| 摘要 |
PURPOSE:To automatically execute the processing of a calking, the inspection of a needle tip or a string fitting hole, etc., by holding numerous curved suture needles in a constant position and respectively processing each suture needle fed by a feeding means. CONSTITUTION:At a station ST1 a robot 3 stops by transferring a suture needle N until the end face of a needle root end Na is abutted to a guide 5g. A die 5 holds the needle root end Na and the robot 3 releases the needle N to complete the delivery of the needle N. A table 4 is rotated 90 deg. and the calking machine 5 holding the needle N reaches a station ST2, where the insertion of a string T into the string fitting hole and calking are executed. The table 4 reaches a station ST3 by its 90 deg. rotation, the needle N is released with the die being separated, the robot rotates the needle N 90 deg. and a 2nd calking is executed with the die approaching to complete a string fitting work. A TV camera 6 photographs the needle tip of the needle N at a station ST4, a control device decides the quality of the needle tip based on an video signal and in case of YES, the robot transfers the needle N to a non-defective receiving container 7 and in the decision of NO, it is transferred to a defective receiving container 8. |
