Automatic feeding and assembling machine for threaded plugs and pins

Abstract

The invention relates to an automatic threaded plug and pin feeding and assembling machine which comprises a rack and a middle shell feeding and discharging mechanical arm, a middle shell feeding and positioning mechanism and an assembling support are arranged on the rack, the middle shell feeding and positioning mechanism comprises a feeding translation mechanism and a positioning and clamping assembly, and the output end of the middle shell feeding and discharging mechanical arm is fixedly connected with a middle shell transferring mechanism. A side pin feeding machine, a vertical pin feeding machine, a threaded plug feeding machine, an alignment locking mechanism and a detection mechanism are sequentially arranged on the portion, located beside the middle shell feeding positioning mechanism, of the rack, a side pin inserting mechanism is arranged beside the side pin feeding machine, and a vertical pin inserting mechanism and a threaded plug overturning and transplanting mechanism are arranged on the assembling support. The assembling and detecting device has the beneficial effects that automatic feeding, assembling and detecting treatment of vertical pins, side pins and threaded plugs in different directions can be achieved, the overall structure is relatively compact, and the assembling and machining efficiency and machining quality of a middle shell are improved.

Description

Technical Field

[0001] The invention relates to the field of assembly equipment, and in particular to an automatic feeding and assembly machine for threaded plugs and pins. Background Art

[0002] The middle shell is a kind of metal disk-type workpiece. A through hole is provided in the center of the middle shell, and a straight section is provided on the side wall of the middle shell. During the processing, the pins (the pins include vertical pins and side pins) need to be inserted into the corresponding hole grooves of the middle shell. The vertical pins and side pins are cylindrical pin shaft parts, and a threaded plug with a hexagonal hole needs to be threadedly locked on the corresponding screw hole on the middle shell to complete the assembly.

[0003] For the assembly of pin shaft parts, a pin shaft press-fitted bearing assembly mechanism with the existing publication number CN222154577U includes a mounting seat, a column, a top plate, a ball guide column mold frame, a bottom plate, a pin shaft fixing plate, a retaining spring positioning assembly, a gas-liquid booster cylinder, a positioning shaft seat and a bearing positioning shaft, wherein the ball guide column mold frame is arranged on the mounting seat, the bottom plate is horizontally arranged on the lower mold frame of the ball guide column mold frame, the pin shaft fixing plate is horizontally arranged on the bottom plate, the pin shaft fixing plate is provided with longitudinally distributed positioning holes, the retaining spring positioning assembly is fixed on the pin shaft fixing plate, the gas-liquid booster cylinder is longitudinally fixed on the top of the top plate and the driving end is connected to the top of the upper mold frame of the ball guide column mold frame, the bottom of the upper mold frame is provided with a longitudinally distributed bearing positioning shaft corresponding to the positioning hole up and down through the positioning shaft seat, and the lower part of the bearing positioning shaft protrudes below the positioning shaft seat.

[0004] The existing assembly mechanism can only realize simple press-fitting processing of pin shaft parts, and cannot adapt to the automatic loading and installation of multiple pin parts in multiple directions of axial and radial directions of the middle shell with complex shape, and cannot perform angle alignment and locking processing of threaded plugs. Therefore, an automatic loading and assembly machine for threaded plugs and pins is required. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic feeding and assembly machine for threaded plugs and pins, which can realize automatic feeding, assembly and detection processing of vertical pins, side pins and threaded plugs in different directions, realize the simultaneous insertion of multiple vertical pins, and the overall structure is relatively compact, thereby improving the assembly processing efficiency and processing quality of the middle shell.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: an automatic feeding and assembly machine for threaded plugs and pins, comprising a frame and a middle shell loading and unloading manipulator, the frame is provided with a middle shell loading and positioning mechanism and an assembly bracket, the middle shell loading and positioning mechanism comprises a loading translation mechanism and a positioning clamping component, the output end of the middle shell loading and unloading mechanism hand is fixedly connected with a middle shell transfer mechanism, the frame is provided with a side pin feeder, a vertical pin feeder, a threaded plug feeder, a positioning locking mechanism and a detection mechanism in sequence beside the middle shell loading and positioning mechanism, the side pin feeder is provided with a side pin insertion mechanism, the assembly bracket is provided with a vertical pin insertion mechanism and a threaded plug flipping and transferring mechanism, and the side pin is in a vertical state after being fed by the side pin feeder.

