Automatic assembling and detecting equipment for automobile actuator contact pin

Abstract

The invention discloses automatic assembling and detecting equipment for automobile actuator contact pins. The automatic assembling and detecting equipment comprises a material disc unwinding assembly, a contact pin blanking assembly, a contact pin transferring assembly, a contact pin positioning and press-fitting assembly and a shell conveying line. The material disc unwinding assembly can unwind an LZ-shaped material coil or a T-shaped material coil. The contact pin blanking assembly comprises a material belt conveyor and a contact pin blanking die assembly. The contact pin blanking die assembly comprises a T-shaped bending blanking die, an L-shaped bending blanking die and a Z-shaped bending blanking die which are arranged in parallel in the X direction. T-shaped, L-shaped and Z-shaped contact pin positioning and press-fitting stations are distributed on the shell transmission line; the contact pin positioning and press-fitting assembly comprises a T-shaped contact pin positioning and press-fitting assembly, an L-shaped contact pin positioning and press-fitting assembly and a Z-shaped contact pin positioning and press-fitting assembly; the contact pin positioning and press-fitting assembly can horizontally insert the received N contact pins into N contact pin holes located in the corresponding pin positioning and press-fitting stations at the same time. The full-automatic pin inserting machine can be compatible with various types of pins, full-automatic inserting of each type of pins is achieved, and the pin inserting efficiency and the pin inserting qualification rate are greatly improved.

Description

Technical Field

[0001] The invention relates to the field of automobile actuator manufacturing, in particular to an automatic assembly and detection device for automobile actuator pins. Background Art

[0002] The automotive actuator mainly collects vehicle operating status information in real time, processes it comprehensively and issues control instructions, and drives the actuator to adjust the grille opening and closing. This process is designed to optimize engine cooling efficiency, reduce wind resistance, improve fuel economy, and indirectly affect the performance of the air conditioning system.

[0003] The pin insertion process plays a vital role in the manufacturing of automotive actuators. However, the currently commonly used semi-automatic pin insertion process, which combines manual and semi-automatic pin insertion machines, has several problems as follows:

[0004] 1. The speed of pin insertion is slow, which significantly slows down the overall production efficiency.

[0005] 2. Workers need to frequently operate the fixture manually, which is not only labor-intensive but also may affect the accuracy of the operation.

[0006] 3. During the material inspection process, good products and unqualified products (NG products) need to be distinguished manually, which can easily lead to material confusion.

[0007] 4. The workload required is large and the manpower required is high, which increases the production cost.

[0008] 5. The specifications and models are incompatible and can only be used with a single model of PIN pin. Summary of the invention

[0009] The technical problem to be solved by the present invention is to address the deficiencies of the above-mentioned prior art and to provide an automobile actuator pin automatic assembly and detection equipment, which is compatible with various types of PIN pins and can realize fully automatic insertion of each PIN pin, thereby greatly improving the pin insertion efficiency and the pin insertion qualification rate.

[0010] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0011] An automatic assembly and detection device for automobile actuator pins comprises a tray unwinding component, a pin punching component, a pin transfer component, a pin positioning and pressing component and a shell transmission line.

[0012] The automotive actuator pins include T-type pins, L-type pins and Z-type pins; among them, the L-type pins and Z-type pins are formed by bending and punching LZ-type flat pins, and the LZ-type flat pins are transported and stored via LZ-type reels; the T-type pins are transported and stored via T-type reels.

[0013] The material tray unwinding component can unwind the LZ-type material roll or the T-type material roll, and separate the material tape in the material roll from the protective layer on the surface of the material tape during the unwinding process.

[0014] The pin blanking assembly includes a material belt conveyor and a pin blanking die assembly. The pin blanking die assembly includes three blanking dies arranged in parallel along the X direction, namely: a T-type blanking die, an L-type bending blanking die, and a Z-type bending blanking die. On the one hand, the material belt conveyor can pull the T-type material belt in the T-type material roll unwound by the material tray unwinding assembly to the T-type blanking die, and the T-type blanking die can punch out the T-type pins in the T-type material belt one by one. On the other hand, the material belt conveyor can also pull the LZ-type material belt in the LZ-type material roll unwound by the material tray unwinding assembly to the L-type bending and blanking die or the Z-type bending and blanking die; wherein, the L-type bending and blanking die can simultaneously bend and blank N LZ-type flat pins in the received LZ-type material belt to form N L-type pins and discharge them neatly; the Z-type bending and blanking die can simultaneously bend and blank N LZ-type flat pins in the received LZ-type material belt to form N Z-type pins and discharge them neatly.

[0015] The shell transmission line is arranged outside the discharge end of the punching die and is arranged along the X direction. Three pin pressing stations are arranged on the shell transmission line, namely the T pin positioning pressing station, the L pin positioning pressing station and the Z pin positioning pressing station; the shell transmission line is provided with a shell tooling plate that can slide along its own axis, and the shell tooling plate can be used to position and install the shell; the shell includes a T-type shell, an L-type shell and a Z-type shell; wherein, the N pin holes of the T-type shell and the L-type shell after being positioned on the shell tooling plate are arranged horizontally and toward the punching die side; the N pin holes of the Z-type shell after being positioned on the shell tooling plate are arranged vertically on the top surface of the shell.

[0016] There are three pin positioning and pressing assemblies, namely, a T-type pin positioning and pressing assembly, an L-type pin positioning and pressing assembly and a Z-type pin positioning and pressing assembly, which are respectively arranged at the T-pin positioning and pressing station, the L-pin positioning and pressing station and the Z-pin positioning and pressing station.

[0017] The pin transfer assembly is arranged between the pin punching die assembly and the shell transmission line, and has three groups, which are respectively connected to the T-type pin transfer assembly, the L-type pin transfer assembly and the Z-type pin transfer assembly, and respectively correspond to the three pin positioning and pressing stations.

[0018] The T-pin transfer assembly can first position N single T-pins discharged from the T-shaped punching die as waiting-for-insertion state, and then transfer the positioned N T-pins to the T-pin positioning and pressing assembly. The T-pin positioning and pressing assembly can simultaneously and horizontally insert the received N T-pins into the N T-pin holes of the T-shaped shell located at the T-pin positioning and pressing station.

[0019] The L-shaped pin transfer assembly can grab the N L-shaped pins discharged from the L-shaped bending and blanking die and transfer them to the L-shaped pin positioning and pressing assembly. The L-shaped pin positioning and pressing assembly can simultaneously and horizontally insert the received N L-shaped pins into the N L-shaped pin holes of the L-shaped shell located at the L-pin positioning and pressing station.

[0020] The Z-pin transfer assembly can grab the N Z-pins discharged from the Z-shaped bending and blanking die and transfer them to the Z-pin positioning and pressing assembly. The Z-pin positioning and pressing assembly can simultaneously vertically insert the received N Z-pins into the N Z-pin holes on the top surface of the Z-shaped shell located at the Z-pin positioning and pressing station.

[0021] The present invention also includes a shell loading and unloading robot and a finished press-fitting line; the finished press-fitting line is arranged in the X direction outside the shell transmission line, and is used for the automatic transmission of the finished shell after the pin is pressed. The shell loading and unloading robot can grab the shell located at the shell loading station and transfer it to the shell tooling plate of the shell transmission line, and can also grab the shell after the pin positioning press-fitting assembly is pressed and transfer it to the finished press-fitting line.

[0022] The present invention also includes a visual inspection component. The shell transmission line also has a shell loading station located upstream of the three pin pressing stations. The visual inspection component is arranged above the shell loading station and can perform quality inspection on the shell to be loaded or the unloaded material grasped by the shell loading and unloading robot.

[0023] The T-pin transfer assembly includes a T-pin variable transfer assembly and a T-pin press-fit transfer assembly.

[0024] The T-pin displacement component includes a T-pin displacement component and a T-pin transition tooling component.

[0025] The T-shaped pin displacement assembly is arranged along the Y direction, and one end faces the discharge end of the T-shaped punching die.

[0026] The T-type pin displacement component comprises a pin displacement clamping claw, which can slide along the Y direction and rotate 360 ​​degrees under the drive of an external driving device.

[0027] The T-pin transition tooling assembly is arranged along the X direction, and has a T-type position shifting station and a T-type press-fitting loading station; wherein, the T-type position shifting station is arranged at the other end of the T-pin position shifting assembly, and the T-type press-fitting loading station corresponds to the position of the T-pin positioning press-fitting station; the T-pin transition tooling assembly includes a T-pin transition tooling that can slide along the X direction.

[0028] The T-pin transition tooling includes N T-pin slots arranged in parallel, and the length of each T-pin slot is greater than the length of the plug-in portion of the T-pin, so that a T-shaped blocking surface is formed at the opening bottom of the corresponding T-pin slot; wherein the T-shaped blocking surface can position and block the T-shaped protrusion of the T-pin.

[0029] The T-pin press-fit transfer assembly is used to transfer N T-pins in the T-pin transition tooling located at the T-pin press-fit loading station to the T-pin positioning press-fit assembly.

[0030] The T-type pin press-fitting transfer assembly comprises a T-type transfer clamp; the T-type transfer clamp can slide back and forth between a T-type press-fitting feeding station and a T-pin positioning press-fitting station.

[0031] The T-shaped transfer clamp comprises a T-shaped left clamp and a T-shaped right clamp.

[0032] The clamping mating surface of the T-shaped left clamping jaw is provided with N electrical interface limiting grooves for limiting the electrical interface part in the T-shaped pin.

[0033] The bottom surface of the T-shaped left clamping jaw is provided with N plug-in part limiting grooves for limiting the plug-in part in the T-shaped plug pin.

[0034] The clamping mating surface of the T-shaped right clamping jaw is provided with a T-shaped pin clamping spring piece.

[0035] The L-shaped pin transfer assembly comprises an L-shaped pin displacement assembly and an L-shaped pin press-fit transfer assembly.

[0036] The L-shaped pin displacement assembly is arranged along the Y direction, with one end facing the discharge end of the L-shaped blanking die and the other end being the L-shaped pin feeding station; the L-shaped pin press-fitting transfer assembly can synchronously transfer the N L-shaped pins located on the L-shaped pin feeding station to the L-pin positioning press-fitting station.

[0037] The Z-type pin transfer assembly includes a Z-type pin displacement assembly, which is arranged along the Y direction, with one end thereof facing the discharge end of the Z-type punching die and the other end being the Z-type pin feeding station.

[0038] Both the L-shaped pin displacement assembly and the Z-shaped pin transfer assembly include pin displacement clamps, which can slide along the Y direction and rotate 360 ​​degrees under the drive of an external driving device.

[0039] The T-type pin positioning and pressing assembly comprises a T-type shell pressing plate, a T-type positioning tool, a T-type pressing and lifting assembly and a horizontal pressing assembly.

