An injection pen barrel pipe assembly automatic assembling equipment and an assembling method thereof

Abstract

The application discloses an injection pen body pipe assembly automatic assembling equipment and an assembling method thereof, and comprises a work platform, a main rotary line is arranged on the work platform, a piston assembling station, a positioner assembling station, a screw rod assembling station and a spring assembling station are sequentially arranged on one side of the main rotary line along a conveying direction, a fixed seat assembling station, a pen body pipe assembling station and a detection and transfer station are sequentially arranged on the other side of the main rotary line along the conveying direction, and a turntable mechanism is arranged outside the end of the main rotary line at the spring assembling station and the fixed seat assembling station; the turntable mechanism comprises a linkage gear assembling station, a transmission rod assembling station, a pre-assembly transfer station and a vacancy detection station which are sequentially arranged along a rotating direction, the pre-assembly transfer station pre-assembles the linkage gear and the transmission rod and transfers them to the main rotary line; and a blanking robot is arranged behind the detection and transfer station; therefore, full-automatic assembly of the pen body pipe assembly is realized, the assembling efficiency is greatly improved, and the assembling effect is ensured.

Description

Technical Field

[0001] This invention relates to the field of injection pen assembly equipment technology, and in particular to an automatic assembly equipment and method for injection pen body components. Background Technology

[0002] A pen injector, or simply injection pen, is a product that combines medication and a syringe into one unit. Resembling a pen in shape, it is suitable for self-management of various chronic diseases, including insulin for diabetes, growth hormone, osteoporosis medication, multiple sclerosis medication, anemia medication, and rheumatoid arthritis medication. With the increasing adoption of full automation, fully automated production lines for injection pens are needed to improve assembly efficiency and ensure assembly stability.

[0003] The assembly of the pen body tube is a crucial part of the automated assembly of injection pens. Due to the large number of parts contained within the pen body tube assembly, it is essential to coordinate the assembly times between different workstations and consider the order in which the parts are assembled. Currently, there is no highly efficient automated equipment to achieve rapid and automated installation of the pen body tube assembly. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a reasonably structured automatic assembly device and method for the pen body assembly, thereby achieving fully automated assembly of the pen body assembly, greatly improving assembly efficiency, and ensuring assembly results.

[0005] The technical solution adopted in this invention is as follows:

[0006] An automatic assembly device for an injection pen body assembly includes a piston, a positioner, a screw, a spring, a linkage gear, a transmission rod, a fixed seat, and a pen body. The automatic assembly device includes a work platform with a main rotary line. On one side of the main rotary line, along the conveying direction, there are sequentially arranged piston assembly stations, positioner assembly stations, screw assembly stations, and spring assembly stations. On the other side of the main rotary line, along the conveying direction, there are sequentially arranged fixed seat assembly stations, pen body assembly stations, and detection and transfer stations. A turntable mechanism is arranged outside the ends of the main rotary line at the spring assembly station and the fixed seat assembly station. The turntable mechanism includes sequentially arranged linkage gear assembly stations, transmission rod assembly stations, pre-assembly and transfer stations, and empty space detection stations along the rotation direction. The pre-assembly and transfer station pre-assembles the linkage gear and transmission rod and transfers them to the main rotary line. The device also includes a material unloading robot located behind the detection and transfer station.

[0007] As a further improvement to the above technical solution:

[0008] The main rotary line is equipped with traveling fixtures arranged at intervals. Each traveling fixture includes multiple receiving positions, and each receiving position is provided with clamping members that move passively in opposite directions on both sides. The clamping members clamp or release the screws during the assembly process.

[0009] The arrangement and number of clamping actuators in the locator assembly station, screw assembly station, spring assembly station, fixed seat assembly station, pen body tube assembly station, and turntable mechanism are consistent with the arrangement and number of accommodating positions on the accompanying fixture. The clamping actuators in the same station operate independently.

[0010] The clamping actuator is a clamping cylinder, which is mounted on the lower support. The lower support and the upper support are slidably mounted on the vertical track at intervals. An elastic component is installed between the upper support and the lower support. The upper support is mounted below the linear drive power source.

[0011] The piston assembly station, positioner assembly station, screw assembly station, spring assembly station, fixed seat assembly station, pen body tube assembly station, linkage gear assembly station, and transmission rod assembly station all use vibratory feeders for material sorting and feeding. The vibratory feeders are arranged in an orderly manner along the main rotation line. The piston assembly station uses a suction cup to transfer the piston from the output end of the vibratory feeder to the accompanying fixture. The positioner assembly station, screw assembly station, spring assembly station, fixed seat assembly station, pen body tube assembly station, linkage gear assembly station, and transmission rod assembly station all use clamping cylinders to pick up materials from the vibratory feeder.

[0012] The screw assembly station includes two screw transfer mechanisms, Screw Transfer Mechanism 1 and Screw Transfer Mechanism 2, which move and are spaced apart along the transfer direction. Below Screw Transfer Mechanism 1 and Screw Transfer Mechanism 2, a vision inspection component 1 and a flipping mechanism are arranged sequentially. Screw Transfer Mechanism 1 includes a vertical drive power source 3, with an end adjustment motor installed at its downward-facing output end. The downward-facing output end of the end adjustment motor clamps the horizontally arranged screw via a clamping cylinder. The flipping mechanism flips the screw from a horizontal to a vertical position. Screw Transfer Mechanism 2 includes a press-fit drive power source, with a spin-fit motor installed at its downward-facing output end. The downward-facing output end of the spin-fit motor clamps the screw via a clamping cylinder. It also includes a fixture opening and closing power source.

