Side face PIN guiding and inserting mechanism

Abstract

The invention relates to a side face PIN guiding and inserting mechanism which comprises a rack, a jig, a pin inserting mechanism and a guiding mechanism. The pin inserting mechanism comprises an ejector pin and a pin inserting driving mechanism; the pin inserting mechanism is used for driving the ejector pin through the pin inserting driving mechanism to realize pin inserting action; the guide mechanism comprises a guide mounting table, a guide mounting frame, a guide needle frame, a guide needle and a guide needle driving mechanism; the ejector pin, the insertion hole of the workpiece and the guide pin correspond to each other in the X-axis direction; the guide mechanism acts prior to the pin inserting mechanism, the guide pin driving mechanism drives the guide mounting frame to move towards the workpiece along the X axis, and the guide pin inserting operation is carried out; if the pin is successfully inserted, the pin is inserted; if the workpiece is not successfully inserted, the workpiece is judged to be an NG product, and after the next workpiece is placed on the jig, the guide pin is inserted. The device can adapt to the limited space of the side face of a workpiece, has the excellent effects of high precision and high efficiency, improves the precision and stability of product assembly, and meets diversified production requirements.

Description

Technical Field

[0001] The invention relates to the field of PIN insertion equipment, in particular to a side PIN pin guiding and inserting mechanism. Background Art

[0002] In modern manufacturing, precision assembly technology is crucial to the quality and performance of products. Especially in industries such as electronics, automobiles, and medical equipment, the insertion of PIN pins is one of the common assembly steps.

[0003] Traditional PIN insertion methods usually rely on manual operation or simple mechanical devices. These methods have problems such as low efficiency, poor precision, and difficulty in ensuring consistency. Among them, manual insertion, the operator uses tools to manually insert the PIN. Although this method is simple and easy, it is inefficient and prone to inconsistent insertion accuracy due to human factors; mechanical insertion, the PIN is inserted through simple mechanical devices (such as cylinders, levers, etc.). Although it is more efficient than manual insertion, it still has limitations in scenarios with complex shapes or high precision requirements.

[0004] In the internal structure of some sophisticated electronic devices, due to the limitation of spatial layout, inserting PIN needles from the front cannot meet the compact assembly requirements. Due to the limitation of operating space, there are usually other structures or components on the front of the product, and the operating space left for inserting the device is extremely limited, which makes the insertion process easily obstructed or even impossible to complete the operation. For example, in some miniaturized housings or injection molded products, the front is full of various electronic components, making it difficult to insert PIN needles from the front. For some product designs that need to be connected or fixed on the side, the existing front insertion mechanism is completely inapplicable. For example, some medical devices or flip-cover products with special appearance structures need to be connected to external devices from the side through PIN needles, and the front insertion mechanism cannot achieve this assembly requirement; at the same time, when inserting from the front, the large insertion force may damage the fragile structure or surface coating on the front of the product, affecting the appearance and performance of the product. For example, in the manufacture of some precision optical instruments, inserting PIN needles from the front may scratch the optical coating on the surface of the instrument and reduce the optical performance of the instrument.

[0005] With the advancement of automation technology, in order to solve the above problems, it is urgent to develop an efficient and accurate side PIN needle insertion mechanism, which has become the key to improving production efficiency and product quality. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a side PIN needle guiding insertion mechanism, which can adapt to the limited space on the side of the workpiece, has excellent effects of high precision and high efficiency, improves the accuracy and stability of product assembly, and meets diversified production needs.

[0007] The technical solution adopted by the present invention to solve the technical problem is: a side PIN needle guiding and inserting mechanism, comprising a frame, a fixture fixed on the frame and used to carry the workpiece to be inserted with the PIN needle, a pin insertion mechanism and a guiding mechanism located on both sides of the fixture in the X-axis direction; the pin insertion mechanism comprises an ejector pin and a pin insertion driving mechanism, the pin insertion mechanism is used to drive the ejector pin to move along the X-axis direction through the pin insertion driving mechanism, and then use the ejector pin to push the PIN needle into the insertion hole of the workpiece to realize the PIN needle insertion action; the guiding mechanism comprises a guiding mounting platform, a guiding mounting frame slidably mounted on the guiding mounting platform, a fixed A guide needle holder fixed on the guide mounting frame, a guide needle fixed on the guide needle holder, and a guide needle driving mechanism fixed on the guide mounting platform and used for driving the guide mounting frame to move along the X-axis; the ejector pin, the insertion hole of the workpiece, and the guide needle are directly corresponding to each other in the X-axis direction; the guide mechanism is actuated before the pin insertion mechanism, and the guide mounting frame is driven by the guide needle driving mechanism to move toward the workpiece along the X-axis to insert the guide needle; if the insertion is successful, the PIN needle of the pin insertion mechanism is inserted; if the insertion is unsuccessful, the workpiece is judged to be an NG product, and the guide needle is inserted after the next workpiece is placed on the fixture.

[0008] Furthermore, the guiding mechanism also includes a second base fixed on the frame; the guiding mounting platform is slidably mounted on the second base; the pin insertion mechanism also includes a linkage rod in the X-axis direction, and the pin insertion driving mechanism is also used to drive the linkage rod to move along the X-axis direction; the guiding mounting platform is also fixed with a linkage frame at a position corresponding to the linkage rod; the linkage rod and the linkage frame are fixedly installed; when the pin insertion mechanism performs the PIN needle insertion action through the pin insertion driving mechanism, the linkage rod, the linkage frame, and the guiding mounting platform are also driven by the pin insertion driving mechanism to move along the X-axis direction and away from the workpiece, so that the guide needle is withdrawn from the workpiece insertion hole.

[0009] Furthermore, the pin insertion mechanism also includes a first base fixed on the frame, a PIN pin guide groove assembly installed on the first base, and a pin insertion assembly slidably installed on the first base; the pin insertion assembly includes the ejector pin; the PIN pin guide groove assembly includes a PIN pin guide groove in the X-axis direction for carrying the PIN pin; the ejector pin cooperates with the PIN pin guide groove; the pin insertion drive mechanism is used to drive the pin insertion assembly to move along the X-axis, thereby driving the ejector pin to push the PIN pin along the PIN pin guide groove to perform the PIN pin insertion action.

