Fully automatic pin assembly device

Abstract

This invention relates to the field of PIN assembly technology, and in particular to fully automated PIN assembly equipment. The equipment includes a machine base equipped with an automatic feeding module, an assembly and processing module, a detection and calibration module, a final assembly module, and a material flow module. The automatic feeding module includes a PIN body feeding mechanism and an inner spring feeding mechanism for supplying inner springs. The assembly and processing module includes an inner spring pressing mechanism for pressing the inner spring into the PIN body and a stress-relieving mechanism for eliminating mechanical stress in the PIN assembly after the inner spring has been pressed in. The detection and calibration module includes a insertion / extraction force detection mechanism for detecting the clamping force of the inner spring. This invention achieves truly "unmanned" production by eliminating the need for manual intervention throughout the entire process, from component feeding, crimping assembly, stress relief, performance testing, visual calibration to final crimping, greatly improving production efficiency and reducing labor costs.

Description

Technical Field

[0001] This invention relates to the field of PIN assembly technology, and in particular to fully automated PIN assembly equipment. Background Technology

[0002] PINs are critical precision components in connectors. Their structure typically includes a metal body, an internal spring within the body, a nut for securing the tail, and an insulating cap at the front. Traditional PIN crimping assembly relies primarily on manual labor or simple semi-automatic equipment, resulting in significant problems: low efficiency and high labor costs: Due to the small size of the PIN components, manual assembly is slow and requires a high level of operator skill, making it unsuitable for mass production. Poor consistency and large quality fluctuations: Manual operation can lead to deviations in force, position, and angle, easily causing problems such as incomplete inner spring crimping, misaligned insulating caps, and inconsistent nut tightening torque, affecting the electrical contact performance and mechanical reliability of the PIN.

[0003] The process flow is fragmented and the degree of automation is low: key process steps such as stress relief and insertion / extraction force detection are often separated from the assembly process, forming isolated operations, which increases the turnover cost and makes it difficult to achieve full-process quality traceability.

[0004] There is a risk of missing or incorrect assembly: In the assembly process of multiple parts and multiple steps, in a purely manual or low-automation environment, it is easy for parts to be missing or for the assembly sequence to be incorrect.

[0005] Therefore, there is an urgent need for a PIN crimping device that can achieve full-process automation, high precision, and high stability in order to improve production efficiency, ensure product quality, and reduce overall costs. Summary of the Invention

[0006] To overcome the shortcomings of the prior art described in the background section, the present invention provides a fully automated PIN assembly device.

[0007] The technical solution adopted by the present invention to solve its technical problem is: a fully automatic PIN assembly equipment, including a machine base, wherein the machine base is provided with an automatic feeding module, an assembly and processing module, a detection and calibration module, a final assembly module, and a material flow module;

[0008] The automatic feeding module includes a PIN body feeding mechanism for supplying PIN bodies and an inner spring feeding mechanism for supplying inner springs.

[0009] The assembly and processing module includes an inner spring pressing mechanism for pressing the inner spring into the PIN body, and a stress relief mechanism for eliminating mechanical stress in the PIN assembly after the inner spring is pressed in.

[0010] The detection and calibration module includes a pull-in force detection mechanism for detecting the clamping force of the inner spring and a camera detection mechanism for detecting and adjusting the orientation of the PIN tail mounting hole.

[0011] The final assembly module includes an insulating cap crimping mechanism for crimping an insulating cap to the front end of the PIN and a nut crimping mechanism for crimping a nut to the tail end of the PIN.

[0012] The material flow module includes a loading multi-axis robot and a handling multi-axis robot for moving PIN components between modules / workstations, a transfer mechanism for transferring components, and a shift fork handling mechanism.

[0013] The insertion / extraction force detection mechanism and the stress relief mechanism share a detection platform, which is equipped with positioning slots for different positions, and a pressing positioning block driven by a positioning block lifting power cylinder is provided above it.

[0014] The various modules and mechanisms work together through the control system to form an automated assembly line from component loading to finished product output.

