Automatic pin arranging equipment and method thereof

Abstract

The invention discloses an automatic pin arranging device and method, and belongs to the field of PCB machining, the automatic pin arranging device comprises a rack, a pin sorting mechanism, a pin box feeding mechanism, a pin box conveying mechanism and a pin planting mechanism, and the pin sorting mechanism, the pin box feeding mechanism, the pin box conveying mechanism and the pin planting mechanism are all arranged on the rack. The pin sorting mechanism, the pin box feeding mechanism, the pin box conveying mechanism and the pin planting mechanism are arranged, pin sorting and conveying, empty pin box feeding, empty pin box conveying and fixing and pin inserting into the empty pin boxes can be achieved, so that pin arrangement is completed, all the mechanisms are matched with one another, manual participation is not needed in the whole process, and the production efficiency is improved. And the efficiency and the accuracy are improved.

Description

Technical Field

[0001] This invention belongs to the field of PCB manufacturing, specifically relating to an automatic pin-mounting device and method. Background Technology

[0002] In the field of printed circuit board (PCB) processing, the intelligentization and automatic transfer functions of processing tools are the future development trend. This can reduce the time operators spend changing tools and the downtime of processing equipment. Currently, PCB processing equipment is divided into two types: drilling machines and routers. During the operation of a router, the pins used to fix the PCB board need to be constantly replaced. This replacement is generally done manually or by a robotic arm built into the router. Replacement requires removing the pins from a pin box mounted on the worktable. However, the pins in the pin box must be in an upright position before removal. Upright pins need to be manually arranged according to specifications and inserted one by one into the pin box. This manual pin arrangement method is time-consuming and inconvenient. With the development of modern industrial society, the automation and intelligentization of equipment are receiving increasing attention from equipment manufacturers and users. Currently, there is no automatic pin arrangement equipment for routers or drilling machines to address this need for automatic pin arrangement.

[0003] To achieve the goal of automatically arranging pins, a mechanism is needed that can sort and transport pins, load empty pin boxes, transfer and fix empty pin boxes, and insert pins into empty pin boxes. Existing designs do not have such a mechanism or combination of mechanisms to meet the needs of automatically arranging pins. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing an automatic pin-laying device and method. The device includes a pin sorting mechanism, a pin box feeding mechanism, a pin box conveying mechanism, and a pin-planting mechanism. It can realize pin sorting and conveying, empty pin box feeding, empty pin box conveying and fixing, and pin-planting into the empty pin box, thereby completing the pin arrangement. The various mechanisms cooperate with each other, and the whole process does not require manual intervention, thus improving efficiency and accuracy.

[0005] The technical solution adopted in this invention is: an automatic pin-laying device, including a frame, a pin sorting mechanism, a pin box feeding mechanism, a pin box conveying mechanism, and a pin-planting mechanism, wherein the pin sorting mechanism, the pin box feeding mechanism, the pin box conveying mechanism, and the pin-planting mechanism are all mounted on the frame; The pin sorting mechanism includes a sorting component and a pin uprighting component. The pin uprighting component is located on the frame near the pin planting mechanism. The sorting component is used to sort the pins and transport the sorted pins to the pin uprighting component. The pin uprighting component is used to collect the pins sorted by the sorting component and rotate the pins to a position and angle that is easy for the pin planting mechanism to grasp. The pin box feeding mechanism is mounted on the frame and located above the end of the pin box conveying mechanism away from the pin insertion mechanism. The pin box feeding mechanism is used to sequentially convey empty pin boxes to the pin box conveying mechanism. The pin box transmission mechanism includes a drive component and a platform component. The drive component is mounted on the frame, and the platform component is mounted on the drive component. The drive component is used to drive the platform component to move horizontally, and the platform component is used to receive the empty pin boxes conveyed by the pin box feeding mechanism and, under the drive of the drive component, convey the received empty pin boxes to the area below the pin insertion mechanism. The pin-planting mechanism includes a horizontal displacement component, a vertical displacement component, and a pin-planting component. The horizontal displacement component is disposed on the side of the frame near the pin sorting component. The horizontal displacement component is used to connect with the vertical displacement component and drive the vertical displacement component to move horizontally. The vertical displacement component is used to connect with the pin-planting component and drive the pin-planting component to move vertically. The pin-planting component is used to grab the pins on the pin upright component and insert the grabbed pins into the empty pin box of the platform component.

[0006] In one embodiment, the sorting assembly includes a vibratory feeder, which includes a sorting disc and a vibratory motor for driving the sorting disc to vibrate. The sorting disc is provided with an Archimedean spiral track, and the outer side of the sorting disc is provided with a pin delivery channel that extends into the interior of the sorting disc and communicates with the Archimedean spiral track. The top of the pin delivery channel has a pin delivery groove for pins to pass through.

[0007] In one embodiment, the pin erection assembly includes a rotary cylinder, a rotary seat, and a mounting adjustment plate. The rotary cylinder and the rotary seat are respectively disposed on both sides of the mounting adjustment plate. The rotary cylinder is connected to the rotary seat and drives the rotary seat to rotate. The rotary seat includes a base body, which has several transfer holes for pins from the pin outlet channel to slide into. After the rotary seat completes its rotation, one of the transfer holes stops at a position corresponding to the pin outlet channel.

[0008] In one embodiment, the pin box feeding mechanism includes a guide seat, which includes a horizontally arranged mounting part. One end of the upper surface of the mounting part has an empty pin box stacking surface. A horizontal transfer cylinder for empty pin boxes is located on one side of the mounting part corresponding to the empty pin box stacking surface. Empty pin box guide plates are respectively located on both sides of the empty pin box stacking surface on the mounting part. Each of the two empty pin box guide plates has an opening on the side away from the horizontal transfer cylinder. The openings of the two empty pin box guide plates and the empty pin box stacking surface form a feeding channel for one empty pin box to pass through. An opening is located on the mounting part near the empty pin box stacking surface. The device includes a feeding chute for empty pin boxes to pass through. Several flip-back spring-loaded components extending above the feeding chute are located on the mounting part near the mounting part. A cylinder mounting seat is also located on the mounting part near the feeding chute. A vertical transmission cylinder for empty pin boxes is located on the side of the cylinder mounting seat near the feeding chute. When the piston rod of the horizontal transmission cylinder extends, it pushes the empty pin box to move above the feeding chute. When the piston rod of the vertical transmission cylinder extends, the flip-back spring-loaded components flip, and the empty pin box falls from the feeding chute. When the piston rod of the vertical transmission cylinder retracts, the flip-back spring-loaded components spring back and prevent the empty pin box from passing through the feeding chute.

