which can open and close to grip the head of the needle a in the junction position, is fixedly mounted at the end of the manipulator 41. The manipulator 41 can drive the needle clamp 44 to vertically insert the needle a into the needle holder b in the needle seat section 5. The needle clamp 44 adopts a commonly used automatic clamping jaw structure, sufficient to grip the needle a. The multi-degree-of-freedom manipulator 41 includes an axial telescopic rod 411 fixedly mounted on the worktable 1, the telescopic direction of which is parallel to the axial direction of the needle a located at the junction; a radial telescopic rod 412 is fixedly mounted on the telescopic end of the axial telescopic rod 411, the telescopic direction of which is perpendicular to the telescopic direction of the axial telescopic rod 411; a vertical telescopic rod 413 is fixedly mounted on the telescopic end of the radial telescopic rod 412, the telescopic direction of which is perpendicular to the telescopic direction of the radial telescopic rod 412; a fixing plate 42 is fixedly mounted on the telescopic end of the vertical telescopic rod 413, a needle inserter 44 is hinged to the fixing plate 42, and a flipping part 43 can perform a flipping action to rotate the needle a to a vertical state with the tail of the needle a pointing downwards.

[0042] The flipping unit 43 includes a drive telescopic rod 431 mounted on a fixed plate 42. A rack 432 is fixedly mounted on the telescopic end of the drive telescopic rod 431, and the length direction of the rack 432 is parallel to the axial direction of the needle a located at the junction position. The needle inserter 44 is hinged to the fixed plate 42 via a hinge shaft 433, and the hinge shaft 433 and the needle inserter 44 are fixedly connected to each other. A gear 434 that meshes with the rack 432 is coaxially fixed to the end of the hinge shaft 433 to drive the needle inserter 44 to complete the flipping action. The flipping action of the needle inserter 44 is realized by the combination of the drive telescopic rod 431, the rack 432 and the gear 434. The flipping unit 43 can rotate the needle a to a vertical position with the tail of the needle a pointing downwards, which provides a guarantee for the precise engagement of the needle a and the needle seat b.

[0043] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An insulin needle assembly device, characterized in that, It includes a needle supply section (2) that provides a needle (a), a needle removal section (3) that removes the needle (a) from the needle supply section (2), a needle insertion section (4) that takes the needle (a) removed from the needle removal section (3) and inserts it into a needle holder (b) located at the needle insertion position, and a needle holder section (5) that continuously provides a needle holder (b) to the needle insertion position.

2. The insulin needle assembly device according to claim 1, characterized in that, The needle supply unit (2) includes a needle box (21) mounted on a support frame (11) for storing needles (a). The horizontally placed needles (a) are stacked side by side in the needle box (21) from top to bottom. A rectangular needle drop hole (212) is provided at the bottom of the needle box (21) for the needles (a) to fall vertically. The length direction of the needle drop hole (212) is parallel to the length direction of the needles (a) in the needle box (21). A needle pick-up plate (22) is rotatably mounted below the needle drop hole (212). The axis of rotation of the needle pick-up plate (22) is parallel to the axis of rotation of the needles (a) in the needle box (21). The length directions are parallel to each other; the outer circumferential surface of the rotating needle picker (22) is attached to the opening of the needle drop hole (212) to block the needle (a) in the needle drop hole (212). The outer circumferential surface of the needle picker (22) is provided with a needle storage groove (221) that can only accommodate one needle (a) at a time. The length direction of the needle storage groove (221) is parallel to the length direction of the needle (a) in the needle box (21). The needle storage groove (221) is provided with a magnetic element that can magnetically attract the needle (a) in the needle storage groove (221), and the tail of the needle (a) protrudes out of the needle storage groove (221).

3. The insulin needle assembly device according to claim 2, characterized in that, Both sides of the needle box (21) are provided with guide grooves (211) extending in the vertical direction. Pressure rods (23) are inserted into the two guide grooves (211) at the same time. The pressure rods (23) press on the needle tip (a), and counterweights (24) are installed at both ends of the pressure rods (23).

4. The insulin needle assembly device according to claim 3, characterized in that, The pressure rod (23) is cylindrical and has a rotation gap between it and the guide groove (211). The rod body of the pressure rod (23) has multiple annular grooves (231) with a depth smaller than the radius of the needle (a) and used to embed the uppermost row of needles (a) of the needle box (21). The annular grooves (231) are connected in sequence along the axial direction of the pressure rod (23).