[0040] The T-type shell clamping plate is arranged directly above the T-type pin positioning and pressing station, and can be driven by the T-type pressing and lifting assembly to achieve height lifting and lowering, and clamp and position the top of the T-type shell located on the T-type pin positioning and pressing station.

[0041] A T-shaped positioning opening groove is arranged on the pressing plate of the T-shaped shell, and an opening is arranged toward the direction of the T-shaped pin hole of the T-shaped shell.

[0042] The T-shaped positioning tooling comprises a T-shaped positioning plate, a T-shaped supporting slider, a T-shaped supporting slider driving assembly and a horizontal push head.

[0043] The T-shaped positioning plate is arranged at the bottom of the T-shaped shell pressing plate just below the T-shaped positioning opening groove, and can extend into the inner cavity of the T-shaped shell.

[0044] The T-shaped positioning plate is provided with T-shaped positioning grooves which are equal in number to and correspond to the T-shaped pin holes, and each T-shaped positioning groove can position and place a T-shaped pin.

[0045] The T-shaped support slider is arranged at the front end of the T-shaped positioning plate facing the T-shaped pin hole, and can slide left and right along a direction perpendicular to the T-shaped positioning groove under the drive of the T-shaped support slider driving assembly.

[0046] The T-shaped support sliding block is provided with T-shaped through slots, the number of which is equal to the number of the T-shaped positioning slots and the tops of which are open.

[0047] The horizontal push head is arranged on the top of the T-shaped positioning plate and can contact with the T-shaped pins in all the T-shaped positioning grooves.

[0048] The horizontal clamping assembly is used to drive the horizontal movement of the horizontal push head.

[0049] The L-shaped pin positioning press-fitting assembly comprises an L-shaped shell pressing plate and an L-shaped positioning tool.

[0050] The L-shaped plug is L-shaped, and includes a plug-in portion, an L-shaped bending portion and an electrical interface portion which are arranged in sequence as a whole; wherein the plug-in portion is arranged horizontally, and the electrical interface portion is arranged vertically.

[0051] The L-shaped housing is located at the L-shaped pin positioning and pressing station and has a plurality of L-shaped pin holes arranged horizontally in parallel.

[0052] The L-shaped shell clamping plate is located directly above the L-shaped pin positioning and pressing station, and its height can be raised and lowered; when the height of the L-shaped shell clamping plate is lowered, the top surface of the L-shaped shell located on the L-shaped pin positioning and pressing station can be clamped and positioned.

[0053] An L-shaped through positioning groove is arranged on one side of the L-shaped shell pressing plate facing the L-shaped pin hole.

[0054] The L-shaped positioning tooling includes an L-shaped positioning base plate, an L-shaped lifting limit plate and an L-shaped horizontal push plate.

[0055] The L-shaped positioning bottom plate is suspended and arranged at the bottom of the L-shaped through positioning groove, can be raised and lowered synchronously with the pressing plate of the L-shaped shell, and can extend into the inner cavity of the L-shaped shell.

[0056] The L-shaped lifting limit plate and the L-shaped horizontal push plate are relatively arranged on both sides of the L-shaped positioning base plate, wherein the L-shaped lifting limit plate faces the L-shaped pin hole, and the height of the L-shaped lifting limit plate can be raised and lowered. The bottom of the L-shaped lifting limit plate is provided with L-shaped pin limiting grooves that are equal to and one-to-one with the L-shaped pin holes, and the bottom end of each L-shaped pin limiting groove is opened.

[0057] The L-shaped horizontal push plate can slide horizontally toward the direction of the L-shaped lifting limit plate under the drive of external force.

[0058] The Z-type pin positioning press-fitting assembly comprises a Z-type shell lifting and clamping plate, a Z-type pin press-fitting assembly and a Z-type pin positioning tooling.

[0059] The Z-shaped plug includes a plug-in portion, a Z-shaped bending portion and an electrical interface portion which are integrally arranged in sequence;

[0060] The Z-type shell lifting and clamping plate is arranged directly above the Z-type pin positioning and pressing station, and the height can be raised and lowered; a vertical pressing groove is arranged on the Z-type shell lifting and clamping plate.

[0061] The Z-pin positioning tooling is arranged in the vertical press-fitting groove, including a Z-pin elastic positioning groove located directly above all the Z-pin holes in the Z-shaped shell at the Z-pin positioning press-fitting station. The length direction of the Z-pin elastic positioning groove is parallel to the connecting line of all the Z-pin holes, and the width of the Z-pin elastic positioning groove can be adaptively adjusted.

[0062] The Z-type pin press-fitting assembly comprises a press-fitting clamping claw, a pin press-fitting lifting mechanism and a pin press-fitting slide rail.

[0063] The pin press-fit lifting mechanism is used to drive the press-fit clamping claws to move up and down.

[0064] The pin press-fitting slide rail has a Z-type pin loading station and a Z-type pin positioning press-fitting station.

[0065] The press-fitting jaws include a left jaw and a right jaw.

[0066] The right clamping jaw at the Z-pin positioning and pressing station is located directly above the Z-pin elastic positioning groove, and the inner wall surface of the right clamping jaw is provided with Z-pin placement grooves that are equal in number to the Z-pin holes and correspond one to one, and the horizontal width of the Z-pin placement groove is smaller than the thickness of the Z-pin; a press-fitting insertion portion that can extend into the Z-pin elastic positioning groove is provided at the bottom of the right clamping jaw.

[0067] The left clamping jaw comprises a Z-shaped pin clamping spring piece, a vertical avoidance spring piece and a left clamping jaw telescopic mechanism.

[0068] The Z-shaped pin clamping spring is arranged on the inner wall surface of the left clamping jaw.

[0069] The vertical avoidance spring is arranged on the top of the left clamping jaw.

[0070] The left clamping jaw telescopic mechanism can control the height telescopic of the left clamping jaw.

[0071] The belt conveyor comprises a belt feeding slide rail and a feeding mechanism.

[0072] The material strip feeding slide is arranged upstream of the pin punching die assembly along the X direction. The material strip feeding slide has three feeding stations, namely, a T-type material strip feeding station, an L-type material strip feeding station and a Z-type material strip feeding station.

[0073] The feeding mechanism comprises a feeding slide plate, and an LZ-type feeding mechanism and a T-type feeding mechanism which are arranged in parallel on the feeding slide plate.

[0074] The feeding slide can slide between three feeding stations. When the feeding slide slides to the T-type material belt feeding station, the T-type feeding mechanism corresponds to the position of the T-type blanking die; when the feeding slide slides to the L-type material belt feeding station or the Z-type material belt feeding station, the LZ-type feeding mechanism corresponds to the position of the L-type bending blanking die or the Z-type bending blanking die.

[0075] Both the LZ-type feeding mechanism and the T-type feeding mechanism include a material belt transmission rail, a material belt traction positioning pin, a material belt cutting clamp and a material pressing roller. The material belt transmission rail is arranged along the Y direction, and is used to support and limit the width of the LZ-type material belt or the T-type material belt; the material pressing roller is arranged upstream of the material belt transmission rail, and is used to press the LZ-type material belt or the T-type material belt; the material belt traction positioning pin is arranged downstream of the material pressing roller, and the height can be raised and lowered, and can slide along the Y direction; the material belt cutting clamp can cut the transmission material belt.

[0076] The present invention has the following beneficial effects:

[0077] 1. The present invention can automatically unwind the material roll, convey the material belt, cut the pins, change the position of the pins, and automatically position N pins, synchronously load the materials, and synchronously press-fit them into the corresponding housing. The whole process does not require manual participation, has a high degree of automation, and can automatically change the type.

[0078] 2. The pin press-fitting of the present invention has high accuracy, no pin deformation, good synchronization consistency and high qualified rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 The schematic diagram of the structure of an automatic assembly and detection device for automobile actuator pins of the present invention is shown.

[0080] Figure 2 The schematic diagram shows the structure of the automatic assembly and detection equipment for automobile actuator pins of the present invention without the tray unwinding component.

[0081] Figure 3 The schematic diagram of the structure of the material strip in the present invention is shown; wherein (a) is a T-type material strip; and (b) is an LZ-type material strip.

[0082] Figure 4 A three-dimensional simulation diagram of the material belt feeder in the present invention is shown.

[0083] Figure 5 The schematic diagram of the structure of the pin punching die assembly in the present invention is shown.

[0084] Figure 6 Schematic diagram of the completed punching of the pins in the present invention is shown; (a) is an L-type pin; (b) is a Z-type pin.

[0085] Figure 7 The figure shows a schematic diagram of a single pin after punching; (a) is a T-type pin; (b) is an L-type pin; and (c) is a Z-type pin.

[0086] Figure 8 An enlarged structural schematic diagram of the pin transfer assembly, the pin positioning press-fit assembly, and the housing transmission line is shown.

[0087] Fig. 9 The schematic diagram of the structure of the T-type displacement assembly and the T-type pin transition tooling assembly is shown; among them, (a) is the T-type displacement assembly; (b) is the T-type pin transition tooling assembly; and (c) is the enlarged structural diagram of the transition tooling body.

[0088] Fig.10 The schematic diagram of the structure of the pin press-fit transfer assembly is shown; (a) is the overall diagram of the T-type pin press-fit transfer assembly; (b) is a partial enlarged diagram of the T-type transfer clamp Figure 1 (c) is a partial enlarged diagram of the T-type transfer clamp Figure 2 .

[0089] Fig.11 A schematic diagram of the pin displacement clamp holding an L-shaped pin and a Z-shaped pin is shown; among them, (a) is clamping an L-shaped pin and (b) is clamping a Z-shaped pin.

[0090] Fig.12 A schematic structural diagram of a T-pin positioning and pressing device of the present invention is shown.

[0091] Fig.13 A schematic diagram of the top view of the T-shaped positioning tooling in the present invention is shown.

[0092] Fig.14 The partial enlargement of the T-shaped positioning tool after placing the T-shaped pin in the present invention is shown. Figure 1 .

[0093] Fig.15 The partial enlargement of the T-shaped positioning tool after placing the T-shaped pin in the present invention is shown. Figure 2 .

[0094] Fig.16 The longitudinal cross-sectional view of the T-shaped positioning fixture of the present invention after the T-shaped pin is placed is shown.

[0095] Fig.17 The schematic diagram of the structure when the T-shaped supporting sliding block slides to connect the T-shaped through groove with the T-shaped positioning groove in the present invention is shown.

[0096] Fig.18 The schematic diagram of the structure of the horizontal press-fit assembly in the present invention is shown.

[0097] Fig.19 The schematic diagram of the structure of the L-shaped shell in the present invention is shown.

[0098] Fig. 20 The overall structural schematic diagram of an L-shaped pin positioning press-fitting structure of the present invention is shown.

[0099] Fig.21 A three-dimensional structural schematic diagram of a preferred embodiment of an L-shaped pin positioning press-fitting structure of the present invention is shown.

[0100] Fig. 22 Shows Fig.21 A three-dimensional schematic diagram of the partial cross-section of the L-shaped pin positioning press-fit structure.

