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

Abstract

The present invention discloses an automatic assembly machine for a transmission component of an insulin pen and an assembly method thereof. The key points of the technical solution are that the machine comprises a machine platform, on which are respectively provided a first device for installing a screw rod at position one, a second device for installing a piston at the top of the screw rod to form component one, a third device for installing a positioner at position two, a fourth device for grabbing component one on position one and assembling it with the positioner, a fifth device for placing a fixed anti-retraction tooth at position three, a sixth device for assembling a transmission rod and a fixed anti-retraction tooth to form component three, a seventh device for assembling a movable anti-retraction tooth and component three to form component four, an eighth device for assembling a spring A and component four to form component five, a ninth device for grabbing component two and component five to assemble to form a transmission component, and a tenth device for screening and sending out 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 assembling machine for a transmission 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 18, a piston 19, a positioner 20, a fixed anti-retraction tooth 21, a transmission rod 22, a movable anti-retraction tooth 23, a spring A24, a locking ring, a metering knob, a clutch, a threaded guide sleeve, a knob head, a spring B, 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. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and provide an automatic assembly machine for the transmission component of an insulin pen and an assembly method thereof, which can greatly improve assembly efficiency and product yield.

[0004] The present invention is achieved through the following technical solutions:

[0005] An automatic assembly machine for the transmission component of an insulin pen, characterized in that: it includes a machine table 11, a turntable 13 is provided on the machine table 11, a plurality of vibration disks are provided on the outside of the machine table 11 for feeding materials to the turntable 13, a plurality of workpiece positions are provided on the circumference of the outer side of the turntable 13, and each workpiece position includes a No. 1 position 15, a No. 2 position 16, and a No. 3 position 17 from the inside to the outside in the radial direction, and a first device 1 for installing a screw rod 18 on the No. 1 position 15, a second device 2 for installing a piston 19 on the top of the screw rod 18 to form a component one, a third device 3 for installing a positioner 20 on the No. 2 position 16, and a third device 3 for grabbing the No. 1 position counterclockwise along the outer side of the turntable 13 on the machine table 11. Component one on position 15 is assembled with the locator 20 to form the fourth device 4 of component two, the fixed anti-retraction tooth 21 is placed on the fifth device 5 of position 17, the transmission rod 22 is placed on the third position 17 and assembled with the fixed anti-retraction tooth 21 to form the sixth device 6 of component three, the movable anti-retraction tooth 23 is placed on the third position 17 and assembled with component three to form the seventh device 7 of component four, the spring A24 is placed on the third position 17 and assembled with component four to form the eighth device 8 of component five, the component two on position 2 16 is grabbed and placed on the third position 17 and assembled with component five to form the ninth device 9 of the transmission component, and the tenth device 10 for screening good products and sending out good products.

[0006] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the first device 1 includes a first cross bar 101, a first flip-up clamp 102 fixed to the inner end of the first cross bar 101, a first outer clamp 103 fixed to 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.

[0007] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the second device 2 includes a second cross bar 201, a second inner clamping jaw 202 fixed at the inner end of the second cross bar 201, a second outer clamping jaw 203 fixed at 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 lower fixed plate 12 is provided above the turntable 13, and a second positioning claw 204 is provided on the lower fixed plate 12 for clamping the screw rod 18 when installing the piston 19.

[0008] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the third device 3 includes a third cross bar 301, a third inner clamping jaw 302 fixed to the inner end of the third cross bar 301, a third outer clamping jaw 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.

[0009] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the fourth device 4 includes a fourth two-axis manipulator installed on the lower fixed plate 12, and a first servo electric clamp 402 driven by the fourth two-axis manipulator to move left and right or up and down, and a third positioning claw 403 for clamping the locator 20 is provided on the machine platform 11; the fifth device 5 includes a fifth cross bar 501, a fifth inner clamp 502 fixed at the inner end of the fifth cross bar 501, a fifth outer clamp 503 fixed at the outer end of the fifth cross bar 501, and a fifth two-axis manipulator that drives the fifth cross bar 501 to move left and right or up and down.

[0010] The automatic assembly machine for the transmission component 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 to the inner end of the sixth cross bar 601, a sixth outer clamp 602 fixed to 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, and a fourth positioning claw 604 fixed on the machine platform 11 for positioning the transmission rod 22.

[0011] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the seventh device 7 includes a seventh crossbar 701, a seventh inner clamp 702 fixed to the inner end of the seventh crossbar 701, a seventh outer clamp 703 fixed to the outer end of the seventh crossbar 701, a seventh two-axis manipulator that drives the seventh crossbar 701 to move left and right or up and down, and a fifth positioning claw 704 for positioning the transmission rod 22. The seventh outer clamp 703 will grab the movable anti-retraction tooth 23 output from the vibration disk to the seventh transition position 30, and the seventh inner clamp 702 grabs the movable anti-retraction tooth 23 on the seventh transition position 30 to the third position 17 to assemble with component three to form component four. A first bracket 31 and a second bracket 32 are provided on the machine 11. A first lifting cylinder 705 and a second servo electric clamp 706 driven to rise and fall by the first lifting cylinder 705 are provided on the first bracket 31. The fifth positioning claw 704 and the seventh transition position 30 are provided on the second bracket 32. The eighth device 8 includes a third bracket fixed on the machine 11, a first electric cylinder 801 provided on the third bracket, a second lifting cylinder 802 driven to slide horizontally by the first electric cylinder 801, and an eighth clamp 803 driven to rise and fall by the second lifting cylinder 802 for grasping the spring A24. The eighth clamp 803 is fixed to the bottom of the second lifting cylinder 802.

[0012] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the ninth device 9 includes a ninth two-axis manipulator 901, and the ninth two-axis manipulator 901 is provided with a ninth clamp 902 which can be driven by it to move left and right or up and down and is used to grab component two on the second position 16 and place it on the third position 17 for assembly with component five; a fourth bracket and a fifth bracket are provided on the machine platform 11, and a third lifting cylinder 903 and a third servo electric clamp 904 driven by the third lifting cylinder 903 to rotate the transmission rod 22 for alignment are respectively provided on the fourth bracket; a sixth positioning claw 905 for positioning component five is provided on the fifth bracket; a pressure block 906 for pressing the screw rod 18 into the transmission rod 22 is provided on the ninth clamp 902, and a first positioning fork 907 for simultaneously positioning the screw rod 18 is provided on the sixth positioning claw 905.

