Thread Plug and Pin Automatic Feeding and Assembly Machine

Abstract

The present invention relates to a threaded plug and pin automatic feeding and assembling machine, which includes a frame and a middle shell loading and unloading manipulator. A middle shell loading positioning mechanism and an assembling bracket are arranged on the frame. The middle shell loading positioning mechanism includes a loading translation mechanism and a positioning clamping assembly. The output end of the middle shell loading and unloading mechanism is fixedly connected with a middle shell transfer mechanism. A side pin feeder, a vertical pin feeder, a threaded plug feeder, a positioning and locking mechanism and a detection mechanism are sequentially arranged on the frame beside the middle shell loading positioning mechanism. A side pin insertion mechanism is arranged beside the side pin feeder. A vertical pin insertion mechanism and a threaded plug turning and transferring mechanism are arranged on the assembling bracket. The beneficial effects of the present invention are as follows: It can realize the automatic feeding, assembling and detection processing of vertical pins, side pins and threaded plugs in different directions. The overall structure is relatively compact, improving the assembling processing efficiency and processing quality of the middle shell.

Description

Technical Field

[0001] The present invention relates to the field of assembly equipment, and particularly to an automatic feeding and assembling machine for screw plugs and pins. Background Art

[0002] The middle shell is a kind of metal disc workpiece. A through hole is provided at the center of the middle shell, and a straight section is provided on the side wall of the middle shell. During the processing, pins (including vertical pins and side pins) need to be inserted into corresponding hole grooves of the middle shell. The vertical pins and side pins are cylindrical pin shafts, and a screw plug with a hexagonal hole at one end needs to be thread-locked onto a corresponding screw hole on the middle shell to complete the assembly.

[0003] For the assembly of pin parts, there is a pin press-fitting bearing assembly mechanism with the publication number of CN222154577U, which includes a mounting base, a column, a top plate, a ball guide pillar die set, a bottom plate, a pin fixing plate, a snap ring positioning component, a gas-liquid boosting cylinder, a positioning shaft seat, and a bearing positioning shaft. The ball guide pillar die set is arranged on the mounting base, the bottom plate is horizontally arranged on the lower die set of the ball guide pillar die set, the pin fixing plate is horizontally arranged on the bottom plate, longitudinal positioning holes are provided on the pin fixing plate, the snap ring positioning component is fixed on the pin fixing plate, the gas-liquid boosting cylinder is longitudinally fixed on the top of the top plate and its driving end is connected to the top of the upper die set of the ball guide pillar die set, a longitudinally distributed bearing positioning shaft corresponding to the positioning holes up and down is arranged at the bottom of the upper die set 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 perform simple pressing treatment on pin shafts, and cannot adapt to the automatic feeding and installation of multiple pin parts in multiple directions in the axial and radial directions of the middle shell with complex shapes, and cannot perform angle alignment and locking treatment on the screw plug. Therefore, an automatic feeding and assembling machine for screw plugs and pins is needed. Summary of the Invention

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

[0006] To achieve the above object, the present invention provides the following technical solutions: a threaded plug and pin automatic feeding and assembling machine, including a frame and a middle shell loading and unloading manipulator. A middle shell loading positioning mechanism and an assembling bracket are arranged on the frame. The middle shell loading positioning mechanism includes a loading translation mechanism and a positioning clamping assembly. The output end of the middle shell loading and unloading mechanism is fixedly connected with a middle shell transfer mechanism. A side pin feeder, a vertical pin feeder, a threaded plug feeder, a positioning and locking mechanism, and a detection mechanism are sequentially arranged on the frame beside the middle shell loading positioning mechanism. A side pin insertion mechanism is arranged beside the side pin feeder. A vertical pin insertion mechanism and a threaded plug turning and transferring mechanism are arranged on the assembling bracket. The side pins are in a vertical state after being fed by the side pin feeder.

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

[0008] Further, the positioning seat is provided with a positioning groove and a positioning post. The positioning seat is provided with a relief groove. The jaws of the first pneumatic chuck are located in the relief groove.

