Anastomosis device pin assembly

Abstract

The present application relates to the technical field of assembling equipment, in particular to a kind of anastomat pin assembling device, including feeding mechanism, grabbing assembly mechanism and conveying belt, feeding mechanism includes vibrating screen, turnover mounting bracket, turnover driving part and turnover seat, vibrating screen is used to vibration arrangement output pin, turnover driving part and turnover mounting bracket fixed connection, the output end of turnover driving part and turnover seat transmission connection, turnover seat outer circumferential surface is equipped with the feeding groove for accommodating pin end portion;Grabbing assembly mechanism is used to grab pin on feeding mechanism and install it to the anastomat on tray, by integrating vibrating screen and rotatable turnover seat, utilize feeding groove direct docking and rotation adjustment, the posture of pin is quickly converted, the structure of feeding mechanism is greatly simplified, and manufacturing cost and maintenance difficulty are reduced.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment technology, and in particular to a stapler pin assembly device. Background Technology

[0002] Anastomosing devices are commonly used surgical instruments, and their assembly involves the precise installation of tiny pins onto the device body. Traditional pin assembly is typically done manually or semi-automatically. Manual assembly suffers from low efficiency, poor consistency, and susceptibility to fatigue leading to assembly errors. Existing automated assembly devices often have complex designs, particularly the pin feeding and positioning mechanisms. Due to the small size and irregular shape of the pins, existing devices usually require multiple sets of high-precision sensors and complex robotic arms to complete the process from random material intake to precise pin grasping, resulting in high equipment costs and difficulties in debugging and maintenance. Furthermore, existing devices lack sufficient positioning accuracy when grasping pins, leading to slippage and tilting, resulting in a high assembly failure rate and low overall efficiency, failing to meet the high-speed, high-precision, and high-stability requirements of modern medical device manufacturing. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: in order to overcome the problem that the positioning accuracy of the existing device is insufficient when grasping the pin, which is prone to slippage, tilting and other situations, resulting in a high assembly failure rate and low overall work efficiency, and cannot meet the requirements of high speed, high precision and high stability of modern medical device production, the present invention provides a stapler pin assembly device.

[0004] The technical solution adopted by this invention to solve its technical problem is: a stapler pin assembly device, including a feeding mechanism, a gripping assembly mechanism, and a conveyor belt for transporting a tray for placing the stapler. The feeding mechanism includes a vibrating screen, a tilting mounting frame, a tilting drive, and a tilting seat. The vibrating screen is used to vibrate and arrange the output pins. The tilting drive and the tilting mounting frame are fixedly connected. The output end of the tilting drive is connected to the tilting seat. The outer circumference of the tilting seat is provided with a feeding groove for accommodating the ends of the pins. The tilting drive is used to provide power for the rotation of the tilting seat, so that the feeding groove and the output end of the vibrating screen are connected and the position of the pins is adjusted by rotation. The gripping assembly mechanism is used to grip the pins on the feeding mechanism and install them onto the mating device of the material tray. By integrating a vibrating screen and a rotatable tilting seat, the pins can be directly connected and rotated for adjustment, which realizes rapid posture conversion. This replaces the traditional complex multi-axis adjustment mechanism, greatly simplifies the structure of the feeding mechanism, and reduces manufacturing costs and maintenance difficulty.

[0005] To address the issue that the pins in the feeding trough may accidentally slip or shift position due to centrifugal force or vibration during the rotation of the tilting seat, a positioning notch is further provided on the tilting seat.

[0006] To address the issue of efficiently transforming the pin from a horizontal position output from the vibrating screen into a vertical position that facilitates gripping and installation, a further improvement is made, where the rotating surface of the tilting seat is perpendicular to the transmission surface of the conveyor belt.

[0007] To address the issue that the pin is prone to tilting, shaking, or falling off during gripping and movement due to the gripper only clamping the pin from the side, resulting in poor installation accuracy, a further gripping assembly mechanism is included. This mechanism comprises a planar moving component, a gripping lifting drive component, a gripper component, a gripping positioning cylinder, and a gripping positioning block. The output end of the planar moving component is drivenly connected to the gripping lifting drive component, and the output end of the gripping lifting drive component is drivenly connected to the gripper component. The gripper component has a clamping end, and a clearance groove for accommodating the gripping positioning block is provided above the clamping end of the gripper component. The gripping positioning cylinder is fixedly connected to the gripper component, and the output end of the gripping positioning cylinder is drivenly connected to the gripping positioning block. The gripping positioning block is used to abut the top of the pin, and the gripper component is used to clamp the side of the pin.