[0101] Fig.23 The schematic diagram of the structure of the automatic positioning and pressing device for Z-type pins of the present invention is shown.

[0102] Fig.24 A partial three-dimensional schematic diagram of the Z-shaped shell lifting and clamping plate and the Z-shaped pin positioning tooling in the present invention is shown.

[0103] Fig.25 The cross-sectional view of the Z-shaped shell lifting clamping plate and the Z-shaped pin positioning tooling during press-fitting is shown in the present invention.

[0104] Fig.26 A partial enlarged schematic longitudinal section of the Z-type pin positioning tooling of the present invention is shown.

[0105] Fig. 27 A partial enlarged view of the Z-shaped pin positioning tool of the present invention is shown in which the Z-shaped pin is pressed into the Z-shaped housing at one time.

[0106] Fig.28 The schematic diagram shows the assembly of four Z-shaped pins and a Z-shaped housing in the present invention.

[0107] Fig.29 The schematic diagram of the structure of the clamping jaws for feeding and clamping the Z-shaped pin in the present invention is shown.

[0108] Fig.30 The schematic diagram of the structure of the clamping jaws of the present invention when they are pressed once to avoid the compression of the spring sheet vertically is shown.

[0109] Fig.31 The cross-sectional structure diagram of the left clamping jaw telescopic mechanism of the present invention is shown.

[0110] Fig.32 A specific enlarged cross-sectional view of the clamping jaws during secondary press-fitting in the present invention is shown.

[0111] The components include: 100. material tray unwinding assembly; 110. unwinding mechanism; 111. unwinding slide rail; 112. unwinding bracket; 113. unwinding slide plate; 114. unwinding motor; 114a. unwinding lever; 115. material roll bottom support plate; 116. material roll tilting support plate; 120. paper tape winder; 130. material tray placement rack; 140. electric lifting rack; 141. hook; 150. material roll; 151. material roll positioning hole.

[0112] 200. Pin punching assembly; 210. Material strip feeder; 211. Material strip feeding slide rail; 212. LZ-type feeding mechanism; 2121. Material strip positioning traction pin; 2122. Traction pin lifting cylinder; 2123. Traction pin translation cylinder; 2124. Material strip cutting clamp; 2125. Pressing roller; 2126. Pressing plate; 213. T-type feeding mechanism; 214. Feeding slide plate; 215. Material strip transfer rail; 220. Pin punching die assembly; 221. T-type punching die; 222. L-type bending punching die; 223. Z-type bending punching die; 224. Die punching motor; 225. Die changing guide rail; 230. Die changing tooling; 231. Die changing platform.

[0113] 300. Pin shifting assembly; 310. T-type pin shifting assembly; 311. Pin shifting jaw; 312. Positioning jaw clamping mechanism; 313. Positioning jaw vertical rotation mechanism; 314. Positioning jaw horizontal rotation mechanism; 315. Positioning jaw front and rear sliding guide rail; 316. Positioning jaw front and rear sliding block; 317. Positioning jaw front and rear sliding drive mechanism; 320. L-type pin shifting assembly; 330. Z-type pin shifting assembly; 340. T-type pin transition tooling assembly; 341. T-type transition slide rail; 342. T-type shifting station; 343. T-type press-fitting feeding station; 344. T-type pin transition tooling; 345. T-type pin slot.

[0114] 400. Pin press-fit transfer assembly; 410. T-type pin press-fit transfer assembly; 420. Z-type pin press-fit transfer assembly; 430. T-type transfer jaw; 431. T-type left jaw; 432. Limiting groove of the plug-in part; 433. Limiting groove of the electrical interface part; 434. Oblique guide surface; 440. L-type transfer jaw; 450. Transfer jaw forward and backward sliding drive mechanism; 460. Transfer jaw lifting drive mechanism.

[0115] 500. T-type pin positioning press-fit assembly; 510. T-type housing clamping plate; 511. T-type positioning opening groove; 520. T-type positioning tooling; 521. T-type positioning plate; 521a. T-type positioning groove; 521b. convex guide groove; 521c. L-type pin guide placement groove; 521d. support sliding groove; 521e. connecting plate; 522. T-type support slider; 522a. T-type through groove; 522b. T-type support part; 523. T-type support slider drive assembly; 523a. positioning pin; 523b. drive arm; 523c. pin groove; 523d. arm drive assembly; 524. horizontal push head; 524a. horizontal guide push rod; 524b. horizontal return spring; 524c. return block; 530. T-type press-fit lifting assembly; 540. horizontal press-fit assembly; 541. horizontal press head; 542. horizontal press-fit electric cylinder; 543. horizontal press-fit guide rail; 544. support frame.

[0116] 600. L-type pin positioning press-fit assembly; 610. L-type housing press-fit plate; 611. L-type through positioning groove; 620. L-type positioning tool; 621. L-type positioning base plate; 6211. Suspension connecting plate; 622. L-type lifting limit plate; 6221. L-type pin limit groove; 6222. L-type lifting connecting rod; 6223. Inverted U-type lifting connecting plate; 6224. L-type lifting motor; 6225. Inverted U-type motor mounting seat; 623. L-type horizontal push plate; 6231. Electric interface push plate; 6232. L-type bending part mating surface; 6233. Guide push rod; 6234. Reset spring; 630. L-type lifting assembly.

[0117] 700. Z-type pin positioning press-fit assembly; 710. Z-type shell lifting and clamping plate; 711. Vertical press-fit groove; 712. Z-type shell pressing and lifting mechanism; 720. Z-type pin press-fit assembly; 721. Press-fit clamping claw; 722. Pin press-fit lifting mechanism; 723. Left clamping claw; 7231. Z-type pin clamping spring; 7232. Vertical avoidance spring; 7233. Left clamping claw telescopic mechanism; 7234. Telescopic guide column; 724. Right clamping claw; 7241. Z-type pin placement groove; 7242. Z-type press-fit avoidance Groove; 7243. Press-fit insertion part; 7244. Press-fit height limit part; 725. Pin clamping slide rail; 730. Z-type pin positioning tooling; 731. Z-type pin elastic positioning groove; 732. Support bottom plate; 733. Elastic positioning plate; 7331. Adaptive spring; 7332. Elastic guide inclined surface; 7333. Elastic guide vertical surface; 734. Upper positioning plate; 7341. Inverted cone guide groove; 7342. Lower guide plate; 7343. Left clamp blocking surface; 740. Unloading assembly; 741. Unloading rod.

[0118] 800. Shell; 810. T-type shell; 811. T-type pin hole; 820. L-type shell; 821. L-type pin hole; 830. Z-type shell; 831. Z-type pin hole; 840. Shell transmission line; 841. T pin positioning and pressing station; 842. L pin positioning and pressing station; 843. Z pin positioning and pressing station; 844. Shell tooling plate; 850. Shell loading and unloading robot; 860. Visual inspection component; 861. Defective product area; 870. Press-fit finished product line.

[0119] 910. T-type pin; 911. T-type convex part; 920. L-type pin; 921. L-type bending part; 930. Z-type pin; 931. Z-type bending part; 940. Plug-in part; 950. Electrical interface part; 960. Barb. DETAILED DESCRIPTION

[0120] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0121] In the description of the present invention, it should be understood that the terms "left side", "right side", "upper part", "lower part" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. "First", "second" and the like do not indicate the importance of the components, and therefore cannot be understood as limiting the present invention. The specific dimensions used in this embodiment are only for illustrating the technical solution, and do not limit the scope of protection of the present invention.

[0122] The automotive actuator pins include T-type pins, L-type pins and Z-type pins; among them, the L-type pins and Z-type pins are formed by bending and punching LZ-type flat pins, and the LZ-type flat pins are transported and stored via LZ-type reels; the T-type pins are transported and stored via T-type reels.

[0123] like Figure 1 and Figure 2 As shown, an automatic assembly and detection device for automobile actuator pins includes a tray unwinding component 100, a pin punching component 200, a pin transfer component, a pin positioning and pressing component, a shell transmission line 840, a shell loading and unloading robot 850, a visual inspection component 860 and a finished pressing line 870.

[0124] The material tray unwinding assembly 100 can unwind an LZ-shaped material roll or a T-shaped material roll, and during the unwinding process, separate the material tape in the material roll 150 from the protective layer on the surface of the material tape.

[0125] like Figure 3 As shown, the T-shaped material strip 152 in the T-shaped material roll has a plurality of T-shaped pins 910 placed in parallel, each T-shaped pin is placed obliquely, and both sides of the T-shaped material strip are preferably provided with material strip traction holes 154. The LZ-shaped material strip in the LZ-shaped material roll has a plurality of groups of LZ-shaped plane pins 153a, each group has N LZ-shaped plane pins 153a, in this embodiment, preferably N=4, and each LZ-shaped plane pin is perpendicular to the LZ-shaped plane pin.

[0126] The material tray unwinding assembly comprises an unwinding mechanism 110, a paper tape reel 120, a material tray placement rack 130 and an electric lifting rack 140. The material roll is placed in the material roll placement rack 130, and a material roll positioning hole 151 is provided on the material roll.

[0127] The unwinding mechanism 110 includes an unwinding slide rail 111, an unwinding bracket 112, an unwinding slide plate 113, an unwinding motor 114, a bottom support plate 115 for the material roll, and an inclined support plate 116 for the material roll. The unwinding slide rail is arranged along the X direction, and has three unwinding stations, namely: a T-type unwinding station, an L-type unwinding station, and a Z-type unwinding station; the unwinding slide plate can slide back and forth between the three unwinding stations; the unwinding bracket is arranged on the top of the unwinding slide plate, and the unwinding motor is installed on one side of the top of the unwinding bracket, and has an unwinding lever 114a that can cooperate with the material roll positioning hole 151, thereby playing the role of a force arm, and a lower-power unwinding motor can be selected. The bottom support plate of the material roll is arranged on the top of the unwinding slide plate along the Y direction, and one end of the inclined support plate of the material roll is connected to the tail end of the bottom support plate of the material roll, and the other end can be placed on the pin punching assembly 200. The paper tape rewinder 120 is arranged on the other side of the top of the unwinding bracket, and is used to wind and recycle the surface layer of the material tape; the electric lifting frame 140 lifts the material roll through the hook 141 and places it on the motor shaft of the material roll motor in the unwinding mechanism.

[0128] The pin punching assembly 200 preferably includes a material belt conveyor 210 , a pin punching die assembly 220 and a die changing tool 230 .

[0129] like Figure 2 and Figure 5 As shown, the pin punching die assembly includes three punching dies, a die punching motor 224 and a die changing guide rail 225. Among them, the three punching dies are arranged side by side along the X direction, namely: T-type punching die 221, L-type bending punching die 222 and Z-type bending punching die 223. The die changing guide rail 225 is set on the top of the three punching dies and arranged along the X direction. The die punching motor 224 is slidably arranged in the die changing guide rail, and provides punching power for the three punching dies by sliding in the die changing guide rail. Since the three punching dies are commercially available, their specific structures are not described in detail here. The above-mentioned mold changing tooling 230 is set as needed, preferably detachably installed in the material belt feeding slide rail, and has a mold changing platform 231 to facilitate the replacement of the three punching dies and remove it from the material belt feeding slide rail when not in use.