[0013] The automatic assembly machine for the transmission component of the insulin pen as described above is characterized in that: the tenth device 10 includes a conveyor belt 1001, a screening clamp 1002, and a tenth two-axis manipulator respectively arranged on the machine platform 11, and the tenth two-axis manipulator is provided with a tenth cross bar 1004 that can be driven to move left and right or up and down, and the tenth inner clamp 1005 for grabbing the transmission component on the third position to the screening clamp 1002 and the tenth outer clamp 1006 for grabbing the transmission component on the screening clamp 1002 to the conveyor belt 1001 are respectively provided at both ends of the tenth cross bar 1004.

[0014] An assembly method of the automatic assembly machine for the transmission component of the insulin pen as described above is characterized by comprising the following steps:

[0015] A. The screw rod 18 is delivered to the machine table 11 via a vibrating plate. The delivered screw rod 18 may face up or face down. The orientation of the screw rod 18 is checked by optical fiber illumination. The first outer gripper 103 grabs the screw rod 18 delivered from the vibrating plate and places it in the first transition position 25. If the screw rod 18 in the first transition position 25 faces up, the first reversible gripper 102 grabs the screw rod 18 and places it in the first position 15. If the screw rod 18 in the first transition position 25 faces up, the first reversible gripper 102 grabs the screw rod 18, rotates it 180 degrees, and then places it in the first position 15.

[0016] B. The turntable 13 rotates counterclockwise by one station, and the first detector 33 detects whether the screw rod 18 is placed on the first station 15. If not, the workpiece on the first station 15 will be marked as defective, the same below;

[0017] C. The turntable 13 rotates one station, and the second outer jaw 203 grabs the piston 19 output from the vibrating plate to the second transition position 26. The second inner jaw 202 grabs the piston 19 on the second transition position 26 and moves it to the first position 15, where it is pressed onto the top of the screw rod 18 to form component 1.

[0018] D. The turntable 13 rotates one station, and the second detector detects whether there is component 1 on the number 1 station 15;

[0019] E. The turntable 13 rotates one station, and the third outer gripper 303 grabs the positioner 20 output from the vibration plate to the third transition position 27, and the third inner gripper 302 grabs the positioner 20 on the third transition position 27 to the second position 16;

[0020] F. The turntable 13 rotates one station, and the third detector detects whether there is a positioner 20 on the second station 16;

[0021] G. The turntable 13 rotates one station, and the first servo electric gripper 402 grabs the component on the first station 15 to the second station 16. The third positioning claw 403 clamps and positions the positioner 20. Then, the first servo electric gripper 402 rotates the component to the first station and inserts it into the positioner 20.

[0022] H. The turntable 13 rotates one station, the fifth outer jaw 503 grabs the fixed anti-retraction tooth 21 output from the vibration plate to the fifth transition position 28, and the third inner jaw 302 grabs the fixed anti-retraction tooth 21 on the fifth transition position 28 to the third position 17;

[0023] I. The turntable 13 rotates one station, and the fourth detector detects whether there is component 1 at position 2 16;

[0024] J. The turntable 13 rotates one station, and the fifth detector detects whether there is a fixed stop tooth 21 at the third station 17;

[0025] K. The turntable 13 rotates one station, and the sixth outer clamp 602 grabs the transmission rod 22 output from the vibration plate to the sixth transition position 29. The sixth inner clamp 603 grabs the transmission rod 22 on the sixth transition position 29 to the third position 17. At the same time, the fourth positioning claw 604 closes, and the transmission rod 22 is inserted from the hole of the fourth positioning claw 604 into the hole of the fixed stop tooth 21 to form component 2.

[0026] L. The turntable 13 rotates one station, the seventh outer jaw 703 grabs the movable anti-retraction tooth 23 output from the vibration disk to the seventh transition position 30, the seventh inner jaw 702 grabs the movable anti-retraction tooth 23 on the seventh transition position 30 to the third position 17, and at the same time the fifth positioning jaw 704 is closed, the transmission rod 22 is driven to rise through the hole of the fifth positioning jaw 704 by the first lifting cylinder 705, and then driven by the second servo electric jaw 706 to rotate the transmission rod 22 and align it with the movable anti-retraction tooth 23, finally the seventh inner jaw 702 is released, the second servo electric jaw 706 descends and places the transmission rod 22 on the fixed anti-retraction tooth 21 to form component four, and the second servo electric jaw 706 releases the transmission rod 22 to rotate and reset;

[0027] M. The turntable 13 rotates one station, and the sixth detector detects whether the movable stop tooth 23 is installed on the third position 17;

[0028] N. The turntable 13 rotates one station, and the eighth gripper 803 grabs the spring A24 and places it on the component 4 at the third position 17 to form the component 5;

[0029] O. The turntable 13 rotates one station, and the seventh detector detects whether the spring A24 is installed on the component 5;

[0030] P. Turntable 13 rotates one station, and the ninth gripper 902 first grabs component 2 from position 2 and moves it to position 3. The sixth positioning gripper 905 closes and grips component 5. The screw rod 18 passes through the closed first positioning fork 907 and is accurately inserted into the transmission rod 22. The third servo electric gripper 904 grips the transmission rod 22 and rises and rotates a preset angle to align the transmission rod 22 with the screw rod 18. The sixth positioning gripper 905 releases to make way for the ninth gripper 902. The ninth gripper 902 descends and presses component 2 onto component 5 through the pressure block 906. Simultaneously, the third servo electric gripper 904 drives the transmission rod 22 downward. The third servo electric gripper 904 releases the transmission rod 22 and rotates a preset angle to reset.

