Clamping and positioning device for automatic insertion of workpieces and insertion method
The clamping and positioning device for automatic workpiece insertion solves the problems of poor assembly consistency and low production efficiency caused by soft materials or thin structures in the product tail cap, and realizes a high-precision, automated workpiece insertion method that meets the needs of large-scale production.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHENZHEN OUSHENG AUTOMATION CO LTD
- Filing Date
- 2026-01-06
- Publication Date
- 2026-05-12
AI Technical Summary
In existing technologies, the tail cap material is relatively soft or the structure is relatively thin, resulting in poor assembly consistency, making it difficult to meet the requirements of high-precision production, and the production efficiency is low, making it unsuitable for large-scale mass production. Furthermore, it is difficult to add equipment in a confined space.
The clamping and positioning device for automatic workpiece insertion includes a rotating mechanism, a clamping mechanism, and a moving mechanism. By adsorbing, clamping, and correcting the workpiece, it ensures that the workpiece is inserted into the second component at the correct angle and position. Combined with the drive mechanism, it realizes automated production, avoids damage and jamming, and meets high precision requirements.
It improves assembly consistency and production efficiency, reduces workpiece damage rate and equipment space occupation, adapts to the pace of large-scale mass production, and realizes high-precision automated production.
Smart Images
Figure CN121468992B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of workpiece clamping, positioning and automatic insertion technology, and particularly to a clamping and positioning device and insertion method for automatic workpiece insertion. Background Technology
[0002] In existing technologies, the assembly process of inserting the tail cap into the product's bottom shell requires a B23Q3 type workpiece clamping, positioning, and insertion device for automated production. However, the tail cap is sometimes made of soft material or has a delicate structure, leading to bending during the initial assembly. Furthermore, as the tail cap is an injection-molded part, some tail caps may have residual sprue marks (i.e., residual plastic protrusions) after injection molding. These two factors result in low consistency between the product's bottom shell and tail cap assembly, or even prevent normal assembly and processing. This makes it difficult to meet the requirements of high-precision production, and the low production efficiency cannot adapt to the pace of large-scale mass production. Adding new equipment to the existing production line requires significant space, making modifications difficult in space-constrained environments. Summary of the Invention
[0003] This application aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a clamping and positioning device and an insertion method for automatic workpiece insertion. The clamping and positioning device for automatic workpiece insertion can solve the problems of poor consistency and easy damage to soft / small first workpieces. It can also accurately assemble the first workpiece and the second component together. The insertion method using the clamping and positioning device for automatic workpiece insertion has a high assembly success rate, effectively reduces product warranty rate, and ensures the consistency and stability of assembly.
[0004] According to a first aspect embodiment of this application, an automatic workpiece insertion clamping and positioning device includes: a rotating mechanism, a clamping mechanism, and a moving mechanism. The rotating mechanism includes a rotating component with an adsorption portion for adsorbing a first workpiece. The clamping mechanism has a clamping and positioning component for clamping and correcting the first workpiece. The moving mechanism moves in the same direction as the insertion direction of the first workpiece. The rotating mechanism is mounted on the moving mechanism, which has a driving mechanism. The output end of the driving mechanism is connected to the clamping mechanism, and the driving direction of the driving mechanism is the same as the insertion direction of the first workpiece. The driving mechanism can drive the clamping and positioning component to move closer to or further away from the adsorption portion.
