A needle pressing machine and a needle pressing method

Abstract

The application relates to a pin pressing machine for pressing pins into a frame assembly hole, a pressing mechanism of the pin pressing machine comprising a pressing head with a pressing end, an elastic abutting piece, a second driving assembly and a pressing rod in transmission connection with the second driving assembly; the pressing head is internally provided with a feeding flow channel and an end groove in communication with each other, the end groove extends to the pressing end to form a pressing opening, the pressing head is provided with a positioning hole in communication with the end groove, the elastic abutting piece is arranged in the positioning hole, and an elastically movable abutting end of the elastic abutting piece at least partially extends into the end groove; after the pin enters the end groove through the feeding flow channel, the abutting end limits the pin in the end groove before the pin is pushed by the pressing rod; when the pressing rod is driven by the second driving assembly to axially enter the end groove and push the pin, the abutting end elastically retreats in a direction away from the end groove. Therefore, the pin with a radial gap can be prevented from being deviated, tilted, moved or prematurely pulled out, the pin can be pressed out through the pressing opening without being hindered, different-diameter pins can be adapted, the risk of clamping, biasing and bending is reduced, and the pressing stability and the pressing quality are improved.

Description

Technical Field

[0001] This invention relates to the field of pin assembly, and more particularly to a pin pressing machine and a pin pressing method. Background Technology

[0002] In the manufacturing process of electronic components, connectors, precision structural parts, and carrier boards, it is often necessary to press slender pins into pre-drilled mounting holes in the housing to achieve mechanical or electrical connections between the pins and the housing. To ensure reliable connections after pin installation, the diameter of the mounting hole is usually slightly smaller than the diameter of the pin's pressing end. During pressing, pressure is applied along the pin's axial direction to ensure the pressing end of the pin enters the mounting hole with an interference fit. Therefore, the stability of the pin's feed before pressing and the accuracy of the positional correspondence between the pin and the mounting hole directly affect the pressing quality of the pin.

[0003] Existing pin pressing equipment typically includes a product-carrying mechanism for supporting the frame, a displacement mechanism for adjusting the relative position of the pressing head and the frame, a feeding mechanism for conveying the pins, and a pressing mechanism for performing the pressing process. The pressing head of the pressing mechanism usually has a feeding channel for the pins to enter and an end groove communicating with the feeding channel. The end groove extends to the pressing end of the pressing head, forming a pressing port for the pins to be pressed out. During the pressing process, the feeding mechanism first conveys the pins through the feeding channel into the end groove, then moves the pressing head to the assembly hole in the frame, and then the pressing rod moves axially along the end groove, pressing the pins out of the end groove through the pressing port and into the assembly hole. For a single-size pin, the end groove can be designed to match the diameter of the corresponding pin; however, when the same equipment needs to accommodate multiple pins of different diameters, to ensure that pins of all sizes can enter and pass through the end groove, the inner diameter of the end groove usually needs to be designed according to the larger pin size or a universal clearance needs to be reserved.

[0004] When the inner diameter of the end groove is larger than the diameter of the pin to be pressed, a radial gap will form between the pin and the inner wall of the end groove, making it difficult for the pin to maintain a stable position and orientation after entering the end groove. Before the pressure rod contacts the pin, the pin may radially shift, tilt, or move towards the pressing port within the end groove; in severe cases, it may even prematurely exit the pressing port. When the pressure rod pushes the pin, a pin with an unstable position or orientation may not accurately align with the mounting hole on the frame, thus affecting the pressing accuracy and potentially causing problems such as pin jamming, biasing, or bending. Therefore, a pin pressing machine and method are needed to solve these problems. Summary of the Invention

[0005] The first objective of this invention is to provide a presser that uses an elastic abutment to hold and restrict the pin in the end groove before press-fitting, and elastically retracts when the presser pushes the pin, thereby balancing the stable holding and smooth pressing out of pins of different diameters.

[0006] The technical solution adopted by the present invention to solve the above problems is: a pin pressing machine for pressing pins into the assembly holes of a frame, comprising a pressing mechanism, wherein the pressing mechanism includes: The pressure head has a pressing end, and the inside of the pressure head is provided with a feeding channel and an end groove communicating with the feeding channel. The end groove extends to the pressing end to form a pressing port. The circumference of the pressure head is provided with a positioning hole, which extends from the circumference of the pressure head to the end groove and communicates with the end groove. An elastic abutment is disposed in the positioning hole, the elastic abutment including a holding end that can elastically move along the extension direction of the positioning hole and at least partially extend into the end groove; Second drive component; A pressure rod is drivenly connected to the second drive assembly. The pressure rod is configured to move axially relative to the pressure head along the end groove under the drive of the second drive assembly to enter the end groove. The abutting end is configured to abut against the pin located in the end groove after the pin enters the end groove through the feed channel, so as to restrict the pin in the end groove before the pressure rod pushes the pin; and when the pressure rod enters the end groove and pushes the pin to move towards the pressure port, the abutting end can elastically retract along the positioning hole away from the end groove under the action of the pin, so as to allow the pressure rod to continue to push the pin and press the pin out through the pressure port.

[0007] The beneficial effects of the embodiments of the present invention are as follows: Since a positioning hole communicating with the end groove is provided on the pressure head, and an elastic abutment with an elastically movable abutment end is provided in the positioning hole, the abutment end abuts and restricts the pin in the end groove before the pressure rod pushes the pin, and elastically retracts away from the end groove when the pressure rod pushes the pin, thus effectively solving the technical problem that when there is a radial gap between the end groove and the pin, the pin is prone to displacement, tilting, movement or premature exit through the pressure port before pressing, and the rigid limit may hinder the normal pressing out of the pin. In this way, the stable holding and smooth pressing out of pins of different diameters are achieved, the position and posture stability of the pin before pressing is improved, the risk of pin jamming, bias or bending is reduced, and the pressing stability and pressing quality are improved.

[0008] The second objective of this invention is to provide a pressing method that uses an elastic abutment to hold the pin in the end groove before pressing and elastically retracts when the pressing rod pushes the pin, thereby achieving accurate alignment between the pin and the assembly hole and smooth pressing.

[0009] The technical solution adopted by the present invention to solve the above problems is: a needle pressing method based on the above-mentioned needle pressing machine, comprising: The insertion pin is allowed to enter the end slot connected to the feeding channel through the feeding channel inside the pressure head; The pin is held by an elastic abutment provided in the positioning hole of the pressure head, and the abutting end of the elastic abutment extends elastically into the end groove at least partially to hold the pin in the end groove before the pressure rod pushes the pin. Adjust the relative position of the pressure head and the frame with the assembly hole so that the pin held in the end groove corresponds to the assembly hole; Move the pressure head toward the frame to the predetermined pressing position; The pressure rod is driven to enter the end groove along the axial direction of the end groove relative to the pressure head and push the pin, so that the holding end elastically retracts along the positioning hole away from the end groove under the action of the pin, and the pin is pressed out from the pressure port formed at the end of the end groove and pressed into the hole to be assembled.

[0010] The beneficial effects of the embodiments of the present invention are as follows: By employing the technical means of holding the insert pin in the end groove by an elastic abutment before the pressure rod pushes the insert pin, moving the pressure head to the predetermined pressing position after the insert pin corresponds with the hole to be assembled, and elastically retracting the holding end of the elastic abutment as the pressure rod pushes the insert pin, the technical problems of the insert pin easily shifting, tilting, moving, or prematurely exiting the pressing port before pressing when there is a radial gap between the end groove and the insert pin, as well as the technical problems of the limit of the insert pin possibly hindering its normal pressing out, are effectively solved. Thus, the stable holding of the insert pin before pressing, the accurate correspondence between the insert pin and the hole to be assembled, and the smooth pressing of the insert pin into the hole to be assembled through the pressing port are achieved, reducing the risk of insert pin jamming, biasing, or bending, and improving pressing accuracy, pressing stability, and pressing quality. Attached Figure Description

[0011] Figure 1 A schematic diagram of the needle press machine proposed in one embodiment of this application is shown.

[0012] Figure 2 A schematic diagram of the pressing mechanism proposed in one embodiment of this application is shown.

[0013] Figure 3 This illustration shows a structural diagram of an embodiment of the present application, in which the pressure head is connected to the follower component and is in a cooperating state with the pressure rod. Figure 1 .

[0014] Figure 4 This illustration shows a structural diagram of an embodiment of the present application, in which the pressure head is connected to the follower component and is in a cooperating state with the pressure rod. Figure 2 .

[0015] Figure 5 This illustration shows a cross-sectional view of a pressure head connected to a follower member and in a mating state with a pressure rod, according to an embodiment of this application. Figure 1 .

[0016] Figure 6 This illustration shows a cross-sectional view of a pressure head connected to a follower member and in a mating state with a pressure rod, according to an embodiment of this application. Figure 2 .

[0017] The components include: 1. Feeding mechanism; 11. Carrier plate; 2. Displacement mechanism; 21. Moving end; 3. Feeding mechanism; 4. Pressing mechanism; 41. Pressing head; 411. Pressing end; 412. Feeding channel; 413. End groove; 414. Pressing port; 415. Positioning hole; 42. Elastic abutment; 421. Adjusting component; 422. Ball bearing; 423. Elastic component; 43. Second drive assembly; 431. Second drive end; 44. Pressing rod; 441. Pressing end; 45. Base; 46. Follower component; 47. First drive assembly; 471. First drive end; 5. Image acquisition module. Detailed Implementation

[0018] Example 1: When there is a radial gap between the end groove 413 and the insert pin in the existing needle pressing machine, it is difficult to keep the insert pin stable before pressing. The insert pin is prone to displacement, tilting, movement or premature dislodgement, and may also get stuck, biased or bent.

[0019] To overcome the above problems, this application adopts an elastic limiting structure that supports before pressing and yields during pressing, and combines image positioning, orthogonal plane displacement and graded driving of the pressing head 41 and the pressing rod 44 to make the pin press into the assembly hole stably, accurately and smoothly.

[0020] This embodiment provides a pin pressing machine for pressing pins into corresponding mounting holes on a frame. In a preferred embodiment, the nominal diameter of the pin's crimping end 441 is 2 mm, and the diameter of the mounting hole is slightly smaller than the diameter of the pin's crimping end 441. During pressing, the pin is subjected to axial pressure, and the crimping end 441 enters the mounting hole with an interference fit, thereby forming a stable connection between the pin and the frame. The specific dimensional difference between the mounting hole and the pin's crimping end 441 can be determined based on the frame material, the pin material, the required connection strength, and the allowable pressing force; this embodiment does not impose specific limitations on this.

[0021] In this embodiment, the first and second directions are two mutually perpendicular directions that together define the assembly plane; the third direction is perpendicular to the assembly plane. The first, second, and third directions are used to describe the relative motion relationships between the various mechanisms and do not limit the absolute installation orientation of the needle presser in the actual use environment. In a preferred arrangement, the assembly plane can be the plane where the assembly holes on the frame are located when the carrier plate 11 supports the frame, and the third direction is the pressing direction when the needle is pressed into the assembly hole.

[0022] Please see Figures 1 to 6The needle pressing machine includes a pressing mechanism 4, which comprises a pressing head 41, an elastic abutment member 42, a second drive assembly 43, a pressing rod 44, a feeding mechanism 1, a displacement mechanism 2, a feeding mechanism 3, an image acquisition module 5, and a control module. It further includes a base 45, a follower member 46, and a first drive assembly 47. These components cooperate to sequentially complete the following functions: frame support, assembly hole identification, planar positioning, needle supply, needle holding, pressing head 41 positioning, and needle pressing.

[0023] The pressure head 41 is a component that directly guides the insert pin and corresponds to the assembly hole of the frame. The pressure head 41 has a pressing end 411 facing the frame, and a feeding channel 412 and an end groove 413 communicating with the feeding channel 412 are provided inside the pressure head 41. The feeding channel 412 is used to guide the insert pin output by the feeding mechanism 3 to the end groove 413, and the end groove 413 is used to accommodate and guide the insert pin before it is pressed out. The end groove 413 extends to the pressing end 411 and forms a pressing port 414 at the pressing end 411, so that the insert pin entering the end groove 413 can leave the pressure head 41 through the pressing port 414 under the push of the pressure rod 44. The axial direction of the end groove 413 is parallel to a third direction, so that the direction of movement of the insert pin in the end groove 413 corresponds to the direction of the insert pin pressing into the assembly hole. The cross-sectional dimensions of the end groove 413 are set to allow the insert pin to be pressed in and move smoothly, and its specific shape and size can be determined according to the shape of the corresponding part of the insert pin. When the pin is located within the end groove 413, the crimping end 441 of the pin faces the crimping port 414, and the pressure rod 44 can apply a pushing force towards the crimping port 414 to the pin from the side of the pin away from the crimping end 441. A positioning hole 415 is provided on the periphery of the pressure head 41. The positioning hole 415 extends from the periphery of the pressure head 41 into the interior of the pressure head 41, and its end near the end groove 413 communicates with the end groove 413, thereby forming a channel between the outside of the pressure head 41 and the end groove 413 for installing the resilient abutment member 42. The extending direction of the positioning hole 415 intersects the axial direction of the end groove 413, allowing the resilient abutment member 42 disposed within the positioning hole 415 to abut against the pin from the side of the end groove 413. The positioning hole 415 also guides the elastic movement direction of the resilient abutment member 42, allowing the resilient abutment member 42 to move closer to or further away from the end groove 413 along the extending direction of the positioning hole 415.