[0015] According to another embodiment of the present invention, the PIN body feeding mechanism further includes a temporary storage bin, a bin lifting screw mechanism for driving the temporary storage bin to rise and fall, a frame with a feeding platform, a carrier positioning cylinder for pressing and positioning the carrier tray, and a pallet translation linear module for moving the carrier tray out of / into the temporary storage bin.

[0016] According to another embodiment of the present invention, the inner spring feeding mechanism further includes an inner spring hopper, a set of back plates with increasing height and fixed arrangement, a set of push plates driven by the same push plate drive cylinder with increasing height, and a horizontal belt conveyor mechanism for conveying a single row of inner springs; the back plates and push plates are staggered, and the bottom plate of the inner spring hopper is inclined toward the push plates.

[0017] According to another embodiment of the present invention, the body internal spring pressing mechanism further includes a base, a lower mold plate and an upper mold plate slidably connected above the base via a guide rod, a top head fixed to the center of the base, a pressing block driven by a pressing block lifting screw mechanism to press the PIN body, and a height detection mechanism for detecting the downward movement of the pressing block.

[0018] According to another embodiment of the present invention, the stress relief mechanism further includes a shaft, a servo motor for driving the shaft to rotate, a universal joint connecting the output shaft of the servo motor and the shaft, and a shaft lifting power cylinder for driving the servo motor and the shaft as a whole to perform lifting motion.

[0019] According to another embodiment of the present invention, the insertion / removal force detection mechanism further includes a plug, a plug lifting power cylinder for driving the plug to move up and down, and a pressure sensor disposed between the plug and the plug lifting power cylinder.

[0020] According to another embodiment of the present invention, the insulating cap crimping mechanism further includes a crimping head, a crimping head lifting power cylinder for driving the crimping head, an insulating cap platform for carrying the insulating cap and capable of horizontal movement, a horizontal movement cylinder for driving the platform, and a PIN positioning seat for positioning the PIN.

[0021] According to another embodiment of the present invention, the nut crimping mechanism further includes a crimping head, a crimping head lifting power cylinder for driving the crimping head, a PIN carrier for carrying the PIN and capable of horizontal movement, a carrier translation linear module for driving the PIN carrier to translate, a positioning pin for angular positioning of the PIN tail, and a multi-axis robot for gripping and placing the nut.

[0022] According to another embodiment of the present invention, the camera detection mechanism further includes a PIN stage for carrying and rotating the PIN, a stage rotation motor for driving the PIN stage to rotate, and a vertical CCD camera and a side CCD camera respectively disposed above and to the side of the PIN stage.

[0023] A method for operating a fully automated PIN assembly device includes the following steps:

[0024] S1: Automatic feeding step: The PIN body feeding mechanism and the inner spring feeding mechanism respectively supply the PIN body and the inner spring to the picking position;

[0025] S2: Preliminary assembly step: The loading multi-axis robot transfers the PIN body and inner spring to the inner spring pressing mechanism of the body to complete the pressing assembly of the inner spring;

[0026] S3: Stress treatment and performance testing steps: The shift fork conveying mechanism transfers the assembled PIN to the stress relief mechanism for stress elimination, and then transfers it to the insertion / extraction force testing mechanism for insertion / extraction force testing;

[0027] S4: Transfer step: The qualified PIN is placed into the transfer mechanism by the fork conveying mechanism;

[0028] S5: Secondary assembly and calibration steps: The multi-axis transport robot takes the PIN from the transfer mechanism, sequentially transfers it to the insulating cap crimping mechanism to install the insulating cap, and then transfers it to the camera detection mechanism for tail angle detection and rotation correction.

[0029] S6: Final assembly step: The multi-axis robot transfers the corrected PIN to the nut crimping mechanism, where the multi-axis robot assists in crimping the nut to obtain the finished product.

[0030] The beneficial effects of this invention are that it achieves truly "unmanned" production by eliminating the need for manual intervention in the entire process from component loading, pressing assembly, stress relief, performance testing, visual calibration to final pressing, which greatly improves production efficiency and reduces labor costs.

[0031] Through precise mechanical structure, servo / stepper control, vision system and sensor feedback, the position, angle and pressure of each assembly step are strictly controlled, ensuring that each product meets the process specifications and significantly improving the product qualification rate and consistency.