[0013] The pen tube assembly station includes a material end adjustment mechanism connected to the discharge end of the vibratory feeder, and a self-rotating mechanism is installed directly below the material discharge cylinder at the bottom of the material end adjustment mechanism; it also includes a pen tube transfer mechanism one and a pen tube transfer mechanism two that move and are spaced apart along the transfer direction, and a positioning mechanism is arranged below the pen tube transfer mechanism one; the pen tube transfer mechanism two transfers the pen tube from the positioning mechanism to the main rotary line and presses it down for assembly.

[0014] A material unloading rotary line is set up between the inspection and transfer station and the unloading robot. The inspection and transfer station transfers the assembled pen body tube components to each rotary seat on the material unloading rotary line. A stop mechanism is set up on the material unloading rotary line at the unloading robot. A tray unloading conveyor line is set up at the unloading robot. The stop mechanism blocks a preset number of rotary seats and arranges them closely. The unloading robot transports a preset number of pen body tube components from the rotary seats to the material tray in a single operation.

[0015] A cleaning station, an inspection station, and a manual operation station are set up on the main rotary line behind the inspection and transfer station; the inspection and transfer station is also connected to the NG conveyor line, which is arranged parallel to the main rotary line.

[0016] An assembly method for an automated assembly device for the body assembly of an injection pen includes the following steps:

[0017] The piston assembly station loads the piston onto the accompanying fixture of the main rotary line; the positioner assembly station loads the positioner into the accompanying fixture, and the piston and positioner are respectively positioned in the receiving positions of the accompanying fixture; the screw assembly station loads the screw into the accompanying fixture, rotates the screw to engage with the threaded positioner below, and applies downward force to the screw to cause the positioner to snap onto the piston; the spring assembly station loads the spring into the accompanying fixture, and the spring is received in the preset position of the positioner;

[0018] In the turntable mechanism, the linkage gear assembly station and the transmission rod assembly station respectively load the linkage gear and the transmission rod onto the turntable. The pre-assembly and transfer station applies downward force to the transmission rod so that the bottom end of the transmission rod is pre-assembled with the linkage gear. The pre-assembly and transfer station transfers the pre-assembled components to the accompanying fixture of the main rotary line.

[0019] The fixed seat assembly station loads the fixed seat onto the accompanying fixture, lowers the fixed seat while straightening the guide screw, and applies downward force to the fixed seat so that the fixed seat is snapped into the positioner.

[0020] The pen body assembly station loads the pen body tubes into the accompanying fixture, and the pen body tubes descend to complete the assembly.

[0021] The inspection and transfer station, combined with the unloading robot, loads and unloads the pen body tube assembly onto a tray.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] This invention arranges piston assembly stations, positioner assembly stations, screw assembly stations, spring assembly stations, turntable mechanisms, fixed base assembly stations, and pen body assembly stations sequentially along the main rotary line. Furthermore, the linkage gears and transmission rods are pre-installed at the turntable mechanism and then transferred together to the accompanying fixture on the main rotary line. This, combined with automated equipment, rationally arranges the assembly sequence of the pen body components, achieving fully automated assembly of the pen body components. It effectively coordinates and matches the assembly time of each station, greatly improving assembly efficiency and ensuring assembly quality.

[0024] The present invention also includes the following advantages:

[0025] By setting passively moving clamping components on the main rotary line accompanying fixture, the screw can be clamped or released in a timely manner during the assembly process, effectively preventing unnecessary shaking or rotation of the screw and ensuring smooth assembly.

[0026] By arranging multiple receiving positions on the accompanying fixture and setting up a corresponding number of clamping actuators at each station, multiple assembly operations of the same part can be performed simultaneously. By setting the clamping actuators in parallel at the same station to an independent operation mode, the operation of the clamping actuators can be controlled according to the current situation. In particular, when NG occurs during the assembly process, the corresponding clamping actuators at each station can be deactivated. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the layout of the automatic assembly equipment of the present invention.

[0028] Figure 2 This is a schematic diagram of the automatic assembly equipment of the present invention.

[0029] Figure 3 This is a cross-sectional view of the pen body assembly of the present invention.

[0030] Figure 4 for Figure 3 A magnified view of a portion of point A in the middle.

[0031] Figure 5 This is a schematic diagram of the accompanying fixture of the present invention.

[0032] Figure 6 for Figure 5 A magnified view of a section at point B.

[0033] Figure 7 This is a schematic diagram of the piston assembly station of the present invention (the vibratory feeder is omitted).

[0034] Figure 8 This is a schematic diagram of the assembly station of the positioner of the present invention (the vibratory feeder is omitted).

[0035] Figure 9 This is a schematic diagram of the screw assembly station of the present invention (the vibratory feeder is omitted).

[0036] Figure 10 This is a schematic diagram of the spring assembly station of the present invention (the vibratory feeder is omitted).

[0037] Figure 11 This is a schematic diagram of the turntable mechanism of the present invention.

[0038] Figure 12 for Figure 11 A magnified view of a section at point C.

[0039] Figure 13 This is a schematic diagram showing the installation of the fixture seat and guide rod on the turntable of the present invention.

[0040] Figure 14 This is a schematic diagram showing the usage state of the pre-installed transfer station of the present invention.

[0041] Figure 15 This is a schematic diagram of the assembly station of the fixed base of the present invention (the vibratory feeder is omitted).

[0042] Figure 16 This is a schematic diagram of the guide seat and clamping cylinder in the fixed seat assembly station of the present invention.

[0043] Figure 17 This is a schematic diagram of the pen body assembly station of the present invention.

[0044] Figure 18 This is a schematic diagram of the material end adjustment mechanism of the present invention.

[0045] Figure 19 This is a schematic diagram of the installation of the support base and the material distribution mechanism in the material end adjustment mechanism of the present invention.

[0046] Figure 20 This is a schematic diagram of the upper and lower pressing mechanism in the material end adjustment mechanism of the present invention.