[0007] Furthermore, the loading translation mechanism is fixedly connected to the frame, the positioning and clamping assembly includes a loading slide, a positioning seat, a first pneumatic clamping claw, a side positioning cylinder and a laser sensor, the loading slide is fixedly connected to the moving table of the loading translation mechanism, the positioning seat, the first pneumatic clamping claw, the side positioning cylinder and the laser sensor are all fixedly connected to the loading slide, and a side positioning block is fixedly connected to the piston rod of the side positioning cylinder.

[0008] Furthermore, the positioning seat is provided with a positioning groove and a positioning column, the positioning seat is provided with a clearance groove, and the clamping jaw of the first pneumatic clamping jaw is located in the clearance groove.

[0009] Furthermore, the side pin insertion mechanism includes a side pin insertion cylinder, a side pin insertion slide, an elastic slide, a first spring, a rodless cylinder, a material receiving block, a first pressure sensor, a pressure rod, a second spring and a guide plate. The side pin insertion cylinder is fixedly connected to the frame, the side pin insertion slide is slidably connected to the frame, the elastic slide is slidably connected to the side pin insertion slide, the first spring is sleeved between the elastic slide and the side pin insertion slide, the rodless cylinder and the guide plate are both fixedly connected to the elastic slide, the material receiving block is fixedly connected to the moving platform of the rodless cylinder, the first pressure sensor is fixedly connected to the side pin insertion slide, the pressure rod is slidably connected to the elastic slide, one end of the pressure rod abuts against the detection end of the first pressure sensor, the material receiving block is slidably connected to the guide plate, the second spring is located between the pressure rod and the elastic slide, and both the material receiving block and the guide plate are provided with material holes.

[0010] Furthermore, the vertical pin insertion mechanism includes an XYZ moving module, a vertical pin insertion base, a material picking rod, a clamping column and a second pressure sensor. The vertical pin insertion base is fixedly connected to the moving platform of the XYZ moving module, and the clamping column and the second pressure sensor are both fixedly connected to the vertical pin insertion base. A material picking hole is opened on the material picking rod, and an elastic plunger is fixedly connected to the inner wall of the material picking hole. The material picking rod is slidably connected to the vertical pin insertion base, and the upper end of the material picking rod abuts against the detection end of the second pressure sensor.

[0011] Furthermore, the threaded plug flipping and transferring mechanism includes an XY movable module, a rotating cylinder and a material picking clamp cylinder, the XY movable module is fixedly connected to the assembly bracket, the rotating cylinder is fixedly connected to the movable table of the XY movable module, and the material picking clamp cylinder is fixedly connected to the rotating table of the rotating cylinder.

[0012] Furthermore, the alignment locking mechanism includes a locking translation mechanism, an automatic screw locking mechanism, and a screwdriver bit fixed to the rotating end of the automatic screw locking mechanism.

[0013] Furthermore, the detection mechanism includes a visual detection component and a distance detection component, and both the visual detection component and the distance detection component are fixedly connected to the frame.

[0014] Furthermore, the middle shell transfer mechanism includes a transfer base, a second pneumatic clamp and a rotating clamp cylinder. The transfer base is fixedly connected to the output end of the middle shell loading and unloading robot, and the second pneumatic clamp and the rotating clamp cylinder are both fixedly connected to the transfer base.

[0015] The beneficial effects of the present invention are as follows: a positioning locking mechanism, a detection mechanism, a side pin insertion mechanism, a vertical pin insertion mechanism and a threaded plug flipping and transferring mechanism are provided, which can realize automatic loading, assembly and detection processing of vertical pins, side pins and threaded plugs in different directions, and realize the simultaneous insertion of multiple vertical pins. The overall structure is relatively compact, which improves the assembly processing efficiency and processing quality of the middle shell. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an axonometric schematic diagram of the present invention.

[0017] Figure 2 It is a schematic diagram of the structure of the rack of the present invention.

[0018] Figure 3 It is a schematic diagram of the middle shell loading and positioning mechanism of the present invention.

[0019] Figure 4 It is a schematic diagram of the side pin insertion mechanism of the present invention.

[0020] Figure 5 It is a schematic structural diagram of the side pin insertion mechanism of the present invention after removing the guide plate.

