An automatic assembly machine for an insulin pen and its assembly method

Abstract

The present invention discloses an automatic assembling machine for an insulin pen and an assembling method thereof. The key points of the technical solution include a machine platform, on which a turntable is provided. A plurality of workpiece positions are circumferentially arranged on the outer side of the turntable. Each workpiece position includes a first position, a second position, and a third position from the inside to the outside. On the outer side of the turntable, a first device for installing a pen tube at the first position, a second device for placing a knob assembly at the second position, a third device for grasping the pen tube and sleeving it on the knob assembly, a fourth device for aligning the pen tube with the knob assembly, a fifth device for pressing the pen tube to form a semi-finished product, a sixth device for grasping a transmission assembly and installing it into the semi-finished product, a seventh device for rotating the transmission assembly and aligning it with the semi-finished product for assembly, an eighth device for grasping an insulin pen and placing it at the first position, a ninth device for testing the knob head, and a tenth device for outputting the insulin pen are respectively arranged in a clockwise direction; the present invention has a high degree of automation, can greatly improve the assembling efficiency and product yield, and reduce costs.

Description

Technical Field

[0001] The present invention relates to an automatic assembling machine for an insulin pen and an assembling method thereof. Background Art

[0002] An insulin pen is a medical device for injecting insulin for diabetic patients. Figures 1 to 3 For the disposable insulin pen described in this patent, the insulin pen includes a screw rod, a piston, a locator, a fixed anti-backlash tooth, a transmission rod, a movable anti-backlash tooth, spring A, a locking ring, a dosing knob, a clutch, a threaded guide sleeve, a knob head, spring B, a button, and a pen body tube. It can be seen that there are many components and the structure is complex. The existing assembling method for this kind of insulin pen is manual assembling, which has low efficiency, is prone to damage of components, or the situation of missing individual parts being assembled, resulting in a relatively 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 assembling machine for an insulin pen and an assembling method thereof, which can greatly improve the assembling efficiency and product yield.

[0004] The present invention is realized by the following technical solutions:

[0005] An automatic assembling machine for 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 vibrating trays for feeding materials to the turntable 13 are provided outside the machine table 11, a plurality of workpiece positions are provided circumferentially outside the turntable 13, and each workpiece position includes a first position 15, a second position 16, and a third position 17 from inside to outside along the radial direction. Along the outside of the turntable 13 on the machine table 11 in the clockwise direction, there are respectively a first device 1 for installing a pen tube 18 at the first position 15, a second device 2 for flipping a horizontally output knob assembly 19 by 90 degrees and then vertically placing it at the second position 16, a third device 3 for grasping the pen tube 18 at the first position 15 and sleeving it on the knob assembly 19, a fourth device 4 for rotating the pen tube 18 to align it with the knob assembly 19, a fifth device 5 for pressing the pen tube 18 against the knob assembly 19 to form a semi-finished product and simultaneously grasping a transmission component 20 to the third position 17, a sixth device 6 for grasping the transmission component 20 and installing it into the semi-finished product at the second position 16, a seventh device 7 for rotating the transmission component 20 to align and assemble it with the semi-finished product to form an insulin pen, an eighth device 8 for grasping the insulin pen at the second position 16 and rotating it 180 degrees and placing it at the first position 15, a ninth device 9 for testing the knob head of the knob assembly 19, and a tenth device 10 for outputting the insulin pen; above the turntable 13, a lower fixed plate 12 and an upper fixed plate 14 are provided from bottom to top. The lower fixed plate 12 is fixed on the machine table 11 through an outer fixed column 26, and the upper fixed plate 14 is fixed on the machine table 11 through an inner fixed column 21.

[0006] The automatic assembling machine for the insulin pen as described above is characterized in that: the first device 1 includes a first cross bar 101, a first flip-over jaw 102 fixed to the inner end of the first cross bar 101, a first outer jaw 103 fixed to the outer end of the first cross bar 101 for gripping the pen tube 18, and a first two-axis manipulator 104 for driving the first cross bar 101 to move left and right or up and down.

[0007] The automatic assembling machine for the insulin pen as described above is characterized in that: the second device 2 includes a second flip-over jaw 201 for flipping the horizontally output knob assembly 19 by 90 degrees and vertically placing it at the second position 16, a second two-axis manipulator for driving the second flip-over jaw 201 to move left and right or up and down, and further includes a rotary brush 202 provided at the next working station for rotating the threaded guide sleeve on the knob assembly 19.

[0008] The automatic assembling machine for the insulin pen as described above is characterized in that: the third device 3 includes a third jaw 301 for gripping the pen tube 18 at the first position 15 and sleeving it on the knob assembly 19 at the second position 16, a second two-axis manipulator for driving the third jaw 301 to move left and right or up and down, and a first positioning claw 302 for positioning the knob assembly 19 at the second position 16; the fourth device 4 includes a first servo electric jaw 401 for rotating the pen tube 18 and a second positioning claw 402 for clamping the knob assembly 19.

