Automatic positioning and press-fitting device and method for Z-shaped contact pin

Abstract

This invention discloses an automatic positioning and pressing device and method for Z-type pins, including a housing transmission line, a Z-type housing lifting and pressing plate, a Z-type pin pressing assembly, and a Z-type pin positioning fixture. The Z-type pin positioning fixture is disposed in the vertical pressing groove of the Z-type housing lifting and pressing plate, and includes a Z-type pin elastic positioning groove whose width can be adaptively adjusted. The Z-type pin pressing assembly includes pressing jaws, a pin pressing lifting mechanism, and a pin pressing slide rail. The pressing jaws include a left jaw and a right jaw. The right jaw has a Z-type pin placement groove and a pressing insertion part. The left jaw includes a Z-type pin clamping spring, a vertical clearance spring, and a left jaw telescopic mechanism. In this invention, the Z-type pin pressing assembly can automatically grasp multiple Z-type pins and perform primary and secondary pressing. During the pressing process, the Z-type pin elastic positioning groove can adaptively adjust its width to prevent deformation of the Z-type pins during pressing, thereby ensuring assembly accuracy and success rate.

Description

Technical Field

[0001] This invention relates to the field of automatic pin insertion technology, and in particular to an automatic positioning and pressing device and method for Z-type pins. Background Technology

[0002] In the manufacturing process of automotive grille actuators, the pin insertion process plays a crucial role, with the insertion process of Z-type pins being decisive for the actuator's functionality. Due to the unique characteristics of Z-type pins, the current insertion process primarily relies on a semi-automated method combining manual labor and machinery. This involves manually pre-installing the pins into the corresponding insertion holes on the actuator before placing it in a mechanical device for pressing. This method, heavily reliant on manual positioning and pre-installation, cannot achieve automatic positioning, thus limiting the insertion speed and affecting the product yield due to errors in manual operation.

[0003] To address the aforementioned challenges, this invention proposes a solution that employs a highly automated insertion process, aiming to significantly improve the insertion and positioning accuracy of Z-type pins, enabling rapid and precise positioning and insertion of Z-type pins, thereby effectively optimizing and improving production efficiency. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing an automatic positioning and pressing device and method for Z-type pins. This automatic positioning and pressing device and method for Z-type pins can simultaneously press four Z-type pins into the Z-type pin holes of the Z-type housing of an automotive actuator, and can ensure that each Z-type pin is accurately and uniformly inserted into the predetermined position without deformation, resulting in a high pin qualification rate.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automatic positioning and pressing device for Z-type pins includes a housing transmission line, a Z-type housing lifting and pressing plate, a Z-type pin pressing assembly, and a Z-type pin positioning fixture.

[0006] The Z-type pin includes a plug portion, a Z-shaped bend portion, and an electrical interface portion that are integrally arranged in sequence. The housing transmission line can be used for transmission in Z-type housings and has a Z-type pin positioning and pressing station.

[0007] The Z-shaped housing has multiple Z-shaped pin holes that are located in a straight line and arranged in parallel.

[0008] The Z-shaped housing lifting and pressing plate is located directly above the Z-shaped pin positioning and pressing station, and its height can be raised and lowered; the Z-shaped housing lifting and pressing plate is provided with a vertical pressing groove.

[0009] The Z-type pin positioning fixture is set in the vertical pressing groove, including the Z-type pin elastic positioning groove located directly above all Z-type pin holes in the Z-type housing at the Z-type pin positioning pressing station. The length direction of the Z-type pin elastic positioning groove is parallel to the line connecting all Z-type pin holes, and the width of the Z-type pin elastic positioning groove can be adaptively adjusted.

[0010] The Z-type pin press assembly includes press clamps, a pin press lifting mechanism, and a pin press slide rail.

[0011] The pin pressing lifting mechanism is used to drive the pressing jaws to raise and lower their height.

[0012] The pin press-fit slide rail has a Z-type pin feeding station and a Z-type pin press-fit station.

[0013] The press-fitting jaws include a left jaw and a right jaw.

[0014] The right gripper in the Z-type pin press-fitting station is located directly above the Z-type pin elastic positioning groove. The inner wall of the right gripper is provided with Z-type pin placement grooves that are equal in number and correspond one-to-one with the number of Z-type pin holes, and the horizontal width of the Z-type pin placement grooves is less than the thickness of the Z-type pins. The bottom of the right gripper is provided with a press-fitting insertion part that can extend into the Z-type pin elastic positioning groove.