[0005] The clamping and positioning device for automatic insertion of workpieces according to the embodiments of this application has at least the following beneficial effects: The rotating component of the clamping and positioning device for automatic insertion of workpieces of this application is provided with an adsorption part for adsorbing a first workpiece, wherein the first workpiece is a product tail cap, or other parts made of softer materials or with finer structures. During use, the adsorption part adsorbs the first workpiece onto the rotating component, and the rotating component can drive the first workpiece to rotate to a preset angle, so that the first workpiece can be inserted into the second component at the correct angle, thereby realizing subsequent assembly with the second component; the clamping and positioning component of the clamping mechanism can The clamping mechanism can hold the first workpiece. During the clamping process, the clamping and positioning component exerts a certain force on the first workpiece, thus correcting it while clamping. The drive mechanism can move the clamping and positioning component along the insertion direction of the first workpiece; in other words, the clamping and positioning component can move along its length, facilitating adjustment of its specific position on the first workpiece and achieving correction. This correction reduces damage to the first workpiece, lowering its scrap rate. More importantly, under the clamping force, slight sprue residue will be corrected as the first workpiece bends. The first workpiece is flattened or pressed against the surface of the first workpiece to avoid interference with the insertion path. The moving mechanism drives the rotating mechanism, clamping mechanism, and driving mechanism to work together to insert the first workpiece into the second component. The moving mechanism moves smoothly and provides uniform insertion force. Even if there is a small amount of sprue residue, assembly can be completed with continuous and gentle force without damaging the product. At the same time, the coordinated operation of the moving mechanism, driving mechanism, and clamping mechanism can clamp, position, and insert the first workpiece multiple times to ensure that the first workpiece is accurately inserted into the second component. This ensures the consistency of the assembly of the first workpiece and the second component during mass production. The automatic workpiece insertion clamping and positioning device realizes automated production and solves the problems of low efficiency, poor consistency, and easy damage to small first workpieces caused by manual assembly. When in use, the automatic workpiece insertion clamping and positioning device can be arranged above the original working space without occupying too much additional space. It not only meets the needs of working in a small space but also meets the requirements of high-precision production. Moreover, using the automatic workpiece insertion clamping and positioning device to assemble the first workpiece and the second component results in high production efficiency and high accuracy, which can adapt to the pace of large-scale mass production.
[0006] According to some embodiments of this application, the moving mechanism includes a lead screw and a slide block, the lead screw is arranged along the insertion direction of the first workpiece, the rotating mechanism is disposed on the slide block, and the driving mechanism includes a slide cylinder mounted on the slide block.
[0007] According to some embodiments of this application, the clamping and positioning device for automatic workpiece insertion includes a vacuum generator mounted on the slide, the vacuum generator being connected to the rotating component, and forming an adsorption port on the adsorption part for adsorbing a first workpiece.
[0008] According to some embodiments of this application, the rotating mechanism includes a drive motor and a rotating shaft. The rotating shaft is arranged along the insertion direction of the first workpiece. The rotating shaft is connected to the rotating component. The slide is provided with a mounting plate. The drive motor is mounted on the mounting plate. The drive motor and the rotating component are arranged on both sides of the mounting plate.
[0009] According to some embodiments of this application, the clamping mechanism includes a clamping cylinder, and the clamping and positioning component includes a first clamping part and a second clamping part for clamping both sides of the first workpiece respectively. The clamping cylinder is connected to the first clamping part and the second clamping part, and the clamping cylinder is installed at the output end of the driving mechanism.
[0010] According to some embodiments of this application, the clamping cylinder is provided with a pressure regulating valve.
[0011] According to some embodiments of this application, the insertion direction of the first workpiece is the height direction, the clamping and positioning component is located below the adsorption part, the second component is located below the clamping and positioning component, the space below the clamping and positioning component is for placing the second component, and the adsorption part is arranged facing downward.
[0012] According to some embodiments of this application, the second component is provided with an assembly interface that mates with the first workpiece, the first workpiece being the product tail cap and the second component being the product bottom shell.
[0013] The insertion method according to a second aspect embodiment of this application, which uses the workpiece automatic insertion clamping and positioning device of the first aspect embodiment of this application described above, includes the following steps:
[0014] In the adsorption step, the adsorption unit adsorbs the first workpiece;
[0015] In the angle adjustment step, the rotating mechanism rotates the first workpiece so that the first workpiece faces the assembly interface of the second component;
[0016] In the first clamping step, the driving mechanism drives the clamping mechanism to move to the tail of the first workpiece, and the clamping mechanism clamps the tail of the first workpiece, ensuring that the tail end of the first workpiece is exposed.
