Side pin guiding insertion mechanism

Abstract

The application relates to a side PIN needle guiding and inserting mechanism, which comprises a rack, a jig, a needle inserting mechanism and a guiding mechanism; the needle inserting mechanism comprises a thimble and a needle driving mechanism, and is used for driving the thimble to realize a PIN needle inserting action through the needle driving mechanism; the guiding mechanism comprises a guiding mounting table, a guiding mounting rack, a guiding needle rack, a guiding needle and a guiding needle driving mechanism; the thimble, a jack of the workpiece and the guiding needle are in positive correspondence in the X-axis direction; the guiding mechanism acts prior to the needle inserting mechanism, the guiding mounting rack is driven by the guiding needle driving mechanism to move along the X-axis towards the workpiece, and a guiding needle inserting operation is performed; if the insertion is successful, a PIN needle inserting action is performed; if the insertion is not successful, the workpiece is judged as an NG product, the next workpiece is placed on the jig, and then the guiding needle inserting operation is performed. The application can adapt to the limited space of the side of the workpiece, has high precision and high efficiency, improves the precision and stability of product assembly, and meets diversified production requirements.

Description

Technical Field

[0001] This invention relates to the field of PIN insertion devices, and in particular to a side-mounted PIN insertion guiding mechanism. Background Technology

[0002] In modern manufacturing, precision assembly technology is crucial for product quality and performance. Especially in industries such as electronics, automotive, and medical devices, the insertion of pins is a common assembly step.

[0003] Traditional pin insertion methods typically rely on manual operation or simple mechanical devices, which suffer from low efficiency, poor accuracy, and difficulty in ensuring consistency. Manual pin insertion, where operators use tools to manually insert the pins, is simple but inefficient and prone to inconsistencies in insertion accuracy due to human error. Mechanical pin insertion uses simple mechanical devices (such as cylinders or levers) for insertion. While more efficient than manual insertion, it still has limitations in scenarios with complex shapes or high precision requirements.

[0004] In the internal structures of some sophisticated electronic devices, due to space constraints, front-mounted PIN insertion cannot meet the requirements of compact assembly. Limited operating space often means that other structures or components are present on the front of the product, leaving extremely limited space for the insertion device. This can easily obstruct the insertion process or even prevent its completion. For example, in some miniaturized housings or injection-molded products, the front is filled with various electronic components, making front-mounted PIN insertion extremely difficult. Furthermore, existing front-mounted insertion mechanisms are completely unsuitable for product designs that require side connections or fixation. For instance, some medical devices or flip-top products with unique shapes require side-mounted PIN connections to external devices, a requirement that front-mounted mechanisms cannot meet. Additionally, the greater insertion force during front-mounted insertion can damage the fragile structures or surface coatings on the front of the product, affecting its appearance and performance. For example, in the manufacture of some precision optical instruments, front-mounted PIN insertion can scratch the optical coating on the instrument's surface, reducing its optical performance.

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

[0006] To address the aforementioned technical problems, this invention provides a side-mounted PIN guide insertion mechanism that can adapt to the limited space on the side of a workpiece, offering excellent high precision and efficiency, improving the accuracy and stability of product assembly, and meeting diverse production needs.

[0007] The technical solution adopted by this invention to solve its technical problem is: a side-mounted PIN guide insertion mechanism, comprising a frame, a fixture fixed on the frame for carrying a workpiece to be inserted with a PIN, a PIN insertion mechanism and a guide mechanism located on both sides of the fixture in the X-axis direction; the PIN insertion mechanism includes a push pin and a PIN drive mechanism, the PIN insertion mechanism being used to drive the push pin to move along the X-axis direction through the PIN drive mechanism, thereby using the push pin to push the PIN into the insertion hole of the workpiece, realizing the PIN insertion action; the guide mechanism includes a guide mounting platform, a guide mounting bracket slidably mounted on the guide mounting platform, and a fixed... The system includes a guide pin holder fixed to the guide mounting bracket, a guide pin fixed to the guide pin holder, and a guide pin drive mechanism fixed to the guide mounting platform for driving the guide mounting bracket to move along the X-axis. The ejector pin, the workpiece's insertion hole, and the guide pin are directly aligned in the X-axis direction. The guide mechanism operates before the insertion mechanism, driving the guide mounting bracket to move towards the workpiece along the X-axis via the guide pin drive mechanism to perform the guide pin insertion operation. If insertion is successful, the insertion mechanism performs the PIN insertion operation. If insertion fails, the workpiece is determined to be an NG product, and the system waits for the next workpiece to be placed in the fixture before performing the guide pin insertion operation again.