[0024] The elastic abutment 42 is disposed within the positioning hole 415 and includes a holding end. The holding end is elastically movable along the extension direction of the positioning hole 415 and extends at least partially into the end groove 413. The extent to which the holding end extends into the end groove 413 is such that it can reliably abut against the pin entering the end groove 413, while also being able to elastically retract when the pin is pushed by the pressure rod 44. When the pin enters the end groove 413 through the feed channel 412, the outer periphery of the pin contacts the holding end, and the holding end continuously abuts against the pin by elastic action, thereby confining the pin within the end groove 413. Before the pressure rod 44 contacts the pin, the abutting action of the holding end on the pin can inhibit the pin from moving freely within the end groove 413, preventing the pin from significantly deviating, tilting, or shifting due to the radial gap between the end groove 413 and the pin, and preventing the pin from prematurely exiting through the pressure port 414 before the pressure head 41 reaches the pressing position. The retaining force of the elastic abutment 42 on the insert pin should be sufficient to resist the pin's own weight, the inertia generated by the movement of the pressure head 41, and the disturbance caused to the insert pin during the feeding process, while not preventing the pressure rod 44 from pushing the insert pin. Therefore, when the pressure rod 44 has not yet pushed the insert pin, the insert pin can be stably held within the end groove 413; when the pressure rod 44 applies a pushing force towards the pressure port 414 to the insert pin, the insert pin acts on the abutting end, causing the abutting end to move along the positioning hole 415 away from the end groove 413 and exit the insert pin's pressing path. After the abutting end retracts, the pressure rod 44 can continue to push the insert pin past the position of the abutting end and press it out through the pressure port 414. After the insert pin leaves the abutting end, the abutting end can return to its original position towards the end groove 413 under its own elasticity, so as to abut the next insert pin entering the end groove 413.

[0025] The second drive assembly 43 is used to drive the pressure rod 44 to move relative to the pressure head 41. The second drive assembly 43 includes a second drive end 431 that can be controlled to move in a third direction, and the pressure rod 44 is drively connected to the second drive end 431. Therefore, when the second drive end 431 moves in the third direction, it can drive the pressure rod 44 to move relative to the pressure head 41 along the axial direction of the end groove 413.

[0026] The pressure rod 44 is drively connected to the second drive assembly 43. The pressure rod 44 is configured to move axially relative to the pressure head 41 along the end groove 413 under the drive of the second drive assembly 43, so as to enter the end groove 413. The extension direction of the pressure rod 44 corresponds to the axial direction of the end groove 413. One end of the pressure rod 44 facing the pressure port 414 is used to abut against the insert pin in the end groove 413 and transmit the driving force output by the second drive assembly 43 to the insert pin. When the feeding mechanism 3 supplies insert pins to the end groove 413, the pressure rod 44 is in a position that does not obstruct the insert pin from entering the end groove 413; during insert pin pressing, the pressure rod 44 enters the end groove 413 under the drive of the second drive assembly 43 and moves along the end groove 413 towards the pressure port 414.

[0027] The feeding mechanism 1 includes a carrier plate 11 for supporting the frame. The carrier plate 11 has a bearing area adapted to the size of the frame. The frame is placed in the bearing area in a manner that maintains its relative position to the carrier plate 11, allowing the frame to move synchronously with the carrier plate 11. The carrier plate 11 is controlled to move along a first direction, and its travel distance at least covers the distribution range of each assembly hole on the frame along the first direction. Thus, the position of the assembly hole on the frame relative to the pressure head 41 in the first direction can be adjusted by moving the carrier plate 11 along the first direction.

[0028] The displacement mechanism 2 includes a movable end 21 that can be controlled to move along a second direction. A base 45 is connected to the movable end 21, so that when the movable end 21 moves along the second direction, the base 45 and corresponding components mounted on the base 45 can move synchronously along the second direction. The first and second directions together define an assembly plane. Since the second direction is perpendicular to the first direction of the carrier plate 11, by moving the carrier plate 11 along the first direction and the base 45 along the second direction, two mutually perpendicular relative displacement components can be formed within the assembly plane, thereby enabling the pressure head 41 to correspond to different assembly holes on the frame.

[0029] The pressing mechanism 4 further includes a base 45, a follower component 46, and a first drive assembly 47. The base 45 provides a mounting foundation for the first drive assembly 47, the image acquisition module 5, and components related to the pressing head 41. The base 45 can move stably along a second direction with the moving end 21 and maintain the relative mounting relationship between the components on it. The first drive assembly 47 is disposed on the base 45 and includes a first drive end 471. The first drive end 471 is controlled to move along a third direction and is drively connected to the pressing head 41. When the first drive end 471 moves along the third direction, it can drive the pressing head 41 to move toward or away from the frame. The pressing head 41 has an initial position away from the frame and a predetermined pressing position close to the frame. During planar positioning and standby, the pressing head 41 can be in the initial position to reserve movement space between the pressing head 41 and the frame; after planar positioning is completed, the first drive assembly 47 drives the pressing head 41 to move toward the frame along a third direction until the pressing head 41 reaches the predetermined pressing position.

[0030] The follower component 46 is connected to the pressure head 41 and configured to move synchronously with the pressure head 41 in a third direction. The second drive component 43 is disposed on the follower component 46. Therefore, when the first drive component 47 drives the pressure head 41 to move in a third direction, the follower component 46, the second drive component 43, and the pressure rod 44 can move together with the pressure head 41. After the pressure head 41 reaches the predetermined pressing position, the second drive component 43 can also drive the pressure rod 44 to move relative to the pressure head 41 in a third direction.

[0031] The first drive assembly 47 and the second drive assembly 43 thus form a hierarchical drive relationship that cooperates with each other. The first drive assembly 47 is used to adjust the position of the pressure head 41 relative to the frame in a third direction, so that the pressure port 414 reaches a suitable position for pressing; the second drive assembly 43 is used to drive the pressure rod 44 to move relative to the pressure head 41 after the pressure head 41 is in position, so as to apply a pressing force to the pin. The specific drive form of the first drive assembly 47 and the second drive assembly 43 is not limited, as long as they can respectively output controlled linear motion along a third direction.

[0032] The discharge end of the feeding mechanism 3 is connected to the feeding channel 412 inside the pressing head 41. The feeding mechanism 3 is used to feed the pin into the feeding channel 412 according to the pressing requirements, and to allow the pin to enter the end groove 413 through the feeding channel 412. The specific feeding method of the feeding mechanism 3 is not limited, as long as it can deliver the pin to be pressed into the feeding channel 412 in a state suitable for entering the end groove 413.

[0033] The image acquisition module 5 is mounted on the base 45 and moves along the second direction with the base 45. The acquisition area of ​​the image acquisition module 5 faces the frame supported by the carrier plate 11, and is used to acquire images of the frame including at least the area where the assembly hole is located, and to obtain the position information of the assembly hole. Since the image acquisition module 5 is mounted on the base 45, and the pressure head 41 is mounted on the base 45 through the first drive assembly 47, the relative positions of the image acquisition module 5 and the pressure head 41 in the assembly plane can remain stable. Therefore, the target position that the pressure head 41 should reach relative to the assembly hole can be determined based on the position information of the assembly hole obtained by the image acquisition module 5. When there are multiple assembly holes on the frame, the image acquisition module 5 can acquire images of different assembly holes or different assembly areas by moving the carrier plate 11 along the first direction and moving the image acquisition module 5 along the second direction with the base 45. Before pressing, the image acquisition module 5 acquires images of the frames containing multiple holes to be assembled one by one and obtains the corresponding position information. As long as the obtained position information can be used to control the relative position of the pressing head 41 and the hole to be assembled, it is acceptable.

[0034] The control module is communicatively connected to the feeding mechanism 1, the displacement mechanism 2, the first drive assembly 47, the second drive assembly 43, the feeding mechanism 3, and the image acquisition module 5. The control module receives the position information of the hole to be assembled from the image acquisition module 5, and controls the material carrier plate 11 to move along a first direction and the moving end 21 to move along a second direction based on this position information. The control module is also used to control the first drive assembly 47 to drive the pressure head 41 to move along a third direction, control the second drive assembly 43 to drive the pressure rod 44 to move relative to the pressure head 41, and control the feeding mechanism 3 to supply the pins to the feeding channel 412. Specifically, the control process of the pin presser by the control module includes at least the pin holding state, the planar positioning state, the pressure head 41 positioning state, and the pin pressing state. These states illustrate the coordination relationship of each mechanism within a pressing cycle; some states can be formed sequentially according to the pressing cycle, or they can partially overlap without motion interference.

[0035] With the pin held in place, the feeding mechanism 3 feeds the pin into the end groove 413 via the feeding channel 412. The pin entering the end groove 413 abuts against the holding end of the elastic abutment member 42 and is confined within the end groove 413 by the elastic action of the holding end. At this time, the pressure rod 44 has not yet pushed the pin, and the holding end can continue to hold the pin during the planar movement or third-direction movement of the pressure head 41, preventing uncontrolled movement of the pin relative to the end groove 413.

[0036] In planar positioning mode, the image acquisition module 5 acquires an image of the frame on the carrier plate 11 and obtains the position information of the hole to be assembled. Based on this position information, the control module determines the desired position of the carrier plate 11 along the first direction and the desired position of the moving end 21 along the second direction, and controls the loading mechanism 1 and the displacement mechanism 2 to move accordingly. The carrier plate 11 moves the frame along the first direction, and the moving end 21 moves the base 45 and the pressure head 41 along the second direction. Together, they adjust the relative position of the pressure head 41 and the hole to be assembled in the assembly plane until the pressure head 41 is at the target position relative to the hole.

[0037] With the pressure head 41 in place, the carrier plate 11 and the moving end 21 have already brought the pressure head 41 to the target position within the assembly plane. The first drive assembly 47 drives the pressure head 41 to move towards the frame in a third direction, so that the pressure head 41 reaches the predetermined pressing position. The predetermined pressing position refers to the relative position between the pressing port 414 and the hole to be assembled, which is suitable for pressing the pin in. Specifically, the bottom of the pressure head 41 is in contact with the top surface of the frame.

[0038] In the pin-pressing state, the pressing head 41 is held at the target position within the assembly plane and at the predetermined pressing position along a third direction. The second drive assembly 43 drives the pressing rod 44 to enter the end groove 413 relative to the pressing head 41 along a third direction. The pressing rod 44 first abuts against the pin held by the elastic abutment member 42, and then pushes the pin toward the pressing port 414. During the movement of the pin, it acts on the holding end, causing the holding end to elastically retract along the positioning hole 415 away from the end groove 413. As the holding end retracts, the pin is released from its restraint and continues to be pressed out through the pressing port 414 under the push of the pressing rod 44, and the pressing end 441 of the pin enters the assembly hole and forms an interference fit with the assembly hole.

[0039] After one press-fitting cycle is completed, the second drive assembly 43 can drive the pressure rod 44 to exit the end slot 413, and the first drive assembly 47 can drive the pressure head 41 to move away from the frame along a third direction and return to the initial position. Subsequently, the control module, based on the position information of the next assembly hole, re-controls the material carrier plate 11 and the moving end 21 to adjust their relative positions, and controls the feeding mechanism 3 to supply the next pin, thereby repeating the press-fitting of the pins for the remaining assembly holes on the frame.