[0010] Furthermore, the pin assembly also includes a pin mounting platform slidably mounted on the first base and a pin mounting block slidably mounted on the pin mounting platform; the ejector pin is fixed to the pin mounting block; a sensor fixing block is also fixed on the pin mounting platform, and a pressure detector is also installed between the sensor fixing block and the pin mounting block.

[0011] Furthermore, the PIN pin guide groove assembly includes a PIN pin guide block slidably mounted on the first base, and the PIN pin guide groove is arranged on the top side of the PIN pin guide block; a tension spring is also arranged between the PIN pin guide block and the first base; the tension spring is used to provide a pulling force to move the PIN pin guide block toward the workpiece along the X-axis direction; the PIN pin guide block is also provided with a limiting guide groove on the side close to the pin assembly; the pin assembly also includes a limiting head; the limiting head cooperates with the limiting guide groove.

[0012] Furthermore, the workpiece includes a lower shell and an upper shell; the jig is provided with a lower shell clamping mechanism and an upper shell clamping and docking mechanism on both sides of the Y-axis direction; the lower shell clamping mechanism cooperates with the jig to clamp and fix the lower shell; the upper shell clamping and docking mechanism is used to clamp and fix the upper shell, and is also used to dock and assemble the upper shell and the lower shell.

[0013] Furthermore, the fixture includes a receiving groove; the lower half of the lower shell is inserted into the receiving groove, and the upper surface of the fixture constitutes the Z-axis limit of the lower shell; the lower shell clamping and positioning mechanism includes a lower shell X-axis limit assembly, a lower shell Y-axis clamping assembly, and a lower shell X-axis fixing assembly; the lower shell X-axis limit assembly is used to act on the side of the upper half of the lower shell in the X-axis direction for limiting; the lower shell Y-axis clamping assembly is used to fix the lower half of the lower shell in the Y-axis direction; the lower shell X-axis fixing assembly is used to fix the lower half of the lower shell in the X-axis direction.

[0014] Furthermore, the X-axis limiting assembly of the lower shell includes a clamping claw mounting platform slidably mounted on the frame, a clamping claw mounted on the clamping claw mounting platform, and a clamping claw driving mechanism for driving the clamping claw to move; the X-axis limiting assembly of the lower shell also includes a clamping claw moving driving mechanism fixed to the frame; the clamping claw moving driving mechanism is used to drive the clamping claw mounting platform to move along the Y-axis; the clamping claw is used to act on both sides of the X-axis direction of the upper half of the lower shell for limiting; the Y-axis clamping assembly of the lower shell includes a locking block mounting platform slidably mounted on the frame, a locking block mounted on the locking block mounting platform, and a locking block moving driving mechanism for driving the locking block mounting platform to move along the Y-axis; the locking block is used to fix the lower half of the lower shell in the Y-axis direction under the drive of the locking block moving driving mechanism; the X-axis fixing assembly of the lower shell includes a push rod and a push rod moving driving mechanism fixed to the frame; the push rod is used to fix the lower half of the lower shell in the X-axis direction under the drive of the push rod moving driving mechanism.

[0015] Furthermore, the upper shell clamping and docking mechanism includes a third base, an upper shell clamping platform slidably installed on the third base, an upper shell clamping mechanism installed on the upper shell clamping platform, and an upper shell clamping platform moving drive mechanism fixed to the third base; the upper shell clamping mechanism includes an upper shell positioning block, an upper shell Y-axis buckling assembly, and an upper shell X-axis locking assembly; the upper shell clamping mechanism is used to clamp and fix the upper shell, and the upper shell clamping platform moving drive mechanism is used to drive the movement along the Y-axis, thereby moving the upper shell to the lower shell for docking and assembly.

[0016] Furthermore, the upper shell clamping mechanism includes a fourth base fixed on the upper shell clamping platform; the upper shell positioning block is fixed to the fourth base; the upper shell positioning block is provided with a Z-axis support block for supporting the upper shell and providing Z-axis direction positioning for the upper shell; the upper shell positioning block also has a Y-axis positioning surface for providing Y-axis direction positioning for the upper shell; the upper shell positioning block also includes a vacuum suction hole provided on the Y-axis positioning surface for vacuum suction and fixing the upper shell by using a vacuum suction device; the upper shell Y-axis buckling assembly is installed on the fourth base; the upper shell Y-axis buckling assembly includes a hinged The clamping jaws on the four bases and the clamping drive mechanism installed on the fourth base for driving the clamping jaws to flip; the clamping jaws are used to flip under the drive of the clamping drive mechanism, and then clamped on the upper shell in the Y-axis direction, and cooperate with the Y-axis positioning surface to clamp and fix the upper shell in the Y-axis direction; the upper shell X-axis locking assembly includes an X-axis locking element, a transmission rod fixed to the X-axis locking element, and an upper shell X-axis locking drive mechanism for driving the transmission rod to move along the X-axis direction; the X-axis locking element is used to clamp and fix the upper shell in the X-axis direction under the drive of the upper shell X-axis locking drive mechanism.

[0017] Advantages of the present invention: A side PIN needle guiding and inserting mechanism of the present invention can adapt to the limited space on the side of the workpiece, has excellent effects of high precision and high efficiency, improves the precision and stability of product assembly, and meets diversified production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of a side PIN needle guiding and inserting mechanism of the first embodiment;

[0019] Figure 2 A schematic top view of a side PIN needle guiding and inserting mechanism of Embodiment 1;

[0020] Figure 3 It is a three-dimensional schematic diagram of a pin insertion mechanism of a side PIN pin guiding and inserting mechanism of the first embodiment;

[0021] Figure 4 It is a three-dimensional schematic diagram of another angle of a pin insertion mechanism of a side PIN pin guiding and inserting mechanism of the first embodiment;

[0022] Figure 5 It is a three-dimensional schematic diagram of a PIN pin guide groove assembly of a pin insertion mechanism of a side PIN pin guiding and inserting mechanism according to the first embodiment;

[0023] Figure 6 It is a three-dimensional schematic diagram of a pin assembly of a pin insertion mechanism of a side PIN pin guiding and inserting mechanism according to the first embodiment;

[0024] Figure 7 It is a three-dimensional schematic diagram of a guide mechanism of a side PIN needle guide insertion mechanism of the first embodiment;

[0025] Figure 8 for Figure 2 A schematic cross-sectional view of AA;