[0047] Figure 21 This is a schematic diagram of the layout of the detection and transfer station and the unloading rotary line of the present invention. Detailed Implementation

[0048] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0049] like Figure 3 and Figure 4 As shown, the pen body assembly includes a piston 100, a positioner 200, a screw 300, a spring 400, a linkage gear 500, a transmission rod 600, a fixing base 700, and a pen body 800. Figure 1 and Figure 2As shown in the figure, an automatic assembly equipment for injection pen body tube assembly in this embodiment includes a work platform with a main rotary line 14. On one side of the main rotary line 14, along the conveying direction, there are sequentially arranged piston assembly station 1, locator assembly station 2, screw assembly station 3, and spring assembly station 4. On the other side of the main rotary line 14, along the conveying direction, there are sequentially arranged fixed seat assembly station 6, pen body tube assembly station 7, and detection and transfer station 8. A turntable mechanism 5 is arranged outside the ends of the main rotary line 14 located at spring assembly station 4 and fixed seat assembly station 6. The turntable mechanism 5 includes a linkage gear assembly station 501, a transmission rod assembly station 502, a pre-assembly and transfer station 503, and an empty space detection station arranged sequentially along the rotation direction. The pre-assembly and transfer station 503 pre-assembles the linkage gear 500 and transmission rod 600 and transfers them to the main rotary line 14. It also includes a material unloading robot 11 located behind the detection and transfer station 8.

[0050] In this embodiment, piston assembly station 1, positioner assembly station 2, screw assembly station 3, spring assembly station 4, turntable mechanism 5, fixed seat assembly station 6, and pen body assembly station 7 are arranged sequentially along the main rotary line 14. The linkage gear 500 and transmission rod 600 are pre-installed at the turntable mechanism 5 and then transferred and installed together into the accompanying fixture 15 of the main rotary line 14. Thus, the assembly sequence of the pen body assembly is reasonably arranged in combination with the automated equipment, realizing the fully automated assembly of the pen body assembly.

[0051] The main rotary line 14 is equipped with a series of accompanying fixtures 15 arranged at intervals. Each accompanying fixture 15 includes multiple receiving positions. Each receiving position is provided with a clamping member 151 that moves passively towards or away from each other. The clamping member 151 clamps or releases the screw 300 during the assembly process.

[0052] In this embodiment, by setting a clamping member 151 that passively moves in opposite directions or in opposite directions on the accompanying fixture 15 of the main rotary line 14, the screw 300 can be clamped or released in a timely manner during the assembly process, effectively preventing the screw 300 from shaking or rotating unnecessarily, and effectively ensuring the smooth progress of the assembly.

[0053] like Figure 5 and Figure 6As shown, drive plates 152 are symmetrically arranged on both sides of a single accommodating position of the accompanying fixture 15. Two parallel planes are arranged on the opposing sides of the drive plates 152 along the moving direction, and the two planes are connected by an inclined plane. A roller tangent to the inner side of the drive plate 152 is installed on the clamping member 151. End plates 153 are installed at both ends of the pair of drive plates 152. An external force (such as the fixture opening and closing power 150) is applied to one of the two end plates 153, driving the drive plate 152 to move. One of the planes on the side of the drive plate 152 is in contact with the roller, driving the two rollers between the pair of drive plates 152 to move towards each other or away from each other under the action of the elastic member, thereby realizing the opposite or opposite movement of the clamping member 151, realizing clamping or releasing.

[0054] The bottom surface of the receiving position located below the clamping member 151 is contoured to the piston 100 and the positioner 200. When the piston 100 and the positioner 200 are placed in the receiving position, the contouring serves as a positioning function.

[0055] The arrangement and number of clamping actuators in the locator assembly station 2, screw assembly station 3, spring assembly station 4, fixed seat assembly station 6, pen body tube assembly station 7, and turntable mechanism 5 are consistent with the arrangement and number of accommodating positions on the accompanying fixture 15. The clamping actuators in the same station move independently.

[0056] In this embodiment, by arranging multiple receiving positions on the accompanying fixture 15 and arranging a corresponding number of clamping actuators at each station, multiple assembly operations of the same part can be performed simultaneously at the same time. By setting the clamping actuators in parallel at the same station to an independent operation mode, the operation of the clamping actuators can be controlled according to the current situation. In particular, when NG occurs during the assembly process, the corresponding clamping actuators at each station can not work.

[0057] In this embodiment, five receiving positions are arranged in the same row on the accompanying fixture 15, corresponding to the arrangement of clamping actuators on each workstation, and five pen body components are assembled at the same time.

[0058] The clamping actuator is a clamping cylinder, which is mounted on the lower support. The lower support and the upper support are slidably mounted on the vertical track at intervals. An elastic component is installed between the upper support and the lower support. The upper support is mounted below the linear drive power. Thus, under the operation of the linear drive power, the force acts on the lower support after passing through the upper support and the elastic component, giving the lower support a certain degree of elastic buffer and effectively preventing hard contact of the clamping actuator.

[0059] In this embodiment, the clamping actuator can also be an adsorption structure, such as the suction nozzle 107 in piston assembly station 1, which clamps and transfers the material via the adsorption structure. The suction nozzle 107 in piston assembly station 1 is also elastically cushioned above by an elastic component.

[0060] In one embodiment, the elastic component may include: a vertical rod fixedly installed at its bottom end on the lower support, the vertical rod extending upward through the upper support, and an elastic body fitted on the vertical rod located between the upper and lower supports; a limiting block for preventing detachment is provided at the top of the vertical rod, the limiting block preventing the vertical rod from detaching from the upper support.

[0061] Piston assembly station 1, positioner assembly station 2, screw assembly station 3, spring assembly station 4, fixed seat assembly station 6, pen body tube assembly station 7, linkage gear assembly station 501, and transmission rod assembly station 502 all use vibratory feeders for material sorting and feeding. The vibratory feeders are arranged in an orderly manner along the main rotation line 14; thus, the automatic assembly equipment achieves an orderly, compact, and reasonable overall layout, which is especially convenient for actual production use.