[0130] like Figure 2 and Figure 4 As shown, the material belt conveyor includes a material belt feeding slide rail 211 and a feeding mechanism.

[0131] The material strip feeding slide is arranged upstream of the pin punching die assembly along the X direction. The material strip feeding slide has three feeding stations, namely, a T-type material strip feeding station, an L-type material strip feeding station and a Z-type material strip feeding station.

[0132] The feeding mechanism includes a feeding slide 214, and an LZ-type feeding mechanism 212 and a T-type feeding mechanism 213 arranged in parallel on the feeding slide. Both the LZ-type feeding mechanism and the T-type feeding mechanism include a material belt transmission rail 215, a material belt pulling positioning pin 2121, a material belt cutting clamp 2124, a material pressing roller 2125 and a material pressing plate 2126. The material belt transmission rail is arranged along the Y direction, and is used to support and limit the width of the LZ-type material belt or the T-type material belt; the pressing roller is arranged upstream of the material belt transmission rail, and is used to press the LZ-type material belt or the T-type material belt; the material belt traction positioning pin is arranged downstream of the pressing roller, and the height can preferably be raised and lowered under the drive of the traction pin lifting cylinder 2122, and can slide along the Y direction under the drive of the traction pin translation cylinder 2123; the material belt cutting clamp can cut the transmission material belt; the pressing plate can be set as needed, and can be used for pressing during traction. When it is necessary to set it, the traction hole and the cutting hole can be opened to facilitate traction and cutting.

[0133] The feeding slide is installed on the material belt feeding rail and can slide between the three feeding stations. When the feeding slide slides to the T-shaped material belt feeding station, the T-shaped feeding mechanism corresponds to the position of the T-shaped blanking die, and the T-shaped blanking die can punch out the T-shaped pins in the T-shaped material belt one by one; Figure 7 As shown in Figure (a), each T-shaped pin 910 after punching includes a horizontal portion and a vertical portion, wherein the horizontal portion is a horizontal plug-in portion 940 that matches the T-shaped pin hole and is provided with a plurality of barbs 960; the two ends of the vertical portion are a T-shaped protrusion 911 and an electrical interface portion 950 respectively.

[0134] When the feeding slide plate slides to the L-type material belt feeding station or the Z-type material belt feeding station, the LZ-type feeding mechanism corresponds to the position of the L-type bending and punching die or the Z-type bending and punching die. The L-type bending and punching die can simultaneously bend and punch the N LZ-type flat pins in the received LZ-type material belt to form N L-type pins and discharge them neatly; the Z-type bending and punching die can simultaneously bend and punch the N LZ-type flat pins in the received LZ-type material belt to form N Z-type pins and discharge them neatly. Figure 6 As shown. Figure 7 As shown in (b), after the punching, the single L-shaped pin is L-shaped, including a plug-in portion 940, an L-shaped bending portion 921 and an electrical interface portion 950 which are arranged in sequence; wherein the plug-in portion is arranged horizontally, and a barb 960 is arranged on the plug-in portion near the L-shaped bending portion, and the electrical interface portion is arranged vertically for external power connection. Figure 7 As shown in (c), a single Z-shaped pin after punching includes a plug-in portion 940, a Z-shaped bending portion 931 and an electrical interface portion 950 which are sequentially integrated. The plug-in portion adjacent to the Z-shaped bending portion is preferably provided with barbs 960 on both sides. In this embodiment, N=4 is preferably used.

[0135] like Figure 8 As shown, the shell transmission line 840 is arranged outside the discharge end of the punching die and arranged along the X direction. Three pin press-fitting stations are arranged on the shell transmission line, namely the T pin positioning press-fitting station 841, the L pin positioning press-fitting station 842 and the Z pin positioning press-fitting station 843; the shell transmission line is provided with a shell tooling plate 844 that can slide along its own axis, and the shell tooling plate can be used to position and install the shell; the shell 800 includes the following Fig.14 The T-shaped housing 810 shown in FIG. Fig.19 The L-shaped housing 820 shown and Fig.25 The Z-shaped housing 830 shown in FIG. 8 is a Z-shaped housing 830; wherein the N T-shaped housings positioned on the housing tooling plate are as shown in FIG. Fig.14 The T-shaped pin hole 811 shown in FIG. Fig.19 The N L-shaped pin holes 821 of the L-shaped housing shown in the figure are arranged horizontally and face the side of the punching die; after the housing is positioned on the tooling plate, Fig.25 The N Z pin holes 831 of the Z-shaped shell are vertically arranged on the top surface of the shell.

[0136] The shell transmission line also has a shell loading station located upstream of the three pin pressing stations. The visual inspection component 860 is arranged above the shell loading station and can perform quality inspection on the shell to be loaded or the blank grasped by the shell loading and unloading robot; the outer side of the visual inspection component is provided with Figure 1 The defective product area 861 is shown.

[0137] like Figure 8 As shown, the pin transfer assembly is arranged between the pin punching die assembly and the shell transmission line, and has three groups, which are respectively connected to the T-type pin transfer assembly, the L-type pin transfer assembly and the Z-type pin transfer assembly, and respectively correspond to the three pin positioning and pressing stations.

[0138] The T-pin transfer assembly can first position N single T-pins discharged from the T-shaped punching die to a waiting-for-insertion state, and then transfer the positioned N T-pins to the T-pin positioning and pressing assembly.

[0139] The T-pin transfer assembly includes a T-pin variable transfer assembly and a T-pin press-fit transfer assembly.

[0140] like Fig. 9 As shown, the T-pin displacement component includes a T-pin displacement component 310 and a T-pin transition tooling component 340; the T-pin displacement component is arranged along the Y direction, and one end is toward the discharge end of the T-shaped blanking die; the T-pin displacement component includes a pin displacement clamp, and the pin displacement clamp can slide along the Y direction and rotate 360° under the drive of an external driving device.

[0141] like Fig. 9 As shown in (a), the T-type pin displacement assembly includes a pin displacement jaw 311, a displacement jaw clamping mechanism 312, a displacement jaw vertical rotation mechanism 313, a displacement jaw horizontal rotation mechanism 314, a displacement jaw front and rear sliding guide rail 314, a displacement jaw front and rear sliding block 316 and a displacement jaw front and rear sliding driving mechanism 317. Among them, the front and rear sliding guide rails of the shifting jaws are arranged along the Y direction and one end points to the T-shaped punching die. The front and rear sliding blocks of the shifting jaws are slidably installed on the front and rear sliding guide rails of the shifting jaws, and slide along the front and rear sliding guide rails of the shifting jaws under the drive of the front and rear sliding driving mechanism of the shifting jaws (preferably a cylinder); the horizontal rotation mechanism of the shifting jaws can make the pin shifting jaws rotate horizontally 360° around the vertical axis; the vertical rotation mechanism of the shifting jaws can make the pin shifting jaws rotate horizontally 360° around the horizontal axis; the clamping mechanism of the shifting jaws can realize the automatic clamping of the pin shifting jaws.

[0142] like Fig. 9As shown in (b), the T-type pin transition tooling assembly has a T-type transition slide 341 arranged along the X direction, and the T-type transition slide has a T-type displacement station 342 and a T-type press-fitting loading station 343; wherein, the T-type displacement station is arranged at the other end of the T-type pin displacement assembly, and the T-type press-fitting loading station corresponds to the position of the T-pin positioning press-fitting station; the T-type pin transition tooling assembly includes a T-type pin transition tooling 344 that can slide along the X direction.

[0143] like Fig. 9 As shown in (c), the T-pin transition tooling includes N parallel T-pin grooves 345, and the length of each T-pin groove is greater than the length of the plug-in portion of the T-pin, so that a T-shaped blocking surface is formed at the opening bottom of the corresponding T-pin groove; wherein the T-shaped blocking surface can position and block the T-shaped protrusion of the T-pin.

[0144] The T-pin press-fit transfer assembly is used to transfer N T-pins in the T-pin transition tooling located at the T-pin press-fit loading station to the T-pin positioning press-fit assembly.

[0145] like Fig.10 As shown in (a), the T-type pin press-fitting transfer assembly 410 includes a transfer jaw forward and backward sliding mechanism 450, a transfer jaw lifting mechanism 460 and a T-type transfer jaw 430. The T-type transfer jaw can slide back and forth between the T-type press-fitting loading station and the T-pin positioning press-fitting station under the drive of the transfer jaw forward and backward sliding mechanism. At the same time, the T-type transfer jaw can be raised and lowered in height under the drive of the transfer jaw lifting mechanism.

[0146] like Fig.10 As shown in (b) and (c), the T-shaped transfer jaw includes a T-shaped left jaw 431 and a T-shaped right jaw 435.

[0147] The clamping mating surface of the T-shaped left clamping jaw is provided with N electric interface limiting grooves 433 for limiting the electric interface part in the T-shaped plug. The bottom surface of the T-shaped left clamping jaw is provided with N plug-in limiting grooves 432 for limiting the plug-in part in the T-shaped plug. Furthermore, each electric interface limiting groove is preferably provided with an inclined guide surface 434 at the bottom for guiding. The clamping mating surface of the T-shaped right clamping jaw is provided with a T-shaped plug clamping spring piece 436. In this embodiment, the T-shaped plug clamping spring piece is formed by slitting the bottom of the T-shaped right clamping jaw.

[0148] The L-shaped pin transfer assembly can grab N L-shaped pins discharged from the L-shaped bending and punching die and transfer them to the L-shaped pin positioning and pressing assembly; the L-shaped pin transfer assembly includes an L-shaped pin displacement assembly 320 and an L-shaped pin pressing and transfer assembly 420.

[0149] The L-type pin displacement assembly is arranged along the Y direction, with one end facing the discharge end of the L-type punching die and the other end facing the L-type pin feeding station; the specific structure of the L-type pin displacement assembly is the same as that of the T-type pin displacement assembly, and will not be repeated here. Among them, the structure of the L-type pin displacement assembly holding N = 4 L-type pins is as follows Fig.11 (a) shown.

[0150] The L-shaped pin press-fitting and transferring assembly can synchronously transfer N L-shaped pins located on the L-shaped pin feeding station to the L-shaped pin positioning and pressing station; the specific structure of the L-shaped pin press-fitting and transferring assembly refers to the T-shaped pin press-fitting and transferring assembly, which will not be repeated here.