[0009] In one embodiment, the drive assembly includes a transmission motor, a transmission lead screw, a lead screw nut, transmission guide rails, and guide grooves. The transmission lead screw is connected to the transmission motor via a coupling. The lead screw nut is located below the platform assembly and connected to the transmission lead screw. There are two transmission guide rails, each located on one side of the transmission lead screw. There are two guide grooves, each located below the platform assembly at a position corresponding to the transmission guide rails. The transmission guide rails are connected to the guide grooves.

[0010] In one embodiment, the platform component includes a pin-planting platform. The upper surface of the pin-planting platform is provided with a pin-planting surface and a transfer surface. A horizontal transfer cylinder for the pin-planted box is provided at the end of the pin-planting surface away from the transfer surface. A first fixing component is symmetrically provided on both sides of the pin-planting platform adjacent to the horizontal transfer cylinder for the pin-planted box. A second fixing component is provided on one side of the pin-planting platform adjacent to the horizontal transfer cylinder for the pin-planted box.

[0011] In one embodiment, the horizontal displacement assembly includes a crossbeam, a first mounting plate, a second mounting plate, and a horizontal displacement motor. A first horizontal displacement guide rail is provided on one side of the top of the crossbeam, and a second horizontal displacement guide rail is provided on one side of the crossbeam. The second mounting plate is located below the first mounting plate. A motor fixing plate is provided on the first mounting plate, and a through hole is formed in the motor fixing plate. The horizontal displacement motor is mounted on the motor fixing plate, and its main shaft passes through the through hole. A gear is provided on the main shaft of the horizontal displacement motor. A rack meshing with the gear is provided on the upper surface of the crossbeam. A first groove matching and connected to the first horizontal displacement guide rail is provided at the bottom of the first mounting plate. A second groove matching and connected to the second horizontal displacement guide rail is provided on the side of the second mounting plate near the crossbeam.

[0012] In one embodiment, the vertical displacement assembly includes a vertical displacement cylinder and a vertical displacement guide rail. Both the vertical displacement cylinder and the vertical displacement guide rail are disposed on the side of the second mounting plate away from the second slide rail, and the vertical displacement cylinder is disposed above the vertical displacement guide rail. The piston end of the vertical displacement cylinder is provided with a connecting seat, and the side of the connecting seat near the second mounting plate is provided with a vertical displacement slide rail that matches and connects to the vertical displacement guide rail.

[0013] In one embodiment, the pin-planting assembly includes a pin-planting drive motor connected to a connecting seat. The pin-planting drive motor is connected to a pin-grabbing robot via a robot arm transmission mechanism, and the pin-planting drive motor drives the pin-grabbing robot to open and close via the robot arm transmission mechanism.

[0014] This invention also discloses an automatic pin-mounting method, which is implemented by the aforementioned automatic pin-mounting device, and includes the following steps: Step 1: Place the pins to be implanted into the sorting tray. Proceed to Step 2: Stack the empty pin boxes to be implanted onto the empty pin box stacking surface of the pin box feeding mechanism. Proceed to Step 3. Step 2: The vibrating motor works, and the vibration waves generated by the vibrating motor drive the pin to make random movements. Under the action of the Archimedean spiral track, the pin runs along the Archimedean spiral track and slides out from the pin outlet channel and enters the central hole of the rotating seat. The rotating cylinder works, driving the rotating seat to rotate and rotate the pin in the central hole to an upright state, and then proceeds to step 5. Step 3: The horizontal transmission cylinder of the empty pin box works, pushing the bottommost empty pin box stacked on the stacking surface of the empty pin boxes into the upper part of the feeding trough along the feeding channel. The vertical transmission cylinder of the empty pin box works, pushing the empty pin box to squeeze the flipping and springing component. The flipping and springing component flips, and the empty pin box falls from the feeding trough and onto the pin planting surface of the pin planting platform, proceeding to step 4. Step 4: The first and second fixing components work to fix the empty pin box. The transmission motor works, the transmission screw rotates and applies rotational force to the screw nut. The platform component moves along the transmission guide rail through the guide groove, moving the platform component to the side close to the pin-planting mechanism, and proceeds to step 5. Step 5: The horizontal displacement motor operates, the gear rotates and applies rotational force to the rack, the first mounting plate and the second mounting plate move along the first horizontal displacement guide rail and the second horizontal displacement guide rail respectively through the first slide groove and the second slide groove, moving the vertical displacement component and the pin insertion component to one end close to the rotating seat and the platform component, and proceeding to step 6; Step 6: The vertical displacement cylinder operates, and the connecting seat moves along the vertical displacement guide rail through the vertical displacement slide groove, moving the pin-planting assembly above the rotating seat, and proceeding to Step 7. Step 7: The pin-planting drive motor operates, driving the pin-grabbing robot to grab the pin in the transfer hole through the robot arm transmission mechanism. The horizontal displacement component operates, moving the pin-planting component to the top of the empty pin box fixed on the pin-planting surface of the pin-planting platform. The vertical displacement component drives the pin-planting component to move downward. The pin-planting drive motor operates, driving the pin-grabbing robot to insert the grabbed pin into the empty pin box through the robot arm transmission mechanism. Proceed to Step 8. Step 8: Repeat step 7 until the current empty pin box has completed the pin insertion. The horizontal transfer cylinder of the inserted pin box will work to push the inserted pin box to the transfer surface, so that it enters the inserted pin box storage basket along the exit guide plate and proceeds to step 9. Step 9: Repeat steps 2-8 until all pins to be inserted are inserted, thus completing the automatic pin insertion process.