[0021] Figure 6 It is a schematic diagram of the vertical pin insertion mechanism of the present invention.

[0022] Figure 7 It is a structural schematic diagram of the assembly bracket of the present invention.

[0023] Figure 8 It is a schematic diagram of the threaded plug flipping and transferring mechanism of the present invention.

[0024] Fig. 9 It is a schematic diagram of the alignment locking mechanism of the present invention.

[0025] Fig.10 It is a schematic diagram of the middle shell transfer mechanism of the present invention.

[0026] In the figure: 1. Middle shell loading positioning mechanism; 101. Loading translation mechanism; 102. Loading slide; 103. Positioning seat; 104. First pneumatic clamp; 105. Side positioning cylinder; 106. Laser sensor; 107. Side positioning block; 2. Assembly bracket; 3. Side pin insertion mechanism; 301. Side pin insertion cylinder; 302. Side pin insertion slide; 303. Elastic slide; 304. First spring; 305. Rodless cylinder; 306. Material receiving block; 307. First pressure sensor; 308. Pressure rod; 309. Second spring; 310. Guide plate; 4. Vertical pin insertion mechanism; 401. XYZ moving module; 402. Vertical pin insertion base; 403. Material taking Rod; 404, clamping column; 405, second pressure sensor; 5, threaded plug flipping and transferring mechanism; 501, XY moving module; 502, rotating cylinder; 503, material picking clamping claw cylinder; 6, alignment locking mechanism; 601, locking translation mechanism; 602, screw automatic locking mechanism; 603, batch head; 7, detection mechanism; 701, visual detection component; 702, distance detection component; 8, middle shell transfer mechanism; 801, transfer base; 802, second pneumatic clamping claw; 803, rotating clamping claw cylinder; 9, side pin feeder; 10, vertical pin feeder; 11, threaded plug feeder; 12, middle shell; 13, side pin; 14, vertical pin; 15, threaded plug. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention. Example

[0028] refer to Figure 1-Figure 10The threaded plug and pin automatic feeding and assembly machine shown comprises a frame and a middle shell loading and unloading manipulator, the frame is provided with a middle shell feeding and positioning mechanism 1 and an assembly bracket 2, the middle shell feeding and positioning mechanism 1 comprises a feeding translation mechanism 101 and a positioning clamping component, the output end of the middle shell loading and unloading mechanism hand is fixedly connected with a middle shell transfer mechanism 8, and the frame is provided with a side pin feeder 9, a vertical pin feeder 10, a threaded plug feeder 11, an alignment locking mechanism 6 and a detection mechanism 7 in sequence beside the middle shell feeding and positioning mechanism 1, a side pin insertion mechanism 3 is provided beside the side pin feeder 9, and a vertical pin insertion mechanism 4 and a threaded plug flipping and transferring mechanism 5 are provided on the assembly bracket 2, and the side pin is in a vertical state after being fed by the side pin feeder 9.

[0029] The loading translation mechanism 101 is used to drive the positioning and clamping assembly to perform translational movement, realize docking and loading with the middle shell loading and unloading manipulator, and drive the positioning and clamping assembly that has clamped the middle shell 12 to slide translationally to the assembly station. The positioning and clamping assembly includes a loading slide 102, a positioning seat 103, a first pneumatic clamping claw 104, a side positioning cylinder 105 and a laser sensor 106. The positioning seat 103 is provided with a positioning groove and a positioning column. The positioning groove and the positioning column are used to position and place the middle shell 12 workpiece. The first pneumatic clamping claw 104 is used to clamp and fix the middle shell 12 after positioning and placement. Before clamping, the side positioning cylinder 105 is used to drive the side positioning block 107 to press the straight section of the side wall of the middle shell 12 to correct the angle and tighten it.

