CN111729861B

CN111729861B - Head and tail recognition sorting device for medical suture needles and control method thereof

Info

Publication number: CN111729861B
Application number: CN202010565819.8A
Authority: CN
Inventors: 侍寿永; 刘晓艳; 关士岩; 赵冉冉
Original assignee: Jiangsu Vocational College of Electronics and Information
Current assignee: Jiangsu Vocational College of Electronics and Information
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2021-09-24
Anticipated expiration: 2040-06-19
Also published as: CN111729861A

Abstract

The invention discloses a head and tail recognition sorting device for medical suture needles, which comprises a control cabinet, wherein the top of the control cabinet is provided with an operating platform; a needle plate is detachably arranged in the middle of the operating table, and a plurality of parallel needle grooves are formed in the needle plate; a first sliding rail and a second sliding rail which are parallel to the needle plate are respectively fixed on two sides of the needle plate, a needle hopper which can move along the first sliding rail and acts on the needle plate is installed on the first sliding rail through a first connecting piece, and needles to be sorted are placed in the needle hopper; cameras for collecting the orientation of the needles to be sorted in the needle grooves are respectively arranged on two sides of the needle hopper along the arrangement direction of the needle plate; a third sliding rail which can run along the second sliding rail and is vertical to the second sliding rail is arranged on the second sliding rail through a second connecting piece; a sorting mechanism capable of running along the third sliding rail is arranged on the third sliding rail through a third connecting piece; the sorting mechanism comprises an electromagnetic suction plate acting on the needle plate and two needle boxes fixedly connected to the three bottoms of the sliding rail. The invention can sort the suture needles with various specifications and has good universality.

Description

Head and tail recognition sorting device for medical suture needles and control method thereof

Technical Field

The invention relates to the technical field of production of medical suture needles, in particular to a head and tail recognition sorting device for medical suture needles and a control method thereof.

Background

The suture needle is a necessary tool in the surgical operation of the hospital, and the daily use quantity is large, and in the production process, a plurality of processes (such as punching, heat treatment, fine sharpening, flattening, bending and the like) are provided; before processing, the sewing needles to be processed are required to be consistent in the head-tail direction, and then the sewing needles can be orderly and quickly produced in the later stage. After the sewing needle is processed by a plurality of processes, errors occur in the blanking process, so that the heads and the tails of partial sewing needles are disordered, and the next processing process needing the head and the tail in order cannot be carried out; therefore, the needle arrangement work is indispensable.

At present, in a plurality of small suture needle production enterprises, the needle arrangement work is mainly recognized by naked eyes; the labor load is large, and the working makes the eyes of the operator easy to fatigue and easy to make mistakes; the production cost of manual detection is high, and the production efficiency is low; and the detection error is large, and the error rate is extremely high. Therefore, an automatic intelligent recognition and sorting device is urgently needed to save manpower, material resources and financial resources and improve production efficiency.

Disclosure of Invention

In order to solve the technical problems, the technical scheme provides a head and tail identification sorting device for medical suture needles and a control method thereof, and the problems can be effectively solved.

The invention is realized by the following technical scheme:

a head and tail recognition sorting device for medical suture needles comprises a control cabinet, wherein a master controller is installed inside the control cabinet, the master controller comprises a processor for image analysis and a PLC (programmable logic controller), and the processor is in signal connection with the PLC; a touch screen, a control button and an indicator light which are connected with the PLC are arranged on the side wall of the control cabinet; an operation table is arranged at the top of the control cabinet; a needle plate is detachably arranged in the middle of the operating table, and a plurality of parallel needle grooves are formed in the needle plate; a first sliding rail and a second sliding rail which are parallel to the needle plate are respectively fixed on two sides of the needle plate, a needle throwing mechanism which can run along the first sliding rail and acts on the needle plate is installed on the first sliding rail through a first connecting piece, the needle throwing mechanism comprises a needle hopper, and a suture needle to be detected is placed in the needle hopper; cameras for collecting the orientation of a sewing needle to be detected in a needle groove are respectively arranged on two sides of the needle hopper along the arrangement direction of the needle plate, and the cameras are in signal connection with the processor to transmit images; a third sliding rail which can run along the second sliding rail and is vertical to the second sliding rail is arranged on the second sliding rail through a second connecting piece; a sorting mechanism capable of running along the third sliding rail is arranged on the third sliding rail through a third connecting piece; the sorting mechanism comprises an electromagnetic suction plate acting on the needle plate and two needle boxes fixedly connected to the three bottoms of the slide rails; and the driving devices which are respectively connected with the PLC are arranged at one ends of the first sliding rail, the second sliding rail and the third sliding rail.

Furthermore, the needle plate is provided with a plurality of needle plates with different models, the needle plates with different models are consistent in shape and can be detachably arranged at a limit position in the middle of the operating platform; the needle groove is set according to various types of suture needles.

Furthermore, the top surface of the needle plate is provided with a plurality of evenly distributed needle grooves with the same size.

Furthermore, 32 needle grooves are formed in the needle plate.

Furthermore, the driving device comprises a first driving motor, a second driving motor and a third driving motor, wherein the first driving motor is respectively arranged at one end part of the slide rail; the output ends of the first driving motor, the second driving motor and the third driving motor are respectively in transmission connection with a first lead screw, a second lead screw and a third lead screw; fixed limiting rods are arranged on two sides of the first screw rod, the second screw rod and the third screw rod respectively through respective fixed blocks; the screw rod and the limiting rod are provided with sliding blocks, and the sliding blocks move left and right or back and forth on the screw rod along with the positive rotation and the negative rotation of the screw rod.

Furthermore, two ends of the fixed limiting rod are respectively and fixedly provided with a limiting switch; and the slide block is provided with an induction sheet matched with the limit switch.

Furthermore, the first connecting piece comprises a first sliding block arranged on the first sliding rail, a pillar is fixedly connected to the first sliding block, a cross rod is fixedly connected to the pillar, and the tail end of the cross rod is fixedly connected with the needle hopper.

Furthermore, an inner layer which has the same size with the needle hopper and can be integrally taken and placed is arranged in the needle hopper, and the inner layer is provided with the suture needle to be detected.

Furthermore, the inner cavity caliber of the slender leg part at the bottom of the needle hopper only accommodates one suture needle to fall; the bottom of the slender leg part is fixedly connected with a brush which is contacted with the top surface of the needle plate.

Furthermore, the second connecting piece comprises a second sliding block arranged on the second sliding rail, the second sliding block is fixedly connected with a connecting block, and the connecting block is fixedly connected with a third sliding rail.