[0009] The automatic assembling machine for the insulin pen as described above is characterized in that: the fifth device 5 includes a fifth cross bar 501, a fifth outer jaw 502 fixed to the outer end of the fifth cross bar 501 for gripping the transmission component 20 to the fifth transition position 24, a fifth inner jaw 503 fixed to the inner end of the fifth cross bar 501 for gripping the transmission component 20 at the fifth transition position 24 to the third position 17, a fifth two-axis manipulator for driving the first cross bar 101 to move left and right or up and down, a fifth cylinder 504 for pressing the pen tube 18 onto the knob assembly 19 to form a semi-finished product, and further includes a third positioning claw 505 provided at the next working station for positioning the angle of the semi-finished product.

[0010] The automatic assembling machine for the insulin pen as described above is characterized in that: the sixth device 6 includes a fourth positioning claw 601 for positioning the angle of the pen tube 18, a first lifting cylinder 602, a fifth positioning claw 603 driven by the first lifting cylinder 602 for limiting the transmission component 20, a second servo electric claw 604 for rotating the transmission component 20 to position the angle and then inserting it into the semi-finished product, and a sixth two-axis manipulator for driving the second servo electric claw 604 to move left and right or up and down.

[0011] As described above, the automatic assembling machine for insulin pens is characterized in that: the seventh device 7 includes a sixth positioning claw 701 for clamping the pen tube 18, a third servo electric claw 702 for rotating the transmission component 20 to align with the semi-finished product, a second lifting cylinder 703 for driving the third servo electric claw 702 to lift and lower, and a third lifting cylinder 704 provided at the next working station for pressing the transmission component 20 onto the semi-finished product to form an insulin pen.

[0012] As described above, the automatic assembling machine for insulin pens is characterized in that: the eighth device 8 includes a rotating gripper 801 for grasping the insulin pen at the second position 16 and rotating it 180 degrees, and a sixth two-axis manipulator for driving the rotating gripper 801 to move left and right or up and down to place the insulin pen into the first position 15.

[0013] As described above, the automatic assembling machine for insulin pens is characterized in that: the ninth device 9 includes a seventh positioning claw 901 for positioning the insulin pen and a fourth servo electric claw 902 for rotating the knob head for testing. The tenth device 10 includes a conveyor belt 1001, a tenth cross bar 1002, a tenth inner gripper 1003 provided at the inner end of the tenth cross bar 1002 for grasping the insulin pen at the first position 15 to the tenth transition position 23, a tenth outer gripper 1004 provided at the inner end of the tenth cross bar 1002 for grasping the insulin pen at the tenth transition position 23 to the conveyor belt 1001, a tenth two-axis manipulator for driving the tenth cross bar 1002 to move left and right or up and down, and a cylinder for removing defective products is provided at the tenth transition position 23.

[0014] A method of assembling an assembling machine as described above is characterized by including the following steps:

[0015] A. The first outer gripper 103 grasps the pen tube 18 output from the vibrating disk to the first transition position 25, and checks the orientation of the pen tube 18 at the first transition position 25 through fiber optic irradiation. If the pen tube 18 at the first transition position 25 is facing upwards, the first reversible gripper 102 grasps the pen tube 18 and places it in the first position 15. If the pen tube 18 at the first transition position 25 is facing downwards, the first reversible gripper 102 grasps the pen tube 18, rotates it 180 degrees and then places it in the first position 15; [[ID=]14]

[0016] B. The turntable 13 rotates clockwise by one working station, and the pen tube 18 at the first position 15 is rotated to the next working station, and it is detected by a detector whether there is a pen tube 18 at the first position 15;

[0017] C. The turntable 13 rotates clockwise by one working station, and the pen tube 18 at the first position 15 is rotated to the next working station. The second reversible gripper 201 flips the horizontally output knob assembly 19 by 90 degrees and then vertically places it in the second position 16. For the vertically placed knob assembly 19, its button is at the bottom;

[0018] D. The turntable 13 rotates clockwise by one station, and the rotary brush 202 rotates the threaded guide sleeve on the rotary knob assembly 19 to ensure that the threaded guide sleeve is screwed to the bottom.

[0019] E. The turntable 13 rotates clockwise by one station, and the detector checks whether there is a rotary knob assembly 19 at the second position 16.

[0020] F. The turntable 13 rotates clockwise by one station, and the third jaw 301 grabs the pen tube 18 at the first position 15 and slews it onto the rotary knob assembly 19 at the second position 16.

[0021] G. The turntable 13 rotates clockwise by one station, the second positioning jaw 402 clamps the rotary knob assembly 19 at the second position 16, and the first servo jaw 401 rotates the pen tube 18 slewed thereon to align the groove of the pen tube 18 with the rib of the threaded guide sleeve.

[0022] H. The turntable 13 rotates clockwise by one station, the fifth cylinder 504 presses the pen tube 18 onto the rotary knob assembly 19 to form a semi-finished product, the fifth outer jaw 502 grabs the drive assembly 20 assembled by the previous machine to the fifth transition position 24, and the fifth inner jaw 503 grabs the drive assembly 20 at the fifth transition position 24 to the third position 17.