[0008] To address the issues of inaccurate tray positioning caused by continuous conveyor belt movement, and tray shaking and displacement during installation that affect assembly quality, the device further includes a positioning mechanism. The positioning mechanism includes a tray positioning component, two lifting components, and two positioning mounting frames. The conveyor belt is located between the two positioning mounting frames, and the positioning mounting frames and lifting components correspond one-to-one. The lifting assembly includes a lifting cylinder, a lifting end, and several positioning pins. The lifting cylinder and its corresponding positioning mounting bracket are fixedly connected. The output end of the lifting cylinder and the lifting end are drivenly connected. The material tray has a lifting hole for accommodating the lifting end. The positioning pins and their corresponding positioning mounting brackets are fixedly connected, and the positioning pins are located above the material tray transported by the conveyor belt. The lifting cylinder is used to lift the end and fix the material tray with the cooperation of the positioning pins. The tray positioning assembly includes a first positioning lifting cylinder and a tray positioning block. The first positioning lifting cylinder is fixedly connected to the positioning mounting frame. The output end of the first positioning lifting cylinder is connected to the tray positioning block via a transmission. The first positioning lifting cylinder is used to provide power for the tray positioning block to rise or fall. The tray positioning block is used to block the transport of the tray on the conveyor belt, so that the tray is positioned at the pin installation station.

[0009] To address the issue that the central area of ​​the material tray may experience elastic deformation due to being suspended and subjected to downward installation pressure after being lifted and clamped, thus affecting the consistency of installation depth, a material tray positioning assembly is further included, comprising a stabilizing cylinder and a stabilizing support plate. The output end of the stabilizing cylinder is connected to the stabilizing support plate via a drive connection. The stabilizing cylinder provides power to move the stabilizing support plate away from or towards the bottom surface of the material tray, while the stabilizing support plate provides bottom support for the material tray after it is lifted and clamped by the positioning pin.

[0010] To address the issue that during pin installation, the stapler body within the tray may experience slight movement or tilting due to force, causing the pin to misalign with the mounting hole, a positioning mechanism is further included, comprising a stapler positioning assembly. The stapler positioning assembly includes a second positioning lifting cylinder and a positioning clamping component. The output end of the second positioning lifting cylinder is connected to the positioning clamping component via a transmission connection. The second positioning lifting cylinder provides power for the upward or downward movement of the positioning clamping component, which is used to clamp and fix the end of the stapler.

[0011] To address the issue of collisions and congestion caused by subsequent pallets continuously moving forward while one pallet is being installed at a workstation, necessitating frequent start-stop cycles of the conveyor belt and reducing operational efficiency, the device further includes a buffer component. The buffer component and the pallet positioning component are arranged sequentially and at intervals along the conveyor belt's transmission direction. The buffer component includes a buffer cylinder and a buffer block. The buffer cylinder is fixedly connected to the conveyor belt, and the output end of the buffer cylinder is drive-connected to the buffer block. The buffer block is used to impede the movement of the pallets along the conveyor belt.

[0012] To address the problem of the inability to quickly, automatically, and comprehensively inspect the quality of assembled pins, making it difficult to promptly detect and remove defective products, the device further includes an upper vision inspection device and a lower vision inspection device. The upper vision inspection device is located above the pin installation station on the conveyor belt, while the lower vision inspection device is located between the conveyor belt and the feeding mechanism.

[0013] The beneficial effects of the present invention are as follows: The anastomosis device pin assembly device provided by the present invention integrates a vibrating screen and a rotatable flipping seat, and uses the feeding trough for direct docking and rotational adjustment to realize the rapid posture change of the pin, replacing the traditional complex multi-axis adjustment mechanism, greatly simplifying the structure of the feeding mechanism, and reducing manufacturing costs and maintenance difficulty. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the feeding mechanism of the present invention; Figure 3 This is the present invention. Figure 2Enlarged structural diagram at point A; Figure 4 This is a schematic diagram of the gripping and assembly mechanism of the present invention; Figure 5 This is the present invention. Figure 4 Enlarged structural diagram at point B; Figure 6 This is a schematic diagram of the positioning mechanism of the present invention; Figure 7 This is a schematic diagram of the positioning mechanism of the present invention from another perspective.

