Full-automatic shell inserting machine with automatic feeding and discharging

Abstract

This invention relates to the field of connector assembly equipment technology, and proposes a fully automatic shell insertion machine with automatic loading and unloading, including an automatic shell loading mechanism, a shell insertion fixture, an automatic terminal loading mechanism, a unloading mechanism, and a collecting mechanism. The shell insertion fixture includes a rotating disk with a limiting groove on its outer edge for limiting the shell. The automatic terminal loading mechanism includes a terminal tray, a pneumatic gripper, a connector, and a posture correction guide shell. The unloading mechanism includes a third electric push rod and an n-shaped plate, the n-shaped plate being used to push the material and seal the through slot. The collecting mechanism is used to buffer and collect the workpiece. Through the above technical solution, the problems of easy terminal posture deviation, difficulty in detecting abnormal insertion resistance, and easy collision damage during workpiece unloading and collection in existing shell insertion equipment are solved.

Description

Technical Field

[0001] This invention relates to the field of connector assembly equipment technology, and more specifically, to a fully automatic shell insertion machine with automatic loading and unloading. Background Technology

[0002] Shell insertion machines are typically used for the automated assembly of connectors, terminal assemblies, and other products. The main processes include shell loading, terminal loading, terminal insertion into the shell, and finished product unloading. In existing shell insertion equipment, shells are often transported to the insertion position via a vibratory feeder or linear feeding mechanism, while terminals are fed into the shell via grippers, push rods, or transfer mechanisms. For mass production, shell insertion equipment needs to complete shell positioning, terminal picking and placing, insertion, and sorting within a short cycle time. Therefore, the continuous feeding capacity, insertion positioning accuracy, and unloading flow stability of the equipment directly affect product assembly efficiency and yield. However, in actual production, terminals may be skewed, warped, or have inconsistent insertion directions during gripping and conveying, making it difficult to accurately align the terminals with the shell insertion holes. This can lead to problems such as incomplete insertion, terminal bending, shell scratches, or hole damage.

[0003] Existing terminal insertion equipment typically sets up terminal conveying, posture correction, insertion detection, and unloading diversion as independent mechanisms. While each can complete its corresponding action, the equipment structure is relatively dispersed, the action connection is complex, and the overall cycle time is easily affected. Especially during the terminal insertion process, if only the grippers rigidly hold and directly insert the terminal into the housing, when there is a slight deviation in the terminal posture, the grippers cannot adaptively adjust with the terminal's alignment process, which can easily cause hard contact between the terminal and the guide structure or the housing insertion hole. In addition, traditional collection boxes are mostly fixed cavity structures. After the workpiece falls, it directly impacts the bottom of the box or the already collected workpiece, which can easily cause damage to the housing surface, terminal deformation, or loosening of the insertion state.

[0004] Therefore, it is necessary to provide a fully automatic shell insertion machine that can realize automatic shell feeding, terminal posture correction, insertion abnormality detection, through-slot anti-jamming unloading, and buffer collection. Summary of the Invention

[0005] To overcome the above-mentioned defects, the present invention provides a fully automatic shell insertion machine with automatic loading and unloading, which solves the problems of easy deviation of terminal posture, difficulty in detecting abnormal insertion resistance, and easy collision damage during workpiece unloading and collection in existing shell insertion equipment.

[0006] According to one aspect, at least one embodiment of the present invention provides a fully automatic shell insertion machine with automatic loading and unloading, including an automatic shell loading mechanism, a shell insertion fixture, an automatic terminal loading mechanism, a unloading mechanism, and a collection mechanism; The automatic shell feeding mechanism is used to transport the shell to the shell insertion fixture; The insert fixture is provided with a housing loading station, a terminal insertion station, a good product unloading station and a defective product unloading station at equal intervals along its conveying direction. The automatic terminal feeding mechanism is configured corresponding to the terminal insertion station, and is used to transport the terminal to the terminal insertion station and insert the terminal into the housing located at the terminal insertion station; The unloading mechanism is located on the top of the insert tooling and is used to push the workpiece after inserting the shell into the corresponding collection mechanism. The collection mechanism is provided in two sets, which are respectively set up for the good product unloading station and the defective product unloading station.

[0007] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the automatic shell loading mechanism includes a base, and a vibrating plate is fixed on the base; A linear feeder is installed at the outlet end of the vibratory feeder; The linear feeder is fixed to the top wall of the base by a support platform, and the outlet of the linear feeder corresponds to the loading station position of the housing.

[0008] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the shell insertion fixture includes a worktable, a rotating disk is rotatably mounted on the worktable, and a motor for driving the rotating disk to rotate intermittently is installed inside the worktable; The outer edge of the rotating disk is provided with a plurality of limiting grooves at equal intervals along the circumference. The limiting grooves are used to support and limit the housing. The limiting grooves pass sequentially through the housing loading station, terminal insertion station, good product unloading station and defective product unloading station as the rotating disk rotates. The workbench is provided with through slots at the positions corresponding to the shell loading station, the good product unloading station, and the defective product unloading station.

[0009] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the automatic terminal loading mechanism includes a mounting frame, a tray frame is fixed on the bottom plate of the mounting frame by a mounting seat, and an attitude correction guide shell is fixed by a vertical rod, and a linear movement module is fixed on the bottom wall of the top plate of the mounting frame. A terminal tray is placed inside the tray frame, and a first electric push rod is fixed to the side wall of the tray frame; The telescopic end of the first electric actuator slides through the side wall of the tray frame and is fixed with a push plate; A second electric push rod is fixed to the bottom wall of the moving end of the linear motion module; The telescopic end of the second electric actuator is equipped with a pneumatic gripper via a connector.