[0015] The left gripper includes a Z-shaped pin clamping spring, a vertical clearance spring, and a left gripper telescopic mechanism.

[0016] The Z-shaped pin clamping spring is located on the inner wall of the left jaw.

[0017] The vertical clearance shrapnel is located at the top of the left gripper.

[0018] The left gripper telescopic mechanism can control the height extension and retraction of the left gripper.

[0019] The Z-shaped pin clamping spring and the vertical clearance spring are integrated into an L-shaped structure; the bottom of the Z-shaped pin clamping spring is bent towards the left jaw.

[0020] A Z-shaped press-fit clearance groove is provided on the outer bottom of the right gripper, and the top surface of the Z-shaped press-fit clearance groove is formed as a press-fit height limiting part.

[0021] The top of the Z-type pin elastic positioning groove is provided with an inverted conical guide groove.

[0022] The Z-type pin positioning fixture includes a support base plate, an elastic positioning plate, and an upper positioning plate arranged horizontally from bottom to top.

[0023] The upper positioning plate is provided with the inverted conical guide groove, and the bottom of the outer wall of the inverted conical guide groove extends downward to form a lower guide plate.

[0024] The elastic positioning plate can extend and retract horizontally, and the Z-shaped pin elastic positioning groove is formed between the elastic positioning plate and the lower guide plate.

[0025] The support base plate is used to support the elastic positioning plate and can extend into the cavity of the Z-shaped shell.

[0026] The top surface of the upper positioning plate located on the left side of the inverted conical guide groove forms the left gripper blocking surface.

[0027] The Z-type pin positioning fixture also includes a material unloading assembly mounted on the Z-type housing lifting and pressing plate, which assists in separating and unloading the Z-type pin from the Z-type pin elastic positioning groove.

[0028] An automatic positioning and pressing method for Z-type inserts includes the following steps.

[0029] Step 1, Z-type pin feeding: At the Z-type pin feeding station, there are N Z-type pins, the same number as the number of Z-type pin holes in the Z-type housing, and each Z-type pin is placed vertically, with the electrical interface of each Z-type pin exposed on the top.

[0030] Step 2, loading material using the clamping jaws, specifically includes the following steps: Step 2-1, Left gripper reset: The left gripper extension mechanism of the left gripper of the press-fit gripper is activated, so that the bottom surface of the left gripper is flush with the bottom surface of the right gripper.

[0031] Step 2-2, Pressing clamp sliding: The pressing clamp slides to the Z-shaped pin feeding station.

[0032] Step 2-3, Press-fitting clamp loading: The height of the press-fitting clamp decreases, so that the electrical interface of N Z-type pins is inserted into the Z-type pin placement groove to the set depth; at this time, the Z-type pins in the Z-type pin placement groove are clamped under the elastic force of the Z-type pin clamping spring.

[0033] Steps 2-4: Pressing clamp reset: The pressing clamp rises in height and slides to the Z-type pin pressing station.

[0034] Step 3, Z-shaped housing clamping: The height of the Z-shaped housing lifting clamping plate decreases, clamping and positioning the top surface of the Z-shaped housing located below.

[0035] Step 4: Z-type pin press-fitting: The press-fitting jaws lower as a whole, and the insertion part of each Z-type pin simultaneously passes through the vertical press-fitting groove and the Z-type pin elastic positioning groove and enters the corresponding Z-type pin hole.

[0036] Step 5: Secondary pressing of Z-type pins, which includes the following steps: Step 5-1, Left gripper blocking: As the press-fit gripper height continues to decrease, the left gripper is blocked by the Z-type pin positioning fixture located outside the Z-type pin elastic positioning groove. At this time, the left gripper extension mechanism releases the drive to the left gripper.

[0037] Step 5-2, Z-type pin elastic positioning groove width adjustment: The height of the pressing jaws continues to decrease, and the right jaw carries the Z-type pin down and enters the Z-type pin elastic positioning groove. The width of the Z-type pin elastic positioning groove increases, which facilitates the simultaneous passage of the pressing insertion part of the right jaw and the Z-type pin until the Z-type pin is inserted into the corresponding Z-type pin hole to the set position, thereby completing the pin pressing of the Z-type housing; at this time, each Z-type pin is engaged with the corresponding Z-type pin hole by barbs.