[0009] Further, 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 receiving block, a first pressure sensor, a pressing rod, a second spring, and a guide plate. The side pin insertion cylinder is fixedly connected with the frame. The side pin insertion slide is slidably connected with the frame. The elastic slide is slidably connected with 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 with the elastic slide. The receiving block is fixedly connected with the moving table of the rodless cylinder. The first pressure sensor is fixedly connected with the side pin insertion slide. The pressing rod is slidably connected with the elastic slide. One end of the pressing rod abuts against the detection end of the first pressure sensor. The receiving block is slidably connected with the guide plate. The second spring is located between the pressing rod and the elastic slide. The receiving block and the guide plate are both provided with material holes.

[0010] Further, the vertical pin insertion mechanism includes an XYZ moving module, a vertical pin insertion base, a picking rod, a pressing column, and a second pressure sensor. The vertical pin insertion base is fixedly connected with the moving table of the XYZ moving module. The pressing column and the second pressure sensor are both fixedly connected with the vertical pin insertion base. The picking rod is provided with a picking hole. An elastic plunger is fixedly connected to the inner wall of the picking hole. The picking rod is slidably connected with the vertical pin insertion base. The upper end of the picking rod abuts against the detection end of the second pressure sensor.

[0011] Further, the threaded plug turning and transferring mechanism includes an XY moving module, a rotary cylinder, and a material picking jaw cylinder. The XY moving module is fixedly connected to the assembly bracket. The rotary cylinder is fixedly connected to the moving table of the XY moving module. The material picking jaw cylinder is fixedly connected to the rotating table of the rotary cylinder.

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

[0013] Further, the detection mechanism includes a vision detection component and a distance detection component. Both the vision detection component and the distance detection component are fixedly connected to the frame.

[0014] Further, the middle shell transferring mechanism includes a transfer base, a second pneumatic jaw, and a rotary jaw cylinder. The transfer base is fixedly connected to the output end of the middle shell loading and unloading manipulator. Both the second pneumatic jaw and the rotary jaw cylinder are fixedly connected to the transfer base.

[0015] The beneficial effects of the present invention are as follows: By providing an alignment and locking mechanism, a detection mechanism, a side pin insertion mechanism, a vertical pin insertion mechanism, and a threaded plug turning and transferring mechanism, it is possible to realize automatic feeding, assembly, and detection processing of vertical pins, side pins, and threaded plugs in different directions, and to insert multiple vertical pins simultaneously. The overall structure is relatively compact, improving the assembly processing efficiency and processing quality of the middle shell. Description of the Drawings

[0016] Figure 1 Is an isometric schematic view of the present invention.

[0017] Figure 2 Is a schematic view of the structure at the frame of the present invention.

[0018] Figure 3 Is a schematic view of the middle shell loading and positioning mechanism of the present invention.

[0019] Figure 4 Is a schematic view of the side pin insertion mechanism of the present invention.

[0020] Figure 5 Is a schematic view of the structure of the side pin insertion mechanism of the present invention after removing the guide plate.

[0021] Figure 6 Is a schematic view of the vertical pin insertion mechanism of the present invention.

[0022] Figure 7 Is a schematic view of the structure at the assembly bracket of the present invention.

[0023] Figure 8 Is a schematic view of the threaded plug turning and transferring mechanism of the present invention.

[0024] Figure 9 Schematic diagram of the alignment and locking mechanism of the present invention.

[0025] Figure 10 Schematic diagram of the middle shell transfer mechanism of the present invention.

[0026] In the figure: 1. Middle shell loading and positioning mechanism; 101. Loading translation mechanism; 102. Material-carrying slide; 103. Positioning seat; 104. First pneumatic chuck; 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 seat; 304. First spring; 305. Rodless cylinder; 306. Material-receiving block; 307. First pressure sensor; 308. Pressing rod; 309. Second spring; 310. Guide plate; 4. Vertical pin insertion mechanism; 401. XYZ movement module; 402. Vertical pin insertion base; 403. Material-taking rod; 404. Pressing column; 405. Second pressure sensor; 5. Threaded plug turning and transfer mechanism; 501. XY movement module; 502. Rotary cylinder; 503. Material-taking jaw cylinder; 6. Alignment and locking mechanism; 601. Locking translation mechanism; 602. Automatic screw locking mechanism; 603. Bit; 7. Detection mechanism; 701. Visual detection component; 702. Distance detection component; 8. Middle shell transfer mechanism; 801. Transfer base; 802. Second pneumatic chuck; 803. Rotary jaw 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. Specific embodiments