Furthermore, the connecting piece III comprises a sliding block III arranged on the sliding rail III, an air cylinder is fixedly arranged on the sliding block III, and a piston rod of the air cylinder is arranged along the three directions of the sliding rail III; the tail end of the piston rod is fixedly connected with an electromagnetic suction plate through a support rod.

Furthermore, the cylinder is adopted and provided with a two-position five-way electromagnetic valve, and a piston rod in the cylinder extends out or retracts through ventilation and exhaust.

Furthermore, the shape of the electromagnetic suction plate is consistent with that of the needle groove, and a suction port of the electromagnetic suction plate is larger than a notch of the needle groove; when the electromagnetic suction plate is electrified, the sewing needle in the needle groove is magnetically sucked; when the electromagnetic suction plate is powered off, the electromagnetic suction plate loses magnetism to release the suture needle in the needle box.

Furthermore, a needle falling hopper I and a needle falling hopper II which can be integrally taken and placed are respectively arranged in the needle box; the first needle falling hopper and the second needle falling hopper are respectively used for receiving the sewing needles with the head and tail directions recognized; the needle falling hopper I is used for storing the sewing needles with the head ends facing the first sliding rail, and the needle falling hopper II is used for storing the sewing needles with the head ends facing the second sliding rail.

According to the medical suture needle head and tail identification and sorting device, the system work of the sorting device can execute needle feeding and sorting actions under the normal condition that the control device is powered on and an air compressor or an air source supplies air, namely, the pressure switch K is in a closed state, and the specific control method comprises the following steps:

step 1: before the needle plate is used for the first time or before the needle plate is replaced for the first time, the first test is carried out according to the space between the needle grooves on different needle plates, and the speed value and the time value of the driving motor are set on the touch screen before the test; manually inputting a set value on the touch screen, wherein the input value range is 1000-100000 pulses/S;

step 2: after the power supply is switched on for the first time, pressing a return-to-original-point button on the side wall of the touch screen or the control cabinet;

the piston of the cylinder retracts to the original point;

the first driving motor drives the first lead screw to rotate in the forward direction, drives the first sliding block and a needle throwing mechanism arranged on the first sliding block to move rightwards on the first lead screw until an induction sheet on the first sliding block touches an original point limit switch arranged at the right end of the first sliding rail and then stops moving;

meanwhile, the second driving motor drives the second lead screw to rotate in the positive direction to drive the second sliding block, a third sliding rail connected to the second sliding block and a sorting mechanism fixed on the third sliding rail to move rightwards until an induction sheet on the second sliding block touches an original point limit switch installed at the right end of the second sliding rail and then stops moving;

and step 3: after the origin point returning action is finished, an inner layer filled with the suture needle to be detected is placed in the needle hopper;

and 4, step 4: pressing down a 'system operation' button on the side wall of the touch screen or the control cabinet, and lighting system operation indicating lamps on the side wall of the touch screen and the control cabinet;

the first driving motor drives the first lead screw to rotate reversely, and drives the first sliding block and a needle throwing mechanism arranged on the sliding block to move leftwards (towards the other end provided with the limit switch) on the first lead screw;

after the first driving motor runs for a set time, the second driving motor starts to run, so that the sorting mechanism runs along with the needle throwing mechanism; meanwhile, a two-position five-way electromagnetic valve on the air cylinder is electrified, and a piston rod of the air cylinder extends out;

the sewing needle to be detected in the needle hopper falls to the top surface of the needle plate and is driven by the brush to travel together in the traveling process; when meeting the needle groove, the suture needle to be detected falls into the needle groove; the sewing needles to be detected in the needle hopper sequentially fall into the needle grooves along with the continuous leftward movement of the needle feeding mechanism;

in the process that the needle throwing mechanism moves leftwards, the camera on the right side of the needle hopper sequentially collects images of the suture needle to be detected falling into the needle groove and sends the collected images to the processor;

the processor analyzes the received image and identifies and records the head and tail directions of the suture needle to be detected; sending the analyzed data to a PLC (programmable logic controller), wherein the PLC controls the movement of the sorting mechanism by identifying the direction of the suture needle to be detected;

when the sorting mechanism moves to the first needle groove, the driving motor II stops running, the electromagnetic suction plate is electrified to generate magnetism to suck the suture needle to be detected in the first needle groove, after a period of time delay, the two-position five-way electromagnetic valve of the air cylinder is powered off, and the piston rod of the air cylinder retracts;

according to the identification condition of the head and tail orientation of the suture needle to be detected obtained through identification, if the head end orientation of the suture needle to be detected in the first needle groove is the first sliding rail, when a piston rod of the air cylinder retracts to a specified position, namely, right above the first needle falling hopper close to the needle plate, the electromagnetic suction plate is de-energized, and the suture needle in the first needle groove is released in the first needle falling hopper close to the needle plate when the magnetism disappears;

if the head end of the suture needle to be detected in the first needle groove faces the second sliding rail, the piston rod of the air cylinder retracts to the original position, and the driving motor III rotates forward for a certain number of turns while the piston rod returns to the original position, so that the air cylinder and the electromagnetic suction plate on the third sliding block and the suture needle to be detected adsorbed on the electromagnetic suction plate move towards the second needle falling hopper far away from the needle plate; when the piston rod retracts to the original point, the electromagnetic suction plate moves to the position right above the needle dropping hopper II far away from the needle plate along with the sliding block III, the driving motor III stops rotating in the forward direction, the electromagnetic suction plate loses power, and the magnetism disappears to release the suture needle to be detected in the first needle groove into the needle dropping hopper II far away from the needle plate; after needle releasing is finished, the driving motor III rotates reversely for a certain number of turns to enable the sliding block III to return, meanwhile, the two-position five-way electromagnetic valve on the air cylinder is electrified, and the piston rod of the air cylinder extends out to enable the electromagnetic suction plate to continuously act on the needle plate;

after the sorting mechanism finishes sorting the suture needle to be detected in the first needle groove, the screw rod II is driven to continuously rotate in the reverse direction, and the slide rail III and the sorting mechanism which are arranged on the slide block II and the slide block II are driven to continuously move leftwards (towards the other end provided with the limit switch) on the screw rod II; repeating the sorting action;

and 5: when the needle throwing mechanism on the first sliding block runs to the limit switch at the left end of the first lead screw under the driving of the first driving motor, the first driving motor stops running; waiting for the sorting mechanism on the second sliding block to run to the limit switch at the left end of the second lead screw;

when the sorting mechanism on the second sliding block runs to the limit switch at the left end of the second lead screw, the second driving motor stops running, and the sorting mechanism finishes the last sorting work of the batch;