[0023] I. The turntable 13 rotates clockwise by one station, and the third positioning jaw 505 positions the semi-finished product at a certain angle to facilitate the next station to install the drive assembly 20 into the semi-finished product.

[0024] J. The turntable 13 rotates clockwise by one station, the fifth positioning jaw 603 positions the drive assembly 20, and the second servo jaw 604 can then rotate the drive assembly 20 to a suitable angle and grab and place it into the semi-finished product at the second position 16. Specifically, the drive rod of the drive assembly 20 is inserted into the locator of the rotary knob assembly 19.

[0025] K. The turntable 13 rotates clockwise by one station, and the detector checks whether there is a drive assembly 20 in the semi-finished product.

[0026] L. The turntable 13 rotates clockwise by one station, the sixth positioning jaw 701 positions the pen tube 18, and the third servo jaw 702 rotates the drive assembly 20 again to ensure alignment with the pen tube 18.

[0027] M. The turntable 13 rotates clockwise by one station, and the third lifting cylinder 704 presses the drive assembly 20 onto the semi-finished product to form an insulin pen.

[0028] N. The turntable 13 rotates clockwise by one station, and the detector checks the installation depth of the drive assembly 20 by pressing to determine whether it is a qualified product.

[0029] O. The turntable 13 rotates clockwise by one station, and the rotary gripper 801 grabs the insulin pen at the second position 16, rotates it 180 degrees, and places it at the first position 15.

[0030] P. The turntable 13 rotates clockwise by one station, and a detector is used to check whether there is an insulin pen at the first position 15.

[0031] Q. The turntable 13 rotates clockwise by one station, and the fourth servo electric claw 902 rotates the knob head for testing.

[0032] R. The turntable 13 rotates clockwise by one station, and the tenth inner gripper 1003 grabs the insulin pen at the first position 15 and moves it to the tenth transition position 23. If the previous inspection shows a defective product, the cylinder will remove the defective product at the tenth transition position 23. If it is a non-defective product, the tenth outer gripper 1004 grabs the insulin pen at the tenth transition position 23 and outputs it to the conveyor belt 1001.

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

[0034] The present invention has a high degree of automation, which can greatly improve the 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 explosion diagram of the insulin pen of the present invention;

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

[0039] Figure 5 is an exploded view of the automatic assembly machine of the insulin pen of the present invention, with some components omitted in the figure;

[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 the third device of the present invention;

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

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

[0045] Figure 11 is a schematic structural view of the sixth device of the present invention;

[0046] Figure 12 is a schematic structural view of the seventh device of the present invention;

[0047] Figure 13 is a schematic structural view of the eighth device of the present invention;

[0048] Figure 14 is Figure 5 an enlarged view of part A in

[0049] In the figure: 1 is the first device; 101 is the first cross bar; 102 is the first flip - over jaw; 103 is the first outer jaw; 104 is the first two - axis manipulator; 2 is the second device; 201 is the second flip - over jaw; 202 is the rotary brush; 3 is the third device; 301 is the third jaw; 302 is the first positioning jaw; 4 is the fourth device; 401 is the first servo electric jaw; 402 is the second positioning jaw; 5 is the fifth device; 501 is the fifth cross bar; 502 is the fifth outer jaw; 503 is the fifth inner jaw; 504 is the fifth cylinder; 505 is the third positioning jaw; 6 is the sixth device; 601 is the fourth positioning jaw; 602 is the first lifting cylinder; 603 is the fifth positioning jaw; 604 is the second servo electric jaw; 7 is the seventh device; 701 is the sixth positioning jaw; 702 is the third servo electric jaw; 703 is the second lifting cylinder; 704 is the third lifting cylinder; 8 is the eighth device; 801 is the rotary jaw; 9 is the ninth device; 901 is the seventh positioning jaw; 902 is the fourth servo electric jaw; 10 is the tenth device; 1001 is the conveyor belt; 1002 is the tenth cross bar; 1003 is the tenth inner jaw; 1004 is the tenth outer jaw; 11 is the machine table; 12 is the lower fixed disk; 13 is the turntable; 14 is the upper fixed disk; 15 is the first position; 16 is the second position; 17 is the third position; 18 is the pen tube; 19 is the knob assembly; 20 is the transmission assembly; 21 is the inner fixed column; 22 is the first detector; 23 is the tenth transition position; 24 is the fifth transition position; 25 is the first transition position; 26 is the outer fixed column. Detailed implementation manners

[0050] The technical features of the present invention will be further described in detail below with reference to the accompanying drawings for the convenience of those skilled in the art to understand.

[0051] This patented insulin pen contains many components and has a complex structure. It requires three machines to fully assemble it. There are two automatic assembly machines in the front, which are respectively used to assemble the transmission assembly 20 and the knob assembly 19. The assembly machine of the present invention is used to assemble the transmission assembly 20, the knob assembly 19 and the pen tube 18.