[0008] Furthermore, the guiding mechanism also includes a second base fixed to 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 insertion action through the pin insertion driving mechanism, it also drives the linkage rod, linkage frame, and guiding mounting platform to move away from the workpiece along the X-axis direction through the pin insertion driving mechanism, so that the guiding pin performs the action of withdrawing from the workpiece insertion hole.

[0009] Furthermore, the pin insertion mechanism also includes a first base fixed on the frame, a PIN guide groove assembly mounted on the first base, and a pin insertion assembly slidably mounted on the first base; the pin insertion assembly includes the aforementioned ejector pin; the PIN guide groove assembly includes a PIN guide groove in the X-axis direction for carrying the PIN pin; the ejector pin cooperates with the 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 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 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 guide groove assembly includes a PIN guide block slidably mounted on the first base, and the PIN guide groove is disposed on the top side of the PIN guide block; a tension spring is also disposed between the PIN guide block and the first base; the tension spring is used to provide a pulling force to move the PIN guide block toward the workpiece in the X-axis direction; the PIN guide block is also provided with a limiting guide groove on the side near the insertion pin assembly; the insertion 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 fixture is provided with a lower shell clamping mechanism and an upper shell clamping docking mechanism on both sides of the Y-axis direction; the lower shell clamping mechanism cooperates with the fixture to clamp and fix the lower shell; the upper shell clamping docking mechanism is used to clamp and fix the upper shell, and also to assemble the upper shell and the lower shell together.

[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 a Z-axis limit for the lower shell; the lower shell clamping and positioning mechanism includes a lower shell X-axis limiting assembly, a lower shell Y-axis clamping assembly, and a lower shell X-axis fixing assembly; the lower shell X-axis limiting assembly is used to limit the upper half of the lower shell in the X-axis direction; 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 lower shell X-axis limiting assembly includes a gripper mounting platform slidably mounted on the frame, a gripper mounted on the gripper mounting platform, and a gripper drive mechanism for driving the gripper's movement; the lower shell X-axis limiting assembly also includes a gripper movement drive mechanism fixed on the frame; the gripper movement drive mechanism is used to drive the gripper mounting platform to move along the Y-axis; the gripper is used to limit the upper half of the lower shell on both sides in the X-axis direction; the lower shell Y-axis clamping assembly 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 movement drive 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 movement drive mechanism; the lower shell X-axis fixing assembly includes a push rod and a push rod movement drive mechanism fixed on 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 movement drive mechanism.

[0015] Furthermore, the upper shell clamping and docking mechanism includes a third base, an upper shell clamping platform slidably mounted on the third base, an upper shell clamping mechanism mounted 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 clamping 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 it to move 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 to 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 positioning for the upper shell; the upper shell positioning block also has a Y-axis positioning surface for providing Y-axis 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 of the upper shell using a vacuum suction device; the upper shell Y-axis clamping assembly is mounted on the fourth base; the upper shell Y-axis clamping assembly includes a hinged component to the fourth base. The four bases have clamping jaws, and a clamping drive mechanism mounted on the fourth base is used to drive the clamping jaws to flip. The clamping jaws are used to flip under the drive of the clamping drive mechanism, and then clamp onto 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 member, a transmission rod fixed to the X-axis locking member, 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 member 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: The side PIN guide insertion mechanism of the present invention can adapt to the limited space on the side of the workpiece, and has excellent effects of high precision and high efficiency, improving the accuracy and stability of product assembly and meeting diverse production needs. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of a side PIN pin guiding insertion mechanism according to Embodiment 1;

[0019] Figure 2 This is a top view schematic diagram of a side PIN pin guiding insertion mechanism according to Embodiment 1;

[0020] Figure 3 This is a three-dimensional schematic diagram of the pin insertion mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 1;

[0021] Figure 4 This is a three-dimensional schematic diagram of the pin mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 1 from another angle.

[0022] Figure 5 This is a three-dimensional schematic diagram of the PIN guide groove assembly of the pin mechanism of a side PIN guide insertion mechanism according to Embodiment 1.