[0016] In the diagram: 1. Feeding mechanism, 11. Vibrating screen, 12. Tilting mounting frame, 13. Tilting drive component, 14. Tilting seat, 141. Feeding trough, 142. Positioning notch; 2. Gripping assembly mechanism; 21. Planar moving component; 22. Gripping lifting drive component; 23. Gripping component; 231. Clamping end; 232. Clearance groove; 24. Gripping positioning cylinder; 25. Gripping positioning block. 3. Material tray; 31. Lifting hole; 4. Conveyor belt; 5. Pins; 6. Positioning mechanism; 61. Tray positioning assembly; 611. First positioning lifting cylinder; 612. Tray positioning block; 613. Stabilizing cylinder; 614. Stabilizing support plate; 62. Lifting assembly; 621. Lifting cylinder; 622. Lifting end; 623. Positioning column; 63. Positioning mounting bracket; 64. Anastomosing device positioning assembly; 641. Second positioning lifting cylinder; 642. Positioning clamping component; 65. Buffer assembly; 651. Buffer cylinder; 652. Buffer block; 7. Visual inspection equipment; 8. Lower vision inspection equipment. Detailed Implementation

[0017] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0018] like Figure 1 This is a schematic diagram of the structure of the present invention, a stapler pin assembly device, including a feeding mechanism 1, a gripping assembly mechanism 2, and a conveyor belt 4 for transporting a material tray 3 for placing the stapler. The feeding mechanism 1 includes a vibrating screen 11, a tilting mounting frame 12, a tilting drive 13, and a tilting seat 14. The vibrating screen 11 is used to vibrate and arrange the output pins 5. The tilting drive 13 and the tilting mounting frame 12 are fixedly connected. The tilting drive 13 can be a pneumatic rotary cylinder or a rotary worktable or other rotary actuator. The output end of the tilting drive 13 is connected to the tilting seat 14. The outer circumferential surface of the tilting seat 14 is provided with a feeding groove 141 for accommodating the end of the pin 5. The tilting drive 13 is used to provide power for the rotation of the tilting seat 14, so that the feeding groove 141 and the output end of the vibrating screen 11 are connected and the position of the pin 5 is adjusted by rotation. After the attitude is adjusted, the axis of the pin 5 is perpendicular to the transmission surface of the conveyor belt 4. The pin 5 is only partially located in the feed groove 141, and the part protruding from the feed groove 141 is used for gripping by the gripper 23.

[0019] The gripping assembly mechanism 2 is used to grip the pins 5 on the feeding mechanism 1 and install them onto the mating device of the material tray 3. By combining the vibrating screen 11 with the tilting seat 14 with the feeding trough 141, the tilting seat is driven to rotate by the tilting drive 13, which can sequentially complete the reception of the pins 5 and the rapid adjustment of their posture from horizontal to vertical, simplifying the feeding mechanism and improving the connection efficiency between feeding and assembly.

[0020] The flip base 14 has a positioning notch 142, which provides clearance space and improves the efficiency of initial installation and positioning.

[0021] The rotating surface of the flip seat 14 is perpendicular to the transmission surface of the conveyor belt 4, which allows for a precise change in the posture of the pin 5 with a simple 90° flip action. The structure is ingenious, the conversion path is shortest, and the efficiency is highest.

[0022] The gripping assembly mechanism 2 includes a planar moving component 21, a gripping lifting drive component 22, a gripping component 23, a gripping positioning cylinder 24, and a gripping positioning block 25. The gripping component 23 can be a cylinder gripper. The output end of the planar moving component 21 is connected to the gripping lifting drive component 22, and the output end of the gripping lifting drive component 22 is connected to the gripping component 23. The gripping component 23 has a clamping end 231, and a clearance groove 232 for accommodating the gripping positioning block 25 is provided above the clamping end 231 of the gripping component 23. The gripping and positioning cylinder 24 and the gripping component 23 are fixedly connected. The output end of the gripping and positioning cylinder 24 is connected to the gripping and positioning block 25. The gripping and positioning block 25 is used to hold the top of the pin 5, and the gripping component 23 is used to clamp the side of the pin 5. While clamping the side of the pin 5 through the clamping end 231, the gripping and positioning block 25 holds the pin 5 from the top, realizing the side clamping and downward three-dimensional fixation of the pin 5, which greatly improves the positional stability during gripping, handling and installation, and significantly improves the assembly accuracy.