[0031] Q. The turntable 13 rotates one station and the eighth detector detects whether component 2 is installed on position 3 17;

[0032] R. The turntable 13 rotates one station, and the tenth inner jaw 1005 grabs the transmission component on the third position to the screening jaw 1002. If the transmission component is marked as defective, the screening jaw 1002 will open, and the defective product will fall into the defective product collection box below. For good products, the screening jaw 1002 will grab the transmission component, and the tenth outer jaw 1006 grabs the transmission component on the screening jaw 1002 and grabs it to the conveyor belt 1001. The conveyor belt 1001 sends the good products to the next machine for further assembly.

[0033] Compared with the prior art, the present invention has the following advantages:

[0034] 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

[0035] Figure 1 is a three-dimensional schematic diagram of the insulin pen of the present invention;

[0036] Figure 2 is an exploded view of the insulin pen of the present invention;

[0037] Figure 3 is an exploded view of the insulin pen transmission assembly of the present invention;

[0038] Figure 4 This is a three-dimensional diagram of the automatic assembly machine for the transmission component of the insulin pen of the present invention;

[0039] Figure 5 This is an exploded view of the automatic assembly machine for the transmission assembly of the insulin pen of the present invention, with some parts omitted;

[0040] Figure 6 is a schematic structural diagram of the first device of the present invention;

[0041] Figure 7 is a schematic structural diagram of the second device of the present invention;

[0042] Figure 8 is a schematic structural diagram of a third device of the present invention;

[0043] Figure 9 is a schematic structural diagram of the fourth and fifth devices of the present invention;

[0044] Figure 10 is a schematic structural diagram of a sixth device of the present invention;

[0045] Figure 11 is a schematic structural diagram of a seventh device of the present invention;

[0046] Figure 12 is a schematic structural diagram of an eighth device of the present invention;

[0047] Figure 13 is a schematic structural diagram of a ninth device of the present invention;

[0048] Figure 14 It is a schematic structural diagram of the tenth device of the present invention.

[0049] In the figure: 1 is the first device; 101 is the first crossbar; 102 is the first reversible gripper; 103 is the first outer gripper; 104 is the first two-axis manipulator; 2 is the second device; 201 is the second crossbar; 202 is the second inner gripper; 203 is the second outer gripper; 204 is the second positioning gripper; 3 is the third device; 301 is the third crossbar; 302 is the third inner gripper; 303 is the third outer gripper; 4 is the fourth device; 402 is the first servo electric gripper; 403 is the third positioning gripper; 5 is the fifth device; 5 01 is the fifth crossbar; 502 is the fifth inner clamp; 503 is the fifth outer clamp; 6 is the sixth device; 601 is the sixth crossbar; 602 is the sixth outer clamp; 603 is the sixth inner clamp; 604 is the fourth positioning clamp; 7 is the seventh device; 701 is the seventh crossbar; 702 is the seventh inner clamp; 703 is the seventh outer clamp; 704 is the fifth positioning clamp; 705 is the first lifting cylinder; 706 is the second servo electric clamp; 8 is the eighth device; 801 is the first electric cylinder; 802 is the second lifting cylinder; 803 is the second electric cylinder. 9 is the eighth gripper; 9 is the ninth device; 901 is the ninth two-axis manipulator; 902 is the ninth gripper; 903 is the third lifting cylinder; 904 is the third servo electric gripper; 905 is the sixth positioning claw; 906 is the pressure block; 907 is the first positioning fork; 10 is the tenth device; 1001 is the conveyor belt; 1002 is the screening gripper; 1004 is the tenth crossbar; 1005 is the tenth inner gripper; 1006 is the tenth outer gripper; 11 is the machine platform; 12 is the lower fixed plate; 13 is the turntable; 14 is the upper fixed plate; 1 5 is position one; 16 is position two; 17 is position three; 18 is screw rod; 19 is piston; 20 is positioner; 21 is fixed anti-retraction tooth; 22 is transmission rod; 23 is movable anti-retraction tooth; 24 is spring A; 25 is first transition position; 26 is second transition position; 27 is third transition position; 28 is fifth transition position; 29 is sixth transition position; 30 is seventh transition position; 31 is first bracket; 32 is second bracket; 33 is first detector; 34 is internal fixing column; 35 is tray; 36 is external fixing column. DETAILED DESCRIPTION

[0050] 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.

[0051] 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 transmission component of the insulin pen. The transmission component includes: a screw rod 18, a piston 19, a positioner 20, a fixed anti-retraction tooth 21, a transmission rod 22, a movable anti-retraction tooth 23, and a spring A24, a total of seven parts.

[0052] The patented automatic assembly machine for the transmission component of the insulin pen includes a machine table 11, a circular turntable 13 is provided on the machine table 11, a plurality of vibration disks for feeding materials to the turntable 13 are provided on the outside of the machine table 11, a plurality of workpiece positions are symmetrically provided on the outside of the turntable 13, and each workpiece position includes a No. 1 position 15, a No. 2 position 16, and a No. 3 position 17 from the inside to the outside in the radial direction. On the machine table 11, a first device 1 for installing a screw rod 18 on the No. 1 position 15, a second device 2 for installing a piston 19 on the top of the screw rod 18 to form an assembly one, a third device 3 for installing a positioner 20 on the No. 2 position 16, and a third device 4 for grabbing the No. 1 position are respectively provided counterclockwise along the outside of the turntable 13. Component one on position 15 is assembled with the locator 20 to form the fourth device 4 of component two, the fixed anti-retraction tooth 21 is placed on the fifth device 5 of position 17, the transmission rod 22 is placed on the third position 17 and assembled with the fixed anti-retraction tooth 21 to form the sixth device 6 of component three, the movable anti-retraction tooth 23 is placed on the third position 17 and assembled with component three to form the seventh device 7 of component four, the spring A24 is placed on the third position 17 and assembled with component four to form the eighth device 8 of component five, the component two on position 2 16 is grabbed and placed on the third position 17 and assembled with component five to form the ninth device 9 of the transmission component, and the tenth device 10 for screening good products and sending out good products.