[0015] The beneficial effects of this invention are as follows: 1. The system is equipped with a pin sorting mechanism, a pin box feeding mechanism, a pin box conveying mechanism, and a pin insertion mechanism. This system enables pin sorting and conveying, empty pin box feeding, empty pin box conveying and fixing, and pin insertion into the empty pin box, thereby completing the pin arrangement. The mechanisms work together, and the entire process does not require manual intervention, which improves efficiency and accuracy. 2. The pin sorting mechanism is equipped with a sorting component and a pin uprighting component. The sorting component is used to sort the pins, and the pin uprighting component rotates the pins to an upright position, which facilitates the subsequent gripping of the pins. The combination of the two components effectively improves the sorting efficiency of the pins and also provides convenience for the subsequent gripping. 3. The pin box feeding mechanism, through the setting of the horizontal and vertical transmission cylinders of the empty pin boxes, can realize the horizontal and vertical displacement of the empty pin boxes. The combination of the two can push the bottommost empty pin boxes stacked together to the feeding position, and the feeding of empty pin boxes can be completed without manual intervention. 4. The flip-back spring component can block the empty pin box above the feeding chute. During feeding, the empty pin box flips under the action of the vertical transmission cylinder to achieve feeding and ensure normal feeding. After feeding is completed, it automatically springs back to the blocking state, which can prevent the empty pin box from being unblocked. 5. The pin box transmission mechanism is equipped with a drive component and a platform component. The drive component is used to drive the platform component to move horizontally, and the platform component is used to receive empty pin boxes and, driven by the drive component, transport the received empty pin boxes to the bottom of the pin-planting mechanism. The combination of the two can realize the reception and transportation of empty pin boxes, ensuring the smooth progress of subsequent pin planting. 6. The first and second fixing components can fix the pin box, ensuring that the pin box will not shift during the pin insertion process, thereby ensuring the accuracy of pin insertion. 7. The pin-planting mechanism is equipped with horizontal and vertical displacement components, which can realize the horizontal and vertical movement of the pin-planting component. With the pin-planting component set up, the pin-planting work can be completed accurately. 8. The horizontal displacement assembly drives displacement through a combination of a horizontal displacement motor, gears, and racks. It is equipped with a first horizontal displacement guide rail and a first slide rail, as well as a second horizontal displacement guide rail and a second slide rail for guidance, which can achieve efficient horizontal displacement. 9. The vertical displacement assembly uses a vertical displacement cylinder as its power source and is guided by a vertical displacement guide rail and a vertical displacement slide, resulting in a simple and precise displacement method. 10. The pin-planting drive motor and the pin-grabbing robot of the pin-planting assembly work together to move to the pin-planting position under the drive of the horizontal displacement component and the vertical displacement component to complete the pin-planting and ensure the smooth progress of pin-planting. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the pin sorting mechanism of the present invention; Figure 3 This is a schematic diagram of the structure of each component of the pin sorting mechanism of the present invention; Figure 4 This is a schematic diagram of the pin outlet channel and pin outlet groove structure of the present invention; Figure 5 This is a schematic diagram of the rotating seat structure of the present invention; Figure 6 This is a schematic diagram of the pin box feeding mechanism of the present invention; Figure 7 This is a schematic diagram of the structure of each component of the pin box feeding mechanism of the present invention; Figure 8 This is a schematic diagram of the flip-back spring assembly structure of the present invention; Figure 9 This is a schematic diagram of the pin box transmission mechanism of the present invention; Figure 10 This is a schematic diagram of the structure of each component of the pin box transmission mechanism of the present invention; Figure 11 For the present invention Figure 10 Enlarged view of point A in the middle; Figure 12 This is a schematic diagram of the pin-planting mechanism of the present invention; Figure 13 This is a schematic diagram of the structure of each component of the pin-planting mechanism of the present invention.

[0017] In the diagram: 1. Frame; 2. Pin sorting mechanism; 3. Pin box feeding mechanism; 4. Pin box conveying mechanism; 5. Pin insertion mechanism; 21. Sorting assembly; 22. Pin upright assembly; 23. Sorting mounting base; 24. Adjustment assembly; 211. Sorting tray; 212. Vibration motor; 213. Archimedes spiral track; 214. Pin outlet channel; 215. Pin outlet slot; 221. Rotary cylinder; 222. Rotary seat; 223. Mounting adjustment plate; 2221. Base body; 2222. Transfer hole; 241. Base plate; 242. Connecting plate; 243. Adjustment slot; 244. Bolt; 3 1. Guide seat; 32. Horizontal transfer cylinder for empty pin box; 33. Guide plate for empty pin box; 34. Opening; 35. Feeding chute; 36. Tilting and springback assembly; 37. Cylinder fixing seat; 38. Vertical transfer cylinder for empty pin box; 3101. Mounting part; 3102. Connecting part; 31011. Stacking surface of empty pin box; 321. First push block; 381. Second push block; 361. Horizontal mounting block; 362. Vertical mounting block; 363. Mounting cavity; 364. Strong spring; 365. Tilting plate; 41. Drive assembly; 42. Platform assembly; 43. Outlet guide plate; 44. Inserted pins 45. Storage basket; 411. Mechanism mounting frame; 412. Transmission motor; 413. Transmission screw; 414. Transmission guide rail; 415. Mounting base; 416. Coupling; 421. Pin-inserting platform; 422. Pin-inserting surface; 423. Transfer surface; 424. Horizontal transmission cylinder for pin-inserted box; 425. First fixing component; 426. Second fixing component; 4241. Third push block; 4251. First fixing cylinder; 4252. First fixing protrusion; 4261. Second fixing cylinder; 4262. Second fixing protrusion; 4263. Fixing connecting block; 51. Horizontal displacement component; 5 2. Vertical displacement assembly; 53. Pin insertion assembly; 54. Column; 511. Crossbeam; 512. First mounting plate; 513. Second mounting plate; 514. Horizontal displacement motor; 515. First horizontal displacement guide rail; 516. Second horizontal displacement guide rail; 517. Motor mounting plate; 518. Through hole; 519. Gear; 5110. Rack; 5111. First slide groove; 5112. Second slide groove; 521. Vertical displacement cylinder; 522. Vertical displacement guide rail; 523. Connecting seat; 524. Vertical displacement slide groove; 531. Pin insertion drive motor; 532. Pin gripping robot. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0019] like Figures 1-13As shown, the present invention discloses an automatic pin-laying device, including a frame 1, a pin sorting mechanism 2, a pin box feeding mechanism 3, a pin box conveying mechanism 4, and a pin-planting mechanism 5, wherein the pin sorting mechanism 2, the pin box feeding mechanism 3, the pin box conveying mechanism 4, and the pin-planting mechanism 5 are all mounted on the frame 1. The pin sorting mechanism 2 includes a sorting component 21 and a pin uprighting component 22. The pin uprighting component 22 is disposed on the frame 1 near the pin planting mechanism 5. The sorting component 21 is used to sort the pins and transport the sorted pins to the pin uprighting component 22. The pin uprighting component 22 is used to collect the pins sorted by the sorting component 21 and rotate the pins to a position and angle that is easy for the pin planting mechanism 5 to grasp. The pin box feeding mechanism 3 is mounted on the frame 1 and located above the end of the pin box conveying mechanism 4 away from the pin insertion mechanism 5. The pin box feeding mechanism 3 is used to sequentially convey empty pin boxes to the pin box conveying mechanism 4. The pin box transmission mechanism 4 includes a drive component 41 and a platform component 42. The drive component 41 is mounted on the frame 1, and the platform component 42 is mounted on the drive component 41. The drive component 41 is used to drive the platform component 42 to move horizontally. The platform component 42 is used to receive the empty pin boxes conveyed by the pin box feeding mechanism 3 and, driven by the drive component 41, convey the received empty pin boxes to the area below the pin insertion mechanism 5. The pin-planting mechanism 5 includes a horizontal displacement component 51, a vertical displacement component 52, and a pin-planting component 53. The horizontal displacement component 51 is disposed on the side of the frame 1 near the pin sorting component 21. The horizontal displacement component 51 is used to connect with the vertical displacement component 52 and drive the vertical displacement component 52 to move horizontally. The vertical displacement component 52 is used to connect with the pin-planting component 53 and drive the pin-planting component 53 to move vertically. The pin-planting component 53 is used to grab the pins on the pin upright component 22 and insert the grabbed pins into the empty pin box of the platform component 42.