if the head end of the suture needle to be detected which is sorted at the last time faces the first sliding rail, after the sorting action is finished, the third driving motor rotates forwards for a certain number of turns to drive the third sliding block and the air cylinder and the electromagnetic suction plate on the third sliding block to move in the direction far away from the needle plate until the electromagnetic suction plate moves to the limit switch at the end, farthest from the needle plate, on the third sliding rail, and the third driving motor stops rotating forwards; the needle throwing mechanism is convenient to turn;

if the head end of the suture needle to be detected which is sorted at the last time faces to the second sliding rail, after the sorting action is finished, the third driving motor does not act, and the electromagnetic suction plate is kept right above the second needle falling hopper far away from the needle plate; the needle throwing mechanism is convenient to turn;

the first driving motor drives the first lead screw to rotate in the positive direction, and drives the first sliding block and a needle throwing mechanism arranged on the sliding block to move rightwards on the first lead screw; the needle throwing process of the needle throwing mechanism on the needle plate is the same as that of the needle throwing mechanism, in the process, a camera arranged on the left side of the needle hopper carries out image acquisition on the suture needle to be detected in the needle groove, and the acquired image is sent to the processor;

after the first driving motor runs for a set time, the second driving motor starts to rotate in the forward direction, so that the sorting mechanism runs along with the needle throwing mechanism; meanwhile, the driving motor III rotates forwards to drive the sliding block III, the air cylinder and the sorting mechanism on the sliding block III to move towards the direction close to the needle plate, the two-position five-way electromagnetic valve on the air cylinder is electrified, and the piston rod of the air cylinder extends out, so that the electromagnetic suction plate continues to act on the needle plate;

the process of sorting the suture needles to be detected by the sorting mechanism is the same as the above;

after the needle throwing mechanism and the sorting mechanism complete a back-and-forth working period on the needle plate, the first driving motor, the second driving motor and the third driving motor automatically drive the first sliding block, the second sliding block and the third sliding block to return to the original point for correction, and a piston rod on the air cylinder returns to the original point for correction; automatically starting a new cycle after the correction is finished;

step 6: in the process of the needle throwing mechanism and the sorting of the sorting mechanism, the quantity of the sewing needles in the needle hopper and the two needle falling hoppers and the total quantity of the sorted sewing needles on the same day can be displayed on the touch screen in real time; when the quantity of the needle hoppers is small or the two needle falling hoppers are close to being stacked, the PLC can control the alarm lamp to send out light alarm indication to remind an operator to replace the inner layers of the needle hoppers and the needle falling hoppers in the needle box in time and take the sorted suture needles away;

and 7: when the sewing needs to be finished, a system stop button on the side wall of the touch screen or the control cabinet is pressed, the needle throwing mechanism moves to the position of the needle plate, which is not a needle groove, and stops running, the sorting mechanism releases the sewing needle to be detected on the electromagnetic suction plate to fall into the needle falling hopper, and the piston rod of the air cylinder retracts to the original position, and then stops running; i.e. the operation is complete.

Further, when the processor analyzes and identifies the image, the analyzing method comprises the following steps: if the head and tail orientation of the collected image is not consistent with that of the image prestored in the processor, the collected image is marked as '0', and if the head and tail orientation of the collected image is consistent with that of the image prestored in the processor, the collected image is marked as '1'; the needle plate has 32 needle grooves, namely data consisting of 32 bits of 0 or 1, and the data are stored in a variable storage area VD0 of the PLC.

Furthermore, the time setting comprises that the driving motor II starts to operate after the driving motor I operates for a certain time; the second driving motor stops after running for a certain time, and the second driving motor stops for a certain time.

(III) advantageous effects

Compared with the prior art, the head and tail recognition sorting device for the medical suture needles and the control method thereof provided by the invention have the following beneficial effects:

(1) this technical scheme collects the needle device of throwing of sewing needle, end to end discernment control and letter sorting mechanism as an organic whole, when the sewing needle of different specifications of production, as long as the contrast image of keeping in the faller that has the not unidimensional needle groove and the controller of change can, can sort the sewing needle of multiple specification, and the commonality is good.

(2) This technical scheme degree of automation is high, the visuality is good, can show the movement track of throwing needle mechanism, letter sorting mechanism in real time through the touch-sensitive screen, and the quantity of the needle that falls in the needle fill and the quantity of sewing needle in two needle fill that fall, system operating condition and warning indicator report to the police.

(3) This technical scheme uses three driving motor, and the three collaborative work, sorts the sewing needle efficiently to can save a large amount of manpowers and financial resources, easy operation moreover, it is convenient to maintain.

Drawings

FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention.

Fig. 2 is a schematic view of the overall structure of the needle-inserting mechanism of the present invention.

Fig. 3 is a schematic view of the overall structure of the sorting mechanism of the present invention.

Fig. 4 is a schematic view of the overall structure of the needle hopper of the present invention.

FIG. 5 is a schematic view of a configuration interface displayed by the touch screen according to the present invention.

Fig. 6 is a schematic circuit diagram of a PLC controller according to the present invention.

FIG. 7 is a schematic flowchart of the operation of example 2 of the present invention.

The labels in the figures are: 1-control cabinet, 11-touch screen, 12-control button, 13-indicator light, 14-cabinet door, 15-operation table, 2-needle plate, 21-needle groove, 3-slide rail I, 31-driving motor I, 32-screw rod I, 33-slide block I, 4-connecting piece I, 41-support, 42-cross bar, 5-needle throwing mechanism, 51-needle bucket, 511-hair brush, 52-camera, 6-slide rail II, 61-driving motor II, 62-screw rod II, 63-slide block II, 7-connecting piece II, 8-slide rail III, 81-driving motor III, 82-screw rod III, 83-slide block III, 9-sorting mechanism, 91-air cylinder/air cylinder, 911-piston rod, 92-support rod, 93-electromagnetic suction plate, 94-needle box, 10-fixed limiting rod, 16-limit switch and 17-induction sheet.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. The described embodiments are only some embodiments of the invention, not all embodiments. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and all of them should fall into the protection scope of the present invention.

Example 1:

as shown in fig. 1-5, a medical suture needle head-to-tail recognition sorting device comprises a rectangular control cabinet 1, wherein a master controller is installed inside the control cabinet 1, the master controller comprises a processor for image analysis and a PLC controller, and the processor is in signal connection with the PLC controller; a touch screen 11, a control button 12 and an indicator light 13 which are connected with a PLC are arranged on the side wall of one side of the control cabinet 1; a cabinet door 14 which can be opened is arranged on the side wall of the other side of the control cabinet 1; the maintenance in the later period is convenient. The top of the control cabinet 1 is provided with an operation table 15.