[0151] The Z-type pin transfer assembly can grab the N Z-type pins discharged from the Z-type bending and punching die and transfer them to the Z-type pin positioning and pressing assembly, converting the Z-type pins to a vertical state with the electrical interface of the Z-type pin facing upward. The Z-type pin transfer assembly includes a Z-type pin displacement assembly 330, which is the same as the T-type pin displacement assembly and will not be described in detail here. Among them, the structure of the Z-type pin displacement assembly holding N = 4 L-type pins is as follows Fig.11 (b) as shown.

[0152] The T-shaped pin shifting assembly 310 , the L-shaped pin shifting assembly 320 and the Z-shaped pin shifting assembly 330 have the same structure and are collectively referred to as the pin shifting assembly 300 .

[0153] There are three pin positioning and pressing assemblies, namely T-type pin positioning and pressing assembly 500, L-type pin positioning and pressing assembly 600 and Z-type pin positioning and pressing assembly 700, which are respectively arranged at the T pin positioning and pressing station, the L pin positioning and pressing station and the Z pin positioning and pressing station.

[0154] The T-pin positioning and pressing assembly can simultaneously and horizontally insert the received N T-pins into the N T-pin holes of the T-shaped housing located at the T-pin positioning and pressing station.

[0155] like Fig.12 As shown, a T-type pin positioning and pressing device includes a T-type housing clamping plate 510, a T-type positioning tool 520, a T-type pressing and lifting assembly 530 and a horizontal pressing assembly 540.

[0156] The T-type shell clamping plate is arranged directly above the T-type pin positioning and pressing station, and can be driven by the T-type pressing and lifting assembly to achieve height lifting and lowering, and clamp and position the top of the T-type shell located on the T-type pin positioning and pressing station.

[0157] like Fig.13 and Fig.14As shown, a T-shaped positioning opening groove 511 is provided on the pressing plate of the T-shaped shell, having a top opening and a side opening, wherein the side opening faces the direction of the T-shaped pin hole of the T-shaped shell.

[0158] like Figures 13 to 17 As shown, the T-shaped positioning tool includes a T-shaped positioning plate 521, a T-shaped supporting slider 522, a T-shaped supporting slider driving assembly 523 and a horizontal pushing head 524.

[0159] The T-shaped positioning plate is preferably arranged at the bottom of the T-shaped housing clamping plate directly below the T-shaped positioning opening slot through two connecting plates 521e, and can extend into the inner cavity of the T-shaped housing. The bottom surface of the T-shaped positioning plate is provided with an avoidance groove that matches the inner cavity component of the T-shaped housing.

[0160] The T-shaped positioning plate is provided with T-shaped positioning grooves 521a, which are equal in number to and correspond to the T-shaped pin holes, and each T-shaped positioning groove can position and place a T-shaped pin.

[0161] Each T-shaped positioning groove includes a convex guide groove 521b and an L-shaped pin guide placement groove 521c located at the top of the convex guide groove; wherein the convex guide groove can accommodate the T-shaped convex part and guide the horizontal movement of the T-shaped convex part; the L-shaped pin guide placement groove is used for guiding the placement of the L-shaped pin.

[0162] Furthermore, a supporting sliding groove 521d is preferably provided at the front end of the T-shaped positioning plate toward the T-shaped pin hole, and the supporting sliding groove is perpendicular to the T-shaped positioning groove.

[0163] The T-shaped support slider is arranged in the support sliding groove, preferably at the same height as the bottom surface of the T-shaped pin hole. The T-shaped support slider can slide left and right along the direction perpendicular to the T-shaped positioning groove under the drive of the T-shaped support slider drive assembly. The T-shaped support slider can support the front end of the plug-in part so that the plug-in part can maintain a horizontal state during the horizontal movement.

[0164] Furthermore, the T-shaped support slider is provided with T-shaped through slots 522a, which are equal in number to the T-shaped positioning slots and have open tops, and a T-shaped support portion 522b is formed between two adjacent T-shaped through slots or on the outside of the outer T-shaped through slots.

[0165] The above-mentioned T-shaped supporting slider driving assembly preferably includes a positioning pin 523a, a driving arm 523b, a pin slot 523c and an arm driving assembly 523d; the bottom end of the positioning pin is connected to one end of the T-shaped supporting slider, and the top end of the positioning pin is connected to the driving arm; the driving arm has a T-shaped pin positioning blocking surface, and slides left and right along a direction perpendicular to the T-shaped positioning slot under the drive of the arm driving assembly.

[0166] The horizontal push head is arranged at the top of the T-shaped positioning plate and can contact the T-shaped pins in all the T-shaped positioning grooves. Further, a horizontal guide push rod 524a is connected to the middle and upper part of the horizontal push head, and horizontal return springs 524b are arranged on both sides of the horizontal guide push rod. The horizontal return spring and the end of the horizontal guide push rod are preferably provided with a return block 524c, and the horizontal return spring can make the horizontal push head be at the setting position on the top of the T-shaped positioning plate.

[0167] The horizontal pressing assembly is used to drive the horizontal movement of the horizontal push head. Fig.18 As shown, the horizontal pressing assembly preferably includes a horizontal pressing head 541, a horizontal pressing electric cylinder 542, a horizontal pressing guide rail 543 and a support frame 544. The support frame is arranged on one side of the housing conveyor line, the horizontal pressing guide rail is installed on the top of the support frame, and the horizontal pressing electric cylinder is installed on the horizontal pressing guide rail, which is convenient for sharing with the L-shaped pin positioning pressing assembly. The horizontal pressing electric cylinder is used to drive the extension and retraction of the horizontal pressing head, thereby promoting the horizontal movement of the horizontal push head.

[0168] A T-type pin positioning and pressing method comprises the following steps.

[0169] Step 1. Press the T-shaped shell: the T-shaped shell pressing plate is driven by the T-shaped press-fitting lifting assembly to descend in height, thereby pressing and positioning the top of the T-shaped shell located on the T-shaped pin positioning press-fitting station; at the same time, the T-shaped positioning plate carries the T-shaped supporting slider and synchronously extends into the inner cavity of the T-shaped shell; wherein, the T-shaped supporting slider faces the T-shaped pin hole of the T-shaped shell and is at the same height as the bottom surface of the T-shaped pin hole.

[0170] Step 2, place the T-pin: in each T-shaped positioning slot of the T-shaped positioning plate, a T-shaped pin is placed using a pin press-fit transfer assembly; wherein, the T-shaped protrusion of the T-shaped pin extends into the T-shaped positioning slot and is positioned and contacted with the bottom surface of the T-shaped positioning slot, and the front end of the plug-in part of the T-shaped pin is placed on the T-shaped supporting slider, kept in a horizontal state, and the tip points to the T-shaped pin hole.

[0171] Step 3: One-time press-fitting of T-pins: The horizontal pressing assembly drives the horizontal push head to move horizontally and contact the vertical parts of all T-pins in all T-positioning grooves; the horizontal push head continues to move forward horizontally, and the tip of the plug-in part of each T-pin enters the corresponding T-pin hole to the set one-time press-fitting depth.

[0172] Furthermore, before the T-shaped support slider driving assembly drives the T-shaped support slider to slide, the T-shaped pin positioning blocking surface can contact the horizontal push head to limit the one-time press-fit position of the T-shaped pin in step 3.

[0173] Step 4: T-type support slider slides

[0174] The T-shaped support slider is driven by the T-shaped support slider driving assembly to slide along a direction perpendicular to the T-shaped positioning slot, so that the T-shaped through slots of all T-shaped support sliders are connected to the corresponding T-shaped positioning slots one by one.

[0175] When the T-shaped support slider driving assembly drives the T-shaped support slider to slide, the T-shaped pin positioning blocking surface will release the positioning blocking with the horizontal push head.

[0176] Step 5, secondary press-fitting of T-pins: The horizontal clamping assembly drives the horizontal push head to continue to move horizontally forward until the vertical portion of each T-pin passes through the T-slot of the corresponding T-support slider and has no contact with the T-positioning plate and the T-support slider; at this time, the plug-in portion of each T-pin is press-fitted into the corresponding T-pin hole.

[0177] Step 6, positioning and resetting: the horizontal clamping assembly and the horizontal push head are reset, and the T-shaped support slider is reset to form a block for the front end of each T-shaped positioning slot. Furthermore, the horizontal clamping assembly and the horizontal push head are designed to be separated. After the horizontal clamping assembly is reset, the horizontal push head automatically resets to the starting position away from the T-shaped pin hole under the action of its own spring force.

[0178] Step 7, T-type shell circulation: The T-type shell clamping plate is driven by the T-type press-fitting lifting assembly to rise in height and reset, thereby contacting and pressing the T-type shell. The press-fitted T-type shell is transferred to the next process; repeat steps 1 to 7 to position and press-fit the T-type pin in the next T-type shell to be press-fitted.

[0179] The L-shaped pin positioning and pressing assembly can simultaneously and horizontally insert the received N L-shaped pins into the N L-shaped pin holes of the L-shaped shell located at the L-shaped pin positioning and pressing station.

[0180] like Fig. 20 , Fig.21 and Fig. 22 As shown, an L-shaped pin positioning and pressing structure includes a shell transmission line 840, an L-shaped shell clamping plate 610, an L-shaped positioning tool 620, an L-shaped lifting assembly 630 and a horizontal pressing assembly 540.

[0181] The shell transmission line can transmit L-shaped shells, and has a shell loading station and an L-shaped pin positioning and pressing station 842. The shell transmission line transmits between the shell loading station and the L-shaped pin positioning and pressing station through a shell tooling plate 844.

[0182] Furthermore, the shell transmission line is perpendicular to each L-shaped pin hole of the L-shaped shell, that is, the subsequent press-fitting direction of the L-shaped pin is perpendicular to the shell transmission line.

[0183] The L-shaped housing clamping plate is located directly above the L-shaped pin positioning and pressing station, and can be raised and lowered under the drive of the L-shaped lifting assembly; when the height of the L-shaped housing clamping plate is lowered, the top surface of the L-shaped housing located on the L-shaped pin positioning and pressing station can be pressed and positioned. The L-shaped lifting assembly is arranged on one side of the L-shaped pin positioning and pressing station, which is a prior art and will not be described in detail here.

[0184] An L-shaped through positioning groove 611 is provided on one side of the L-shaped housing clamping plate facing the L-shaped pin hole.

[0185] The L-shaped positioning tooling includes an L-shaped positioning base plate 621 , an L-shaped lifting limit plate 622 and an L-shaped horizontal push plate 623 .

[0186] The L-shaped positioning base plate is preferably suspended and arranged at the bottom of the L-shaped through positioning groove by two suspension connecting plates 6211, and can be raised and lowered synchronously with the L-shaped shell clamping plate, and can extend into the inner cavity of the L-shaped shell. Furthermore, the bottom surface of the L-shaped positioning base plate can be provided with an avoidance groove that matches the inner cavity component of the L-shaped shell.

[0187] The L-shaped lifting limit plate and the L-shaped horizontal push plate are arranged relatively on two sides of the L-shaped positioning bottom plate (preferably the long side).