[0020] In this embodiment, the sorting assembly 21 includes a vibratory feeder, which includes a sorting tray 211 and a vibratory motor 212 for driving the sorting tray 211 to vibrate. The sorting tray 211 is provided with an Archimedean spiral track 213. The outer side of the sorting tray 211 is provided with a pin delivery channel 214 that extends into the interior of the sorting tray 211 and communicates with the Archimedean spiral track 213. The top of the pin delivery channel 214 has a pin delivery groove 215 for pins to pass through.

[0021] In this embodiment, the pin upright assembly 22 includes a rotary cylinder 221, a rotary seat 222, and a mounting adjustment plate 223. The rotary cylinder 221 and the rotary seat 222 are respectively disposed on both sides of the mounting adjustment plate 223. The rotary cylinder 221 is connected to the rotary seat 222 and drives the rotary seat 222 to rotate. The rotary seat 222 includes a seat body 2221. The seat body 2221 is provided with several transfer holes 2222 for the pins from the pin outlet channel 214 to slide into. After the rotary seat 222 completes its rotation, one of the transfer holes 2222 stops at a position corresponding to the pin outlet channel 214.

[0022] In the pin sorting mechanism 2, there are four transfer holes 2222, and the included angle between two adjacent transfer holes 2222 is 90°. The pin sorting mechanism 2 also includes a sorting mounting base 23, on which the sorting component 21 and the pin upright component 22 are both mounted. The sorting component 21 is connected to the sorting mounting base 23 via an adjusting component 24. The mounting adjusting plate 223 is also connected to the sorting mounting base 23 via the adjusting component 24. The adjusting component 24 includes a base plate 241 and a connecting plate 242. The connecting plate 242 has an adjusting groove 243, which is connected to the base plate 241 via bolts 244. There are several connecting plates 242, each located at the bottom of the vibrating motor 212. There is also a single connecting plate 242 located on one side of the mounting adjusting plate 223.

[0023] In this embodiment, the pin box feeding mechanism 3 includes a guide seat 31, which includes a horizontally arranged mounting part 3101. One end of the upper surface of the mounting part 3101 is provided with an empty pin box stacking surface 31011. An empty pin box horizontal transmission cylinder 32 is provided on one side of the mounting part 3101 corresponding to the empty pin box stacking surface 31011. Empty pin box guide plates 33 are respectively provided on both sides of the empty pin box stacking surface 31011 on the mounting part 3101. Each of the two empty pin box guide plates 33 has an opening 34 on the side away from the empty pin box horizontal transmission cylinder 32. The opening 34 of the two empty pin box guide plates 33 and the empty pin box stacking surface 31011 form a feeding channel for one empty pin box to pass through. The mounting part 3101 is positioned near the empty pin box stacking surface. A feeding groove 35 for empty pin boxes to pass through is provided at position 31011. Several flipping and spring-loaded components 36 extending to the top of the feeding groove 35 are provided on the mounting part 3101 near the feeding groove 35. A cylinder fixing seat 37 is also provided on the mounting part 3101 near the feeding groove 35. An empty pin box vertical transmission cylinder 38 is provided on the side of the cylinder fixing seat 37 near the feeding groove 35. When the piston rod end of the empty pin box horizontal transmission cylinder 32 extends, it pushes the empty pin box to move above the feeding groove 35. When the piston rod end of the empty pin box vertical transmission cylinder 38 extends, the flipping and spring-loaded components 36 flip and the empty pin box falls from the feeding groove 35. When the piston rod end of the empty pin box vertical transmission cylinder 38 retracts, the flipping and spring-loaded components 36 spring back and block the empty pin box from passing through the feeding groove 35.

[0024] In the pin box feeding mechanism 3, the guide seat 31 further includes a connecting part 3102, which is located below the end of the mounting part 3101 away from the horizontal transmission cylinder 32 of the empty pin box. The piston rod ends of the horizontal transmission cylinder 32 and the vertical transmission cylinder 38 of the empty pin box are respectively provided with a first push block 321 and a second push block 381. The flip-back spring assembly 36 includes a horizontal mounting block 361, on which vertical mounting blocks 362 are symmetrically arranged. A mounting cavity 363 is formed between the two vertical mounting blocks 362. A strong spring 364 is provided inside the mounting cavity 363, and a flip plate 365 extending above the feeding groove 35 is provided on the strong spring 364.

[0025] In this embodiment, the drive assembly 41 includes a transmission motor 411, a transmission lead screw 412, a lead screw nut, a transmission guide rail 413, and a guide groove. The transmission lead screw 412 is connected to the transmission motor 411 via a coupling 415. The lead screw nut is located below the platform assembly 42 and connected to the transmission lead screw 412. There are two transmission guide rails 413, which are respectively located on both sides of the transmission lead screw 412. There are two guide grooves, which are respectively located below the platform assembly 42 at positions corresponding to the transmission guide rails 413. The transmission guide rails 413 are connected to the guide grooves.

[0026] In this embodiment, the platform component 42 includes a pin-planting platform 421. The upper surface of the pin-planting platform 421 is provided with a pin-planting surface 422 and a transfer surface 423. The end of the pin-planting surface 422 away from the transfer surface 423 is provided with a horizontal transmission cylinder 424 for the pin-planted box. The pin-planting platform 421 is symmetrically provided with first fixing components 425 on both sides adjacent to the horizontal transmission cylinder 424. The pin-planting platform 421 is provided with a second fixing component 426 on one side adjacent to the horizontal transmission cylinder 424.