[0026] Fig. 9 It is a cross-sectional schematic diagram of the guide needle insertion state of a side PIN needle guide insertion mechanism of the first embodiment along the line AA;

[0027] Fig.10 It is a cross-sectional schematic diagram of AA of a PIN needle insertion state of a side PIN needle guiding and inserting mechanism of Embodiment 1;

[0028] Fig.11 A three-dimensional schematic diagram of a side PIN needle guiding and inserting mechanism of the second embodiment;

[0029] Fig.12 It is a three-dimensional schematic diagram of a lower shell clamping mechanism of a side PIN needle guiding and inserting mechanism of the second embodiment;

[0030] Fig.13 It is a left schematic diagram of a lower shell clamping mechanism of a side PIN needle guiding and inserting mechanism of the second embodiment;

[0031] Fig.14 A schematic top view of a lower shell clamping mechanism of a side PIN needle guiding and inserting mechanism of Example 2;

[0032] Fig.15 for Fig.14 A schematic cross-sectional view of BB;

[0033] Fig.16 for Fig.14 A cross-sectional schematic diagram of CC;

[0034] Fig.17 It is a three-dimensional schematic diagram of an upper shell clamping docking mechanism of a side PIN needle guiding and inserting mechanism of the second embodiment;

[0035] Fig.18 It is a three-dimensional schematic diagram of an upper shell clamping mechanism of an upper shell clamping docking mechanism of a side PIN needle guiding and inserting mechanism of the second embodiment;

[0036] Fig.19 It is a three-dimensional schematic diagram of the upper shell clamping and fixing state of the upper shell of the upper shell clamping mechanism of the upper shell clamping docking mechanism of the side PIN needle guiding and inserting mechanism of the second embodiment;

[0037] Fig. 20 It is a three-dimensional schematic diagram of the butt assembly of the upper shell and the lower shell of a side PIN needle guide insertion mechanism of the second embodiment;

[0038] Fig.21 for Fig. 20 A local enlarged schematic diagram of the D region;

[0039] Fig. 22 A three-dimensional schematic diagram of the workpiece;

[0040] Fig.23 It is a schematic diagram of the workpiece decomposition state;

[0041] Among them, 1-frame, 2-pin mechanism, 3-guiding mechanism, 4-jig, 5-workpiece, 6-lower shell clamping mechanism, 7-upper shell clamping docking mechanism, 21-first base, 22-PIN needle guide groove assembly, 23-pin assembly, 24-tension spring, 25-pin drive mechanism, 26-linkage plate, 27-linkage rod, 28-first X-axis slide rail slider assembly, 29-second X-axis slide rail slider assembly, 221-PIN needle guide block, 222-PIN needle guide groove, 223-limiting guide groove, 231- Pin mounting table, 232-pin mounting block, 233-thrust pin, 234-limiting head, 235-sensor fixing block, 236-pressure detector, 237-third X-axis slide rail slider assembly, 31-second base, 32-guide mounting table, 33-guide mounting frame, 34-guide needle frame, 35-guide needle, 36-guide needle driving mechanism, 37-linkage frame, 38-fourth X-axis slide rail slider assembly, 39-fifth X-axis slide rail slider assembly, 51-PIN needle, 52-lower shell, 53-upper shell, 61-lower shell X-axis limit assembly, 62-lower shell Y-axis clamping assembly, 63-lower shell X-axis fixing assembly, 611-claw mounting table, 612-claw, 613-claw driving mechanism, 614-claw moving driving mechanism, 615-first Y-axis slide rail slider assembly, 621-locking block, 622-locking block mounting table, 623-locking block moving driving mechanism, 624-second Y-axis slide rail slider assembly, 631-push rod, 632-push rod moving driving mechanism, 71-third base, 72-upper shell clamping table , 73-upper shell clamping mechanism, 74-upper shell clamping table moving drive mechanism, 75-third Y-axis slide rail slider assembly, 731-fourth base, 732-upper shell positioning block, 733-upper shell Y-axis buckling assembly, 734-upper shell X-axis locking assembly, 7321-Z-axis support block, 7322-Y-axis positioning surface, 7323-vacuum suction hole, 7331-buckle clamp, 7332-buckle drive mechanism, 7341-X-axis locking piece, 7342-transmission rod, 7343-upper shell X-axis locking drive mechanism. DETAILED DESCRIPTION

[0042] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. The embodiments are only used to explain the present invention and do not limit the protection scope of the present invention.

[0043] Embodiment 1

[0044] Please refer to Figures 1 to 10As shown, this embodiment provides a side PIN needle guiding and inserting mechanism, including a frame 1, a fixture 4 fixed on the frame 1 and used to carry a workpiece 5 to be inserted with a PIN needle 51, a pin insertion mechanism 2 and a guiding mechanism 3 located on both sides of the fixture 4 in the X-axis direction; the pin insertion mechanism 2 includes an ejector pin 233 and a pin insertion driving mechanism 25, and the pin insertion mechanism 2 is used to drive the ejector pin 233 to move along the X-axis direction through the pin insertion driving mechanism 25, and then use the ejector pin 233 to push the PIN needle 51 into the insertion hole of the workpiece 5 to achieve the PIN needle insertion action; the guiding mechanism 3 includes a guiding mounting platform 32, a guiding mounting frame 33 slidably mounted on the guiding mounting platform 32, and a guiding mounting frame 33 fixed on the guiding mounting platform 32. The guide needle holder 34 of the mounting frame 33, the guide needle 35 fixed on the guide needle holder 34, and the guide needle driving mechanism 36 fixed on the guide mounting platform 32 and used to drive the guide mounting frame 33 to move along the X-axis; the ejector pin 233, the insertion hole of the workpiece 5, and the guide needle 35 are directly corresponding to each other in the X-axis direction; the guide mechanism 3 acts before the pin insertion mechanism 2, and drives the guide mounting frame 33 to move toward the workpiece 5 along the X-axis through the guide needle driving mechanism 36 to insert the guide needle 35; if the insertion is successful, the PIN needle insertion action of the pin insertion mechanism 2 is performed; if the insertion is unsuccessful, the workpiece 5 is judged to be an NG product, and the guide needle 35 is inserted after the next workpiece 5 is placed on the fixture 4. Specifically, the guide mounting frame 33 is installed on the guide mounting platform 32 through the fifth X-axis slide rail slider assembly 39; the fifth X-axis slide rail slider assembly 39 provides the guide mounting frame 33 with the freedom to move along the X-axis. In this embodiment, the guide needle is first inserted into the workpiece through the guiding mechanism to determine whether the workpiece is qualified. When the workpiece is qualified, the PIN operation is performed to avoid wasting the PIN needle. At the same time, the pin insertion mechanism and the guiding mechanism are arranged on both sides of the workpiece, which can adapt to the limited space on the side of the workpiece and ensure that the PIN needle insertion operation is carried out smoothly.