[0188] The L-shaped lifting limit plate is oriented toward and close to the inner side of the L-shaped pin hole, and the L-shaped lifting limit plate can preferably be lifted and lowered in height under the drive of the L-shaped lifting limit assembly.

[0189] The above-mentioned L-shaped lifting limit assembly is preferably an L-shaped lifting motor 6224, and the L-shaped lifting motor 6224 is preferably installed on both sides of the top of the L-shaped shell clamping plate through an inverted U-shaped motor mounting seat 6225 to provide avoidance space for the subsequent L-shaped horizontal push plate.

[0190] An inverted U-shaped lifting connecting plate 6223 is preferably installed at the bottom of the above-mentioned L-shaped lifting motor. The two side legs of the inverted U-shaped lifting connecting plate are preferably connected to an L-shaped lifting connecting rod 6222. The two L-shaped lifting connecting rods are preferably located on both sides of the subsequent L-shaped horizontal push plate and the L-shaped through-positioning groove, and flanges that can overlap with the L-shaped positioning base plate are formed on both sides of the L-shaped through-positioning groove, so as to limit the descending position of the L-shaped lifting limit plate.

[0191] The L-shaped lifting limit plate is preferably U-shaped, so as to facilitate the automatic discharge of the L-shaped pin.

[0192] The bottom of the L-shaped lifting limit plate is provided with L-shaped pin limiting grooves 6221, which are equal in number to and correspond to the L-shaped pin holes, and the bottom end of each L-shaped pin limiting groove is open.

[0193] Furthermore, each L-shaped pin limiting groove is a horn groove, the contracted end of the horn groove is adjacent to or in contact with the L-shaped pin hole, and the width is equal to the L-shaped pin hole; the flared end of the horn groove faces the L-shaped horizontal push plate, and the width is greater than the L-shaped pin hole.

[0194] Furthermore, the speaker groove is preferably not less than 1.5 times the size of the L-shaped pin hole. In the present embodiment, it is preferably 2 times. The width of the L-shaped lifting limit plate is preferably half the length of the L-shaped pin plug-in portion.

[0195] The arrangement of the speaker groove can correct small deviations during the placement or horizontal movement of the L-shaped pin, and guide it so that the L-shaped pin is aligned with the L-shaped pin hole, and prevent deformation and deviation.

[0196] The L-shaped horizontal push plate can slide horizontally toward the direction of the L-shaped lifting limit plate under the drive of an external force (that is, a horizontal press-fit component).

[0197] Furthermore, a guide push rod 6233 is connected to the middle and upper part of the L-shaped horizontal push plate, and return springs 6234 are arranged on both sides of the guide push rod. The return springs can reset the L-shaped horizontal push plate.

[0198] Furthermore, an electrical interface push plate 6231 is provided on the wall surface of the L-shaped horizontal push plate facing the side of the L-shaped lifting limit plate, and there is a gap between the electrical interface push plate and the L-shaped positioning base plate, and the gap is not less than the thickness of the plug-in part; the above-mentioned gap is also formed into an L-shaped bending part mating surface 6232 that cooperates with the L-shaped bending part.

[0199] A method for positioning and pressing an L-shaped pin comprises the following steps.

[0200] Step 1, pressing the L-shaped shell: the L-shaped shell pressing plate carries the L-shaped positioning tooling and descends synchronously until the L-shaped shell pressing plate presses and positions the top surface of the L-shaped shell located on the L-shaped pin positioning and pressing station.

[0201] Step 2, aligning the position of the L-shaped positioning base plate: while the L-shaped positioning base plate presses the L-shaped shell, the L-shaped positioning base plate extends into the inner cavity of the L-shaped shell, and the top surface of the L-shaped positioning base plate is flush with the bottom surface of the L-shaped pin hole.

[0202] Step 3, forming a closed L-shaped pin limit groove: the height of the L-shaped lifting limit plate is lowered until it contacts the top surface of the L-shaped positioning base plate, so that each L-shaped pin limit groove with an opening at the bottom is enclosed with the L-shaped positioning base plate to form a closed L-shaped pin limit groove.

[0203] Step 4, placing L-shaped pins: place L-shaped pins with the same number as the L-shaped pin holes on the top surface of the L-shaped positioning base plate between the L-shaped lifting limit plate and the L-shaped horizontal push plate; wherein, the plug-in portion of the L-shaped pin is in direct contact with the top surface of the L-shaped positioning base plate; the tip of the plug-in portion of the L-shaped pin points to the corresponding closed L-shaped pin limit slot; the electrical interface portion of the L-shaped pin faces the L-shaped horizontal push plate.

[0204] Step 5, pre-pressing the L-shaped pins: the L-shaped horizontal push plate slides horizontally toward the direction of the L-shaped lifting limit plate, and during the sliding process, it contacts the outer side walls of the electrical interface parts of all L-shaped pins placed on the L-shaped positioning base plate; the L-shaped horizontal push plate continues to slide horizontally toward the direction of the L-shaped lifting limit plate to a set distance, and the tip of the plug-in part of each L-shaped pin passes through the corresponding closed L-shaped pin limit groove in turn, and enters the corresponding L-shaped pin hole to the set depth, completing the pre-pressing of each L-shaped pin.

[0205] Step 6, L-shaped lifting limit plate avoidance: The L-shaped lifting limit plate rises, and the bottom surface of the L-shaped lifting limit plate is not lower than the top surface height of the electrical interface part of each L-shaped pin.

[0206] Step 7, L-shaped pin secondary press-fitting: The L-shaped horizontal push plate slides forward horizontally to the set distance again, so that all L-shaped pins are separated from the L-shaped positioning base plate, and the plug-in part of the L-shaped pin is fully inserted into the corresponding L-shaped pin hole, thereby completing the synchronous positioning and press-fitting of all L-shaped pins and the L-shaped shell.

[0207] Step 8, reset: the height of the L-shaped shell clamping plate rises, and the clamping of the L-shaped shell that has been pressed is released. The L-shaped shell that has been pressed enters the next process, and the L-shaped horizontal push plate is reset; the L-shaped pin positioning and pressing station enters the new L-shaped shell to be pressed, and steps 1 to 8 are repeated to press the L-shaped pin of the next L-shaped shell to be pressed.

[0208] The L-shaped pin limiting groove in step 3 is a horn groove, and the flared end of the horn groove faces the L-shaped horizontal push plate; during the L-shaped pin pre-pressing process in step 5, the horn groove can facilitate the entry and guidance of the L-shaped pin, preventing the pre-pressing deformation of the L-shaped pin connection part.

[0209] In step 8, the L-shaped horizontal push plate slides horizontally toward the L-shaped pin hole under the drive of the horizontal press-fitting assembly, and automatically resets under the action of the horizontal reset spring.

[0210] The Z-pin positioning and pressing assembly can simultaneously and vertically insert the received N Z-pins into the N Z-pin holes on the top surface of the Z-shaped shell located at the Z-pin positioning and pressing station.

[0211] like Fig.23As shown, a Z-type pin automatic positioning and pressing device includes a shell transmission line 840, a Z-type shell lifting and clamping plate 710, a Z-type pin pressing assembly 720 and a Z-type pin positioning tool 730.

[0212] The shell transmission line preferably transmits the Z-shaped shell through the shell tooling plate 844, which has a Z-shaped shell loading station and a Z-shaped pin positioning and pressing station 843.

[0213] like Fig.23 , Fig.24 and Fig.25 As shown, the Z-type shell lifting and clamping plate is arranged directly above the Z-type pin positioning and pressing station, and a vertical pressing groove 711 is arranged on the Z-type shell lifting and clamping plate; it is preferably driven by the Z-type shell clamping and lifting mechanism 712 to achieve height lifting; the Z-type shell clamping and lifting mechanism is preferably arranged on one side of the Z-type pin positioning and pressing station.

[0214] like Figure 24 to Figure 27 As shown, the Z-pin positioning tooling is arranged in the vertical press-fitting groove, including a Z-pin elastic positioning groove 731 located directly above all the Z-pin holes in the Z-shaped shell at the Z-pin positioning press-fitting station. The length direction of the Z-pin elastic positioning groove is parallel to the connecting line of all the Z-pin holes, and the width of the Z-pin elastic positioning groove can be adaptively adjusted.

[0215] Furthermore, the Z-type pin positioning tooling includes a supporting base plate 732 , an elastic positioning plate 733 , an upper positioning plate 734 and a discharge assembly 740 .

[0216] The supporting bottom plate, the elastic positioning plate and the upper positioning plate are horizontally arranged in sequence from bottom to top.

[0217] An inverted cone guide groove 7341 is provided on the upper positioning plate, and the bottom of the outer wall of the inverted cone guide groove extends downward to form a lower guide plate 7342.

[0218] The elastic positioning plate can be elastically extended and retracted horizontally under the action of a plurality of adaptive springs 7331, and the above-mentioned Z-shaped pin elastic positioning groove is formed between the elastic positioning plate and the lower guide plate. Furthermore, the inner wall surface of the elastic positioning plate is provided with elastic guiding inclined surfaces 7332 and elastic guiding vertical surfaces 7333 in sequence from top to bottom; wherein, the elastic guiding inclined surfaces are used for guiding.

[0219] The supporting bottom plate is used to support the elastic positioning plate and can extend into the cavity of the Z-shaped shell, so the length of the supporting bottom plate is short and does not affect the insertion of the Z-shaped pin hole.

[0220] Furthermore, the top surface of the upper positioning plate located on the left side of the inverted cone-shaped guide groove is formed as a left clamping jaw blocking surface 7343 for blocking the subsequent left clamping jaw.

[0221] The unloading assembly is arranged on the Z-shaped housing lifting and clamping plate to assist in the separation and removal of the Z-shaped pin elastic positioning groove and the Z-shaped pin. The unloading assembly is preferably an unloading cylinder with an unloading rod 741 or the like.

[0222] like Fig.23 As shown, the Z-type pin press-fitting assembly includes a press-fitting clamp 721 , a pin press-fitting lifting mechanism 722 and a pin press-fitting slide rail 725 .

[0223] The pin press-fit lifting mechanism is used to drive the press-fit clamping jaws to move up and down in height, and is preferably a cylinder or the like.

[0224] The pin press-fitting slide rail has a Z-type pin loading station and a Z-type pin press-fitting station, wherein the Z-type pin loading station is used to grab the Z-type pins, and the Z-type pin press-fitting station is used to press-fit the Z-type pins.

[0225] like Figure 29 to Figure 32 As shown, the press-fitting jaws include a left jaw 723 and a right jaw 724 .

[0226] The right clamping jaw at the Z-type pin press-fitting station is located directly above the Z-type pin elastic positioning groove. The inner wall surface of the right clamping jaw is provided with Z-type pin placement grooves that are equal in number to the Z-type pin holes and correspond one to one. The horizontal width of the Z-type pin placement groove is smaller than the thickness of the Z-type pin. The top of the Z-type pin placement groove has Fig.32 The pin blocking surface shown, on the one hand, limits the insertion depth of the Z-shaped pin in the Z-shaped pin placement groove, and on the other hand, facilitates the subsequent secondary pressing and pressure application of the right clamping jaw.