[0010] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the connecting member includes a sleeve, the sleeve is fixed to the telescopic end of the second electric push rod, a movable seat is slidably provided inside the sleeve, and a pressure sensor is fixed to the top wall of the inner cavity of the sleeve. A limit plate is fixed at one end of the movable seat located inside the sleeve, and the other end of the movable seat is rotatably connected to the top of the pneumatic gripper. The limiting plate is slidably installed inside the sleeve, and a first spring is provided between the limiting plate and the pressure sensor.

[0011] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, an axial guide limiting structure is provided between the sleeve and the limiting plate. The axial guide limiting structure is used to restrict the rotation of the limiting plate relative to the sleeve and guide the limiting plate to slide along the axial direction of the sleeve.

[0012] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the connection end between the movable seat and the pneumatic gripper is provided with an installation groove, the top end of the pneumatic gripper is rotatably installed in the installation groove through a bearing, and a plurality of sliding grooves are symmetrically provided on the side wall of the installation groove. A friction plate is slidably installed inside the groove; One end of the friction plate abuts against the top side wall of the pneumatic gripper, and the other end of the friction plate is connected to the inner wall of the slide groove via an elastic telescopic rod.

[0013] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, a plurality of terminal placement slots are evenly provided on the top wall of the terminal tray, and the outline of the terminal placement slots is adapted to the shape of the terminal to restrict the terminal to be placed in a predetermined posture.

[0014] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the unloading mechanism includes a column, the column is fixed to the top of the shell insertion fixture, and a third electric push rod is fixed on the side wall of the column at the positions corresponding to the good product unloading station and the defective product unloading station. The telescopic ends of the third electric actuator are all fixed with n-shaped plates; The outer side of the n-shaped plate is arc-shaped and matches the corresponding through groove. A laser rangefinder is fixed on the top wall of the inner cavity of the n-shaped plate at the position of the good product unloading station.

[0015] For example, in a fully automatic shell insertion machine with automatic loading and unloading provided in at least one embodiment of the present invention, the collection mechanism includes a collection box, with limit frames symmetrically fixed on both sides of the inner wall of the collection box, and a horizontal plate slidably installed in the inner cavity of the collection box; The limiting frame is fixed with a vertically arranged guide shaft, and both the limiting frame and the guide shaft slide through the horizontal plate. A second spring is provided between the horizontal plate and the bottom wall of the inner cavity of the collection box, and the second spring is sleeved on the guide shaft.

[0016] The beneficial effects of the embodiments of the present invention are as follows: 1. In this invention, by setting up an automatic shell feeding mechanism, a shell insertion fixture, an automatic terminal feeding mechanism, a discharge mechanism, and a collection mechanism, a continuous operation process is formed, encompassing shell feeding, terminal feeding, terminal insertion, quality judgment, good product discharge, and defective product discharge. The automatic shell feeding mechanism uses a vibratory feeder and a linear feeder to directionally transport the shells to the shell feeding station. The shell insertion fixture uses a rotating disk and a limiting groove to drive the shells sequentially through the shell feeding station, the terminal insertion station, the good product discharge station, and the defective product discharge station, thereby achieving multi-station cyclic conveying. This structure reduces manual transfer and repetitive positioning processes, improves the continuity of shell conveying and terminal insertion, and helps to increase the overall machine processing cycle time.

[0017] 2. In this invention, the automatic terminal feeding mechanism includes a terminal tray, pneumatic grippers, connectors, and a posture correction guide shell. The terminal tray initially restricts the posture of the terminals through the terminal placement slots. The posture correction guide shell gradually corrects the left-right deviation, up-down warping, and slight angular deviations of the terminals through a flared inlet, a gradually narrowing correction channel, and a short straight outlet section. The movable seat, first spring, and pressure sensor in the connector buffer and detect axial resistance during insertion. The pneumatic grippers achieve controlled angle adjustment and damping stability through a rotating connection, friction plates, and an elastic telescopic rod. Therefore, during the clamping and conveying process, the terminals can simultaneously complete posture correction, insertion buffering, and abnormal resistance detection, avoiding bending or shell damage caused by rigid insertion, and improving the accuracy and reliability of terminal insertion.

[0018] 3. In this invention, the feeding mechanism uses an n-shaped plate at the telescopic end of the third electric push rod, with the outer side of the n-shaped plate forming an arc shape that matches the through slot. When not performing the feeding action, the n-shaped plate blocks the through slot, preventing the housing or workpiece from getting stuck due to vibration, centrifugal force, or positioning gaps during the rotation of the rotating disc. During the feeding action, the n-shaped plate pushes the workpiece into the corresponding collection mechanism, achieving both blocking / anti-jamming and feeding functions within the same structure. The collection mechanism forms a buffer bearing structure through a collection box, a limiting frame, a horizontal plate, a guide shaft, and a second spring. This allows the workpiece to be elastically buffered when falling into the collection box, and the horizontal plate gradually lowers as the number of workpieces increases, thereby reducing the collision intensity between workpieces and between the workpiece and the collection box, minimizing the risk of housing damage and terminal loosening, while simultaneously achieving separate collection of good and defective products. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are merely some exemplary embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the exemplary embodiments of the present invention and these drawings without any creative effort.