[0023] Figure 6 This is a three-dimensional schematic diagram of the pin assembly of the pin mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 1.

[0024] Figure 7 This is a three-dimensional schematic diagram of the guide mechanism of a side PIN pin guide insertion mechanism according to Embodiment 1;

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

[0026] Figure 9 This is a cross-sectional schematic diagram of AA showing the guide pin insertion state of a side PIN pin guide insertion mechanism according to Embodiment 1.

[0027] Figure 10 This is a cross-sectional schematic diagram of AA showing the PIN insertion state of a side PIN guide insertion mechanism according to Embodiment 1.

[0028] Figure 11 This is a three-dimensional schematic diagram of a side PIN pin guiding insertion mechanism according to Embodiment 2;

[0029] Figure 12 This is a three-dimensional schematic diagram of the lower shell clamping mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 2;

[0030] Figure 13 This is a left view schematic diagram of the lower shell clamping mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 2;

[0031] Figure 14 This is a top view schematic diagram of the lower shell clamping mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 2;

[0032] Figure 15 for Figure 14 A cross-sectional view of BB;

[0033] Figure 16 for Figure 14 A cross-sectional view of CC;

[0034] Figure 17 This is a three-dimensional schematic diagram of the upper shell clamping and docking mechanism of a side PIN pin guiding insertion mechanism according to Embodiment 2;

[0035] Figure 18 This is a three-dimensional schematic diagram of the upper shell clamping and docking mechanism of the side PIN needle guiding insertion mechanism according to Embodiment 2.

[0036] Figure 19 This is a three-dimensional schematic diagram of the upper shell clamping and docking mechanism of the side PIN needle guiding insertion mechanism in Embodiment 2, showing the upper shell clamping and fixing state of the upper shell.

[0037] Figure 20 This is a three-dimensional schematic diagram of the assembly of the upper and lower shells of a side PIN guide insertion mechanism according to Embodiment 2.

[0038] Figure 21 for Figure 20 A magnified view of a portion of region D;

[0039] Figure 22 This is a three-dimensional schematic diagram of the workpiece;

[0040] Figure 23 This is a schematic diagram of the workpiece in its disassembled state.

[0041] Among them, 1-frame, 2-pin insertion mechanism, 3-guide mechanism, 4-fixture, 5-workpiece, 6-lower shell clamping mechanism, 7-upper shell clamping and docking mechanism, 21-first base, 22-PIN guide groove assembly, 23-pin insertion assembly, 24-tension spring, 25-pin insertion 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 guide block, 222-PIN guide groove, 223-limiting guide groove, 231- 232-Pin mounting platform, 233-Ejector pin, 234-Limit head, 235-Sensor fixing block, 236-Pressure detector, 237-Third X-axis slide rail slider assembly, 31-Second base, 32-Guide mounting platform, 33-Guide mounting bracket, 34-Guide pin bracket, 35-Guide pin, 36-Guide pin drive mechanism, 37-Linkage bracket, 38-Fourth X-axis slide rail slider assembly, 39-Fifth X-axis slide rail slider assembly, 51-PIN pin, 52-Lower shell, 53-Upper shell 61-Lower shell X-axis limiting assembly, 62-Lower shell Y-axis clamping assembly, 63-Lower shell X-axis fixing assembly, 611-Gripper mounting platform, 612-Gripper, 613-Gripper drive mechanism, 614-Gripper movement drive mechanism, 615-First Y-axis slide rail slider assembly, 621-Locking block, 622-Locking block mounting platform, 623-Locking block movement drive mechanism, 624-Second Y-axis slide rail slider assembly, 631-Push rod, 632-Push rod movement drive mechanism, 71-Third base, 72-Upper shell clamping platform 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 clamping assembly, 734-Upper shell X-axis locking assembly, 7321-Z-axis support block, 7322-Y-axis positioning surface, 7323-Vacuum suction hole, 7331-Clamping gripper, 7332-Clamping drive mechanism, 7341-X-axis locking component, 7342-Transmission rod, 7343-Upper shell X-axis locking drive mechanism. Detailed Implementation