[0062] Piston assembly station 1 uses a suction cup to transfer piston 100 from the output end of vibratory feeder to accompanying fixture 15; locator assembly station 2, screw assembly station 3, spring assembly station 4, fixed seat assembly station 6, pen body assembly station 7, linkage gear assembly station 501, and transmission rod assembly station 502 all use clamping cylinders to pick up materials from vibratory feeder.

[0063] like Figure 7 As shown, the structure of piston assembly station 1 is as follows: it includes an external linear module extending from the vibratory plate to the main rotary line 14. A lifting plate 103 is installed on the side of the translation seat 101 on the external linear module via a lifting drive 102. Multiple vertical rails are installed at intervals on the side of the lifting plate 103. An upper support 104, an elastic component 105, and a lower support 106 are installed sequentially from top to bottom along the vertical rails. A suction nozzle 107 with the suction port facing downward is installed on the lower support 106.

[0064] When in use, the external linear module works, driving the suction nozzle 107 to move to the discharge port of the vibratory feeder. Combined with the operation of the lifting drive power 102, the suction nozzle 107 picks up the piston 100, and then transfers and places it into the corresponding receiving position of the main rotary line 14 accompanying fixture 15.

[0065] like Figure 8As shown, the structure of the locator assembly station 2 is as follows: it includes a linear module extending from the vibratory feeder to the main rotary line 14. The side of the translation seat 21 on the linear module is equipped with a lifting plate 23 via a lifting drive 22. Multiple vertical rails are installed at intervals on the side of the lifting plate 23. Along the vertical rails, from top to bottom, an upper support 25, an elastic component 26, and a lower support 27 are installed in sequence. The upper support 25 is connected to the downward-facing output end of the vertical drive 24. A clamping cylinder is installed on the bottom surface of the lower support 27. The clamping cylinder clamps the locator 200 from the vibratory feeder and places it on the accompanying fixture 15. A limit block 28 is installed on the side of the clamping cylinder body. The bottom end of the limit block 28 abuts against the top surface of the locator 200. When the clamping cylinder clamps the locator 200, the limit block 28 limits the height.

[0066] When in use, the linear module works, driving the clamping cylinder to move to the vibratory feeder outlet. Combined with the operation of the lifting drive power 22, the clamping cylinder clamps the positioner 200, and then transfers and places it into the corresponding accommodating position of the main rotary line 14 accompanying fixture 15.

[0067] like Figure 9 As shown, the screw assembly station 3 includes a screw transfer mechanism 1 31 and a screw transfer mechanism 2 34, which move and are spaced apart along the transfer direction. Below the screw transfer mechanism 1 31 and the screw transfer mechanism 2 34, a vision inspection component 1 32 and a flipping mechanism 33 are arranged sequentially. The screw transfer mechanism 1 31 includes a vertical drive power unit 312 arranged in parallel on a translation base 311. An end adjustment motor 313 is installed at the downward-facing output end of the vertical drive power unit 312. The downward-facing output end of the end adjustment motor 313 clamps the axially horizontally arranged screw via a clamping cylinder. 300; The flipping mechanism 33 clamps the screw 300 via a flipping plate connected to the motor and a clamping cylinder, and flips the screw 300 from a horizontal to a vertical state through the operation of the motor; The screw transfer mechanism 2 34 includes a lifting plate 343 installed on the lifting drive power 341, and a pressing drive power 342 is installed in an orderly parallel manner above the lifting plate 343. The downward output end of the pressing drive power 342 is mounted on a spin-mounting motor 344 via a support plate 345. The downward output end of the spin-mounting motor 344 clamps the screw 300 via a clamping cylinder; It also includes a fixture opening and closing power 150.

[0068] In use, the screw transfer mechanism 31 moves above the vibratory feeder. The vertical drive power 312, combined with the clamping cylinder, clamps the horizontally arranged screw 300 at the vibratory feeder's outlet. The screw transfer mechanism 31 then transfers the screw 300 above the vision inspection component 32. The camera in the vision inspection component 32, driven by the camera movement module 321, captures and judges images of each end of the screw 300. The end adjustment motor 313 rotates any screw 300 with an incorrect end by 180° to a preset position. Then, the screw transfer mechanism 31 transfers the screw 300 to the clamping cylinder of the flipping mechanism 33. The cylinder, driven by the motor in the flipping mechanism 33, flips the screw 300 from a horizontal state to a vertical state. The clamping cylinder in the screw transfer mechanism 34 transfers the screw 300 from the flipping mechanism 33 to the receiving position of the accompanying fixture 15. The screw motor 344 works in conjunction with the press-fitting drive power 342 to cause the clamping cylinder to rotate while driving the screw 300 downward, so as to realize the threaded fitting of the bottom end of the screw 300 with the positioner 200. Then, the press-fitting drive power 342 works to push the positioner 200 downward synchronously through the screw 300, so that the positioner 200 is press-fitted with the piston 100 below.

[0069] After the screw 300 is installed, the fixture opening and closing power 150 is activated, which pushes the drive plate 152 in the accompanying fixture 15 to move. The clamping parts 151 move in opposite directions to clamp the screw 300, making the screw 300 stable.

[0070] In practical use, a detection station 30 can be set up behind the screw assembly station 3 to detect whether the screw 300 is installed downwards in place by sensors or vision.

[0071] like Figure 10 As shown, the structure of spring assembly station 4 includes: a translation seat 4 mounted on an external linear module; a lifting plate 42 mounted on the translation seat 4 via a lifting drive 4; a vertical rail 4 mounted on the side of the lifting plate 42; a support plate 44 slidably mounted on the vertical rail 4; the support plate 44 connected to the output end of the upper vertical drive 41; a guide rod 45 mounted on the support plate 44 via a vertical guide rail 43; a hole for the screw 300 to extend into is axially opened below the guide rod 45; a clamping cylinder is also mounted on the support plate 44; the end of the guide rod 45 extends above the clamping jaws on both sides of the clamping cylinder. It also includes fixture opening and closing power 150 arranged in opposite directions.