[0020] Figure 1 This is a perspective view of the external structure of the present invention; Figure 2 This is a perspective view of the external structure of the insert tooling in this invention; Figure 3 This is a top-view perspective view of the automatic terminal feeding mechanism in this invention; Figure 4 This is a bottom-view perspective view of the automatic terminal feeding mechanism in this invention; Figure 5 This is a three-dimensional half-section view of the connector structure in this invention; Figure 6 This is a three-dimensional view of the feeding mechanism structure in this invention; Figure 7 This is a three-dimensional half-section view of the collecting mechanism in this invention; In the diagram: 1. Automatic shell feeding mechanism; 101. Base; 102. Vibratory feeder; 103. Linear feeder; 104. Support platform; 2. Shell insertion fixture; 201. Worktable; 202. Rotary disk; 203. Limiting groove; 204. Through groove; 3. Automatic terminal feeding mechanism; 301. Mounting bracket; 302. Mounting base; 303. Tray frame; 304. First electric push rod; 305. Push plate; 306. Terminal tray; 307. Linear movement module; 308. Second electric push rod; 309. Pneumatic gripper; 310 311. Connecting component; 312. Sleeve; 313. Movable seat; 314. Limiting plate; 315. Pressure sensor; 316. First spring; 317. Elastic telescopic rod; 318. Friction plate; 319. Attitude correction guide shell; 400. Upright rod; 401. Unloading mechanism; 402. Column; 403. Third electric push rod; 404. N-shaped plate; 405. Laser rangefinder sensor; 501. Collection mechanism; 502. Collection box; 503. Limiting frame; 504. Horizontal plate; 505. Guide shaft; 506. Second spring; 6. Slide groove. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0022] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not necessarily represent the actual proportional structure of the product. Components with the same or similar structures and functions may be represented by the same reference numerals in different figures. In this document, terms such as "a" or "a group" can refer to a single structure or a combination of multiple structures; "several" includes two or more cases.

[0023] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "fixing," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integrally formed connections; they can refer to direct connections or indirect connections through intermediate components; they can refer to mechanical connections or electrical connections. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] In the description of this embodiment, terms such as "upper," "lower," "top," "bottom," and "side" are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the structural relationship of the present invention and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0025] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish different components or different sequences of actions, and should not be construed as indicating or implying relative importance. Example

[0026] See Figure 1 This embodiment provides a fully automatic shell insertion machine with automatic loading and unloading, including an automatic shell loading mechanism 1, a shell insertion fixture 2, an automatic terminal loading mechanism 3, a unloading mechanism 4, and a collecting mechanism 5. The automatic shell loading mechanism 1 is located on one side of the shell insertion fixture 2 and is used to transport the shells to be inserted to the shell insertion fixture 2 in a predetermined posture. The automatic terminal loading mechanism 3 is located on the other side or adjacent side of the shell insertion fixture 2 and is correspondingly arranged with the terminal insertion station on the shell insertion fixture 2, used to grasp the terminals and insert them into the shells located at the terminal insertion station. The unloading mechanism 4 is located on the top of the shell insertion fixture 2 and is used to push the inserted workpieces out of the shell insertion fixture 2. Two sets of collecting mechanisms 5 are provided, with the two sets of collecting mechanisms 5 respectively corresponding to the good product unloading station and the defective product unloading station, used to collect the successfully inserted workpieces and the unsuccessfully inserted workpieces, respectively.

[0027] Specifically, the insert fixture 2 is equipped with a housing loading station, a terminal insertion station, a good product unloading station, and a defective product unloading station arranged at equal intervals along its conveying direction. After the housing is conveyed to the housing loading station by the automatic housing loading mechanism 1, the insert fixture 2 drives the housing to pass through the terminal insertion station, the good product unloading station, and the defective product unloading station in sequence. When the housing moves to the terminal insertion station, the automatic terminal loading mechanism 3 delivers the terminal to the corresponding insertion hole of the housing and inserts the terminal into the housing. After insertion, the insert fixture 2 continues to drive the workpiece to move. If the workpiece is determined to be a good product after inspection, it is pushed into the corresponding collection mechanism 5 by the unloading mechanism 4 at the good product unloading station; if it is determined to be a defective product, it is pushed into another corresponding collection mechanism 5 by the unloading mechanism 4 at the defective product unloading station.

[0028] In this embodiment, the automatic shell feeding mechanism 1, the shell insertion fixture 2, the automatic terminal feeding mechanism 3, the unloading mechanism 4, and the collection mechanism 5 form a continuous operation path around the shell insertion fixture 2, so that shell feeding, terminal insertion, quality judgment, good product unloading, and defective product unloading are completed sequentially in the same equipment, reducing manual transfer and repetitive positioning steps, and improving the continuity and stability of shell insertion processing. Example

[0029] See Figure 1 Based on Embodiment 1, the automatic shell feeding mechanism 1 includes a base 101, which supports the shell feeding component and maintains its operational stability. A vibratory feeder 102 is fixed on the base 101. The vibratory feeder 102 accommodates multiple shells to be inserted and arranges them gradually along the feeding track of the vibratory feeder 102 through vibration. A linear feeder 103 is installed at the outlet end of the vibratory feeder 102. The linear feeder 103 is fixed to the top wall of the base 101 by a support platform 104, and the outlet of the linear feeder 103 corresponds to the shell feeding station position on the shell insertion fixture 2.

[0030] During operation, multiple housings are fed into the vibratory feeder 102. After the vibratory feeder 102 is started, the housings move along the track under vibration and gradually adjust to a predetermined posture. After the posture is adjusted, the housings enter the linear feeder 103 from the outlet of the vibratory feeder 102. The linear feeder 103 continues to transport the housings in a straight line, so that the housings reach the housing loading station one by one. Since the outlet of the linear feeder 103 is set to correspond to the housing loading station, the housings can directly enter the bearing position of the housing insertion fixture 2 after being output from the linear feeder 103, avoiding posture deviation of the housings during the transfer process.