[0027] In the pin box transmission mechanism 4, the lead screw nut and guide groove are both located below the pin-planting platform 421. Two transmission guide rails 413 are respectively mounted on both sides of the transmission lead screw 412 via mounting bases 414. A third push block 4241 is provided on the piston rod end of the horizontal transmission cylinder 424 for the inserted pin boxes. Both first fixing components 425 include a first fixing cylinder 4251, and both piston rod ends of the first fixing cylinders 4251 are provided with a first fixing protrusion 4252. The second fixing component 426 includes a second fixing cylinder 4261, and a fixing connecting block 4263 is provided on the piston rod end of the second fixing cylinder, with a second fixing protrusion 4262 on the fixing connecting block 4263. An outlet guide plate 43 is provided at the end of the pin-planting platform 421 away from the horizontal transmission cylinder 424 for the inserted pin boxes, and an inserted pin box storage basket 44 is provided on the outlet guide plate 43. The pin box transmission mechanism 4 also includes a mechanism mounting frame 45, on which the transmission motor 411 and the two mounting bases 414 are mounted.

[0028] In this embodiment, the horizontal displacement assembly 51 includes a crossbeam 511, a first mounting plate 512, a second mounting plate 513, and a horizontal displacement motor 514. A first horizontal displacement guide rail 515 is provided on one side of the top of the crossbeam 511, and a second horizontal displacement guide rail 516 is provided on one side of the crossbeam 511. The second mounting plate 513 is disposed below the first mounting plate 512. A motor fixing plate 517 is provided on the first mounting plate 512, and the motor fixing plate 517 has a through hole 518 passing through the first mounting adjustment plate 223. The horizontal displacement motor... 514 is mounted on the motor mounting plate 517 and its main shaft passes through the through hole 518. The main shaft of the horizontal displacement motor 514 is provided with a gear 519. The upper surface of the crossbeam 511 is provided with a rack 5110 that meshes with the gear 519. The bottom of the first mounting plate 512 is provided with a first slide groove 5111 that matches and connects to the first horizontal displacement guide rail 515. The side of the second mounting plate 513 near the crossbeam 511 is provided with a second slide groove 5112 that matches and connects to the second horizontal displacement guide rail 516.

[0029] In this embodiment, the vertical displacement assembly 52 includes a vertical displacement cylinder 521 and a vertical displacement guide rail 522. Both the vertical displacement cylinder 521 and the vertical displacement guide rail 522 are disposed on the side of the second mounting plate 513 away from the second slide groove 5112, and the vertical displacement cylinder 521 is disposed above the vertical displacement guide rail 522. A connecting seat 523 is provided on the piston end of the vertical displacement cylinder 521. A vertical displacement slide groove 524 that matches and connects to the vertical displacement guide rail 522 is provided on the side of the connecting seat 523 near the second mounting plate 513.

[0030] In this embodiment, the pin-planting assembly 53 includes a pin-planting drive motor 531 connected to the connecting seat 523. The pin-planting drive motor 531 is connected to a pin-grabbing robot 532 via a robot transmission mechanism. The pin-planting drive motor 531 drives the pin-grabbing robot 532 to open and close via the robot transmission mechanism.

[0031] In the pin-planting mechanism 5, a column 54 is provided below the crossbeam 511.

[0032] This invention also discloses an automatic pin-mounting method, which is implemented by the aforementioned automatic pin-mounting device, and includes the following steps: Step 1: Place the pins to be implanted into the sorting tray 211. Proceed to Step 2: Stack the empty pin boxes to be implanted onto the empty pin box stacking surface 31011 of the pin box feeding mechanism 3. Proceed to Step 3. Step 2: The vibration motor 212 operates, and the vibration waves generated by the vibration motor 212 drive the pin to make irregular movements. Under the action of the Archimedean spiral track 213, the pin runs along the Archimedean spiral track 213 and slides out from the pin outlet channel 214, entering the central hole 2222 of the rotating seat 222. The rotating cylinder 221 operates, driving the rotating seat 222 to rotate, rotating the pin in the central hole 2222 to an upright state, and proceeding to step 5. Step 3: The horizontal transmission cylinder 32 of the empty pin box is activated, pushing the bottommost empty pin box stacked on the stacking surface 31011 of the empty pin boxes into the upper part of the feeding trough 35 along the feeding channel. The vertical transmission cylinder 38 of the empty pin box is activated, pushing the empty pin box to squeeze the flipping and springing component 36. The flipping and springing component 36 flips, and the empty pin box falls from the feeding trough 35 and onto the pin planting surface 422 of the pin planting platform 421, proceeding to step 4. Step 4: The first fixing component 425 and the second fixing component 426 work to fix the empty pin box. The transmission motor 411 works, the transmission screw 412 rotates and applies rotational force to the screw nut. The platform component 42 moves along the transmission guide rail 413 through the guide slide groove, and moves the platform component 42 to the side close to the pin insertion mechanism 5, and proceeds to step 5. Step 5: The horizontal displacement motor 514 operates, the gear 519 rotates and applies rotational force to the rack 5110, the first mounting plate 512 and the second mounting plate 513 move along the first horizontal displacement guide rail 515 and the second horizontal displacement guide rail 516 through the first slide groove 5111 and the second slide groove 5112 respectively, and move the vertical displacement component 52 and the pin insertion component 53 to one end close to the rotating seat 222 and the platform component 42, and proceed to step 6; Step 6: The vertical displacement cylinder 521 operates, and the connecting seat 523 moves along the vertical displacement guide rail 522 through the vertical displacement slide groove 524, moving the pin-planting assembly 53 above the rotating seat 222, and proceeding to step 7. Step 7: The pin-planting drive motor 531 operates, driving the pin-grabbing robot 532 to grab the pin in the transfer hole 2222 via the robot transmission mechanism. The horizontal displacement component 51 operates, moving the pin-planting component 53 to above the empty pin box fixed on the pin-planting surface 422 of the pin-planting platform 421. The vertical displacement component 52 drives the pin-planting component 53 to move downward. The pin-planting drive motor 531 operates, driving the pin-grabbing robot 532 to insert the grabbed pin into the empty pin box via the robot transmission mechanism. Proceed to step 8. Step 8: Repeat step 7 until the current empty pin box has completed the pin insertion. The horizontal transmission cylinder 424 of the inserted pin box works to push the inserted pin box to the transfer surface 423, so that it enters the inserted pin box storage basket 44 along the outlet guide plate 43 and proceeds to step 9. Step 9: Repeat steps 2-8 until all pins to be inserted are inserted, thus completing the automatic pin insertion process.

[0033] The pin-planting equipment of the present invention includes a frame 1, a pin sorting mechanism 2, a pin box feeding mechanism 3, a pin box conveying mechanism 4, and a pin-planting mechanism 5. All three mechanisms are mounted on the frame. The pin sorting mechanism 2 is used for pin sorting and conveying, the pin box feeding mechanism 3 is used for feeding empty pin boxes, the pin box conveying mechanism 4 is used for conveying and fixing empty pin boxes, and the pin-planting mechanism 5 is used for planting pins.