[0045] Refer to Figure 3 , Figure 4 , Figures 7 to 10As shown, the guide mechanism 3 also includes a second base 31 fixed on the frame 1; the guide mounting platform 32 is slidably mounted on the second base 31; the pin insertion mechanism 2 also includes a linkage rod 27 in the X-axis direction, and the pin insertion drive mechanism 25 is also used to drive the linkage rod 27 to move along the X-axis direction; the guide mounting platform 32 is also fixed with a linkage frame 37 at a position corresponding to the linkage rod 27; the linkage rod 27 and the linkage frame 37 are fixedly mounted; when the pin insertion mechanism 2 performs the PIN pin insertion action through the pin insertion drive mechanism 25, the linkage rod 27, the linkage frame 37, and the guide mounting platform 32 are also driven by the pin insertion drive mechanism 25 to move along the X-axis direction and away from the workpiece 5, so that the guide pin 35 can withdraw from the insertion hole of the workpiece 5. Specifically, the guide mounting platform 32 is installed on the second base 31 through the fourth X-axis slide rail slider assembly 38; the fourth X-axis slide rail slider assembly 38 provides the guide mounting platform 32 with the degree of freedom to move along the X-axis. In this embodiment, the pin insertion mechanism and the guide mechanism are linked to ensure the stability of the pin insertion operation and improve the accuracy of the pin insertion.

[0046] Refer to Figures 3 to 6 As shown, the pin insertion mechanism 2 also includes a first base 21 fixed on the frame 1, a PIN pin guide groove assembly 22 installed on the first base 21, and a pin insertion assembly 23 slidably installed on the first base 21; the pin insertion assembly 23 includes the ejector pin 233; the PIN pin guide groove assembly 22 includes a PIN pin guide groove 222 in the X-axis direction for carrying the PIN pin 51; the ejector pin 233 cooperates with the PIN pin guide groove 222; the pin insertion driving mechanism 25 is used to drive the pin insertion assembly 23 to move along the X-axis, and then drive the ejector pin 233 to push the PIN pin 51 along the PIN pin guide groove 222 to perform the PIN pin insertion action. Specifically, the pin insertion assembly 23 is installed on the first base 21 through the second X-axis slide rail slider assembly 29; the second X-axis slide rail slider assembly 29 provides the pin insertion assembly 23 with the degree of freedom to move along the X-axis. In this embodiment, the design of the PIN pin guide groove of the PIN pin guide groove assembly and the cooperation of the ejector pin can ensure the smooth insertion of the PIN pin while avoiding the bending and deformation of the PIN pin, thereby improving the success rate and quality of the pin insertion.

[0047] Refer to Figure 6As shown, the pin assembly 23 also includes a pin mounting platform 231 slidably mounted on the first base 21, and a pin mounting block 232 slidably mounted on the pin mounting platform 231; the ejector 233 is fixed to the pin mounting block 232; a sensor fixing block 235 is also fixed on the pin mounting platform 231, and a pressure detector 236 is also installed between the sensor fixing block 235 and the pin mounting block 232. Specifically, the pin mounting block 232 is mounted on the pin mounting platform 231 through a third X-axis slide rail slider assembly 237; the third X-axis slide rail slider assembly 237 provides the pin mounting block 232 with a degree of freedom to move along the X-axis; when the ejector 233 performs a pin insertion operation, the pin reaction force it receives will be transmitted to the pin mounting block 232, and then transmitted to the pressure detector using the X-axis movement degree of freedom of the pin mounting block 232, thereby detecting the pin pressure. In this embodiment, the pressure detector is designed to detect the insertion force of the PIN needle, thereby determining the insertion depth of the PIN needle and ensuring the insertion accuracy of the PIN needle.

[0048] In a side PIN needle guiding and inserting mechanism of this embodiment, a linkage plate 26 is fixed to the moving end of the pin driving mechanism 25, and the linkage plate 26 is fixedly installed with the linkage rod 27 and the pin mounting platform 231 of the pin assembly 23 respectively.

[0049] Refer to Figure 5 , Figure 6 , Figures 8 to 10As shown, the PIN guide groove assembly 22 includes a PIN guide block 221 slidably mounted on the first base 21, and the PIN guide groove 222 is arranged on the top side of the PIN guide block 221; a tension spring 24 is also arranged between the PIN guide block 221 and the first base 21; the tension spring 24 is used to provide a pulling force to move the PIN guide block 221 toward the workpiece 5 along the X-axis direction; the PIN guide block 221 is also provided with a limiting guide groove 223 on the side close to the pin assembly 23; the pin assembly 23 also includes a limiting head 234; the limiting head 234 cooperates with the limiting guide groove 223. Specifically, the PIN guide block 221 is installed on the first base 21 through the first X-axis slide rail slider assembly 28, and the first X-axis slide rail slider assembly 28 provides the PIN guide block 221 with the degree of freedom to move along the X-axis. In this embodiment, during the PIN pin insertion action, when the pin assembly 23 moves toward the workpiece 5, the tension spring 24 pulls the PIN pin guide groove assembly 22, and under the limiting cooperation of the limiting head 234 and the limiting guide groove 223 away from the workpiece 5, the PIN pin guide groove assembly 22 and the pin assembly 23 move toward the workpiece 5 synchronously, and when the PIN pin guide groove assembly 22 contacts the workpiece 5, the tension spring 24 provides a clamping force for the PIN pin guide groove assembly 22 and the workpiece 5; the pin assembly 23 continues to move toward the workpiece 5, the limiting head 234 disengages from the limiting guide groove 223 away from the workpiece 5, and the limiting guide groove 223 provides the limit head 234 with the freedom to move along the X-axis toward the workpiece 5; when the PIN needle is inserted, the pin assembly 23 moves away from the workpiece 5, and the limit head 234 moves away from the workpiece 5 along the X-axis in the limit guide groove 223 until the limit head 234 contacts the end of the limit guide groove 223 away from the workpiece 5, and the pin assembly 23 continues to move away from the workpiece 5. The limit head 234 acts on the limit guide groove 223 and overcomes the tension of the tension spring 24, so that the PIN pin guide groove assembly 22 moves away from the workpiece 5 synchronously with the pin assembly 23 until the pin assembly 23 moves to the initial position. Through the design of the tension spring, the end face of the PIN pin guide groove assembly is always in contact with the side of the workpiece during the pin insertion process to ensure the stability of the pin insertion. Through the design of the limit head and the limit guide groove, the PIN pin guide groove assembly can be separated from the workpiece when the pin is not inserted, avoiding occupying the limited space of the workpiece clamping and fixing process.