[0040] In this embodiment, because a feeding channel 412, an end groove 413, and a pressing port 414 are interconnected within the pressure head 41, and an elastic abutment member 42 with an elastically movable abutting end is provided within the positioning hole 415 communicating with the end groove 413, the abutting end restricts the insert pin within the end groove 413 before the pressure rod 44 pushes the insert pin, and elastically retracts away from the end groove 413 when the pressure rod 44 pushes the insert pin. Simultaneously, the relative position of the pressure head 41 and the hole to be assembled in the assembly plane is adjusted using mutually perpendicular first and second directions. The position information of the hole to be assembled is obtained using the image acquisition module 5, and... The first drive assembly 47 and the second drive assembly 43 respectively realize the positioning of the pressure head 41 and the pressing of the pressure rod 44. Therefore, the technical problems of the needle being prone to deviation, tilting, shifting or premature dislodgement before pressing when there is a radial gap between the needle and the end groove 413, as well as the needle being difficult to accurately correspond with the hole to be assembled and the rigid limit being able to hinder the normal pressing out of the needle, are effectively solved. This achieves stable supply and holding of the needle, accurate positioning of the pressure head 41 and the hole to be assembled, and smooth pressing of the needle, reducing the risk of jamming, bias and bending, and improving pressing accuracy, pressing stability and pressing quality.

[0041] Example 2: Based on Example 1, in order to ensure that the elastic abutment 42 can reliably hold the insert before pressing and can elastically retract during the pressing process, and can adjust the working state of the abutment end according to the size of the insert and the required holding force, in this example, the elastic abutment 42 is preferably a set screw, which includes an adjusting member 421, a ball bearing 422, and an elastic member 423. Please refer to... Figure 6 .

[0042] The adjusting member 421 is installed in the positioning hole 415 of the pressure head 41 and is threadedly connected to the positioning hole 415. Specifically, at least a portion of the hole wall of the positioning hole 415 is provided with internal threads, and the outer periphery of the adjusting member 421 is provided with external threads that mate with these internal threads. The adjusting member 421 is screwed into the positioning hole 415 via its external threads, allowing it to be held within the positioning hole 415 and to move along the extension direction of the positioning hole 415 when subjected to rotation. The screw-in position of the adjusting member 421 relative to the positioning hole 415 refers to the position of the adjusting member 421 relative to the end groove 413 along the extension direction of the positioning hole 415. By rotating the adjusting member 421 in different directions, it can be moved toward or away from the end groove 413. When the adjusting member 421 is screwed into the end groove 413, the initial extension of the ball 422 relative to the inner wall of the end groove 413 increases accordingly; when the adjusting member 421 is withdrawn away from the end groove 413, the initial extension of the ball 422 relative to the inner wall of the end groove 413 decreases accordingly.

[0043] The adjusting member 421 has an adjusting groove inside, which accommodates the ball 422 and the elastic member 423, and provides space for the elastic movement of the ball 422. The extending direction of the adjusting groove corresponds to the extending direction of the positioning hole 415, allowing the ball 422 to move within the adjusting groove in a direction close to or away from the end groove 413. The adjusting member 421 forms an annular limiting portion at the end of the adjusting groove near the end groove 413. The annular limiting portion surrounds the end of the adjusting groove facing the end groove 413 and forms a circular opening. The circular opening is located between the adjusting groove and the end groove 413 and communicates with the adjusting groove, allowing a portion of the ball 422 to extend through the circular opening towards the end groove 413.

[0044] The ball bearing 422 is disposed in the adjustment groove. The elastic element 423 is disposed in the adjustment groove and is located on the side of the ball bearing 422 away from the end groove 413. One end of the elastic element 423 abuts against the inner wall of the adjustment groove on the side away from the end groove 413, and the other end abuts against the ball bearing 422.

[0045] The diameter of the ball 422 is larger than the diameter of the circular opening. Therefore, when the ball 422 moves toward the end groove 413 under the action of the elastic member 423, the portion of the ball 422 facing the end groove 413 can extend through the circular opening, while the larger diameter main body of the ball 422 is blocked by the annular limiting part and cannot pass through the circular opening as a whole. The annular limiting part thus confines the ball 422 within the adjusting groove, preventing the ball 422 from dislodging from the adjusting member 421 under the push of the elastic member 423. The side of the annular limiting part facing the adjusting groove forms a limiting area for contacting the surface of the ball 422. When the ball 422 is not subjected to the action of the pin, the ball 422 rests against this limiting area under the elastic force of the elastic member 423. Because the ball 422 has a spherical surface, the ball 422 and the annular limiting part can form a circumferential limiting fit, allowing the ball 422 to be stably held at the circular opening. The diameter of the circular opening should be smaller than the diameter of the ball 422, while also ensuring that a portion of the ball 422 can extend through the circular opening. The portion of the ball 422 extending through the circular opening forms the abutting end of the elastic abutment 42. The end of the adjusting member 421 near the end groove 413 is located within the positioning hole 415, meaning that within the allowable adjustment range of the adjusting member 421, the rigid end of the adjusting member 421 near the end groove 413 does not extend into the end groove 413. This arrangement prevents the rigid end of the adjusting member 421 from directly entering the movement path of the pin, allowing the ball 422 to retract into the adjusting groove when the pin is pushed by the pressure rod 44, without the rigid end of the adjusting member 421 obstructing the pin.

[0046] The elastic element 423 forms an elastic support between the inner wall of the adjusting groove on the side away from the end groove 413 and the ball 422, and continuously applies an elastic force toward the end groove 413 to the ball 422, so that the ball 422 is elastically pressed against the annular limiting portion when not subjected to the action of the pin. In a preferred embodiment, the elastic element 423 is a helical compression spring. When the ball 422 is not in contact with the pin, the elastic element 423 presses the ball 422 against the annular limiting portion, and a portion of the ball 422 extends out through the circular opening and further into the end groove 413. The portion of the ball 422 extending into the end groove 413 forms an initial protrusion relative to the inner wall of the end groove 413. The initial protrusion is the degree to which the spherical surface of the ball 422 extends beyond the corresponding inner wall of the end groove 413 and enters the interior of the end groove 413 when the ball 422 is in the initial state without being pressed by the pin. This initial protrusion determines the initial contact state between the ball 422 and the pin that has entered the end groove 413. When the insert pin enters the end groove 413 and contacts the ball 422, the sidewall of the insert pin applies a force to the ball 422 toward the interior of the adjustment groove. Under this force, the ball 422 overcomes the elastic force of the elastic element 423, moves back toward the interior of the adjustment groove along the extension direction of the positioning hole 415, and compresses the elastic element 423. After being compressed, the elastic element 423 generates a restoring force toward the end groove 413, causing the ball 422 to continuously press against the sidewall of the insert pin, thereby elastically confining the insert pin within the end groove 413.

[0047] The adjusting member 421 is configured to adjust the initial extension amount of the ball 422 relative to the inner wall of the end groove 413 when it is not in contact with the pin, and the compression amount of the elastic member 423 when the ball 422 is in contact with the pin, by changing the screw-in position of the adjusting member 421 relative to the positioning hole 415. Specifically, by changing the screw-in position of the adjusting member 421 relative to the positioning hole 415, the initial extension amount of the ball 422 relative to the inner wall of the end groove 413 when it is not in contact with the pin can be changed, and the distance that the ball 422 moves back into the adjusting groove after it contacts the pin can be changed accordingly. When the return distance of the ball 422 changes, the compression amount of the elastic member 423 also changes, thereby adjusting the elastic holding force applied by the ball 422 to the side wall of the pin. The elastic action applied by the ball 422 to the pin can limit the uncontrolled movement of the pin in the end groove 413, keeping the pin in a position suitable for being pushed by the pressure rod 44. At this time, the compression of the elastic element 423 is determined by the initial extension of the ball 422, the external dimensions of the pin, and the position of the pin in the end groove 413.

[0048] The ball bearing 422 is configured to abut against the side wall of the insert pin when the pressure rod 44 pushes the insert pin toward the pressure port 414, thereby overcoming the elastic force of the elastic member 423 and moving back into the adjustment groove. Specifically, when the pressure rod 44 pushes the insert pin toward the pressure port 414, the side wall of the insert pin moves relative to the ball bearing 422. The spherical surface of the ball bearing 422 contacts the side wall of the insert pin, and while the insert pin moves axially along the end groove 413, it generates a component force on the ball bearing 422 toward the interior of the adjustment groove. Under the action of this component force, the ball bearing 422 overcomes the elastic force of the elastic member 423 and moves back into the adjustment groove. The elastic member 423 is correspondingly further compressed or maintains a compressed state adapted to the position of the insert pin, thereby making room for the insert pin to move toward the pressure port 414. The maximum extent to which the ball bearing 422 moves back into the adjustment groove should be sufficient so that the ball bearing 422 does not obstruct the insert pin from passing through its position.

[0049] As the pressure rod 44 pushes the insert pin, the insert pin passes the position of the ball 422 and moves toward the pressure port 414. After the insert pin disengages from the ball 422, the force acting on the ball 422 toward the inside of the adjustment groove is released, the elastic element 423 releases the stored elastic potential energy and pushes the ball 422 toward the end groove 413, so that the ball 422 abuts against the annular limiting part again and returns to its initial extended state, thereby preparing to hold the insert pin that subsequently enters the end groove 413.

[0050] In this embodiment, the adjusting member 421 is threadedly connected to the positioning hole 415. An adjusting groove is provided within the adjusting member 421 to accommodate the ball 422 and the elastic member 423. An annular limiting part restricts the ball 422 from completely disengaging while allowing a portion of the ball 422 to extend through the circular opening to form a supporting end. Simultaneously, the elastic member 423 elastically presses the ball 422 against the annular limiting part. The initial extension amount of the ball 422 and the compression amount of the elastic member 423 when supporting the insert pin are adjusted by changing the screw-in position of the adjusting member 421. Through this technical means, the technical problems of fixed holding structures being difficult to adjust according to the size and holding force requirements of the insert pin, and rigid holding structures easily hindering the movement of the insert pin toward the pressure port 414 are effectively solved. This achieves adjustable elastic holding of the insert pin, enabling the ball bearing 422 to stably hold the insert pin before pressing, smoothly retract and yield when the pressure rod 44 pushes the insert pin, and adjust the holding force and yielding state according to the actual pressing conditions, thereby improving the adaptability of the insert pin holding, the smoothness of the pressing process, and the stability of the pressing operation.

[0051] This application discloses a needle pressing machine, which limits the path of the elastic abutment 42 in different ways to accommodate needles of different sizes and specifications. In embodiment 3, the number of elastic abutment 42 is one, and in embodiment 4, the number of elastic abutment 42 is at least three.

[0052] Example 3: Based on Example 2, in order to ensure that pins of different diameters can be stably abutted against a defined side of the end groove 413 by the same elastic abutment 42 when the pin diameter is slightly smaller than the inner diameter of the end groove 413 and there is a radial gap between the pin and the end groove 413, and to make the pin center axis form an eccentric state with a definite direction and value relative to the end groove 413 center axis, and then use this eccentric state to compensate for the planar positioning position of the pressing port 414, in this example, the number of elastic abutment 42 is one, the end groove 413 is a cylindrical groove, the inner diameter of the end groove 413 is larger than the diameter of the part of the pin to be pressed held in the end groove 413, and the center of the pressing port 414 is located on the central axis of the end groove 413.

[0053] When the abutting end abuts against the side wall of the pin located in the end groove 413, the pin abuts against the inner wall of the end groove 413 away from the elastic abutting member 42; the image center of the image acquisition module 5 has a calibrated fixed coordinate offset relationship with the reference position corresponding to the center of the pressure port 414 in the assembly plane; the control module stores the fixed coordinate offset relationship, the transformation relationship between the image coordinate system of the image acquisition module 5 and the whole machine coordinate system in the assembly plane, and the eccentricity compensation relationship, wherein the eccentricity compensation relationship characterizes the inner diameter of the end groove 413 and the abutting part of the pin in the end groove 413. The diameter of the pin and the direction of force applied by the elastic abutment 42 to the pin are related to the offset direction and offset amount of the central axis of the pin relative to the central axis of the end groove 413 in the assembly plane; the target position is the eccentricity compensation target position defined by the position information of the hole to be assembled, the transformation relationship, the fixed coordinate offset relationship and the eccentricity compensation relationship; in the planar positioning state, the projection position of the center of the pressure port 414 in the assembly plane is offset by the offset amount in the opposite direction to the offset direction relative to the center of the hole to be assembled, so that the central axis of the pin located in the end groove 413 corresponds to the central axis of the hole to be assembled.

[0054] Specifically, the end groove 413 has a consistent circular cross-section along its axial direction to accommodate the insert to be press-fitted. The portion of the insert held within the end groove 413 refers to the outer peripheral portion of the insert that abuts against the holding end of the elastic abutment 42 and the inner wall of the end groove 413 after entering the end groove 413. The inner diameter of the end groove 413 is larger than the diameter of the portion of the insert held within the end groove 413, creating a radial gap between the insert and the end groove 413. This radial gap should allow the insert to smoothly enter the end groove 413 and move axially along the end groove 413, while also being within the fitting range where the elastic abutment 42 can push the insert against the opposite inner wall of the end groove 413. Because the inner diameter of the end groove 413 is larger than the diameter of the portion of the insert held within the end groove 413, the insert can undergo positional changes within the radial gap range of the end groove 413 when it is not subject to lateral restraint. If only the center of the pressure port 414 is aligned with the center of the hole to be assembled, without considering the actual radial position of the pin within the end groove 413, the central axis of the pin may still deviate from the central axis of the hole to be assembled. Therefore, in this embodiment, a single elastic abutment member 42 applies a lateral force with a defined direction to the pin, so that the pin moves to a defined side of the end groove 413 each time it is abutted.