The middle part of the operating platform 15 is detachably provided with a needle plate 2 through a fastener or a buckle, and the needle plate 2 is provided with a plurality of mutually parallel needle grooves 21; the needle plate 2 is made of rectangular aluminum plates, a plurality of evenly distributed needle grooves 21 with the same size are milled on the top surface of the needle plate, and 32 needle grooves 21 are milled on each aluminum plate.

The needle plate 2 is provided with a plurality of needle plates 2 of different models, the needle plates 2 of different models have the same shape and are detachably arranged at a limited position in the middle of the operating platform 15; the different types of needle plates 2 are different in that the needle grooves 21 are set for respective different types of sewing needles. The size and the containing cavity of each needle groove 21 are consistent with the size and the shape of the suture needle to be detected.

A first slide rail 3 and a second slide rail 6 which are arranged in parallel with the needle plate 2 are respectively fixed on the two sides of the needle plate 2.

A first driving motor 31 connected with the PLC is arranged at one end of the first sliding rail 3; the output end of the first driving motor 31 is in transmission connection with a first lead screw 32, the upper side and the lower side of the first lead screw 32 are respectively and fixedly connected with a fixed limiting rod 10 through fixing blocks, the fixed limiting rod 10 positioned on the upper side is provided with limiting switches 16, and two ends of each limiting switch are respectively and fixedly installed on the fixed limiting rod 10 through fasteners; a first sliding block 33 is arranged on the first screw rod 32 and the fixed limiting rods on the upper side and the lower side, and the first sliding block 33 moves left and right on the first screw rod 32 along with the forward rotation and the reverse rotation of the first screw rod 32; and the top of the first sliding block 33 is provided with a sensing piece 17 matched with the limit switch 16.

A needle throwing mechanism 5 which can run along the first sliding rail 3 and acts on the needle plate 2 is arranged on the first sliding rail 3 through a first connecting piece 4, and the needle throwing mechanism 5 comprises a needle hopper 51; the first connecting piece 4 comprises a first sliding block 33 arranged on the first sliding rail 3 and a support 41 fixed on the top of the first sliding block 33 through welding or a fastener, a cross rod 42 is fixedly connected to the support 41, and the tail end of the cross rod 42 is fixedly connected with a needle hopper 51.

The needle hopper 51 is funnel-shaped, the upper part of the needle hopper is funnel-shaped, the top of the needle hopper is wide, and the length of the needle hopper is consistent with or slightly greater than the length of the suture needle; the bottom of the needle funnel 51 has an elongated leg portion with an internal bore sized to accommodate the drop of only one suture needle. The brush 511 is fixedly connected to the bottom of the elongated leg portion, and the brush 511 is in contact with the top surface of the throat plate 2. An inner layer which has the same body type with the needle hopper 51 and can be integrally taken and placed is arranged in the needle hopper 51, and a sewing needle to be sorted is arranged in the inner layer. As shown in fig. 4.

The left side and the right side of the needle hopper 51 are respectively provided with a camera 52 for collecting the head-tail orientation of the suture needle to be detected in the needle groove 21 along the arrangement direction of the needle plate 2, and the camera 52 is connected with the processor to transmit images; the camera 52 and the processor can be connected through a wireless signal module or through a signal line. When the needle hopper 51 runs leftwards on the first sliding rail 3, the camera 52 on the right side of the needle hopper 51 works, and when the needle hopper 51 runs rightwards on the second sliding rail 6, the camera 52 on the left side of the needle hopper 51 works.

A second driving motor 61 connected with the PLC is arranged at one end of the second sliding rail 6; the output end of the second driving motor 61 is in transmission connection with a second lead screw 62, the upper side and the lower side of the second lead screw 62 are respectively and fixedly connected with a fixed limiting rod 10 through fixing blocks, the fixed limiting rod 10 positioned on the upper side is provided with limiting switches 16, and two ends of each limiting switch are respectively and fixedly provided with a fastening piece; a second sliding block 63 is arranged on the second screw rod 62 and the fixed limiting rods 10 on the upper side and the lower side, and the second sliding block 63 moves left and right on the second screw rod 62 along with the forward rotation and the reverse rotation of the second screw rod 62; and an induction sheet 17 matched with the limit switch 16 is arranged at the top of the second sliding block 63.

A third sliding rail 8 which can run along the second sliding rail 6 and is vertical to the second sliding rail 6 is arranged on the second sliding rail 6 through a second connecting piece 7; the second connecting piece 7 comprises a second sliding block 63 installed on the second sliding rail 6, a fixedly connected connecting block is integrally formed at the bottom of the second sliding block 63, and a third sliding rail 8 is fixedly connected to the connecting block.

A driving motor III 81 connected with the PLC is arranged at one end of the sliding rail III 8; the output end of the driving motor III 81 is in transmission connection with a screw III 82, the upper side and the lower side of the screw III 82 are respectively and fixedly connected with a fixed limiting rod 10 through fixing blocks, the fixed limiting rod 10 positioned on the upper side is provided with limiting switches 16, and the two ends of each limiting switch are respectively and fixedly provided with a fastening piece; a third sliding block 83 is arranged on the third screw rod 82 and the fixed limiting rods 10 on the upper side and the lower side, and the third sliding block 83 moves back and forth on the third screw rod 82 along with the forward rotation and the reverse rotation of the third screw rod 82; and the top of the third sliding block 83 is provided with an induction sheet 17 matched with the limit switch 16.

A sorting mechanism 9 which can run along the third sliding rail 8 is arranged on the third sliding rail 8 through a third connecting piece; the sorting mechanism 9 comprises an electromagnetic suction plate 93 acting on the needle plate 2 and two needle boxes 94 fixedly connected to the bottom of the three sliding rails 8. The third connecting piece comprises a third sliding block 83 arranged on the third sliding rail 8, the third sliding block 83 is fixedly provided with a cylinder 91 through a fastening piece, the cylinder 91 is a cylinder, the cylinder is provided with a two-position five-way electromagnetic valve, and a piston rod 911 in the cylinder extends out or retracts through ventilation and exhaust; a piston rod 911 of the air cylinder 91 is arranged along the three 8-direction of the sliding rail, a supporting rod 92 facing the needle plate 2 is fixedly connected to the tail end of the piston rod 911, and an electromagnetic suction plate 93 is fixedly connected to the bottom of the supporting rod 92.

