CN114473461A

CN114473461A - Pin inserting device and medical instrument production line

Info

Publication number: CN114473461A
Application number: CN202210295670.5A
Authority: CN
Inventors: 陈松; 许益玉; 邵君华; 陈荣豪; 王华清; 章途林; 叶洋其
Original assignee: Maider Medical Industry Equipment Co Ltd
Current assignee: Maider Medical Industry Equipment Co Ltd
Priority date: 2022-03-24
Filing date: 2022-03-24
Publication date: 2022-05-13

Abstract

The invention relates to a pin inserting device and a medical instrument production line. The needle inserting device comprises a needle taking component and a needle inserting component, wherein the needle taking component is used for taking a needle, the needle inserting component is used for driving the needle to move relative to a material to complete assembly, the needle inserting device further comprises a moving component, the moving component is used for driving the needle to move after the needle taking component takes the needle and before the needle inserting component drives the needle to move, an included angle between the needle and a horizontal plane before the needle is driven by the moving component is alpha, an included angle between the needle and the horizontal plane after the needle is driven by the moving component is beta, and alpha is not less than 0 and not more than 30 degrees and beta is not less than 60 degrees and not more than 90 degrees. The invention has the beneficial effects that: the pin inserting device can realize assembly of the pin and materials under various assembly gaps.

Description

Pin inserting device and medical instrument production line

Technical Field

The invention relates to medical equipment, in particular to a pin inserting device and a medical equipment production line.

Background

Most medical devices are assembled from multiple components. For some medical devices, a needle is one of the important components. In the existing medical instrument production line, when the automatic assembly of the needle and other components is realized, the needle is generally driven to move to the position above the other components, and then the needle is inserted into the other components in a free-fall mode. However, if the assembly gap between the needle and the other component is large, the needle is subjected to a small frictional resistance by the other component during the free falling process, so that the needle is too large to reach the preset position due to the large movement amplitude of the needle relative to the other component, and the assembly result is not expected and needs to be improved.

Disclosure of Invention

In view of the above, there is a need for an improved pin inserting device and a medical device production line. The pin inserting device can realize assembly of the pin and materials under various assembly gaps. The medical instrument production line adopting the pin inserting device has wider application range.

The invention firstly provides a needle inserting device which comprises a needle taking component and a needle inserting component, wherein the needle taking component is used for taking a needle, the needle inserting component is used for driving the needle to move relative to a material until the assembly is finished, the needle inserting device also comprises a moving component, the moving component is used for driving the needle to move after the needle is taken by the needle taking component and before the needle inserting component drives the needle to move, the included angle between the needle and the horizontal plane before the needle is driven by the moving component is alpha, the included angle between the needle and the horizontal plane after the needle is driven by the moving component is beta, and alpha is more than or equal to 0 and less than or equal to 30 degrees and beta is more than or equal to 60 degrees and less than or equal to 90 degrees.

By adopting the technical scheme, when the pin inserting assembly does not drive the pin to move relative to the material any more, the pin and the material can not move relative to each other. In other words, the pin can be driven by the pin assembly to assemble the material. Therefore, when the assembly clearance between the needle and the material is large, the movement amplitude of the needle relative to the material is also within the control range of the needle inserting assembly, and the situation that the assembly structure is not expected due to the fact that the movement amplitude of the needle relative to the material is too large is avoided.

And under the condition that the movement of the needle relative to the material is driven by the needle inserting assembly, the needle does not need to be changed from a horizontal placing state to a vertical placing state, and the assembly of the needle and the material can also be realized. However, in the present application, the needle is still in a position as close as possible or in a horizontal position before the moving assembly is actuated. The needle is still in a position as close as possible or in a vertical position after being driven by the moving assembly. Therefore, in the process of assembling the needle and the material, the needle and the material can be kept at the original positions without adjustment, so that the structural change of the needle inserting device is reduced to the maximum extent, and the production cost is reduced. In other words, the structure change can be reduced as much as possible and the assembly under various assembly gaps of the needle and the material can be realized.

In one embodiment of the invention, the moving assembly drives the needle taking assembly to move, the needle inserting assembly takes the needle from the needle taking assembly, and the needle inserting assembly drives the needle to move relative to the material after taking the needle.

In one embodiment of the invention, the insertion device further comprises a needle fixing piece, and the insertion assembly comprises an assembling clamping jaw which clamps the needle and drives the needle to move to abut against the needle fixing piece.

