An intelligent production line pinning unit

Abstract

The present invention discloses an intelligent production line pinning unit, including a pin accumulator, a pin picker, a pin loading mechanism, and a workpiece conveying pallet. The pin picker includes six pin slots arranged at intervals of 60 degrees on a turntable. The pin loading mechanism is used to push the pins that fall into the pin slots from the pin accumulator and turn to the pallet resident position into the workpiece on the pallet. The present invention receives and transports the fallen pins through the pin slots on the turntable, and can automatically complete the process of picking and feeding the pins in the accumulator in a relatively short time, which significantly improves the operation speed of the pinning unit.

Description

Technical Field

[0001] The invention belongs to the field of mechatronics and relates to a pin-threading unit on an intelligent production line. Background Art

[0002] An intelligent automatic production line refers to a production equipment that uses a workpiece conveying system and a control system to connect a group of automatic machine tools and auxiliary equipment in a process sequence, thereby automatically completing all or part of the manufacturing process of the product. The pin-threading unit is an important component on the automatic production line for completing the physical connection and assembly of the workpiece body and the upper cover. The pin-threading unit currently commonly used in production lines actually includes two process links during operation: material storage and pin-threading. The material storage link requires manual material removal and feeding of the pins, and the production efficiency is low. For this reason, Chinese patent CN209681601U proposes an automatic pin-threading device, which can use a vibrating plate, a horizontal feeding track and a straight vibrator to automatically retrieve and feed pins, but the structure is complex, the speed is slow, and it is not suitable for use on automatic production lines.

[0003] Therefore, how to ensure the fast operation of the pin-threading unit is a technical problem that needs to be solved at present. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an intelligent production line pinning unit that can complete material storage and pinning at one time.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A pin insertion unit, the unit includes a pin accumulator, a pin picker, a pin loading mechanism, a tray for carrying a part to be processed (referred to as workpiece) and a linear motion mechanism for conveying the tray, the pin picker includes a turntable, the turntable is provided with a plurality of pin slots arranged at intervals along the circumference (for example, at intervals of 60 degrees), the pin loading mechanism includes a push rod for pushing a pin that falls from the pin accumulator into the pin slot and rotates with the pin slot (the turntable is defined as rotating in the forward direction at this time) at the tray residence position of the linear motion mechanism into the part to be processed on the tray when the tray resides.

[0007] Preferably, the pin accumulator includes a shell and an arc-shaped slide groove arranged in the shell, and a feed slot and a discharge slot are arranged on the shell. The feed slot and the discharge slot are respectively connected to the upper and lower ends of the arc-shaped slide groove, so that they can cooperate with the pin slot on the turntable to realize fast and automatic material picking and feeding.

[0008] Preferably, the pin accumulator also includes an arc guide rail that contacts and cooperates (for example, slides relatively) with the pin that falls into the pin slot. The arc guide rail extends downward from the discharge slot to the outer side of the bottom of the turntable, thereby reducing the difficulty of taking materials during the rotation of the turntable and ensuring that the pin is transported between the push rod and the pin hole on the workpiece where the pin is to be assembled.

[0009] Preferably, the pin loading mechanism further comprises an outer cylinder, a slip ring and an inner cylinder, one end of the inner cylinder is connected to the turntable, the other end of the inner cylinder is rotatably supported in the outer cylinder, a plurality of guide grooves arranged at intervals are arranged on the side surface of the outer cylinder, balls are arranged in the guide grooves, one side surface of the balls (i.e. the part of the balls protruding inwardly from the guide grooves) is in contact with the side surface of the inner cylinder, the other side surface of the balls (i.e. the part of the balls protruding outwardly from the guide grooves) is rotatably embedded in the inner side surface of the slip ring, each guide groove is composed of mutually connected inclined grooves (the angle between the starting point and the end point is the same as the angle between adjacent pin slots) and straight grooves, wherein the straight grooves extend from the end point of the corresponding inclined groove to one end of the outer cylinder close to the turntable in a direction parallel to the axial direction of the outer cylinder (i.e. the straight grooves are closer to the turntable than the inclined grooves), and the push rods are arranged on the slip ring.