[0055] A single resilient abutment 42 is disposed on one side of the end groove 413, and its abutting end can abut against the side wall of the insert pin from this side toward the interior of the end groove 413. The direction of force exerted by the resilient abutment 42 on the insert pin is determined by the position of the resilient abutment 42 relative to the end groove 413 and the direction of movement of the abutting end. This direction of force indicates the direction in which the insert pin is pushed in the assembly plane when the abutting end exerts a lateral force on the insert pin. When the abutting end abuts against the side wall of the insert pin located in the end groove 413, the abutting end applies a force to the insert pin toward the side of the end groove 413 away from the resilient abutment 42. Under this force, the insert pin moves radially along the end groove 413 until the side wall of the insert pin abuts against the inner wall of the end groove 413 away from the resilient abutment 42. Thus, the insert pin is no longer at an arbitrary position within the radial clearance range in the end groove 413, but at a defined position defined by the direction of force exerted by the resilient abutment 42 and the inner wall of the opposite side of the end groove 413. Since the end groove 413 is a cylindrical groove, and the size of the portion of the pin held is characterized by its diameter, the offset direction of the pin's central axis relative to the central axis of the end groove 413 corresponds to the direction of the force applied by the elastic abutment 42 to the pin. The offset is determined by the inner diameter of the end groove 413 and the diameter of the portion of the pin held within the end groove 413. When the dimensional tolerances, contact deformation, and surface errors are within allowable limits, and the sidewall of the pin is tangent to the inner wall of the end groove 413, the offset of the pin's central axis relative to the central axis of the end groove 413 is half the difference between the inner diameter of the end groove 413 and the diameter of the portion of the pin held within the end groove 413. In other words, the greater the difference between the inner diameter of the end groove 413 and the pin diameter, the greater the offset of the pin's central axis relative to the central axis of the end groove 413; the closer the pin diameter is to the inner diameter of the end groove 413, the smaller the aforementioned offset. For the actual structure, the nominal dimensions of the end groove 413 and the pin can be used directly to determine the offset, or the offset can be corrected according to the actual machining dimensions or calibration results. As long as the determined offset can characterize the actual degree of offset of the pin's central axis relative to the central axis of the end groove 413 when the pin abuts against the far inner wall of the end groove 413 under the action of the holding end, it is acceptable.

[0056] A pressure port 414 is formed at the corresponding end of the end groove 413, and the center of the pressure port 414 is located on the central axis of the end groove 413. Therefore, the projected position of the center of the pressure port 414 in the assembly plane corresponds to the position of the central axis of the end groove 413 in the assembly plane. When the central axis of the pin is offset relative to the central axis of the end groove 413, it can also be understood that the central axis of the pin is offset in the same direction and by the same amount relative to the projected position of the center of the pressure port 414 in the assembly plane.

[0057] With the installation position and force direction of the elastic abutment 42 remaining unchanged, even when replacing with pins of different diameters, the pins are still subjected to the force applied by the elastic abutment 42 in the same direction and abut against the same inner wall of the end groove 413. The main difference between pins of different diameters is the amount of offset, without any random change in the direction of offset. Therefore, the same end groove 413 and the same elastic abutment 42 can be used to adapt to various pins with diameters slightly smaller than the inner diameter of the end groove 413, and the corresponding offset can be determined for each pin diameter.

[0058] The image acquisition module 5 has an image center. The image center can be the geometric center of the image output by the image acquisition module 5, or it can be a pre-determined center position in the image coordinate system that serves as the image positioning reference. The imaging relationship of the image center through the image acquisition module 5 corresponds to a reference position in the assembly plane, which is used to characterize the position of the current acquisition area of ​​the image acquisition module 5 relative to the overall machine coordinate system.

[0059] The center of the pressure port 414 has a corresponding projected position in the assembly plane. There is a calibrated fixed coordinate offset relationship between the reference position corresponding to the image center and the projected position of the center of the pressure port 414 in the assembly plane. This fixed coordinate offset relationship is used to characterize the planar position difference between the imaging reference of the image acquisition module 5 and the actual positioning reference of the pressure port 414.

[0060] The fixed coordinate offset relationship can be represented by coordinate components in two independent coordinate directions within the assembly plane, or by a planar offset vector with direction and magnitude. In one specific representation, the fixed coordinate offset relationship can be defined as a planar offset vector pointing from the reference position corresponding to the image center to the projected position of the center of the pressure port 414. This is acceptable as long as a consistent direction convention is used during calibration, storage, and position calculation. The fixed coordinate offset relationship can be determined through calibration. During calibration, the reference position corresponding to the image center within the assembly plane and the projected position of the center of the pressure port 414 within the assembly plane are determined, and then the coordinate difference between the two in the overall coordinate system is calculated. After calibration, this coordinate difference is stored in the control module. As long as the relative installation relationship between the image acquisition module 5 and the pressure port 414 remains unchanged, this fixed coordinate offset relationship can be reused in subsequent positioning processes.

[0061] The control module also stores the transformation relationship between the image coordinate system of the image acquisition module 5 and the overall coordinate system in the assembly plane. The image coordinate system is used to represent the position of the hole to be assembled in the image acquired by the image acquisition module 5, and the overall coordinate system is used to represent the actual position of the reference position corresponding to the hole to be assembled, the image center, and the center projection position of the pressure port 414 in the assembly plane.

[0062] The transformation relationship between the image coordinate system and the overall machine coordinate system can at least characterize the proportional relationship between image coordinate units and overall machine coordinate units, the directional relationship between image coordinate directions and overall machine coordinate directions, and the positional relationship between the image coordinate origin and the overall machine coordinate reference. This transformation relationship can be obtained through calibration based on the imaging method of the image acquisition module 5 and the coordinate setting method within the assembly plane.

[0063] After the image acquisition module 5 obtains the position information of the hole to be assembled, the control module converts the position of the hole in the image coordinate system to the position of the hole in the overall machine coordinate system according to the aforementioned conversion relationship. The position information of the hole to be assembled can directly represent the center position of the hole, or the center of the hole can be determined first based on the image outline of the hole, and then the center position can be converted to the overall machine coordinate system.

[0064] The control module also stores the eccentricity compensation relationship. The eccentricity compensation relationship represents the correspondence between the inner diameter of the end groove 413, the diameter of the part of the pin held in the end groove 413, and the direction of the force applied by the elastic abutment 42 to the pin, and the offset direction and amount of the pin's central axis relative to the central axis of the end groove 413 in the assembly plane.

[0065] In one specific embodiment, the eccentricity compensation relationship is represented by a calculation relationship. The control module determines the dimensional difference between the inner diameter of the end groove 413 and the diameter of the part of the current pin that is abutted within the end groove 413, and determines the offset of the pin's central axis relative to the central axis of the end groove 413 based on this dimensional difference. Simultaneously, it determines the offset direction based on the force direction of the elastic abutment member 42. When the force direction of the elastic abutment member 42 is consistent with a coordinate direction of the overall coordinate system, the pin's eccentricity can mainly manifest as an offset along that coordinate direction. When the force direction of the elastic abutment member 42 is inclined relative to the coordinate direction of the overall coordinate system, the pin's offset can be decomposed into two coordinate components within the overall coordinate system according to the force direction to form a planar eccentricity vector that can directly participate in the target position calculation. In another optional embodiment, the eccentricity compensation relationship is stored in the form of a correspondence table. For pins of different diameters, the offset direction and offset amount when the pin abuts against the far inner wall of the end groove 413 under the action of a single elastic abutment member 42 are recorded. When using a pin of a certain specification, the control module retrieves the offset direction and offset amount corresponding to the pin diameter. Furthermore, the eccentricity compensation relationship can also employ a calibrated mapping relationship. For situations where machining tolerances or actual contact conditions may affect the theoretical offset amount, the actual offset amount corresponding to different pin diameters can be obtained through calibration, and the calibration results can be stored in the control module. The eccentricity compensation relationship can be a calculated relationship, a correspondence table, or a calibrated mapping relationship, as long as the offset direction and offset amount of the pin can be determined based on the inner diameter of the end groove 413, the pin diameter, and the direction of applied force.

[0066] During planar positioning, the control module determines the eccentricity compensation target position based on the position information of the hole to be assembled, the transformation relationship between the image coordinate system and the whole machine coordinate system, the fixed coordinate offset relationship between the reference position corresponding to the image center and the center projection position of the pressure port 414, and the eccentricity compensation relationship.

[0067] Specifically, the control module first determines the position of the center of the hole to be assembled in the overall coordinate system based on the transformation relationship between the image coordinate system and the overall coordinate system. Then, based on the current pin diameter and the force direction of the elastic abutment 42, the control module determines the offset direction and amount of the pin's central axis relative to the central axis of the end groove 413 through eccentricity compensation. Since the center of the pressure port 414 is located on the central axis of the end groove 413, to ensure that the pin's central axis corresponds to the central axis of the hole to be assembled, the projection position of the pressure port 414 center in the assembly plane cannot be directly set to coincide with the center of the hole to be assembled. Instead, the projection position of the pressure port 414 center should be pre-offset by the same amount relative to the center of the hole to be assembled in a direction opposite to the pin's offset direction. For example, when the elastic abutment 42 pushes the pin toward the first direction in the assembly plane, causing the pin's central axis to offset relative to the central axis of the end groove 413 in the first direction, the control module sets the target projection position of the pressure port 414 center to be offset relative to the center of the hole to be assembled in a direction opposite to the first direction. When the direction of force applied by the elastic abutment 42 changes, the direction of pin offset and the required reverse compensation direction of the center of the pressure port 414 also change.

[0068] By defining the fixed coordinate offset relationship as an offset vector pointing from the reference position corresponding to the image center to the projected position of the center of the pressure port 414, the target projected position of the center of the pressure port 414 can be obtained by subtracting the eccentricity vector of the pin from the position of the center of the hole to be assembled in the overall coordinate system; the target coordinates of the reference position corresponding to the image center can be obtained by further subtracting the aforementioned fixed coordinate offset vector from the target projected position of the center of the pressure port 414. The control module thus converts the position of the hole to be assembled into an eccentricity-compensated target position capable of performing planar positioning.

[0069] The fixed coordinate offset relationship is used to eliminate the inherent positional difference between the reference position corresponding to the image center and the projected position of the center of the pressure port 414, while the eccentricity compensation relationship is used to eliminate the positional difference between the center axis of the insert pin and the center axis of the end slot 413 caused by radial clearance and unilateral abutment. Both correspond to positional deviations from different sources and jointly participate in determining the target position for eccentricity compensation.

[0070] In planar positioning mode, the control module positions itself according to the determined eccentricity compensation target position, causing the projection position of the center of the pressure port 414 in the assembly plane to be offset relative to the center of the hole to be assembled by a corresponding offset amount in the opposite direction to the pin offset direction. At this time, the central axis of the end groove 413 and the central axis of the hole to be assembled are not directly coincident in the assembly plane, but maintain a reverse position difference corresponding to the actual eccentricity state of the pin.

[0071] When the pin abuts against the inner wall of the end groove 413 away from the elastic abutment 42 under the action of the elastic abutment 42, the central axis of the pin shifts relative to the central axis of the end groove 413 in the direction of force application. This shift cancels out the reverse compensation of the center of the pressure port 414 relative to the center of the hole to be assembled, so that the position of the central axis of the pin in the assembly plane corresponds to the position of the central axis of the hole to be assembled. Therefore, it is not necessary to use the assumed position in which the pin can move freely in the end groove 413 as the positioning reference, but rather the determined position after the pin is held abutted on one side as the positioning basis.

[0072] In a specific positioning process, the diameter of the part of the current pin that is held in the end slot 413 can be determined first, and the eccentricity compensation relationship corresponding to the diameter can be called. Then, the image acquisition module 5 obtains the position information of the hole to be assembled, and uses the transformation relationship to determine the position of the hole to be assembled in the whole machine coordinate system. Then, combined with the fixed coordinate offset relationship and the offset direction and offset amount corresponding to the current pin, the eccentricity compensation target position is determined. After reaching the target position, the center of the pressure port 414 forms a predetermined reverse offset relative to the center of the hole to be assembled, and the central axis of the pin corresponds to the central axis of the hole to be assembled.