[0050] Embodiment 2

[0051] Please refer to Figures 11 to 23 As shown, for Fig. 22 and Fig.23The workpiece 5 shown includes a lower shell 52 and an upper shell 53; a side PIN needle guiding and inserting mechanism of this embodiment includes the corresponding structure in the first embodiment, and also includes the following structure: the fixture 4 is provided with a lower shell clamping mechanism 6 and an upper shell clamping and docking mechanism 7 on both sides of the Y-axis direction; the lower shell clamping mechanism 6 cooperates with the fixture 4 to clamp and fix the lower shell 52; the upper shell clamping and docking mechanism 7 is used to clamp and fix the upper shell 53, and is also used to dock and assemble the upper shell 53 with the lower shell 52. In this embodiment, the workpiece is clamped and fixed on the front and back sides (Y-axis direction), exposing the jacks on the left and right sides (X-axis direction) of the workpiece, effectively utilizing the space on the front and back sides of the workpiece, making it possible to stably clamp and fix the workpiece, and at the same time, the precise docking and assembly of the lower shell and the upper shell of the workpiece can be completed to ensure the smooth operation of the pin insertion.

[0052] Refer to Fig.12 As shown, the jig 4 includes a receiving groove; the lower half of the lower shell 52 is inserted into the receiving groove, and the upper surface of the jig 4 constitutes the Z-axis limit of the lower shell 52; the lower shell clamping and positioning mechanism 6 includes a lower shell X-axis limit component 61, a lower shell Y-axis clamping component 62, and a lower shell X-axis fixing component 63; the lower shell X-axis limit component 61 is used to act on the side of the upper half of the lower shell 52 in the X-axis direction to limit; the lower shell Y-axis clamping component 62 is used to fix the lower half of the lower shell 52 in the Y-axis direction; the lower shell X-axis fixing component 63 is used to fix the lower half of the lower shell 52 in the X-axis direction. In this embodiment, the precise positioning and fixing of the lower shell in the X-axis, Y-axis and Z-axis directions are achieved through the cooperation of the jig and the lower shell clamping mechanism, while the setting of the side pin insertion mechanism and the guide mechanism is not affected, ensuring the smooth operation of the side pin insertion.

[0053] Refer to Figures 12 to 16As shown, the lower shell X-axis limit assembly 61 includes a clamping claw mounting platform 611 slidably mounted on the frame 1, a clamping claw 612 mounted on the clamping claw mounting platform 611, and a clamping claw driving mechanism 613 for driving the clamping claw 612 to move; the lower shell X-axis limit assembly 61 also includes a clamping claw moving driving mechanism 614 fixed to the frame 1; the clamping claw moving driving mechanism 614 is used to drive the clamping claw mounting platform 611 to move along the Y axis; the clamping claw 612 is used to act on both sides of the X-axis direction of the upper half of the lower shell 52 for limiting; the lower shell Y-axis clamping assembly 62 includes a sliding mounting A locking block mounting platform 622 mounted on the frame 1, a locking block 621 mounted on the locking block mounting platform 622, and a locking block moving driving mechanism 623 for driving the locking block mounting platform 622 to move along the Y-axis; the locking block 621 is used to fix the lower half of the lower shell 52 in the Y-axis direction under the drive of the locking block moving driving mechanism 623; the lower shell X-axis fixing assembly 63 includes a push rod 631 and a push rod moving driving mechanism 632 fixed to the frame 1; the push rod 631 is used to fix the lower half of the lower shell 52 in the X-axis direction under the drive of the push rod moving driving mechanism 632. Specifically, the clamping jaw mounting platform 611 is mounted on the frame 1 through the first Y-axis slide rail slider assembly 615; the first Y-axis slide rail slider assembly 615 provides the clamping jaw mounting platform 611 with the freedom to move along the Y-axis; the locking block mounting platform 622 is mounted on the frame 1 through the second Y-axis slide rail slider assembly 624; the second Y-axis slide rail slider assembly 624 provides the locking block mounting platform 622 with the freedom to move along the Y-axis. In this embodiment, the limited space on the rear side of the workpiece is fully utilized, the clamping is accurate and stable, the position accuracy of the lower shell in the process of docking with the upper shell is guaranteed, and the accuracy of the side pins can also be guaranteed.

[0054] Refer to Fig.18 and Fig.19As shown, the upper shell clamping and docking mechanism 7 includes a third base 71, an upper shell clamping platform 72 slidably mounted on the third base 71, an upper shell clamping mechanism 73 mounted on the upper shell clamping platform 72, and an upper shell clamping platform moving driving mechanism 74 fixed to the third base 71; the upper shell clamping mechanism 73 includes an upper shell positioning block 732, an upper shell Y-axis buckling assembly 733, and an upper shell X-axis locking assembly 734; the upper shell clamping mechanism 73 is used to clamp and fix the upper shell 53, and the upper shell clamping platform moving driving mechanism 74 is used to drive the movement along the Y-axis, thereby moving the upper shell 53 to the lower shell 52 for docking and assembly. Specifically, the upper shell clamping platform 72 is mounted on the third base 71 through a third Y-axis slide rail slider assembly 75; the third Y-axis slide rail slider assembly 75 provides the upper shell clamping platform 72 with the degree of freedom to move along the Y-axis. In this embodiment, an X-axis orientation adjustment component is also included, and the X-axis orientation adjustment component is installed on the third Y-axis slide rail slider component 75. The upper shell clamping platform 72 is installed on the moving end of the X-axis orientation adjustment component. The X-axis orientation adjustment component can adjust the X-axis orientation of the upper shell clamping platform 72 according to the orientation of the lower shell. In this embodiment, the upper shell is precisely positioned and fixed in the X-axis, Y-axis and Z-axis directions through the design of the upper shell clamping docking mechanism, while the setting of the side pin insertion mechanism and the guide mechanism is not affected, ensuring the smooth operation of the side pin insertion operation, and also providing the function of docking the upper shell with the lower shell.