[0052] An automatic assembly machine for an insulin pen, comprising a machine platform 11, on which a turntable 13 is provided. Outside the machine platform 11, there are multiple vibrating trays for feeding materials to the turntable 13. On the outer circumference of the turntable 13, there are multiple workpiece positions. Each workpiece position includes, from the inside to the outside along the radial direction, a first position 15, a second position 16, and a third position 17. Along the outside of the turntable 13 on the machine platform 11 in a clockwise direction, there are respectively a first device 1 for installing a pen tube 18 at the first position 15, a second device 2 for flipping a horizontally output knob assembly 19 by 90 degrees and then vertically placing it at the second position 16, a third device 3 for grasping the pen tube 18 at the first position 15 and sleeving it on the knob assembly 19, a fourth device 4 for rotating the pen tube 18 to align it with the knob assembly 19, a fifth device 5 for pressing the pen tube 18 onto the knob assembly 19 to form a semi-finished product and simultaneously grasping a transmission component 20 to the third position 17, a sixth device 6 for grasping the transmission component 20 and installing it into the semi-finished product at the second position 16, a seventh device 7 for rotating the transmission component 20 to align and assemble it with the semi-finished product to form an insulin pen, an eighth device 8 for grasping the insulin pen at the second position 16 and rotating it 180 degrees and placing it at the first position 15, a ninth device 9 for testing the knob head of the knob assembly 19, and a tenth device 10 for outputting the insulin pen; above the turntable 13, there are respectively a lower fixed disk 12 and an upper fixed disk 14 from bottom to top. The lower fixed disk 12 is fixed to the machine platform 11 through an outer fixed column 26, and the upper fixed disk 14 is fixed to the machine platform 11 through an inner fixed column 21. The turntable 13, the lower fixed disk 12, and the upper fixed disk 14 are coaxially arranged.

[0053] The turntable 13 is driven to rotate counterclockwise by a station divider. The process of this patent is complex, the parts do not interfere with each other, and the overall design is very difficult, which is not easy for ordinary technicians to think of. It can greatly improve the assembly efficiency and reduce the defective rate.

[0054] The first device 1 includes a first cross bar 101, a first flip-over jaw 102 fixed to the inner end of the first cross bar 101, a first outer jaw 103 fixed to the outer end of the first cross bar 101 for grasping the pen tube 18, and a first two-axis manipulator 104 for driving the first cross bar 101 to move left and right or up and down.

[0055] The first outer jaw 103 grasps the pen tube 18 output from the vibrating tray to the first transition position 25. The orientation of the pen tube 18 at the first transition position 25 is checked by fiber optic irradiation. The detection principle is that different orientations result in different reflection areas. If the pen tube 18 at the first transition position 25 is facing up, the first flip-over jaw 102 grasps the pen tube 18 and places it at the first position 15. If the pen tube 18 at the first transition position 25 is facing down, the first flip-over jaw 102 grasps the pen tube 18, rotates it 180 degrees, and then places it at the first position 15.

[0056] The first cross bar 101 and all other cross bars are arranged radially along the turntable 13. Therefore, the inner and outer ends of the cross bars are also relative to the turntable 13 radially. The end closer to the center of the turntable 13 is the inner end, and the end farther from the center of the turntable 13 is the outer end. The inner jaws and the outer jaws are driven to move left and right or up and down simultaneously.

[0057] The second device 2 includes a second flippable jaw 201 for flipping the horizontally output knob assembly 19 by 90 degrees and vertically placing it at the second position 16, a second two-axis manipulator for driving the second flippable jaw 201 to move left and right or up and down, and further includes a rotary brush 202 provided at the next station for screwing the threaded guide sleeve on the knob assembly 19. The button of the vertically placed knob assembly 19 is at the bottom, and the rotary brush 202 is used to ensure that the threaded guide sleeve is screwed to the lowest position.

[0058] There is a station between the second device 2 and the first device 1. At this station, there is a first detector 22 for detecting whether there is an upper pen tube 18 at the first position 15. The first detector 22 is a displacement sensor, and the first detector 22 is installed on the upper fixed disk 24 through a mounting rod. Since the heights of the cases with and without the pen tube 18 are different, the distances from the upper displacement sensor are also different.

[0059] The third device 3 includes a third jaw 301 for grasping the pen tube 18 at the first position 15 and sleeving it on the knob assembly 19 at the second position 16, a second two-axis manipulator for driving the third jaw 301 to move left and right or up and down, and a first positioning jaw 302 for positioning the knob assembly 19 at the second position 16.

[0060] The first positioning jaw 302 clamps the lower part of the knob assembly 19, and then the third jaw 301 grasps the pen tube 18 and sleeves it on the knob assembly 19. Both the third jaw 301 and the first positioning jaw 302 are fixed to the machine table 11 through brackets.

[0061] There is a station between the third device 3 and the rotary brush 202. This station has a detector that detects whether there is a knob assembly 19 at the second position 16 by pressing down.

[0062] The fourth device 4 includes a first servo electric jaw 401 for rotating the pen tube 18 and a second positioning jaw 402 for clamping the knob assembly 19. The first servo electric jaw 401 is fixed to the machine table 11 through a bracket and is driven to lift by a lifting cylinder, and the lifting cylinder is also provided on this bracket. The second positioning jaw 402 is fixed to the lower fixed disk 12 through another bracket.