[0023] The moving plane of the planar moving component 21 is parallel to the transmission surface of the conveyor belt 4. The planar moving component 21 achieves horizontal movement in the X-axis and Y-axis directions through two sets of vertically arranged linear motion modules. The linear motion modules can be power elements such as lead screw mechanisms, cylinders, or electric actuators. The moving plane of the gripping and lifting drive component 22 is perpendicular to the transmission surface of the conveyor belt 4. The gripping and lifting drive component 22 can be power elements such as lead screw mechanisms, cylinders, or electric actuators.

[0024] The device also includes a positioning mechanism 6; The positioning mechanism 6 includes a tray positioning component 61, two lifting components 62 and two positioning mounting frames 63. The conveyor belt 4 is located between the two positioning mounting frames 63, and the positioning mounting frames 63 and the lifting components 62 correspond one-to-one. The lifting assembly 62 includes a lifting cylinder 621, a lifting end 622, and several positioning posts 623. The lifting cylinder 621 and its corresponding positioning mounting bracket 63 are fixedly connected. The output end of the lifting cylinder 621 and the lifting end 622 are connected in a transmission manner. The material tray 3 has a lifting hole 31 for accommodating the lifting end 622. The positioning posts 623 and their corresponding positioning mounting brackets 63 are fixedly connected. The positioning posts 623 are located above the material tray 3 transported by the conveyor belt 4. The lifting cylinder 621 is used to lift the end 622 and fix the material tray 3 with the cooperation of the positioning posts 623. The tray positioning assembly 61 includes a first positioning lifting cylinder 611 and a tray positioning block 612. The first positioning lifting cylinder 611 and the positioning mounting frame 63 are fixedly connected. The output end of the first positioning lifting cylinder 611 is connected to the tray positioning block 612. The first positioning lifting cylinder 611 is used to provide power for the raising or lowering of the tray positioning block 612. The tray positioning block 612 is used to block the transport of the tray 3 on the conveyor belt 4, so that the tray 3 is positioned at the pin 5 installation position. The tray positioning block 612 achieves initial blocking and positioning. Then, through the cooperation of the lifting assembly 62 and the positioning column 623, the tray 3 is lifted and clamped from the conveyor belt 4, realizing dynamic isolation from the conveyor belt 4 and providing an absolutely stable and accurate reference platform for pin installation.

[0025] The tray positioning assembly 61 includes a stabilizing cylinder 613 and a stabilizing support plate 614. The output end of the stabilizing cylinder 613 is connected to the stabilizing support plate 614. The stabilizing cylinder 613 provides power to move the stabilizing support plate 614 away from or near the bottom surface of the tray 3. The stabilizing support plate 614 provides bottom support for the tray 3 after it is clamped by the lifting end head 622 and the positioning post 623. The stabilizing support plate 614 extends after the tray 3 is lifted to provide auxiliary support for its bottom surface, increasing the overall rigidity of the tray 3, preventing it from deforming under installation pressure, and ensuring the consistency of the installation depth of the pins 5.

[0026] The positioning mechanism 6 includes a stapler positioning assembly 64, which includes a second positioning lifting cylinder 641 and a positioning clamping member 642. The output end of the second positioning lifting cylinder 641 is connected to the positioning clamping member 642. The second positioning lifting cylinder 641 provides power for the positioning clamping member 642 to rise or fall. The positioning clamping member 642 is used to clamp and fix the end of the stapler. The stapler positioning assembly 64 directly fixes the end of the stapler through the positioning clamping member 642, firmly restricting the stapler to the accurate position of the tray, eliminating the relative movement between the stapler and the tray 3, and ensuring the precise alignment of the pin 5 with the mounting hole.

[0027] There are two stapler positioning components 64, and each stapler positioning component 64 corresponds to a stapler end. The stapler positioning component 64 clamps and fixes its corresponding stapler end.

[0028] The device also includes a buffer component 65, which and the tray positioning component 61 are arranged at intervals along the conveyor belt 4. The buffer component 65 includes a buffer cylinder 651 and a buffer block 652. The buffer cylinder 651 is fixedly connected to the conveyor belt 4, and the output end of the buffer cylinder 651 is drivenly connected to the buffer block 652. The buffer block 652 is used to prevent the tray 3 from moving along the conveyor belt 4. The buffer component 65 can temporarily block and store subsequent trays 3 when the installation station is busy, realize the automatic queuing and buffering of the trays 3, and ensure the continuous operation of the conveyor belt 4 and the smoothness of the production line.

[0029] The cylinder in this application can also be replaced with a lead screw mechanism or an electric actuator, etc.