[0032] By creatively integrating "stress relief treatment" and "online insertion and extraction force detection" into the main assembly process, potential problems can be eliminated and defective products can be screened out in a timely manner during the manufacturing process, ensuring the mechanical and electrical reliability of the final product and realizing manufacturing-as-testing.

[0033] The equipment adopts a modular layout, with each functional mechanism being relatively independent, which facilitates maintenance, debugging, and rapid changeover or production line reorganization according to different PIN models, and has good production flexibility.

[0034] Through the coordinated scheduling of the feeding robot, the handling robot, the shifting fork mechanism and the transfer mechanism, the orderly and efficient flow of materials between each workstation is realized, the bottleneck workstation is avoided and the overall equipment cycle time is optimized. Attached Figure Description

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] Figure 1 This is a schematic diagram of the structure of the present invention;

[0037] Figure 2 This is a schematic diagram of the PIN body feeding mechanism of the present invention;

[0038] Figure 3 This is a schematic diagram of the internal spring feeding mechanism of the present invention;

[0039] Figure 4 This is a schematic diagram of the internal spring pressing mechanism of the present invention;

[0040] Figure 5 This is a schematic diagram of the structure of the shift fork conveying mechanism of the present invention;

[0041] Figure 6 This is a schematic diagram of the stress relief mechanism and the insertion / extraction force detection mechanism of the present invention;

[0042] Figure 7 This is a schematic diagram of the insulating cap crimping mechanism of the present invention;

[0043] Figure 8 This is a schematic diagram of the camera detection mechanism of the present invention;

[0044] Figure 9 This is a schematic diagram of the nut crimping mechanism of the present invention;

[0045] The diagram shows: 1. Machine base; 2. PIN body feeding mechanism; 3. Inner spring feeding mechanism; 4. Inner spring pressing mechanism; 5. Fork conveying mechanism; 6. Stress relief mechanism; 7. Insertion / extraction force detection mechanism; 8. Insulating cap crimping station; 9. Camera detection mechanism; 10. Nut crimping station; 11. Feeding multi-axis robot; 12. Handling multi-axis robot; 13. Transfer mechanism; 17. Detection table; 18. Clamping positioning block; 19. Positioning block lifting power cylinder; 21. Temporary storage bin; 22. Bin lifting screw mechanism; 23. Feeding platform; 24. Carrier plate positioning cylinder; 25. Pallet translation linear module; 31. Inner spring bin; 32. Back plate; 33. Horizontal belt conveyor mechanism; 34. Push plate; 35. Push plate drive power cylinder; 41. Base; 42. Lower mold pressure plate. 43. Upper mold plate; 44. Top head; 45. Press block; 46. Press block lifting screw mechanism; 47. Height detection mechanism; 61. Shaft; 62. Servo motor; 63. Universal joint; 64. Shaft lifting power cylinder; 71. Plug; 72. Plug lifting power cylinder; 73. Pressure sensor; 81. Press head; 82. Press head lifting power cylinder; 83. Insulating cap platform; 84. Platform horizontal movement cylinder; 85. PIN positioning seat; 91. Vertical CCD camera; 92. Lateral CCD camera; 93. PIN platform; 94. Platform rotary motor; 111. Press connector; 112. Press connector lifting power cylinder; 13. PIN carrier; 14. Carrier translation linear module; 15. Positioning pin; 16. Multi-axis robot. Detailed Implementation

[0046] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the PIN body feeding mechanism of the present invention; Figure 3 This is a schematic diagram of the internal spring feeding mechanism of the present invention; Figure 4 This is a schematic diagram of the internal spring pressing mechanism of the present invention; Figure 5 This is a schematic diagram of the structure of the shift fork conveying mechanism of the present invention; Figure 6 This is a schematic diagram of the stress relief mechanism and the insertion / extraction force detection mechanism of the present invention; Figure 7 This is a schematic diagram of the insulating cap crimping mechanism of the present invention; Figure 8This is a schematic diagram of the camera detection mechanism of the present invention; Figure 9 This is a schematic diagram of the nut pressing mechanism of the present invention.