[0053] A lower fixed plate 12 and an upper fixed plate 14 are provided above the turntable 13 from bottom to top. The lower fixed plate 12 is fixed to the machine platform 11 via an external fixing column 36, and the upper fixed plate 14 is fixed to the machine platform 11 via an internal fixing column 34. The turntable 13, the lower fixed plate 12 and the upper fixed plate 14 are coaxially arranged.

[0054] The turntable 13 is driven counterclockwise by the workstation divider, and a total of six vibrating plates are arranged around the machine table 11 to transport the six workpieces mentioned above except for the spring A. 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.

[0055] The first device 1 includes a first cross bar 101, a first reversible clamp 102 fixed to the inner end of the first cross bar 101, a first outer clamp 103 fixed to 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. The first outer clamp 103 grabs the screw rod 18 output from the vibration plate to the first transition position 25. If the screw rod 18 on the first transition position 25 is facing up, the first reversible clamp 102 grabs the screw rod 18 and places it in the No. 1 position 15. If the screw rod 18 on the first transition position 25 is facing up, the first reversible clamp 102 grabs the screw rod 18 and rotates it 180 degrees before placing it in the No. 1 position 15.

[0056] Because the screw rod 18 output from the vibrating plate may face up or down, it is necessary to detect the direction of the screw rod 18 by illuminating it with an optical fiber. The principle is that the light reflected from the front and back sides is different. The optical fiber used for detection is not shown in the figure. The first reversible clamping jaw 102 is driven by a swing cylinder to rotate.

[0057] The first crossbar 101 and all other crossbars are arranged along the radial direction of the turntable 13. Therefore, the inner and outer ends of the crossbars are also relative to the radial direction of the turntable 13, with the inner end closer to the center of the turntable 13 and the outer end farther away from the center of the turntable 13. The clamping claws on the crossbars are driven to move left and right or up and down simultaneously.

[0058] The second device 2 includes a second cross bar 201, a second inner clamping jaw 202 fixed to the inner end of the second cross bar 201, a second outer clamping jaw 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 lower fixed plate 12 is provided above the turntable 13, and a second positioning claw 204 is provided on the lower fixed plate 12 for clamping the screw rod 18 when installing the piston 19. The second outer clamping jaw 203 grabs the piston 19 output from the vibration plate to the second transition position 26, and the second inner clamping jaw 202 grabs the piston 19 on the second transition position 26 to the first position 15 and installs it on the top of the screw rod 18.

[0059] The lower fixed plate 12 is secured to the machine platform 11 via a plurality of external fixing posts 36. Installation is completed by pressing the piston 19 against the top of the screw rod 18. A first inspection station is provided between the second device 2 and the first device 1. This station houses a first detector 33 for detecting whether the screw rod 18 is installed on the first position 15. This first detector 33 is a displacement sensor. Because the heights of the screw rod 18 are different when installed and when not, the distance from the displacement sensor above is also different.

[0060] An upper fixed plate 14 is provided above the lower fixed plate 12. The upper fixed plate 14 is fixed to the machine platform 11 through a plurality of internal fixed columns 34. The first detector 33 is mounted on the upper fixed plate 14 through a first mounting rod. The following displacement detector is also mounted on the upper fixed plate 14 through a mounting rod.

[0061] The third device 3 includes a third cross bar 301, a third inner clamp 302 fixed at the inner end of the third cross bar 301, a third outer clamp 303 fixed at 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. The third outer clamp 303 grabs the locator 20 output from the vibration plate to the third transition position 27, and the third inner clamp 302 grabs the locator 20 on the third transition position 27 to the second position 16.

[0062] A second detection station is provided between the third device 3 and the second device 2. A second detector is provided at the second detection station for detecting whether a piston 19 is installed on the screw rod 18. The second detector is a displacement sensor. Because the height of the screw rod 18 with a piston 19 is different from that of the screw rod 18 without a piston 19, the distance from the displacement sensor above is also different.

[0063] The fourth device 4 includes a fourth two-axis robot installed on the lower fixed plate 12, a first servo electric clamp 402 driven by the fourth two-axis robot to move left and right or up and down, and a third positioning claw 403 for clamping the locator 20 is provided on the machine platform 11.

[0064] The first servo electric gripper 402 is used to grasp component one. When installing component two, the locator 20 needs to be positioned by the third positioning claw 403. The fourth two-axis manipulator drives the grasping component one to position 16, and then the first servo electric gripper 402 rotates component one to insert it into the locator 20.

[0065] Because the first servo electric clamp 402 can be set to a rotational torque, after alignment, the component 1 will automatically loosen from the first servo electric clamp 402 and then fall into the positioner 20.

[0066] A third detection station is provided between the fourth device 4 and the third device 3 . The third detection station is provided with a third detector for detecting whether there is a locator 20 on the second position 16 . The third detector is also a displacement sensor.

[0067] The fifth device 5 includes a fifth cross bar 501, a fifth inner clamp 502 fixed at the inner end of the fifth cross bar 501, a fifth outer clamp 503 fixed at the outer end of the fifth cross bar 501, and a fifth two-axis manipulator that drives the fifth cross bar 501 to move left and right or up and down. The fifth outer clamp 503 grabs the fixed anti-retraction tooth 21 output from the vibration disk to the fifth transition position 28, and the third inner clamp 302 grabs the fixed anti-retraction tooth 21 on the fifth transition position 28 to the third position 17.

[0068] The fifth inner clamping jaw 502 has the same structure as the fifth outer clamping jaw 503. The tooth surface of the fixed stop tooth 21 outputted from the vibration plate is facing upwards, so there is no need to detect the positive and negative directions.

[0069] 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, and a fourth positioning claw 604 fixed on the machine platform 11 for positioning the transmission rod 22. The sixth outer clamp 602 grabs the transmission rod 22 output from the vibration plate to the sixth transition position 29, and the sixth inner clamp 603 grabs the transmission rod 22 on the sixth transition position 29 to the third position 17 and inserts it into the hole of the fixed stop tooth 21.