[0010] Preferably, the pin assembly mechanism also includes a pin assembly cylinder and a push-pull ring and a support ring respectively arranged on both sides of the guide groove. The push-pull ring is sleeved on the outer cylinder, and the push-pull ring is respectively connected to the slip ring and the pin assembly cylinder through connecting parts (including a connecting plate fixed on one side of the push-pull ring and driven by the pin assembly cylinder, and a connecting rod located between the push-pull ring and the slip ring), and the support ring is fixed on the outer cylinder.

[0011] Preferably, the unit further comprises a lateral support frame and a bottom support frame, the bottom support frame is connected to the outer cylinder, the lateral support frame is arranged on the pin accumulator, the support ring is connected to the lateral support frame, and the pin assembly cylinder is arranged on the lateral support frame.

[0012] Preferably, the linear motion mechanism includes a support frame, a pulley and a conveying motor arranged on the support frame, and a conveyor belt arranged on the pulley for controlling the movement of the pallet (for example, there are two conveyor belts, which respectively form two groups of pallet conveying components arranged in parallel on the support frame and driven by a conveying motor with the pulleys located at the head and tail ends of the support frame), and the conveying motor is connected to the pulley through a transmission component.

[0013] Preferably, the unit further comprises a stop rod, a stop cylinder, and a stop rod bracket and a stop cylinder bracket arranged on the support frame, the stop cylinder is arranged on the stop cylinder bracket, the stop rod is rotatably arranged on the stop rod bracket, and the stop rod is connected to the stop cylinder.

[0014] Preferably, the support frame includes a slide rail (for example, a slide rail is provided on the outside of the two conveyor belts and is located between the head and tail ends of the support frame), the edge of the tray is located on the track surface inside the slide rail, and the bottom side of the pin accumulator is arranged on the track surface at the top of the slide rail. The slide rail is used to speed up the operation and debugging of the pin insertion unit while ensuring that the transportation of the workpiece is not affected.

[0015] Preferably, the unit further comprises a baffle plate arranged on the track surface at the top of the slide rail, the turntable is rotatably supported on the baffle plate, and a component for preventing the turntable from rotating in the opposite direction is arranged on the baffle plate.

[0016] Preferably, the unit also includes a pin detector and a pallet detector, the pin detector includes a photoelectric sensor (the photoelectric sensor can be set on the slide rail) for detecting the pin assembly status (specifically detecting the two situations of containing pins or not containing pins) of the part to be processed (specifically the pin hole to be assembled on the part) positioned at the pallet residence position, and the pallet detector includes a photoelectric sensor (the photoelectric sensor can be set under the slide rail) for detecting the situation of the pallet arriving at the specified position (specifically detecting the two situations of whether there is a pallet at the specified position or not, and when the former situation occurs, the specified position is the pallet residence position). Utilizing these photoelectric sensors can improve the intelligence level of the pin threading unit in the automatic production line and reduce the occurrence of faults.

[0017] The beneficial effects of the present invention are embodied in:

[0018] The present invention receives and transfers the falling pins through the pin clamping grooves on the rotating disk, and can automatically complete the process of taking and feeding the pins in the accumulator in a relatively short time, thereby significantly improving the operation speed of the pin penetration unit.

[0019] Furthermore, the present invention utilizes a cam rotating mechanism composed of a turntable, a pin slot, an inner cylinder, an outer cylinder, a ball bearing, and a slip ring to convert the action of the pin assembly cylinder into a local rotation action of the turntable and a pushing action of the push rod, that is, one cylinder can be used to complete the storage of pins and the pin threading assembly of the removed pin materials, thereby saving power components and improving the efficiency of the pin threading unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the overall structure of the pin-piercing unit in Embodiment 1 of the present invention;

[0021] Figure 2 for Figure 1 The structural schematic diagram of the pin-through part shown (the connecting parts between the pin assembly cylinder and the push-pull ring and the connecting parts between the push-pull ring and the slip ring are omitted);

[0022] Figure 3 It is a structural schematic diagram of the cam rotating mechanism of the pin-penetrating part;

[0023] Figure 4 for Figure 1 The schematic diagram of the structure of the transmission part shown (the transmission parts between the stepper motor and the pulley are omitted);

[0024] Figure 5 It is a schematic diagram of the structure of the stop mechanism of the transmission part;

[0025] Figure 6 Schematic diagram of the working process of the pin-threading unit in Embodiment 1 of the present invention;