[0073] For situations requiring adaptation to multiple pin specifications, pins of different diameters can share the same cylindrical end slot 413 and achieve corresponding positioning through different eccentric compensation amounts.

[0074] In this embodiment, a single elastic abutment 42 is used to push the pin, whose diameter is smaller than the inner diameter of the cylindrical end groove 413, against the inner wall of the end groove 413 away from the elastic abutment 42. This creates an eccentric state in which the direction and offset of the pin's central axis relative to the central axis of the end groove 413 are both determinable. The control module stores the transformation relationship between the image coordinate system and the overall coordinate system, the fixed coordinate offset relationship between the reference position corresponding to the image center and the projected position of the center of the pressure port 414, and the eccentricity compensation relationship defined by the inner diameter of the end groove 413, the pin diameter, and the force direction of the elastic abutment 42. This ensures that the center of the pressure port 414, in the planar positioning state, is in the opposite direction of the pin offset relative to the center of the hole to be assembled. By shifting the corresponding offset, this effectively solves the technical problems of uncertain pin position in radial clearance when the pin diameter is slightly smaller than the inner diameter of end groove 413, the possibility that the pin center axis may deviate from the center axis of the hole to be assembled even when only the center of the crimping port 414 is aligned with the center of the hole to be assembled, and the difficulty in using the same end groove 413 for accurate positioning due to different eccentricity of pins of different diameters. This achieves deterministic identification of pin eccentricity direction and offset, eccentricity compensation for pins of different diameters, and accurate correspondence between the pin center axis and the center axis of the hole to be assembled, improving the adaptability and positioning accuracy of multi-specification pin press-fitting, and reducing the risk of bias, interference and press-fitting failure caused by eccentric alignment.

[0075] Example 4: Based on Example 2, in order to elastically support the pin from multiple circumferential directions when the diameter of the pin to be pressed is smaller than the inner diameter of the end groove 413 and the diameter difference between the two exceeds the applicable range of the pin that can be stably limited by the single-sided elastic support structure, so as to avoid excessive deterministic eccentricity after the pin is pushed to the inner wall of the end groove 413 in one direction, and to keep the pin in the supported position corresponding to the first plane in the area close to the central axis of the end groove 413, this example provides a first abutting element array.

[0076] In this embodiment, the positioning hole 415 includes at least three first positioning holes 415, and the elastic abutment member 42 includes at least three first elastic abutment members. The first positioning hole 415 corresponds one-to-one with the first elastic abutment member, that is, each first positioning hole 415 is used to set one first elastic abutment member, and different first elastic abutment members act on the pin located in the end groove 413 through the corresponding first positioning hole 415.

[0077] At least three first elastic abutment members together constitute a first abutment member array. The first abutment member array is used to elastically hold the pin from multiple circumferential directions at the same axial position of the end groove 413, so that the pin is no longer mainly positioned by the clamping action between a single elastic abutment member 42 and the inner wall of the opposite side of the end groove 413, but is formed by multiple first elastic abutment members together to form a circumferential radial constraint.

[0078] Each first positioning hole 415 is disposed on the outer periphery of the end groove 413 around the central axis of the end groove 413, and allows the corresponding first elastic abutment to act from the outside of the end groove 413 toward the inside of the end groove 413. When the force applied to the abutment end of the pin is released, the abutment end can be reset in a direction closer to the central axis of the end groove 413 under the elastic recovery action of the first elastic abutment. The first elastic abutments in the first abutment array are circumferentially spaced around the central axis of the end groove 413. The circumferential spacing means that different first elastic abutments occupy different positions on the circumference of the end groove 413, so that multiple first elastic abutments can approach and abut the pin from different directions. The first elastic abutments are distributed in multiple directions around the end groove 413, thereby establishing elastic constraints in at least three directions in the first plane. In a preferred embodiment, the number of first elastic abutment members is three. These three first elastic abutment members are arranged sequentially and at intervals around the central axis of the end groove 413. Furthermore, when the three first elastic abutment members are evenly spaced circumferentially, the corresponding central angles between two adjacent first elastic abutment members can be the same. In this case, the three first elastic abutment members can be distributed at approximately 120° circumferential intervals, so that the three abutment directions form a relatively balanced radial action relationship within the first plane. It should be noted that the number of first elastic abutment members is not limited to three; it is sufficient to ensure that each first elastic abutment member is evenly distributed circumferentially along the end groove 413.

[0079] Each of the first elastic abutment members has a holding end for contacting the sidewall of the pin. Each holding end is located in a first plane perpendicular to the central axis of the end groove 413. The first plane can be understood as the plane containing a cross-section of the end groove 413 at the location where the first abutment array is set, and each holding end is in the same or substantially the same position in the axial direction of the end groove 413. The fact that each holding end is located in the first plane concentrates the main abutting action of the multiple first elastic abutment members on the pin at the same axial position. Thus, each first elastic abutment member can mainly constrain the radial state of the pin at the position corresponding to the first plane, reducing inconsistent abutting positions caused by different holding ends being significantly misaligned along the axial direction of the end groove 413. The centering and radial limiting of the pin described in this embodiment mainly refers to the multi-directional constraint of the abutted part of the pin corresponding to the first plane by the first abutment array, so that the cross-sectional center of the abutted part is kept near the central axis of the end groove 413, rather than the pin being pushed unidirectionally against the inner wall of the end groove 413. The first plane can be set at any position suitable for holding the pin in the axial direction of the end groove 413.

[0080] Each abutment end has an elastic movement direction. The elastic movement direction refers to the reciprocating movement direction in which the abutment end elastically yields when squeezed by the pin and elastically returns to its original position after the force is released. Each abutment end can move along its elastic movement direction between a position close to and away from the central axis of the end groove 413. The extensions of the elastic movement directions of each abutment end intersect at a first intersection point, which is located on the central axis of the end groove 413. In one specific embodiment, the elastic movement direction of each abutment end is located within a first plane, and the first intersection point is the intersection of the first plane and the central axis of the end groove 413. The elastic movement direction of each abutment end points from its corresponding abutment end position to the first intersection point, allowing each abutment end to approach or move away from the first intersection point radially along the end groove 413. This ensures that the main force exerted by each first elastic abutment member on the pin is directed towards the central axis of the end groove 413, rather than forming a large tangential component force relative to the central axis of the end groove 413.

[0081] In a preferred embodiment, the distance between each abutting end and the first intersection point is the same or substantially the same when not compressed by the pin, and each first elastic abutting member has the same or substantially the same elastic parameters and initial abutting state. For the circumferentially uniformly distributed first elastic abutting members, this arrangement enables each first elastic abutting member to form a relatively balanced elastic effect when the pin is in the central region of the end groove 413. When each first elastic abutting member adopts the same structure, elastic stiffness, and pre-compression state, each first elastic abutting member can apply the same or substantially the same abutting force to the pin when generating the same elastic displacement. When the three first elastic abutting members are arranged at the same circumferential interval, the three radial forces of the same magnitude and toward the first intersection point can be balanced, causing the pin to tend to be held near the first intersection point at the position corresponding to the first plane.

[0082] Before the pin enters the position of the first abutment array, each abutment end extends towards the first intersection point under the elastic action of the corresponding first elastic abutment. The abutment ends together form an initial abutment area for the pin to pass through. The effective size of this initial abutment area should match the diameter of the pin to be pressed, so that the pin can contact at least three abutment ends when it reaches the first plane. The effective channel size formed by each abutment end in the initial state is smaller than the diameter of the pin at the corresponding position, thus ensuring that each abutment end can generate a certain amount of elastic retraction after the pin enters. Simultaneously, each first elastic abutment should have sufficient retraction stroke so that the effective channel formed after the abutment ends retract allows the pin to pass through, avoiding rigid obstruction of the pin by insufficient retraction stroke of the first elastic abutment. When the pin enters the position of the first abutment array along the axial direction of the end groove 413, the pin first contacts the abutment ends closest to its current radial position. The pin applies a force to its corresponding abutment end in a direction away from the first intersection point, causing the corresponding abutment end to retract along its elastic movement direction. If the pin enters with a radial offset relative to the central axis of the end groove 413, the abutment end closer to the pin usually contacts the pin first or experiences a large elastic displacement. This abutment end exerts a restoring effect on the pin, pointing towards the region of the first intersection point, pushing the pin away from this abutment end. As the pin position changes, other abutment ends successively contact the pin and experience corresponding elastic retraction. When the pin enters the abutment state defined by all the first elastic abutment members, at least three abutment ends abut against different circumferential positions on the pin's sidewall. Each first elastic abutment member applies a force to the pin from different directions toward the central region of the first intersection point, thereby restricting uncontrolled movement of the pin in any radial direction within the first plane. When the pin deviates in the direction of any of the first elastic abutments within the first plane, the degree of compression on the abutting end in that direction increases, and its elastic relief and restoring effect on the pin increase accordingly; the degree of compression on the abutting end in the opposite direction decreases relatively. Thus, a multi-directional elastic action is formed between the first elastic abutments, varying with the radial position of the pin, causing the abutted portion of the pin to return to a stable region near the first intersection point. After the array of first abutments completes radial abutment of the pin, the pin can still move axially along the end groove 413. During the axial movement of the pin, each abutting end maintains elastic contact with the pin sidewall and generates corresponding elastic relief based on changes in the size, shape error, or radial position of the pin sidewall, allowing the pin to pass through the position of the first abutment array while being radially constrained.

[0083] The maximum elastic relief of each first elastic abutment should be greater than or equal to the actual relief required when the pin enters, with a stroke margin to prevent the elastic abutment 42 from being fully compressed. When the diameter of the pin increases, the required relief of each abutment end increases accordingly; when the diameter of the pin decreases, the required initial extension of each abutment end increases accordingly. Therefore, the range of pin diameters that the first abutment array can accommodate is determined by the initial position of the abutment end, the effective elastic stroke, and the inner diameter of the end groove 413.

[0084] In this embodiment, the statement that the pin diameter is smaller than the inner diameter of the end groove 413 by a certain value means that the diameter difference between the pin and the end groove 413 causes the eccentricity, radial wobble range, or holding stability generated by unilateral abutment to fail to meet the actual press-fit requirements. This value is not necessarily a uniform fixed value, but can be determined based on the allowable radial position error of the pin, the size of the end groove 413, the assembly precision to be achieved, and the effective stroke of the elastic abutment 42. This embodiment is applicable to press-fit situations where the inner diameter of the end groove 413 is relatively large compared to the pin diameter, and multi-directional radial limiting of the abutted portion is required after the pin enters the end groove 413.

[0085] In this embodiment, by employing at least three first positioning holes 415 corresponding one-to-one with at least three first elastic abutment members, the at least three first elastic abutment members form a first abutment member array circumferentially spaced around the central axis of the end groove 413, and each abutment end is located in a first plane perpendicular to the central axis of the end groove 413, with the extension lines of the elastic movement direction of each abutment end intersecting at a first intersection point on the central axis of the end groove 413, the technical means effectively solve the problem of the pin diameter being relatively small compared to the inner diameter of the end groove 413 and the diameter difference between the two exceeding that on one side. When the supporting structure is applicable, the pin is easily pushed against the inner wall of the end groove 413 in one direction, resulting in large eccentricity, large radial sway range and unstable supporting state. This invention achieves common elastic support of the pin in at least three circumferential directions in the first plane, keeping the supported part of the pin in the central area near the first intersection point. This reduces the pin's dependence on the inner wall of the end groove 413 and the radial offset and uncontrolled sway of the pin in the end groove 413, improving the stability of the pin's radial holding under large gap conditions and the reliability of subsequent press-fitting.

[0086] Example 5: Based on Example 4, in order to further reduce the diameter of the insert pin relative to the inner diameter of the end groove 413, increase the radial gap between the insert pin and the end groove 413, and in the case that the first abutment array can only restrict the radial position of the corresponding cross section of the insert pin in the first plane, and the insert pin may still tilt relative to the central axis of the end groove 413 with the first plane as the swing fulcrum, the insert pin is elastically supported in two intervals along the axial direction of the end groove 413, so that the insert pin is radially constrained in two different axial cross sections, thereby simultaneously restricting the radial position and tilting posture of the insert pin. In this example, a second abutment array is further provided on the basis of the first abutment array.

[0087] In this embodiment, the positioning hole 415 further includes at least three second positioning holes 415, and the elastic abutment member 42 further includes at least three second elastic abutment members corresponding one-to-one with the at least three second positioning holes 415. That is, each second positioning hole 415 is used to set one second elastic abutment member, and different second elastic abutment members act on the pin in the end groove 413 through the corresponding second positioning hole 415. The at least three second elastic abutment members constitute a second abutment member array. The abutting end of each second elastic abutment member in the second abutment member array is located in a second plane. The second plane is parallel to the first plane and is spaced apart from the first plane along the axial direction of the end groove 413. Both the first plane and the second plane are located within the range of the end groove 413 extending axially. Each second elastic abutment member in the second abutment member array is circumferentially spaced around the central axis of the end groove 413, and the extension lines of the elastic movement direction of the abutting end of each second elastic abutment member intersect at a second intersection point located on the central axis of the end groove 413.