[0070] A fourth inspection station and a fifth inspection station are sequentially provided between the sixth device 6 and the fifth device 5 , and a fourth detector for detecting whether there is component 1 in the second position 16 is provided at the fourth inspection station;

[0071] A fifth detector is provided at the fifth detection station for detecting whether the third position 17 is provided with a fixed stop tooth 21 . Both the fourth detector and the fifth detector are displacement sensors.

[0072] Because the heights of the two are different when the fixed anti-backward teeth 21 are installed and when the fixed anti-backward teeth 21 are not installed, the distances from the displacement sensor above are also different.

[0073] The fourth positioning claw 604 is disposed above the fixed anti-backward tooth 21 , and the transmission rod 22 can be accurately inserted into the hole of the fixed anti-backward tooth 21 only by being inserted through the hole of the fourth positioning claw 604 .

[0074] The seventh device 7 includes a seventh cross bar 701, a seventh inner clamp 702 fixed at the inner end of the seventh cross bar 701, a seventh outer clamp 703 fixed at the outer end of the seventh cross bar 701, a seventh two-axis manipulator that drives the seventh cross bar 701 to move left and right or up and down, and a fifth positioning claw 704 for positioning the transmission rod 22. The seventh outer clamp 703 grabs the movable anti-retraction tooth 23 output from the vibration plate to the seventh transition position 30, and the seventh inner clamp 702 grabs the movable anti-retraction tooth 23 on the seventh transition position 30 to the third position 17 and is assembled with component three to form component four. A first bracket 31 and a second bracket 32 are provided on the machine 11, and a first lifting cylinder 705 and a second servo electric clamp 706 driven to lift by the first lifting cylinder 705 are provided on the first bracket 31. The fifth positioning claw 704 and the seventh transition position 30 are arranged on the second bracket 32.

[0075] The second servo electric clamp 706 is used to drive the transmission rod 22 to rotate and align with the movable anti-retraction tooth 23. Two symmetrical first positioning grooves are provided on the top of the transmission rod 22, and two symmetrical first positioning ribs are provided on the movable anti-retraction tooth 23. During installation, the first positioning ribs must cooperate with the first positioning grooves. The transmission rod 22 is driven up by the first lifting cylinder 705 to pass through the hole of the fifth positioning claw 704 and then driven by the second servo electric clamp 706 to rotate the transmission rod 22 to align.

[0076] The workpieces coming out of the vibrating plate need to be output in an orderly manner through the output device, that is, the clamping claw grasps one workpiece before outputting another workpiece. The output device is installed on the machine table 11 through a bracket. The bracket is similar in structure to the second bracket 32. The transition position on each output device is set on its bracket. The output device is a prior art and is not described in detail.

[0077] A sixth detection station is provided between the seventh device 7 and the sixth device 6 . The sixth detection station is provided with a sixth detector for detecting whether a movable anti-retraction tooth 23 is installed on the third position 17 . The sixth detector is a displacement sensor.

[0078] The eighth device 8 includes a third bracket fixed on the machine platform 11, a first electric cylinder 801 arranged on the third bracket, a second lifting cylinder 802 driven by the first electric cylinder 801 to slide horizontally, and an eighth clamp 803 driven by the second lifting cylinder 802 to lift and grasp the spring A24. The eighth clamp 803 is fixed at the bottom of the second lifting cylinder 802.

[0079] A tray 35 for placing multiple springs A24 is provided on the third bracket. The spring A24 is a conical spring, and the spring in the figure is a schematic diagram; the eighth clamp 803 is driven to move horizontally and lift, and sequentially grabs the spring A24 on the tray 35 to the third position 17 and assembles it with component four to form component five.

[0080] The ninth device 9 includes a ninth two-axis manipulator 901, on which is provided a ninth clamp 902 which can be driven to move left and right or up and down and is used to grab component two on position two 16 and place it on position three 17 for assembly with component five. A fourth bracket and a fifth bracket are provided on the machine platform 11, and a third lifting cylinder 903 and a third servo electric clamp 904 which is driven to lift and lower the transmission rod 22 for alignment are provided on the fourth bracket respectively. A sixth positioning claw 905 for positioning component five is provided on the fifth bracket. A pressure block 906 for pressing the screw rod 18 into the transmission rod 22 is provided on the ninth clamp 902, and a first positioning fork 907 for simultaneously positioning the screw rod 18 is provided on the sixth positioning claw 905.

[0081] The first servo electric gripper 402 , the second servo electric gripper 706 , and the third servo electric gripper 904 have the same structure.

[0082] The first positioning fork 907 and the sixth positioning claw 905 are driven by the same cylinder and move at the same time; the first positioning fork 907 is arranged above the sixth positioning claw 905, and the pressure block 906 is arranged above the middle inner part of the ninth clamping jaw 902, forming an L shape. The ninth clamping jaw 902 is used to clamp the locator 20. If the pressure block 906 is not provided, the screw rod 18 will have no support when pressed down.

[0083] The ninth device 9 works in the following steps:

[0084] The ninth gripper 902 first grabs component 2 at position 2 to position 3, and the sixth positioning claw 905 closes to position component 5;

[0085] The screw rod 18 passes through the closed first positioning fork 907 and is accurately inserted into the transmission rod 22;

[0086] The third servo electric clamp 904 clamps the transmission rod 22 and rotates it upwards by a preset angle so that the transmission rod 22 is aligned with the screw rod 18;

[0087] The first positioning fork 907 and the sixth positioning claw 905 are loosened to make way for the ninth clamping claw 902;

[0088] The ninth clamp 902 descends to press the second component onto the fifth component through the pressing block 906. At the same time, the third servo electric clamp 904 drives the transmission rod 22 to descend.

[0089] The third servo electric clamp 904 releases the transmission rod 22 and rotates to a preset angle for reset;

[0090] A seventh detection station is provided between the ninth device 9 and the eighth device 8. A seventh detector is provided at the seventh detection station for detecting whether the spring A24 is installed on the component five. The seventh detector is not shown in the figure and is an optical fiber.