[0017] In the first insertion step, the moving mechanism drives the first workpiece to insert into the assembly interface of the second component, and the clamping mechanism releases the first workpiece.
[0018] The insertion method according to a second aspect embodiment of this application further includes the following steps:
[0019] In the second clamping step, the driving mechanism drives the clamping mechanism to move to the middle of the first workpiece, and the clamping mechanism clamps the middle of the first workpiece.
[0020] In the second insertion step, the moving mechanism drives the first workpiece to insert into the assembly interface of the second component, so that the first workpiece is inserted into the assembly interface of the second component.
[0021] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description
[0022] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:
[0023] Figure 1 This is a front view of a workpiece automatic insertion clamping and positioning device according to an embodiment of this application;
[0024] Figure 2 This is one of the perspective views of a workpiece automatic insertion clamping and positioning device according to an embodiment of this application;
[0025] Figure 3 This is a second perspective view of a workpiece automatic insertion clamping and positioning device according to an embodiment of this application;
[0026] Figure 4 This is a perspective view of the moving mechanism in a workpiece automatic insertion clamping and positioning device according to an embodiment of this application.
[0027] Figure label:
[0028] Rotating mechanism 100, rotating component 110, adsorption part 111, vacuum generator 120, drive motor 130, rotating shaft 140;
[0029] Clamping mechanism 200, clamping and positioning component 210, first clamping part 211, second clamping part 212, clamping cylinder 220;
[0030] Moving mechanism 300, lead screw 310, slide 320, mounting plate 321;
[0031] Drive mechanism 400.
[0032] First workpiece 500;
[0033] Second component 600. Detailed Implementation
[0034] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.
[0035] In the description of this application, it should be understood that if directional descriptions are involved, such as up, down, front, back, left, right, etc., indicating the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings, it is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0036] In the description of this application, if words such as several, greater than, less than, exceeding, above, below, or within appear, "several" means one or more, "more than" means two or more, "greater than," "less than," "exceeding," etc. are understood to exclude the number itself, and "above," "below," "within," etc. are understood to include the number itself.
[0037] In the description of this application, the use of terms such as "first" and "second" is for the purpose of distinguishing technical features only, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of the technical features indicated.
[0038] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.
[0039] Reference Figures 1 to 4 The workpiece automatic insertion clamping and positioning device according to an embodiment of this application includes a rotating mechanism 100, a clamping mechanism 200, and a moving mechanism 300. Specifically, the rotating mechanism 100 includes a rotating component 110, which is provided with an adsorption part 111 for adsorbing a first workpiece 500. The clamping mechanism 200 is provided with a clamping and positioning component 210 for clamping and correcting the first workpiece 500. The moving direction of the moving mechanism 300 is consistent with the insertion direction of the first workpiece 500. The rotating mechanism 100 is mounted on the moving mechanism 300, which is provided with a driving mechanism 400. The output end of the driving mechanism 400 is connected to the clamping mechanism 200. The driving direction of the driving mechanism 400 is consistent with the insertion direction of the first workpiece 500. The driving mechanism 400 can drive the clamping and positioning component 210 to move closer to or away from the adsorption part 111.