[0088] The second abutment array and the first abutment array are spaced apart along the axial direction of the end groove 413. Thus, the first and second abutment arrays provide multi-directional elastic support to the pin at different positions along the axial direction of the end groove 413. The first abutment array primarily restricts the radial position of the pin at its corresponding cross-section within the first plane, while the second abutment array primarily restricts the radial position of the pin at its corresponding cross-section within the second plane. When both axially spaced cross-sections of the pin are maintained near the central axis of the end groove 413, the overall central axis of the pin tends to align with the central axis of the end groove 413.

[0089] Each second positioning hole 415 is disposed on the outer periphery of the end groove 413, forming a space for the installation and elastic movement of the corresponding second elastic abutment. The orientation of each second positioning hole 415 is adapted to the elastic movement direction of the corresponding second elastic abutment, allowing the holding end of the second elastic abutment to extend from the outside of the end groove 413 toward the inside of the end groove 413, and to elastically retract away from the central axis of the end groove 413 when pressed by the pin. The second positioning hole 415 should provide sufficient installation space and elastic retraction space for the corresponding second elastic abutment. When the pin enters the position of the second abutment array, the holding end of the second elastic abutment can generate corresponding elastic displacement according to the diameter, radial position, and tilt state of the pin, without rigidly blocking the pin due to insufficient retraction space. When the pin leaves the position of the second abutment array, the holding end can reset toward the inside of the end groove 413 under the elastic recovery action of the second elastic abutment. The second elastic abutment has a holding end capable of generating elastic displacement. The elasticity of the second elastic abutment can be provided by its own elastically deformable portion, or by an elastic portion located behind the abutment end that can drive the abutment end to return to its original position. Regardless of the specific form, the second elastic abutment should allow its abutment end to move in a predetermined direction toward or away from the central axis of the end groove 413. The second elastic abutments are circumferentially spaced around the central axis of the end groove 413, meaning each second elastic abutment is located at a different position circumferentially around the end groove 413 and acts toward the interior of the end groove 413 from different circumferential directions. The second elastic abutments are not concentrated in the same circumferential area of ​​the end groove 413 to avoid only abutting the pin from similar directions without forming an effective circumferential constraint.

[0090] The abutting ends of each of the second elastic abutment members are located within the second plane. The second plane is parallel to the first plane and is spaced apart from the first plane along the axial direction of the end groove 413. Since the first plane is perpendicular to the central axis of the end groove 413, and the second plane is parallel to the first plane, the second plane is also perpendicular to the central axis of the end groove 413. The first plane and the second plane respectively constitute two mutually spaced transverse constraint planes along the axial direction of the end groove 413. This spacing constitutes the axial support span of the first abutment array and the second abutment array to restrict the tilting posture of the insert pin. When the insert pin passes through the two abutment arrays simultaneously, the two abutment arrays can respectively constrain the radial state of the insert pin at two axially spaced positions. Both the first plane and the second plane are located within the range extending axially along the end groove 413. Specifically, the intersection of the first plane and the central axis of the end groove 413 and the intersection of the second plane and the central axis of the end groove 413 are both within the axial range of the end groove 413, so that both the first abutting array and the second abutting array can contact the pin inside the end groove 413, without one of the abutting arrays being located outside the end groove 413.

[0091] Each of the second elastic abutment members has an elastic movement direction at its abutting end. This elastic movement direction refers to the reciprocating movement direction in which the abutting end elastically yields when squeezed by the pin and elastically resets after the squeezing force decreases or is released. The elastic movement direction of each abutting end is located within or substantially parallel to the second plane. The extension lines of the elastic movement directions of the abutting ends of each of the second elastic abutment members converge at a second intersection point, which is located on the central axis of the end groove 413. In one specific configuration, the second intersection point is the intersection of the second plane and the central axis of the end groove 413, and the elastic movement direction of each abutting end points from its corresponding circumferential position to the second intersection point. Thus, the main elastic force exerted by each second elastic abutment member on the pin is directed towards the central region where the second intersection point is located. Each abutting end mainly approaches or moves away from the second intersection point radially along the end groove 413, reducing the tangential component force generated along the circumference of the end groove 413 during the abutting action, and preventing the second elastic abutment member from continuously pushing the pin to a certain circumferential position.

[0092] In the initial state, the abutting ends of the second abutment array collectively form an abutment area for the insertion pin to pass through. The effective size of this abutment area can be smaller than the diameter of the insertion pin at the corresponding location, allowing the insertion pin to compress each abutment end and generate a certain amount of elastic retraction after insertion, thus ensuring that each of the second elastic abutments maintains elastic contact with the sidewall of the insertion pin. Simultaneously, each second elastic abutment should have an effective retraction stroke adapted to the diameter of the insertion pin. The effective channel formed after the abutment ends retract should allow the insertion pin to pass through, preventing the second abutment array from jamming the insertion pin due to insufficient effective retraction stroke. The initial extension amount and effective retraction stroke of the second elastic abutment together define the range of insertion pin diameters that the second abutment array can accommodate.

[0093] Furthermore, both the first and second abutment arrays consist of three elastic abutment members 42. The three elastic abutment members 42 within the same abutment array are distributed at 120° equidistant angles around the central axis of the end groove 413. The second abutment array is circumferentially offset by 60° relative to the first abutment array, such that each elastic abutment member 42 in the second abutment array is located circumferentially at the bisector of the angle between two adjacent elastic abutment members 42 in the first abutment array. This circumferential offset means that, with the central axis of the end groove 413 as the observation reference, the three second elastic abutment members in the second abutment array are each rotated 60° relative to the three first elastic abutment members in the first abutment array, rather than the two abutment arrays being completely aligned circumferentially along the end groove 413. With the three first elastic abutments in the first abutment array distributed at equal 120° intervals, and the three second elastic abutments in the second abutment array also distributed at equal 120° intervals, offsetting the second abutment array by 60° relative to the first abutment array allows each second elastic abutment to be positioned at the bisector of the angle between two adjacent first elastic abutments in the circumferential direction. When the first and second abutment arrays are projected onto the same transverse plane along the central axis of the end groove 413, the orientations of the three first elastic abutments and the three second elastic abutments alternate circumferentially along the end groove 413, with an angle of 60° between adjacent projection directions. Thus, the two abutment arrays can abut the pin from six staggered circumferential directions at two different axial positions. The 60° offset of the second abutment array relative to the first abutment array prevents the two abutment arrays from applying force repeatedly along the same three axial regions around the pin's outer periphery. The three circumferential regions of the first abutment array that contact the pin and the three circumferential regions of the second abutment array that contact the pin are staggered, which helps to distribute the abutting force at the two axial positions to different areas around the pin.

[0094] When the pin tilts in a certain direction, the cross-sections of the pin in the first plane and the cross-sections in the second plane undergo different radial position changes relative to the central axis of the end groove 413. The first abutment array generates corresponding elastic yielding and restoring actions based on the radial position change of the pin in the first plane, while the second abutment array independently generates corresponding elastic yielding and restoring actions based on the radial position change of the pin in the second plane. For example, when the pin tilts relative to the central axis of the end groove 413, causing its cross-section in the first plane to shift in one direction circumferentially towards the end groove 413 and its cross-section in the second plane to shift in another direction, the elastic abutment members 42 in the two abutment arrays that are subjected to greater compression generate increased elastic restoring actions. Since the two abutment arrays are spaced apart along the axial direction of the end groove 413, these restoring actions can collectively form a tendency to suppress the tilting of the pin. The restriction of the pin's tilting posture by the first and second abutment arrays does not rely solely on increasing the holding force on one of the planes, but rather on restricting the radial position of the two axially spaced cross-sections of the pin, making it difficult for the pin to swing freely around a single holding plane. When the centers of the two cross sections are kept near the first intersection point and the second intersection point respectively, the direction connecting the centers of the two cross sections tends to be consistent with the central axis of the end groove 413.

[0095] Before the pin enters the area where the two abutment arrays are located, the holding ends of each elastic abutment 42 extend towards the corresponding intersection point under their own elastic action. After the pin enters through one end of the end groove 413, it will pass through one abutment array and the other abutment array in sequence according to its entry direction. The order of the two abutment arrays is determined by the positions of the first plane and the second plane relative to the pin's entry direction.

[0096] When the pin enters the first array of abutments, the array of abutments first provides multi-directional elastic support to the pin within the corresponding plane, keeping the corresponding cross-section of the pin near the corresponding intersection point. As the pin continues to move axially along the end groove 413 and enters the next array of abutments, the two arrays of abutments contact two axially spaced positions on the sidewall of the pin, thus forming a dual-plane abutment state. In this dual-plane abutment state, if the pin only undergoes overall radial translation, both arrays of abutments will provide a restorative effect based on the pin's offset within the corresponding plane; if the pin tilts, the two arrays of abutments will provide a restorative effect based on the different offset states of the pin within the two planes. Therefore, the dual-plane abutment structure can both restrict the overall radial movement of the pin and suppress the pin's tilt relative to the central axis of the end groove 413. After the pins exit from the end slot 413 and leave the two abutment arrays in sequence, the squeezing force on each abutment end is gradually released, and they return to their initial extended position under the elastic recovery action of the corresponding second elastic abutment or first elastic abutment, so that the next pin can enter.

[0097] The elastic abutment members 42 used in the first and second abutment member arrays have the same structure, elastic stiffness, effective stroke, and abutment end shape, so that the two abutment member arrays form a similar abutment state against the two axially spaced sections of the insert pin. The three abutment ends within the same abutment member array are at the same or substantially the same distance from their corresponding intersection points when not compressed by the insert pin, so that the initial abutment area enclosed by the three abutment ends is centered on the corresponding intersection point. The initial abutment area enclosed by the two abutment member arrays can have the same or substantially the same effective dimensions to accommodate the same or similar outer diameters of the insert pin at the two axial positions.

[0098] The tilting issue addressed in this embodiment, even after single-plane restraint, refers to the fact that while the first abutment array can restrict the radial position of the pin at its corresponding cross-section within the first plane, a radial space still exists between the pin and the end groove 413. The portion of the pin outside the first plane may still oscillate relative to its abutted position within the first plane, causing the pin's central axis to form an angle with respect to the end groove 413's central axis. This tilting degree is related to the pin diameter, the end groove 413's inner diameter, the pin's effective length within the end groove 413, and the external force applied to the pin. This embodiment is applicable when the pin diameter is significantly smaller than the end groove 413's inner diameter, and multiple elastic abutments within a single plane are insufficient to meet the pin's stability requirements. The pin's effective length after entering the end groove 413 should be sufficient to span both the first and second planes, allowing both abutment arrays to act simultaneously on the pin.

[0099] In this embodiment, at least three second positioning holes 415 are correspondingly arranged with at least three second elastic abutment members, forming a second abutment member array circumferentially spaced around the central axis of the end groove 413. Each abutment end of the second abutment member array is located within a second plane parallel to the first plane and axially spaced along the end groove 413. Both the first and second planes are located within the axial extension range of the end groove 413. Furthermore, each of the two abutment member arrays consists of three elastic abutment members 42 spaced at equal 120° intervals, and the second abutment member array is circumferentially offset by 60° relative to the first abutment member array. Therefore, the problem of the relative diameter of the insertion pin is effectively solved. When the inner diameter of the end groove 413 is small and the pin is only supported in multiple directions in a single plane, the radial position of the corresponding section of the pin can only be restricted. However, the pin may still tilt relative to the central axis of the end groove 413 with the vicinity of the plane as the swing fulcrum. This invention solves the technical problem of supporting the pin in multiple circumferential points in two axially spaced planes. The radial movement and tilting posture of the pin are restricted by the two axial constraint positions. The support direction coverage of the pin's outer periphery is expanded by the circumferentially staggered distribution of the two abutment arrays. This makes the central axis of the pin tend to be consistent with the central axis of the end groove 413, improving the stability of the pin's posture and the reliability of subsequent press-fitting under large radial clearance conditions.

[0100] Example 6: This example is applicable to the aforementioned examples. To ensure a stable crimping fit between the pressure rod 44 and the pin with a convex spherical surface at its tip, and to reduce the possibility of uneven loading, localized stress concentration, or pin tilting during the crimping process when there is a certain coaxiality error, positional deviation, or orientation deviation between the pin and the pressure rod 44, in this example, the end of the pressure rod 44 facing the crimping port 414 forms a crimping end 441. The crimping end 441 is provided with a concave spherical groove for mating with the convex spherical surface at the tip of the pin. The radius of curvature of the concave spherical groove is greater than the radius of curvature of the convex spherical surface.