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention 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. Embodiment

[0028] Refer to Figures 1 - 10The shown screw plug and pin automatic feeding and assembling machine includes a frame and a middle shell loading and unloading manipulator. A middle shell loading positioning mechanism 1 and an assembling bracket 2 are arranged on the frame. The middle shell loading positioning mechanism 1 includes a feeding translation mechanism 101 and a positioning clamping component. The output end of the middle shell loading and unloading mechanism manipulator is fixedly connected with a middle shell transfer mechanism 8. A side pin feeder 9, a vertical pin feeder 10, a screw plug feeder 11, a positioning and locking mechanism 6 and a detection mechanism 7 are sequentially arranged on the frame beside the middle shell loading positioning mechanism 1. A side pin insertion mechanism 3 is arranged beside the side pin feeder 9. A vertical pin insertion mechanism 4 and a screw plug turning and transferring mechanism 5 are arranged on the assembling bracket 2. After being fed by the side pin feeder 9, the side pins are in a vertical state.

[0029] The feeding translation mechanism 101 is used to drive the positioning clamping component to perform a translation action, realize docking feeding with the middle shell loading and unloading manipulator, and drive the positioning clamping component clamped with the middle shell 12 to translate and slide to the assembling station. The positioning clamping component includes a loading slide 102, a positioning seat 103, a first pneumatic chuck 104, a side positioning cylinder 105 and a laser sensor 106. The positioning seat 103 is provided with a positioning groove and a positioning post. The positioning groove and the positioning post are used to position and place the middle shell 12 workpiece. The first pneumatic chuck 104 is used to clamp and fix the middle shell 12 after positioning. Before clamping, the side positioning cylinder 105 is used to drive the side positioning block 107 to press against the straight section of the side wall of the middle shell 12 for angle correction and pressing.

[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 receiving block 306, a first pressure sensor 307, a pressing rod 308, a second spring 309 and a guide plate 310. When receiving the side pin 13, the rodless cylinder 305 is used to drive the 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 receiving block 306 each time. Then, the rodless cylinder 305 is used to drive the receiving block 306 to move to the side of the pressing rod 308. When the side pin insertion cylinder 301 is used to drive the side pin insertion slide 302 to slide towards 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 will move closer to the side pin insertion slide 302. During this process, the side pin 13 is pressed through the material hole on the guide plate 310 from the receiving block 306 and pressed onto the middle shell 12 to realize the assembly of the side pin. The first pressure sensor 307 is used to monitor the pressure during the assembly of the side pin 13.

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

[0032] The threaded plug turning and transferring mechanism 5 includes an XY moving module 501, a rotary cylinder 502 and a material taking jaw cylinder 503. The XY moving module 501 is fixedly connected to the assembly bracket 2. The XY moving module 501 can drive the rotary cylinder 502 to perform translation and lifting movements. The rotary cylinder 502 is used to drive the material taking jaw cylinder 503 to perform a rotary movement. The material taking jaw cylinder 503 is used to pick up the threaded plug 15.

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

[0034] The detection mechanism 7 includes a vision detection component 701 and a distance detection component 702. The vision detection component 701 is used to perform a vision inspection on the middle shell 12 to check for surface defects and missing installed parts. 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 chuck 802 and a rotary jaw cylinder 803. The transfer base 801 is fixed to the output end of the middle shell loading and unloading manipulator for use. The second pneumatic chuck 802 and the rotary 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 materials to be assembled are 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 positioning mechanism 1. After the middle shell 12 to be processed is loaded onto the positioning seat 103, the side positioning cylinder 105 is used to drive the side positioning block 107 to tightly hold the middle shell from the side, and the first pneumatic chuck 104 is used to clamp the edge of the middle shell. After the positioning and clamping of the middle shell are completed, the loaded material slide 102 is driven by the loading translation mechanism 101 to move to the assembly station;