[0026] In the figure: 1-guide groove; 2-outer cylinder; 3-pin assembly cylinder; 4-lateral support frame; 5-accumulator; 6-pulley; 7-pin; 8-slide rail; 9-bottom plate crossbeam; 10-stop rod; 11-pin detector; 12-tray detector; 13-beam bracket; 14-conveyor belt; 15-tray; 16-parts to be processed; 17-inner cylinder; 18-stop cylinder; 19-stop cylinder bracket; 20-push rod; 21-baffle; 22-stop rod bracket; 23-slide rail crossbeam; 24-transmission motor; 25-bottom support frame; 26-turntable; 27-push-pull ring; 28-slip ring; 29-support ring; 30-pin slot; 51-guide plate; 52-discharge slot; 261-axis hole. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. The embodiments are only used to explain the present invention, but not to limit the scope of protection of the present invention.

[0028] Example 1

[0029] See also Figure 1 The pin insertion unit proposed in the present invention includes a pin insertion part and a conveying part. The pin insertion part is mainly responsible for inserting the pin into the part to be processed 16 to complete the assembly of the pin 7 and the part; the conveying part is mainly responsible for transporting the part to the designated position through the tray 15, and continuing to transport the part after the pin assembly is completed at the designated position, that is, by controlling the stop and movement of the part, the part stops before the pin insertion and moves after the pin insertion.

[0030] See also Figure 2The pin-penetrating part includes a push rod 20, a pin assembly cylinder 3 (referred to as a pin cylinder), a cam rotating mechanism and an accumulator 5. The accumulator 5 includes a box-type structure housing and a lateral support frame 4 connected to the lower part of the housing. The pin assembly cylinder 3 is installed on the lateral support frame 4. A slide groove is provided inside the housing (the bottom surface of the slide groove is an arc-shaped slope, and the pin 7 is placed on the slope from the feed slot at the upper part of the housing). The size of the slide groove (such as the groove width) matches the size of the pin 7 (such as the axial length), so that the pins 7 stored horizontally inside the slide groove slide out of the discharge slot 52 at the lower part of the housing one by one under the action of gravity, and just roll into the material extraction slot outside the accumulator 5, and then the pin 7 continues to move with the cooperation of the arc edge (as a guide rail) of the guide plate 51 below the discharge slot 52, until it rotates to a position directly opposite to the push rod 20 with the material extraction slot as a whole. The cam rotating mechanism includes a turntable 26 for driving the material taking slot and an outer cylinder 2 and an inner cylinder 17 which are nested with each other. The turntable 26 is supported on a baffle 21 (a part of the baffle 21 is located above the material guide plate 51). The inner cylinder 17 and the turntable 26 can rotate synchronously. The outer cylinder 2 is installed on a bottom support frame 25. A guide groove 1 is processed at the front of the outer cylinder 2 to penetrate the corresponding area of ​​the side surface of the cylinder wall. The push rod 20 (a column with the same diameter as the pin) can be pushed under the outer cylinder 2 as the ball in the guide groove 1 moves, and during the pushing process, the pin 7 rotated to one side of the part to be processed 16 is pushed into the pin hole on the part; the rotation of the inner cylinder 17 and the turntable 26 and the pushing process of the push rod 20 are powered by the pin assembly cylinder 3.

[0031] See also Figure 3 The cam rotating mechanism also includes a pin slot 30. The pin slots 30 are arranged at intervals along the circumference of the rotating disk 26, so as to form a material extractor with the rotating disk 26; wherein, a groove is arranged at intervals of 60 degrees on the two disk surfaces of the rotating disk 26 (arranged at intervals at the front end of the inner cylinder 17), and the 6 grooves arranged on one disk surface correspond to the same direction as the 6 grooves arranged on the other disk surface, that is, a total of 6 pin slots 30 are formed by 6 pairs of grooves in 6 different directions of the rotating disk 26, and each pin slot 30 can clamp a pin 7 matching the size of the groove (the pin 7 sliding out of the discharge slot 52 of the accumulator 5 falls into the pin slot 30 in a direction parallel to the center of the cam rotating mechanism in its axial direction). There is a cam structure between adjacent pin slots to resist the discharge slot (so that the pin cannot continue to roll down). The center of the rotating disk 26 is provided with an axial hole 261, and a rotating shaft that passes through the center of the inner cylinder 17 passes through the axial hole 261 and extends to the baffle 20. The rear part of the inner cylinder 17 is nested in the outer cylinder 2 through the rotating shaft. When the rotating disk 26 rotates with the inner cylinder 17, each pin slot 30 takes turns as the above-mentioned material taking slot, thereby realizing efficient automatic material taking and feeding.