[0038] Step 6: Z-type pin pressing assembly reset: The pressing jaws rise and reset as a whole, and the Z-type pin placement slots are disengaged from all Z-type pins.

[0039] Step 7: Z-type housing lifting and pressing plate reset: The Z-type housing lifting and pressing plate carries the Z-type pin positioning fixture and rises and resets synchronously; during the rising process of the Z-type pin positioning fixture, the Z-type pin elastic positioning groove is disengaged from all Z-type pins; at this time, the width of the Z-type pin elastic positioning groove also adaptively shrinks and resets.

[0040] Step 8: Output the Z-type housing that has been pressed at the Z-type pin pressing station and put it into a new Z-type housing to be pressed. Repeat steps 1 to 8 to complete the pressing of Z-type pins in the next Z-type housing.

[0041] In step 7, before the Z-shaped housing lifting and pressing plate rises, the unloading component set on the Z-shaped housing lifting and pressing plate extends out and abuts against the top surface or inner cavity of the Z-shaped housing, so as to facilitate the separation and unloading of the Z-shaped pin elastic positioning groove from the Z-shaped pin.

[0042] The present invention has the following beneficial effects: The Z-shaped housing lifting and pressing plate of the present invention can press the Z-shaped housing to be pressed with pins, which facilitates the subsequent pressing of Z-shaped pins; the Z-shaped pin pressing assembly can automatically grasp multiple Z-shaped pins and initially position them, and can also carry multiple positioned Z-shaped pins through the Z-shaped pin elastic positioning groove of the Z-shaped pin positioning fixture for primary and secondary pressing. During the pressing process, the Z-shaped pin elastic positioning groove can adaptively adjust its width to prevent deformation of the Z-shaped pins during pressing, thereby ensuring assembly accuracy and success rate. In addition, all Z-shaped pins are pressed synchronously at one time, resulting in high pressing consistency and high pass rate. Attached Figure Description

[0043] Figure 1 A schematic diagram of the Z-type pin automatic positioning and pressing device of the present invention is shown.

[0044] Figure 2 This diagram shows a partial three-dimensional schematic of the Z-shaped housing lifting and pressing plate and the Z-shaped pin positioning fixture in this invention.

[0045] Figure 3 The diagram shows a cross-sectional view of the Z-shaped housing lifting and pressing plate and the Z-shaped pin positioning fixture during the pressing process of the present invention.

[0046] Figure 4 This diagram shows a partial longitudinal section enlarged schematic diagram of the Z-type pin positioning fixture of the present invention.

[0047] Figure 5 The image shows a partially enlarged view of the Z-type pin positioning fixture of the present invention pressing the Z-type pin into the Z-type housing in one step.

[0048] Figure 6 This diagram shows the assembly of the four Z-shaped pins and the Z-shaped housing in this invention.

[0049] Figure 7 This diagram shows the structure of the clamping jaws for feeding and holding the Z-shaped insert pin in this invention.

[0050] Figure 8 This diagram shows the structure of the clamping jaws during the vertical avoidance of the compressed spring sheet during a single press-fitting operation in this invention.

[0051] Figure 9 A cross-sectional schematic diagram of the left gripper telescopic mechanism in this invention is shown.

[0052] Figure 10 The diagram shows a magnified cross-sectional view of the clamping jaws during the secondary pressing process in this invention.

[0053] Figure 11 A schematic diagram of the Z-shaped insert in this invention is shown.

[0054] Among them are: 710. Z-type housing lifting and pressing plate; 711. Vertical pressing groove; 712. Z-type housing pressing and lifting mechanism; 720. Z-type pin press-fit assembly; 721. Press-fit gripper; 722. Pin press-fit lifting mechanism; 723. Left clamping jaw; 7231. Z-shaped pin clamping spring; 7232. Vertical clearance spring; 7233. Left gripper telescopic mechanism; 724. Right clamping jaw; 7241. Z-shaped pin placement groove; 7242. Z-shaped press-fit clearance groove; 7243. Press-fit insertion part; 7244. Press-fit height limiting part; 725. Pin-fitting slide rail; 730. Z-type pin positioning fixture; 731. Z-type pin elastic positioning groove; 732. Support base plate; 733. Elastic positioning plate; 7331. Adaptive spring; 7332. Elastic guide ramp; 7333. Elastic guide vertical surface; 734. Upper positioning plate; 7341. Inverted conical guide groove; 7342. Lower guide plate; 7343. Left gripper blocking surface; 740. Unloading assembly; 741. Unloading rod; 830. Z-type housing; 831. Z-type pinhole; 840. Housing transmission line; 843. Z-type pin positioning and pressing station; 844. Housing tooling plate; 930. Z-shaped pin; 931. Z-shaped bend; 940. Plug; 950. Electrical interface; 960. Barb. Detailed Implementation

[0055] The present invention will now be described in further detail with reference to the accompanying drawings and specific preferred embodiments.