[0063] Rotate the pen tube 18 to align the slot of the pen tube 18 with the rib of the threaded guide sleeve in the knob assembly 19 to position the pen tube 18. The knob assembly 19 at the second position 16 has already been set at a certain angle.

[0064] The fifth device 5 includes a fifth cross bar 501, a fifth outer jaw 502 fixed to the outer end of the fifth cross bar 501 for grasping the transmission component 20 to the fifth transition position 24, a fifth inner jaw 503 fixed to the inner end of the fifth cross bar 501 for grasping the transmission component 20 at the fifth transition position 24 to the third position 17, a fifth two-axis manipulator for driving the first cross bar 101 to move left and right or up and down, a fifth cylinder 504 for pressing the pen tube 18 against the knob component 19 to form a semi-finished product, and further includes a third positioning claw 505 provided at the next station for positioning the angle of the semi-finished product.

[0065] The fifth cylinder 504 is fixed to the lower fixed disk 12 through a bracket, the fifth two-axis manipulator is fixed to the machine table 11 through a bracket, and the third positioning claw 505 is fixed to the machine table 11 through a bracket.

[0066] It is detected by an optical fiber whether there is a transmission component 20 at the fifth transition position 24. There may be some deviation in the angle of the semi-finished product. To avoid affecting the subsequent assembly of the transmission component 20, the third positioning claw 505 is used to position the angle. A positioning pin is provided in the middle of the third positioning claw 505 for inserting into the hole in the upper part of the side wall of the pen tube 18 to achieve angle positioning.

[0067] The sixth device 6 includes a fourth positioning claw 601 for positioning the angle of the pen tube 18, a first lifting cylinder 602, a fifth positioning claw 603 driven by the first lifting cylinder 602 for limiting the transmission component 20, a second servo gripper 604 for rotating the transmission component 20 to position the angle and then inserting it into the semi-finished product, and a sixth two-axis manipulator for driving the second servo gripper 604 to move left and right or up and down.

[0068] The fourth positioning claw 601 is fixed to the lower fixed disk 12 through a bracket, the first lifting cylinder 602 and the sixth two-axis manipulator are fixed to the machine table 11 through a bracket. When the fifth positioning claw 603 limits the transmission component 20, the second servo gripper 604 rotates the transmission component 20, facilitating the next station to install the transmission component 20 into the semi-finished product. The fourth positioning claw 601 has the same structure as the third positioning claw 505.

[0069] Insert the transmission component 20 into the knob component 19. Specifically, the transmission rod of the transmission component 20 is inserted into the locator of the knob component 19, and rotating the transmission component 20 drives the knob component 19 to rotate and align with the pen tube 18.

[0070] The seventh device 7 includes a sixth positioning claw 701 for clamping the pen tube 18, a third servo gripper 702 for rotating the transmission component 20 to align with the semi-finished product, a second lifting cylinder 703 for driving the third servo gripper 702 to lift, and a third lifting cylinder 704 provided at the next station for pressing the transmission component 20 onto the semi-finished product to form an insulin pen.

[0071] The sixth positioning claw 701 is fixed on the lower fixed disk 12 through a bracket. The second lifting cylinder 703 is also fixed on the lower fixed disk 12 through another bracket. A slide rail is provided on this bracket, and the second lifting cylinder 703 drives the third servo electric claw 702 to lift along this slide rail.

[0072] The sixth positioning claw 701 clamps the pen tube 18, and the third servo electric claw 702 rotates the transmission component 20 again to ensure alignment with the pen tube 18. After alignment, the third servo electric claw 702 will loosen due to the set torque.

[0073] A detector is provided between the seventh device 7 and the sixth device 6 to detect whether there is a transmission component 20 in the semi-finished product by pressing.

[0074] The eighth device 8 includes a rotating claw 801 for grasping the insulin pen at the second position 16 and rotating it 180 degrees, and a sixth two-axis manipulator for driving the rotating claw 801 to move left and right or up and down to place the insulin pen into the first position 15.

[0075] The sixth two-axis manipulator is fixed on the machine table 11 through a bracket. A detector is provided between the eighth device 8 and the seventh device 7 to detect the installation depth of the transmission component 20 by pressing to determine whether it is a good product.

[0076] The ninth device 9 includes a seventh positioning claw 901 for positioning the insulin pen and a fourth servo electric claw 902 for rotating the knob head for testing. The seventh positioning claw 901 and the fourth servo electric claw 902 are fixed on the lower fixed disk 12 through the same bracket.

[0077] A detector, which is a displacement sensor, is provided between the ninth device 9 and the eighth device 9 to detect whether there is an insulin pen at the first position 15.