[0032] See also Figure 3The cam rotating mechanism also includes a slip ring 28, a push-pull ring 27 and a support ring 29. The rear end of the push rod 20 is fixed on the slip ring 28. The slip ring 28 slides relative to the outer cylinder 2 by moving the ball in the guide groove 1. The push-pull ring 27 is sleeved on the rear part of the outer cylinder 2, and the pin assembly cylinder 3 is welded to the push-pull ring 27 through a connecting plate, and the push-pull ring 27 is fixed to the slip ring 28 through a connecting rod. The support ring 29 is fixed to the front end of the outer cylinder 2 and connected to the lateral support frame 4. A total of 6 guide grooves 1 are processed on the outer cylinder 2, and the 6 guide grooves 1 are spaced and distributed on the side of the outer cylinder 2 at 360 degrees. Each guide groove 1 is composed of a section of inclined groove and a section of straight groove. The tail of the inclined groove is connected to the head of the straight groove, and the head and tail of the inclined groove extend 60 degrees on the circumference. When the slip ring 28 is fed forward (moving toward the turntable 26, i.e., moving forward) driven by the pin assembly cylinder 3, the ball in the guide groove 1 of the outer cylinder 2 first moves in the inclined groove, and the inner cylinder 17 rotates clockwise under the combined action of the inclined groove and the ball protrusion (the part protruding inward from the inclined groove and contacting the wall of the inner cylinder 17). After rotating 60 degrees, the ball enters the straight groove. At this time, the inner cylinder 17 stops rotating (at the same time, the material extractor takes out a pin 7 from the accumulator 5, i.e., a pin 7 falls into the pin slot 30 adjacent to the discharge slot 52 on the turntable 26), and the push rod 20 continues to move forward with the slip ring 28 and passes through the notch on the support ring 29. The push rod 20 that passes through the support ring 29 continues to move forward until the front end of the push rod 20 pushes the pin 7 (located in the pin slot 30 at the bottom of the turntable 26) opposite to it into the pin hole of the workpiece. When the push rod 20 returns to the original position with the slip ring 28 (moves backward under the drive of the pin assembly cylinder 3), it first passes through the straight groove and then the inclined groove. During the reciprocating motion of the pin assembly cylinder 3, the slip ring drives the turntable 26 and the push rod 20 repeatedly, thereby continuously taking out the pins 7 from the accumulator 5 and assembling the taken out pins 7 with the workpiece 16 to be processed.

[0033] See also Figure 1 and Figure 4The conveying part includes a support frame, a tray conveying component, a photoelectric sensor and a stop mechanism. The support frame includes two beam brackets 13, a plurality of mutually spaced bottom plate beams 9 welded between the two beam brackets 13, and a plurality of mutually spaced slide rail beams 23 welded on the tops of the beam brackets 13. The two horizontal slide rails 8 are respectively fixed to the slide rail beams 23 welded on the corresponding beam brackets 13. The tray conveying component includes a rotating pulley 6 installed on the corresponding slide rail beams 23 at both ends of the beam bracket 13, two rotating pulleys 6 located on one side of the same beam bracket 13 are connected to a corresponding conveyor belt 14, and the conveying motor 24 is connected to a pair of rotating pulleys 6 located at the tail end of the beam bracket 13 through a transmission component. The two sides of the tray 15 are respectively placed on the two conveyor belts 14, and the tray 15 is parallel to the slide rail 8, and the two side edges of the tray 15 are limited by the inner concave surfaces on the opposite sides of the two slide rails 8, and can only move along the sliding direction of the conveyor belt 14. The workpiece will not move to both sides during the transportation process, and the workpiece can remain stable during transportation. The part 16 to be processed is placed in the central area of ​​the pallet 15. The direction of the pin hole to be assembled on the part is perpendicular to the extension direction of the slide rail 8. When the pallet 15 stays at the specified position on one side of the stop mechanism under the control of the pallet conveying component, the photoelectric sensor installed on the slide rail 8 on one side of the part (that is, the photoelectric sensor is installed on the outer slide rail) can be used as a pin detector 11 to detect the pin loaded into the part by the feeder on the other side of the part.