[0037] When assembling the side pins, refer to Figure 4 and Figure 5, when receiving the side pins 13, the rodless cylinder 305 drives the receiving block 306 to move and dock with the side pin feeder 9. Each time, the side pin feeder 9 feeds one side pin 13 into the material hole of the receiving block 306. Then, the rodless cylinder 305 drives the receiving block 306 to move to the side of the pressing rod 308. The side pin inserting cylinder 301 drives the side pin inserting slide 302 to slide towards the middle shell 12. After the material hole on the guiding plate 310 is docked with the corresponding hole position on the middle shell 12, the elastic sliding seat 303 moves closer to the side pin inserting slide 302. During this process, the pressing rod 308 located in the elastic sliding seat 303 pushes the side pin 13 to pass through the material hole on the guiding plate 310 and press-fit it into the corresponding hole groove of the middle shell 12 to complete the assembly of the side pin 13. The first pressure sensor 307 is used to monitor the pressure data during the assembly of the side pin 13, and it determines whether the side pin 13 is installed in place based on the pressure data.

[0038] When assembling the vertical pins, refer to Figure 6 and Figure 7 , the vertical pin feeder 10 feeds the vertical pins 14. The XYZ moving module 401 drives the picking rod 403 to move to the discharging end of the vertical pin feeder 10 to pick up the vertically placed vertical pins 14. When picking up the pins, 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 tightly held in the picking hole by the elastic plunger. After completing the picking of the vertical pin 14, the XYZ moving module 401 drives the picking rod 403 to move vertically downward above the middle shell 12 to insert the vertical pin 14 into the through hole on the upper end face of the middle shell 12. During the assembly process, the second pressure sensor 405 is used to monitor the pressure data during the assembly of the vertical pin 14, and it determines whether the vertical pin 14 is installed in place based on the pressure data.

[0039] When assembling the threaded plug 15, refer to Figure 8 and Figure 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.

[0040] 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.

[0041] 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.

[0042] 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. Threaded plug and pin automatic feeding and assembling machine, characterized in that: It includes a frame and a manipulator for loading and unloading the middle shell. A middle shell loading and positioning mechanism (1) and an assembly bracket (2) are arranged on the frame. The middle shell loading and positioning mechanism (1) includes a loading translation mechanism (101) and a positioning and clamping assembly. The output end of the manipulator for loading and unloading the middle shell is fixedly connected with a middle shell transfer mechanism (8). A side pin feeder (9), a vertical pin feeder (10), a threaded plug feeder (11), a positioning and locking mechanism (6) and a detection mechanism (7) are sequentially arranged on the frame beside the middle shell loading and positioning mechanism (1). A side pin insertion mechanism (3) is arranged beside the side pin feeder (9). A vertical pin insertion mechanism (4) and a threaded plug turning and transferring mechanism (5) are arranged on the assembly bracket (2). The vertical pin insertion mechanism (4) includes an XYZ movement module (401), a vertical pin insertion base (402), a material taking rod (403), a pressing column (404) and a second pressure sensor (405). After the side pins are loaded by the side pin feeder (9), they are in a vertical state. The positioning and clamping assembly includes a loading slide (102), a positioning seat (103), a first pneumatic chuck (104), a side positioning cylinder (105) and a laser sensor (106). 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 receiving block (306), a first pressure sensor (307), a pressing rod (308), a second spring (309) and a guide plate (310). The side pin insertion cylinder (301) is fixedly connected with the frame. The side pin insertion slide (302) is slidably connected with the frame. The elastic slide seat (303) is slidably connected with the side pin insertion slide (302). The first spring (304) is sleeved between the elastic slide seat (303) and the side pin insertion slide (302). The rodless cylinder (305) and the guide plate (310) are both fixedly connected with the elastic slide seat (303). The receiving block (306) is fixedly connected with the moving table of the rodless cylinder (305). The first pressure sensor (307) is fixedly connected with the side pin insertion slide (302). The pressing rod (308) is slidably connected with the elastic slide seat (303). One end of the pressing rod (308) abuts against the detection end of the first pressure sensor (307). The receiving block (306) is slidably connected with the guide plate (310). The second spring (309) is located between the pressing rod (308) and the elastic slide seat (303). The receiving block (306) and the guide plate (310) are both provided with material holes. The material to be assembled is loaded onto the positioning seat of the middle shell loading and positioning mechanism by the middle shell transfer mechanism driven by the manipulator for loading and unloading the middle shell. After the middle shell to be processed is loaded onto the positioning seat, the side positioning cylinder drives the side positioning block to tightly press the middle shell from the side, and the first pneumatic chuck clamps the edge of the middle shell. After the positioning and clamping of the middle shell are completed, the loading translation mechanism drives the loading slide to move to the assembly station;When assembling the side pin, when receiving the side pin, the rodless cylinder is used to drive the receiving block to move and dock with the side pin feeder. Each time, the side pin feeder feeds one side pin into the material hole of the receiving block. Then, the rodless cylinder is used to drive the receiving block to move to the side of the pressing rod. The side pin insertion cylinder drives the side pin insertion slide to slide towards the middle shell. After the material hole on the guide plate is docked with the corresponding hole position on the middle shell, the elastic slide seat approaches the side pin insertion slide. During this process, the pressing rod located in the elastic slide seat pushes the side pin to pass through the material hole on the guide plate from the receiving block and press it into the corresponding hole groove on the middle shell to complete the assembly of the side pin. The first pressure sensor is used to monitor the pressure data during the assembly of the side pin, and it is judged whether the side pin is installed in place through the pressure data.