Through adopting above-mentioned technical scheme, when contact pin subassembly drive needle material relatively removed, for the convenience of control, the migration distance of needle under the contact pin subassembly effect is fixed. However, the relative positions of the pin and the pin assembly may not be the same. Under the condition that the relative positions of the needle and the needle inserting assembly are different, the needle moves for a fixed distance under the driving of the needle inserting assembly, and the moving amplitude of the needle relative to the material is possibly too large or too small, so that the needle cannot reach the preset position. Therefore, when the needle is contacted with the needle fixing piece, the relative positions of the needle and the needle inserting component can be adjusted to be the same, so that the needle moves for a fixed distance under the driving of the needle inserting component, and the preset position can be reached.

In an embodiment of the invention, the pin inserting device further comprises a material fixing driving piece and a material fixing clamping jaw, wherein the material fixing driving piece drives the material fixing clamping jaw to clamp the material, and the material fixing clamping jaw clamps one end of the material and pin assembly.

By adopting the technical scheme, when the material is clamped by the material fixing clamping jaw, the position of the clamping part of the material to be clamped by the material fixing clamping jaw is determined along with the position of the material fixing clamping jaw. However, the material holding jaw has errors in holding materials, so that the position accuracy of the part of the material closer to the material holding jaw is higher, and the position accuracy of the part of the material farther from the material holding jaw is lower. When the material is assembled with the needle, the position of the end of the material assembled with the needle needs to be accurately positioned. Therefore, the material fixing clamping jaw clamps one end of the material and needle assembly, so that the position accuracy of the one end of the material and needle assembly is improved, and the material and needle assembly is facilitated.

In one embodiment of the invention, the needle inserting device further comprises a control member and a control driving member, wherein the control driving member drives the control member to move and then acts on the conveying device so as to control the conveying device to be in a loose state for releasing the needle.

In an embodiment of the present invention, the control member includes a first control portion and a second control portion, the conveying device includes a clamping portion and a controlled portion, the control driving member drives the first control portion and the second control portion to move in opposite directions to clamp the controlled portion and drive the controlled portion to move, and the controlled portion drives the clamping portion to be in a relaxed state for releasing the needle after being driven by the control driving member to move.

Through adopting above-mentioned technical scheme, adopt the mode that the first control division of control driving piece drive and second control division centre gripping controlled part and drive controlled part and remove, then the effect of first control division to controlled part and the effect of second control division to controlled part can offset each other to reduce the effect of control driving piece to conveyor.

In an embodiment of the present invention, the needle inserting device further includes a needle placing member, an upper needle member, and an upper needle driving member, the needle placing member is provided with an upper needle groove, the upper needle member is provided with a needle fixing groove and a needle taking groove which are communicated, when the upper needle driving member drives the upper needle member to move to the needle fixing groove and the needle taking groove to be communicated, a needle entering the upper needle groove is clamped into the needle fixing groove, and when the upper needle driving member drives the upper needle member to move to the needle fixing groove and is not communicated with the upper needle groove, the needle taking assembly obtains the needle in the needle fixing groove through the needle taking groove.

By adopting the technical scheme, when the needle is positioned on the needle placing piece, the needle is in a stacking state. When the upper needle driving piece drives the upper needle piece to move to the needle fixing groove and communicate with the upper needle groove, as the upper needle groove is formed in the needle placing piece, part of needles on the upper needle piece can enter the upper needle groove, and only one needle entering the upper needle groove can enter the needle fixing groove. Therefore, when the upper needle driving part drives the upper needle piece to move until the needle fixing groove is not communicated with the upper needle groove, the needle entering the needle fixing groove moves to leave the upper needle groove along with the upper needle piece, and therefore single feeding of the needle is achieved. The needle taking groove is arranged to facilitate the needle taking assembly to take the needle from the needle fixing groove.

The invention further provides a medical instrument production line which comprises the pin inserting device.

By adopting the technical scheme, the application range of the medical instrument production line adopting the pin inserting device is wider.

In one embodiment of the invention, the medical instrument production line comprises a clamping assembly, the clamping assembly comprises a first clamping piece and a second clamping piece, the first clamping piece clamps the material, and the second clamping piece clamps the needle assembled with the material.

By adopting the technical scheme, the relative positions of the needle and the material are usually fixed by glue or other fixing modes when the needle and the material are assembled, so that the relative positions of the needle and the material are not fixed when the needle and the material are assembled. Especially when the assembly gap between the needle and the material is large, the needle is easily detached from the material after the assembly of the needle and the material is completed and before the fixation of the relative position of the needle and the material is realized by the fixing means. Therefore, the first clamping piece and the second clamping piece clamp the material and the needle assembled with the material respectively, and therefore the needle assembled with the material is prevented from moving relative to the material.