[0101] The crimping end 441 is located at the end of the pressure rod 44 near the crimping port 414 along the pressure direction. When the pressure rod 44 moves toward the crimping port 414, the crimping end 441 moves synchronously with the pressure rod 44 and contacts the tip of the pin through the concave spherical groove to transmit the driving force received by the pressure rod 44 to the pin. The groove opening of the concave spherical groove is oriented toward the crimping port 414, allowing the convex spherical surface of the pin tip to enter the coverage area of ​​the concave spherical groove through the groove opening. The concave spherical groove is a recessed structure defined by a spherical curved surface, and its effective contact area has a continuous and smooth concave spherical surface. The convex spherical surface of the pin tip is a crown-shaped surface protruding toward the crimping end 441. The radius of curvature referred to in this embodiment refers to the radius of the mother ball forming the corresponding spherical surface, not the groove opening radius, groove opening diameter, groove depth, or cross-sectional radius of the pin. The radius of curvature of the concave spherical groove and the radius of curvature of the convex spherical surface are determined according to the geometry of the corresponding spherical surfaces, and the radius of curvature of the concave spherical groove is strictly greater than the radius of curvature of the convex spherical surface.

[0102] Because the radius of curvature of the concave spherical groove is greater than that of the convex spherical surface, the concave spherical groove has a smaller degree of curvature relative to the convex spherical surface at the tip of the pin. In other words, at the same radial distance, the surface height variation of the convex spherical surface is greater than that of the concave spherical groove. Therefore, when their central regions are positioned opposite each other, the concave spherical groove and the convex spherical surface do not form a perfectly flush fit with identical curvature; instead, a gap is maintained outside the contact point for relative position adjustment. When the pressure rod 44 and the pin are ideally aligned, the concave spherical groove preferentially contacts the top region of the convex spherical surface through its central region. Before a large pressing force is applied, they can form point contact or a small local contact; as the pressing force increases, the pressing end 441 and the tip of the pin form an actual contact area of ​​a certain size under the elastic deformation of the material, thus transferring the pressing force from the pressure rod 44 to the pin.

[0103] The concave spherical groove is preferably centered on the axial force application centerline of the pressure rod 44, so that the geometric center region of the concave spherical groove is located on the axial force application path of the pressure rod 44. The convex spherical surface at the tip of the pin is preferably centered on the central axis of the pin. When the pressure rod 44 is aligned with the pin, the pressing force applied by the pressure rod 44 can be transmitted along the axial direction of the pin through the central region of the concave spherical groove and the top region of the convex spherical surface, reducing the eccentricity of the pressing force relative to the central axis of the pin.

[0104] When there is a slight radial positional deviation between the pressure rod 44 and the pin, the top region of the convex spherical surface may deviate from the center region of the concave spherical groove. After the pressure rod 44 moves toward the pin, the convex spherical surface will first contact one side of the concave spherical groove. Since both contact surfaces are continuous spherical surfaces, as the pressing force gradually increases, the contact position can move continuously along the concave spherical groove and the convex spherical surface without abrupt contact due to the contact between a plane and a sharp edge. In the above-mentioned eccentric contact state, the contact action of the concave spherical groove on the convex spherical surface can be decomposed into an axial component along the pin pressing direction and a lateral component pointing toward the center region of the concave spherical groove. The axial component is used to push the pin to move in the pressing direction, and the lateral component can cause the pin tip to adjust toward the center region of the concave spherical groove, or suppress the tendency of the pin to continue to deviate when the pin cannot move radially. When the central axis of the pin is slightly tilted relative to the axial force direction of the pressure rod 44, the contact position between the convex spherical surface and the concave spherical groove can move from the central region to the corresponding side according to the tilt direction of the pin. During the movement of the contact position, the convex spherical surface can roll and slide slightly relative to the concave spherical groove, so that the crimping end 441 does not have to forcibly press against the tip of the pin through its sharp edge. The radius of curvature of the concave spherical groove is larger than that of the convex spherical surface, so that there is a differential curvature gap between the two spherical surfaces to allow the aforementioned contact position migration. Within a predetermined offset range and tilt range, the convex spherical surface can adjust its contact position in the concave spherical groove without immediately interfering with the groove edge of the concave spherical groove. When the pin is restricted by the surrounding structure and cannot adjust its radial position or tilt posture on its own, the convex spherical surface and the concave spherical groove can still adapt to the relative posture error between them by changing the contact position. At this point, the concave spherical groove does not require the convex spherical surface to be completely concentric with it. Instead, it selects a contact position within the effective contact range of the concave spherical groove that is compatible with the current pin posture in order to continue to transmit the crimping force to the pin.

[0105] During the actual crimping process, the pressure rod 44 first moves the crimping end 441 toward the crimping port 414, and the convex spherical surface of the pin tip enters the coverage area of ​​the concave spherical groove. As the pressure rod 44 continues to move, the concave spherical groove and the convex spherical surface establish contact. If the pressure rod 44 and the pin are aligned, the contact area is mainly formed in the central region of the two spherical surfaces; if they are offset or tilted, the contact area is formed on the side corresponding to the offset or tilt. As the pressure rod 44 continues to move toward the crimping port 414, the concave spherical groove applies crimping force to the pin through the convex spherical surface. The convex spherical surface can adjust its position slightly relative to the concave spherical groove under the contact action, gradually stabilizing the contact position. After the contact state stabilizes, the pressure rod 44 continues to push the pin to complete the corresponding crimping motion. After the crimping force reaches the predetermined state, the pressure rod 44 can stop moving or reverse away from the pin. When the pressure rod 44 moves in the opposite direction, the contact load between the concave spherical groove and the convex spherical surface gradually decreases. The two can be separated smoothly by means of the non-whole surface fit relationship formed by the curvature difference, reducing the possibility that the two spherical surfaces are not easy to separate due to complete fit, surface adsorption or local jamming.

[0106] In this embodiment, by employing a technique of forming a crimping end 441 at the end of the pressure rod 44 facing the crimping port 414, and providing an inwardly concave spherical groove on the crimping end 441 that matches the outwardly convex spherical surface at the tip of the pin, and making the radius of curvature of the inwardly concave spherical groove greater than the radius of curvature of the outwardly convex spherical surface, the technical problems of sudden changes in contact position, eccentric force, local stress concentration, and pin tilting under force when there is coaxiality error, position deviation, or attitude deviation between the pressure rod 44 and the pin are easily caused. Furthermore, the outwardly convex spherical surface can change its contact position according to the actual position and attitude within the effective range of the inwardly concave spherical groove, thereby achieving a smooth transmission of crimping force and adapting to slight offsets and tilts. This reduces the eccentric load and bending effect applied to the pin during the crimping process, and improves the stability and reliability of the pin crimping, as well as the protective effect on the pin tip surface.

[0107] Example 7: This example proposes a pin pressing method for the aforementioned pin pressing machine. This method, through steps such as feeding, elastic holding, position alignment, approach of the pressing head 41, and pushing of the pressing rod 44, ensures that the pin is stably held within the end groove 413 of the pressing head 41 before the pressing rod 44 begins to push. During the pressing process, the elastic retraction of the elastic abutment member 42 allows the pin to move axially along the end groove 413, thereby pressing the pin from the pressing port 414 into the assembly hole on the frame. The pin pressing method includes the following steps.

[0108] Step S100: The insertion pin is made to enter the end slot 413, which is connected to the feeding channel 412 in the pressure head 41, through the feeding channel 412.

[0109] Before performing step S100, the pressing rod 44 is placed at an initial position or a retracted position that does not occupy the space required for the pin to enter the end groove 413, so as to prevent the pressing rod 44 from obstructing the pin from entering the end groove 413 through the feeding flow channel 412. The feeding flow channel 412 is formed inside the pressing head 41 and communicates with the end groove 413, for guiding the pin to the end groove 413. The pin can move along the feeding flow channel 412 under the feeding action generated by the feeding structure matched with the pin pressing machine, and enter the end groove 413 from the communication position between the feeding flow channel 412 and the end groove 413. This embodiment does not limit the specific driving manner of the pin in the feeding flow channel 412, as long as the pin can enter the end groove 413 in a predetermined posture. After the pin enters the end groove 413, the length direction of the pin is arranged along the axial direction of the end groove 413 or substantially along the axial direction of the end groove 413. One end of the pin, which is used to be pressed into the hole to be assembled, faces the pressing opening 414 at the end of the end groove 413, and the other end of the pin, which is used to receive the pushing force from the pressing rod 44, faces the pressing rod 44. Accordingly, when the pressing rod 44 subsequently enters the end groove 413 along the axial direction of the end groove 413, the pressing rod 44 can push the pin to move toward the pressing opening 414. The feeding stroke of the pin entering the end groove 413 from the feeding flow channel 412 shall enable the pin to reach a predetermined holding position where the pin can be abutted by the elastic abutting member 42. The predetermined holding position is located on the axial pushing path of the pressing rod 44, and enables one end of the pin facing the pressing opening 414 to pass through the pressing opening 414 under the pushing of the pressing rod 44. The feeding stroke should not be too short, so as to avoid that the pin has not reached the position of the elastic abutting member 42 and thus cannot be stably held; the feeding stroke should not be too long either, so as to avoid that the pin extends out of the pressing opening 414 in advance or disengages from the end groove 413 before being pushed by the pressing rod 44. The specific feeding stroke can be determined according to the length of the pin, the communication position between the feeding flow channel 412 and the end groove 413, the position of the elastic abutting member 42, and the position of the pressing opening 414.

[0110] Step S200: The pin is abutted by the elastic abutting member 42 disposed in the positioning hole 415 of the pressing head 41, wherein the abutting end of the elastic abutting member 42 at least partially elastically extends into the end groove 413, so as to hold the pin in the end groove 413 before the pressing rod 44 pushes the pin.

[0111] A positioning hole 415 is provided in the pressure head 41 and leads to the end groove 413, and an elastic abutment 42 is provided in the positioning hole 415. The abutting end of the elastic abutment 42 can move toward the end groove 413 under its own elastic action and at least partially extend into the end groove 413. When the pin enters the end groove 413 and reaches the position of the elastic abutment 42, the outer peripheral surface of the pin contacts the abutting end. If the passage space required for the pin to enter the end groove 413 overlaps with the initial extension position of the abutting end, the pin can push the abutting end to elastically retract along the positioning hole 415 away from the end groove 413 during the entry process. After the pin reaches the predetermined holding position, the abutting end remains in contact with the pin under the elastic recovery action of the elastic abutment 42 and applies an elastic holding force to the pin. The elastic abutment 42 does not rigidly lock the pin within the end groove 413, but rather restricts its movement by means of elastic contact between the abutment end and the pin, preventing it from moving on its own when not pushed by the pressure rod 44. Even after being subjected to the axial pushing force applied by the pressure rod 44, the pin can still overcome the holding effect of the elastic abutment and move axially along the end groove 413. When the pressure rod 44 is not yet in contact with the pin, the holding force generated by the elastic abutment 42 overcomes the tendency of the pin to move unexpectedly due to its own weight, the inertia of the pressure head 41, equipment vibration, or other disturbances, keeping the pin in a position where it can be pushed by the pressure rod 44. Therefore, when the pressure head 41 is subsequently adjusted in position or moved towards the frame, the pin is less likely to prematurely dislodge from the pressure port 414, or return to the feed channel 412 or deviate from the predetermined pushing position. The holding force of the elastic abutment 42 should be adapted to the size, mass, surface condition of the pin, and the movement state of the pressure head 41. The holding force should be sufficient to hold the pin before the push rod 44 pushes it, while being less than the effective pushing force that the push rod 44 can exert, to avoid excessive resistance to the axial movement of the pin by the elastic abutment 42. The initial extension of the abutment end should ensure reliable contact with the pin located in the end groove 413; the effective retraction stroke of the elastic abutment 42 should ensure that the abutment end can retract away from the end groove 413 as the pin passes through, to avoid the pin getting stuck in the end groove 413 due to insufficient retraction stroke. The surface of the abutment end that contacts the pin can be set as a smoothly transitioned contact surface, so that the pin can gradually push the abutment end to retract as it moves axially along the end groove 413, reducing the possibility of the abutment end scratching, indenting, or jamming the pin surface.

[0112] Step S300: Adjust the relative position of the pressure head 41 and the frame with the assembly hole so that the pin held in the end groove 413 corresponds to the assembly hole.

