An automatic assembly machine for the knob assembly of an insulin pen and its assembly method

Abstract

The present invention discloses an automatic assembly machine for a knob assembly of an insulin pen. The key points of its technical solution are that it includes a machine platform, a turntable is provided on the machine platform, and a plurality of workpiece positions are provided in the circumferential direction of the outer side of the turntable. A first device for mounting a locking ring on the workpiece position, a second device for mounting a metering knob on the locking ring, a third device for mounting a clutch in the metering knob, a fourth device for aligning the clutch with the locking ring, a fifth device for mounting a threaded guide sleeve on the metering knob, a sixth device for mounting a knob head on the metering knob and pressing it down to cooperate with the threaded guide sleeve, a seventh device for mounting a spring B on the clutch, an eighth device for mounting a button on the clutch, and a ninth device for screening and delivering good products. The present invention has a high degree of automation, can greatly improve assembly efficiency and product yield, and reduce costs.

Description

Technical Field

[0001] The invention relates to an automatic assembly machine for a knob component of an insulin pen and an assembling method thereof. Background Art

[0002] An insulin pen is a medical device that injects insulin into diabetic patients. Figures 1 to 3 This patent describes a disposable insulin pen, which includes a screw rod, a piston, a positioner, a fixed anti-retraction tooth, a transmission rod, a movable anti-retraction tooth, a spring A, a locking ring 13, a metering knob 14, a clutch 15, a threaded guide sleeve 16, a knob head 17, a spring B18, a button 19, and a pen body. It can be seen that it contains many parts and has a complex structure. The existing assembly method of this type of insulin pen is manual assembly, which is inefficient and prone to damage to parts, or the lack of assembly of individual parts, resulting in a high defective rate after assembly.

[0003] The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an automatic assembly machine and an assembly method for a knob assembly of an insulin pen, which can greatly improve assembly efficiency and product yield.

[0005] The present invention is achieved through the following technical solutions:

[0006] An automatic assembly machine for the knob assembly of an insulin pen, characterized in that: it includes a machine platform 11, a turntable 22 is provided on the machine platform 11, a plurality of vibration disks for feeding materials to the turntable 22 are provided on the outside of the machine platform 11, a plurality of workpiece positions 12 are provided on the circumference of the outer side of the turntable 22, and a first device 1 for mounting a locking ring 13 on the workpiece position 12, a second device 2 for mounting a metering knob 14 on the locking ring 13 to form component one, a third device 3 for mounting a clutch 15 in the metering knob 14, a fourth device 4 for aligning the clutch 15 with the locking ring 13 to form component two, and a threaded guide sleeve 16 for sleeved on the metering knob 14 to form a second assembly. The fifth device 5 of component three, the knob head 17 is put on the metering knob 14 and pressed down to cooperate with the threaded guide sleeve 16 to form the sixth device 6 of component four, the spring B18 is installed on the clutch 15 to form the seventh device 7 of component five, the button 19 is installed on the clutch 15 to form the eighth device 8 of the knob assembly, and the ninth device 9 for screening and sending out good products is provided. A plurality of external fixing columns 20 and a plurality of internal fixing columns 21 are provided on the machine 11, and a lower fixed disk 23 and an upper fixed disk 24 are provided above the turntable 22 from bottom to top. The lower fixed disk 23 is fixed by the external fixing columns 20, and the upper fixed disk 24 is fixed by the internal fixing columns 21.

[0007] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the first device 1 includes a first cross bar 101, a first inner clamping jaw 102 fixed at the inner end of the first cross bar 101, a first outer clamping jaw 103 fixed at the outer end of the first cross bar 101, and a first two-axis manipulator 104 that drives the first cross bar 101 to move left and right or up and down.

[0008] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the second device 2 includes a second cross bar 201, a first servo electric claw 202 fixed to the inner end of the second cross bar 201, a first flip-up clamp 203 fixed to the outer end of the second cross bar 201, and a second two-axis manipulator that drives the second cross bar 201 to move left and right or up and down, and a first positioning claw 204 for positioning the metering knob 14 is provided on the lower fixed plate 23.

[0009] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the third device 3 includes a third cross bar 301, a third inner clamp 302 fixed to the inner end of the third cross bar 301, a third outer clamp 303 fixed to the outer end of the third cross bar 301, and a third two-axis manipulator that drives the third cross bar 301 to move left and right or up and down, and a second positioning claw 304 for positioning the clutch 15 is provided on the lower fixed plate 23.

[0010] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the fourth device 4 includes a first bracket 401, a second bracket 402, and a third bracket 403 distributed clockwise along the outer side of the lower fixed plate 23, and a first lifting cylinder 404 and a second servo electric claw 405 driven by it are provided on the first bracket 401, a second lifting cylinder 406 and a third servo electric claw 407 driven by it are provided on the second bracket 402, and a third lifting cylinder 408 and a fourth servo electric claw 409 driven by it are provided on the third bracket 403. The fourth device 4 also includes a third positioning claw 410 used in conjunction with the second servo electric claw 405, a tenth positioning claw 411 used in conjunction with the third servo electric claw 407, and a fifth positioning claw 412 used in conjunction with the fourth servo electric claw 409.

[0011] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the fifth device 5 includes a fifth cross bar 501, a fifth servo electric claw 502 fixed at the inner end of the fifth cross bar 501, a second flip-up clamp 503 fixed in the middle of the fifth cross bar 501, a fifth outer clamp 506 fixed at the outer end of the fifth cross bar 501, a fifth two-axis manipulator that drives the fifth cross bar 501 to move left and right or up and down, and a sixth positioning claw 504 for positioning the metering knob 14. A rotating brush 505 for further rotating the threaded guide sleeve 16 is also provided on the machine platform 11.

[0012] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the sixth device 6 includes a sixth cross bar 601, a sixth inner clamp 603 fixed at the inner end of the sixth cross bar 601, a sixth outer clamp 602 fixed at the outer end of the sixth cross bar 601, a sixth two-axis manipulator that drives the sixth cross bar 601 to move left and right or up and down, a fourth positioning claw 604 fixed on the lower fixed plate 23 for positioning the metering knob 14, and a first pressing cylinder 605 for pressing the knob head 17 down along the metering knob 14 to cooperate with the threaded guide sleeve 16, and the first pressing cylinder 605 is driven to rise and fall by the fourth lifting cylinder 606.