The invention further provides a medical instrument production line which comprises the needle inserting device, wherein the medical instrument production line comprises a clamping assembly, and the clamping assembly elastically clamps the material and/or the needle assembled with the material.

Drawings

FIG. 1 is a schematic structural diagram of a pin inserting apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of the structure of a supply assembly and a needle-withdrawing assembly in an embodiment of the present invention;

FIG. 3 is an enlarged view of area A of FIG. 2;

FIG. 4 is a schematic structural view of a needle withdrawing assembly, a moving assembly and a detecting assembly in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a top-down control assembly according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a bottom view direction control assembly according to an embodiment of the present invention

FIG. 7 is a schematic diagram of the structure of the feeding assembly, the needle taking assembly, the moving assembly, the detecting assembly and the needle inserting assembly in the embodiment of the invention;

fig. 8 is a schematic structural diagram of a pin assembly according to an embodiment of the invention.

Reference numerals: 100. a supply assembly; 110. a material storage member; 111. a notch; 120. placing a needle piece; 121. a needle feeding groove; 130. a needle feeding piece; 131. a needle fixing groove; 132. a needle taking groove; 140. an upper needle drive; 200. taking a needle assembly; 210. a needle taking driving piece; 220. taking a needle clamping jaw; 300. a moving assembly; 310. moving the driving member; 320. a rotating shaft; 330. a rotating frame; 400. a detection component; 500. a control component; 510. controlling the driving member; 520. a control member; 521. a first control unit; 522. a second control unit; 523. a first linkage section; 524. a second linkage portion; 525. a linkage shaft; 526. a fixed part; 600. a needle fixing component; 610. a needle fixing driving member; 620. a needle fixing piece; 700. a pin assembly; 710. assembling a driving piece; 720. assembling a clamping jaw; 730. a material fixing driving member; 740. material fixing clamping jaws; 800. a clamping assembly; 810. a first clamping member; 820. a second clamping member; 821. a clamping portion; 822. a controlled part.

Detailed Description

The technical solutions 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, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments of the present invention, belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "mounted on" another element, it can be directly mounted on the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

The embodiment of the present invention first provides a pin inserting apparatus as shown in fig. 1, which includes a supply assembly 100, a needle taking assembly 200, a moving assembly 300, a detection assembly 400, a control assembly 500, and a pin inserting assembly 700.

Referring to fig. 2 and 3, the feed assembly 100 includes a magazine 110, a setting member 120, an upper needle 130, and an upper needle driver 140. The storage member 110 is located above the needle releasing member 120, and a notch 111 is formed in the bottom of the storage member 110, so that the needle can move from the storage member 110 to the needle releasing member 120 through the notch 111 under the action of its own weight. Thus, when there are fewer needles on the setting member 120, the needles in the magazine 110 can move spontaneously onto the setting member 120. The needle setting member 120 is provided with an upper needle groove 121 penetrating the needle setting member 120, and the upper needle groove 121 can allow the upper needle member 130 to at least partially penetrate therethrough. The upper needle driving member 140 drives the upper end of the upper needle 130 to move upward to pass through the upper needle groove 121. The upper end of the upper needle 130 is recessed to form a needle fixing groove 131, and the upper needle 130 is further provided with a needle taking groove 132 communicated with the needle fixing groove 131. When the needle is placed in the needle fixing groove 131, the needle is supported by the upper needle member 130 except for the portion of the needle entering the needle taking groove 132, and the portion of the needle entering the needle taking groove 132 is in a floating state. In the embodiment shown in fig. 3, the needle access slot 132 divides the needle fixing slot 131 into two sections. When the needles are positioned on the needle park 120, the needles are in a stacked state. During feeding, the upper needle driving member 140 moves the upper end of the upper needle 130 downward to enter the upper needle groove 121. At this time, the needles on the needle release member 120 also enter the needle feeding groove 121, and only one needle entering the needle feeding groove 121 can enter the needle fixing groove 131. Subsequently, the upper needle driving member 140 drives the upper end of the upper needle 130 to move upward to exit the upper needle groove 121. At this time, the needles in the upper needle groove 121 also exit the upper needle groove 121 along with the upper needle member 130, and the needles in the needle fixing groove 131 also move along with the upper needle member 130, thereby realizing single feeding of the needles.