[0056] In the description of this invention, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this invention. The specific dimensions used in this embodiment are only for illustrating the technical solution and do not limit the scope of protection of this invention.

[0057] like Figure 4 and Figure 11 As shown, the Z-type pin 930 includes a plug portion 940, a Z-shaped bend portion 931, and an electrical interface portion 950 integrally arranged in sequence. Preferably, barbs 960 are provided on both sides of the plug portion adjacent to the Z-shaped bend portion.

[0058] like Figure 3 and Figure 5 As shown, the Z-shaped housing 830 has a plurality of Z-shaped pin holes 831 located in a straight line and arranged in parallel.

[0059] like Figure 1 As shown, an automatic positioning and pressing device for Z-type pins includes a housing transmission line 840, a Z-type housing lifting and pressing plate 710, a Z-type pin pressing assembly 720, and a Z-type pin positioning fixture 730.

[0060] The housing transmission line preferably transmits Z-shaped housings through housing tooling plate 844, which has a Z-shaped housing loading station and a Z-shaped pin positioning and pressing station 843.

[0061] like Figure 1 , Figure 2 and Figure 3 As shown, the Z-shaped housing lifting and pressing plate is located directly above the Z-shaped pin positioning and pressing station, and the Z-shaped housing lifting and pressing plate is provided with a vertical pressing groove 711; it is preferably driven by the Z-shaped housing pressing and lifting mechanism 712 to achieve height lifting; the Z-shaped housing pressing and lifting mechanism is preferably located on one side of the Z-shaped pin positioning and pressing station.

[0062] like Figures 2 to 5 As shown, the Z-type pin positioning fixture is set in the vertical pressing groove, including the Z-type pin elastic positioning groove 731 located directly above all Z-type pin holes in the Z-type housing at the Z-type pin positioning pressing station. The length direction of the Z-type pin elastic positioning groove is parallel to the line connecting all Z-type pin holes, and the width of the Z-type pin elastic positioning groove can be adaptively adjusted.

[0063] Furthermore, the Z-type pin positioning fixture includes a support base plate 732, an elastic positioning plate 733, an upper positioning plate 734, and an unloading assembly 740.

[0064] The aforementioned supporting base plate, elastic positioning plate, and upper positioning plate are arranged horizontally from bottom to top.

[0065] An inverted conical guide groove 7341 is provided on the upper positioning plate, and the bottom of the outer wall of the inverted conical guide groove extends downward to form a lower guide plate 7342.

[0066] The elastic positioning plate can horizontally extend and retract elastically under the action of several adaptive springs 7331, forming the aforementioned Z-shaped pin elastic positioning groove between the elastic positioning plate and the lower guide plate. Furthermore, the inner wall surface of the elastic positioning plate is provided with an elastic guide inclined surface 7332 and an elastic guide vertical surface 7333 from top to bottom; wherein, the elastic guide inclined surface is used for guidance.

[0067] The support base plate is used to support the elastic positioning plate and can extend into the cavity of the Z-shaped housing. Therefore, the support base plate is relatively short and does not affect the insertion of the Z-shaped pin hole.

[0068] Furthermore, the top surface of the upper positioning plate located on the left side of the inverted conical guide groove is formed as a left gripper blocking surface 7343, which is used to block the subsequent left gripper.

[0069] The aforementioned unloading assembly is mounted on the Z-shaped housing lifting and pressing plate to assist in the separation and unloading of the Z-shaped pin elastic positioning groove from the Z-shaped pin. The unloading assembly is preferably an unloading cylinder or similar device with an unloading rod 741.

[0070] like Figure 1As shown, the Z-type pin press assembly includes a press clamp 721, a pin press lifting mechanism 722, and a pin press slide rail 725.

[0071] The aforementioned pin pressing and lifting mechanism is used to drive the pressing gripper to raise and lower its height, and is preferably a cylinder or the like.