[0031] In this embodiment, the vibratory feeder 102 is used to complete the initial orientation arrangement of the housings, and the linear feeder 103 is used to complete the single-row conveying and precise feeding of the housings. The two work together to enable the housings to be continuously and stably supplied to the housing insertion fixture 2. Compared with manual placement of housings, this structure can reduce manual intervention, increase the housing feeding speed, and ensure the directional consistency of the housings when entering the housing insertion fixture 2, providing a stable housing position basis for subsequent terminal insertion. Example

[0032] See Figure 2 Based on Embodiment 1, the shell insertion fixture 2 includes a worktable 201, which supports the shell insertion components of the entire machine. A rotating disk 202 is rotatably mounted on the worktable 201, and a motor for driving the rotating disk 202 to rotate intermittently is installed inside the worktable 201. Several limiting grooves 203 are evenly spaced along the outer edge of the rotating disk 202, which support and limit the shell. As the rotating disk 202 rotates intermittently, the limiting grooves 203 sequentially pass through the shell loading station, terminal insertion station, good product unloading station, and defective product unloading station.

[0033] The workbench 201 is provided with through slots 204 at the positions corresponding to the shell loading station, the good product unloading station, and the defective product unloading station. The through slot 204 at the shell loading station provides clearance for the shell to enter the limiting slot 203 from the linear feeder 103; the through slots 204 at the good product unloading station and the defective product unloading station allow the unloading mechanism 4 to push the workpiece out of the limiting slot 203 and let it fall into the corresponding collection mechanism 5.

[0034] Specifically, the limiting groove 203 includes a supporting bottom wall and limiting side walls surrounding the supporting bottom wall. The limiting side walls include at least a first limiting side wall and a second limiting side wall arranged at an angle to each other. After the housing enters the limiting groove 203, the adjacent side walls of the housing abut against or have a clearance fit with the first and second limiting side walls, respectively, thereby restricting the housing from circumferentially rotating within the limiting groove 203. Through this structure, the angle of the housing relative to the rotating disk 202 remains unchanged during the process of the housing being transferred from the housing loading station to the terminal insertion station along with the rotating disk 202.

[0035] In operation, the rotating disk 202 rotates intermittently at a set angle under the drive of a motor. After each rotation, a limiting groove 203 aligns with the housing loading station, and the automatic housing loading mechanism 1 feeds the housing into the limiting groove 203. After the rotating disk 202 rotates again, the limiting groove 203 carrying the housing moves to the terminal insertion station, and the automatic terminal loading mechanism 3 performs the terminal insertion action. After insertion is completed, the rotating disk 202 continues to rotate, causing the workpieces to move sequentially to the good product unloading station or the defective product unloading station.

[0036] In this embodiment, the rotary disk 202 forms a multi-station circulating conveying structure through circumferentially spaced limiting grooves 203, enabling shell loading, terminal insertion, good product unloading, and defective product unloading to be carried out synchronously or sequentially at different stations. Compared with the single-station reciprocating assembly method, this rotary disk structure can shorten the processing interval between adjacent workpieces, improve the overall machine cycle time, and the limiting grooves 203 can continuously restrict the position of the shell during the conveying process, reducing the risk of shell displacement during transfer. Example

[0037] See Figure 3 and Figure 4 Based on Embodiment 1, the automatic terminal feeding mechanism 3 includes a mounting frame 301, which is used to support components related to terminal feeding, gripping, and insertion. A tray frame 303 is fixed to the base plate of the mounting frame 301 via a mounting base 302, and a terminal tray 306 is placed inside the tray frame 303. Several terminal placement slots are evenly provided on the top wall of the terminal tray 306, and the outline of the terminal placement slots is adapted to the shape of the terminal to restrict the terminal to be placed in a predetermined posture. A first electric push rod 304 is fixed to the side wall of the tray frame 303, and the telescopic end of the first electric push rod 304 slides through the side wall of the tray frame 303 and is fixed with a push plate 305.

[0038] A linear motion module 307 is fixed to the bottom wall of the top plate of the mounting frame 301. A second electric push rod 308 is fixed to the bottom wall of the moving end of the linear motion module 307. A pneumatic gripper 309 is installed on the telescopic end of the second electric push rod 308 via a connector 310. An attitude correction guide shell 318 is also fixed to the bottom plate of the mounting frame 301 via a vertical rod 319. The attitude correction guide shell 318 is set on the path of the pneumatic gripper 309 after it picks up the terminal and moves to the terminal insertion station, and is used to perform attitude correction on the terminal before it is inserted into the housing.

[0039] Specifically, the attitude correction guide shell 318 can be configured as a hollow guide shell extending along the terminal conveying direction, with an internal correction channel for the terminal to pass through. A flared inlet is formed at the end of the attitude correction guide shell 318 near the terminal entry side. The cross-sectional dimension of the flared inlet is larger than the external dimensions of the terminal, so that the terminal can still smoothly enter the attitude correction guide shell 318 even with slight lateral, vertical, or angular deviations. The internal correction channel of the attitude correction guide shell 318 gradually narrows from the flared inlet to the outlet end. The outlet end size of the correction channel is adapted to the terminal's shape, so that the terminal is gradually constrained by the inner wall guide surface during its passage through the attitude correction guide shell 318, thereby gradually adjusting it from a deviated state to a predetermined insertion posture.

[0040] In use, the terminals are pre-placed in the terminal placement slots of the terminal tray 306 with a set orientation. The first electric push rod 304 pushes the push plate 305 to move, causing the terminal tray 306 to move forward gradually within the tray frame 303, thereby pushing the terminals sequentially to the picking position of the pneumatic gripper 309. Driven by the second electric push rod 308, the pneumatic gripper 309 descends and grips the terminals. Subsequently, the second electric push rod 308 rises, and the linear motion module 307 drives the pneumatic gripper 309 to move horizontally, bringing the terminals closer to the terminal insertion station. During the movement, the terminals first enter the flared inlet of the attitude correction guide shell 318, and then move along the gradually narrowing correction channel. The left and right deviations, up and down warps, and slight angular deviations of the terminals are gradually constrained and corrected within the correction channel, ensuring that the terminals maintain a relatively accurate insertion posture before entering the shell. Example

[0041] See Figure 5 Based on embodiment 4, the connector 310 includes a sleeve 311, which is fixed to the telescopic end of the second electric actuator 308. A movable seat 312 is slidably disposed inside the sleeve 311, and a pressure sensor 314 is fixed to the top wall of the inner cavity of the sleeve 311. A limit plate 313 is fixed to one end of the movable seat 312 located inside the sleeve 311, and the other end of the movable seat 312 is rotatably connected to the top end of the pneumatic gripper 309. The limit plate 313 is slidably installed inside the sleeve 311, and a first spring 315 is provided between the limit plate 313 and the pressure sensor 314.