Referring to fig. 2 and 4, the needle withdrawing assembly 200 includes a needle withdrawing drive 210 and a needle withdrawing gripper 220. The needle taking driving element 210 drives the needle taking clamping claw 220 to move to be aligned with the needle in the needle fixing groove 131 and open the needle taking clamping claw 220, then drives the needle taking clamping claw 220 to close to enter the needle taking groove 132, simultaneously drives the needle taking clamping claw 220 to clamp the needle in the needle fixing groove 131, and finally drives the needle taking clamping claw 220 to reset to finish needle taking.

Referring to fig. 4, the moving assembly 300 includes a moving driver 310, a rotating shaft 320, and a rotating frame 330. The movable driving member 310 is connected to the rotating shaft 320 and drives the rotating shaft 320 to rotate around the axis of the rotating shaft 320. The rotating frame 330 is connected to the rotating shaft 320 and can rotate along with the rotating shaft 320. The needle extracting driver 210 is connected with the rotating frame 330, so that the needle extracting driver 210 can rotate along with the rotating frame 330. Before the movable driving member 310 drives the needle taking driving member 210 to rotate, the angle between the needle and the horizontal plane is alpha. After the movable driving member 310 drives the needle taking driving member 210 to rotate, the angle between the needle and the horizontal plane is β. Wherein alpha is more than or equal to 0 and less than or equal to 30 degrees, and beta is more than or equal to 60 degrees and less than or equal to 90 degrees. Specifically, α may be 0 °, 10 °, 20 °, 30 °. Beta may be 60, 70, 80, 90.

When the pin assembly 700 no longer drives the pin relative to the material, the pin and material do not move relative to each other. In other words, the assembly of the pin and the material can be achieved only when the pin assembly 700 is driven. Therefore, when the assembly gap between the needle and the material is large, the movement amplitude of the needle relative to the material is also within the control range of the needle inserting assembly 700, so that the situation that the assembly structure is not expected due to the fact that the movement amplitude of the needle relative to the material is too large is avoided.

While the needle does not need to be changed from a horizontally placed state to a vertically placed state under the condition that the movement of the needle relative to the material is driven by the needle inserting assembly 700, the assembly of the needle and the material can be realized. However, in the present application, the needle is still in a position as close as possible or in a horizontal position before the moving assembly 300 is actuated. The needle is still in as close proximity or in a vertical position as possible after actuation of the moving assembly 300. Therefore, in the process of assembling the needle and the material, the needle and the material can be kept at the original positions without adjustment, so that the structural change of the needle inserting device is reduced to the maximum extent, and the production cost is reduced. In other words, the structure change can be reduced as much as possible and the assembly under various assembly gaps of the needle and the material can be realized.

Referring to fig. 4, the sensing assembly 400 senses the magnitude of rotation of the rotating shaft 320.

Referring to fig. 5 and 6, the control assembly 500 includes a control drive 510 and a control 520. The control member 520 includes a first control portion 521, a second control portion 522, a first linkage portion 523, a second linkage portion 524, a linkage shaft 525, and a fixing portion 526. The first control part 521, the fixing part 526, the first linkage part 523, the control driving part 510 and the second linkage part 524 are distributed in sequence. The second control part 522 is connected to the first linkage part 523, one end of the linkage shaft 525 is connected to the first control part 521, and the other end passes through the fixing part 526 and the first linkage part 523 in sequence and then is connected to the second linkage part 524. In order to enhance the smoothness of the operation of the control assembly 500, a fixing portion 526 may be additionally arranged between the first linkage portion 523 and the second linkage portion 524, so that one end of the linkage shaft 525 is connected to the first control portion 521, and the other end of the linkage shaft 525 needs to pass through the fixing portion 526, the first linkage portion 523, and the fixing portion 526 in sequence and then be connected to the second linkage portion 524. The fixing portion 526 and the first linking portion 523 are both movably connected with the linking shaft 525. The control driving member 510 drives the first linkage portion 523 and the second linkage portion 524 to move oppositely, so that the first linkage portion 523 drives the second control portion 522 to move, and the second linkage portion 524 drives the first control portion 521 to move through the linkage shaft 525. And the second control part 522 is closer to the first linkage part 523 and the second linkage part 524 than the first control part 521, so when the first linkage part 523 and the second linkage part 524 move oppositely, the first control part 521 and the second control part 522 move oppositely, so that the first control part 521 and the second control part 522 can act on the conveying device to enable the conveying device to be in a released state.