[0030] The side pin insertion mechanism 3 includes a side pin insertion cylinder 301, a side pin insertion slide 302, an elastic slide seat 303, a first spring 304, a rodless cylinder 305, a material receiving block 306, a first pressure sensor 307, a pressure rod 308, a second spring 309 and a guide plate 310. When the side pin 13 is receiving the material, the rodless cylinder 305 drives the material receiving block 306 to move and dock with the side pin feeder 9. The side pin feeder 9 feeds one side pin 13 into the material hole of the material receiving block 306 each time, and then drives the material receiving block 306 to dock with the side pin feeder 9. The block 306 moves to the side of the assembly pressure rod 308, and the side pin insertion cylinder 301 is used to drive the side pin insertion slide 302 to slide toward the middle shell 12. After the material hole on the guide plate 310 is docked with the corresponding hole position on the middle shell 12, the elastic slide seat 303 moves the relative side pin insertion slide 302 closer to it. In this process, the side pin 13 is pressed from the material receiving block 306 through the material hole on the guide plate 310 and installed on the middle shell 12 by the pressure rod 308 to realize the assembly of the side pin. The first pressure sensor 307 is used to monitor the pressure of the side pin 13 during assembly.

[0031] The vertical pin insertion mechanism 4 includes an XYZ moving module 401, a vertical pin insertion base 402, a material picking rod 403, a clamping column 404 and a second pressure sensor 405. The XYZ moving module 401 is used to drive the material picking rod 403 to move to the discharge end of the vertical pin feeder 10 to pick up the vertical pin 14. When picking up the material, the upper end of the vertical pin 14 is inserted into the picking hole of the picking rod 403, and the vertical pin 14 is tightened in the picking hole by an elastic plunger. The second pressure sensor 405 is used to monitor the pressure data of the vertical pin 14 during assembly.

[0032] The threaded plug flipping and transferring mechanism 5 includes an XY moving module 501, a rotating cylinder 502 and a material picking clamp cylinder 503. The XY moving module 501 is fixedly connected to the assembly bracket 2. The XY moving module 501 can drive the rotating cylinder 502 to perform translation and lifting movements. The rotating cylinder 502 is used to drive the material picking clamp cylinder 503 to perform rotational movements. The material picking clamp cylinder 503 is used to clamp the threaded plug 15.

[0033] The alignment locking mechanism 6 includes a locking translation mechanism 601, an automatic screw locking mechanism 602 and a screw bit 603 fixed to the rotating end of the automatic screw locking mechanism 602. The screw bit 603 is magnetic. When the threaded plug 15 is transferred to the screw bit 603, it is adsorbed by magnetism to prevent the threaded plug 15 from falling off during the moving assembly process.

[0034] The detection mechanism 7 includes a visual detection component 701 and a distance detection component 702. The visual detection component 701 is used to visually detect whether the middle shell 12 has surface defects and missing installed parts, and the distance detection component 702 is used to detect whether the threaded plug 15 is installed in place.

[0035] The middle shell transfer mechanism 8 includes a transfer base 801, a second pneumatic clamping jaw 802 and a rotating clamping jaw cylinder 803. The transfer base 801 is fixed to the output end of the middle shell loading and unloading robot for use. The second pneumatic clamping jaw 802 and the rotating clamping jaw cylinder 803 are used to clamp and position the middle shell 12 workpiece.

[0036] The working principle of the present invention is as follows: when the present invention is in use, the material to be assembled is driven by the middle shell loading and unloading manipulator to drive the middle shell transfer mechanism 8 to load the middle shell 12 onto the positioning seat 103 of the middle shell loading and positioning mechanism 1. After the middle shell 12 to be processed is loaded onto the positioning seat 103, the side positioning cylinder 105 drives the side positioning block 107 to position and tighten the middle shell from the side, and the edge of the middle shell is clamped by the first pneumatic claw 104. After the middle shell is positioned and clamped, the loading slide 102 is driven by the loading translation mechanism 101 to move to the assembly station; When assembling the side pins, refer to Figure 4 and Figure 5When the side pin 13 is receiving the material, the rodless cylinder 305 drives the receiving block 306 to move and dock with the side pin feeder 9. The side pin feeder 9 feeds one side pin 13 to the material hole of the receiving block 306 each time, and then the rodless cylinder 305 drives the receiving block 306 to move to the side of the group pressure rod 308, and the side pin insertion cylinder 301 drives the side pin insertion slide 302 to slide toward the middle shell 12, and the material hole on the guide plate 310 is aligned with the corresponding hole on the middle shell 12. After the hole positions are connected, the elastic slide 303 moves the relative side pin insertion slide 302 closer to it. During this process, the pressure rod 308 located in the elastic slide 303 pushes the side pin 13 from the receiving block 306 through the material hole on the guide plate 310 and presses it into the corresponding hole groove of the middle shell 12 to realize the assembly of the side pin 13. The first pressure sensor 307 is used to monitor the pressure data of the side pin 13 during assembly, and judge whether the side pin 13 is installed in place through the pressure data.