[0042] An axial guide and limiting structure is provided between the sleeve 311 and the limiting plate 313. This structure restricts the rotation of the limiting plate 313 relative to the sleeve 311 and guides the limiting plate 313 to slide axially along the sleeve 311. This axial guide and limiting structure can be a guide protrusion on the inner wall of the sleeve 311 and a guide groove on the outer periphery of the limiting plate 313, or it can be a guide block on the limiting plate 313 and a guide groove on the inner wall of the sleeve 311. Any structure that can restrict the circumferential rotation of the limiting plate 313 within the sleeve 311 and allow it to move axially along the sleeve 311 can be used as the axial guide and limiting structure in this embodiment.

[0043] By setting an axial guide and limiting structure, the movable seat 312 can slide smoothly along the axial direction of the sleeve 311 when subjected to the terminal insertion reaction force, so that the compression direction of the first spring 315 is consistent with the detection direction of the pressure sensor 314, thus preventing the limiting plate 313 from deflecting or getting stuck in the sleeve 311. This not only improves the stability of the detection result of the pressure sensor 314, but also ensures that the movable seat 312 can reliably reset after insertion or retraction.

[0044] Furthermore, the connecting end of the movable seat 312 and the pneumatic gripper 309 is provided with a mounting groove, and the top end of the pneumatic gripper 309 is rotatably mounted in the mounting groove via a bearing. A plurality of sliding grooves 6 are symmetrically provided on the sidewall of the mounting groove, and friction plates 317 are slidably mounted within the sliding grooves 6. One end of the friction plate 317 abuts against the top sidewall of the pneumatic gripper 309, and the other end of the friction plate 317 is connected to the inner wall of the sliding groove 6 via an elastic telescopic rod 316. The elastic telescopic rod 316 may include a telescopic rod body and an elastic element sleeved on the outside of the telescopic rod body. The elastic element applies an elastic pressure towards the top sidewall of the pneumatic gripper 309 to the friction plate 317, ensuring that the friction plate 317 remains in contact with the top sidewall of the pneumatic gripper 309 at all times.

[0045] When the second electric actuator 308 drives the pneumatic gripper 309 to move downwards or towards the housing while holding the terminal, the pneumatic gripper 309 transmits the force to the first spring 315 through the movable seat 312 and the limiting plate 313. If the terminal insertion process is smooth, the movable seat 312 only undergoes a small displacement relative to the sleeve 311, the first spring 315 is subjected to a small compression, and the pressure value detected by the pressure sensor 314 is within the normal range. If the terminal is misaligned with the housing insertion hole, the terminal insertion is obstructed, or the front end of the terminal forms an abnormal contact with the housing, the movable seat 312 undergoes a large axial displacement relative to the sleeve 311, the first spring 315 is further compressed, and the pressure value detected by the pressure sensor 314 increases. When the pressure value exceeds a preset threshold, the device can stop the insertion action or perform a retraction action, thereby avoiding terminal bending, housing damage, or excessive force on the pneumatic gripper 309.

[0046] When the pneumatic gripper 309 clamps the terminal and passes through the attitude correction guide shell 318, if there is a slight angular deviation in the terminal, the terminal will have a slight rotational tendency under the guidance of the attitude correction guide shell 318. This rotational tendency can be transmitted to the top of the pneumatic gripper 309, causing the pneumatic gripper 309 to rotate at a small angle relative to the movable seat 312. Since the top of the pneumatic gripper 309 is rotatably mounted in the mounting groove of the movable seat 312 via a bearing, the pneumatic gripper 309 can be adjusted at a controlled angle under the guidance of the attitude correction guide shell 318. At the same time, the friction plate 317 continuously abuts against the side wall of the top of the pneumatic gripper 309 under the action of the elastic telescopic rod 316, providing damping for the rotation of the pneumatic gripper 309, so that the pneumatic gripper 309 can rotate slightly under the action of the guiding force without swinging freely due to lack of constraint.

[0047] In this embodiment, the connector 310 not only connects the second electric actuator 308 and the pneumatic gripper 309, but also functions as an axial buffer, insertion pressure detection, and gripper posture adaptive adjustment. The first spring 315 cooperates with the pressure sensor 314 to buffer the axial resistance generated during terminal insertion and convert it into a detection signal; the axial guide and limiting structure keeps the movable seat 312 moving stably in the axial direction; the rotational connection between the pneumatic gripper 309 and the movable seat 312 provides a degree of freedom for terminal posture correction; the friction plate 317 and the elastic telescopic rod 316 provide damping limitation for this degree of freedom.