[0030] The device also includes an upper vision inspection device 7 and a lower vision inspection device 8. The upper vision inspection device 7 is located above the pin 5 installation station of the conveyor belt 4, and the lower vision inspection device 8 is located between the conveyor belt 4 and the feeding mechanism 1. Through the design of the upper vision inspection device 7 and the lower vision inspection device 8, online inspection of assembly quality can be automatically completed from different angles, realizing full inspection instead of sampling inspection, and effectively ensuring the pass rate of the products leaving the factory.

[0031] Working process: The conveyor belt 4 transports the tray 3 containing the staplers forward. When the tray 3 reaches the preset pin installation position, the first positioning lifting cylinder 611 of the tray positioning component 61 drives the tray positioning block 612 to rise, preventing the tray 3 from moving forward. At the same time, the buffer block 652 of the buffer component 65 extends under the drive of the buffer cylinder 651, blocking the trays behind and queuing them. The lifting cylinder 621 of the lifting component 62 pushes the lifting end 622 into the lifting hole 31 at the bottom of the tray 3, lifting the tray 3 upward until its top surface is pressed against the fixed positioning post 623, thereby clamping and fixing the tray 3. The stabilizing cylinder 613 drives the stabilizing support plate 614 to extend, supporting the bottom of the tray 3 and providing additional support. The second positioning lifting cylinder 641 of the stapler positioning component 64 descends, driving the positioning clamping part 642 to clamp the end of the stapler, completing the final positioning.

[0032] The vibrating screen 11 vibrates and arranges the scattered pins 5 into a uniform orientation, and outputs them sequentially to its output end. The flipping drive 13 drives the flipping seat 14 to rotate, aligning its feeding trough 141 with the output end of the vibrating screen 11, and a pin 5 slides into the feeding trough 141. The flipping drive 13 then drives the flipping seat 14 to rotate 90 degrees again, with its rotation surface perpendicular to the conveyor belt surface, changing the pin 5 from a horizontal position during feeding to a vertical position, ready to be grabbed.

[0033] The planar moving component 21 of the gripping assembly mechanism 2 moves the gripper 23 to directly above the flipped pin 5. The gripping lifting drive 22 drives the gripper 23 to descend, causing the clamping end 231 of the gripper 23 to surround the side of the pin 5. The gripper 23 then clamps the pin 5 from the side. Simultaneously, the gripping positioning cylinder 24 drives the gripping positioning block 25 to extend downward through the clearance groove 232, providing space to hold the pin 5 from the top for a stable grip. The gripping lifting drive 22 resets and lifts the pin 5. The planar moving component 21 moves the gripped pin 5 to directly above the stapler mounting hole on the positioned tray 3. The gripping lifting drive 22 descends again, precisely pressing or pushing the pin 5 into the stapler. The gripping positioning block 25 and the clamping end 231 release and reset sequentially, completing the assembly of one pin.

[0034] During or after assembly, the upper vision inspection device 7 and the lower vision inspection device 8 take pictures of the installed pins 5 from above and below, respectively, to determine whether their position, angle, and depth are up to standard.

[0035] All positioning and gripping components are reset. The lifting component 62 descends, placing the assembled tray 3 back onto the conveyor belt 4. The tray positioning block 612 retracts, the buffer block 652 retracts, and the conveyor belt 4 continues to run, sending the completed tray 3 to the next station while simultaneously placing a new tray 3 to be assembled, starting the next cycle.