Referring to fig. 1, the needle setting assembly 600 includes a needle setting driving member 610 and a needle setting member 620. The needle setting driving member 610 is connected with the control driving member 510, and the needle setting driving member 610 can drive the needle setting member 620 to move.

Referring to fig. 7 and 8, pin assembly 700 includes an assembly drive 710, an assembly jaw 720, a sizing drive 730, and a sizing jaw 740. The mounting drive 710 drives the mounting jaws 720 to move into alignment with and grip the rotated needle. When the take-out drive drives the take-out jaws to release the rotated needles, the assembly drive 710 drives the assembly jaws 720 to move into abutment with the needle and needle retention member 620, thereby aligning the needles with one end of the material assembly. The distance that the pin moves under the action of the pin assembly 700 is fixed for control purposes as the pin assembly 700 drives the pin to move relative to the material. However, the relative positions of the pin and the pin assembly 700 may not be the same. In the case that the relative positions of the needle and the needle inserting assembly 700 are different, the needle may move a fixed distance by the driving of the needle inserting assembly 700, which may result in an excessively large or small moving range of the needle relative to the material, so that the needle cannot reach the predetermined position. Therefore, when the needle is in contact with the needle fixing member 620, the relative positions of the needle and the needle inserting assembly 700 can be adjusted to be the same, so that the needle moves a fixed distance by the needle inserting assembly 700 to reach a predetermined position. The material holding drive 730 drives the material holding jaw 740 to move to the end where the material is held in the needle assembly. The position of the portion 821 of the material held by the sizing clamp 740 when the sizing clamp 740 is holding the material is determined by the position of the sizing clamp 740. However, there is an error in the material held by the material holding jaw 740, resulting in a higher positional accuracy of the portion of the material closer to the material holding jaw 740 and a lower positional accuracy of the portion farther from the material holding jaw 740. When the material is assembled with the needle, the position of the end of the material assembled with the needle needs to be accurately positioned. Accordingly, the material holding jaw 740 holds the end of the material and needle assembly, thereby improving the positional accuracy of the end of the material and needle assembly, and facilitating the assembly of the material and needle.

The embodiment of the invention also provides a medical instrument production line which comprises a conveying device and the pin inserting device. The medical instrument production line adopting the pin inserting device has wider application range. The transport apparatus includes a plurality of gripper assemblies 800 and an endless drive. The endless drive drives the plurality of gripper assemblies 800 to move in an endless manner. Each clamp assembly 800 includes a first clamp 810 and a second clamp 820. The first clamping member 810 is driven by compressed air, a motor, or other driving means to clamp and release the material. The second clamp 820 includes a clamp portion 821 and a controlled portion 822. The clamping part 821 clamps the needle assembled with the material, the controlled part 822 is located between the first control part 521 and the second control part 522, so that when the driving part 510 is controlled to drive the first control part 521 and the second control part 522 to move, the first control part 521 and the second control part 522 can clamp the controlled part 822, and the controlled part 822 moves under the action of the first control part 521 and the second control part 522 and drives the clamping part 821 to be in a loose state. If the control driving element 510 drives the first control part 521 to drive the controlled part to move, the controlled part will act on the control driving element 510 through the first control part 521 in the opposite direction, so as to cause the control driving element 510 to be stressed. And damage to the control drive 510 is likely to occur under stress. However, by controlling the driving member 510 to drive the first control portion 521 and the second control portion 522 to clamp the controlled portion and drive the controlled portion to move, the action of the first control portion 521 on the controlled portion and the action of the second control portion 522 on the controlled portion can be cancelled out, so that the action of the driving member 510 on the conveying device is reduced. When the needle and the material are assembled, the relative position of the needle and the material is usually fixed by glue or other fixing methods, so that the relative position of the needle and the material is not fixed when the needle and the material are assembled. Especially when the assembly gap between the needle and the material is large, the needle is easily detached from the material after the assembly of the needle and the material is completed and before the fixation of the relative position of the needle and the material is realized by the fixing means. Accordingly, the first clamping member 810 and the second clamping member 820 respectively clamp the material and the needle completely assembled with the material, thereby preventing the completely assembled needle from moving relative to the material.

It is understood that second clamp 820 may be a pneumatic finger clamp. At this point, control 520 is an inflation head. Control drive 510 drives control member 520 into communication with second gripping member 820 such that control member 520 is able to inflate second gripping member 820, with second gripping member 820 being in a relaxed state to release the needle after inflation. When the control member 520 is moved to be no longer communicated with the second clamping member 820 by controlling the driving member 510, the second clamping member 820 is in a clamping state after being exhausted.