[0037] When assembling the vertical pins, refer to Figure 6 and Figure 7 The vertical pin 14 is fed through the vertical pin feeder 10, and the XYZ moving module 401 drives the material picking rod 403 to move to the discharge end of the vertical pin feeder 10 to pick up the vertical pin 14 in the vertical state. When picking up the material, the upper end of the vertical pin 14 is inserted into the picking hole of the picking rod 403, and the vertical pin 14 is pressed tightly in the picking hole by the elastic plunger. After the picking of the vertical pin 14 is completed, the picking rod 403 is driven by the XYZ moving module 401 to the top of the middle shell 12 and vertically presses down to insert the vertical pin 14 into the through hole on the upper end surface of the middle shell 12. During the assembly process, the second pressure sensor 405 is used to monitor the pressure data of the vertical pin 14 during assembly, and judge whether the vertical pin 14 is installed in place according to the pressure data.

[0038] When assembling the threaded plug 15, refer to Figure 8 and Fig. 9, the XY moving module 501 drives the rotating cylinder 502 and the material taking claw cylinder 503 to move to the discharge end of the thread plug feeder 11 to clamp the thread plug 15 and then transfer it to the side of the alignment locking mechanism 6, and then the rotating cylinder 502 drives the material taking claw cylinder 503 to rotate 90°, so that the side of the thread plug 15 with the hexagonal hole faces the batch head 603. At this time, the thread plug 15 is in a clamped state, and the screw automatic locking mechanism 602 is driven to slide toward the middle shell 12 through the locking translation mechanism 601. In this process, the screw is automatically locked. Mechanism 602 drives the screwdriver bit 603 to rotate. During the translation process of the screwdriver bit 603, the screwdriver bit 603 is inserted into the hexagonal hole of the threaded plug 15 to complete automatic alignment. The material picking clamp cylinder 503 stops clamping the threaded plug 15. Under the magnetic adsorption of the screwdriver bit 603, the threaded plug 15 rotates and translates with the screwdriver bit 603 until the threaded plug 5 is docked with the screw hole on the side wall of the middle shell 12 for locking and fixing. After the processing is completed, the automatic screw locking mechanism 602 stops rotating, and the locking translation mechanism 601 drives the automatic screw locking mechanism 602 to reset.

[0039] After all the assemblies are completed, the laser sensor 106 is used to detect whether the vertical pin 14 and the side pin 13 are inserted into the middle shell. The loading translation mechanism 101 drives the loading slide 102 to move to the loading and unloading station. The visual inspection component 701 is used to visually inspect the middle shell 12 to see if there are surface defects and missing installed parts. The distance detection component 702 is used to detect whether the distance between the threaded plug 15 and the distance detection component 702 is within the qualified range. After the inspection is completed, the first pneumatic clamp 104 and the side positioning cylinder 105 are released, and the middle shell loading and unloading robot drives the middle shell transfer mechanism 8 to unload the processed finished product of the middle shell 12 from the positioning seat 103 of the middle shell loading and positioning mechanism 1.

[0040] In the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The above embodiments are used to further illustrate the present invention, but the present invention is not limited to these specific embodiments. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be understood to be within the protection scope of the present invention.

Claims

1. Automatic feeding and assembly machine for threaded plugs and pins, characterized by: The invention comprises a frame and a middle shell loading and unloading manipulator, wherein the frame is provided with a middle shell loading and positioning mechanism (1) and an assembly bracket (2), the middle shell loading and positioning mechanism (1) comprises a loading translation mechanism (101) and a positioning clamping assembly, the output end of the middle shell loading and unloading mechanism hand is fixedly connected to a middle shell transfer mechanism (8), and the frame is provided with a side pin feeder (9), a vertical pin feeder (10), a threaded plug feeder (11), and a positioning locking mechanism in sequence beside the middle shell loading and positioning mechanism (1). (6) and a detection mechanism (7), a side pin insertion mechanism (3) is arranged on the side of the side pin feeder (9), a vertical pin insertion mechanism (4) and a threaded plug flipping and transferring mechanism (5) are arranged on the assembly bracket (2), the vertical pin insertion mechanism (4) includes an XYZ moving module (401), a vertical pin insertion base (402), a material taking rod (403), a clamping column (404) and a second pressure sensor (405), and the side pin is in a vertical state after being fed by the side pin feeder (9).

2. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The material loading translation mechanism (101) is fixedly connected to the frame, and the positioning clamping assembly comprises a loading slide (102), a positioning seat (103), a first pneumatic clamping claw (104), a side positioning cylinder (105) and a laser sensor (106). The material loading slide (102) is fixedly connected to the moving table of the material loading translation mechanism (101), and the positioning seat (103), the first pneumatic clamping claw (104), the side positioning cylinder (105) and the laser sensor (106) are all fixedly connected to the material loading slide (102). A side positioning block (107) is fixedly connected to the piston rod of the side positioning cylinder (105).

3. The threaded plug and pin automatic feeding and assembly machine according to claim 2, characterized in that: The positioning seat (103) is provided with a positioning groove and a positioning column, and the positioning seat (103) is provided with a clearance groove, and the clamping claw of the first pneumatic clamping claw (104) is located in the clearance groove.

4. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The side pin insertion mechanism (3) comprises a side pin insertion cylinder (301), a side pin insertion slide (302), an elastic slide seat (303), a first spring (304), a rodless cylinder (305), a material receiving block (306), a first pressure sensor (307), a pressure rod (308), a second spring (309) and a guide plate (310); the side pin insertion cylinder (301) is fixedly connected to a frame; the side pin insertion slide seat (302) is slidably connected to the frame; the elastic slide seat (303) is slidably connected to the side pin insertion slide seat (302); the first spring (304) is sleeved between the elastic slide seat (303) and the side pin insertion slide seat (302); the rodless cylinder (305) is fixedly connected to a frame; the side pin insertion slide seat (302) is slidably connected to the side pin insertion slide seat (302); the first spring (304) is sleeved between the elastic slide seat (303) and the side pin insertion slide seat (302); (305) and the guide plate (310) are both fixedly connected to the elastic slide seat (303), the material receiving block (306) is fixedly connected to the moving platform of the rodless cylinder (305), the first pressure sensor (307) is fixedly connected to the side pin insertion slide (302), the pressure rod (308) is slidably connected to the elastic slide seat (303), one end of the pressure rod (308) abuts against the detection end of the first pressure sensor (307), the material receiving block (306) is slidably connected to the guide plate (310), the second spring (309) is located between the pressure rod (308) and the elastic slide seat (303), and the material receiving block (306) and the guide plate (310) are both provided with material holes.

5. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The vertical pin insertion base (402) is fixedly connected to the moving platform of the XYZ moving module (401), the clamping column (404) and the second pressure sensor (405) are both fixedly connected to the vertical pin insertion base (402), a material collection hole is formed on the material collection rod (403), an elastic plunger is fixedly connected to the inner wall of the material collection hole, the material collection rod (403) is slidably connected to the vertical pin insertion base (402), and the upper end of the material collection rod (403) abuts against the detection end of the second pressure sensor (405).

6. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The threaded plug flipping and transferring mechanism (5) comprises an XY moving module (501), a rotating cylinder (502) and a material picking clamping cylinder (503); the XY moving module (501) is fixedly connected to the assembly bracket (2); the rotating cylinder (502) is fixedly connected to the moving table of the XY moving module (501); and the material picking clamping cylinder (503) is fixedly connected to the rotating table of the rotating cylinder (502).

7. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The alignment locking mechanism (6) comprises a locking translation mechanism (601), an automatic screw locking mechanism (602), and a screwdriver bit (603) fixed to the rotating end of the automatic screw locking mechanism (602).

8. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The detection mechanism (7) comprises a visual detection component (701) and a distance detection component (702), and the visual detection component (701) and the distance detection component (702) are both fixedly connected to the frame.

9. The threaded plug and pin automatic feeding and assembly machine according to claim 1, characterized in that: The middle shell transfer mechanism (8) comprises a transfer base (801), a second pneumatic clamping claw (802) and a rotating clamping claw cylinder (803); the transfer base (801) is fixedly connected to the output end of the middle shell loading and unloading manipulator; the second pneumatic clamping claw (802) and the rotating clamping claw cylinder (803) are both fixedly connected to the transfer base (801).

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