[0047] A fully automatic PIN assembly device includes a machine base 1, which is equipped with an automatic feeding module, an assembly and processing module, a detection and calibration module, a final assembly module, and a material flow module.

[0048] The automatic feeding module includes a PIN body feeding mechanism 2 for supplying PIN bodies and an inner spring feeding mechanism 3 for supplying inner springs;

[0049] The assembly and processing module includes an inner spring pressing mechanism 4 for pressing the inner spring into the PIN body, and a stress relief mechanism 6 for eliminating mechanical stress in the PIN assembly after the inner spring is pressed in.

[0050] The detection and calibration module includes a pull-in force detection mechanism 7 for detecting the clamping force of the inner spring and a camera detection mechanism 9 for detecting and adjusting the orientation of the PIN tail mounting hole.

[0051] The final assembly module includes an insulating cap crimping mechanism 8 for crimping the insulating cap to the front end of the PIN and a nut crimping mechanism 10 for crimping the nut to the tail end of the PIN.

[0052] The material handling module includes a loading multi-axis robot 11 and a handling multi-axis robot 12 for transporting PIN components between modules / workstations, a transfer mechanism 13 for transferring components, and a fork transport mechanism 5.

[0053] The insertion and extraction force detection mechanism 7 and the stress relief mechanism 6 share a detection platform 17. The detection platform 17 is provided with positioning slots for different positions, and a pressing positioning block 18 driven by the positioning block lifting power cylinder 19 is provided above it.

[0054] The various modules and mechanisms work together through the control system to form an automated assembly line from component loading to finished product output.

[0055] According to another embodiment of the present invention, the PIN body feeding mechanism 2 further includes a temporary storage bin 21, a bin lifting screw mechanism 22 for driving the temporary storage bin 21 to rise and fall, a frame with a feeding platform 23, a carrier positioning cylinder 24 for pressing and positioning the carrier tray, and a pallet translation linear module 25 for moving the carrier tray out of / into the temporary storage bin.

[0056] According to another embodiment of the present invention, the inner spring feeding mechanism 3 further includes an inner spring hopper 31, a set of back plates 32 with increasing height and fixed arrangement, a set of push plates 34 driven by the same push plate drive power cylinder 35 with increasing height, and a horizontal belt conveyor mechanism 33 for conveying a single row of inner springs; the back plates 32 and push plates 34 are arranged alternately, and the bottom plate of the inner spring hopper 31 is inclined toward the push plates 34.

[0057] According to another embodiment of the present invention, the body internal spring pressing mechanism 4 further includes a base 41, a lower mold plate 42 and an upper mold plate 43 slidably connected above the base 41 by a guide rod, a top head 44 fixed to the center of the base 41, a pressing block 45 driven by a pressing block lifting screw mechanism 46 to press the PIN body, and a height detection mechanism 47 for detecting the downward movement of the pressing block.

[0058] According to another embodiment of the present invention, the stress relief mechanism 6 further includes a shaft 61, a servo motor 62 for driving the shaft 61 to rotate, a universal joint 63 connecting the output shaft of the servo motor and the shaft, and a shaft lifting power cylinder 64 for driving the servo motor 62 and the shaft 61 to perform lifting motion as a whole.

[0059] According to another embodiment of the present invention, the insertion / removal force detection mechanism 7 further includes a plug 71, a plug lifting power cylinder 72 for driving the plug 71 to move up and down, and a pressure sensor 73 disposed between the plug 71 and the plug lifting power cylinder 72.

[0060] According to another embodiment of the present invention, the insulating cap crimping mechanism 8 further includes a crimping head 81, a crimping head lifting power cylinder 82 for driving the crimping head 81, an insulating cap platform 83 for carrying the insulating cap and being horizontally movable, a horizontal moving cylinder 84 for driving the platform, and a PIN positioning seat 85 for positioning the PIN.

[0061] According to another embodiment of the present invention, the nut crimping mechanism 10 further includes a crimping head 111, a crimping head lifting power cylinder 112 for driving the crimping head 111, a PIN carrier 13 for carrying the PIN and being horizontally movable, a carrier translation linear module 14 for driving the PIN carrier 13 to translate, a positioning pin 15 for angular positioning of the PIN tail, and a multi-axis robot 16 for gripping and placing the nut.