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

[0043] Example 1

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

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

[0046] Refer to Figures 3 to 6 As shown, the pin insertion mechanism 2 further includes a first base 21 fixed to the frame 1, a PIN guide groove assembly 22 mounted on the first base 21, and a pin insertion assembly 23 slidably mounted on the first base 21. The pin insertion assembly 23 includes the aforementioned ejector pin 233. The PIN guide groove assembly 22 includes a PIN guide groove 222 in the X-axis direction for carrying the PIN pin 51. The ejector pin 233 cooperates with the PIN guide groove 222. The pin insertion drive mechanism 25 is used to drive the pin insertion assembly 23 to move along the X-axis, thereby driving the ejector pin 233 to push the PIN pin 51 along the PIN guide groove 222 to perform the PIN insertion action. Specifically, the pin insertion assembly 23 is mounted on the first base 21 via a 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 freedom to move along the X-axis. In this embodiment, the design of the PIN guide groove of the PIN guide groove assembly, in conjunction with the ejector pin, ensures smooth insertion of the PIN pin while preventing bending and deformation of the PIN pin, thereby improving the success rate and quality of pin insertion.

[0047] Refer to Figure 6As shown, the pin assembly 23 further 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 pin 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 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 via 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 pin 233 performs a pin insertion operation, the reaction force of the pin is 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 insertion force of the PIN pin is detected by a pressure detector to determine the insertion depth of the PIN pin and ensure the insertion accuracy of the PIN pin.

[0048] In a side PIN guide insertion mechanism of this embodiment, the moving end of the pin drive mechanism 25 is fixed with a linkage plate 26, 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 slot assembly 22 includes a PIN guide block 221 slidably mounted on the first base 21, and the PIN guide slot 222 is disposed on the top side of the PIN guide block 221. A tension spring 24 is also disposed 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 slot 223 on the side near the insertion pin assembly 23. The insertion pin assembly 23 also includes a limiting head 234. The limiting head 234 cooperates with the limiting guide slot 223. Specifically, the PIN guide block 221 is mounted on the first base 21 via a first X-axis slide rail slider assembly 28, which provides the PIN guide block 221 with the freedom to move along the X-axis. In this embodiment, during the PIN insertion action, when the pin insertion assembly 23 moves towards the workpiece 5, the tension spring 24 pulls the PIN guide groove assembly 22. Under the limiting cooperation of the limiting head 234 and the limiting guide groove 223 at the end away from the workpiece 5, the PIN guide groove assembly 22 and the pin insertion assembly 23 move towards the workpiece 5 synchronously. When the PIN guide groove assembly 22 contacts the workpiece 5, the tension spring 24 provides a clamping force for the PIN guide groove assembly 22 and the workpiece 5. The pin insertion assembly 23 continues to move towards the workpiece 5, and the limiting head 234 disengages from the end of the limiting guide groove 223 away from the workpiece 5. 223 provides the limiting head 234 with the freedom to move along the X-axis toward the workpiece 5. After the PIN insertion action is completed, the pin insertion assembly 23 moves away from the workpiece 5, and the limiting head 234 moves away from the workpiece 5 along the X-axis in the limiting guide groove 223 until the limiting head 234 contacts the end of the limiting guide groove 223 away from the workpiece 5. The pin insertion assembly 23 continues to move away from the workpiece 5, and the limiting head 234 acts on the limiting guide groove 223 and overcomes the tension of the tension spring 24, causing the PIN pin guide groove assembly 22 to move away from the workpiece 5 synchronously with the pin insertion assembly 23 until the pin insertion assembly 23 moves to its 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, ensuring the stability of the pin insertion. Through the design of the limiting head and the limiting guide groove, the PIN pin guide groove assembly can be disengaged from the workpiece when no pin is inserted, avoiding occupying the limited space in the workpiece clamping and fixing process.

[0050] Example 2

[0051] Please refer to Figures 11 to 23 As shown, for example Figure 22 and Figure 23The workpiece 5 shown includes a lower shell 52 and an upper shell 53. In addition to the corresponding structure in Embodiment 1, the side-mounted PIN insertion mechanism of this embodiment also includes the following structures: the fixture 4 is provided with a lower shell clamping mechanism 6 and an upper shell clamping docking mechanism 7 on both sides of the Y-axis. The lower shell clamping mechanism 6 cooperates with the fixture 4 to clamp and fix the lower shell 52; the upper shell clamping docking mechanism 7 is used to clamp and fix the upper shell 53 and also to assemble the upper shell 53 with the lower shell 52. In this embodiment, clamping and fixing are performed on the front and back sides (Y-axis direction) of the workpiece, exposing the insertion holes located on the left and right sides (X-axis direction) of the workpiece. This effectively utilizes the space on the front and back sides of the workpiece, enabling stable clamping and fixing of the workpiece. Simultaneously, it also allows for precise docking and assembly of the lower and upper shells of the workpiece, ensuring smooth PIN insertion operations.