[0055] Refer to Fig.18As shown, the upper shell clamping mechanism 73 includes a fourth base 731 fixed on the upper shell clamping platform 72; the upper shell positioning block 732 is fixed to the fourth base 731; the upper shell positioning block 732 is provided with a Z-axis support block 7321 for supporting the upper shell 53 and providing Z-axis direction positioning for the upper shell; the upper shell positioning block 732 also has a Y-axis positioning surface 7322 for providing Y-axis direction positioning for the upper shell; the upper shell positioning block 732 also includes a vacuum suction hole 7323 provided on the Y-axis positioning surface 7322, for vacuum suction and fixing the upper shell 53 using a vacuum suction device; the upper shell Y-axis buckling assembly 733 is installed on the fourth base 731; the upper shell Y-axis buckling assembly 733 includes a A pressing jaw 7331 and a pressing drive mechanism 7332 installed on the fourth base 731 for driving the pressing jaw 7331 to flip; the pressing jaw 7331 is used to flip under the drive of the pressing drive mechanism 7332, and then press on the upper shell 53 in the Y-axis direction, and cooperate with the Y-axis positioning surface 7322 to clamp and fix the upper shell 53 in the Y-axis direction; the upper shell X-axis locking assembly 734 includes an X-axis locking piece 7341, a transmission rod 7342 fixed to the X-axis locking piece 7341, and an upper shell X-axis locking drive mechanism 7343 for driving the transmission rod 7342 to move along the X-axis direction; the X-axis locking piece 7341 is used to clamp and fix the upper shell in the X-axis direction under the drive of the upper shell X-axis locking drive mechanism 7343. Specifically, as Fig.18 As shown, a compression spring is also installed at one end of the transmission rod that is inserted into the upper shell positioning block. When the driving end of the upper shell X-axis locking drive mechanism 7343 extends out to act on the transmission rod 7342, it will force the transmission rod 7342 to insert the compression spring into the upper shell positioning block. Synchronously, the X-axis locking member 7341 fixed to the transmission rod 7342 will move synchronously with the transmission rod 7342 to achieve unlocking operation; when the upper shell is placed on the upper shell positioning block, the driving end of the upper shell X-axis locking drive mechanism 7343 retracts, and the transmission rod 7342 returns to its original position under the action of the compression spring, and the X-axis locking member 7341 will move synchronously with the transmission rod 7342, close to the side of the internal opening of the upper shell, thereby achieving clamping and fixing of the upper shell in the X-axis direction; of course, this X-axis direction fixing structure is not unique, and can be clamped and fixed accordingly according to the specific design of the upper shell without affecting the space near the upper shell plug hole (without affecting the side pin mechanism), which will not be repeated here.

[0056] In this embodiment, the limited space on the rear side of the workpiece is fully utilized to accurately position and firmly clamp the upper shell, thereby ensuring the position accuracy of the upper shell during docking with the lower shell and also ensuring the accuracy of the side pins.

[0057] In this embodiment, each driving mechanism is driven by a cylinder.

[0058] Taking a side PIN needle guiding and inserting mechanism of the second embodiment as an example, its working process is as follows:

[0059] 1. The upper shell loading robot grabs the upper shell and moves it to the top of the upper shell positioning block of the upper shell clamping and docking mechanism. In the upper shell clamping mechanism, the upper shell X-axis locking drive mechanism is activated, pushing the transmission rod to drive the X-axis lock to unlock; start the vacuum suction equipment to make the vacuum suction hole provide a vacuum suction function; then, the upper shell loading robot places the upper shell on the Z-axis support block of the upper shell positioning block, the upper shell is abutted against the Y-axis positioning surface, and the upper shell and the upper shell positioning block are relatively fixed through the vacuum suction function; the upper shell loading robot moves out; the upper shell X-axis locking drive mechanism is activated, and the transmission rod drives the X-axis lock to clamp and fix the upper shell in the X-axis direction; finally, the pressing drive mechanism drives the pressing claw to flip and press on the upper shell, cooperate with the Y-axis positioning surface, clamp and fix the upper shell, and close the vacuum suction equipment; at this point, the clamping and fixing of the upper shell is completed.

[0060] 2. The lower shell loading robot grabs the lower shell and moves it to the top of the fixture. The claw moving drive mechanism drives the claw mounting platform and the claw to move toward the fixture. The claw driving mechanism drives the claw to open. The lower shell loading robot inserts the lower shell into the accommodating groove of the fixture. The upper surface of the fixture constitutes the Z-axis positioning of the lower shell, and the lower shell loading robot moves out; the locking block moving drive mechanism drives the locking block mounting platform and the locking block to move the locking block toward the lower shell until it contacts the lower shell, thereby clamping and fixing the lower half of the lower shell in the Y-axis direction; the push rod moving drive mechanism drives the push rod to move toward the lower shell until it contacts the lower shell, thereby clamping and fixing the lower half of the lower shell in the X-axis direction; the claw driving mechanism is actuated, and the claw closes and contacts both sides of the upper half of the lower shell in the X-axis direction, thereby limiting the upper half of the lower shell; at this point, the clamping and fixing of the lower shell is completed.

[0061] 3. When the upper shell and the lower shell are both clamped and fixed, the upper shell clamping platform moving drive mechanism drives the upper shell clamping platform to move along the Y-axis toward the fixture direction, and then moves the upper shell toward the lower shell until the upper shell and the lower shell are docked and assembled. At the same time, the clamping jaws are pushed back by the upper shell clamping and docking mechanism, and the clamping jaw moving drive mechanism drives the clamping jaw mounting platform back to the initial position; at this point, the upper shell and the lower shell are docked and assembled.