[0040] The rotating component 110 of the workpiece automatic insertion clamping and positioning device of this application is provided with an adsorption part 111 for adsorbing the first workpiece 500. The first workpiece 500 is a product tail cap, or other parts made of softer materials or with a finer structure. During use, the adsorption part 111 adsorbs the first workpiece 500 onto the rotating component 110. The rotating component 110 can rotate the first workpiece 500 to a preset angle, facilitating the insertion of the first workpiece 500 into the second component 600 at the correct angle, enabling subsequent assembly with the second component 600. The clamping and positioning component 210 of the clamping mechanism 200... The device is capable of clamping the first workpiece 500. During the clamping process, the clamping and positioning component 210 exerts a certain force on the first workpiece 500, thus correcting it while clamping. The driving mechanism 400 can drive the clamping and positioning component 210 to move along the insertion direction of the first workpiece 500. In other words, the clamping and positioning component 210 can move along its length, facilitating adjustment of its specific position on the first workpiece 500 and achieving correction of the first workpiece 500. This correction also reduces damage to the first workpiece 500. To reduce the scrap rate of the first workpiece 500, and more importantly, under the clamping force, slight sprue residue will be flattened or adhered to the surface of the first workpiece 500 as it bends and straightens, avoiding interference with the insertion path; the moving mechanism 300 can drive the rotating mechanism 100, the clamping mechanism 200, and the driving mechanism 400 to work together to insert the first workpiece 500 into the second component 600. The moving mechanism 300 provides a smooth and uniform insertion force, and even with a small amount of sprue residue, assembly can be completed with a continuous and gentle force without damaging the product. Simultaneously, the moving mechanism 300... The coordinated operation of the drive mechanism 400 and the clamping mechanism 200 enables the first workpiece 500 to be clamped, positioned, and inserted multiple times, so that the first workpiece 500 can be accurately inserted into the second component 600. This ensures the consistency of the assembly of the first workpiece 500 and the second component 600 during mass production, meeting the requirements of high-precision production. Specifically, the first workpiece 500 is the product tail cover, and the second component 600 is the product bottom shell. The clamping and positioning device that automatically inserts the workpiece is used to assemble the product tail cover and the product bottom shell, resulting in high production efficiency, high accuracy, and the ability to adapt to the pace of large-scale mass production.
[0041] It should be noted that in some of the embodiments, see [reference needed]. Figure 4 The moving mechanism 300 includes a lead screw 310 and a slide block 320. The lead screw 310 is arranged along the insertion direction of the first workpiece 500 to facilitate the accurate insertion of the first workpiece 500 into the second component 600. The rotating mechanism 100 is mounted on the slide block 320. The driving mechanism 400 includes a slide cylinder mounted on the slide block 320. The slide cylinder can drive the clamping and positioning component 210 to move along the insertion direction of the first workpiece 500.
[0042] It should be noted that in some of the embodiments, see [reference needed]. Figures 1 to 3 The workpiece automatic insertion clamping and positioning device includes a vacuum generator 120, which is mounted on a slide 320. The vacuum generator 120 is connected to a rotating component 110 and forms an adsorption port on the adsorption part 111 for adsorbing the first workpiece 500. The vacuum generator 120 generates a vacuum, and by forming an upper vacuum in the adsorption part 111, the first workpiece 500 is picked up, thus completing the loading of the first workpiece 500 (product tail cap).
[0043] It should be noted that in some of the embodiments, see [reference needed]. Figure 1 The rotating mechanism 100 includes a drive motor 130 and a rotating shaft 140. The rotating shaft 140 is arranged along the insertion direction of the first workpiece 500 and is connected to the rotating component 110. The slide 320 is provided with a mounting plate 321. The drive motor 130 is mounted on the mounting plate 321. The drive motor 130 and the rotating component 110 are arranged on both sides of the mounting plate 321. The rotating mechanism 100 can drive the first workpiece 500 to rotate at a preset angle and adjust the posture of the first workpiece 500 so that the insertion direction of the first workpiece 500 matches the assembly interface of the second component 600.
[0044] It should be noted that in some embodiments, the clamping mechanism 200 includes a clamping cylinder 220, and the clamping and positioning component 210 includes a first clamping part 211 and a second clamping part 212 for clamping the two sides of the first workpiece 500 respectively. The clamping cylinder 220 is connected to the first clamping part 211 and the second clamping part 212. The clamping cylinder 220 is installed at the output end of the drive mechanism 400. When the first clamping part 211 and the second clamping part 212 clamp the first workpiece 500, they can increase the strength of the first workpiece 500 and correct the first workpiece 500 that has bending deformation, ensuring that the first workpiece 500 can meet the subsequent insertion and assembly requirements and address the problem of incoming material bending.
[0045] It should be noted that the clamping cylinder 220 is equipped with a pressure regulating valve, which facilitates the adjustment of the clamping force on the first workpiece 500 to ensure the correction effect on the first workpiece 500 and realize the subsequent precise assembly of the first workpiece 500 and the second component 600.