[0052] Refer to Figure 12 As shown, the fixture 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 fixture 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 limiting component 61, a lower shell Y-axis clamping component 62, and a lower shell X-axis fixing component 63; the lower shell X-axis limiting component 61 is used to limit the side of the upper half of the lower shell 52 in the X-axis direction; 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, through the cooperation of the fixture and the lower shell clamping mechanism, the lower shell is accurately positioned and fixed in the X-axis, Y-axis, and Z-axis directions, while not affecting the setting of the side pin insertion mechanism and the guiding mechanism, ensuring the smooth operation of the side pin insertion.

[0053] Refer to Figures 12 to 16As shown, the lower shell X-axis limiting assembly 61 includes a gripper mounting platform 611 slidably mounted on the frame 1, a gripper 612 mounted on the gripper mounting platform 611, and a gripper drive mechanism 613 for driving the gripper 612 to move; the lower shell X-axis limiting assembly 61 also includes a gripper moving drive mechanism 614 fixed on the frame 1; the gripper moving drive mechanism 614 is used to drive the gripper mounting platform 611 to move along the Y-axis; the gripper 612 is used to limit the upper half of the lower shell 52 on both sides in the X-axis direction; the lower shell Y-axis clamping assembly 62 includes a sliding mounting platform 611... The system includes a lock block mounting platform 622 mounted on the frame 1, a lock block 621 mounted on the lock block mounting platform 622, and a lock block moving drive mechanism 623 for driving the lock block mounting platform 622 to move along the Y-axis. The lock block 621 is used to fix the lower half of the lower shell 52 in the Y-axis direction under the drive of the lock block moving drive mechanism 623. The lower shell X-axis fixing assembly 63 includes a push rod 631 and a push rod moving drive 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 drive mechanism 632. Specifically, the gripper mounting table 611 is mounted on the frame 1 via a first Y-axis slide rail slider assembly 615; the first Y-axis slide rail slider assembly 615 provides the gripper mounting table 611 with a degree of freedom to move along the Y-axis; the locking block mounting table 622 is mounted on the frame 1 via a second Y-axis slide rail slider assembly 624; the second Y-axis slide rail slider assembly 624 provides the locking block mounting table 622 with a degree of freedom to move along the Y-axis. In this embodiment, the limited space behind the workpiece is fully utilized, resulting in precise and stable clamping, ensuring the positional accuracy of the lower shell during docking with the upper shell, and also ensuring the accuracy of the side pins.

[0054] Refer to Figure 18 and Figure 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 drive 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 clamping 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 drive mechanism 74 is used to drive it to move 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 via 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 freedom to move along the Y-axis. This embodiment also includes an X-axis orientation adjustment component, which is mounted on the third Y-axis slide rail slider assembly 75. The upper shell clamping stage 72 is mounted 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 stage 72 according to the orientation of the lower shell. In this embodiment, through the design of the upper shell clamping and docking mechanism, the upper shell is accurately positioned and fixed in the X, Y, and Z axes, while not affecting the side pin insertion mechanism and guide mechanism, ensuring the smooth operation of the side pin insertion, and also providing the function of docking between the upper and lower shells.