[0062] 4. The PIN needle loading robot grabs the PIN needle and puts it into the guide groove of the PIN needle guide groove of the pin insertion mechanism. The PIN needle loading robot moves out and waits for the PIN needle insertion instruction.

[0063] 5. The guide needle driving mechanism drives the guide mounting frame, the guide needle frame, and the guide needle to move along the X-axis toward the workpiece, and the guide needle is inserted into the socket of the workpiece. When the insertion is successful, an insertion command is issued to the needle insertion mechanism; if the insertion is not successful, the unloading robot takes out the workpiece in the fixture and places it in the NG unloading area, and repeats the docking and assembly actions of steps one to three above, and performs the guide needle insertion operation again.

[0064] 6. After the pin insertion mechanism receives the PIN pin insertion instruction, the pin insertion drive mechanism drives the pin insertion assembly and the linkage rod to synchronously move toward the workpiece along the X-axis direction. As the pin insertion assembly moves, under the tension of the tension spring, the PIN pin guide groove assembly moves with the pin insertion assembly until the end face of the PIN pin guide groove of the PIN pin guide groove assembly contacts the workpiece. The PIN pin guide groove assembly stops moving and provides a clamping force between the PIN pin guide groove and the workpiece through the tension of the tension spring, while the pin insertion assembly continues to move. The ejector pin pushes the PIN pin to continue to move toward the workpiece along the PIN pin guide groove and inserts the PIN pin into the jack of the workpiece. During the insertion process, the resistance encountered by the PIN pin is transmitted to the pressure detector through the ejector pin and the pin installation block, so that the pressure detector obtains the pin insertion pressure and then determines whether the PIN pin is Insertion depth; synchronously, driven by the linkage rod, the linkage frame moves the guide installation platform away from the workpiece along the X-axis direction, and during the PIN needle insertion process, the guide needle withdraws from the insertion hole of the workpiece; the guide needle driving mechanism drives the guide installation frame, the guide needle frame, and the guide needle to move away from the workpiece along the X-axis to the original position; when the PIN needle is inserted into place, the pin drive mechanism drives the pin assembly and the linkage rod to move away from the workpiece along the X-axis direction, and when the limit head of the pin assembly contacts the end of the limit guide groove of the PIN pin guide groove assembly away from the workpiece, the pin assembly drives the PIN pin guide groove assembly to overcome the tension of the tension spring and synchronously move away from the workpiece until it returns to its original position; synchronously, driven by the linkage plate, the linkage frame moves the guide installation platform toward the workpiece along the X-axis direction and returns to its original position. That is, the PIN pin insertion operation of the workpiece is completed.

[0065] 7. When the PIN pin is inserted, the pressing drive mechanism of the upper shell clamping and docking mechanism drives the pressing claw to flip to its original position, so that the pressing claw is separated from the upper shell, and the upper shell X-axis locking drive mechanism is actuated to push the transmission rod to drive the X-axis lock to unlock, and the upper shell clamping table moving drive mechanism drives the upper shell clamping table to move along the Y-axis away from the fixture until it returns to its original position; wait for the next upper shell to be loaded; the push rod moving drive mechanism of the lower shell clamping mechanism drives the push rod to move away from the lower shell and separate from the lower shell, and the lock block moving drive mechanism drives the lock block mounting platform and the lock block to move the lock block away from the lower shell and return to its original position; the unloading robot takes the workpiece from the fixture and puts it in the finished product unloading area.

[0066] In this embodiment, a CCD camera can also be used to capture visual images of the entire process, provide visual guidance and positioning for the upper shell loading robot, the lower shell loading robot, the PIN needle loading robot, and the unloading robot, and can also capture the image of the guide needle inserted into the workpiece through the CCD camera to determine whether the guide needle is successfully inserted, and capture the image of the PIN needle inserted into the workpiece to determine whether the PIN needle is successfully inserted; this embodiment can use a control module, stroke control components of each drive mechanism, sensors, solenoid valve groups for controlling the air circuit, etc., to achieve automated control; in order to meet the needs of automated control, personnel in this field should refer to the above-mentioned working principle for specific connections and control logic, the working order of each electrical component and the corresponding electrical connection, air circuit connection, and the detailed connection means are well-known technologies in the field, and therefore, the electrical control will not be described.

[0067] The above embodiments should not limit the present invention in any way, and any technical solutions obtained by equivalent replacement or equivalent conversion shall fall within the protection scope of the present invention.

Claims

1. A side PIN needle guide insertion mechanism, characterized in that: The invention comprises a frame, a jig fixed on the frame and used for carrying a workpiece into which a PIN needle is to be inserted, a pin insertion mechanism and a guiding mechanism located on both sides of the jig in the X-axis direction; the pin insertion mechanism comprises an ejector pin and an insertion pin driving mechanism, the pin insertion mechanism is used to drive the ejector pin to move along the X-axis direction through the insertion pin driving mechanism, and then use the ejector pin to push the PIN needle into the insertion hole of the workpiece to realize the PIN needle insertion action; the guiding mechanism comprises a guiding mounting table, a guiding mounting frame slidably mounted on the guiding mounting table, a guiding needle frame fixed on the guiding mounting frame, a guiding needle fixed on the guiding needle frame, and a guiding needle driving mechanism fixed on the guiding mounting table and used for driving the guiding mounting frame to move along the X-axis; the ejector pin, the insertion hole of the workpiece and the guide needle are directly corresponding in the X-axis direction; the guiding mechanism acts before the pin insertion mechanism, and drives the guiding mounting frame to move toward the workpiece along the X-axis through the guide needle driving mechanism to perform the guide needle insertion operation; if the insertion is successful, the PIN needle insertion action of the pin insertion mechanism is performed; if the insertion is unsuccessful, the workpiece is judged to be an NG product, and the guide needle insertion operation is performed after the next workpiece is placed on the jig.

2. A side PIN needle guide insertion mechanism according to claim 1, characterized in that: The guiding mechanism also includes a second base fixed on the frame; the guiding mounting platform is slidably mounted on the second base; the pin insertion mechanism also includes a linkage rod in the X-axis direction, and the pin insertion driving mechanism is also used to drive the linkage rod to move along the X-axis direction; the guiding mounting platform is also fixed with a linkage frame at a position corresponding to the linkage rod; the linkage rod and the linkage frame are fixedly mounted; when the pin insertion mechanism performs the PIN needle insertion action through the pin insertion driving mechanism, the linkage rod, the linkage frame, and the guiding mounting platform are also driven by the pin insertion driving mechanism to move along the X-axis direction and away from the workpiece, so that the guide needle is withdrawn from the workpiece insertion hole.