[0013] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the seventh device 7 includes a first electric cylinder 701 fixed on the machine platform 11, a fifth lifting cylinder 702 driven by the first electric cylinder 701 to slide horizontally, a seventh clamping claw 703 driven by the fifth lifting cylinder 702 to lift and lower for grabbing the spring B18, a seventh positioning claw 704 for clamping the clutch 15, and an eighth positioning claw 705 for clamping the metering knob 14, the seventh clamping claw 703 is fixed to the bottom of the fifth lifting cylinder 702, the seventh positioning claw 704 is fixed on the upper fixed plate 24, and the eighth positioning claw 705 is fixed on the lower fixed plate 23.

[0014] The automatic assembly machine for the knob assembly of the insulin pen as described above is characterized in that: the eighth device 8 includes an eighth crossbar 801, an eighth inner clamping claw 803 fixed to the inner end of the eighth crossbar 801, an eighth outer clamping claw 802 fixed to the outer end of the eighth crossbar 801, an eighth two-axis manipulator that drives the eighth crossbar 801 to move left and right or up and down, a second pressing cylinder 804 for pressing the button 19, and a ninth positioning claw 805 for clamping the metering knob 14 when the button 19 is pressed. The second pressing cylinder 804 is composed of The sixth lifting cylinder 806 drives the lifting, and the sixth lifting cylinder 806 and the ninth positioning claw 805 are fixed on the same bracket; the ninth device 9 includes a ninth clamp 901 driven by the eighth two-axis manipulator to move left and right or up and down, a conveyor belt 902, and a slide rail 904 driven by the seventh cylinder 903 to move. The eighth two-axis manipulator and the seventh cylinder 903 are installed on the same bracket. The qualified knob assembly is grabbed by the ninth clamp 901 to the slide rail 904, and then slides into the conveyor belt 902 for output.

[0015] An assembly method of the automatic assembly machine for the knob assembly of the insulin pen as described above is characterized by comprising the following steps:

[0016] A. The locking ring 13 is transported to the machine table 11 via the vibrating plate. The first outer clamp 103 grabs the locking ring 13 output from the vibrating plate to the first transition position 25. Then, the first inner clamp 102 grabs the locking ring 13 on the first transition position 25 to the workpiece position 12 on the turntable 22.

[0017] B. The turntable 22 rotates one station, and the first detector 33 detects whether there is a locking ring 13 on the workpiece position 12;

[0018] C. The turntable 22 rotates one station. The first reversible gripper 203 grabs the metering knob 14 output from the vibrating disk, flips it 180 degrees, and places it on the second transition position 26. The first servo electric gripper 202 grabs the metering knob 14 on the second transition position 26 and moves it to the workpiece position 12. The metering knob 14 passes through the hole of the first positioning claw 204 and is then sleeved on the locking ring 13 to form assembly 1. The first servo electric gripper 202 rotates to align the knob 14 so that the longitudinal ribs of the knob 14 engage with the longitudinal grooves of the locking ring 13. After engagement, the first servo electric gripper 202 is loosened due to the set torque.

[0019] D. The turntable 22 rotates one station, and the second detector detects whether the metering knob 14 is on the workpiece position 12;

[0020] E. The turntable 22 rotates one station, and the third outer jaw 303 grabs the clutch 15 output from the vibrating plate to the third transition position 27. Then, the third inner jaw 302 grabs the clutch 15 on the third transition position 27 and moves it to the workpiece position 12 through the hole of the second positioning jaw 304 and then inserts it into the metering knob 14.

[0021] F. The turntable 22 rotates one station, and the third detector detects whether the clutch 15 is on the workpiece position 12;

[0022] G. The turntable 22 rotates one station, and the second servo electric claw 405 rotates the clutch 15 counterclockwise. The clutch 15 has screw threads on the outside, so that the locking ring 13 is threadedly connected to the middle part of the clutch 15;

[0023] H. The turntable 22 rotates one station, and the third servo electric claw 407 rotates the clutch 15 clockwise, so that the locking ring 13 is threadedly connected to the bottom of the clutch 15 to form component 2;

[0024] I. The turntable 22 rotates one station, and the fourth servo electric claw 409 rotates the metering knob 14 counterclockwise, so that the bottom of the metering knob 14 is stuck to the positioning point 32 of the fixture on the workpiece position 12, which is used to set the angle of the metering knob 14. After the angle is set, the fourth servo electric claw 409 will slip and loosen due to the set torque;

[0025] J. The turntable 22 rotates one station, and the fifth outer gripper 506 grabs the threaded guide sleeve 16 output from the vibration disk to the fourth transition position 28. At the fourth transition position 28, the orientation of the threaded guide sleeve 16 is detected by optical fiber. If the orientation is reversed, the second reversible gripper 503 flips it 180 degrees and grabs it to the fifth transition position 29. If the orientation is not reversed, the second reversible gripper 503 directly grabs it to the fifth transition position 29. The fifth servo electric gripper 502 then grabs the threaded guide sleeve 16 on the fifth transition position 29 to the workpiece position 12 and puts it on the metering knob 14. Then, the threaded guide sleeve 16 is rotated to the bottom of the metering knob 14.

[0026] K. The turntable 22 rotates one station, and the threaded guide sleeve 16 is further rotated by rotating the brush 505 to ensure that the threaded guide sleeve 16 is rotated to the bottom of the metering knob 14 to form component three. The fourth detector is used to detect whether the threaded guide sleeve 16 is on the workpiece position 12;

[0027] L. The turntable 22 rotates one station. The knob head 17 output from the vibrating disk has been angled and is grasped by the sixth outer jaw 602 to the sixth transition position 30. The knob head 17 at the sixth transition position 30 is then grasped by the sixth inner jaw 603 and moved to the metering knob 14 at the workpiece position 12. The fourth positioning jaw 604 clamps the metering knob 14. Then, the sixth inner jaw 603 grasps the knob head 17 and puts it on the metering knob 14.