[0072] The pin pressing slide rail has a Z-type pin feeding station and a Z-type pin pressing station. The Z-type pin feeding station is used to pick up Z-type pins, and the Z-type pin pressing station is used to press the Z-type pins.

[0073] like Figures 7 to 10 As shown, the press-fitting jaws include a left jaw 723 and a right jaw 724.

[0074] The right gripper at the Z-pin press-fitting station is positioned directly above the Z-pin elastic positioning groove. The inner wall of the right gripper has Z-pin placement grooves that correspond one-to-one with the number of Z-pin holes. The horizontal width of each Z-pin placement groove is less than the thickness of the Z-pin. The top of each Z-pin placement groove has a... Figure 10 The pin blocking surface shown serves two purposes: firstly, it limits the insertion depth of the Z-type pin in the Z-type pin placement slot, and secondly, it facilitates the subsequent secondary pressing and pressure application by the right gripper.

[0075] The bottom outer side of the right gripper is preferably provided with a Z-shaped press-fit relief groove 7242. The top surface of the Z-shaped press-fit relief groove is formed as a press-fit height limiting part 7244, which facilitates the secondary press-fit limiting of the right gripper. The Z-shaped press-fit relief groove is provided so that the bottom of the right gripper forms a press-fit insertion part 7243 that can extend into the Z-shaped pin elastic positioning groove.

[0076] The left gripper includes a Z-shaped pin clamping spring 7231, a vertical clearance spring 7232, and a left gripper telescopic mechanism 7233.

[0077] The Z-shaped pin clamping spring is located on the inner wall of the left jaw, and its bottom is preferably bent towards the left jaw to facilitate the guidance of the Z-shaped pin during gripping.

[0078] The vertical clearance spring is located at the top of the left gripper, preferably integrated with the Z-shaped pin clamping spring to form an L-shaped structure.

[0079] The left gripper telescopic mechanism controls the height extension and retraction of the left gripper, preferably a left gripper telescopic cylinder, which has the following characteristics: Figure 9 As shown.

[0080] An automatic positioning and pressing method for Z-type inserts includes the following steps.

[0081] Step 1, Z-type pin feeding: At the Z-type pin feeding station, there are N Z-type pins, the same number as the number of Z-type pin holes in the Z-type housing, and each Z-type pin is placed vertically, with the electrical interface of each Z-type pin exposed on the top.

[0082] Step 2, loading material using the clamping jaws, specifically includes the following steps: Step 2-1, Left gripper reset: The left gripper telescopic mechanism of the left gripper in the press-fit gripper is activated, so that the bottom surface of the left gripper is flush with the bottom surface of the right gripper and is not affected by the spring force of the vertical avoidance spring.

[0083] Step 2-2, Pressing clamp sliding: The pressing clamp slides to the Z-shaped pin feeding station.

[0084] Step 2-3, Press-fitting clamp loading: The height of the press-fitting clamp decreases, so that the electrical interface of N Z-type pins is inserted into the Z-type pin placement groove to the set depth; at this time, the Z-type pins in the Z-type pin placement groove are clamped under the elastic force of the Z-type pin clamping spring.

[0085] Steps 2-4: Pressing clamp reset: The pressing clamp rises in height and slides to the Z-type pin pressing station.

[0086] Step 3, Z-shaped housing clamping: The height of the Z-shaped housing lifting clamping plate decreases, clamping and positioning the top surface of the Z-shaped housing located below.

[0087] Step 4: Z-type pin press-fitting: The press-fitting jaws lower as a whole, and the insertion part of each Z-type pin simultaneously passes through the vertical press-fitting groove and the Z-type pin elastic positioning groove and enters the corresponding Z-type pin hole.

[0088] Step 5: Secondary pressing of Z-type pins, which includes the following steps: Step 5-1, Left gripper blocking: As the height of the pressing gripper continues to decrease, the left gripper is blocked by the Z-type pin positioning fixture (preferably the left gripper blocking surface) located outside the Z-type pin elastic positioning groove. At this time, the left gripper extension mechanism releases the drive to the left gripper.

[0089] Step 5-2, Z-type pin elastic positioning groove width adjustment: The height of the pressing jaws continues to decrease, and the right jaw carries the Z-type pin down and enters the Z-type pin elastic positioning groove. The width of the Z-type pin elastic positioning groove increases, which facilitates the simultaneous passage of the pressing insertion part of the right jaw and the Z-type pin until the Z-type pin is inserted into the corresponding Z-type pin hole to the set position, thereby completing the pin pressing of the Z-type housing; at this time, each Z-type pin is engaged with the corresponding Z-type pin hole by barbs.