[0072] In use, the clamping cylinder picks up the spring 400 from the vibratory feeder outlet and transfers it to the accompanying fixture 15. When the spring 400 is fitted onto the upper part of the screw 300, the top of the screw 300 gradually extends into the hole of the guide rod 45. The fixture opening and closing power 150 on one side works to release the clamping member 151 from clamping the screw 300. The vertical drive power 41 continues to work until the spring 400 is lowered to the preset height. At this time, the spring 400 is located at the corresponding position of the positioner 200. After the clamping cylinder retracts from the accompanying fixture 15, the fixture opening and closing power 150 on the other side works to make the clamping member 151 clamp the screw 300 again.

[0073] In practical use, a second detection station 40 can be set up behind the spring assembly station 4 to detect whether the spring 400 is installed downwards to the preset position of the positioner 200 by sensors or vision.

[0074] like Figure 11 , Figure 12 and Figure 13 As shown, the turntable mechanism 5 includes a four-station turntable 50. A fixture base 51 is mounted on the turntable 50. An upwardly extending guide rod 52 is slidably mounted on the fixture base 51 via an elastic element 53. The guide rod 52 has a stepped surface that supports the transmission rod 600. The pre-loading and transfer station 503 includes a horizontal and vertical moving mechanism composed of a horizontal module 5031 and a lifting drive power unit 5032. A lifting plate 5033 is mounted on the side of the lifting drive power unit 5032. The vertical track has, from top to bottom, an upper support 5035, an elastic component 5036, and a lower support 5037. The upper support 5035 is connected to the output end of the vertical drive power 5034. A clamping cylinder is installed on the bottom surface of the lower support 5037. A pressure block 5038 is installed on the side of the clamping cylinder body. The pressure block 5038 extends to the top of the clamping claws on both sides of the clamping cylinder. A blind hole is opened in the middle of the bottom surface of the pressure block 5038 to match the top of the transmission rod 600.

[0075] In use, the linkage gear 500 is loaded and mounted onto the guide rod 52 by the linkage gear assembly station 501. The linkage gear 500 is supported by the top surface of the fixture seat 51. The transmission rod 600 is loaded and placed on the stepped surface of the guide rod 52 by the transmission rod assembly station 502. As the vertical drive power unit 5034 operates, the pressure block 5038 and the clamping cylinder move downwards synchronously. The pressure block 5038 applies downward force to the top of the transmission rod 600, driving the transmission rod 600 and the guide rod 52 to compress the elastic element 53 and move downwards until the transmission rod 600 is pre-assembled with the linkage gear 500 through the vertical groove 601. The elastic element 53 causes the linkage gear 500 to move upwards with the transmission rod 600 and disengage from the top surface of the fixture seat 51. Then, the clamping cylinder lifts the linkage gear 500 through the grippers. Figure 14As shown, the pre-assembled parts are transferred to the accompanying fixture 15 of the main rotary line 14. At this time, the transmission rod 600 is mounted on the screw 300 above the clamping part 151.

[0076] like Figure 15 and Figure 16 As shown, the structure of the fixed base assembly station 6 is as follows: it includes a lifting drive power unit 61 that is slidably mounted on the linear module via a translation seat. The lifting drive power unit 61 drives the lifting plate 611 to move up and down. Vertical guide rails 621 are installed at orderly intervals on the side of the lifting plate 611. From top to bottom, an upper support 63, an elastic component 64, and a lower support 65 are installed on the vertical guide rails 621. The upper support 663 is connected to the output end of the vertical drive power unit 622, and the lower support 665... A guide seat 66 is mounted on the side via a guide drive 661, and a clamping cylinder 67 is also mounted on the side of the lower support 65. A pressure seat 671 is mounted on the body of the clamping cylinder 67. The guide block 660 mounted on the lower part of the guide seat 66, the lower pressure cylinder 672 mounted on the bottom surface of the pressure seat 671, and the clamping parts of the two side grippers 673 are all located on the same straight line from top to bottom. The guide block 660 has an axial hole for the transmission rod 600 to pass through. It also includes a fixture opening and closing power 150.

[0077] In use, the clamping cylinder 67, via the gripper 673, transfers the fixed seat 700 from the external vibratory plate to above the accompanying fixture 15. The vertical drive power 62 operates, and the gripper 673 descends, fitting the fixed seat 700 onto the bottom of the transmission rod 600. During this process, the fixture opening and closing power 150 drives the clamping member 151 to release its grip on the screw 300. The pre-installed parts of the transmission rod 600 and the linkage gear 500 move downwards, and the top of the transmission rod 600 passes upwards through the pressure cylinder 672 and the guide block 660. The guide block 660 restricts the axial rotation of the transmission rod 600. The clamping cylinder 677... 7. Release the clamp on the fixed seat 700, and the vertical drive power 62 continues to work. The bottom surface of the pressure cylinder 672 contacts and applies force to the fixed seat 700, driving the fixed seat 700 downward to clamp onto the positioner 200, so that the piston 100, positioner 200, screw 300, spring 400, linkage gear 500, transmission rod 600, and fixed seat 700 are installed as one unit. Then, the clamping cylinder 67 clamps the fixed seat 700 again for temporary fixation. The guide drive power 661 drives the guide block 660 upward to disengage from the transmission rod 600, and the clamping cylinder 67 releases the clamp, completing the operation of this station.