[0062] According to another embodiment of the present invention, the camera detection mechanism 9 further includes a PIN stage 93 for carrying and rotating the PIN, a stage rotation motor 94 for driving the PIN stage 93 to rotate, and a vertical CCD camera 91 and a side CCD camera 92 respectively disposed above and to the side of the PIN stage 93.

[0063] A method for operating a fully automated PIN assembly device includes the following steps:

[0064] S1: Automatic feeding step: The PIN body feeding mechanism 2 and the inner spring feeding mechanism 3 respectively supply the PIN body and the inner spring to the picking position;

[0065] S2: Preliminary assembly step: The multi-axis loading robot 11 transfers the PIN body and inner spring to the inner spring pressing mechanism 4 of the body to complete the pressing assembly of the inner spring;

[0066] S3: Stress treatment and performance testing steps: The shift fork conveying mechanism 5 transfers the assembled PIN to the stress relief mechanism 6 for stress elimination, and then transfers it to the insertion / extraction force testing mechanism 7 for insertion / extraction force testing;

[0067] S4: Transfer step: The qualified PIN is placed from the fork transport mechanism 5 to the transfer mechanism 13;

[0068] S5: Secondary assembly and calibration steps: The multi-axis handling robot 12 takes the PIN from the transfer mechanism 13, sequentially transfers it to the insulating cap crimping mechanism 8 to install the insulating cap, and then transfers it to the camera detection mechanism 9 for tail angle detection and rotation correction.

[0069] S6: Final assembly step: The multi-axis transport robot 12 transfers the corrected PIN to the nut crimping mechanism 10, and the multi-axis robot 16 cooperates to complete the crimping of the nut to obtain the finished product.

[0070] The shift fork conveying mechanism 5 includes a multi-axis manipulator 51, the execution end of which is fixed with a connecting plate, and multiple grippers 52 for holding PINs are arranged side by side on the connecting plate.

[0071] Automatic feeding module:

[0072] PIN body loading mechanism 2: includes a multi-layer temporary storage bin 21, which is driven to lift by a bin lifting screw mechanism 22. A tray positioning cylinder 24 is provided on the side of the loading platform 23. The tray translation linear module 25 drives the tray to enter and exit the temporary storage bin 21 to receive and remove the tray containing the PIN body, and is pressed and positioned by the positioning cylinder 24 for the loading robot 11 to pick up the parts.

[0073] The inner spring feeding mechanism 3 includes an inclined inner spring hopper 31, with a set of back plates 32 of increasing height at its rear. A set of push plates 34 of decreasing height, driven by push plate drive cylinders 35, are arranged alternately with the back plates 32. The inner springs slide towards the push plates 34 in the inner spring hopper 31. Through the stepped pushing of the push plates 34, the topmost inner springs are finally fed one by one into the horizontal belt conveyor mechanism 33 with limit grooves, realizing orderly single-piece output.

[0074] Assembly and processing module:

[0075] The inner spring pressing mechanism 4 includes a base 41, a lower mold plate 42 and an upper mold plate 43 connected by a guide rod. A top head 44 is fixed at the center of the base 41. The pressing block 45 is driven by a pressing block lifting screw mechanism 46. During operation, the inner spring is placed in the through hole of the lower mold plate 42 and supported by the top head 44. The PIN body is inserted from above, and the pressing block 45 presses down to press the inner spring into the body. A height detection mechanism 47 monitors the pressing depth.

[0076] Stress relief mechanism 6 includes a shaft 61 driven by a servo motor 62 and connected via a universal joint 63. The shaft 61 is driven by a shaft lifting power cylinder 64 to perform lifting and lowering movements. This mechanism is installed above the testing table 17 and can perform rotational and reciprocating insertion and removal movements on the PIN positioned on the table to relieve the internal spring stress.