The shape of the electromagnetic suction plate 93 is consistent with that of the needle groove 21, and the suction port of the electromagnetic suction plate 93 is larger than the notch of the needle groove 21; when the electromagnetic attraction plate 93 is electrified, the sewing needle in the needle groove 21 is attracted magnetically; when the electromagnetic attraction plate 93 is powered off, the electromagnetic attraction plate 93 loses magnetism to release the suture needle in the needle magazine 94.

A first needle falling hopper and a second needle falling hopper which can be integrally taken and placed are respectively arranged in the needle box 94; the first needle falling hopper and the second needle falling hopper are respectively used for receiving the sewing needles with the head and tail directions recognized; the needle dropping hopper I is used for storing the sewing needles with the head ends facing the first sliding rail 3, and the needle dropping hopper II is used for storing the sewing needles with the head ends facing the second sliding rail 6.

In this embodiment, the first to third driving motors all adopt servo motors, or all adopt stepping motors; or the first driving motor and the second driving motor adopt servo motors, and the third driving motor adopts a stepping motor; the model of the adopted stepping motor is 17HS111, and the model of a driver for driving the stepping motor is SH-2H042 Ma; the type of the servo motor is HG-KN 23J-S100; the driver model of the servo motor is MR-JE-20A. The driver of the motor is arranged on the vacant site at one side of the operating platform and is connected with the driving motor through a signal wire.

The PLC controller is S7-200 SMART PLC CPU ST40, and the touch screen is 7 inches SMART LINE V3.

Example 2:

step 1: before the first use or before the first use after the needle plate 2 is replaced, the first test is carried out aiming at the space of the needle grooves 21 on different needle plates 2, and the speed value and the time value of the driving motor are set before the test; manually inputting a set value on the touch screen 11, wherein the input value range is 1000-100000 pulses/S;

in this embodiment, the input time values are: when the first driving motor 31 runs for 3S, the second driving motor 61 starts to run; the second driving motor 61 stops after running for 3S, and the second driving motor 61 resumes running after stopping for 3S. (the time setting can be set according to the spacing of the needle slots on the needle plate and the running time of the driving motor in practical operation);

step 2: after the power is switched on for the first formal use, pressing down a return-to-original point button on the touch screen 11 or the side wall of the control cabinet 1;

the piston of the cylinder retracts to the original point;

the first driving motor 31 drives the first lead screw 32 to rotate in the forward direction, the first sliding block 33 and the needle throwing mechanism arranged on the first sliding block 33 are driven to move rightwards on the first lead screw 32 until the sensing piece 17 on the first sliding block 33 touches an original point limit switch 16 arranged at the right end of the first sliding rail 3 and then stops moving;

meanwhile, the second driving motor 61 drives the second lead screw 62 to rotate in the forward direction, so as to drive the second sliding block 63, the third sliding rail 8 connected to the second sliding block 63 and the sorting mechanism 9 fixed on the third sliding rail 8 to move rightwards until the sensing piece 17 on the second sliding block 63 touches an original point limit switch 16 installed at the right end of the second sliding rail 62 and then stops moving;

and step 3: after the return to the original point is finished, the needle hopper 51 is put into the inner layer which is provided with the suture needle to be detected;

and 4, step 4: pressing down a 'system operation' button on the side wall of the touch screen 11 or the control cabinet 1, and lighting system operation indicating lamps on the side walls of the touch screen 11 and the control cabinet 1;

the first driving motor 31 drives the first lead screw 32 to rotate reversely, and drives the first slide block 33 and the needle throwing mechanism 5 arranged on the first slide block 33 to move leftwards (towards the other end provided with the limit switch) on the first lead screw 32;

when the first driving motor 31 runs for 3S, the second driving motor 61 starts to run, so that the sorting mechanism 9 runs along with the needle throwing mechanism 5; meanwhile, the two-position five-way electromagnetic valve on the air cylinder 91 is electrified, and a piston rod 911 of the air cylinder 91 extends out;

the sewing needle to be detected in the needle hopper 51 falls to the top surface of the needle plate and is driven by the brush 511 to travel together in the traveling process; when meeting the needle groove 21, the sewing needle to be detected falls into the needle groove 21; with the continuous leftward movement of the needle feeding mechanism 5, the suture needles to be detected in the needle hopper 51 fall into the needle grooves 21 in sequence;

in the process that the needle throwing mechanism 5 moves leftwards, the camera 52 on the right side of the needle hopper 51 sequentially collects images of the suture needle to be detected falling into the needle groove 21 and sends the collected images to the processor;

the processor analyzes the received image and identifies and records the head and tail directions of the suture needle to be detected; the analyzed data are sent to a PLC controller, and the PLC controller controls the movement of the sorting mechanism 9 by receiving the direction data of the suture needle to be detected sent by the processor;

when the processor analyzes and identifies and records the image, the analyzing method comprises the following steps: if the head and tail orientation of the collected image is not consistent with that of the image prestored in the processor, the collected image is marked as '0', and if the head and tail orientation of the collected image is consistent with that of the image prestored in the processor, the collected image is marked as '1'; the needle plate has 32 needle grooves, namely data consisting of 32 bits of 0 or 1 are stored in a certain variable storage area of the PLC.

When the sorting mechanism 9 moves to the first needle groove 21, the second driving motor 61 stops running, meanwhile, the electromagnetic suction plate 93 is electrified to generate magnetism to suck the suture needle to be detected in the first needle groove 21, after a period of time delay, the two-position five-way electromagnetic valve of the air cylinder 91 is electrified, and the piston rod 911 of the air cylinder 91 retracts;

according to the identification condition of the head and tail directions of the suture needle to be detected obtained through identification, if the head direction of the suture needle to be detected in the first needle groove 21 is a first sliding rail, when the piston rod 911 of the air cylinder 91 retracts to the appointed position, namely right above the first needle falling hopper close to the needle plate 2, the electromagnetic suction plate 93 is powered off, and the magnetism disappears to release the suture needle in the first needle groove 21 in the first needle falling hopper close to the needle plate 2;

if the head end of the suture needle to be detected in the first needle groove 21 faces the second sliding rail, the piston rod 911 of the air cylinder 91 retracts to the original position, and the driving motor III 81 rotates forwards for a certain number of turns while the piston rod 911 returns to the original position, so that the air cylinder 91 and the electromagnetic suction plate 93 on the third sliding block 83 and the suture needle to be detected adsorbed on the electromagnetic suction plate 93 move towards the second needle falling hopper far away from the needle plate 2; when the piston rod 911 retracts to the original point, the electromagnetic suction plate 93 moves to the position right above the second needle falling hopper far away from the needle plate 2 along with the third sliding block 83, the driving motor III 81 stops rotating forwards, the electromagnetic suction plate 93 loses power, and the magnetism disappears to release the suture needle to be detected in the first needle groove 21 into the second needle falling hopper far away from the needle plate 2; after needle setting is finished, the driving motor III 81 rotates reversely for a certain number of turns to enable the sliding block III 83 to return, meanwhile, the two-position five-way electromagnetic valve on the air cylinder 91 is electrified, the piston rod 911 of the air cylinder 91 extends out, and the electromagnetic suction plate 93 continues to act on the needle plate 2;