[0055] Refer to Figure 18As shown, the upper shell clamping mechanism 73 includes a fourth base 731 fixed to 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 positioning for the upper shell; the upper shell positioning block 732 also has a Y-axis positioning surface 7322 for providing Y-axis 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 of the upper shell 53 using a vacuum suction device; the upper shell Y-axis clamping assembly 733 is mounted on the fourth base 731; the upper shell Y-axis clamping assembly 733 includes components hinged to the fourth base 731. The upper shell includes a clamping jaw 7331 and a clamping drive mechanism 7332 mounted on a fourth base 731 for rotating the clamping jaw 7331. The clamping jaw 7331 is rotated under the drive of the clamping drive mechanism 7332, thereby clamping onto the upper shell 53 in the Y-axis direction and cooperating 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 member 7341, a transmission rod 7342 fixed to the X-axis locking member 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 member 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 shown in the figure... Figure 18 As shown, a compression spring is installed at one end of the transmission rod that inserts into the upper shell positioning block. When the drive end of the upper shell X-axis locking drive mechanism 7343 extends and acts on the transmission rod 7342, it forces the transmission rod 7342 to insert into the upper shell positioning block and compress the compression spring. Simultaneously, the X-axis locking piece 7341 fixed to the transmission rod 7342 moves synchronously with the transmission rod 7342 to achieve the unlocking operation. When the upper shell is placed on the upper shell positioning block, the drive 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. The X-axis locking piece 7341 moves synchronously with the transmission rod 7342 and comes close to the side of the opening inside the upper shell, thereby achieving the clamping and fixing of the upper shell in the X-axis direction. Of course, this X-axis fixing structure is not unique. Depending on the specific design of the upper shell, the corresponding clamping and fixing can be performed without affecting the space near the upper shell insertion hole (without affecting the side insertion pin mechanism). This will not be elaborated here.

[0056] In this embodiment, the limited space at the rear of the workpiece is fully utilized to accurately position and securely clamp the upper shell, ensuring the positional 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 drive mechanism is driven by a cylinder.

[0058] Taking a side PIN pin guide insertion mechanism from Embodiment 2 as an example, its working process is as follows:

[0059] 1. The upper shell loading robot grabs the upper shell and moves it above 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 unlock the X-axis lock. The vacuum suction device is activated, enabling the vacuum suction hole to provide 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, with the upper shell abutting against the Y-axis positioning surface. Through the vacuum suction function, the upper shell and the upper shell positioning block are relatively fixed. 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 clamping drive mechanism drives the clamping jaws to flip and clamp onto the upper shell, cooperating with the Y-axis positioning surface to clamp and fix the upper shell. The vacuum suction device is then turned off. At this point, the upper shell clamping and fixing is completed.

[0060] 2. The lower shell loading robot grabs the lower shell and moves it above the fixture. The gripper movement drive mechanism drives the gripper mounting platform and gripper towards the fixture. The gripper drive mechanism drives the gripper to open, and the lower shell loading robot inserts the lower shell into the receiving slot of the fixture. The upper surface of the fixture forms the Z-axis positioning of the lower shell. The lower shell loading robot moves out. The lock block movement drive mechanism drives the lock block mounting platform and lock block, causing the lock block to move towards the lower shell until it contacts the lower shell, achieving clamping and fixing of the lower half of the lower shell in the Y-axis direction. The push rod movement drive mechanism drives the push rod towards the lower shell until it contacts the lower shell, achieving clamping and fixing of the lower half of the lower shell in the X-axis direction. The gripper drive mechanism actuates, and the gripper closes and contacts both sides of the upper half of the lower shell in the X-axis direction, achieving limiting of the upper half of the lower shell. At this point, the clamping and fixing of the lower shell is completed.

[0061] 3. After the upper and lower shells are clamped and fixed, the upper shell clamping table moving drive mechanism drives the upper shell clamping table to move along the Y-axis toward the fixture, thereby moving the upper shell toward the lower shell until the upper shell and the lower shell are docked and assembled. At the same time, the gripper is pushed back by the upper shell clamping docking mechanism, and the gripper moving drive mechanism drives the gripper mounting table back to the initial position; at this point, the upper shell and the lower shell are docked and assembled.

[0062] 4. The PIN feeding robot grabs the PIN and places it into the guide groove of the PIN guide groove of the insertion mechanism. The PIN feeding robot then moves out and waits for the PIN insertion command.

[0063] 5. The guide pin drive mechanism drives the guide mounting bracket, guide pin holder, and guide pin to move along the X-axis toward the workpiece. The guide pin is inserted into the insertion hole of the workpiece. When the insertion is successful, the insertion command is sent to the insertion mechanism. If the insertion is unsuccessful, the unloading robot takes the workpiece out of the fixture and places it in the NG unloading area, repeats the docking and assembly actions of steps one to three above, and performs the guide pin insertion operation again.