[0078] The tenth device 10 includes a conveyor belt 1001, a tenth cross bar 1002, a tenth inner claw 1003 provided at the inner end of the tenth cross bar 1002 for grasping the insulin pen at the first position 15 to the tenth transition position 23, a tenth outer claw 1004 provided at the inner end of the tenth cross bar 1002 for grasping the insulin pen at the tenth transition position 23 to the conveyor belt 1001, a tenth two-axis manipulator for driving the tenth cross bar 1002 to move left and right or up and down. A cylinder for removing defective products is provided at the tenth transition position 23, and the tenth two-axis manipulator is fixed on the machine table 11 through a bracket.

[0079] The present invention also claims protection for a method of assembling the above-described assembly unit, including the following steps:

[0080] A. The first outer clamping jaw 103 grabs the pen tube 18 output from the vibrating disc to the first transition position 25, and checks the orientation of the pen tube 18 at the first transition position 25 through fiber optic irradiation. If the front side of the pen tube 18 at the first transition position 25 faces upward, the first rotatable clamping jaw 102 grabs the pen tube 18 and places it at the first position 15. If the back side of the pen tube 18 at the first transition position 25 faces upward, the first rotatable clamping jaw 102 grabs the pen tube 18, rotates it 180 degrees, and then places it at the first position 15;

[0081] B. The turntable 13 rotates clockwise by one station, and the pen tube 18 at the first position 15 is rotated to the next station, and the detector checks whether there is a pen tube 18 at the first position 15;

[0082] C. The turntable 13 rotates clockwise by one station, and the pen tube 18 at the first position 15 is rotated to the next station. The second rotatable clamping jaw 201 flips the horizontally output knob assembly 19 by 90 degrees and then vertically places it at the second position 16. For the vertically placed knob assembly 19, its button is at the bottom;

[0083] D. The turntable 13 rotates clockwise by one station, and the rotating brush 202 rotates the thread guide sleeve on the knob assembly 19 to ensure that the thread guide sleeve is screwed to the bottom;

[0084] E. The turntable 13 rotates clockwise by one station, and the detector checks whether there is a knob assembly 19 at the second position 16;

[0085] F. The turntable 13 rotates clockwise by one station, and the third clamping jaw 301 grabs the pen tube 18 at the first position 15 and slews it onto the knob assembly 19 at the second position 16;

[0086] G. The turntable 13 rotates clockwise by one station, the second positioning claw 402 clamps the knob assembly 19 at the second position 16, and the first servo clamping jaw 401 rotates the pen tube 18 slewed on it so that the slot of the pen tube 18 is aligned with the rib of the thread guide sleeve;

[0087] H. The turntable 13 rotates clockwise by one station, the fifth cylinder 504 presses the pen tube 18 onto the knob assembly 19 to form a semi-finished product. The fifth outer clamping jaw 502 grabs the transmission assembly 20 assembled by the previous machine to the fifth transition position 24, and the fifth inner clamping jaw 503 grabs the transmission assembly 20 at the fifth transition position 24 to the third position 17;

[0088] I. The turntable 13 rotates clockwise by one station, and the third positioning claw 505 positions the semi-finished product at a certain angle to facilitate the installation of the transmission assembly 20 into the semi-finished product at the next station;

[0089] J. The turntable 13 rotates clockwise by one station. The fifth positioning claw 603 limits the transmission component 20. Then, the second servo electric claw 604 can rotate the transmission component 20 to an appropriate angle and then grasp and place it into the semi-finished product at the second position 16. Specifically, the transmission rod of the transmission component 20 is aligned with and inserted into the locator of the knob component 19.

[0090] K. The turntable 13 rotates clockwise by one station. The detector detects whether there is a transmission component 20 in the semi-finished product.

[0091] L. The turntable 13 rotates clockwise by one station. The sixth positioning claw 701 positions the pen tube 18. The third servo electric claw 702 rotates the transmission component 20 again to ensure alignment with the pen tube 18.

[0092] M. The turntable 13 rotates clockwise by one station. The third lifting cylinder 704 presses the transmission component 20 onto the semi-finished product to form an insulin pen.

[0093] N. The turntable 13 rotates clockwise by one station. The detector detects the installation depth of the transmission component 20 by pressing to determine whether it is a qualified product.

[0094] O. The turntable 13 rotates clockwise by one station. The rotary claw 801 grasps the insulin pen at the second position 16, rotates it 180 degrees, and places it into the first position 15.

[0095] P. The turntable 13 rotates clockwise by one station. The detector detects whether there is an insulin pen at the first position 15.

[0096] Q. The turntable 13 rotates clockwise by one station. The fourth servo electric claw 902 rotates the knob head of the knob component 19 for testing.

[0097] R. The turntable 13 rotates clockwise by one station. The tenth inner claw 1003 grasps the insulin pen at the first position 15 to the tenth transition position 23. If the previous detection shows a defective product, the cylinder will remove the defective product at the tenth transition position 23. If it is a qualified product, the tenth outer claw 1004 grasps the insulin pen at the tenth transition position 23 and outputs it to the conveyor belt 1001.

[0098] The embodiments described in the present invention are only descriptions of the preferred embodiments of the present invention, and do not limit the inventive concept and scope. Without departing from the design concept of the present invention, various modifications and improvements made by those skilled in the art to the technical solutions of the present invention should fall within the protection scope of the present invention.