when the sorting mechanism 9 on the second sliding block 63 runs to the limit switch 16 at the left end of the second lead screw 62, the second driving motor 61 stops running, and the sorting mechanism 9 finishes the last sorting work of the batch;

if the head end of the suture needle to be detected which is sorted at the last time faces the first sliding rail 3, after the sorting action is finished, the third driving motor 81 rotates forwards for a certain number of turns to drive the third sliding block 83 and the cylinder 91 and the electromagnetic suction plate 93 on the third sliding block 83 to move towards the direction far away from the needle plate 2 until the electromagnetic suction plate 93 moves to the limit switch 16 on the third sliding rail 8 at the end far away from the needle plate 2, and the third driving motor 81 stops rotating forwards; the needle throwing mechanism 5 is convenient to turn;

if the head end of the suture needle to be detected which is sorted at the last time faces to the second sliding rail 6, after the sorting action is finished, the third driving motor 81 does not act, and the electromagnetic suction plate 93 is kept right above the second needle falling hopper far away from the needle plate 2; the needle throwing mechanism 5 is convenient to turn;

the first driving motor 31 drives the first lead screw 32 to rotate in the forward direction, and drives the first sliding block 33 and the needle throwing mechanism 5 arranged on the first sliding block 33 to move rightwards on the first lead screw 31; the needle throwing process of the needle throwing mechanism 5 on the needle plate 2 is the same as the above, in the process, the camera 52 arranged on the left side of the needle hopper 51 collects images of the suture needle to be detected in the needle groove 21 and sends the collected images to the processor;

after the first driving motor 31 runs for a set time, the second driving motor 61 starts to rotate positively, so that the sorting mechanism 9 runs along with the needle throwing mechanism 5; meanwhile, the driving motor III 81 rotates forwards to drive the sliding block III 83, the air cylinder 91 on the sliding block III 83 and the sorting mechanism 9 to move towards the direction close to the needle plate 2, the two-position five-way electromagnetic valve on the air cylinder 91 is electrified, and the piston rod 911 of the air cylinder 91 extends out, so that the electromagnetic suction plate 93 continues to act on the needle plate 2;

the process of sorting the suture needles to be detected by the sorting mechanism 9 is the same as the above;

after the needle throwing mechanism 5 and the sorting mechanism 9 complete a reciprocating working period on the needle plate 2, the first driving motor 31, the second driving motor 61 and the third driving motor 81 automatically drive the first sliding block 33, the second sliding block 63 and the third sliding block 83 to return to the original point for correction, and the piston rod 911 on the air cylinder 91 returns to the original point for correction; automatically starting a new cycle after the correction is finished;

step 6: in the process of the needle throwing mechanism 5 and the sorting of the sorting mechanism 9, the quantity of the sewing needles in the needle hopper and the two needle falling hoppers and the total quantity of the sorted sewing needles in the same day are displayed on the touch screen 11 in real time; when the quantity of the needle hoppers is small or the two needle falling hoppers are close to being stacked, the PLC can control the alarm lamp to send out light alarm indication to remind an operator to replace the inner layers of the needle hoppers and the needle falling hoppers in the real box in time and take the sorted suture needles away;

and 7: when the operation is required to be finished, a system stop button on the touch screen 11 or the side wall of the control cabinet 1 is pressed, the needle throwing mechanism 5 moves to the position where the needle plate 2 is not in the needle groove 21 to stop operating, the sorting mechanism 9 releases the suture needle to be detected on the electromagnetic suction plate 93 to fall into the needle falling hopper, and the operation is stopped when the piston rod 911 of the air cylinder 91 is retracted to the original position; i.e. the operation is complete.

Claims

1. A head and tail recognition sorting device for medical suture needles comprises a control cabinet (1), wherein a master controller is installed inside the control cabinet (1), the master controller comprises a processor for image analysis and a PLC (programmable logic controller), and the processor is in signal connection with the PLC; a touch screen (11), a control button (12) and an indicator light (13) which are connected with a PLC are arranged on the side wall of the control cabinet (1); an operation table (15) is arranged at the top of the control cabinet (1); the method is characterized in that: a needle plate (2) is detachably mounted in the middle of the operating platform (15), and a plurality of needle grooves (21) which are identical in shape and specification and are parallel to each other are formed in the needle plate (2); the needle throwing mechanism is characterized in that a first sliding rail (3) and a second sliding rail (6) which are parallel to the needle plate (2) are respectively fixed on two sides of the needle plate (2), a needle throwing mechanism (5) which can run along the first sliding rail (3) and acts on the needle plate (2) is installed on the first sliding rail (3) through a first connecting piece (4), the needle throwing mechanism (5) comprises a needle hopper (51), and a sewing needle to be detected is placed in the needle hopper (51); the inner cavity caliber of the slender leg part at the bottom of the needle hopper (51) only accommodates one suture needle to fall; the bottom of the slender leg part is fixedly connected with a brush (511), and the brush (511) is contacted with the top surface of the needle plate (2); cameras (52) used for collecting the orientation of a sewing needle to be detected in the needle groove (21) are respectively arranged at two sides of the needle hopper (51) along the arrangement direction of the needle plate (2), and the cameras (52) are in signal connection with the processor to transmit images; a third sliding rail (8) which can run along the second sliding rail (6) and is vertical to the second sliding rail (6) is arranged on the second sliding rail (6) through a second connecting piece (7); a sorting mechanism (9) capable of running along the third sliding rail (8) is arranged on the third sliding rail (8) through a third connecting piece; the sorting mechanism (9) comprises an electromagnetic suction plate (93) acting on the needle plate (2) and two needle boxes (94) fixedly connected to the bottom of the third sliding rail (8); and one ends of the first sliding rail (3), the second sliding rail (6) and the third sliding rail (8) are respectively provided with a driving device connected with the PLC.

2. The medical suture needle head-tail identification and sorting device according to claim 1, wherein: the needle plate (2) is provided with a plurality of needle plates (2) of different models, the needle plates (2) of different models are consistent in shape and are detachably arranged at a limit position in the middle of the operating platform (15); the needle groove (21) is set according to various types of suture needles.