[0036] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A stapler pin assembly device, characterized in that, It includes a feeding mechanism (1), a gripping and assembly mechanism (2), and a conveyor belt (4) for transporting a tray (3) for placing the anastomosis device. The feeding mechanism (1) includes a vibrating screen (11), a tilting mounting frame (12), a tilting drive (13), and a tilting seat (14). The vibrating screen (11) is used to vibrate and arrange the output pins (5). The tilting drive (13) and the tilting mounting frame (12) are fixedly connected. The output end of the tilting drive (13) is connected to the tilting seat (14) in a transmission manner. The outer circumferential surface of the tilting seat (14) is provided with a feeding groove (141) for accommodating the end of the pin (5). The tilting drive (13) is used to provide power for the rotation of the tilting seat (14), so that the feeding groove (141) and the output end of the vibrating screen (11) are connected and the position of the pin (5) is adjusted by rotation. The gripping assembly mechanism (2) is used to grip the pins (5) on the feeding mechanism (1) and install them onto the connector of the material tray (3); The device also includes a positioning mechanism (6); The positioning mechanism (6) includes a tray positioning component (61), two lifting components (62) and two positioning mounting frames (63). The conveyor belt (4) is located between the two positioning mounting frames (63). The positioning mounting frames (63) and the lifting components (62) correspond one-to-one. The tray positioning assembly (61) includes a first positioning lifting cylinder (611) and a tray positioning block (612). The first positioning lifting cylinder (611) and the positioning mounting bracket (63) are fixedly connected. The output end of the first positioning lifting cylinder (611) is connected to the tray positioning block (612) in a transmission manner. The first positioning lifting cylinder (611) is used to provide power for the raising or lowering of the tray positioning block (612). The tray positioning block (612) is used to block the transport of the tray (3) on the conveyor belt (4) so ​​that the tray (3) is positioned at the pin (5) installation position. The positioning mechanism (6) includes a stapler positioning assembly (64), which includes a second positioning lifting cylinder (641) and a positioning clamping member (642). The output end of the second positioning lifting cylinder (641) is connected to the positioning clamping member (642). The second positioning lifting cylinder (641) is used to provide power for the lifting or lowering of the positioning clamping member (642). The positioning clamping member (642) is used to clamp and fix the end of the stapler.

2. The stapler pin assembly device as described in claim 1, characterized in that: The flip seat (14) has a positioning notch (142).

3. The stapler pin assembly device as described in claim 1, characterized in that: The rotating surface of the flip seat (14) is perpendicular to the transmission surface of the conveyor belt (4).

4. The stapler pin assembly device as described in claim 1, characterized in that: The gripping assembly mechanism (2) includes a planar moving component (21), a gripping lifting drive component (22), a gripping component (23), a gripping positioning cylinder (24), and a gripping positioning block (25). The output end of the planar moving component (21) is connected to the gripping lifting drive component (22), and the output end of the gripping lifting drive component (22) is connected to the gripping component (23). The gripping component (23) has a clamping end (231). An clearance groove (232) for accommodating the gripping positioning block (25) is provided above the clamping end (231) of the gripping component (23). The gripping positioning cylinder (24) is fixedly connected to the gripping component (23), and the output end of the gripping positioning cylinder (24) is connected to the gripping positioning block (25). The gripping positioning block (25) is used to abut against the top of the pin (5), and the gripping component (23) is used to clamp the side of the pin (5).

5. The stapler pin assembly device as described in claim 1, characterized in that: The lifting assembly (62) includes a lifting cylinder (621), a lifting end (622), and several positioning posts (623). The lifting cylinder (621) and its corresponding positioning mounting bracket (63) are fixedly connected. The output end of the lifting cylinder (621) and the lifting end (622) are connected in a transmission manner. The tray (3) has a lifting hole (31) for accommodating the lifting end (622). The positioning post (623) and its corresponding positioning mounting bracket (63) are fixedly connected. The positioning post (623) is located above the tray (3) transported by the conveyor belt (4). The lifting cylinder (621) is used to lift the end (622) and fix the tray (3) with the cooperation of the positioning post (623).

6. The stapler pin assembly device as described in claim 5, characterized in that: The tray positioning assembly (61) includes a stabilizing cylinder (613) and a stabilizing plate (614). The output end of the stabilizing cylinder (613) is connected to the stabilizing plate (614) in a transmission manner. The stabilizing cylinder (613) is used to provide power for the stabilizing plate (614) to move away from or closer to the bottom surface of the tray (3). The stabilizing plate (614) is used to provide bottom support for the tray (3) after it is clamped by the lifting end (622) and the positioning column (623).

7. The stapler pin assembly device as described in claim 1, characterized in that: The device also includes a buffer assembly (65), which and the tray positioning assembly (61) are arranged at intervals along the conveying direction of the conveyor belt (4). The buffer assembly (65) includes a buffer cylinder (651) and a buffer block (652). The buffer cylinder (651) is fixedly connected to the conveyor belt (4). The output end of the buffer cylinder (651) is drivenly connected to the buffer block (652). The buffer block (652) is used to prevent the tray (3) from moving along the conveyor belt (4).

8. The stapler pin assembly device as described in claim 1, characterized in that: The device also includes an upper vision inspection device (7) and a lower vision inspection device (8). The upper vision inspection device (7) is located above the pin (5) installation station of the conveyor belt (4), and the lower vision inspection device (8) is located between the conveyor belt (4) and the feeding mechanism (1).

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