It will be appreciated that the first clamp 810 elastically clamps the material, and the clamp 821 elastically clamps the needle assembled with the material, and the control assembly 500 does not need to be provided.

The features of the above-described embodiments may be arbitrarily combined, and for the sake of brevity, all possible combinations of the features in the above-described embodiments are not described, but should be construed as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.

It should be understood by those skilled in the art that the above embodiments are only for illustrating the present invention and are not to be used as a limitation of the present invention, and that suitable changes and modifications of the above embodiments are within the scope of the claimed invention as long as they are within the spirit and scope of the present invention.

Claims

1. An insertion device comprising a needle withdrawing assembly (200) and an insertion needle assembly (700), the needle withdrawing assembly (200) being for withdrawing a needle, characterized in that: the needle inserting device comprises a needle taking assembly (200), a needle inserting assembly (700), a moving assembly (300), a needle driving assembly (300) and a moving assembly (300), wherein the needle driving assembly is used for driving the needle to move after the needle taking assembly (200) obtains the needle and before the needle inserting assembly (700) drives the needle to move, an included angle between the needle and a horizontal plane before the needle is driven by the moving assembly (300) is alpha, an included angle between the needle and the horizontal plane after the needle is driven by the moving assembly (300) is beta, and alpha is more than or equal to 0 and less than or equal to 30 degrees and beta is more than or equal to 60 degrees and less than or equal to 90 degrees.

2. A pin apparatus as defined in claim 1, wherein: the moving assembly (300) drives the needle taking assembly (200) to move, the needle inserting assembly (700) obtains a needle from the needle taking assembly (200), and the needle inserting assembly (700) drives the needle to move relative to the material after obtaining the needle.

3. A pin apparatus as defined in claim 2, wherein: the pin inserting device further comprises a pin fixing piece (620), the pin inserting assembly (700) comprises an assembling clamping jaw (720), and the assembling clamping jaw (720) drives the pin to move to be abutted against the pin fixing piece (620) after clamping the pin.

4. A pin apparatus as defined in claim 1, wherein: the pin inserting device further comprises a material fixing driving piece (730) and a material fixing clamping jaw (740), the material fixing driving piece (730) drives the material fixing clamping jaw (740) to clamp materials, and the material fixing clamping jaw (740) clamps one end of the materials assembled with the pin.

5. A pin apparatus as defined in claim 1, wherein: the needle inserting device further comprises a control part (520) and a control driving part (510), wherein the control driving part (510) drives the control part (520) to move and then acts on the conveying device so as to control the conveying device to be in a needle loosening state.

6. A pin apparatus as recited in claim 5, wherein: the control part (520) comprises a first control part (521) and a second control part (522), the conveying device comprises a clamping part (821) and a controlled part (822), the control driving part (510) drives the first control part (521) and the second control part (522) to move oppositely to clamp the controlled part (822) and drive the controlled part (822) to move, and the controlled part (822) drives the clamping part (821) to be in a loosening state after being driven by the control driving part (510) to move.

7. A pin apparatus as defined in claim 1, wherein: the needle inserting device further comprises a needle placing piece (120), an upper needle piece (130) and an upper needle driving piece (140), wherein the needle placing piece (120) is provided with an upper needle groove (121), the upper needle piece (130) is provided with a needle fixing groove (131) and a needle taking groove (132) which are communicated, when the upper needle driving piece (140) drives the upper needle piece (130) to move to the needle fixing groove (131) to be communicated with the upper needle groove (121), a needle entering the needle fixing groove (121) is clamped into the needle fixing groove (131), and when the upper needle driving piece (140) drives the upper needle piece (130) to move to the needle fixing groove (131) to be not communicated with the upper needle groove (121), the needle taking assembly (200) obtains the needle in the needle fixing groove (131) through the needle taking groove (132).

8. A medical instrument production line is characterized in that: comprising a pin device according to any one of claims 1-7.

9. The medical device production line of claim 8, wherein: the medical equipment production line comprises a clamping assembly (800), wherein the clamping assembly (800) comprises a first clamping piece (810) and a second clamping piece (820), the first clamping piece (810) clamps materials, and the second clamping piece (820) clamps needles which are assembled with the materials.

10. A medical instrument production line is characterized in that: comprising a pin device according to any one of claims 1-4 and 7, the medical device production line comprising a clamping assembly (800), the clamping assembly (800) resiliently clamping the material and/or the pins assembled with the material.