[0034] The pin sorting mechanism 2 is located on one side near the pin planting mechanism 5. It is used to sort pins and rotate them to an upright position so that they can be easily grasped by the subsequent pin planting mechanism 5.

[0035] When the pin sorting mechanism 2 is working, the pins to be implanted are first placed into the sorting tray 211; the vibration motor 212 works, and the vibration waves generated by the vibration motor 212 drive the pins to make irregular movements. Under the action of the Archimedean spiral track 213, the pins run along the Archimedean spiral track 213 and slide out through the pin exit channel 214, entering the transfer hole 2222 of the rotating seat 222; the rotary cylinder 221 works, driving the rotating seat 222 to rotate, rotating the pins in the transfer hole 2222 to an upright state, ready for subsequent pin gripping and implantation.

[0036] To sort pins of different sizes, an Archimedean spiral track 213 matching the different sizes of pins can be set in the sorting tray 211. Each Archimedean spiral track 213 is connected to the pin outlet channel 214. When the vibration motor 212 drives the sorting tray 211 to vibrate, pins of different sizes will enter the corresponding Archimedean spiral tracks 213 and eventually reach the pin outlet channel 214. The pin outlet slot 215 is designed to allow pins of different sizes to pass through, ensuring that the pins can smoothly pass through the pin outlet slot 215 when the rotating seat 222 rotates.

[0037] To ensure the smooth operation of the sorting component 21 and the pin uprighting component 22, a certain gap is required between them after installation. Simultaneously, to ensure that the pins sliding into the transfer hole 2222 do not detach from the transfer hole 2222 during the rotation of the rotating seat 222, after sorting, two-thirds of the pin must protrude from the transfer hole 2222.

[0038] To achieve continuous operation, four transfer holes 2222 are configured, with an included angle of 90° between any two adjacent holes. This ensures that one transfer hole 2222 is in an upright position with a pin inside, two transfer holes 2222 are in a standby position without pins, and the fourth transfer hole 2222 is in the process of having a pin inserted. Therefore, each rotation of the rotary cylinder 221 ensures that one transfer hole 2222 with a pin is rotated to an upright position, facilitating subsequent pin gripping and insertion.

[0039] The adjustment component 24 allows for fine-tuning of the sorting component 21 and the pin uprighting component 22, ensuring that the pins can smoothly slide from the pin outlet channel 214 into the transfer hole 2222, while also guaranteeing the accuracy of subsequent pin gripping. The adjustment groove 243 is a strip-shaped groove. During adjustment, only the position of the bolt 244 needs to be adjusted to complete both horizontal and vertical adjustments. This allows for fine-tuning of the sorting component 21 and the pin uprighting component 22.

[0040] One end of the pin box feeding mechanism 3 is positioned above the pin box conveying mechanism 4 to receive empty pin boxes fed by the pin box feeding mechanism 3 and, driven by the drive assembly 41, to transport the received empty pin boxes to below the pin insertion mechanism 5. The other end is positioned close to the pin insertion mechanism 5.

[0041] The pin box feeding mechanism 3 has its components mounted on the mounting part 3101 and connected to the pin-planting equipment via the connecting part 3102, thus achieving the integration of the mechanism and the pin-planting equipment. During operation, several empty pin boxes are stacked on the empty pin box stacking surface 31011. The empty pin box guide plate 33 provides a limiting position for the empty pin boxes. A feeding channel is provided between the two empty pin box guide plates 33. When an empty pin box needs to be fed, the piston rod end of the horizontal transmission cylinder 32 extends, pushing the empty pin box through the feeding channel and above the feeding trough 35 via the first pusher block 321. Subsequently, the piston rod end of the vertical transmission cylinder 38 extends, pushing the empty pin box downwards via the second pusher block 381. The piston rod of the vertical transmission cylinder 38 continuously pushes the empty pin box, causing it to contact the flipping and springback assembly 36. This causes the flipping plate 365 to flip, and the empty pin box falls from the feed chute 35. The piston rod of the vertical transmission cylinder 38 then retracts, and the flipping plate 365 rebounds under the action of the powerful spring 364, returning to the blocking position.

[0042] One end of the pin box conveying mechanism 4 is located below the pin box feeding mechanism 3, and the other end is close to the pin-planting mechanism 5. Initially, the pin-planting surface 422 of the pin-planting platform 421 is located below the pin box feeding mechanism 3 to receive empty pin boxes conveyed by the pin box feeding mechanism 3. The position of the pin-planting surface 422 of the pin-planting platform 421 corresponds to that of the pin box feeding mechanism 3, ensuring that the pin boxes falling from the pin box feeding mechanism 3 fall precisely onto the pin-planting surface 422 of the pin-planting platform 421. After the empty pin box falls, the piston rod ends of the first fixing cylinders 4251 of the two first fixing components 425 extend, and the two first fixing protrusions 4252 contact the empty pin box to fix its outer periphery. At the same time, the piston rod end of the second fixing cylinder 4261 of the second fixing component 426 extends, and the second fixing protrusion 4262 penetrates into the groove on the side of the empty pin box to fix it a second time. After fixing, the transmission motor 411 operates, driving the transmission screw 412 to rotate. Since the transmission screw 412 is connected to the screw nut, the transmission screw 412 applies rotational force to the screw nut. Simultaneously, because a guide groove is provided below the pin-planting platform 421, and the guide groove is connected to the transmission guide rail 413, the movement of the pin-planting platform 421 can be guided, thereby achieving translation of the pin-planting platform 421. This moves the pin-planting platform 421 to one end closer to the pin-planting mechanism 5. The pin-planting mechanism 5 performs pin-planting operations on the empty pin box. After pin-planting is completed, the horizontal transmission cylinder 424 of the pin-planted box operates, pushing the pin-planted box to the transfer surface 423 via the third pusher block 4241, thus allowing it to enter the pin-planted box storage basket 44 along the outlet guide plate 43.

[0043] To meet the need for fixation, the side of the pin box used for inserting pins needs to have a groove for the second fixing protrusion 4262 to be inserted. The groove matches the second fixing protrusion 4262 to achieve a better fixing effect.