[0091] The tenth device 10 includes a conveyor belt 1001, a screening clamp 1002, and a tenth two-axis manipulator respectively arranged on the machine platform 11. The tenth two-axis manipulator is provided with a tenth cross bar 1004 which can be driven to move left and right or up and down. The two ends of the tenth cross bar 1004 are respectively provided with a tenth inner clamp 1005 for grabbing the transmission component on the third position to the screening clamp 1002, and a tenth outer clamp 1006 for grabbing the transmission component on the screening clamp 1002 to the conveyor belt 1001.

[0092] An eighth detection station is provided between the tenth device 10 and the ninth device 9. An eighth detector is provided on the eighth detection station for detecting whether a transmission component is installed on the third position, and the detection is also performed by a displacement sensor.

[0093] If defective products are detected by the first few inspection stations, the screening jaws 1002 will open and the defective products will fall into the defective product collection box below.

[0094] For good products, the screening claws 1002 will grab the transmission components; the conveyor belt 1001 is used to send the good products to the next machine for further assembly.

[0095] This patent also claims protection for a method for automatically assembling the transmission assembly of the insulin pen, which is characterized by comprising the following steps:

[0096] A. The screw rod 18 is delivered to the machine table 11 via a vibrating plate. The delivered screw rod 18 may face up or face down. The orientation of the screw rod 18 is checked by optical fiber illumination. The first outer gripper 103 grabs the screw rod 18 delivered from the vibrating plate and places it in the first transition position 25. If the screw rod 18 in the first transition position 25 faces up, the first reversible gripper 102 grabs the screw rod 18 and places it in the first position 15. If the screw rod 18 in the first transition position 25 faces up, the first reversible gripper 102 grabs the screw rod 18, rotates it 180 degrees, and then places it in the first position 15.

[0097] B. The turntable 13 rotates counterclockwise by one station, and the first detector 33 detects whether the screw rod 18 is placed on the first station 15. If not, the workpiece on the first station 15 will be marked as defective, the same below;

[0098] C. The turntable 13 rotates one station, and the second outer jaw 203 grabs the piston 19 output from the vibrating plate to the second transition position 26. The second inner jaw 202 grabs the piston 19 on the second transition position 26 and moves it to the first position 15, where it is pressed onto the top of the screw rod 18 to form component 1.

[0099] D. The turntable 13 rotates one station, and the second detector detects whether there is component 1 on the number 1 station 15;

[0100] E. The turntable 13 rotates one station, and the third outer gripper 303 grabs the positioner 20 output from the vibration plate to the third transition position 27, and the third inner gripper 302 grabs the positioner 20 on the third transition position 27 to the second position 16;

[0101] F. The turntable 13 rotates one station, and the third detector detects whether there is a locator 20 on the second station 16;

[0102] G. The turntable 13 rotates one station, and the first servo electric gripper 402 grabs the component on the first station 15 to the second station 16. The third positioning claw 403 clamps and positions the positioner 20. Then, the first servo electric gripper 402 rotates the component to the first station and inserts it into the positioner 20.

[0103] H. The turntable 13 rotates one station, the fifth outer jaw 503 grabs the fixed anti-retraction tooth 21 output from the vibration plate to the fifth transition position 28, and the third inner jaw 302 grabs the fixed anti-retraction tooth 21 on the fifth transition position 28 to the third position 17;

[0104] I. The turntable 13 rotates one station, and the fourth detector detects whether there is component 1 at position 2 16;

[0105] J. The turntable 13 rotates one station, and the fifth detector detects whether there is a fixed stop tooth 21 at the third station 17;

[0106] K. The turntable 13 rotates one station, and the sixth outer clamp 602 grabs the transmission rod 22 output from the vibration plate to the sixth transition position 29. The sixth inner clamp 603 grabs the transmission rod 22 on the sixth transition position 29 to the third position 17. At the same time, the fourth positioning claw 604 closes, and the transmission rod 22 is inserted from the hole of the fourth positioning claw 604 into the hole of the fixed stop tooth 21 to form component 2.

[0107] L. The turntable 13 rotates one station, the seventh outer jaw 703 grabs the movable anti-retraction tooth 23 output from the vibration disk to the seventh transition position 30, the seventh inner jaw 702 grabs the movable anti-retraction tooth 23 on the seventh transition position 30 to the third position 17, and at the same time the fifth positioning jaw 704 is closed, the transmission rod 22 is driven to rise through the hole of the fifth positioning jaw 704 by the first lifting cylinder 705, and then driven by the second servo electric jaw 706 to rotate the transmission rod 22 and align it with the movable anti-retraction tooth 23, finally the seventh inner jaw 702 is released, the second servo electric jaw 706 descends and places the transmission rod 22 on the fixed anti-retraction tooth 21 to form component four, and the second servo electric jaw 706 releases the transmission rod 22 to rotate and reset;

[0108] M. The turntable 13 rotates one station, and the sixth detector detects whether the movable stop tooth 23 is installed on the third position 17;

[0109] N. The turntable 13 rotates one station, and the eighth gripper 803 grabs the spring A24 and places it on the component 4 at the third position 17 to form the component 5;

[0110] O. The turntable 13 rotates one station, and the seventh detector detects whether the spring A24 is installed on the component 5;

[0111] P. Turntable 13 rotates one station, and the ninth gripper 902 first grabs component 2 from position 2 and moves it to position 3. The sixth positioning gripper 905 closes and grips component 5. The screw rod 18 passes through the closed first positioning fork 907 and is accurately inserted into the transmission rod 22. The third servo electric gripper 904 grips the transmission rod 22 and rises and rotates a preset angle to align the transmission rod 22 with the screw rod 18. The sixth positioning gripper 905 releases to make way for the ninth gripper 902. The ninth gripper 902 descends and presses component 2 onto component 5 through the pressure block 906. Simultaneously, the third servo electric gripper 904 drives the transmission rod 22 downward. The third servo electric gripper 904 releases the transmission rod 22 and rotates a preset angle to reset.