3. The medical suture needle head-tail identification and sorting device according to claim 1, wherein: the needle hopper (51) is internally provided with an inner layer which has the same body type with the needle hopper (51) and can be integrally taken and placed, and the inner layer is provided with a suture needle to be detected.

4. The medical suture needle head-tail identification and sorting device according to claim 1, wherein: the driving device comprises a first driving motor (31) arranged at the end part of the first sliding rail (3), a second driving motor (61) arranged at the end part of the second sliding rail (6) and a third driving motor (81) arranged at the end part of the third sliding rail (8); the output ends of the first driving motor (31), the second driving motor (61) and the third driving motor (81) are respectively in transmission connection with a first lead screw (32), a second lead screw (62) and a third lead screw (82); two sides of the first screw rod (32), the second screw rod (62) and the third screw rod (82) are respectively provided with a fixed limiting rod (10) through respective fixed blocks; the screw rod and the fixed limiting rod (10) are provided with sliding blocks, and the sliding blocks move left and right or back and forth on the screw rod along with the positive rotation and the negative rotation of the screw rod; two ends of the fixed limiting rod (10) are respectively and fixedly provided with a limiting switch (16); and an induction sheet (17) matched with the limit switch (16) is arranged on the sliding block.

5. The medical suture needle head-tail identification and sorting device according to claim 4, wherein: the third connecting piece comprises a third sliding block (83) arranged on the third sliding rail (8), the third sliding block (83) is fixedly provided with an air cylinder (91), and a piston rod (911) of the air cylinder (91) is arranged along the third sliding rail (8); the tail end of the piston rod (911) is fixedly connected with an electromagnetic suction plate (93) through a support rod (92).

6. The medical suture needle head-tail identification and sorting device according to claim 5, wherein: the shape of the electromagnetic suction plate (93) is consistent with that of the needle groove (21), and a suction port of the electromagnetic suction plate (93) is larger than a notch of the needle groove (21); when the electromagnetic suction plate (93) is electrified, the sewing needle in the needle groove (21) is magnetically sucked; when the electromagnetic suction plate (93) is powered off, the electromagnetic suction plate (93) loses magnetism to release the suture needle in the needle box (94).

7. The medical suture needle head-tail identification and sorting device as claimed in claim 6, wherein: a first needle falling hopper and a second needle falling hopper which can be integrally taken and placed are respectively arranged in the needle box (94); the first needle falling hopper and the second needle falling hopper are respectively used for receiving the sewing needles with the head and tail directions recognized; the needle falling hopper I is used for storing the sewing needles with the head ends facing the first sliding rail (3), and the needle falling hopper II is used for storing the sewing needles with the head ends facing the second sliding rail (6).

8. A control method of a medical suture needle head and tail recognition sorting device, according to the medical suture needle head and tail recognition sorting device of claim 7, the system work of the sorting device is that needle throwing and sorting actions can be executed under the condition that the control device is connected with a power supply and an air compressor or an air source to supply air, namely, the control device is in a closed state of a pressure switch K, and the specific control method comprises the following steps:

step 1: before the first use or before the first use after the needle plate (2) is replaced, the first test is carried out according to the space of the needle grooves (21) on different needle plates (2), and the speed value and the time value of the driving motor are set on the touch screen (11) before the test; manually inputting a set value on the touch screen (11), wherein the input value range is 1000-100000 pulses/S;

step 2: after the power is switched on for the first time, a return-to-original point button on the side wall of the touch screen (11) or the control cabinet (1) is pressed;

the piston of the cylinder (91) retracts to the original point;

the driving motor I (31) drives the screw rod I (32) to rotate in the forward direction, and drives the slide block I (33) and the needle throwing mechanism (5) arranged on the slide block I (33) to move rightwards on the screw rod I (32) until the sensing piece (17) on the slide block I (33) touches an original point limit switch (16) arranged at the right end of the slide rail I (3) and then stops moving;

meanwhile, the second driving motor (61) drives the second lead screw (62) to rotate in the forward direction to drive the second sliding block (63), a third sliding rail (8) connected to the second sliding block (63) and a sorting mechanism (9) fixed on the third sliding rail (8) to walk rightwards until an induction sheet (17) on the second sliding block (63) touches an original point limit switch (16) installed at the right end of the second sliding rail (6) and then stops moving;

and step 3: after the return to the original point action is finished, an inner layer provided with a suture needle to be detected is put into the needle hopper (51);

and 4, step 4: pressing down a 'system operation' button on the side wall of the touch screen (11) or the control cabinet (1), and lighting system operation indicating lamps on the side walls of the touch screen (11) and the control cabinet (1);

the first driving motor (31) drives the first lead screw (32) to rotate reversely, and drives the first sliding block (33) and the needle throwing mechanism (5) arranged on the first sliding block (33) to move leftwards on the first lead screw (32);

after the first driving motor (31) runs for a set time, the second driving motor (61) starts to operate, so that the sorting mechanism (9) runs along with the needle throwing mechanism (5); meanwhile, a two-position five-way electromagnetic valve on the air cylinder (91) is electrified, and a piston rod (911) of the air cylinder (91) extends out;

the sewing needle to be detected in the needle hopper (51) falls to the top surface of the needle plate (2) and is driven by the brush (511) to travel together in the traveling process; when meeting the needle groove (21), the sewing needle to be detected falls into the needle groove (21); with the continuous leftward movement of the needle throwing mechanism (5), the suture needles to be detected in the needle hopper (51) sequentially fall into the needle groove (21);

in the process that the needle throwing mechanism (5) moves leftwards, the camera (52) on the right side of the needle hopper (51) sequentially collects images of the suture needle to be detected falling into the needle groove (21), and sends the collected images to the processor;

the processor analyzes the received image and identifies and records the head and tail directions of the suture needle to be detected; sending the analyzed data to a PLC (programmable logic controller), and controlling the movement of the sorting mechanism by the PLC through recognizing the obtained direction of the suture needle to be detected;

when the sorting mechanism (9) moves to the first needle groove (21), the second driving motor (61) stops running, meanwhile, the electromagnetic suction plate (93) is electrified to generate magnetism to suck the suture needle to be detected in the first needle groove (21), after a period of time delay, the two-position five-way electromagnetic valve of the air cylinder (91) is electrified, and the piston rod (911) of the air cylinder (91) retracts;

according to the recognized condition of head-tail orientation of the suture needle to be detected, if the head end of the suture needle to be detected in the first needle groove (21) is oriented to the first sliding rail (3), when a piston rod (911) of the air cylinder (91) retracts to a specified position, namely right above a first needle falling hopper close to the needle plate (2), the electromagnetic suction plate (93) is de-energized, and the suture needle in the first needle groove (21) is released in the first needle falling hopper close to the needle plate (2) due to the disappearance of magnetism;