[0046] It should be noted that, see Figure 1The insertion direction of the first workpiece 500 is the height direction. The clamping and positioning component 210 is located below the adsorption part 111, and the second component 600 is located below the clamping and positioning component 210. There is space below the clamping and positioning component 210 for placing the second component 600. The adsorption part 111 is set downwards. That is, in use, the first workpiece 500 is inserted into the second component 600 from top to bottom. The workpiece automatic insertion clamping and positioning device is located above the assembly line of the second component 600 during use, without occupying the side space of the equipment. The workpiece automatic insertion clamping and positioning device is located above, which can solve the problem of limited available space in the production site and the difficulty of equipment layout. The workpiece automatic insertion clamping and positioning device is ingeniously designed, which can realize efficient automated production layout in a limited space, reduce labor costs, and achieve rapid and stable assembly of the first workpiece 500 and the second component 600, thereby improving assembly efficiency.
[0047] It should be noted that, see Figures 1 to 3 The second component 600 is provided with an assembly interface that mates with the first workpiece 500. The first workpiece 500 is the product tail cover, and the second component 600 is the product bottom shell.
[0048] The insertion method according to the embodiments of this application, using the above-described workpiece automatic insertion clamping and positioning device, includes the following steps:
[0049] In the adsorption step, the adsorption unit 111 adsorbs the first workpiece 500;
[0050] In the angle adjustment step, the rotating mechanism 100 rotates the first workpiece 500 so that the first workpiece 500 faces the assembly interface of the second component 600.
[0051] In the first clamping step, the drive mechanism 400 drives the clamping mechanism 200 to move to the tail of the first workpiece 500. The clamping mechanism 200 clamps the tail of the first workpiece 500, ensuring that the tail end of the first workpiece 500 is exposed. Specifically, in the first clamping step, the clamping mechanism 200 precisely exposes the end of the first workpiece 500, and the length of the exposed end is 5 mm. This part is the key mating section for inserting into the bottom shell of the product. Sprue residue is usually not in this core area.
[0052] In the first insertion step, the moving mechanism 300 drives the first workpiece 500 to insert into the assembly interface of the second component 600, and the clamping mechanism 200 releases the first workpiece 500. The first insertion step can achieve accurate insertion of the tail of the first workpiece 500 into the second component 600.
[0053] It should be noted that this insertion method also includes the following steps, performed after the first insertion step described above:
[0054] In the second clamping step, the drive mechanism 400 drives the clamping mechanism 200 to move to the middle of the first workpiece 500, and the clamping mechanism 200 clamps the middle of the first workpiece 500 to achieve the correction of the middle of the first workpiece 500.
[0055] In the second insertion step, the moving mechanism 300 drives the first workpiece 500 to insert into the assembly interface of the second component 600, ensuring that the first workpiece 500 is properly inserted into the assembly interface of the second component 600. The step-by-step insertion design of the second clamping step and the second insertion step ensures the stability of the first workpiece 500's posture during the insertion process, reducing jamming or displacement caused by sprue residue. In this step-by-step insertion process, the first insertion is precisely positioned by the end 5 mm, and the guiding effect of the product's bottom shell allows the residual sprue to be naturally "avoided" or "squeezed to the non-mating surface," without affecting assembly. Understandably, the second clamping step and the second insertion step can be performed multiple times as needed, which allows for the correction of both the tail and middle of the first workpiece 500, resulting in a good correction effect.