[0112] Q. The turntable 13 rotates one station and the eighth detector detects whether component 2 is installed on position 3 17;

[0113] R. The turntable 13 rotates one station, and the tenth inner jaw 1005 grabs the transmission component on the third position to the screening jaw 1002. If the transmission component is marked as defective, the screening jaw 1002 will open, and the defective product will fall into the defective product collection box below. For good products, the screening jaw 1002 will grab the transmission component, and the tenth outer jaw 1006 grabs the transmission component on the screening jaw 1002 and grabs it to the conveyor belt 1001. The conveyor belt 1001 sends the good products to the next machine for further assembly.

Claims

1. A method for assembling an automatic assembly machine for an insulin pen transmission assembly, characterized in that: The automatic assembly machine comprises a machine table (11), a turntable (13) is provided on the machine table (11), a plurality of vibration disks for feeding materials to the turntable (13) are provided on the outside of the machine table (11), a plurality of workpiece positions are provided on the circumference of the outer side of the turntable (13), and each workpiece position includes a No. 1 position (15), a No. 2 position (16), and a No. 3 position (17) from the inside to the outside in the radial direction, and a first device (1) for installing a screw rod (18) on the No. 1 position (15), a second device (2) for installing a piston (19) on the top end of the screw rod (18) to form component one, a third device (3) for installing a positioner (20) on the No. 2 position (16), and a third device (4) for grabbing component one on the No. 1 position (15) and the like are provided counterclockwise along the outer side of the turntable (13) on the machine table (11). The fourth device (4) of the second position (16) is assembled with the positioner (20) to form the second component; the fifth device (5) of the third position (17) is placed on the fixed stop tooth (21); the transmission rod (22) is placed on the third position (17) and assembled with the fixed stop tooth (21) to form the sixth device (6) of the third component; the movable stop tooth (23) is placed on the third position (17) and assembled with the component three to form the seventh device (7) of the fourth component; the spring A (24) is placed on the third position (17) and assembled with the component four to form the eighth device (8) of the fifth component; the component two on the second position (16) is grabbed and placed on the third position (17) and assembled with the component five to form the ninth device (9) of the transmission component; the tenth device (10) of the screening of good products and the delivery of good products; The assembly method of the automatic assembly machine comprises the following steps: A. The screw rod (18) is transported to the machine (11) through the vibration plate. The transported screw rod (18) may face up or face down. The direction of the screw rod (18) is checked by optical fiber illumination. The screw rod (18) output from the vibration plate is grasped to the first transition position (25) by the first outer clamp (103) of the first device (1). If the screw rod (18) on the first transition position (25) faces up, the first reversible clamp (102) grasps the screw rod (18) and places it on the first position (15). If the screw rod (18) on the first transition position (25) faces up, the first reversible clamp (102) grasps the screw rod (18), rotates it 180 degrees, and then places it on the first position (15); B. The turntable (13) rotates counterclockwise by one station, and the first detector (33) detects whether the screw rod (18) is placed on the first station (15). If not, the workpiece on the first station (15) will be marked as defective, the same below; C. The turntable (13) rotates one station, and the second outer clamp (203) of the second device (2) grabs the piston (19) output from the vibration plate to the second transition position (26), and the second inner clamp (202) grabs the piston (19) on the second transition position (26) to the first position (15) and presses it on the top end of the screw rod (18) to form component one; D. The turntable (13) rotates one station, and the second detector detects whether there is component 1 on the number 1 station (15); E. The turntable (13) rotates one station, and the third outer clamp (303) of the third device (3) grabs the locator (20) output from the vibration disk to the third transition position (27), and the third inner clamp (302) grabs the locator (20) on the third transition position (27) to the second position (16); F. The turntable (13) rotates one station, and the third detector detects whether there is a positioner (20) on the second station (16); G. The turntable (13) rotates one station, and the first servo electric clamp (402) of the fourth device (4) grabs the components of the first to second positions (16) on the first position (15), clamps and positions the positioner (20) through the third positioning claw (403), and then rotates the component to the first position and inserts it into the positioner (20) through the first servo electric clamp (402); H. The turntable (13) rotates one station, and the fixed stop tooth (21) output from the vibration disk is grasped to the fifth transition position (28) by the fifth outer clamp (503) of the fifth device (5), and the third inner clamp (302) grasps the fixed stop tooth (21) on the fifth transition position (28) to the third position (17); I. The turntable (13) rotates one station and uses the fourth detector to detect whether there is component 1 at the second station (16); J. The turntable (13) rotates one station, and the fifth detector detects whether there is a fixed stop tooth (21) at the third station (17); K. The turntable (13) rotates one station, and the transmission rod (22) output from the vibration plate is grasped to the sixth transition position (29) by the sixth outer clamp (602) of the sixth device (6), and the sixth inner clamp (603) grasps the transmission rod (22) on the sixth transition position (29) to the third position (17), and at the same time the fourth positioning claw (604) is closed, and the transmission rod (22) is inserted from the hole of the fourth positioning claw (604) into the hole of the fixed stop tooth (21) to form component 2; L. The turntable (13) rotates one station, and the movable anti-retraction tooth (23) output from the vibration disk is grabbed to the seventh transition position (30) by the seventh outer clamp (703) of the seventh device (7), and the seventh inner clamp (702) grabs the movable anti-retraction tooth (23) on the seventh transition position (30) to the third position (17), and at the same time the fifth positioning claw (704) is closed, and the transmission rod (22) is driven to rise through the hole of the fifth positioning claw (704) by the first lifting cylinder (705) and then driven to rotate the transmission rod (22) and align with the movable anti-retraction tooth (23) by the second servo electric clamp (706), and finally the seventh inner clamp (702) is released, and the second servo electric clamp (706) is lowered to place the transmission rod (22) on the fixed anti-retraction tooth (21) to form component four, and the second servo electric clamp (706) releases the transmission rod (22) and rotates to reset; M. The turntable (13) rotates one station, and the sixth detector detects whether the movable stop tooth (23) is installed on the third station (17); N. The turntable (13) rotates one station, and the eighth clamping claw (803) of the eighth device (8) grabs the spring A (24) and places it on the component four at the third position (17) to form the component five; O. The turntable (13) rotates one station, and the seventh detector detects whether the spring A (24) is installed on the component five; P. The turntable (13) rotates one station, and the ninth clamp (902) of the ninth device (9) first grabs the component 2 at the second position to the third position, and the sixth positioning clamp (905) is closed to clamp the component 5; the screw rod (18) passes through the closed first positioning fork (907) and is accurately inserted into the transmission rod (22); the third servo electric clamp (904) clamps the transmission rod (22) and rises and rotates a preset angle so that the transmission rod (22) and the screw rod (18) are aligned; the sixth positioning clamp (905) is released to make way for the ninth clamp (902); the ninth clamp (902) descends and presses the component 2 onto the component 5 through the pressing block (906), and at the same time, the third servo electric clamp (904) drives the transmission rod (22) to descend; the third servo electric clamp (904) releases the transmission rod (22) and rotates back to reset the preset angle; Q. The turntable (13) rotates one station and the eighth detector detects whether component 2 is installed on position 3 (17); R. The turntable (13) rotates one station, and the tenth inner clamp (1005) of the tenth device (10) grabs the transmission component on the third position to the screening clamp (1002). If the transmission component is marked as a defective product, the screening clamp (1002) will open, and the defective product will fall into the defective product collection box below. For good products, the screening clamp (1002) will grab the transmission component, and the tenth outer clamp (1006) grabs the transmission component on the screening clamp (1002) and grabs it to the conveyor belt (1001). The conveyor belt (1001) sends the good products to the next machine for further assembly.