[0227] The outer bottom of the right clamp is preferably provided with a Z-shaped press-fitting avoidance groove 7242, and the top surface of the Z-shaped press-fitting avoidance groove is formed as a press-fitting height limiting portion 7244, which is convenient for the secondary press-fitting limiting of the right clamp; the setting of the Z-shaped press-fitting avoidance groove enables a press-fitting insertion portion 7243 to be formed at the bottom of the right clamp, which can extend into the Z-shaped pin elastic positioning groove.

[0228] The left clamping jaw includes a Z-shaped pin clamping spring piece 7231, a vertical avoidance spring piece 7232 and a left clamping jaw telescopic mechanism 7233.

[0229] The Z-shaped pin clamping spring is arranged on the inner wall surface of the left clamping jaw, and its bottom is preferably bent toward the left clamping jaw to facilitate the guidance of the Z-shaped pin when it is grasped.

[0230] The vertical avoidance spring piece is arranged at the top of the left clamping jaw, and is preferably arranged integrally with the Z-shaped pin clamping spring piece to form an L-shaped structure.

[0231] The left jaw telescopic mechanism can control the height extension of the left jaw, preferably a left jaw telescopic cylinder, which has the following features: Fig.31The telescopic guide post 7234 shown, when the telescopic guide post is extended and supports the left clamping jaw, the vertical avoidance spring piece will not be able to freely extend and retract; when the telescopic cylinder of the left clamping jaw is deflated and the telescopic guide post is retracted, the vertical avoidance spring piece can freely extend and retract vertically.

[0232] A Z-type pin automatic positioning and pressing method comprises the following steps.

[0233] Step 1, Z-type pin feeding: At the Z-type pin loading station, there are N Z-type pins equal to the number of Z-type pin holes in the Z-type housing, and each Z-type pin is placed vertically, and the electrical interface of each Z-type pin is exposed at the top.

[0234] Step 2: Press-fit the clamping jaws to load the material, specifically including the following steps:

[0235] Step 2-1, resetting the left clamping jaw: the telescopic mechanism of the left clamping jaw in the left clamping jaw of the press-fit clamping jaw is activated, so that the bottom surface of the left clamping jaw is kept flush with the bottom surface of the right clamping jaw and is not affected by the elastic force of the vertical avoidance spring.

[0236] Step 2-2, the press-fitting jaws slide: the press-fitting jaws slide to the Z-type pin loading station.

[0237] Step 2-3, loading the press-fitting jaws: the height of the press-fitting jaws is lowered so that the electrical interface parts of the N Z-type pins are all extended into the Z-type pin placement groove to a set depth; at this time, the Z-type pins located in the Z-type pin placement groove are in a clamped state under the elastic force of the Z-type pin clamping spring.

[0238] Step 2-4, reset the press-fitting jaws: the press-fitting jaws rise in height and slide to the Z-type pin press-fitting station.

[0239] Step 3, Z-shaped shell pressing: The height of the Z-shaped shell lifting and pressing plate is lowered to press and position the top surface of the Z-shaped shell located below.

[0240] Step 4: Press-fit the Z-type pins once: The height of the press-fitting jaws is lowered as a whole, and the plug-in portion of each Z-type pin passes through the vertical press-fitting groove and the Z-type pin elastic positioning groove in sequence and enters the corresponding Z-type pin hole.

[0241] Step 5: Secondary press-fitting of the Z-type pin, including the following steps:

[0242] Step 5-1, left clamp blocking: the height of the press-fit clamp continues to drop, and the left clamp is blocked by the Z-type pin positioning tooling (preferably the left clamp blocking surface) located outside the Z-type pin elastic positioning groove. At this time, the left clamp telescopic mechanism releases the drive to the left clamp, and the left clamp can freely extend and retract under the action of the vertical avoidance spring. The maximum compression stroke of the vertical avoidance spring is preferably not less than the secondary press-fit stroke of the Z-type pin.

[0243] Step 5-2, adjust the width of the Z-type pin elastic positioning groove: the height of the press-fitting jaw continues to drop again, vertically avoiding the compression of the spring sheet, and the right jaw carries the Z-type pin to drop in height and enters the Z-type pin elastic positioning groove. The width of the Z-type pin elastic positioning groove increases to facilitate the press-fitting insertion part of the right jaw and the Z-type pin to pass through at the same time, until the Z-type pin is inserted into the corresponding Z-type pin hole to the set position, thereby completing the pin press-fitting of the Z-type housing; at this time, each Z-type pin is clamped with the corresponding Z-type pin hole through the barb.

[0244] Step 6: Reset the Z-type pin press-fit assembly: The height of the press-fit jaws rises as a whole and resets, and the Z-type pin placement slot is disengaged from all Z-type pins; at this time, the vertical avoidance spring is reset to make the bottom surface of the left jaw flush with the bottom surface of the right jaw.

[0245] Step 7: Reset the Z-type housing lifting and clamping plate

[0246] First, the unloading assembly arranged on the lifting and clamping plate of the Z-shaped shell extends out and presses against the top surface or inner cavity of the Z-shaped shell, so as to facilitate the subsequent separation and unloading of the Z-shaped pin elastic positioning groove and the Z-shaped pin.

[0247] Subsequently, the Z-shaped shell lifting and clamping plate carrying the Z-shaped pin positioning tooling rises and resets synchronously; during the rising process of the Z-shaped pin positioning tooling, the Z-shaped pin elastic positioning groove is separated from all Z-shaped pins; at this time, the width of the Z-shaped pin elastic positioning groove is also adaptively reduced and reset.

[0248] Step 8: Take out the Z-shaped shell that has been pressed at the Z-shaped pin pressing station and put it into a new Z-shaped shell to be pressed, and repeat steps 1 to 8 to complete the pressing of the Z-shaped pin in the next Z-shaped shell.

[0249] The press-fit finished product line is set in the X direction outside the shell transmission line, which is used for the automatic transmission of the finished shell after the pin is pressed. The shell loading and unloading robot can grab the shell located at the shell loading station and transfer it to the shell tooling plate of the shell transmission line, and can also grab the shell after the pin positioning press-fit assembly is pressed and transfer it to the press-fit finished product line.

[0250] The preferred embodiments of the present invention are described in detail above; however, the present invention is not limited to the specific details in the above embodiments. Within 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 belong to the protection scope of the present invention.

Claims

1. An automatic assembly and detection device for automobile actuator pins, characterized in that: It includes a tray unwinding component, a pin punching component, a pin transfer component, a pin positioning press-fitting component and a shell transmission line; The automotive actuator pins include T-type pins, L-type pins and Z-type pins; among them, the L-type pins and Z-type pins are formed by bending and punching the LZ-type flat pins, and the LZ-type flat pins are transported and stored in LZ-type rolls; the T-type pins are transported and stored in T-type rolls; The material tray unwinding component can unwind LZ-shaped or T-shaped material rolls, and separate the material tape in the roll from the protective layer on the surface of the material tape during the unwinding process; The pin punching assembly includes a material belt conveyor and a pin punching die assembly; The pin punching die assembly includes three punching dies arranged in parallel along the X direction, namely: a T-type punching die, an L-type bending punching die and a Z-type bending punching die; On the one hand, the material belt conveyor can pull the T-shaped material belt in the T-shaped material roll unwound by the material tray unwinding component to the T-shaped blanking die, and the T-shaped blanking die can punch out the T-shaped pins in the T-shaped material belt one by one; On the other hand, the material belt conveyor can also pull and convey the LZ-shaped material belt in the LZ-shaped material roll unwound by the material tray unwinding assembly to the L-shaped bending and blanking die or the Z-shaped bending and blanking die; wherein: The L-shaped bending and blanking die can simultaneously bend and blank N LZ-shaped flat pins in the received LZ-shaped strip to form N L-shaped pins and discharge them neatly; The Z-shaped bending and blanking die can simultaneously bend and blank N LZ-shaped flat pins in the received LZ-shaped strip to form N Z-shaped pins and discharge the materials neatly; The shell transmission line is arranged outside the discharge end of the punching die and arranged along the X direction. Three pin press-fitting stations are arranged on the shell transmission line, namely the T pin positioning press-fitting station, the L pin positioning press-fitting station and the Z pin positioning press-fitting station; The shell transmission line is provided with a shell tooling plate that can slide along its own axis, and the shell tooling plate can be used to position and install the shell; the shell includes a T-type shell, an L-type shell and a Z-type shell; wherein the N pin holes of the T-type shell and the L-type shell positioned on the shell tooling plate are arranged horizontally and face the side of the punching die; the N pin holes of the Z-type shell positioned on the shell tooling plate are arranged vertically on the top surface of the shell; There are three pin positioning and pressing assemblies, namely, a T-type pin positioning and pressing assembly, an L-type pin positioning and pressing assembly, and a Z-type pin positioning and pressing assembly, which are respectively arranged at the T pin positioning and pressing station, the L pin positioning and pressing station, and the Z pin positioning and pressing station; The pin transfer assembly is arranged between the pin blanking die assembly and the shell transmission line, and has three groups, which are respectively connected to the T-type pin transfer assembly, the L-type pin transfer assembly and the Z-type pin transfer assembly, and respectively correspond to the three pin positioning and pressing stations; The T-pin transfer assembly can first position N single T-pins discharged from the T-type punching die to the state of waiting for insertion, and then transfer the positioned N T-pins to the T-pin positioning and pressing assembly. The T-pin positioning and pressing assembly can simultaneously and horizontally insert the received N T-pins into the N T-pin holes of the T-type housing located at the T-pin positioning and pressing station; The L-shaped pin transfer assembly can grab the N L-shaped pins discharged from the L-shaped bending and punching die and transfer them to the L-shaped pin positioning and pressing assembly. The L-shaped pin positioning and pressing assembly can simultaneously and horizontally insert the received N L-shaped pins into the N L-shaped pin holes of the L-shaped housing located at the L-shaped pin positioning and pressing station. The Z-pin transfer assembly can grab the N Z-pins discharged from the Z-shaped bending and blanking die and transfer them to the Z-pin positioning and pressing assembly. The Z-pin positioning and pressing assembly can simultaneously vertically insert the received N Z-pins into the N Z-pin holes on the top surface of the Z-shaped shell located at the Z-pin positioning and pressing station.

2. The automatic assembly and detection equipment for automobile actuator pins according to claim 1 is characterized in that: It also includes shell loading and unloading robots and press-fit finished product lines; The press-fit finished product line is arranged in the X direction outside the shell transmission line, and is used for automatic transmission of the finished shell after the pin is pressed; On the one hand, the shell loading and unloading robot can grab the shell located at the shell loading station and transfer it to the shell tooling plate of the shell transmission line. On the other hand, it can also grab the shell with the pin positioning press-fitting assembly pressed and transfer it to the finished press-fitting line.