Claims

1. A method for assembling an insulin pen using an automatic assembly machine, characterized in that The automatic assembly machine for the insulin pen comprises a machine platform (11), a turntable (13) is provided on the machine platform (11), a plurality of vibration disks for feeding materials to the turntable (13) are provided on the outer side of the machine platform (11), a plurality of workpiece positions are provided on the outer circumference of the turntable (13), and each workpiece position includes a first position (15), a second position (16), and a third position (17) from the inside to the outside in the radial direction. On the machine platform (11), a first device (1) for installing the pen tube (18) on the first position (15), a second device (2) for turning the horizontal output knob assembly (19) 90 degrees and then vertically placing it on the second position (16), a third device (3) for grabbing the pen tube (18) on the first position (15) and putting it on the knob assembly (19), a fourth device (4) for rotating the pen tube (18) so that it is aligned with the knob assembly (19), and a fourth device (5) for pressing the pen tube (18) into the first position (15). A fifth device (5) is provided for forming a semi-finished product on the knob assembly (19) and simultaneously grabbing the transmission assembly (20) to the third position (17); a sixth device (6) is provided for grabbing the transmission assembly (20) and loading it into the semi-finished product at the second position (16); a seventh device (7) is provided for rotating the transmission assembly (20) and aligning the semi-finished product to form an insulin pen; an eighth device (8) is provided for grabbing the insulin pen at the second position (16) and rotating it 180 degrees to place it at the first position (15); a ninth device (9) is provided for testing the knob head of the knob assembly (19); and a tenth device (10) is provided for outputting the insulin pen; a lower fixed disk (12) and an upper fixed disk (14) are provided above the turntable (13) from bottom to top, the lower fixed disk (12) is fixed to the machine (11) by an outer fixed column (26), and the upper fixed disk (14) is fixed to the machine (11) by an inner fixed column (21); The method for assembling the insulin pen by the automatic assembly machine comprises the following steps: A. The pen tube (18) output from the vibration disk is grasped to the first transition position (25) by the first outer clamp (103) of the first device (1), and the orientation of the pen tube (18) on the first transition position (25) is checked by optical fiber illumination. If the pen tube (18) on the first transition position (25) faces up, the first reversible clamp (102) grasps the pen tube (18) and places it on the first position (15). If the pen tube (18) on the first transition position (25) faces up, the first reversible clamp (102) grasps the pen tube (18) and rotates it 180 degrees before placing it on the first position (15); B. The turntable (13) rotates one station clockwise, and the pen tube (18) on the No. 1 station (15) is rotated to the next station, and a detector is used to detect whether there is a pen tube (18) on the No. 1 station (15); C. The turntable (13) rotates one station clockwise, and the pen tube (18) on the first station (15) is rotated to the next station. The horizontal output knob assembly (19) is flipped 90 degrees by the second flippable clamp (201) of the second device (2) and then placed vertically on the second station (16). The button of the vertically placed knob assembly (19) is at the bottom; D. The turntable (13) rotates one station clockwise, and the rotating brush (202) of the second device (2) rotates the threaded guide sleeve on the knob assembly (19) to ensure that the threaded guide sleeve is screwed to the bottom; E. The turntable (13) rotates one station clockwise, and the detector detects whether there is a knob assembly (19) on the second station (16); F. The turntable (13) rotates one station clockwise, and the third clamping claw (301) of the third device (3) grabs the pen tube (18) on the first position (15) and puts it on the knob assembly (19) on the second position (16); G. The turntable (13) rotates one station clockwise, the second positioning claw (402) clamps the knob assembly (19) of the second position (16), and the first servo electric claw (401) of the fourth device (4) rotates the pen tube (18) sleeved thereon, so that the groove of the pen tube (18) is aligned with the rib of the threaded guide sleeve; H. The turntable (13) rotates one station clockwise, and the pen tube (18) is pressed against the knob assembly (19) by the fifth cylinder (504) of the fifth device (5) to form a semi-finished product. The fifth outer clamp (502) grabs the transmission assembly (20) assembled by the previous machine to the fifth transition position (24), and the fifth inner clamp (503) grabs the transmission assembly (20) at the fifth transition position (24) to the third position (17); I. The turntable (13) rotates one station clockwise, and the third positioning claw (505) of the fifth device (5) sets the angle of the semi-finished product, so that the next station can install the transmission assembly (20) into the semi-finished product; J. The turntable (13) rotates one station clockwise, and the transmission assembly (20) is limited by the fifth positioning claw (603) of the sixth device (6). The second servo electric claw (604) can rotate the transmission assembly (20) to a suitable angle, and then grab it and put it into the semi-finished product at the second position (16). Specifically, the transmission rod of the transmission assembly (20) is inserted into the positioner of the knob assembly (19); K, the turntable (13) rotates one station clockwise, and the detector detects whether there is a transmission component (20) in the semi-finished product; L, the turntable (13) rotates one station clockwise, and the pen tube (18) is positioned by the sixth positioning claw (701) of the seventh device (7), and the third servo electric claw (702) rotates the transmission assembly (20) again to ensure alignment with the pen tube (18); M, the turntable (13) rotates one station clockwise, and the transmission assembly (20) is pressed onto the semi-finished product through the third lifting cylinder (704) of the seventh device (7) to form an insulin pen; N. The turntable (13) rotates one station clockwise, and the detector detects the installation depth of the transmission component (20) by pressing to determine whether it is a good product; O. The turntable (13) rotates one station clockwise, and the rotating clamp (801) of the eighth device (8) grabs the insulin pen on the second position (16), rotates it 180 degrees and places it in the first position (15); P, the turntable (13) rotates one station clockwise, and the detector detects whether there is an insulin pen on the first station (15); Q. The turntable (13) rotates one station clockwise, and the fourth servo electric claw (902) of the ninth device (9) rotates the knob head for testing; R. The turntable (13) rotates one station clockwise, and the tenth inner gripper (1003) of the tenth device (10) grabs the insulin pen on the first position (15) and moves it to the tenth transition position (23). If the previous detection shows that the product is defective, the cylinder will move the defective product at the tenth transition position (23) away. If it is a good product, the tenth outer gripper (1004) grabs the insulin pen on the tenth transition position (23) and moves it to the conveyor belt (1001) for output.

2. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The first device (1) comprises a first crossbar (101), a first reversible clamping claw (102) fixed to the inner end of the first crossbar (101), a first outer clamping claw (103) fixed to the outer end of the first crossbar (101) for grasping the pen tube (18), and a first two-axis manipulator (104) for driving the first crossbar (101) to move left and right or up and down.

3. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The second device (2) includes a second flippable clamp (201) for flipping the horizontal output knob assembly (19) 90 degrees and then vertically placing it on the second position (16), a second two-axis manipulator for driving the second flippable clamp (201) to move left and right or up and down, and a rotating brush (202) provided at the next station for rotating the threaded guide sleeve on the knob assembly (19).

4. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The third device (3) includes a third clamping claw (301) for grabbing the pen tube (18) on the first position (15) and sleeved on the knob assembly (19) on the second position (16), a second two-axis manipulator for driving the third clamping claw (301) to move left and right or up and down, and a first positioning claw (302) for positioning the knob assembly (19) on the second position (16); the fourth device (4) includes a first servo electric claw (401) for rotating the pen tube (18) and a second positioning claw (402) for clamping the knob assembly (19).

5. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The fifth device (5) includes a fifth crossbar (501), a fifth outer clamp (502) fixed to the outer end of the fifth crossbar (501) for grabbing the transmission assembly (20) to the fifth transition position (24), a fifth inner clamp (503) fixed to the inner end of the fifth crossbar (501) for grabbing the transmission assembly (20) in the fifth transition position (24) to the third position (17), a fifth two-axis manipulator for driving the first crossbar (101) to move left and right or up and down, a fifth cylinder (504) for pressing the pen tube (18) onto the knob assembly (19) to form a semi-finished product, and also includes a third positioning claw (505) provided at the next workstation for setting an angle for the semi-finished product.

6. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The sixth device (6) includes a fourth positioning claw (601) for setting an angle for the pen tube (18), a first lifting cylinder (602), a fifth positioning claw (603) driven by the first lifting cylinder (602) for limiting the transmission component (20), a second servo electric claw (604) for rotating the transmission component (20) at a fixed angle and then inserting it into the semi-finished product, and a sixth two-axis manipulator for driving the second servo electric claw (604) to move left and right or up and down.

7. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The seventh device (7) includes a sixth positioning claw (701) for clamping the pen tube (18), a third servo electric claw (702) for rotating the transmission component (20) and aligning it with the semi-finished product, a second lifting cylinder (703) for driving the third servo electric claw (702) to rise and fall, and a third lifting cylinder (704) provided at the next work station for press-fitting the transmission component (20) onto the semi-finished product to form an insulin pen.

8. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The eighth device (8) includes a rotating gripper (801) for grabbing the insulin pen on the second position (16) and rotating it 180 degrees, and a sixth two-axis manipulator for driving the rotating gripper (801) to move left and right or up and down to place the insulin pen into the first position (15).

9. The method for assembling an insulin pen using an automatic assembly machine according to claim 1, characterized in that: The ninth device (9) includes a seventh positioning claw (901) for positioning the insulin pen, a fourth servo electric claw (902) for rotating the knob head for testing, and the tenth device (10) includes a conveyor belt (1001), a tenth crossbar (1002), a tenth inner clamp (1003) provided at the inner end of the tenth crossbar (1002) for grabbing the insulin pen on the first position (15) to the tenth transition position (23), a tenth outer clamp (1004) provided at the inner end of the tenth crossbar (1002) for grabbing the insulin pen on the tenth transition position (23) to the conveyor belt (1001), and a tenth two-axis manipulator for driving the tenth crossbar (1002) to move left and right or up and down, and a cylinder for removing defective products is provided at the tenth transition position (23).

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