[0028] M, the turntable 22 rotates one station, and the fifth detector detects whether there is a knob head 17 on the workpiece position 12;

[0029] N. The turntable 22 rotates one station, and the fourth lifting cylinder 606 drives the first pressing cylinder 605 to press the knob head 17 down along the metering knob 14 to cooperate with the threaded guide sleeve 16 to form component four;

[0030] O. The turntable 22 rotates one station. The seventh positioning claw 704 clamps the clutch 15, the eighth positioning claw 705 clamps the metering knob 14, and the seventh clamping claw 703 grabs the spring B18 and places it on the clutch 15 to form component five.

[0031] P, the turntable 22 rotates one station, and the sixth detector detects whether there is a spring B18 on the workpiece position 12;

[0032] Q. The turntable 22 rotates one station, and the sixth lifting cylinder 806 drives the second pressing cylinder 804 to press the button 19 downward and buckle it with the knob head 17 to form a knob assembly;

[0033] R. The turntable 22 rotates one station, and the qualified knob assembly is grabbed by the ninth clamp 901 and moved to the slide rail 904, and then slides into the conveyor belt 902 for output. For the unqualified knob assembly, the slide rail 904 is driven to retract by the seventh cylinder 903, and the unqualified knob assembly is grabbed by the ninth clamp 901 and dropped into the waste collection box below.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] The present invention has a high degree of automation, can greatly improve assembly efficiency and product yield, and reduce costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a three-dimensional schematic diagram of the insulin pen of the present invention;

[0037] Figure 2 is an exploded view of the insulin pen of the present invention;

[0038] Figure 3 is a three-dimensional schematic diagram of the knob assembly of the insulin pen of the present invention;

[0039] Figure 4 This is a three-dimensional diagram of the automatic assembly machine for the knob assembly of the insulin pen of the present invention;

[0040] Figure 5 This is an exploded view of the automatic assembly machine for the knob assembly of the insulin pen of the present invention, with some parts omitted;

[0041] Figure 6 is a schematic structural diagram of the first device of the present invention;

[0042] Figure 7 is a schematic structural diagram of the second device of the present invention;

[0043] Figure 8 is a schematic structural diagram of a third device of the present invention;

[0044] Figure 9is a schematic structural diagram of a fourth device of the present invention;

[0045] Figure 10 is a schematic structural diagram of a fifth device of the present invention;

[0046] Figure 11 is a schematic structural diagram of a sixth device of the present invention;

[0047] Figure 12 is a schematic structural diagram of a seventh device of the present invention;

[0048] Figure 13 is a schematic structural diagram of an eighth device of the present invention;

[0049] Figure 14 is a schematic structural diagram of a ninth device of the present invention;

[0050] Figure 15 It is a three-dimensional diagram of the fixture on the workpiece position of the present invention.

[0051] In the figure: 1 is the first device; 101 is the first crossbar; 102 is the first inner clamp; 103 is the first outer clamp; 104 is the first two-axis manipulator; 2 is the second device; 201 is the second crossbar; 202 is the first servo electric clamp; 203 is the first flip clamp; 204 is the first positioning clamp; 3 is the third device; 301 is the third crossbar; 302 is the third inner clamp; 303 is the third outer clamp; 304 is the second positioning clamp; 4 is the fourth device; 401 is the first bracket; 402 is the second bracket; 403 is the third bracket; 404 is the first lifting Cylinder; 405 is the second servo electric claw; 406 is the second lifting cylinder; 407 is the third servo electric claw; 408 is the third lifting cylinder; 409 is the fourth servo electric claw; 410 is the third positioning claw; 411 is the tenth positioning claw; 412 is the fifth positioning claw; 5 is the fifth device; 501 is the fifth crossbar; 502 is the fifth servo electric claw; 503 is the second reversible clamping claw; 504 is the sixth positioning claw; 505 is the rotating brush; 506 is the fifth outer clamping claw; 6 is the sixth device; 601 is the sixth crossbar; 602 is the sixth outer clamping claw; 603 is the sixth Inner clamp; 604 is the fourth positioning clamp; 605 is the first pressing cylinder; 606 is the fourth lifting cylinder; 7 is the seventh device; 701 is the first electric cylinder; 702 is the fifth lifting cylinder; 703 is the seventh clamp; 704 is the seventh positioning clamp; 705 is the eighth positioning clamp; 8 is the eighth device; 801 is the eighth crossbar; 802 is the eighth outer clamp; 803 is the eighth inner clamp; 804 is the second pressing cylinder; 805 is the ninth positioning clamp; 806 is the sixth lifting cylinder; 9 is the ninth device; 901 is the ninth clamp; 902 is the conveyor belt; 903 is the seventh cylinder ; 904 is the slide rail; 11 is the machine table; 12 is the workpiece position; 13 is the locking ring; 14 is the metering knob; 15 is the clutch; 16 is the threaded guide sleeve; 17 is the knob head; 18 is the spring B; 19 is the button; 20 is the outer fixing column; 21 is the inner fixing column; 22 is the turntable; 23 is the lower fixing plate; 24 is the first detector; 25 is the first transition position; 26 is the second transition position; 27 is the third transition position; 28 is the fourth transition position; 29 is the fifth transition position; 30 is the sixth transition position; 31 is the eighth transition position; 32 is the positioning point; 33 is the first detector. DETAILED DESCRIPTION

[0052] The technical features of the present invention are further described in detail below with reference to the accompanying drawings so that those skilled in the art can understand them.

[0053] The insulin pen of this patent contains many parts and has a complex structure. It requires three machines to be fully assembled. The assembly machine of this patent is used to assemble the knob assembly of the insulin pen. The knob assembly includes: locking ring 13, metering knob 14, clutch 15, threaded guide sleeve 16, knob head 17, spring B18, and button 19, a total of seven parts.