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

3. The automatic feeding and assembling machine for screw plugs and pins according to claim 2, characterized in that: The positioning seat (103) is provided with a positioning groove and a positioning post. The positioning seat (103) is provided with a relief groove. The jaws of the first pneumatic chuck (104) are located in the relief groove.

4. The automatic feeding and assembling machine for threaded plugs and pins according to claim 1, characterized in that: The vertical pin insertion base (402) is fixedly connected to the moving table of the XYZ moving module (401). The pressing column (404) and the second pressure sensor (405) are both fixedly connected to the vertical pin insertion base (402). The pick-up rod (403) is provided with a pick-up hole. An elastic plunger is fixedly connected to the inner wall of the pick-up hole. The pick-up rod (403) is slidably connected to the vertical pin insertion base (402). The upper end of the pick-up rod (403) abuts against the detection end of the second pressure sensor (405).

5. The automatic feeding and assembling machine for screw plugs and pins according to claim 1, characterized in that: The threaded plug turning and transferring mechanism (5) includes an XY moving module (501), a rotary cylinder (502), and a pick-up jaw cylinder (503). The XY moving module (501) is fixedly connected to the assembly bracket (2). The rotary cylinder (502) is fixedly connected to the moving table of the XY moving module (501). The pick-up jaw cylinder (503) is fixedly connected to the rotating table of the rotary cylinder (502).

6. The automatic feeding and assembling machine for screw plugs and pins according to claim 1, characterized in that: The alignment and locking mechanism (6) includes a locking translation mechanism (601), a screw automatic locking mechanism (602), and a bit (603) fixed to the rotating end of the screw automatic locking mechanism (602).

7. The automatic feeding and assembling machine for threaded plugs and pins according to claim 1, characterized in that: The detection mechanism (7) includes a vision detection component (701) and a distance detection component (702). The vision detection component (701) and the distance detection component (702) are both fixedly connected to the frame.

8. The automatic feeding and assembling machine for threaded plugs and pins according to claim 1, characterized in that: The middle shell transfer mechanism (8) includes a transfer base (801), a second pneumatic chuck (802), and a rotary jaw cylinder (803). The transfer base (801) is fixedly connected to the output end of the middle shell loading and unloading robot. The second pneumatic chuck (802) and the rotary jaw cylinder (803) are both fixedly connected to the transfer base (801).

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