[0044] The pin-planting mechanism 5 is positioned near the pin-sorting mechanism 2 and the pin box conveying mechanism 4. During operation, the horizontal displacement motor 514 of the horizontal displacement assembly 51 operates, driving the gear 519 to rotate. The gear 519 meshes with the rack 5110. With guidance from the first horizontal displacement guide rail 515, the first slide rail 5111, the second horizontal displacement guide rail 516, and the second slide rail 5112, the operation of the horizontal displacement motor 514 causes the first mounting plate 512 and the second mounting plate 513 to move along the rack 5110, thereby moving the vertical displacement assembly 52 and the pin-planting assembly 53 above the pin-sorting mechanism 2. The vertical displacement cylinder 521 operates, and guided by the vertical displacement guide rail 522 and the vertical displacement slide rail 524, it causes the pin-planting assembly 53 to move downwards. The pin-planting drive motor 531 drives the pin-grabbing robot 532 to open via the robot arm transmission mechanism, moving the pin-grabbing robot 532 to the outside of the pins sorted by the pin sorting mechanism 2. The pin-planting drive motor 531 then drives the pin-grabbing robot 532 to close via the robot arm transmission mechanism, grasping the pin. Subsequently, the horizontal displacement component 51 and the vertical displacement component 52 drive the pin-planting component 53 to insert the grasped pin into the empty pin box near the side of the mechanism, which is transported by the pin box transfer mechanism 4. After insertion, the pin-planting drive motor 531 drives the pin-grabbing robot 532 to open via the robot arm transmission mechanism, releasing the pin and completing one pin-planting operation. The above steps are then repeated to complete the pin insertion for the entire pin box.

[0045] In this mechanism, the pin-planting drive motor 531 is one of the following: a stepper motor, a servo motor, a DC motor with an encoder, and a linear motor, or other motors with the same function. The transmission mechanism is one of the following: a lead screw / ball screw drive, a rack and pinion drive, a linkage / cam mechanism, and a synchronous belt drive, or other transmission mechanisms with the same function. The pin-grabbing manipulator 532 is a multi-claw manipulator.

[0046] The embodiments described above are merely illustrative of specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. An automatic pin-laying device, characterized in that: It includes a frame (1), a pin sorting mechanism (2), a pin box feeding mechanism (3), a pin box conveying mechanism (4), and a pin planting mechanism (5), wherein the pin sorting mechanism (2), the pin box feeding mechanism (3), the pin box conveying mechanism (4), and the pin planting mechanism (5) are all mounted on the frame (1); The pin sorting mechanism (2) includes a sorting component (21) and a pin upright component (22). The pin upright component (22) is located on the frame (1) near the pin planting mechanism (5). The sorting component (21) is used to sort the pins and transport the sorted pins to the pin upright component (22). The pin upright component (22) is used to collect the pins sorted by the sorting component (21) and rotate the pins to a position and angle that the pin planting mechanism (5) can easily grasp. The pin box feeding mechanism (3) is set on the frame (1) and located above the end of the pin box conveying mechanism (4) away from the pin planting mechanism (5). The pin box feeding mechanism (3) is used to sequentially transport empty pin boxes to the pin box conveying mechanism (4). The pin box transmission mechanism (4) includes a drive component (41) and a platform component (42). The drive component (41) is mounted on the frame (1), and the platform component (42) is mounted on the drive component (41). The drive component (41) is used to drive the platform component (42) to move horizontally. The platform component (42) is used to receive the empty pin boxes conveyed by the pin box feeding mechanism (3) and, under the drive of the drive component (41), convey the received empty pin boxes to the area below the pin insertion mechanism (5). The pin-planting mechanism (5) includes a horizontal displacement component (51), a vertical displacement component (52), and a pin-planting component (53). The horizontal displacement component (51) is disposed on the side of the frame (1) near the pin sorting component (21). The horizontal displacement component (51) is used to connect with the vertical displacement component (52) and drive the vertical displacement component (52) to move horizontally. The vertical displacement component (52) is used to connect with the pin-planting component (53) and drive the pin-planting component (53) to move vertically. The pin-planting component (53) is used to grab the pins on the pin upright component (22) and implant the grabbed pins into the empty pin box of the platform component (42).

2. The automatic pin-laying device according to claim 1, characterized in that: The sorting assembly (21) includes a vibratory plate, which includes a sorting plate (211) and a vibratory motor (212) for driving the sorting plate (211) to vibrate. The sorting plate (211) is provided with an Archimedean spiral track (213). The outer side of the sorting plate (211) is provided with a pin delivery channel (214) extending into the interior of the sorting plate (211) and communicating with the Archimedean spiral track (213). The top of the pin delivery channel (214) has a pin delivery groove (215) for pins to pass through.

3. The automatic pin-laying device according to claim 2, characterized in that: The pin upright assembly (22) includes a rotary cylinder (221), a rotating seat (222), and a mounting adjustment plate (223). The rotary cylinder (221) and the rotating seat (222) are respectively disposed on both sides of the mounting adjustment plate (223). The rotary cylinder (221) is connected to the rotating seat (222) and drives the rotating seat (222) to rotate. The rotating seat (222) includes a seat body (2221). The seat body (2221) is provided with several transfer holes (2222) for the pins from the pin outlet channel (214) to slide into. After the rotating seat (222) completes rotation, one of the transfer holes (2222) stops at a position corresponding to the pin outlet channel (214).

4. The automatic pin-laying device according to claim 1, characterized in that: The pin box feeding mechanism (3) includes a guide seat (31), which includes a horizontally arranged mounting part (3101). One end of the upper surface of the mounting part (3101) is provided with an empty pin box stacking surface (31011). On one side of the mounting part (3101), corresponding to the empty pin box stacking surface (31011), an empty pin box horizontal transmission cylinder (32) is provided. The mounting part (3101) is located on the empty pin box... Empty pin box guide plates (33) are respectively provided on both sides of the stacking surface (31011). Each of the two empty pin box guide plates (33) has an opening (34) on the side away from the empty pin box horizontal transmission cylinder (32). The openings (34) of the two empty pin box guide plates (33) and the empty pin box stacking surface (31011) form a feeding channel for one empty pin box to pass through. The mounting part (3101) is located near the empty pin box stacking surface (31011). A feeding chute (35) for empty pin boxes to pass through is provided at position 1011. Several flip-back spring components (36) extending to the top of the feeding chute (35) are provided on the mounting part (3101) near the feeding chute (35). A cylinder fixing seat (37) is also provided on the mounting part (3101) near the feeding chute (35). An empty pin box vertical transmission cylinder (38) is provided on the side of the cylinder fixing seat (37) near the feeding chute (35). When the piston rod end of the horizontal transmission cylinder (32) of the pin box extends, it pushes the empty pin box to move above the feeding trough (35). When the piston rod end of the vertical transmission cylinder (38) of the empty pin box extends, the flipping and rebounding assembly (36) flips and the empty pin box falls from the feeding trough (35). When the piston rod end of the vertical transmission cylinder (38) of the empty pin box retracts, the flipping and rebounding assembly (36) rebounds and blocks the empty pin box from passing through the feeding trough (35).