[0034] See also Figure 5 The stop mechanism includes a stop rod 10, a stop cylinder 18, a stop rod bracket 22 and a stop cylinder bracket 19. The stop rod bracket 22 and the stop cylinder bracket 19 are installed on different bottom plate cross beams 9. The stop cylinder bracket 19 plays the role of fixing the stop cylinder 18. The stop rod 10 is composed of two interconnected rod bodies with an angle of no more than 180 degrees. One end of the two interconnected rod bodies is connected to the stop rod bracket 22 through a pin shaft. The lower end of one of the rod bodies is pulled by the stop cylinder 18, so that the reciprocating motion of the stop cylinder 18 is used to swing the other rod body (the reciprocating motion direction of the stop cylinder 18 is parallel to the extension direction of the slide rail 8), and the height position of the upper end of the rod body is changed accordingly (the height of the upper end of the rod body rising to the highest point is greater than the height of the slide rail 8). That is, the reciprocating motion of the stop cylinder 18 is used to control the up and down movement of the stop rod 10. A photoelectric sensor is also installed on the stop rod bracket 22, which is used as a tray detector 12 and detects whether the tray 15 reaches the specified position (during detection, the raised stop rod blocks the front side of the tray, and the tray detector 12 is just located in the middle of the bottom of the tray).

[0035] The driving power supply of the above-mentioned pin-threading unit is 24V, and the conveying motor 24 adopts a stepping motor; the cylinder (specifically including the position signal, solenoid valve), stepping motor and photoelectric sensor are all connected to the control part of the pin-threading unit (such as S7-200 PLC).

[0036] See also Figure 6 , the system flow of the control part in the above embodiment is as follows:

[0037] (1) When the pallet 15 transports the workpiece to the specified position, the pallet detector 12 sends a detection signal, the conveying motor 24 stops, and the pallet begins to stay at the specified position. After confirming that the pin detector 11 does not detect a pin signal (the pin is not detected to be assembled to the pin hole on the workpiece), the green indicator light turns on and the red indicator light goes out. After 3 seconds of confirmation, the pin assembly cylinder 3 causes the push rod 20 to complete a pin installation action.

[0038] (2) After the pin assembly cylinder 3 sends out the in-position detection signal, it delays for 2 seconds, ends the pushing process and automatically returns.

[0039] (3) After the pin assembly cylinder 3 returns to the reset state and receives the signal from the pin detector 11 (detecting that the pin is assembled to the pin hole on the workpiece), a 3-second delay is performed, and the stop cylinder 18 causes the stop rod 10 to drop and release the tray 15 (the conveying motor 24 starts to run). If the pin installation action is a no-op operation, the pin detector 11 still has no signal. After a delay of 2 seconds, the pin assembly cylinder 3 causes the push rod 20 to perform the pin installation action again until the pin is assembled in place (but after executing the pin installation action three times in a row, the pin detector 11 still does not detect a signal, and the system issues an alarm at this time, prompting that pins should be added to the accumulator 5).

[0040] (4) 3 seconds after the vehicle is released, the stop cylinder 18 raises the stop rod 10 to the prohibited state, the green indicator light goes out, the red indicator light comes on, and the system returns to the initial state.

[0041] The description of the above system process also includes:

[0042] The pin detection signal is valid only when the pin assembly cylinder is reset. Under the premise of the pin assembly cylinder being reset, after the pin signal is detected, the stop cylinder starts to move and releases the pallet. After 3 seconds, the stop cylinder is reset and the system waits for the next pallet.

[0043] Example 2

[0044] Different from the first embodiment, the conveying motor 24 is a linear motor.

[0045] Example 3

[0046] In the process of the push rod 20 returning to the original position (moving backward) with the slip ring 28 in Example 1, if the inner cylinder 17 rotates counterclockwise when the slip ring 28 passes through the inclined groove, a component provided on the baffle 21, such as a pawl-like structure, can be used to prevent the rotation of the inner cylinder 17, thereby preventing the turntable 26 from rotating.

[0047] Example 4

[0048] Different from the first embodiment (the pin accumulator 5 and the baffle plate are not installed on the slide rail), one side of the bottom of the pin accumulator 5 and the other part of the baffle plate are installed on the inner concave surface of the top of the slide rail 8.