[0048] Thus, the attitude correction guide shell 318, connector 310, and pneumatic gripper 309 in the automatic terminal feeding mechanism 3 form a mutually cooperating composite structure. The attitude correction guide shell 318 mechanically guides the terminal through a gradually narrowing correction channel, the pneumatic gripper 309 adapts to changes in the terminal's guidance angle through a rotating connection, the friction plate 317 dampens and stabilizes the rotation process, and the first spring 315 and pressure sensor 314 provide buffer protection and anomaly detection during the insertion process. This structure enables the various components to cooperate during terminal conveying and insertion, allowing the terminal's forward movement to simultaneously achieve clamping and conveying, attitude correction, insertion protection, and anomaly identification, resulting in a synergistic and efficient technical effect. Example

[0049] See Figure 6 Based on Embodiment 1, the unloading mechanism 4 includes a column 401, which is fixed to the top of the insert fixture 2. A third electric actuator 402 is fixed to the side wall of the column 401 at both the good product unloading station and the defective product unloading station. An n-shaped plate 403 is fixed to the telescopic end of each of the third electric actuators 402. The outer side of the n-shaped plate 403 is arc-shaped and matches the corresponding through slot 204. A laser rangefinder sensor 404 is fixed to the top wall of the inner cavity of the n-shaped plate 403 at the good product unloading station.

[0050] The workbench 201 has through slots 204 at positions corresponding to the good product unloading station and the defective product unloading station. The through slots 204 are used to allow the workpiece to be pushed out of the limiting slot 203 and fall into the corresponding collection mechanism 5 during unloading. However, during the intermittent rotation of the workpiece after the rotating disk 202 drives the limiting slot 203 and its internal housing or insert, if the through slot 204 is always in a fully open state, the housing or workpiece may shift towards the through slot 204 under the influence of centrifugal force, vibration or positioning gap, or even partially enter the through slot 204, which may cause jamming when the rotating disk 202 continues to rotate.

[0051] To avoid the above situation, in this embodiment, the outer side of the n-shaped plate 403 is set as an arc-shaped structure, and the outer side of the arc matches the corresponding through groove 204. When the third electric push rod 402 is in the initial state before performing the unloading action, the outer side of the arc of the n-shaped plate 403 can be located at or near the through groove 204, forming a pre-blocking of the through groove 204. In this way, during the process of the rotating disk 202 driving the limiting groove 203 past the vicinity of the good product unloading station, the outer side of the arc of the n-shaped plate 403 can prevent the shell or workpiece from shifting into the through groove 204, so that the shell or workpiece is kept in the limiting groove 203 and continues to rotate with the rotating disk 202, thereby preventing the shell or workpiece from accidentally entering the through groove 204 and causing the rotating disk 202 to get stuck.

[0052] When the inserted workpiece needs to be unloaded at the corresponding unloading station, the third electric actuator 402 drives the n-shaped plate 403 to move. The n-shaped plate 403 changes from a blocking state to a pushing state, pushing the workpiece located in the limiting groove 203 towards the corresponding through groove 204, so that the workpiece falls into the corresponding collection mechanism 5 below through the through groove 204. After unloading is completed, the third electric actuator 402 drives the n-shaped plate 403 to reset, so that the outer arc of the n-shaped plate 403 re-blocks the through groove 204, so that it can continue to play a role in preventing deviation and jamming when the rotating disk 202 rotates through the station next time.

[0053] A laser rangefinder 404 is fixed to the top wall of the inner cavity of the n-shaped plate 403 corresponding to the good product unloading station. When the inserted workpiece moves to the good product unloading station with the rotating disk 202, the laser rangefinder 404 can detect the distance to the workpiece. If the overall height of the terminal after insertion into the housing or the exposed length of the terminal is within a preset range, it can be determined that the workpiece is inserted in place. The workpiece is then unloaded at the good product unloading station by the corresponding third electric push rod 402 pushing the n-shaped plate 403. If the laser rangefinder 404 detects an abnormal terminal insertion depth, or if the equipment control system detects an insertion abnormality based on the pressure sensor 314, the workpiece can continue to move with the rotating disk 202 to the defective product unloading station, where the third electric push rod 402 drives the corresponding n-shaped plate 403 to be pushed out.

[0054] In this embodiment, the n-shaped plate 403 serves both to perform the workpiece ejection action and to block the through-slot 204 when not in the unloading state. Its outer arc-shaped structure, when matched with the through-slot 204, reduces the risk of the housing or workpiece deviating into the through-slot 204 during the rotation of the rotating disk 202 without affecting normal unloading, thereby improving the stability and continuity of the intermittent conveying process of the rotating disk 202. This structure allows the unloading actuator to simultaneously perform the functions of through-slot blocking and anti-jamming, reducing the need for additional material blocking components, simplifying the equipment structure, and improving operational reliability. Example

[0055] See Figure 7Based on Embodiment 1, the collecting mechanism 5 includes a collecting box 501, which is used to receive workpieces pushed out by the unloading mechanism 4 and falling through the through groove 204. Limiting frames 502 are symmetrically fixed on both sides of the inner wall of the collecting box 501, and a horizontal plate 503 is slidably installed inside the cavity of the collecting box 501. A vertically arranged guide shaft 504 is fixed inside the limiting frame 502. Both the limiting frame 502 and the guide shaft 504 slide through the horizontal plate 503. A second spring 505 is provided between the horizontal plate 503 and the bottom wall of the inner cavity of the collecting box 501, and the second spring 505 is sleeved on the guide shaft 504.

[0056] Specifically, the limiting frame 502 is vertically mounted on the inner wall of the collection box 501, and the guide shaft 504 is fixed inside the limiting frame 502. The two sides of the horizontal plate 503 are respectively slidably engaged with the corresponding limiting frame 502, allowing the horizontal plate 503 to move up and down along the axial direction of the guide shaft 504 within the collection box 501. The second spring 505 is disposed between the horizontal plate 503 and the bottom wall of the inner cavity of the collection box 501. When the horizontal plate 503 is subjected to a downward force, the second spring 505 is compressed and generates an upward elastic restoring force.