[0056] The insertion method using the automatic workpiece insertion clamping and positioning device involves exposing the tail end of the first workpiece 500, and then inserting the tail end of the first workpiece 500 into the second component 600 by the moving mechanism 300. Subsequently, the driving mechanism 400 drives the clamping mechanism 200 to move and clamp the middle of the first workpiece 500. The moving mechanism 300 drives the clamping mechanism 200 to complete the precise insertion of the first workpiece 500. This insertion method can automatically complete the insertion and assembly of the first workpiece 500 and the second component 600 throughout the entire process without manual intervention. It has a high assembly success rate, reduces the problems of poor consistency and easy damage to soft / small first workpieces 500, reduces the scrap rate of the first workpiece 500, ensures the stability of the posture of the first workpiece 500 (i.e., the product tail cap) during the insertion process, reduces jamming or displacement caused by sprue residue, and achieves an insertion and assembly success rate of 99.9%. The high assembly success rate effectively reduces product warranty rates and ensures the consistency and stability of the assembly.
[0057] In the description of this specification, the use of terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0058] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.
Claims
1. A clamping and positioning device for automatic workpiece insertion, characterized in that, include: A rotating mechanism includes a rotating component, wherein the rotating component is provided with an adsorption part for adsorbing a first workpiece; A clamping mechanism is provided with a clamping and positioning component for clamping and correcting a first workpiece. The clamping mechanism includes a clamping cylinder. The clamping and positioning component includes a first clamping part and a second clamping part for clamping both sides of the first workpiece respectively. The clamping cylinder is connected to the first clamping part and the second clamping part. The insertion direction of the first workpiece is the height direction. The clamping and positioning component is located below the adsorption part. The second component is located below the clamping and positioning component. There is a space below the clamping and positioning component for placing the second component. The adsorption part is arranged facing downward. A moving mechanism is provided, wherein the moving direction of the moving mechanism is consistent with the insertion direction of the first workpiece, a rotating mechanism is mounted on the moving mechanism, and a driving mechanism is provided on the moving mechanism. A clamping cylinder is mounted on the output end of the driving mechanism, and the output end of the driving mechanism is connected to the clamping mechanism. The driving direction of the driving mechanism is consistent with the insertion direction of the first workpiece, and the driving mechanism can drive the clamping and positioning component to move closer to or away from the adsorption part. The moving mechanism includes a lead screw and a slide block. The lead screw is arranged along the insertion direction of the first workpiece. The rotating mechanism is disposed on the slide block, and the driving mechanism includes a slide cylinder mounted on the slide block. A vacuum generator is mounted on the slide and connected to the rotating component, and an adsorption port for adsorbing the first workpiece is formed on the adsorption part.
2. The clamping and positioning device for automatic workpiece insertion as described in claim 1, characterized in that, The rotating mechanism includes a drive motor and a rotating shaft. The rotating shaft is arranged along the insertion direction of the first workpiece and is connected to the rotating component. The slide is provided with a mounting plate, and the drive motor is mounted on the mounting plate. The drive motor and the rotating component are arranged on both sides of the mounting plate.
3. The clamping and positioning device for automatic workpiece insertion as described in claim 1, characterized in that, The clamping cylinder is equipped with a pressure regulating valve.
4. The clamping and positioning device for automatic workpiece insertion as described in claim 1, characterized in that, The second component has an assembly interface that mates with the first workpiece, the first workpiece being the product tail cap, and the second component being the product bottom shell.
5. An insertion method, using the workpiece automatic insertion clamping and positioning device according to any one of claims 1 to 4, characterized in that, Includes the following steps: In the adsorption step, the adsorption unit adsorbs the first workpiece; In the angle adjustment step, the rotating mechanism rotates the first workpiece so that the first workpiece faces the assembly interface of the second component; In the first clamping step, the driving mechanism drives the clamping mechanism to move to the tail of the first workpiece, and the clamping mechanism clamps the tail of the first workpiece, ensuring that the tail end of the first workpiece is exposed. In the first insertion step, the moving mechanism drives the first workpiece to insert into the assembly interface of the second component, and the clamping mechanism releases the first workpiece.
6. The insertion method according to claim 5, characterized in that, It also includes the following steps: In the second clamping step, the driving mechanism drives the clamping mechanism to move to the middle of the first workpiece, and the clamping mechanism clamps the middle of the first workpiece. In the second insertion step, the moving mechanism drives the first workpiece to insert into the assembly interface of the second component, so that the first workpiece is inserted into the assembly interface of the second component.