[0077] Testing and calibration module:

[0078] Insertion / removal force detection mechanism 7: includes a plug 71 driven by a plug lifting power cylinder 72, and a pressure sensor 73 is provided between the plug 71 and the power cylinder. When the plug 71 is inserted into / removed from the PIN positioned in another slot of the detection platform 17, the sensor 73 records the force value curve to determine whether the insertion / removal force is qualified.

[0079] Camera inspection mechanism 9: includes a PIN stage 93 driven by a stage rotation motor 94. A vertical CCD camera 91 and a side CCD camera 92 take pictures of the PIN tail, identify the circumferential angle of the nut mounting hole, and adjust it to a preset angle by rotating the stage 93.

[0080] Final assembly module:

[0081] Insulating cap crimping mechanism 8: includes a crimping head 81 driven by a crimping head lifting power cylinder 82. An insulating cap carrier 83 is driven by a carrier horizontal movement cylinder 84, which can move the insulating cap received from the vibratory feeder to below the PIN positioning seat 85. After the PIN is placed in the positioning seat 85, the crimping is completed by pressing down with the crimping head 81.

[0082] Nut crimping mechanism 10: includes a crimping head 11 driven by a crimping head lifting power cylinder 12. PIN carrier 13 is driven by a carrier translation linear module 14, on which a positioning pin 15 is used for positioning through the PIN tail hole. A separate multi-axis robot 16 picks up the nut from the vibratory feeder, places it on the positioning pin 15, and then the crimping head 11 presses down to complete the nut crimping.

[0083] Material flow module:

[0084] Multi-axis loading robot 11: responsible for picking up materials from the PIN body loading mechanism 2 and the inner spring loading mechanism 3, and placing them into the body's inner spring pressing mechanism 4.

[0085] The shift fork transport mechanism 5 includes a multi-axis manipulator 51 and multiple grippers 52 at its end, which is responsible for transporting the PIN between the pressing mechanism 4, the stress relief mechanism 6, the insertion / extraction force detection mechanism 7 and the transfer mechanism 13.

[0086] Multi-axis handling robot 12: responsible for handling PINs between transfer mechanism 13, insulating cap crimping mechanism 8, camera detection mechanism 9 and nut crimping mechanism 10.

[0087] Transfer station 13: Serves as a buffer and handover station, connecting the upstream and downstream processes.

[0088] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fully automatic PIN assembly device, comprising a machine base (1), characterized in that, The machine (1) is equipped with an automatic feeding module, an assembly and processing module, a detection and calibration module, a final assembly module, and a material flow module; The automatic feeding module includes a PIN body feeding mechanism (2) for supplying PIN bodies and an inner spring feeding mechanism (3) for supplying inner springs. The assembly and processing module includes an inner spring pressing mechanism (4) for pressing the inner spring into the PIN body, and a stress relief mechanism (6) for relieving mechanical stress on the PIN assembly after the inner spring is pressed in. The detection and calibration module includes a pull-in force detection mechanism (7) for detecting the clamping force of the inner spring and a camera detection mechanism (9) for detecting and adjusting the orientation of the PIN tail mounting hole. The final assembly module includes an insulating cap crimping mechanism (8) for crimping the insulating cap to the front end of the PIN and a nut crimping mechanism (10) for crimping the nut to the tail end of the PIN. The material flow module includes a loading multi-axis robot (11) and a handling multi-axis robot (12) for transporting PIN components between modules / stations, a transfer mechanism (13) for transferring components, and a fork transport mechanism (5). The insertion and extraction force detection mechanism (7) and the stress relief mechanism (6) share a detection platform (17). The detection platform (17) is provided with positioning slots for different positions, and above it is a pressing positioning block (18) driven by the positioning block lifting power cylinder (19). The various modules and mechanisms work together through the control system to form an automated assembly line from component loading to finished product output.

2. The fully automated PIN assembly equipment according to claim 1, characterized in that, The PIN body feeding mechanism (2) includes a temporary storage bin (21), a bin lifting screw mechanism (22) for driving the temporary storage bin (21) to rise and fall, a frame with a feeding platform (23), a carrier positioning cylinder (24) for pressing and positioning the carrier, and a pallet translation linear module (25) for moving the carrier from the temporary storage bin to / from the temporary storage bin.