[0057] When the workpiece is pushed out by the unloading mechanism 4 and falls into the collection box 501 through the through groove 204, the workpiece first lands on the horizontal plate 503. Under the weight of the workpiece and the impact of falling, the horizontal plate 503 slides downward along the guide shaft 504, and the second spring 505 is compressed accordingly, thereby buffering the impact of the workpiece falling. Compared with the workpiece falling directly into the bottom of the collection box 501, this structure can reduce the collision intensity between the workpiece and the collection box 501 and between adjacent workpieces, and reduce the risk of scratches on the housing surface, terminal deformation or loosening of the plug.

[0058] As the number of workpieces in the collection box 501 gradually increases, the horizontal plate 503 gradually descends under the total weight of the workpieces, ensuring that the upper part of the collection box 501 continuously retains a certain amount of storage space for subsequent workpieces to fall into. The limiting frame 502 and the guide shaft 504 restrict the lifting path of the horizontal plate 503, preventing it from tilting or jamming after carrying multiple workpieces, thus maintaining a relatively stable support state. The second spring 505 is sleeved on the guide shaft 504, which not only saves installation space but also constrains it during compression and reset, preventing significant skewing of the second spring 505.

[0059] In this embodiment, two sets of collection mechanisms 5 are provided, corresponding to the good product unloading station and the defective product unloading station, respectively. Good products are pushed out by the unloading mechanism 4 at the good product unloading station and fall into one set of collection mechanisms 5, while defective products are pushed out by the unloading mechanism 4 at the defective product unloading station and fall into the other set of collection mechanisms 5. By setting two independent sets of collection mechanisms 5, good and defective products can be collected separately, avoiding subsequent manual sorting. At the same time, each set of collection mechanisms 5 forms a buffer bearing structure through a horizontal plate 503, a guide shaft 504, and a second spring 505, so that both good and defective products can be buffered and protected during the collection process, improving the stability of the finished product collection process. Example

[0060] See Figures 1 to 7 This embodiment further illustrates the overall working process of the present invention.

[0061] Before the equipment starts operating, the operator places the housing to be connected into the vibratory feeder 102, positions the terminals in the terminal placement slots of the terminal tray 306 according to a predetermined direction, and then places the terminal tray 306 into the tray frame 303. After the equipment is started, the vibratory feeder 102 arranges the housings, and the linear feeder 103 transports the arranged housings to the housing loading station of the insertion fixture 2. At the same time, the first electric push rod 304 pushes the push plate 305, causing the terminals in the terminal tray 306 to sequentially reach the picking position of the pneumatic gripper 309.

[0062] When a limiting groove 203 on the rotating disk 202 rotates to the housing loading station, the housing is fed into the limiting groove 203 by the linear feeder 103. The motor drives the rotating disk 202 to rotate intermittently, causing the limiting groove 203 carrying the housing to move to the terminal insertion station. The pneumatic gripper 309 descends and grips the terminal under the drive of the second electric push rod 308. Subsequently, the linear motion module 307 drives the pneumatic gripper 309 and the terminal it grips to move towards the terminal insertion station. During the movement, the terminal passes through the attitude correction guide shell 318, which guides the terminal. If there is a slight angular deviation in the terminal, the pneumatic gripper 309 can rotate in a controlled manner relative to the movable seat 312. The friction plate 317 and the elastic telescopic rod 316 provide damping for this rotation, so that the terminal maintains a stable posture after being guided.

[0063] After the terminal reaches the insertion position, the second electric actuator 308 continues to drive the pneumatic gripper 309 to perform the insertion action, inserting the terminal into the housing. During the insertion process, if the terminal smoothly enters the housing, the displacement of the movable seat 312 relative to the sleeve 311 is small, and the pressure value detected by the pressure sensor 314 remains within the normal range. If the terminal insertion is obstructed, the movable seat 312 moves axially along the sleeve 311 and compresses the first spring 315. The pressure sensor 314 detects an abnormal pressure value, and the equipment can determine an insertion abnormality based on this detection value and mark the corresponding workpiece as a defective product.

[0064] After the insertion is completed, the rotating disk 202 continues to rotate intermittently, sending the workpiece to the good product unloading station. The laser rangefinder 404 at the good product unloading station detects the workpiece. If the detection result meets the preset standard, the corresponding third electric push rod 402 drives the n-shaped plate 403 to push the workpiece out of the limiting groove 203, allowing it to fall through the through groove 204 into the collection mechanism 5 corresponding to the good product. If the detection result does not meet the preset standard, or if the pressure detection during the insertion process has been determined to be abnormal, the workpiece continues to move with the rotating disk 202 to the defective product unloading station, where the third electric push rod 402 and the n-shaped plate 403 push it out, and it falls into the collection mechanism 5 corresponding to the defective product.

[0065] In summary, this invention achieves continuous shell feeding through the automatic shell feeding mechanism 1, intermittent conveying of shells between multiple workstations through the rotating disk 202 and the limiting groove 203, pallet feeding, clamping and transfer, posture correction and insertion of terminals through the automatic terminal feeding mechanism 3, buffer protection and pressure detection during the insertion process through the connector 310, separation and ejection of good and defective products through the unloading mechanism 4, and buffered collection of workpieces through the collection mechanism 5. Specifically, the terminal pallet 306, pneumatic gripper 309, connector 310 and posture correction guide shell 318 in the automatic terminal feeding mechanism 3 cooperate with each other to simultaneously perform clamping, movement, posture correction, insertion pressure buffering and anomaly detection during the conveying process, forming a multi-functional coupled composite structure that improves the accuracy, stability and automation of terminal insertion.