[0054] An automatic assembly machine for the knob assembly of an insulin pen, comprising a machine platform 11, a turntable 22 provided on the machine platform 11, a plurality of vibrating disks for feeding materials to the turntable 22 provided on the outside of the machine platform 11, a plurality of workpiece positions 12 provided on the circumference of the outer side of the turntable 22, a first device 1 for mounting a locking ring 13 on the workpiece position 12, a second device 2 for mounting a metering knob 14 on the locking ring 13 to form component one, a third device 3 for mounting a clutch 15 in the metering knob 14, a fourth device 4 for aligning the clutch 15 with the locking ring 13 to form component two, a fifth device 5 for sleeveing a threaded guide sleeve 16 on the metering knob 14 to form component three, and a fifth device 5 for mounting the knob The head 17 is put on the metering knob 14 and pressed down to cooperate with the threaded guide sleeve 16 to form the sixth device 6 of component four, the spring B18 is installed on the clutch 15 to form the seventh device 7 of component five, the button 19 is installed on the clutch 15 to form the eighth device 8 of the knob assembly, and the ninth device 9 for screening and sending out good products is provided. A plurality of external fixed columns 20 and a plurality of internal fixed columns 21 are provided on the machine 11, and a lower fixed disk 23 and an upper fixed disk 24 are provided above the turntable 22 from bottom to top. The lower fixed disk 23 is fixed by the external fixed column 20, and the upper fixed disk 24 is fixed by the internal fixed column 21. The turntable 22, the lower fixed disk 23, and the upper fixed disk 24 are coaxially arranged.

[0055] The turntable 22 is driven by the workstation divider to rotate clockwise. Six vibrating plates are arranged around the machine table 11 to transport the six workpieces mentioned above except for the spring B. This patented equipment has many parts and complex processes. The parts do not interfere with each other, and the overall design is very difficult. It is not easy for ordinary technicians to think of it. It can greatly improve assembly efficiency and reduce the defect rate.

[0056] The first device 1 includes a first crossbar 101, a first inner clamping jaw 102 fixed to the inner end of the first crossbar 101, a first outer clamping jaw 103 fixed to the outer end of the first crossbar 101, and a first two-axis manipulator 104 that drives the first crossbar 101 to move left and right or up and down.

[0057] The first outer jaw 103 grabs the locking ring 13 output from the vibration disk to the first transition position 25, and then the first inner jaw 102 grabs the locking ring 13 on the first transition position 25 to the workpiece position 12 on the turntable 22. The first outer jaw 103 has the same structure as the first inner jaw 102.

[0058] The first cross bar 101 and all other cross bars are arranged along the radial direction of the turntable 22, so the inner end and the outer end of the cross bar are also relative to the radial direction of the turntable 22. The inner end is close to the center of the turntable 22, and the outer end is far away from the center of the turntable 22. The clamping claws on the cross bar are driven to move left and right or up and down at the same time.

[0059] The second device 2 includes a second cross bar 201, a first servo electric claw 202 fixed to the inner end of the second cross bar 201, a first flip clamp 203 fixed to the outer end of the second cross bar 201, and a second two-axis manipulator that drives the second cross bar 201 to move left and right or up and down. A first positioning claw 204 for positioning the metering knob 14 is provided on the lower fixed plate 23.

[0060] The metering knob 14 output from the vibration disk must be flipped 180 degrees by the first reversible clamping jaw 203 and then grasped to the second transition position 26, and then grasped to the workpiece position 12 and assembled with the locking ring 13 by the first servo electric claw 202. It can only be accurately placed on the locking ring 13 through the hole of the first positioning claw 204 to avoid deviation; and the first servo electric claw 202 is rotated to align the longitudinal ribs of the metering knob 14 with the longitudinal grooves of the locking ring 13 below. After the fit, the first servo electric claw 202 will be loosened due to the set torque, and the locking ring 14 below will be fixed.

[0061] A first detector 33 is provided between the second device 2 and the first device 1 for detecting whether the upper locking ring 13 is present on the workpiece position 12. The first detector 33 is a displacement sensor and is mounted on the upper fixed plate 24 via a first mounting rod. Because the heights of the workpiece position with and without the locking ring 13 are different, the distance from the displacement sensor above is also different.

[0062] The third device 3 includes a third cross bar 301, a third inner clamp 302 fixed to the inner end of the third cross bar 301, a third outer clamp 303 fixed to the outer end of the third cross bar 301, and a third two-axis manipulator that drives the third cross bar 301 to move left and right or up and down. A second positioning claw 304 for positioning the clutch 15 is provided on the lower fixed plate 23.

[0063] The third outer jaw 303 grabs the clutch 15 output from the vibration plate to the third transition position 27 , and then the third inner jaw 302 grabs the clutch 15 on the third transition position 27 to the workpiece position 12 and inserts it into the metering knob 14 .

[0064] The clutch 15 can be accurately inserted into the metering knob 14 through the hole in the second positioning claw 304 to prevent misalignment. The second positioning claw 304 is fixed to the lower fixed plate 23. The third outer clamping jaw 303 has the same structure as the third inner clamping jaw 303. A second detector is provided between the third device 3 and the second device 2 to detect whether the metering knob 14 is installed. The second detector has the same structure and installation method as the first detector 33.

[0065] The fourth device 4 includes a first bracket, a second bracket 402, and a third bracket 403 distributed clockwise along the outer side of the lower fixed plate 23. A first lifting cylinder 404 and a second servo electric claw 405 driven by it are provided on the first bracket 401, a second lifting cylinder 406 and a third servo electric claw 407 driven by it are provided on the second bracket 402, and a third lifting cylinder 408 and a fourth servo electric claw 409 driven by it are provided on the third bracket 403. The fourth device 4 also includes a third positioning claw 410 used in conjunction with the second servo electric claw 405, a tenth positioning claw 411 used in conjunction with the third servo electric claw 407, and a fifth positioning claw 412 used in conjunction with the fourth servo electric claw 409. The three positioning claws are used to position the metering knob 14.

[0066] A third detector is provided between the fourth device 4 and the second device 3 for detecting whether the clutch 15 is installed. The third detector has the same structure and installation method as the first detector 33 .

[0067] The third positioning claw 410 is fixed on the machine platform 11 through a bracket, the tenth positioning claw 411 is fixed on the lower fixing plate 23 through a bracket, and the fifth positioning claw 412 is fixed on the machine platform 11 through a bracket.