3. The fully automatic PIN assembly apparatus according to claim 1, wherein The inner spring feeding mechanism (3) includes an inner spring hopper (31), a set of back plates (32) with increasing height and fixed arrangement, a set of push plates (34) driven by the same push plate drive power cylinder (35) with increasing height, and a horizontal belt conveyor mechanism (33) for conveying a single row of inner springs; the back plates (32) and push plates (34) are arranged alternately, and the bottom plate of the inner spring hopper (31) is inclined toward the push plates (34).

4. The fully automatic PIN assembly apparatus according to claim 1, wherein The body spring pressing mechanism (4) includes a base (41), a lower mold plate (42) and an upper mold plate (43) slidably connected above the base (41) via a guide rod, a top head (44) fixed to the center of the base (41), a pressing block (45) driven by a pressing block lifting screw mechanism (46) to press the PIN body, and a height detection mechanism (47) for detecting the downward stroke of the pressing block.

5. The fully automatic PIN assembly apparatus according to claim 1, wherein The stress relief mechanism (6) includes a shaft (61), a servo motor (62) that drives the shaft (61) to rotate, a universal joint (63) that connects the output shaft of the servo motor to the shaft, and a shaft lifting power cylinder (64) that drives the servo motor (62) and the shaft (61) to move up and down as a whole.

6. The fully automatic PIN assembly apparatus according to claim 1, wherein The insertion / removal force detection mechanism (7) includes a plug (71), a plug lifting power cylinder (72) that drives the plug (71) to move up and down, and a pressure sensor (73) disposed between the plug (71) and the plug lifting power cylinder (72).

7. The fully automatic PIN assembly apparatus according to claim 1, wherein The insulating cap crimping mechanism (8) includes a crimping head (81), a crimping head lifting power cylinder (82) for driving the crimping head (81), an insulating cap platform (83) for carrying the insulating cap and being able to move horizontally, a horizontal moving cylinder (84) for driving the platform, and a PIN positioning seat (85) for positioning the PIN.

8. The fully automatic PIN assembly apparatus according to claim 1, wherein The nut crimping mechanism (10) includes a crimping head (111), a crimping head lifting power cylinder (112) for driving the crimping head (111), a PIN carrier (13) for carrying the PIN and moving horizontally, a carrier translation linear module (14) for driving the PIN carrier (13) to translate, a positioning pin (15) for angular positioning of the PIN tail, and a multi-axis robot (16) for gripping and placing the nut.

9. The fully automatic PIN assembly apparatus according to claim 1, wherein The camera detection mechanism (9) includes a PIN stage (93) for carrying and rotating PINs, a stage rotation motor (94) for driving the PIN stage (93) to rotate, and a vertical CCD camera (91) and a side CCD camera (92) respectively disposed above and to the side of the PIN stage (93).

10. A method of operation for the fully automated PIN assembly equipment according to any one of claims 1-9, characterized in that, Includes the following steps: S1: Automatic feeding step: The PIN body feeding mechanism (2) and the inner spring feeding mechanism (3) respectively supply the PIN body and the inner spring to the picking position; S2: Preliminary assembly step: The loading multi-axis robot (11) transfers the PIN body and inner spring to the inner spring pressing mechanism (4) of the body to complete the pressing assembly of the inner spring; S3: Stress treatment and performance testing steps: The shift fork transport mechanism (5) transfers the assembled PIN to the stress relief mechanism (6) for stress relief, and then transfers it to the insertion force detection mechanism (7) for insertion force detection; S4: Transfer step: The qualified PIN is placed from the fork transport mechanism (5) to the transfer mechanism (13). S5: Secondary assembly and calibration steps: The multi-axis handling robot (12) takes the PIN from the transfer mechanism (13), sequentially transfers it to the insulating cap crimping mechanism (8) to install the insulating cap, and then transfers it to the camera detection mechanism (9) for tail angle detection and rotation correction. S6: Final assembly step: The multi-axis robot (12) transfers the corrected PIN to the nut crimping mechanism (10), and the multi-axis robot (16) cooperates to complete the crimping of the nut to obtain the finished product.

Images