[0064] VI. After receiving the pin insertion command, the pin insertion mechanism drives the pin insertion assembly and linkage rod to move synchronously towards the workpiece along the X-axis. As the pin insertion assembly moves, the pin guide groove assembly moves along with it under the tension of the tension spring until the end face of the pin guide groove of the pin guide groove assembly contacts the workpiece. The pin guide groove assembly stops moving and provides a clamping force between the pin guide groove and the workpiece through the tension of the tension spring. The pin insertion assembly continues to move, and the ejector pin pushes the pin along the pin guide groove towards the workpiece, inserting the pin into the insertion hole of the workpiece. During the insertion process, the resistance experienced by the pin is transmitted to the pressure detector through the ejector pin and the pin mounting block, allowing the pressure detector to obtain the pin insertion pressure and thus determine the pin insertion pressure. The insertion depth is determined; simultaneously, driven by the linkage rod, the linkage frame moves the guide mounting platform away from the workpiece along the X-axis. During the PIN insertion process, the guide pin exits from the workpiece's insertion hole. The guide pin drive mechanism drives the guide mounting frame, guide pin holder, and guide pin to move away from the workpiece along the X-axis back to their original positions. After the PIN is inserted, the pin drive mechanism drives the pin assembly and linkage rod to move synchronously away from the workpiece along the X-axis. When the limiting head of the pin assembly contacts the limiting 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 move synchronously away from the workpiece until it returns to its original position. Simultaneously, driven by the linkage plate, the linkage frame moves the guide mounting platform towards the workpiece along the X-axis back to its original position. This completes the PIN insertion operation of the workpiece.

[0065] 7. After the PIN pin insertion is completed, the snapping drive mechanism of the upper shell clamping and docking mechanism drives the snapping jaws to flip back to their original position, separating the snapping jaws from the upper shell. The upper shell X-axis locking drive mechanism is activated, pushing the transmission rod to unlock the X-axis lock. The upper shell clamping table moving drive mechanism moves the upper shell clamping table along the Y-axis away from the fixture until it returns to its original position; waiting for the next upper shell to be loaded. The push rod moving drive mechanism of the lower shell clamping mechanism drives the push rod away from the lower shell and separates it from the lower shell. The lock block moving drive mechanism drives the lock block mounting table and the lock block, moving the lock block away from the lower shell and returning it to its original position. The unloading robot takes the workpiece out of the fixture and places it in the finished product unloading area.

[0066] In this embodiment, a CCD camera can also be used to acquire visual images of the entire process, providing visual guidance and positioning for the upper shell loading robot, lower shell loading robot, PIN pin loading robot, and unloading robot. The CCD camera can also acquire images of the guide pin inserted into the workpiece to determine if the guide pin has been successfully inserted, and acquire images of the PIN pin inserted into the workpiece to determine if the PIN pin has been successfully inserted. This embodiment can use a control module, stroke control components for each drive mechanism, sensors, and solenoid valve groups for controlling the pneumatic circuit, thereby achieving automated control. For those skilled in the art to meet the requirements of automated control, the specific connections and control logic should refer to the above working principle. The sequential operation of each electrical component and the corresponding electrical connections, as well as the pneumatic circuit connections, are detailed connection methods known in the art; therefore, electrical control will not be described further.