[0068] The working process of the fourth device 4 is as follows: first, the second servo electric claw 405 rotates the clutch 15 counterclockwise. The clutch 15 has screw threads on the outside, so that the locking ring 13 jumps over the stuck point and is threadedly connected with the clutch 15 and is sleeved on the clutch 15.

[0069] Then, the process moves to the next step, where the third servo electric claw 407 rotates the clutch 15 clockwise. This time, the rotation force is lighter, so that the locking ring 13 is rotated to the bottom of the clutch 15 .

[0070] Then, the fourth servo electric claw 409 rotates the metering knob 14 counterclockwise so that the bottom of the metering knob 14 is stuck to the positioning point 32 of the fixture on the workpiece position 12 below to set the angle of the metering knob 14. After the angle is set, the fourth servo electric claw 409 will slip and loosen due to the set torque.

[0071] The fifth device 5 includes a fifth cross bar 501, a fifth servo electric claw 502 fixed at the inner end of the fifth cross bar 501, a second flip-up clamp 503 fixed in the middle of the fifth cross bar 501, a fifth outer clamp 506 fixed at the outer end of the fifth cross bar 501, a fifth two-axis manipulator that drives the fifth cross bar 501 to move left and right or up and down, and a sixth positioning claw 504 for positioning the metering knob 14. A rotating brush 505 for further rotating the threaded guide sleeve 16 is also provided on the machine table 11.

[0072] The threaded guide sleeve 16 outputted by the vibrating disk is grasped by the fifth outer gripper 506 to the fourth transition position 28. At the fourth transition position 28, the orientation of the threaded guide sleeve 16 is detected by optical fiber. If the orientation is reversed, the threaded guide sleeve 16 is flipped 180 degrees by the second reversible gripper 503 and grasped to the fifth transition position 29. If the orientation is not reversed, the threaded guide sleeve 16 is directly grasped to the fifth transition position 29 by the second reversible gripper 503. The threaded guide sleeve 16 on the fifth transition position 29 is then grasped by the fifth servo electric gripper 502 to the workpiece position 12 and put on the metering knob 14. The threaded guide sleeve 16 is then rotated to the bottom of the metering knob 14.

[0073] The sixth positioning claw 504 is mounted on the lower fixed plate 23 via a bracket and needs to clamp the metering knob 14 when installing the threaded guide sleeve 16 .

[0074] The next station is equipped with a rotating brush 505, driven by a servo motor to further ensure that the threaded guide sleeve 16 rotates to the bottom of the metering knob 14. The rotating brush 505 is secured by multiple mounting posts, which are located on the machine platform 11 and the lower fixed plate 23. This station also features a fourth detector for detecting whether the threaded guide sleeve 16 is installed. This fourth detector has the same structure and mounting method as the first detector 33.

[0075] The sixth device 6 includes a sixth cross bar 601, a sixth inner clamp 603 fixed at the inner end of the sixth cross bar 601, a sixth outer clamp 602 fixed at the outer end of the sixth cross bar 601, a sixth two-axis manipulator that drives the sixth cross bar 601 to move left and right or up and down, a fourth positioning claw 604 fixed on the lower fixed plate 23 for positioning the metering knob 14, and a first pressing cylinder 605 for pressing the knob head 17 down along the metering knob 14 to cooperate with the threaded guide sleeve 16. The first pressing cylinder 605 is driven to rise and fall by the fourth lifting cylinder 606.

[0076] The knob head 17 output by the vibration disk has a fixed angle and is grabbed to the sixth transition position 29 by the sixth outer clamp 602. Then, the knob head 17 at the sixth transition position 29 is grabbed by the sixth inner clamp 603 and put on the metering knob 14 on the workpiece position 12. At this time, the fourth positioning claw 604 is needed to clamp the metering knob 14.

[0077] A fifth detector is provided at the next station of the sixth crossbar 601. The fifth detector is used to detect whether there is a knob head 17 on the workpiece position 12. The structure and installation method of the fifth detector are the same as those of the first detector 33.

[0078] The first pressing cylinder 605 is driven to move up and down by a fourth lifting cylinder 606, which is fixed by a bracket. The fourth lifting cylinder 606 and the first pressing cylinder 605 are located at the next station of the fifth detector.

[0079] The seventh device 7 includes a first electric cylinder 701 fixed on the machine platform 11, a fifth lifting cylinder 702 driven by the first electric cylinder 701 to slide horizontally, a seventh clamping claw 703 driven by the fifth lifting cylinder 702 to lift and lower for grabbing the spring B18, a seventh positioning claw 704 for clamping the clutch 15, and an eighth positioning claw 705 for clamping the metering knob 14. The seventh clamping claw 703 is fixed to the bottom of the fifth lifting cylinder 702, the seventh positioning claw 704 is fixed on the upper fixed plate 24, and the eighth positioning claw 705 is fixed on the lower fixed plate 23.

[0080] The spring B18 in the figure is only used to illustrate its shape. The spring B18 is placed on a tray. A sixth detector is provided between the eighth device 8 and the seventh device 7 to detect whether the spring B18 is on the workpiece position 12. The detection principle is to regard the spring B18 as a wire. If the two electrodes are short-circuited, it means that the spring B18 is present. If the circuit is broken, it means that the spring B18 is not present.

[0081] The eighth device 8 includes an eighth cross bar 801, an eighth inner clamp 803 fixed at the inner end of the eighth cross bar 801, an eighth outer clamp 802 fixed at the outer end of the eighth cross bar 801, an eighth two-axis manipulator that drives the eighth cross bar 801 to move left and right or up and down, a second pressing cylinder 804 for pressing the button 19, and a ninth positioning claw 805 for clamping the metering knob 14 when the button 19 is pressed. The second pressing cylinder 804 is driven to rise and fall by the sixth lifting cylinder 806, and the sixth lifting cylinder 806 and the ninth positioning claw 805 are fixed on the same bracket.

[0082] The button 19 output by the vibration disk has a set angle and is grabbed to the eighth transition position 31 by the eighth outer clamp 802, and then the button 19 at the eighth transition position 31 is grabbed by the eighth inner clamp 803 and placed on the clutch 15 on the workpiece position 12.