[0078] like Figure 17As shown, the pen tube assembly station 7 includes a material end adjustment mechanism 71 connected to the discharge end of the vibratory feeder. A self-rotating mechanism 72 is installed directly below the material discharge cylinder 716 at the bottom of the material end adjustment mechanism 71. It also includes a pen tube transfer mechanism 1 73 and a pen tube transfer mechanism 2 75 that move and are spaced apart along the transfer direction. A positioning mechanism 74 is arranged below the pen tube transfer mechanism 1 73. The pen tube transfer mechanism 2 75 transfers the pen tube 800 from the positioning mechanism 74 to the main rotary line 14 and presses it down for assembly.

[0079] like Figure 18 , Figure 19 and Figure 20 As shown, the structure of the material end adjustment mechanism 71 is as follows: it includes a support base 712 connected and installed on the discharge end 711 of the vibratory feeder. The support base 712 has an inlet groove 7122 for the pen body tube 800 to enter horizontally. A material distribution mechanism 713 is installed above the support base 712. The material distribution plate 7131 in the material distribution mechanism 713 has a receiving groove 71311 for accommodating the horizontally arranged pen body tubes 800. The material distribution plate 7131 is pushed and moved by a cylinder so that the receiving groove 71311 is directly opposite one of the inlet groove 7122 and the discharge groove 7121. An upper pressing mechanism 715 and a lower pressing mechanism 717 are installed at the end of the support base 712 away from the discharge end 711. The support 712 has a feeding groove 7121 for the pen body tube 800 to fall into. A feeding cylinder 716 is connected and installed below the feeding groove 7121. The feeding cylinder 716 has a cross-section that is larger at the top and smaller at the bottom. A swing mechanism 714 is installed on the upper part of the feeding cylinder 716. The upper pressing mechanism 715 and the lower pressing mechanism 717 include pressing blocks arranged above and below the pen body tube 800. The facing end faces of the two pressing blocks are set as concave arc-shaped structures that match the circumference of the pen body tube 800. A cavity communicating with an external air source is opened in the middle of the concave arc-shaped structure. The support 712 has a through hole for the lower pressing block to pass through upward. One end of the pen body tube 800 has an inner and outer through hole. The swing mechanism 714 includes a swing block 7141 that swings driven by a swing motor 7142. The swing block 7141 is located at the opening above the feeding cylinder 716.

[0080] In use, the pen tube 800 enters the material receiving trough 71311 of the distribution plate 7131 from the discharge end 711 of the vibratory feeder via the feeding groove 7122 of the support base 712. The upper pressing mechanism 715 and the lower pressing mechanism 717 move in opposite directions, and the upper and lower pressing blocks respectively adhere to the same circumference at the end of the pen tube 800. The air source connected to the cavity operates, and the orientation of the end of the pen tube 800 is determined by the pressure maintained inside the cavity. The swing mechanism 714 adjusts the orientation of the end of the pen tube 800 according to the end... The orientation determination drives the swing block 7141 to swing; the material distribution plate 7131 in the material distribution mechanism 713 moves, pushing the pen body tube 800 to move above the material trough 7121. The pen body tube 800 falls from the material trough 7121 into the material cylinder 716. The falling pen body tube 800 is guided by the swing block 7141 to fall with the preset end facing down, for example, the end of the pen body tube 800 with the through hole facing up, thereby realizing the end adjustment of the pen body tube 800.

[0081] After the end adjustment, the pen tube 800 falls and is clamped on the clamping cylinder of the self-rotating mechanism 72. With the detection of sensors and other detection mechanisms, the motor in the self-rotating mechanism 72 works to drive the pen tube 800 to rotate around its own axis, thereby adjusting the through hole to the preset direction. The self-rotating mechanism 72 moves horizontally out under the drive of the linear module. The pen tube transfer mechanism 1 73 transfers the pen tube 800 from the self-rotating mechanism 72 to the positioning mechanism 74. The contouring part on the positioning mechanism 74 centers and positions the pen tube 800. The pen tube transfer mechanism 2 75 transfers the pen tube 800 from the positioning mechanism 74 to the accompanying fixture 15 of the main rotary line 14. The downward drive power in the pen tube transfer mechanism 2 75 works to drive the pen tube 800 to press down and fit onto the circumferential outside of the locator 200, completing the assembly of the pen tube assembly.

[0082] A material unloading rotary line 9 is installed between the inspection and transfer station 8 and the unloading robot 11, such as... Figure 21 As shown, the inspection and transfer station 8 includes a first transfer mechanism 81 and a second transfer mechanism 82 that are installed at intervals along the transfer direction and move independently. A middle clamping position 83 and a vision inspection component 84 are arranged below. The inspection and transfer station 8 transfers the assembled pen body tube assembly to each rotary seat of the unloading rotary line 9. A stop mechanism 92 is arranged on the unloading rotary line 9 located at the unloading robot 11. A tray unloading conveyor line 10 is arranged at the unloading robot 11. The stop mechanism 92 blocks a preset number of rotary seats and arranges them closely. The unloading robot 11 transports the pen body tube assembly on the preset number of rotary seats to the tray in one go.

[0083] The main rotary line 14 located behind the inspection and transfer station 8 is equipped with a cleaning station, an inspection station, and a manual operation station 13. For example, the accompanying fixture 15 is cleaned by means of air blowing, and the sensor detects whether the cleaning accompanying fixture 15 is free of material. The inspection and transfer station 8 is also connected to the NG conveyor line 12, which is arranged in parallel with the main rotary line 14.