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

Claims

1. A side-mounted PIN guide insertion mechanism, characterized in that: The device includes a frame, a fixture fixed to the frame for carrying workpieces to be inserted with pins, a pin insertion mechanism and a guide mechanism located on both sides of the fixture in the X-axis direction. The pin insertion mechanism includes a push pin and a pin drive mechanism. The pin insertion mechanism drives the push pin to move along the X-axis direction, thereby pushing the pin into the insertion hole of the workpiece to achieve the pin insertion action. The guide mechanism includes a guide mounting platform, a guide mounting frame slidably mounted on the guide mounting platform, a guide pin frame fixed to the guide mounting frame, a guide pin fixed on the guide pin frame, and a guide pin drive mechanism fixed to the guide mounting platform for driving the guide mounting frame to move along the X-axis. The push pin, the insertion hole of the workpiece, and the guide pin are directly opposite each other in the X-axis direction. The guide mechanism acts before the pin insertion mechanism, driving the guide mounting frame to move towards the workpiece along the X-axis through the guide pin drive mechanism to perform the guide pin insertion operation. If the insertion is successful, the pin insertion mechanism performs the pin insertion action. If the insertion is unsuccessful, the workpiece is determined to be an NG product, and the device waits for the next workpiece to be placed in the fixture before performing the guide pin insertion operation. The workpiece includes a lower shell and an upper shell; the fixture is provided with a lower shell clamping mechanism and an upper shell clamping docking mechanism on both sides of the Y-axis direction; the lower shell clamping mechanism cooperates with the fixture to clamp and fix the lower shell; the upper shell clamping docking mechanism is used to clamp and fix the upper shell, and also to assemble the upper shell and the lower shell. 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 a Z-axis limit for the lower shell; the lower shell clamping and positioning mechanism includes a lower shell X-axis limiting assembly, a lower shell Y-axis clamping assembly, and a lower shell X-axis fixing assembly; the lower shell X-axis limiting assembly is used to limit the upper half of the lower shell in the X-axis direction; 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. The lower shell X-axis limiting assembly includes a gripper mounting platform slidably mounted on the frame, grippers mounted on the gripper mounting platform, and a gripper drive mechanism for driving the grippers' movement. The lower shell X-axis limiting assembly also includes a gripper movement drive mechanism fixed to the frame. The gripper movement drive mechanism drives the gripper mounting platform to move along the Y-axis. The grippers act as limiters on both sides of the upper half of the lower shell in the X-axis direction. The lower shell Y-axis clamping assembly 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 movement drive 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 movement drive mechanism. The lower shell X-axis fixing assembly includes a push rod and a push rod movement drive 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 movement drive mechanism.

2. The side PIN guide insertion mechanism according to claim 1, characterized in that: The guiding mechanism further includes a second base fixed to the frame; the guiding mounting platform is slidably mounted on the second base; the pin insertion mechanism further includes a linkage rod in the X-axis direction, and the pin insertion drive 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 insertion action through the pin insertion drive mechanism, it also drives the linkage rod, linkage frame, and guiding mounting platform to move away from the workpiece along the X-axis direction through the pin insertion drive mechanism, so that the guiding pin performs the action of withdrawing from the workpiece insertion hole.

3. The side PIN guide insertion mechanism according to claim 1, characterized in that: The pin insertion mechanism further includes a first base fixed on the frame, a PIN guide groove assembly mounted on the first base, and a pin insertion assembly slidably mounted on the first base; the pin insertion assembly includes the aforementioned ejector pin; the PIN guide groove assembly includes a PIN guide groove in the X-axis direction for carrying the PIN pin; the ejector pin cooperates with the 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 guide groove to perform the PIN pin insertion action.

4. The side PIN guide insertion mechanism according to claim 3, characterized in that: The pin assembly further includes a pin mounting platform slidably mounted on a first base and a pin mounting block slidably mounted on the pin mounting platform; the 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. The side PIN guide insertion mechanism according to claim 3, characterized in that: The PIN guide groove assembly includes a PIN guide block slidably mounted on a first base, and the PIN guide groove is disposed on the top side of the PIN guide block; a tension spring is also disposed between the PIN guide block and the first base; the tension spring is used to provide a pulling force to move the PIN guide block toward the workpiece in the X-axis direction; the PIN guide block is also provided with a limiting guide groove on the side near the insertion pin assembly; the insertion pin assembly also includes a limiting head; the limiting head cooperates with the limiting guide groove.

6. The side PIN guide insertion mechanism according to claim 1, characterized in that: The upper shell clamping and docking mechanism includes a third base, an upper shell clamping platform slidably mounted on the third base, an upper shell clamping mechanism mounted 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 clamping 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 it to move along the Y-axis, thereby moving the upper shell to the lower shell for docking and assembly.

7. A side PIN guide insertion mechanism according to claim 6, characterized in that: The upper shell clamping mechanism includes a fourth base fixed to 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 positioning for the upper shell; the upper shell positioning block also has a Y-axis positioning surface for providing Y-axis 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 of the upper shell using a vacuum suction device; the upper shell Y-axis clamping assembly is mounted on the fourth base; the upper shell Y-axis clamping assembly includes clamping jaws hinged to the fourth base and a clamping drive mechanism mounted on the fourth base for driving the clamping jaws to rotate; The clamping jaws are used to flip under the drive of the clamping drive mechanism, and then clamp onto 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 member, a transmission rod fixed to the X-axis locking member, 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 member 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