3. The automatic assembly and detection equipment for automobile actuator pins according to claim 2 is characterized in that: Also included is a visual inspection component; The shell transmission line also has a shell loading station located upstream of the three pin press-fitting stations; The visual inspection component is arranged above the shell loading station and can perform quality inspection on the shell to be loaded or the unloaded material grasped by the shell loading and unloading robot.

4. The automatic assembly and detection equipment for automobile actuator pins according to claim 1 is characterized in that: The T-type pin transfer assembly includes a T-type pin variable displacement assembly and a T-type pin press-fit transfer assembly; The T-type pin displacement assembly includes a T-type pin displacement assembly and a T-type pin transition tooling assembly; The T-shaped pin displacement assembly is arranged along the Y direction, and one end faces the discharge end of the T-shaped blanking die; The T-type pin displacement assembly includes a pin displacement clamping jaw, which can slide along the Y direction and rotate 360° under the drive of an external driving device; The T-type pin transition tooling assembly is arranged along the X direction, and has a T-type displacement station and a T-type press-fitting loading station; wherein the T-type displacement station is arranged at the other end of the T-type pin displacement assembly, and the T-type press-fitting loading station corresponds to the position of the T-pin positioning press-fitting station; the T-type pin transition tooling assembly includes a T-type pin transition tooling that can slide along the X direction; The T-pin transition tooling includes N parallel T-pin slots, the length of each T-pin slot is greater than the length of the plug-in portion of the T-pin, so that the opening bottom of the corresponding T-pin slot forms a T-shaped blocking surface; wherein the T-shaped blocking surface can position and block the T-shaped protrusion of the T-pin; The T-pin press-fit transfer assembly is used to transfer N T-pins in the T-pin transition tooling located at the T-pin press-fit loading station to the T-pin positioning press-fit assembly.

5. The automatic assembly and detection equipment for automobile actuator pins according to claim 4 is characterized in that: The T-type pin press-fit transfer assembly includes a T-type transfer clamp; the T-type transfer clamp can slide back and forth between the T-type press-fit feeding station and the T-pin positioning press-fit station; The T-shaped transfer jaw includes a T-shaped left jaw and a T-shaped right jaw; The clamping mating surface of the T-shaped left clamping jaw is provided with N electric interface limit grooves for limiting the electric interface part in the T-shaped plug pin; the bottom surface of the T-shaped left clamping jaw is provided with N plug-in limit grooves for limiting the plug-in part in the T-shaped plug pin; The clamping mating surface of the T-shaped right clamping jaw is provided with a T-shaped pin clamping spring piece.

6. The automobile actuator pin automatic assembly and detection equipment according to claim 1, characterized in that: The L-shaped pin transfer assembly includes an L-shaped pin displacement assembly and an L-shaped pin press-fit transfer assembly; The L-shaped pin displacement assembly is arranged along the Y direction, with one end facing the discharge end of the L-shaped punching die and the other end facing the L-shaped pin feeding station; the L-shaped pin press-fitting transfer assembly can synchronously transfer the N L-shaped pins located on the L-shaped pin feeding station to the L-shaped pin positioning press-fitting station; The Z-type pin transfer assembly includes a Z-type pin displacement assembly, which is arranged along the Y direction, with one end thereof facing the discharge end of the Z-type punching die, and the other end being the Z-type pin feeding station; Both the L-shaped pin displacement assembly and the Z-shaped pin transfer assembly include pin displacement clamps, which can slide along the Y direction and rotate 360 ​​degrees under the drive of an external driving device.

7. The automobile actuator pin automatic assembly and detection equipment according to claim 1 is characterized by: The T-type pin positioning and pressing assembly includes a T-type housing clamping plate, a T-type positioning tool, a T-type pressing and lifting assembly, and a horizontal pressing assembly; The T-type housing clamping plate is arranged directly above the T-type pin positioning and pressing station, and can be driven by the T-type pressing and lifting assembly to achieve height lifting and lowering, and to clamp and position the top of the T-type housing located on the T-type pin positioning and pressing station; A T-shaped positioning opening groove is arranged on the T-shaped housing clamping plate, and an opening is arranged toward the T-shaped pin hole of the T-shaped housing; The T-shaped positioning tooling includes a T-shaped positioning plate, a T-shaped support slider, a T-shaped support slider driving assembly and a horizontal push head; The T-shaped positioning plate is arranged at the bottom of the T-shaped housing clamping plate just below the T-shaped positioning opening groove, and can extend into the inner cavity of the T-shaped housing; the T-shaped positioning plate is provided with T-shaped positioning grooves which are equal in number to the T-shaped pin holes and correspond one to one, and each T-shaped positioning groove can position and place a T-shaped pin; The T-shaped support slider is arranged at the front end of the T-shaped positioning plate facing the T-shaped pin hole, and can slide left and right along a direction perpendicular to the T-shaped positioning groove under the drive of the T-shaped support slider drive assembly; The T-shaped support slider is provided with T-shaped through slots, which are equal in number to the T-shaped positioning slots and open at the top; The horizontal push head is arranged on the top of the T-shaped positioning plate and can contact the T-shaped pins in all the T-shaped positioning slots; The horizontal clamping assembly is used to drive the horizontal movement of the horizontal push head.

8. The automobile actuator pin automatic assembly and detection equipment according to claim 1 is characterized in that: The L-shaped pin positioning press-fit assembly includes an L-shaped housing clamping plate and an L-shaped positioning tool; The L-shaped plug is L-shaped, and comprises a plug-in portion, an L-shaped bending portion and an electrical interface portion which are sequentially arranged in an integrated manner; wherein the plug-in portion is arranged horizontally, and the electrical interface portion is arranged vertically; The L-shaped housing is located at the L-shaped pin positioning and pressing station and has a plurality of L-shaped pin holes arranged horizontally in parallel; The L-shaped shell clamping plate is located directly above the L-shaped pin positioning and pressing station, and its height can be raised and lowered; when the height of the L-shaped shell clamping plate is lowered, the top surface of the L-shaped shell located on the L-shaped pin positioning and pressing station can be pressed and positioned; An L-shaped through positioning groove is provided on one side of the L-shaped housing clamping plate facing the L-shaped pin hole; The L-shaped positioning tooling includes an L-shaped positioning base plate, an L-shaped lifting limit plate and an L-shaped horizontal push plate; The L-shaped positioning base plate is suspended and arranged at the bottom of the L-shaped through positioning groove, and can be raised and lowered synchronously with the pressing plate of the L-shaped shell, and can extend into the inner cavity of the L-shaped shell; The L-shaped lifting limit plate and the L-shaped horizontal push plate are arranged on both sides of the L-shaped positioning bottom plate, wherein the L-shaped lifting limit plate faces the L-shaped pin hole, and the height of the L-shaped lifting limit plate can be raised and lowered. The bottom of the L-shaped lifting limit plate is provided with L-shaped pin limit grooves that are equal in number to the L-shaped pin holes and correspond one to one, and the bottom end of each L-shaped pin limit groove is open; The L-shaped horizontal push plate can slide horizontally toward the direction of the L-shaped lifting limit plate under the drive of external force.

9. The automobile actuator pin automatic assembly and detection equipment according to claim 1, characterized in that: The Z-type pin positioning press-fit assembly includes a Z-type housing lifting and clamping plate, a Z-type pin press-fit assembly and a Z-type pin positioning tool; The Z-shaped plug includes a plug-in portion, a Z-shaped bending portion and an electrical interface portion which are integrally arranged in sequence; The Z-type shell lifting and clamping plate is arranged directly above the Z-type pin positioning and pressing station, and the height can be raised and lowered; a vertical pressing groove is arranged on the Z-type shell lifting and clamping plate; The Z-shaped pin positioning tool is arranged in the vertical press-fitting groove, including a Z-shaped pin elastic positioning groove located directly above all Z-shaped pin holes in the Z-shaped housing at the Z-shaped pin positioning press-fitting station, the length direction of the Z-shaped pin elastic positioning groove is parallel to the connecting line of all Z-shaped pin holes, and the width of the Z-shaped pin elastic positioning groove can be adaptively adjusted; The Z-type pin press-fit assembly includes a press-fit clamp, a pin press-fit lifting mechanism and a pin press-fit slide rail; The pin press-fit lifting mechanism is used to drive the press-fit clamping claws to move up and down; The pin press-fitting slide rail has a Z-type pin loading station and a Z-type pin positioning press-fitting station; The press-fitting jaws include a left jaw and a right jaw; The right clamping jaw at the Z-pin positioning and pressing station is located directly above the Z-pin elastic positioning groove, and the inner wall surface of the right clamping jaw is provided with Z-pin placement grooves that are equal in number to the Z-pin holes and correspond one to one, and the horizontal width of the Z-pin placement groove is less than the thickness of the Z-pin; the bottom of the right clamping jaw is provided with a press-fitting insertion portion that can extend into the Z-pin elastic positioning groove; The left clamping jaw includes a Z-shaped pin clamping spring, a vertical avoidance spring and a left clamping jaw telescopic mechanism; The Z-shaped pin clamping spring is arranged on the inner wall surface of the left clamping jaw; The vertical avoidance spring is arranged on the top of the left clamping jaw; The left clamping jaw telescopic mechanism can control the height telescopic of the left clamping jaw.

10. The automobile actuator pin automatic assembly and detection equipment according to claim 1, characterized in that: The material belt conveyor includes a material belt feeding slide rail and a feeding mechanism; The material strip feeding slide is arranged upstream of the pin punching die assembly along the X direction. The material strip feeding slide has three feeding stations, namely, a T-shaped material strip feeding station, an L-shaped material strip feeding station and a Z-shaped material strip feeding station. The feeding mechanism includes a feeding slide plate, and an LZ-type feeding mechanism and a T-type feeding mechanism arranged in parallel on the feeding slide plate; The feeding slide can slide between the three feeding stations. When the feeding slide slides to the T-type material belt feeding station, the T-type feeding mechanism corresponds to the position of the T-type blanking die; when the feeding slide slides to the L-type material belt feeding station or the Z-type material belt feeding station, the LZ-type feeding mechanism corresponds to the position of the L-type bending blanking die or the Z-type bending blanking die; Both the LZ-type feeding mechanism and the T-type feeding mechanism include a material belt transmission rail, a material belt pulling positioning pin, a material belt cutting clamp and a material pressing roller; The material belt conveyor rail is arranged along the Y direction, and is used to support and limit the width of the LZ-shaped material belt or T-shaped material belt; The pressing roller is arranged upstream of the material belt conveying track and is used for pressing the LZ type material belt or the type material belt; The material belt pulling positioning pin is set downstream of the pressing roller, and its height can be raised and lowered, and it can slide along the Y direction; The tape cutting clamp can cut the transmission tape.

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