3. A side PIN needle guide insertion mechanism according to claim 1, characterized in that: The pin insertion mechanism also includes a first base fixed on the frame, a PIN pin guide groove assembly installed on the first base, and a pin insertion assembly slidably installed on the first base; the pin insertion assembly includes the ejector pin; the PIN pin guide groove assembly includes a PIN pin guide groove in the X-axis direction for carrying the PIN pin; the ejector pin cooperates with the PIN pin guide groove; the pin insertion drive mechanism is used to drive the pin insertion assembly to move along the X-axis, thereby driving the ejector pin to push the PIN pin along the PIN pin guide groove to perform the PIN pin insertion action.

4. A side PIN needle guiding and inserting mechanism according to claim 3, characterized in that: The pin assembly also includes a pin mounting platform slidably mounted on the first base and a pin mounting block slidably mounted on the pin mounting platform; the ejector pin is fixed to the pin mounting block; a sensor fixing block is also fixed on the pin mounting platform, and a pressure detector is also installed between the sensor fixing block and the pin mounting block.

5. A side PIN needle guiding and inserting mechanism according to claim 3, characterized in that: The PIN pin guide groove assembly includes a PIN pin guide block slidably mounted on the first base, and the PIN pin guide groove is arranged on the top side of the PIN pin guide block; a tension spring is also arranged between the PIN pin guide block and the first base; the tension spring is used to provide a pulling force to move the PIN pin guide block toward the workpiece along the X-axis direction; the PIN pin guide block is also provided with a limiting guide groove on a side close to the pin assembly; the pin assembly also includes a limiting head; the limiting head cooperates with the limiting guide groove.

6. A side PIN needle guiding and inserting mechanism according to any one of claims 1 to 5, characterized in that: The workpiece includes a lower shell and an upper shell; the jig is provided with a lower shell clamping mechanism and an upper shell clamping and docking mechanism on both sides of the Y-axis direction; the lower shell clamping mechanism cooperates with the jig to clamp and fix the lower shell; the upper shell clamping and docking mechanism is used to clamp and fix the upper shell, and is also used to dock and assemble the upper shell and the lower shell.

7. A side PIN needle guiding and inserting mechanism according to claim 6, characterized in that: The jig includes a receiving groove; the lower half of the lower shell is inserted into the receiving groove, and the upper surface of the jig constitutes the Z-axis limit of the lower shell; the lower shell clamping and positioning mechanism includes a lower shell X-axis limit assembly, a lower shell Y-axis clamping assembly, and a lower shell X-axis fixing assembly; the lower shell X-axis limit assembly is used to act on the side of the upper half of the lower shell in the X-axis direction for limiting; the lower shell Y-axis clamping assembly is used to fix the lower half of the lower shell in the Y-axis direction; the lower shell X-axis fixing assembly is used to fix the lower half of the lower shell in the X-axis direction.

8. A side PIN needle guide insertion mechanism according to claim 7, characterized in that: The X-axis limiting assembly of the lower shell includes a clamping claw mounting platform slidably mounted on the frame, a clamping claw mounted on the clamping claw mounting platform, and a clamping claw driving mechanism for driving the clamping claw to move; the X-axis limiting assembly of the lower shell also includes a clamping claw moving driving mechanism fixed to the frame; the clamping claw moving driving mechanism is used to drive the clamping claw mounting platform to move along the Y-axis; the clamping claw is used to act on both sides of the X-axis direction of the upper half of the lower shell for limiting; the Y-axis clamping assembly of the lower shell includes a locking block mounting platform slidably mounted on the frame, a locking block mounted on the locking block mounting platform, and a locking block moving driving mechanism for driving the locking block mounting platform to move along the Y-axis; the locking block is used to fix the lower half of the lower shell in the Y-axis direction under the drive of the locking block moving driving mechanism; the X-axis fixing assembly of the lower shell includes a push rod and a push rod moving driving mechanism fixed to the frame; the push rod is used to fix the lower half of the lower shell in the X-axis direction under the drive of the push rod moving driving mechanism.

9. A side PIN needle guiding and inserting mechanism according to claim 6, characterized in that: The upper shell clamping and docking mechanism includes a third base, an upper shell clamping platform slidably installed on the third base, an upper shell clamping mechanism installed on the upper shell clamping platform, and an upper shell clamping platform moving drive mechanism fixed to the third base; the upper shell clamping mechanism includes an upper shell positioning block, an upper shell Y-axis buckling assembly, and an upper shell X-axis locking assembly; the upper shell clamping mechanism is used to clamp and fix the upper shell, and the upper shell clamping platform moving drive mechanism is used to drive the movement along the Y-axis, thereby moving the upper shell to the lower shell for docking and assembly.

10. A side PIN needle guiding and inserting mechanism according to claim 9, characterized in that: The upper shell clamping mechanism includes a fourth base fixed on the upper shell clamping platform; the upper shell positioning block is fixed to the fourth base; the upper shell positioning block is provided with a Z-axis support block for supporting the upper shell and providing Z-axis direction positioning for the upper shell; the upper shell positioning block also has a Y-axis positioning surface for providing Y-axis direction positioning for the upper shell; the upper shell positioning block also includes a vacuum suction hole provided on the Y-axis positioning surface for vacuum suction and fixing the upper shell by using a vacuum suction device; the upper shell Y-axis buckling assembly is installed on the fourth base; the upper shell Y-axis buckling assembly includes a buckling clamp hinged on the fourth base, and a buckling drive mechanism installed on the fourth base for driving the buckling clamp to flip; The pressing claw is used to flip under the drive of the pressing drive mechanism, and then press on the upper shell in the Y-axis direction, cooperating with the Y-axis positioning surface to clamp and fix the upper shell in the Y-axis direction; the upper shell X-axis locking assembly includes an X-axis locking element, a transmission rod fixed to the X-axis locking element, and an upper shell X-axis locking drive mechanism for driving the transmission rod to move along the X-axis direction; the X-axis locking element is used to clamp and fix the upper shell in the X-axis direction under the drive of the upper shell X-axis locking drive mechanism.

Images