[0084] In use, the first transfer mechanism 81 transfers the pen body assembly from the accompanying fixture 15 to the intermediate clamping position 83. The lower vision inspection component 84 inspects the pen body assembly. Based on the inspection results, the second transfer mechanism 82 transfers the qualified pen body assembly from the intermediate clamping position 83 to the rotary table of the unloading rotary line 9, and transfers the unqualified pen body assembly to the NG conveyor line 12. Because the second transfer mechanism 82 transfers multiple pen body tube assemblies at a time, some of them may be defective and end up on the NG conveyor line 12. This results in some rotary seats being empty after the second transfer mechanism 82 places the pen body tube assemblies onto the rotary seats on the unloading rotary line 9. As the rotary seats move along the unloading rotary line 9 toward the unloading robot 11, the detection and pushing mechanism 91 detects whether there are any assemblies on the rotary seats and pushes the empty rotary seats toward the opposite detection and transfer station 8. The rotary seats loaded with pen body tube assemblies are stopped by the stop mechanism 92 and arranged in a preset number. The unloading robot 11 unloads multiple assemblies into the material tray in batches.

[0085] In this embodiment, the tray loading and unloading conveyor line 10 includes two parallel lines, one for loading empty trays and the other for unloading full trays. The stacking and unstacking of the trays are automated using existing technology, and the unloading robot 11 is used to load and unload the pen body tube assembly.

[0086] The assembly method of the automatic assembly equipment for the injection pen body assembly in this embodiment includes the following steps:

[0087] Piston assembly station 1 loads piston 100 onto the accompanying fixture 15 of the main rotary line 14; positioner assembly station 2 loads positioner 200 into the accompanying fixture 15, and piston 100 and positioner 200 are respectively positioned in the receiving positions of the accompanying fixture 15; screw assembly station 3 loads screw 300 into the accompanying fixture 15, rotates screw 300 to engage with the lower positioner 200 by thread, and applies downward force to screw 300 to cause positioner 200 to snap downward onto piston 100; spring assembly station 4 loads spring 400 into the accompanying fixture 15, and spring 400 is received in the preset position of positioner 200.

[0088] In the turntable mechanism 5, the linkage gear assembly station 501 and the transmission rod assembly station 502 respectively load the linkage gear 500 and the transmission rod 600 onto the turntable 50. The pre-assembly and transfer station 503 applies downward force to the transmission rod 600 so that the bottom end of the transmission rod 600 is pre-assembled with the linkage gear 500. The pre-assembly and transfer station 503 transfers the pre-assembled components to the accompanying fixture 15 of the main rotary line 14.

[0089] The fixed seat assembly station 6 loads the fixed seat 700 onto the accompanying fixture 15. While the guide screw 300 is being aligned, the fixed seat 700 is lowered and downward force is applied to the fixed seat 700, causing the fixed seat 700 to snap downward onto the locator 200. The pen body tube assembly station 7 loads the pen body tube 800 onto the accompanying fixture 15. The pen body tube 800 descends to complete the assembly. The inspection and transfer station 8, in conjunction with the unloading robot 11, loads the pen body tube assembly onto a tray for unloading.

[0090] This invention achieves fully automated assembly of the pen body assembly, effectively coordinates and matches the assembly time of each station, greatly improves assembly efficiency, and ensures assembly results.

[0091] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0092] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. An automatic assembly device for an injection pen body assembly, the pen body assembly comprising a piston (100), a positioner (200), a screw (300), a spring (400), a linkage gear (500), a transmission rod (600), a fixing seat (700), and a pen body (800), the automatic assembly device comprising a working platform, characterized in that: The work platform is equipped with a main rotary line (14). On one side of the main rotary line (14), along the conveying direction, there are sequentially arranged piston assembly station (1), positioner assembly station (2), screw assembly station (3), and spring assembly station (4). On the other side of the main rotary line (14), along the conveying direction, there are sequentially arranged fixed seat assembly station (6), pen body assembly station (7), and inspection and transfer station (8). The main rotary line is located at the spring assembly station (4) and the fixed seat assembly station (6). A turntable mechanism (5) is provided outside the end of the line (14); the turntable mechanism (5) includes a linkage gear assembly station (501), a transmission rod assembly station (502), a pre-assembly and transfer station (503), and an empty space detection station arranged sequentially along the rotation direction. The pre-assembly and transfer station (503) pre-assembles the linkage gear (500) and the transmission rod (600) and transfers them to the main rotary line (14); it also includes a material unloading robot (11) located behind the detection and transfer station (8). The main rotary line (14) is equipped with accompanying fixtures (15) arranged at intervals. The screw assembly station (3) includes a screw transfer mechanism one (31) and a screw transfer mechanism two (34) that move and are spaced apart along the transfer direction. Below the screw transfer mechanism one (31) and the screw transfer mechanism two (34) are arranged a vision inspection component one (32) and a flipping mechanism (33). The screw transfer mechanism one (31) includes a vertical drive power three (312), and an end adjustment motor (313) is installed at the downward-facing output end of the vertical drive power three (312). The downward-facing output end of the adjustment motor (313) clamps the horizontally arranged screw (300) via a clamping cylinder; the flipping mechanism (33) flips the screw (300) from a horizontal to a vertical state; the screw transfer mechanism two (34) includes a press-fitting drive power (342), the downward-facing output end of the press-fitting drive power (342) is equipped with a spin-fitting motor (344), and the downward-facing output end of the spin-fitting motor (344) clamps the screw (300) via a clamping cylinder; it also includes a fixture opening and closing power (150); The turntable mechanism (5) is provided with a four-station turntable (50). A fixture seat (51) is installed on the turntable (50). An upwardly extending guide rod (52) is slidably installed on the fixture seat (51) via an elastic element (53). A stepped surface supporting the transmission rod (600) is provided on the guide rod (52). The pre-assembly transfer station (503) includes a horizontal and vertical moving mechanism composed of a horizontal module (5031) and a lifting drive power unit (5032). The lifting drive power unit (5032) is located on the side of the lifting plate (5033) on the lifting plate (5033). A vertical track is installed, and from top to bottom, there are an upper support five (5035), an elastic component five (5036), and a lower support five (5037). The upper support five (5035) is connected to the output end of the vertical drive power five (5034). A clamping cylinder is installed on the bottom surface of the lower support five (5037). A pressure block (5038) is installed on the side of the clamping cylinder body. The pressure block (5038) extends to the top of the clamping claws on both sides of the clamping cylinder. A blind hole is opened in the middle of the bottom surface of the pressure block (5038) to match the top of the transmission rod (600). Spring assembly station (4) fits the spring (400) onto the upper part of the screw (300); fixed seat assembly station (6) fits the fixed seat (700) onto the bottom end of the transmission rod (600); pen body assembly station (7) presses the pen body (800) down and assembles it on the circumferential outside of the locator (200).