2. The assembly method of the automatic assembly machine for the transmission component of the insulin pen according to claim 1, characterized in that: The first device (1) comprises a first crossbar (101), a first flippable 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 transmission component of the insulin pen according to claim 1, characterized in that: The second device (2) includes a second crossbar (201), a second inner clamping claw (202) fixed to the inner end of the second crossbar (201), a second outer 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 lower fixed plate (12) is provided above the rotating plate (13), and a second positioning claw (204) is provided on the lower fixed plate (12) for clamping the screw rod (18) when installing the piston (19).

4. The assembly method of the automatic assembly machine for the transmission component of the insulin pen according to claim 1, characterized in that: The third device (3) comprises 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 leftward or rightward or up and down.

5. The assembly method of the automatic assembly machine for the transmission component of the insulin pen according to claim 3, characterized in that: The fourth device (4) includes a fourth two-axis manipulator mounted on the lower fixed plate (12), a first servo electric clamp (402) driven by the fourth two-axis manipulator to move left and right or up and down, and a third positioning claw (403) for clamping the positioner (20) is provided on the machine platform (11); the fifth device (5) includes a fifth crossbar (501), a fifth inner clamp (502) fixed to the inner end of the fifth crossbar (501), a fifth outer clamp (503) fixed to the outer end of the fifth crossbar (501), and a fifth two-axis manipulator that drives the fifth crossbar (501) to move left and right or up and down.

6. The assembly method of the automatic assembly machine for the transmission component of the insulin pen 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, and a fourth positioning claw (604) fixed on the machine platform (11) for positioning the transmission rod (22).

7. The assembly method of the automatic assembly machine for the transmission component of the insulin pen according to claim 6, characterized in that: The seventh device (7) includes a seventh crossbar (701), a seventh inner clamp (702) fixed to the inner end of the seventh crossbar (701), a seventh outer clamp (703) fixed to the outer end of the seventh crossbar (701), a seventh two-axis manipulator for driving the seventh crossbar (701) to move left and right or up and down, and a fifth positioning claw (704) for positioning the transmission rod (22). The seventh outer clamp (703) grabs the movable stop tooth (23) output from the vibration plate to the seventh transition position (30), and the seventh inner clamp (702) grabs the movable stop tooth (23) on the seventh transition position (30) to the third position (17) and assembles it with the component three to form the component four. A first bracket (31) is provided on the machine (11). and a second bracket (32), a first lifting cylinder (705) and a second servo electric clamp (706) driven to lift by the first lifting cylinder (705) are provided on the first bracket (31), a fifth positioning claw (704) and a seventh transition position (30) are provided on the second bracket (32); the eighth device (8) includes a third bracket fixed on the machine platform (11), a first electric cylinder (801) provided on the third bracket, a second lifting cylinder (802) driven to slide horizontally by the first electric cylinder (801), and an eighth clamp (803) driven to lift by the second lifting cylinder (802) for grabbing the spring A (24), and the eighth clamp (803) is fixed to the bottom of the second lifting cylinder (802).

8. The assembly method of the automatic assembly machine for the transmission component of an insulin pen according to claim 1, characterized in that: The ninth device (9) includes a ninth two-axis manipulator (901), on which a ninth gripper (902) is provided that can be driven to move left and right or up and down and is used to grab component two on the second position (16) and place it on the third position (17) for assembly with component five. A fourth bracket and a fifth bracket are provided on the machine platform (11), and the fourth bracket is provided with a third lifting cylinder (903) and a third servo electric gripper (904) driven to lift and lower by the third lifting cylinder (903) for rotating the transmission rod (22) for alignment. A sixth positioning claw (905) for positioning component five is provided on the fifth bracket. A pressing block (906) for pressing the screw rod (18) into the transmission rod (22) is provided on the ninth gripper (902), and a first positioning fork (907) for simultaneously positioning the screw rod (18) is provided on the sixth positioning claw (905).

9. The assembly method of the automatic assembly machine for the transmission component of an insulin pen according to claim 1, characterized in that: The tenth device (10) comprises a conveyor belt (1001), a screening clamp (1002), and a tenth two-axis manipulator respectively arranged on the machine platform (11); the tenth two-axis manipulator is provided with a tenth crossbar (1004) which can be driven to move left and right or up and down; and the two ends of the tenth crossbar (1004) are respectively provided with a tenth inner clamp (1005) for grabbing the transmission component on the third position to the screening clamp (1002) and a tenth outer clamp (1006) for grabbing the transmission component on the screening clamp (1002) to the conveyor belt (1001).

Images