5. The insulin needle assembly device according to claim 4, characterized in that, The counterweight (24) is a hollow cylinder and is arranged coaxially with the pressure rod (23). The counterweight (24) has a cylindrical rolling cavity coaxially formed inside, and multiple balls (242) are placed inside the rolling cavity. Multiple protrusions (241) are provided on the inner wall of the rolling cavity, which can collide with the balls (242) and bounce the balls (242). A channel for the balls (242) to pass through is formed between adjacent protrusions (241).

6. An insulin needle assembly device according to any one of claims 1-5, characterized in that, The needle retrieval unit (3) includes a needle retrieval clamp (34) that can be opened and closed to clamp the tail of the needle tip (a) in the needle storage groove (221) rotated to the needle retrieval position, and a needle retrieval telescopic rod (31) for mounting the needle retrieval clamp (34), and the needle retrieval telescopic rod (31) can push the needle retrieval clamp (34) that clamps the needle tip (a) along the long direction of the opening of the needle storage groove (221) at the needle retrieval position to the junction position.

7. The insulin needle assembly device according to claim 6, characterized in that, A support plate (32) is installed on the telescopic end of the needle-retrieving telescopic rod (31) that extends and retracts in the vertical direction. The needle-retrieving forceps (34) is rotated and mounted on the support plate (32), and the axis of rotation of the needle-retrieving forceps (34) coincides with the axis of the needle (a) on the needle-retrieving forceps (34).

8. The insulin needle assembly device according to claim 7, characterized in that, The needle insertion section (4) includes a multi-degree-of-freedom manipulator (41), and a needle insertion clamp (44) that can open and close to grip the head of the needle (a) at the junction position is fixedly installed at the end of the multi-degree-of-freedom manipulator (41). The multi-degree-of-freedom manipulator (41) can drive the needle insertion clamp (44) to vertically insert the needle (a) into the needle seat (b) in the seat section (5). The multi-degree-of-freedom manipulator (41) includes an axial telescopic rod (411) fixedly installed on the worktable (1). The extension and retraction direction of the axial telescopic rod (411) is parallel to the axis of the needle (a) located at the junction position. The extension and retraction end of the axial telescopic rod (411) is fixed. A radial telescopic rod (412) is installed, and the telescopic direction of the radial telescopic rod (412) is perpendicular to the telescopic direction of the axial telescopic rod (411). A vertical telescopic rod (413) is fixedly installed on the telescopic end of the radial telescopic rod (412), and the telescopic direction of the vertical telescopic rod (413) is perpendicular to the telescopic direction of the radial telescopic rod (412). A fixing plate (42) is fixedly installed on the telescopic end of the vertical telescopic rod (413), and a needle clamp (44) is hinged to the fixing plate (42). The flipping part (43) can perform a flipping action to rotate the needle (a) to a vertical state and make the tail of the needle (a) face downward.

9. An insulin needle assembly device according to claim 8, characterized in that, The flipping part (43) includes a drive telescopic rod (431) mounted on a fixed plate (42). A rack (432) is fixedly mounted on the telescopic end of the drive telescopic rod (431), and the length direction of the rack (432) is parallel to the axial direction of the needle (a) located at the junction position. The needle inserter (44) is hinged to the fixed plate (42) through a hinge shaft (433), and the hinge shaft (433) and the needle inserter (44) are fixedly connected to each other. A gear (434) that meshes with the rack (432) is coaxially fixed to the end of the hinge shaft (433) to drive the needle inserter (44) to complete the flipping action.

10. An insulin needle assembly device according to claim 9, characterized in that, The feeding unit (5) includes a rotating ring (51) rotatably mounted on the worktable (1), with the rotation axis of the rotating ring (51) arranged vertically; multiple positioning blocks (52) are evenly arranged in sequence along the circumference of the upper ring surface of the rotating ring (51), and the positioning blocks (52) are provided with slots (521) for locking the needle seats (b). The rotating ring (51) can perform a feeding action to make each needle seat (b) rotate sequentially to the needle insertion position below the needle insertion clamp (44).

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