[0083] The ninth device 9 comprises a ninth gripper 901, which is driven by an eighth two-axis manipulator for left-right and up-and-down movement; a conveyor belt 902; and a slide rail 904, which is driven by a seventh air cylinder 903. The eighth two-axis manipulator and the seventh air cylinder 903 are mounted on the same bracket. Qualified knob assemblies are grasped by the ninth gripper 901 and placed on the slide rail 904, where they are then slid onto the conveyor belt 902 for delivery. The slide rail 904 is curved. For unqualified knob assemblies, the slide rail 904 is retracted by the seventh air cylinder 903, and the unqualified knob assemblies are grasped by the ninth gripper 901 and dropped into a waste collection box below.

[0084] The turntable 22 rotates to the next station, the ninth positioning claw 805 clamps the metering knob 14, and the second pressing cylinder 804, driven by the sixth lifting cylinder 806, presses the button 19 down and buckles it with the knob head 17.

[0085] A seventh detector for detecting the presence or absence of the button 19 is provided between the ninth device 9 and the eighth device 8 . The seventh detector has the same structure and installation method as the first detector 33 .

[0086] The present invention also seeks to protect a method for assembling the knob assembly of the insulin pen described above using the automatic assembly machine, comprising the following steps:

[0087] A. The locking ring 13 is transported to the machine table 11 via the vibrating plate. The first outer clamp 103 grabs the locking ring 13 output from the vibrating plate to the first transition position 25. Then, the first inner clamp 102 grabs the locking ring 13 on the first transition position 25 to the workpiece position 12 on the turntable 22.

[0088] B. The turntable 22 rotates one station, and the first detector 33 detects whether there is a locking ring 13 on the workpiece position 12;

[0089] C. The turntable 22 rotates one station. The first reversible gripper 203 grabs the metering knob 14 output from the vibrating disk, flips it 180 degrees, and places it on the second transition position 26. The first servo electric gripper 202 grabs the metering knob 14 on the second transition position 26 and moves it to the workpiece position 12. The metering knob 14 passes through the hole of the first positioning claw 204 and is then sleeved on the locking ring 13 to form assembly 1. The first servo electric gripper 202 rotates to align the knob 14 so that the longitudinal ribs of the knob 14 engage with the longitudinal grooves of the locking ring 13. After engagement, the first servo electric gripper 202 is loosened due to the set torque.

[0090] D. The turntable 22 rotates one station, and the second detector detects whether the metering knob 14 is on the workpiece position 12;

[0091] E. The turntable 22 rotates one station, and the third outer jaw 303 grabs the clutch 15 output from the vibrating plate to the third transition position 27. Then, the third inner jaw 302 grabs the clutch 15 on the third transition position 27 and moves it to the workpiece position 12 through the hole of the second positioning jaw 304 and then inserts it into the metering knob 14.

[0092] F. The turntable 22 rotates one station, and the third detector detects whether the clutch 15 is on the workpiece position 12;

[0093] G. The turntable 22 rotates one station, and the second servo electric claw 405 rotates the clutch 15 counterclockwise. The clutch 15 has screw threads on the outside, so that the locking ring 13 is threadedly connected to the middle part of the clutch 15;

[0094] H. The turntable 22 rotates one station, and the third servo electric claw 407 rotates the clutch 15 clockwise, so that the locking ring 13 is threadedly connected to the bottom of the clutch 15 to form component 2;

[0095] I. The turntable 22 rotates one station, and the fourth servo electric claw 409 rotates the metering knob 14 counterclockwise, so that the bottom of the metering knob 14 is stuck to the positioning point 32 of the fixture on the workpiece position 12, which is used to set the angle of the metering knob 14. After the angle is set, the fourth servo electric claw 409 will slip and loosen due to the set torque;

[0096] J. The turntable 22 rotates one station, and the fifth outer gripper 506 grabs the threaded guide sleeve 16 output from the vibration disk to the fourth transition position 28. At the fourth transition position 28, the orientation of the threaded guide sleeve 16 is detected by optical fiber. If the orientation is reversed, the second reversible gripper 503 flips it 180 degrees and grabs it to the fifth transition position 29. If the orientation is not reversed, the second reversible gripper 503 directly grabs it to the fifth transition position 29. The fifth servo electric gripper 502 then grabs the threaded guide sleeve 16 on the fifth transition position 29 to the workpiece position 12 and puts it on the metering knob 14. Then, the threaded guide sleeve 16 is rotated to the bottom of the metering knob 14.

[0097] K. The turntable 22 rotates one station, and the threaded guide sleeve 16 is further rotated by rotating the brush 505 to ensure that the threaded guide sleeve 16 is rotated to the bottom of the metering knob 14 to form component three. The fourth detector is used to detect whether the threaded guide sleeve 16 is on the workpiece position 12;

[0098] L. The turntable 22 rotates one station. The knob head 17 output from the vibrating disk has been angled and is grasped by the sixth outer jaw 602 to the sixth transition position 30. The knob head 17 at the sixth transition position 30 is then grasped by the sixth inner jaw 603 and moved to the metering knob 14 at the workpiece position 12. The fourth positioning jaw 604 clamps the metering knob 14. Then, the sixth inner jaw 603 grasps the knob head 17 and puts it on the metering knob 14.

[0099] M, the turntable 22 rotates one station, and the fifth detector detects whether there is a knob head 17 on the workpiece position 12;

[0100] N. The turntable 22 rotates one station, and the fourth lifting cylinder 606 drives the first pressing cylinder 605 to press the knob head 17 down along the metering knob 14 to cooperate with the threaded guide sleeve 16 to form component four;

[0101] O. The turntable 22 rotates one station. The seventh positioning claw 704 clamps the clutch 15, the eighth positioning claw 705 clamps the metering knob 14, and the seventh clamping claw 703 grabs the spring B18 and places it on the clutch 15 to form component five.