5. The automatic pin-laying device according to claim 1, characterized in that: The drive assembly (41) includes a transmission motor (411), a transmission lead screw (412), a lead screw nut, a transmission guide rail (413), and a guide groove. The transmission lead screw (412) is connected to the transmission motor (411) via a coupling (415). The lead screw nut is located below the platform assembly (42) and connected to the transmission lead screw (412). There are two transmission guide rails (413), which are respectively located on both sides of the transmission lead screw (412). There are two guide grooves, which are respectively located below the platform assembly (42) at positions corresponding to the transmission guide rails (413). The transmission guide rails (413) are connected to the guide grooves.

6. The automatic pin-laying device according to claim 1, characterized in that: The platform component (42) includes a pin-planting platform (421). The upper surface of the pin-planting platform (421) is provided with a pin-planting surface (422) and a transfer surface (423). The end of the pin-planting surface (422) away from the transfer surface (423) is provided with a horizontal transmission cylinder (424) for the pin-planted box. The pin-planting platform (421) is symmetrically provided with first fixing components (425) on both sides adjacent to the horizontal transmission cylinder (424). The pin-planting platform (421) is provided with a second fixing component (426) on one side adjacent to the horizontal transmission cylinder (424).

7. An automatic pin-laying device according to claim 1, characterized in that: The horizontal displacement assembly (51) includes a crossbeam (511), a first mounting plate (512), a second mounting plate (513), and a horizontal displacement motor (514). A first horizontal displacement guide rail (515) is provided on one side of the top of the crossbeam (511), and a second horizontal displacement guide rail (516) is provided on one side of the crossbeam (511). The second mounting plate (513) is located below the first mounting plate (512). A motor fixing plate (517) is provided on the first mounting plate (512), and the motor fixing plate (517) has a through hole (518) passing through the first mounting adjustment plate (223). The horizontal displacement motor (514)... The horizontal displacement motor (514) is mounted on the motor mounting plate (517) and its main shaft passes through the through hole (518). The main shaft of the horizontal displacement motor (514) is provided with a gear (519). The upper surface of the crossbeam (511) is provided with a rack (5110) that meshes with the gear (519). The bottom of the first mounting plate (512) is provided with a first groove (5111) that matches and connects to the first horizontal displacement guide rail (515). The side of the second mounting plate (513) near the crossbeam (511) is provided with a second groove (5112) that matches and connects to the second horizontal displacement guide rail (516).

8. An automatic pin-laying device according to claim 7, characterized in that: The vertical displacement assembly (52) includes a vertical displacement cylinder (521) and a vertical displacement guide rail (522). Both the vertical displacement cylinder (521) and the vertical displacement guide rail (522) are located on the side of the second mounting plate (513) away from the second slide groove (5112), and the vertical displacement cylinder (521) is located above the vertical displacement guide rail (522). The piston end of the vertical displacement cylinder (521) is provided with a connecting seat (523). The side of the connecting seat (523) near the second mounting plate (513) is provided with a vertical displacement slide groove (524) that matches and connects to the vertical displacement guide rail (522).

9. An automatic pin-laying device according to claim 8, characterized in that: The pin-planting assembly (53) includes a pin-planting drive motor (531) connected to the connecting seat (523). The pin-planting drive motor (531) is connected to a pin-grabbing robot (532) via a robot transmission mechanism. The pin-planting drive motor (531) drives the pin-grabbing robot (532) to open and close via the robot transmission mechanism.

10. An automatic pin-laying method, characterized in that: It is achieved by the automatic pin-laying device according to any one of claims 1-9, comprising the following steps: Step 1: Place the pins to be implanted into the sorting tray (211), proceed to step 2: stack the empty pin boxes to be implanted on the empty pin box stacking surface (31011) of the pin box feeding mechanism (3), proceed to step 3; Step 2: The vibration motor (212) works, and the vibration wave generated by the vibration motor (212) drives the pin to make random movements. Under the action of the Archimedean spiral track (213), the pin runs along the Archimedean spiral track (213) and slides out from the pin outlet channel (214) and enters the central hole (2222) of the rotating seat (222). The rotating cylinder (221) works, driving the rotating seat (222) to rotate and rotate the pin in the central hole (2222) to an upright state, and proceed to step 5. Step 3: The horizontal transmission cylinder (32) of the empty pin box works, pushing the lowest layer of empty pin boxes stacked on the stacking surface (31011) of the empty pin boxes into the upper part of the feeding trough (35) along the feeding channel. The vertical transmission cylinder (38) of the empty pin box works, pushing the empty pin box to squeeze the flipping and spring-back assembly (36). The flipping and spring-back assembly (36) flips, and the empty pin box falls from the feeding trough (35) and falls onto the pin-planting surface (422) of the pin-planting platform (421), proceeding to step 4. Step 4: The first fixing component (425) and the second fixing component (426) work to fix the empty pin box. The transmission motor (411) works, the transmission screw (412) rotates and applies rotational force to the screw nut. The platform component (42) moves along the transmission guide rail (413) through the guide slide. The platform component (42) is moved to the side close to the pin-planting mechanism (5) and then proceeds to step 5. Step 5: The horizontal displacement motor (514) operates, the gear (519) rotates and applies rotational force to the rack (5110), the first mounting plate (512) and the second mounting plate (513) move along the first horizontal displacement guide rail (515) and the second horizontal displacement guide rail (516) respectively through the first slide groove (5111) and the second slide groove (5112), and move the vertical displacement component (52) and the pin assembly (53) to one end close to the rotating seat (222) and the platform component (42), and proceed to step 6; Step 6: The vertical displacement cylinder (521) operates, and the connecting seat (523) moves along the vertical displacement guide rail (522) through the vertical displacement slide groove (524), moving the pin assembly (53) above the rotating seat (222) and proceeding to step 7. Step 7: The pin-planting drive motor (531) operates, driving the pin-grabbing robot (532) through the robot transmission mechanism to grab the pin in the transfer hole (2222). The horizontal displacement component (51) operates, moving the pin-planting component (53) to the pin-planting surface (422) of the pin-planting platform (421) above the empty pin box. The vertical displacement component (52) drives the pin-planting component (53) to move down. The pin-planting drive motor (531) operates, driving the pin-grabbing robot (532) through the robot transmission mechanism to insert the grabbed pin into the empty pin box, and proceed to step 8. Step 8: Repeat step 7 until the current empty pin box completes the pin insertion. The horizontal transmission cylinder (424) of the inserted pin box works to push the inserted pin box to the transfer surface (423), so that it enters the inserted pin box storage basket (44) along the outlet guide plate (43) and proceeds to step 9. Step 9: Repeat steps 2-8 until all pins to be inserted are inserted, thus completing the automatic pin insertion process.

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