if the head end of the to-be-detected sewing needle in the first needle groove (21) faces to the second sliding rail (6), the piston rod (911) of the air cylinder (91) retracts to the original position, and the driving motor III (81) rotates forwards for a certain number of turns while the piston rod (911) returns to the original position, so that the air cylinder (91) and the electromagnetic suction plate (93) on the third sliding block (83) and the to-be-detected sewing needle adsorbed on the electromagnetic suction plate (93) move towards the second needle falling hopper far away from the needle plate (2); when the piston rod (911) retracts to the original point, the electromagnetic suction plate (93) moves to the position right above the needle falling hopper II far away from the needle plate (2) along with the sliding block III (83), the driving motor III (81) stops rotating in the forward direction, the electromagnetic suction plate (93) loses electricity, and the magnetism disappears to release the sewing needle to be detected in the first needle groove (21) into the needle falling hopper II far away from the needle plate (2); after needle setting is finished, the driving motor III (81) rotates reversely for a certain number of turns to enable the sliding block III (83) to return, meanwhile, the two-position five-way electromagnetic valve on the air cylinder (91) is electrified, and the piston rod (911) of the air cylinder (91) extends out, so that the electromagnetic suction plate (93) continues to act on the needle plate (2);

after the sorting mechanism (9) finishes sorting the suture needles to be detected in the first needle groove (21), driving the second lead screw (62) to continuously rotate in the reverse direction, and driving the second slide block (63) and the third slide rail (8) arranged on the second slide block (63) and the sorting mechanism (9) to continuously move leftwards on the second lead screw (62); repeating the sorting action;

and 5: when the needle throwing mechanism (5) on the sliding block I (33) runs to the limit switch (16) at the left end of the screw rod I (32) under the driving of the driving motor I (31), the driving motor I (31) stops running; the sorting mechanism (9) on the waiting sliding block II (63) also runs to the limit switch (16) at the left end of the screw rod II (62);

when the sorting mechanism (9) on the second sliding block (63) runs to the limit switch (16) at the left end of the second lead screw (62), the second driving motor (61) stops running, and the sorting mechanism (9) finishes the last sorting work of the batch;

if the head end of the suture needle to be detected which is sorted at the last time faces the first sliding rail (3), after the sorting action is finished, the third driving motor (81) rotates forwards for a certain number of turns to drive the third sliding block (83), the cylinder (91) on the third sliding block (83) and the electromagnetic suction plate (93) to move towards the direction far away from the needle plate (2) until the electromagnetic suction plate (93) moves to the limit switch (16) at the end, farthest from the needle plate (2), of the third sliding rail (8), and the third driving motor (81) stops rotating forwards; the needle throwing mechanism (5) can turn conveniently;

if the head end of the suture needle to be detected which is sorted at the last time faces to the second sliding rail (6), after the sorting action is finished, the third driving motor (81) does not act, and the electromagnetic suction plate (93) is kept right above the second needle falling hopper far away from the needle plate (2); the needle throwing mechanism (5) can turn conveniently;

the driving motor I (31) drives the screw rod I (32) to rotate in the positive direction, and drives the sliding block I (33) and the needle throwing mechanism (5) arranged on the sliding block I (33) to move rightwards on the screw rod I (32); the needle throwing process of the needle throwing mechanism (5) on the needle plate (2) is the same as that of the needle throwing mechanism, in the process, a camera (52) arranged on the left side of a needle hopper (51) is used for collecting images of the suture needle to be detected in the needle groove (21), and the collected images are sent to a processor;

after the driving motor I (31) runs for a set time, the driving motor II (61) starts to rotate in the forward direction, so that the sorting mechanism (9) runs along with the needle throwing mechanism (5); meanwhile, the driving motor III (81) rotates forwards to drive the sliding block III (83), the air cylinder (91) on the sliding block III (83) and the sorting mechanism (9) to move towards the direction close to the needle plate (2), the two-position five-way electromagnetic valve on the air cylinder (91) is electrified, and the piston rod of the air cylinder (91) extends out, so that the electromagnetic suction plate (93) continuously acts on the needle plate (2);

the process of sorting the suture needle to be detected by the sorting mechanism (9) is the same as the above;

after the needle throwing mechanism (5) and the sorting mechanism (9) complete a reciprocating working period on the needle plate (2), the driving motor I (31), the driving motor II (61) and the driving motor III (81) automatically drive the sliding block I (33), the sliding block II (63) and the sliding block III (83) to return to the original point for correction, and a piston rod (911) on the air cylinder (91) returns to the original point for correction; automatically starting a new cycle after the correction is finished;

step 6: in the needle throwing process of the needle throwing mechanism (5) and the sorting process of the sorting mechanism (9), the quantity of the sewing needles in the needle hopper (51) and the two needle falling hoppers and the total quantity of the sorted sewing needles in the same day are displayed on the touch screen (11) in real time; when the quantity of the needle hoppers (51) is small or the two needle falling hoppers are about to be stacked, the PLC can control the alarm lamp to send out light alarm indication to remind an operator to replace the inner layers of the needle hoppers (51) and the needle falling hoppers in the needle boxes (94) in time and take the sorted suture needles away;

and 7: when the operation needs to be finished, a system stop button on the touch screen (11) or the side wall of the control cabinet (1) is pressed, the needle throwing mechanism (5) moves to the position of the needle plate (2) in the non-needle groove (21) to stop operating, the sorting mechanism (9) releases a to-be-detected suture needle on the electromagnetic suction plate (93) to fall into a needle falling hopper, and the operation is stopped when a piston rod (911) of the air cylinder (91) retracts to the original position; i.e. the operation is complete.

9. The control method of the medical suture needle head-to-tail identification and sorting device according to claim 8, wherein: when the processor analyzes, identifies and records the image, the analyzing method comprises the following steps: if the head and tail orientation of the collected image is not consistent with that of the image prestored in the processor, the collected image is marked as '0', and if the head and tail orientation of the collected image is consistent with that of the image prestored in the processor, the collected image is marked as '1'; the needle plate (2) has 32 needle grooves (21), namely data consisting of 32 bits of 0 or 1 are stored in a variable storage area VD0 of the PLC.

10. The control method of the medical suture needle head-to-tail identification and sorting device according to claim 8, wherein: in the setting of the speed value and the time value of the driving motor, the time value setting comprises that the driving motor II (61) starts to operate after the driving motor I (31) operates for a certain time; the second driving motor (61) stops after running for a certain time, and the stopping time of the second driving motor (61) is also set.