[0090] Step 6: Z-type pin pressing assembly reset: The pressing jaws rise and reset as a whole, and the Z-type pin placement slots are disengaged from all Z-type pins.

[0091] Step 7: Reset the Z-shaped housing lifting and clamping plate. First, the unloading assembly set on the Z-shaped housing lifting and pressing plate extends out and abuts against the top surface or inner cavity of the Z-shaped housing, which facilitates the subsequent separation and unloading of the Z-shaped pin elastic positioning groove from the Z-shaped pin.

[0092] Subsequently, the Z-shaped housing lifting clamping plate carries the Z-shaped pin positioning fixture to rise and reset synchronously; during the rising process of the Z-shaped pin positioning fixture, the Z-shaped pin elastic positioning groove is disengaged from all Z-shaped pins; at this time, the width of the Z-shaped pin elastic positioning groove also adaptively shrinks and resets.

[0093] Step 8: Output the Z-type housing that has been pressed at the Z-type pin pressing station and put it into a new Z-type housing to be pressed. Repeat steps 1 to 8 to complete the pressing of Z-type pins in the next Z-type housing.

[0094] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details in the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. An automatic positioning and pressing device for Z-type inserts, characterized in that: Includes housing transmission line, Z-type housing lifting and pressing plate, Z-type pin pressing assembly and Z-type pin positioning fixture; The Z-type pin includes a plug portion, a Z-shaped bend portion, and an electrical interface portion that are integrally arranged in sequence. The housing transmission line can be used for transmission in Z-type housings and has a Z-type pin positioning and pressing station; The Z-shaped housing has multiple Z-shaped pin holes arranged in parallel along the same straight line; The Z-type housing lifting and pressing plate is located directly above the Z-type pin positioning and pressing station, and its height can be raised and lowered; the Z-type housing lifting and pressing plate is provided with a vertical pressing groove; The Z-type pin positioning fixture is set in the vertical pressing groove, including the Z-type pin elastic positioning groove located directly above all Z-type pin holes in the Z-type housing at the Z-type pin positioning pressing station. The length direction of the Z-type pin elastic positioning groove is parallel to the line connecting all Z-type pin holes, and the width of the Z-type pin elastic positioning groove can be adaptively adjusted. The Z-type pin press assembly includes a press clamp, a pin press lifting mechanism, and a pin press slide rail; The pin pressing lifting mechanism is used to drive the pressing jaws to rise and fall in height; The pin insertion press-fit slide rail has a Z-type pin feeding station and a Z-type pin pressing station; The press-fit jaws include a left jaw and a right jaw; The right gripper in the Z-type pin press-fitting station is located directly above the Z-type pin elastic positioning groove. The inner wall of the right gripper is provided with Z-type pin placement grooves that are equal in number and correspond one-to-one with the number of Z-type pin holes. The horizontal width of the Z-type pin placement grooves is less than the thickness of the Z-type pin. The bottom of the right gripper is provided with a press-fitting insertion part that can extend into the Z-type pin elastic positioning groove. The inner wall of the left gripper is equipped with a Z-shaped pin clamping spring, and the top of the left gripper is equipped with a vertical clearance spring. The left gripper can extend and retract in height under the drive of the left gripper extension mechanism. The top of the Z-type pin elastic positioning groove is provided with an inverted conical guide groove; the Z-type pin positioning fixture includes a support base plate, an elastic positioning plate and an upper positioning plate arranged horizontally from bottom to top; The upper positioning plate is provided with the inverted conical guide groove, and the bottom of the outer wall surface of the inverted conical guide groove extends downward to form a lower guide plate; The elastic positioning plate can stretch and extend horizontally, and the Z-shaped pin elastic positioning groove is formed between the elastic positioning plate and the lower guide plate. The support base plate is used to support the elastic positioning plate and can extend into the cavity of the Z-shaped shell.

2. The Z-type pin automatic positioning and pressing device according to claim 1, characterized in that: The Z-shaped pin clamping spring and the vertical clearance spring are integrated into an L-shaped structure; the bottom of the Z-shaped pin clamping spring is bent towards the left jaw.