[0102] P, the turntable 22 rotates one station, and the sixth detector detects whether there is a spring B18 on the workpiece position 12;

[0103] Q. The turntable 22 rotates one station, and the sixth lifting cylinder 806 drives the second pressing cylinder 804 to press the button 19 downward and buckle it with the knob head 17 to form a knob assembly;

[0104] R. The turntable 22 rotates one station, and the qualified knob assembly is grabbed by the ninth clamp 901 and moved to the slide rail 904, and then slides into the conveyor belt 902 for output. For the unqualified knob assembly, the slide rail 904 is driven to retract by the seventh cylinder 903, and the unqualified knob assembly is grabbed by the ninth clamp 901 and dropped into the waste collection box below.

Claims

1. A method for assembling an insulin pen knob assembly automatic assembly machine, characterized by: The automatic assembly machine for the knob assembly of the insulin pen comprises: a machine (11), a turntable (22) is provided on the machine (11), a plurality of vibration disks for feeding materials to the turntable (22) are provided on the outside of the machine (11), a plurality of workpiece positions (12) are provided on the circumference of the outer side of the turntable (22), and a first device (1) for mounting a locking ring (13) on the workpiece position (12) is provided on the machine (11) along the outer side of the turntable (22) in a clockwise direction, a second device (2) for mounting a metering knob (14) on the locking ring (13) to form component one, a third device (3) for mounting a clutch (15) in the metering knob (14), a fourth device (4) for aligning the clutch (15) with the locking ring (13) to form component two, and a fourth device (5) for sleeve-fitting a threaded guide sleeve (16) on the metering knob (14) to form component The fifth device (5) of the third, the knob head (17) is put on the metering knob (14) and pressed down to cooperate with the threaded guide sleeve (16) to form the sixth device (6) of the fourth component, the spring B (18) is installed on the clutch (15) to form the seventh device (7) of the fifth component, the button (19) is installed on the clutch (15) to form the eighth device (8) of the knob assembly, and the ninth device (9) for screening good products and sending good products out, a plurality of external fixing columns (20) and a plurality of internal fixing columns (21) are provided on the machine (11), and a lower fixing disk (23) and an upper fixing disk (24) are provided above the turntable (22) from bottom to top, the lower fixing disk (23) is fixed by the external fixing columns (20), and the upper fixing disk (24) is fixed by the internal fixing columns (21); The assembly method of the automatic assembly machine for the knob assembly of the insulin pen comprises the following steps: A. The locking ring (13) is transported to the machine table (11) through the vibration plate, the locking ring (13) output from the vibration plate is grasped to the first transition position (25) by the first outer clamp (103) of the first device (1), and then the locking ring (13) on the first transition position (25) is grasped to the workpiece position (12) on the turntable (22) by the first inner clamp (102); B. The turntable (22) rotates one station, and the first detector (33) detects whether there is a locking ring (13) on the workpiece position (12); C. The turntable (22) rotates one workstation, and the metering knob (14) output from the vibration disk is grabbed by the first reversible clamping claw (203) of the second device (2), flipped 180 degrees, and then placed in the second transition position (26). The metering knob (14) on the second transition position (26) is grabbed by the first servo electric claw (202) and moved to the workpiece position (12). The metering knob (14) is passed through the hole of the first positioning claw (204) and then mounted on the locking ring (13) to form a component 1. The first servo electric claw (202) is rotated to align the metering knob (14) so that the longitudinal ribs of the metering knob (14) are matched with the longitudinal grooves of the locking ring (13). After the match, the first servo electric claw (202) is loosened due to the set torque. D. The turntable (22) rotates one station, and the second detector detects whether there is a metering knob (14) on the workpiece position (12); E. The turntable (22) rotates one station, and the clutch (15) output from the vibration plate is grasped by the third outer clamp (303) of the third device (3) to the third transition position (27), and then the third inner clamp (302) grasps the clutch (15) on the third transition position (27) to the workpiece position (12), and then inserts it into the metering knob (14) through the hole of the second positioning claw (304); F. The turntable (22) rotates one station, and the third detector detects whether there is a clutch (15) on the workpiece position (12); G. The turntable (22) rotates one station, and the clutch (15) is rotated counterclockwise by the second servo electric claw (405) of the fourth device (4). The clutch (15) has screw threads on the outside, so that the locking ring (13) is threadedly connected to the middle of the clutch (15); H. The turntable (22) rotates one station, and the clutch (15) is rotated clockwise by the third servo electric claw (407) of the fourth device (4), so that the locking ring (13) is threadedly connected to the bottom of the clutch (15) to form component 2; I. The turntable (22) rotates one workstation, and the fourth servo electric claw (409) of the fourth device (4) rotates the metering knob (14) counterclockwise, so that the bottom of the metering knob (14) is stuck to the positioning point (32) of the fixture on the workpiece position (12), which is used to set the angle of the metering knob (14). After the angle is set, the fourth servo electric claw (409) will slip and loosen due to the set torque; J. The turntable (22) rotates one station, and the fifth outer clamp (506) of the fifth device (5) grabs the threaded guide sleeve (16) output by the vibration disk to the fourth transition position (28). At the fourth transition position (28), the direction of the threaded guide sleeve (16) is detected by optical fiber. If the direction is reversed, it is flipped 180 degrees by the second flip clamp (503) and grabbed to the fifth transition position (29). If the direction is not reversed, it is directly grabbed to the fifth transition position (29) by the second flip clamp (503), and then the threaded guide sleeve (16) on the fifth transition position (29) is grabbed to the workpiece position (12) by the five servo electric claws (502) and put on the metering knob (14), and then the threaded guide sleeve (16) is rotated to the bottom of the metering knob (14); K, the turntable (22) rotates one station, and the threaded guide sleeve (16) is further rotated by rotating the brush (505), ensuring that the threaded guide sleeve (16) is rotated to the bottom of the metering knob (14), forming component three, and detecting whether the threaded guide sleeve (16) is present on the workpiece position (12) by the fourth detector; L, the turntable (22) rotates one station, the knob head (17) output from the vibration disk has been set at a certain angle, and is grabbed by the sixth outer clamp (602) of the sixth device (6) to the sixth transition position (30), and then the knob head (17) at the sixth transition position (30) is grabbed by the sixth inner clamp (603) to the metering knob (14) at the workpiece position (12), the fourth positioning claw (604) clamps the metering knob (14), and then the sixth inner clamp (603) grabs the knob head (17) and puts it on the metering knob (14); M, the turntable (22) rotates one station, and the fifth detector detects whether there is a knob head (17) on the workpiece position (12); N, the turntable (22) rotates one station, and the fourth lifting cylinder (606) of the sixth device (6) drives the first pressing cylinder (605) to press the knob head (17) down along the metering knob (14) to cooperate with the threaded guide sleeve (16) to form component four; O, the turntable (22) rotates one station, the seventh positioning claw (704) of the seventh device (7) clamps the clutch (15), the eighth positioning claw (705) clamps the metering knob (14), and the seventh clamping claw (703) grabs the spring B (18) and places it on the clutch (15) to form component five; P, the turntable (22) rotates one station, and the sixth detector detects whether there is a spring B (18) on the workpiece position (12); Q. The turntable (22) rotates one station, and the sixth lifting cylinder (806) of the eighth device (8) drives the second pressing cylinder (804) to press the button (19) downward and buckle it with the knob head (17) to form a knob assembly; R. The turntable (22) rotates one station, and the qualified knob assembly is grasped by the ninth clamp (901) of the ninth device (9) to the slide rail (904), and then slides into the conveyor belt (902) for output. For the unqualified knob assembly, the slide rail (904) is driven to retract by the seventh cylinder (903), and the unqualified knob assembly is grasped by the ninth clamp (901) and dropped into the waste collection box below.

2. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The first device (1) comprises a first crossbar (101), a first inner clamp (102) fixed to the inner end of the first crossbar (101), a first outer clamp (103) fixed to the outer end of the first crossbar (101), and a first two-axis manipulator (104) for driving the first crossbar (101) to move left and right or up and down.

3. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The second device (2) includes a second crossbar (201), a first servo electric claw (202) fixed to the inner end of the second crossbar (201), a first flippable clamping claw (203) fixed to the outer end of the second crossbar (201), and a second two-axis manipulator for driving the second crossbar (201) to move left and right or up and down. A first positioning claw (204) for positioning the metering knob (14) is provided on the lower fixed plate (23).

4. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The third device (3) includes a third crossbar (301), a third inner clamping claw (302) fixed to the inner end of the third crossbar (301), a third outer clamping claw (303) fixed to the outer end of the third crossbar (301), and a third two-axis manipulator that drives the third crossbar (301) to move left and right or up and down. A second positioning claw (304) for positioning the clutch (15) is provided on the lower fixed plate (23).

5. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The fourth device (4) includes a first bracket (401), a second bracket (402), and a third bracket (403) arranged clockwise along the outer side of the lower fixed plate (23); a first lifting cylinder (404) and a second servo electric claw (405) driven by the first bracket (401) are provided; a second lifting cylinder (406) and a third servo electric claw (407) driven by the first bracket (402) are provided; a third lifting cylinder (408) and a fourth servo electric claw (409) driven by the first bracket (403) are provided; the fourth device (4) also includes a third positioning claw (410) used in conjunction with the second servo electric claw (405), a tenth positioning claw (411) used in conjunction with the third servo electric claw (407), and a fifth positioning claw (412) used in conjunction with the fourth servo electric claw (409).

6. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The fifth device (5) includes a fifth crossbar (501), a fifth servo electric claw (502) fixed to the inner end of the fifth crossbar (501), a second flip-up clamping claw (503) fixed to the middle of the fifth crossbar (501), a fifth outer clamping claw (506) fixed to the outer end of the fifth crossbar (501), a fifth two-axis manipulator for driving the fifth crossbar (501) to move left and right or up and down, and a sixth positioning claw (504) for positioning the metering knob (14). A rotating brush (505) for further rotating the threaded guide sleeve (16) is also provided on the machine platform (11).

7. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The sixth device (6) includes a sixth crossbar (601), a sixth inner clamping claw (603) fixed to the inner end of the sixth crossbar (601), a sixth outer clamping claw (602) fixed to the outer end of the sixth crossbar (601), a sixth two-axis manipulator for driving the sixth crossbar (601) to move left and right or up and down, a fourth positioning claw (604) fixed on the lower fixed plate (23) for positioning the metering knob (14), and a first pressing cylinder (605) for pressing the knob head (17) down along the metering knob (14) to cooperate with the threaded guide sleeve (16), wherein the first pressing cylinder (605) is driven to rise and fall by a fourth lifting cylinder (606).

8. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The seventh device (7) includes a first electric cylinder (701) fixed on the machine platform (11), a fifth lifting cylinder (702) driven by the first electric cylinder (701) to slide horizontally, a seventh clamping claw (703) driven by the fifth lifting cylinder (702) to lift and lower for grabbing the spring B (18), a seventh positioning claw (704) for clamping the clutch (15), and an eighth positioning claw (705) for clamping the metering knob (14), wherein the seventh clamping claw (703) is fixed to the bottom of the fifth lifting cylinder (702), the seventh positioning claw (704) is fixed to the upper fixed plate (24), and the eighth positioning claw (705) is fixed to the lower fixed plate (23).

9. The assembly method of the automatic assembly machine for the insulin pen knob assembly according to claim 1, characterized in that: The eighth device (8) includes an eighth crossbar (801), an eighth inner clamping claw (803) fixed to the inner end of the eighth crossbar (801), an eighth outer clamping claw (802) fixed to the outer end of the eighth crossbar (801), an eighth two-axis manipulator for driving the eighth crossbar (801) to move left and right or up and down, a second pressing cylinder (804) for pressing the button (19), and a ninth positioning claw (805) for clamping the metering knob (14) when the button (19) is pressed. The second pressing cylinder (804) is driven by a sixth lifting cylinder (806). The sixth lifting cylinder (806) and the ninth positioning claw (805) are fixed on the same bracket; the ninth device (9) includes a ninth clamping claw (901) driven by the eighth two-axis manipulator to move left and right or up and down, a conveyor belt (902), and a slide rail (904) driven by the seventh cylinder (903). The eighth two-axis manipulator and the seventh cylinder (903) are installed on the same bracket. The qualified knob assembly is grabbed by the ninth clamping claw (901) and moved to the slide rail (904), and then slides into the conveyor belt (902) for output.

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