Claims

1. A pin-threading unit, characterized in that: The unit comprises a pin accumulator (5), a pin picker, a pin loading mechanism, a tray (15) for carrying a part to be processed (16), and a linear motion mechanism for conveying the tray (15), wherein the pin picker comprises a turntable (26), the turntable (26) being provided with a plurality of pin retaining grooves (30) arranged at intervals in the circumferential direction, and the pin loading mechanism comprises a push rod (20) for pushing a pin (7) dropped from the pin accumulator (5) into the pin retaining groove (30) and turned to a tray retention position of the linear motion mechanism along with the pin retaining groove (30) into the part to be processed (16) at the time of the tray retention; The pin accumulator (5) comprises a shell and an arc-shaped slide groove arranged in the shell, and the shell is provided with a feed slot and a discharge slot (52), and the feed slot and the discharge slot (52) are respectively connected to the upper end and the lower end of the arc-shaped slide groove; The pin accumulator (5) further comprises an arc-shaped guide rail for contacting and cooperating with the pin (7) that falls into the pin retaining groove (30), the arc-shaped guide rail extending downward from the discharge groove (52) to the outside of the bottom of the rotating disk (26); The pinning mechanism further comprises an outer cylinder (2), a slip ring (28) and an inner cylinder (17), one end of the inner cylinder (17) being connected to the turntable (26), the other end of the inner cylinder (17) being rotatably supported in the outer cylinder (2), a plurality of guide grooves (1) arranged at intervals being provided on the side surface of the outer cylinder (2), a ball being provided in the guide groove (1), one side surface of the ball being in contact with the side surface of the inner cylinder (17), the other side surface of the ball being rotatably embedded in the inner side surface of the slip ring (28), the guide groove (1) being composed of mutually connected inclined grooves and straight grooves, wherein the straight grooves extend from the end point of the corresponding inclined groove to one end of the outer cylinder (2) close to the turntable (26) in a direction parallel to the axial direction of the outer cylinder (2), and the push rod (20) being provided on the slip ring (28); The pin assembly mechanism further comprises a pin assembly cylinder (3) and a push-pull ring (27) and a support ring (29) respectively arranged on both sides of the guide groove (1); the push-pull ring (27) is sleeved on the outer cylinder (2) and is respectively connected to the slip ring (28) and the pin assembly cylinder (3); and the support ring (29) is fixed on the outer cylinder (2); The unit further comprises a lateral support frame (4) and a bottom support frame (25), the bottom support frame (25) being connected to the outer cylinder (2), the lateral support frame (4) being arranged on the pin accumulator (5), the support ring (29) being connected to the lateral support frame (4), and the pin assembly cylinder (3) being arranged on the lateral support frame (4).

2. A pin-threading unit according to claim 1, characterized in that: The linear motion mechanism comprises a support frame, a pulley (6) and a conveying motor (24) arranged on the support frame, and a conveying belt (14) arranged on the pulley (6) for controlling the movement of the tray (15), wherein the conveying motor (24) is connected to the pulley (6).

3. A pin-threading unit according to claim 2, characterized in that: The unit further comprises a stop rod (10), a stop cylinder (18), and a stop rod bracket (22) and a stop cylinder bracket (19) arranged on a support frame, the stop cylinder (18) being arranged on the stop cylinder bracket (19), the stop rod (10) being rotatably arranged on the stop rod bracket (22) and being connected to the stop cylinder (18).

4. A pin-threading unit according to claim 2, characterized in that: The support frame comprises a slide rail (8), the edge of the tray (15) is located on the track surface inside the slide rail (8), and the bottom of the pin accumulator (5) is arranged on the track surface at the top of the slide rail (8); the turntable (26) is rotatably supported on the baffle (21), and the baffle (21) is arranged on the track surface at the top of the slide rail (8).

5. The pin-threading unit according to claim 1, characterized in that: The unit further comprises a pin detector (11) and a pallet detector (12), wherein the pin detector (11) comprises a photoelectric sensor for detecting the pin assembly condition of a part to be processed (16) positioned at a pallet retention position, and the pallet detector (12) comprises a photoelectric sensor for detecting the condition that the pallet (15) reaches its retention position.

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