3. The Z-type pin automatic positioning and pressing device according to claim 1, characterized in that: A Z-shaped press-fit clearance groove is provided on the outer bottom of the right gripper, and the top surface of the Z-shaped press-fit clearance groove is formed as a press-fit height limiting part.

4. The Z-type pin automatic positioning and pressing device according to claim 1, characterized in that: The top surface of the upper positioning plate located on the left side of the inverted conical guide groove forms the left gripper blocking surface.

5. The Z-type pin automatic positioning and pressing device according to claim 1, characterized in that: The Z-type pin positioning fixture also includes a material unloading assembly mounted on the Z-type housing lifting and pressing plate, which assists in separating and unloading the Z-type pin from the Z-type pin elastic positioning groove.

6. An automatic positioning and pressing method for Z-type inserts, based on the automatic positioning and pressing device for Z-type inserts according to any one of claims 1 to 5, characterized in that: Includes the following steps: Step 1, Z-type pin feeding: At the Z-type pin feeding station, there are N Z-type pins, which are equal to the number of Z-type pin holes in the Z-type housing. Each Z-type pin is placed vertically, and the electrical interface of each Z-type pin is exposed on the top. Step 2, loading material using the clamping jaws, specifically includes the following steps: Step 2-1, Left gripper reset: The left gripper telescopic mechanism in the press-fit gripper is activated to keep the bottom surface of the left gripper flush with the bottom surface of the right gripper; Step 2-2, Pressing clamp sliding: The pressing clamp slides to the Z-shaped pin loading station; Step 2-3, Pressing clamp loading: The height of the pressing clamp decreases, so that the electrical interface of N Z-type pins is inserted into the Z-type pin placement slot to the set depth; at this time, the Z-type pins in the Z-type pin placement slot are clamped under the elastic force of the Z-type pin clamping spring. Steps 2-4: Press-fit clamp reset: The press-fit clamp rises in height and slides to the Z-type pin press-fit station; Step 3, Z-shaped housing clamping: The height of the Z-shaped housing lifting clamping plate decreases, clamping and positioning the top surface of the Z-shaped housing located below; Step 4, Z-type pin press-fit: The press-fit jaws lower as a whole, and the insertion part of each Z-type pin simultaneously passes through the vertical press-fit groove and the Z-type pin elastic positioning groove and enters the corresponding Z-type pin hole. Step 5: Secondary pressing of Z-type pins, which includes the following steps: Step 5-1, Left gripper blocking: As the height of the pressing gripper continues to decrease, the left gripper is blocked by the Z-type pin positioning fixture located outside the Z-type pin elastic positioning groove. At this time, the left gripper extension mechanism releases the drive to the left gripper. Step 5-2, Z-type pin elastic positioning groove width adjustment: The pressing jaw continues to descend, the right jaw carries the Z-type pin down and enters the Z-type pin elastic positioning groove. The width of the Z-type pin elastic positioning groove increases, making it easier for the pressing insertion part of the right jaw and the Z-type pin to pass through simultaneously, until the Z-type pin is inserted into the corresponding Z-type pin hole to the set position, thus completing the pin pressing of the Z-type housing; at this time, each Z-type pin is engaged with the corresponding Z-type pin hole by barbs. Step 6: Z-type pin pressing assembly reset: The pressing jaws rise and reset as a whole, and the Z-type pin placement slots are disengaged from all Z-type pins; Step 7: Z-type housing lifting and pressing plate reset: The Z-type housing lifting and pressing plate carries the Z-type pin positioning fixture and rises and resets synchronously; during the rising process of the Z-type pin positioning fixture, the Z-type pin elastic positioning groove is disengaged from all Z-type pins; at this time, the width of the Z-type pin elastic positioning groove also adaptively shrinks and resets. Step 8: Output the Z-type housing that has been pressed at the Z-type pin pressing station and put it into a new Z-type housing to be pressed. Repeat steps 1 to 8 to complete the pressing of Z-type pins in the next Z-type housing.

7. The automatic positioning and pressing method for Z-type inserts according to claim 6, characterized in that: In step 7, before the Z-shaped housing lifting and pressing plate rises, the unloading component set on the Z-shaped housing lifting and pressing plate extends out and abuts against the top surface or inner cavity of the Z-shaped housing, so as to facilitate the separation and unloading of the Z-shaped pin elastic positioning groove from the Z-shaped pin.

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