2. The automatic assembly equipment for the body assembly of an injection pen as described in claim 1, characterized in that: Each accompanying fixture (15) includes multiple receiving positions, and each receiving position is provided with a clamping member (151) that moves passively toward or away from each other; the clamping member (151) clamps or releases the screw (300) during the assembly process.

3. The automatic assembly equipment for the body assembly of an injection pen as described in claim 2, characterized in that: The arrangement and number of clamping actuators in the locator assembly station (2), screw assembly station (3), spring assembly station (4), fixed seat assembly station (6), pen body tube assembly station (7) and turntable mechanism (5) are consistent with the arrangement and number of accommodating positions on the accompanying fixture (15). The clamping actuators in the same station move independently.

4. The automatic assembly equipment for the body assembly of an injection pen as described in claim 3, characterized in that: The clamping actuator is a clamping cylinder, which is mounted on the lower support. The lower support and the upper support are slidably mounted on the vertical track at intervals. An elastic component is installed between the upper support and the lower support. The upper support is mounted below the linear drive power source.

5. The automatic assembly equipment for the body assembly of an injection pen as described in claim 1, characterized in that: The piston assembly station (1), locator assembly station (2), screw assembly station (3), spring assembly station (4), fixed seat assembly station (6), pen body assembly station (7), linkage gear assembly station (501), and transmission rod assembly station (502) all use vibratory feeders to sort and feed materials. The vibratory feeders are arranged in an orderly manner along the main rotation line (14). The piston assembly station (1) uses a suction cup to transfer the piston (100) from the output end of the vibratory feeder to the accompanying fixture (15). The locator assembly station (2), screw assembly station (3), spring assembly station (4), fixed seat assembly station (6), pen body assembly station (7), linkage gear assembly station (501), and transmission rod assembly station (502) all use a clamping cylinder to pick up materials from the vibratory feeder.

6. The automatic assembly equipment for the body assembly of an injection pen as described in claim 1, characterized in that: The pen tube assembly station (7) includes a material end adjustment mechanism (71) connected to the discharge end of the vibratory feeder. A self-rotating mechanism (72) is installed directly below the material discharge cylinder (716) at the bottom of the material end adjustment mechanism (71). It also includes a pen tube transfer mechanism one (73) and a pen tube transfer mechanism two (75) that move and are spaced apart along the transfer direction. A positioning mechanism (74) is arranged below the pen tube transfer mechanism one (73). The pen tube transfer mechanism two (75) transfers the pen tube (800) from the positioning mechanism (74) to the main rotary line (14) and presses it down for assembly.

7. The automatic assembly equipment for the body assembly of an injection pen as described in claim 1, characterized in that: A material unloading rotary line (9) is arranged between the inspection and transfer station (8) and the unloading robot (11). The inspection and transfer station (8) transfers the assembled pen tube assembly to each rotary seat of the material unloading rotary line (9). A stop mechanism (92) is arranged on the material unloading rotary line (9) located at the unloading robot (11). A tray unloading conveyor line (10) is arranged at the unloading robot (11). The stop mechanism (92) blocks a preset number of rotary seats and arranges them closely. The unloading robot (11) transports the pen tube assembly on the preset number of rotary seats to the tray in one go.

8. The automatic assembly equipment for the body assembly of an injection pen as described in claim 1, characterized in that: The main rotary line (14) located behind the inspection and transfer station (8) is equipped with a cleaning station, an inspection station, and a manual operation station; the inspection and transfer station (8) is also connected to the NG conveyor line (12), and the NG conveyor line (12) is arranged in parallel with the main rotary line (14).

9. An assembly method for an automatic assembly device for the body assembly of an injection pen as described in claim 3, characterized in that: Includes the following steps: Piston assembly station (1) loads piston (100) onto the traveling fixture (15) of the main rotary line (14); locator assembly station (2) loads locator (200) into the traveling fixture (15); piston (100) and locator (200) are respectively positioned in the receiving position of the traveling fixture (15); screw assembly station (3) loads screw (300) into the traveling fixture (15); screw (300) is rotated to thread it onto the locator (200) below; downward force is applied to screw (300) to cause locator (200) to snap onto piston (100); spring assembly station (4) loads spring (400) into the traveling fixture (15); spring (400) is received in the preset position of locator (200). In the turntable mechanism (5), the linkage gear assembly station (501) and the transmission rod assembly station (502) respectively load the linkage gear (500) and the transmission rod (600) onto the turntable (50). The pre-assembly and transfer station (503) applies downward force to the transmission rod (600) so that the bottom end of the transmission rod (600) is pre-assembled with the linkage gear (500). The pre-assembly and transfer station (503) transfers the pre-assembled components to the accompanying fixture (15) of the main rotary line (14). The fixed seat assembly station (6) loads the fixed seat (700) onto the accompanying fixture (15), and lowers the fixed seat (700) while the guide screw (300) is in place, applying downward force to the fixed seat (700) so that the fixed seat (700) is snapped down onto the positioner (200). The pen body assembly station (7) loads the pen body tube (800) into the accompanying fixture (15), and the pen body tube (800) moves down to complete the assembly; The inspection and transfer station (8) combines with the unloading robot (11) to load the pen body tube assembly onto a tray for unloading.

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