[0066] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A full-automatic shell inserting machine with automatic feeding and discharging, characterized in that, It includes an automatic housing feeding mechanism (1), a housing insertion fixture (2), an automatic terminal feeding mechanism (3), a discharging mechanism (4), and a collection mechanism (5); The automatic shell feeding mechanism (1) is used to transport the shell to the shell insertion fixture (2). The insert fixture (2) is provided with a housing loading station, a terminal insertion station, a good product unloading station and a defective product unloading station at equal intervals along its conveying direction; The automatic terminal feeding mechanism (3) is configured corresponding to the terminal insertion station, and is used to transport the terminal to the terminal insertion station and insert the terminal into the housing located at the terminal insertion station; The feeding mechanism (4) is located on the top of the insert tooling (2) and is used to push the workpiece after inserting the shell into the corresponding collection mechanism (5); The collection mechanism (5) is provided in two sets, and the two sets of collection mechanisms (5) are respectively provided for the good product unloading station and the defective product unloading station.

2. The full-automatic shell inserting machine of claim 1, wherein, The automatic shell feeding mechanism (1) includes a base (101), on which a vibratory plate (102) is fixed. A linear feeder (103) is installed at the outlet end of the vibratory feeder (102). The linear feeder (103) is fixed on the top wall of the base (101) by a support platform (104), and the outlet of the linear feeder (103) corresponds to the loading station position of the housing.

3. The fully automatic shell insertion machine with automatic loading and unloading as described in claim 1, characterized in that, The insert tooling (2) includes a workbench (201), on which a rotating disk (202) is rotatably mounted, and a motor for driving the rotating disk (202) to rotate intermittently is installed inside the workbench (201); The outer edge of the rotating disk (202) is provided with a plurality of limiting grooves (203) at equal intervals along the circumference. The limiting grooves (203) are used to support and limit the housing. The limiting grooves (203) pass through the housing loading station, terminal insertion station, good product unloading station and defective product unloading station in sequence as the rotating disk (202) rotates. The workbench (201) is provided with through slots (204) at the positions corresponding to the shell loading station, the good product unloading station and the defective product unloading station.

4. The fully automatic shell insertion machine with automatic loading and unloading according to claim 1, characterized in that, The terminal automatic feeding mechanism (3) includes a mounting frame (301). A tray frame (303) is fixed on the bottom plate of the mounting frame (301) by a mounting seat (302), and an attitude correction guide shell (318) is fixed by a pole (319). A linear movement module (307) is fixed on the bottom wall of the top plate of the mounting frame (301). A terminal tray (306) is placed inside the tray frame (303), and a first electric push rod (304) is fixed to the side wall of the tray frame (303). The telescopic end of the first electric actuator (304) slides through the side wall of the tray frame (303) and is fixed with a push plate (305). The bottom wall of the moving end of the linear motion module (307) is fixed with a second electric push rod (308). The telescopic end of the second electric actuator (308) is equipped with a pneumatic gripper (309) via a connector (310).

5. The fully automatic shell insertion machine with automatic loading and unloading according to claim 4, characterized in that, The connector (310) includes a sleeve (311), which is fixed to the telescopic end of the second electric push rod (308). A movable seat (312) is slidably passed through the sleeve (311), and a pressure sensor (314) is fixed to the top wall of the inner cavity of the sleeve (311). The movable seat (312) is located inside the sleeve (311) with a limit plate (313) fixed at one end, and the other end of the movable seat (312) is rotatably connected to the top of the pneumatic gripper (309). The limiting plate (313) is slidably installed inside the sleeve (311), and a first spring (315) is provided between the limiting plate (313) and the pressure sensor (314).

6. The fully automatic shell insertion machine with automatic loading and unloading according to claim 5, characterized in that, An axial guide limiting structure is provided between the sleeve (311) and the limiting plate (313). The axial guide limiting structure is used to restrict the rotation of the limiting plate (313) relative to the sleeve (311) and guide the limiting plate (313) to slide along the axial direction of the sleeve (311).

7. A fully automatic shell insertion machine with automatic loading and unloading according to claim 5, characterized in that, The movable seat (312) and the pneumatic gripper (309) are connected by an installation groove. The top of the pneumatic gripper (309) is rotatably installed in the installation groove through a bearing. Several sliding grooves (6) are symmetrically provided on the side wall of the installation groove. A friction plate (317) is slidably installed in the groove (6); One end of the friction plate (317) abuts against the top side wall of the pneumatic gripper (309), and the other end of the friction plate (317) is connected to the inner wall of the slide groove (6) through the elastic telescopic rod (316).

8. The fully automatic shell insertion machine with automatic loading and unloading according to claim 4, characterized in that, The top wall of the terminal tray (306) is evenly provided with a plurality of terminal placement slots, the outline of which is adapted to the shape of the terminal to restrict the terminal to be placed in a predetermined posture.

9. A fully automatic shell insertion machine with automatic loading and unloading according to claim 1, characterized in that, The feeding mechanism (4) includes a column (401), which is fixed to the top of the insert fixture (2). A third electric push rod (402) is fixed on the side wall of the column (401) at the positions corresponding to the good product feeding station and the defective product feeding station. The telescopic ends of the third electric actuator (402) are all fixed with n-shaped plates (403). The outer side of the n-shaped plate (403) is arc-shaped and matches the corresponding through groove (204). A laser range sensor (404) is fixed on the top wall of the inner cavity of the n-shaped plate (403) corresponding to the good product unloading station.

10. A fully automatic shell insertion machine with automatic loading and unloading according to claim 1, characterized in that, The collection mechanism (5) includes a collection box (501), with limit frames (502) symmetrically fixed on both sides of the inner wall of the collection box (501), and a horizontal plate (503) slidably installed in the inner cavity of the collection box (501). The limiting frame (502) has a vertically arranged guide shaft (504) fixed inside, and both the limiting frame (502) and the guide shaft (504) slide through the horizontal plate (503). A second spring (505) is provided between the horizontal plate (503) and the bottom wall of the inner cavity of the collection box (501), and the second spring (505) is sleeved on the guide shaft (504).

Images