[0113] After the elastic abutment 42 holds the pin within the end groove 413, the relative position between the pressure head 41 and the frame is adjusted. This adjustment can be achieved by moving the pressure head 41, moving the frame, or moving both the pressure head 41 and the frame separately, as long as the pin held within the end groove 413 establishes a correspondence with the hole to be assembled. In this embodiment, "pin corresponding to hole" means that the pin can enter the hole through the pressure port 414 when moving along the predetermined pressing direction. In a preferred state, the central axis of the end groove 413, the central axis of the pin held within the end groove 413, and the central axis of the hole to be assembled coincide or substantially coincide. Where assembly clearance is permissible, the pin corresponding to the hole to be assembled can also be a positional deviation within an allowable range between the central axis of the pin and the central axis of the hole to be assembled, as long as this deviation does not cause obstructive interference between the pin and the opening of the hole during pressing, and the pin can enter the hole as required. When adjusting the relative position, the positioning reference for the pressure head 41 side can be the center axis of the pressure port 414, the end groove 413, or the pin held in the end groove 413, and the positioning reference for the frame side can be the opening or center axis of the hole to be assembled. The specific allowable positional error can be determined based on the outer diameter of the pin, the diameter of the hole to be assembled, the fit relationship between the pin and the hole to be assembled, and the required pressing accuracy.

[0114] Step S300 should be performed after the pin is held by the elastic abutment 42. Thus, during the relative position adjustment between the pressure head 41 and the frame, the pin can move together with the pressure head 41 and remain within the end groove 413, preventing changes in the pin's position from disrupting the previously established correspondence.

[0115] After the relative position adjustment is completed, it should be ensured that the pressure port 414 faces the hole to be assembled, and the movement path of the pin moving out of the pressure port 414 intersects the opening of the hole to be assembled. If the hole to be assembled has a specific extension direction, the relative posture of the pressure head 41 and the frame can be further adjusted so that the pressing direction of the pin is consistent with or substantially consistent with the extension direction of the hole to be assembled.

[0116] Step S400: Move the pressure head 41 toward the frame to the predetermined pressing position.

[0117] After the pin aligns with the hole to be assembled, the pressing head 41 moves toward the frame. During the movement of the pressing head 41, the elastic abutment 42 continues to hold the pin, keeping it within the end groove 413 and bringing it closer to the frame along with the pressing head 41. The predetermined pressing position refers to the position where the pressing head 41, once reached, can push the pin into the hole to be assembled by the pressing rod 44. This predetermined pressing position can be determined based on the distance between the pressing port 414 and the frame, the length of the pin, the initial holding position of the pin within the end groove 413, the effective stroke of the pressing rod 44, and the predetermined pressing depth of the pin. When the pressing head 41 reaches the predetermined pressing position, the pressing port 414 can be positioned adjacent to the surface of the frame or the opening of the hole to be assembled, or a predetermined gap can be maintained between the pressing port 414 and the frame. The predetermined pressing position does not require the pressing head 41 to contact the frame, as long as it ensures that the pin reliably enters the hole to be assembled after being pressed out from the pressing port 414. When a gap is maintained between the pressure port 414 and the frame, this gap should be smaller than the space required for the pin to deflect significantly between the pressure port 414 and the assembly hole, in order to reduce the possibility of the pin tilting after leaving the pressure port 414. When the pressure head 41 needs to approach or abut against the frame, it should be avoided to cause the pressure head 41 to exert pressure or collision on the frame beyond its allowable range. The speed at which the pressure head 41 moves toward the frame can be set according to the distance between the pressure head 41 and the frame and the required positioning accuracy. A relatively high approach speed can be used when the pressure head 41 is far from the frame; the moving speed can be reduced when the pressure head 41 approaches the predetermined pressing position, in order to reduce the possibility of the pressure head 41 overstepping the predetermined pressing position or impacting the frame. Steps S400 and S300 are used to complete position adjustments in different directions or at different stages. Among them, step S300 is mainly used to establish a correspondence between the pressing path of the pin and the assembly hole, and step S400 is mainly used to shorten the distance between the pressure port 414 and the assembly hole and to bring the pressure head 41 into a working position where it can perform pressing. In one specific operating method, the lateral position of the insert pin and the hole to be assembled is first aligned, and then the pressure head 41 is moved toward the frame along the pressing direction of the insert pin.

[0118] Step S500: Drive the pressure rod 44 to enter the end groove 413 axially relative to the pressure head 41 and push the pin, so that the holding end elastically retracts along the positioning hole 415 away from the end groove 413 under the action of the pin, and the pin is pressed out from the pressure port 414 formed at the end of the end groove 413 and pressed into the hole to be assembled.

[0119] After the pressure head 41 reaches the predetermined pressing position, the relative position between the pressure head 41 and the frame is maintained, and the pressure rod 44 is driven to move relative to the pressure head 41 toward the pressing port 414. The pressure rod 44 enters the end groove 413 axially along the end groove 413 and gradually approaches the pin held in the end groove 413. After the pressure rod 44 continues to move, the end of the pressure rod 44 facing the pin contacts the end of the pin facing away from the pressing port 414. The pressure rod 44 applies a pushing force to the pin along the end groove 413 axially and toward the pressing port 414 through this contact position, causing the pin to begin moving along the end groove 413 toward the pressing port 414. When the pin begins to move, the outer peripheral surface of the pin continues to act on the holding end of the elastic abutment member 42. As the pin moves relative to the holding end, the pin pushes the holding end to elastically retract along the positioning hole 415 away from the end groove 413, thereby increasing the effective space in the end groove 413 for the pin to pass through. The retraction action of the holding end is directly triggered by the movement of the insert pin, without the need to separately release the holding effect of the elastic abutment 42 on the insert pin before the pressure rod 44 pushes the insert pin. Thus, the elastic abutment 42 can hold the insert pin before the pressure rod 44 pushes it, and can automatically retract according to the insertion pin's passage status when the pressure rod 44 pushes the insert pin. The pushing force applied by the pressure rod 44 to the insert pin should be able to overcome the holding effect of the elastic abutment 42 on the insert pin, the frictional resistance between the insert pin and the end groove 413, and the pressing force required for the insert pin to enter the assembly hole. At the same time, the pushing force applied by the pressure rod 44 should not exceed the allowable load that the insert pin and the frame can withstand, to avoid bending or crushing of the insert pin, or unexpected deformation of the frame around the assembly hole. The pressure rod 44 can push the insert pin in a continuous stroke, or it can adopt a staged movement process according to the pressing requirements. For example, a relatively high moving speed can be used before the pressure rod 44 contacts the pin; after the pressure rod 44 contacts the pin and begins to apply pressing force, the moving speed can be reduced to allow the pin to smoothly pass through the pressure port 414 and enter the assembly hole. As the pressure rod 44 continues to move toward the pressure port 414, the pin gradually passes the position of the elastic abutment 42 and moves axially along the end groove 413 while the abutment end continues to elastically retract. The end of the pin facing the pressure port 414 first extends out of the pressure port 414 and then enters the corresponding assembly hole. The pressure port 414 is used to define the position and direction of movement of the pin when it leaves the end groove 413. During the process of the pin being pressed out by the pressure port 414, the correspondence between the pressure port 414 and the assembly hole causes the pin to move toward the assembly hole, reducing the possibility of the pin end deviating from the opening of the assembly hole. The pressure rod 44 continues to push the pin until the pin reaches the predetermined pressing depth or the predetermined assembly position. The effective pushing stroke of the pressure rod 44 can be determined based on the initial position of the insert pin in the end groove 413, the distance between the pressure port 414 and the hole to be assembled, and the depth to which the insert pin needs to be pressed into the hole to be assembled. After the insert pin reaches the predetermined assembly position, the pressure rod 44 is stopped from moving toward the pressure port 414. Subsequently, the pressure rod 44 can be withdrawn from the end groove 413 in the opposite direction to the pressing direction to return to the initial position where it can receive the next insert pin.After the pin leaves the holding area of ​​the elastic abutment 42, the squeezing force on the holding end is reduced or released, and under the elastic recovery action of the elastic abutment 42, it extends back toward the end groove 413 so that the next pin can be held after entering the end groove 413.

[0120] When there are multiple assembly holes on the same frame, after pressing one pin, the pressure rod 44 can be removed from the end slot 413, and the relative position of the pressure head 41 and the frame can be adjusted so that the pressure head 41 corresponds to the next assembly hole. Steps S100 to S500 can be repeated sequentially. Alternatively, the pressure head 41 can be removed from the frame first, and then the next pin can be fed and its position adjusted. The specific cycle sequence can be determined according to the feeding path, movement path, and arrangement of the multiple assembly holes of the pin presser.

[0121] During continuous pressing, it should be ensured that the pressure rod 44 from the previous pressing cycle has been withdrawn to a position that will not obstruct the next pin from entering the end slot 413, and that the holding end of the elastic abutment 42 can be elastically reset normally. Pressing movement of the pressure head 41 toward the next assembly hole should not be performed until the next pin is reliably held.

[0122] The key to this embodiment is that before the pressure rod 44 pushes the pin, the pin is held within the end groove 413 by a retaining end that extends at least partially into the end groove 413; after the pressure rod 44 begins to push the pin, the same elastic abutment 42 elastically retracts, allowing the pin to overcome the holding effect and pass axially along the end groove 413. The holding and retracting states of the elastic abutment 42 switch naturally depending on whether the pin is pushed by the pressure rod 44, eliminating the need for separate rigid locking and unlocking steps for the pin.

[0123] Example 8: Based on the aforementioned Example 3, in order to compensate for the deterministic offset of the pin's central axis relative to the center of the pressure port 414 caused by the single elastic abutment 42 pushing the pin against the inner wall of one side of the end groove 413, and to make the central axis of the pin, rather than the center of the pressure port 414, correspond to the central axis of the hole to be assembled, thereby improving the press-fit positioning accuracy of the single elastic abutment 42 scheme when adapting to pins of different diameters, this example proposes a pin pressing method.

[0124] The pin pressing method described in this embodiment further defines the process in Embodiment 7 of adjusting the relative position of the pressing head 41 and the frame to align the pin held in the end groove 413 with the hole to be assembled. When implementing the pin pressing method described in this embodiment, the pin pressing machine adopts the single elastic abutment member 42 structure described in Embodiment 3. The end groove 413 is a cylindrical groove, and the elastic abutment member 42 is disposed on one side of the end groove 413. The inner diameter of the end groove 413 is larger than the diameter of the portion of the pin held by the elastic abutment member 42 within the end groove 413. The center of the pressing port 414 is located on the central axis of the end groove 413. The inner diameter of the end groove 413 is denoted as D, and the diameter of the portion of the pin held by the elastic abutment member 42 within the end groove 413 is denoted as d, where D is greater than d. The inner diameter D of the end groove 413 and the diameter d of the pin can be pre-stored in the control module as known parameters corresponding to the model of the pressing head 41 and the pin specifications, or they can be input into the control module when changing the pressing head 41 or changing the specifications of the pin to be pressed. The inner diameter D of the end groove 413 and the diameter d of the pin both refer to the dimensions used to determine the radial offset of the pin's central axis relative to the central axis of the end groove 413 within a section perpendicular to the central axis of the end groove 413.

[0125] In the structure of a single elastic abutment 42, since the inner diameter of the end groove 413 is larger than the diameter of the pin, when the elastic abutment 42 holds the pin from one side of the end groove 413, it will push the pin towards the inner wall of the end groove 413 away from the elastic abutment 42. At this time, although the pin can be held in the end groove 413 by the elastic abutment 42, the central axis of the pin no longer coincides with the central axis of the end groove 413 and the center of the pressure port 414. If the positioning is still performed in the manner that the center of the pressure port 414 directly coincides with the center of the hole to be assembled, the central axis of the pin will be radially offset relative to the central axis of the hole to be assembled. After the pressure rod 44 pushes the pin, the pressed end of the pin may abut against the edge of the hole to be assembled, which will cause the pin to tilt or bend under force, or damage the hole opening area. Therefore, this embodiment does not directly move the center of the pressure port 414 to the center of the hole to be assembled. Instead, it first determines the offset amount and offset direction of the pin center axis relative to the center of the pressure port 414 based on the diameter difference between the end groove 413 and the pin. Then, it pre-compensates the center of the pressure port 414 in the opposite direction to the offset direction so that the center axis of the pin corresponds to the center axis of the hole to be assembled.

[0126] The needle pressing method in this embodiment includes the following steps: The pin is pushed against the inner wall of the end groove 413 away from the elastic abutment 42 by the elastic abutment 42, and the unit vector pointing from the elastic abutment 42 to the inner wall of the end groove 413 away from the elastic abutment 42 is denoted as u.

[0127] After the insertion pin enters the end groove 413 through the feed channel 412, the holding end of the elastic abutment member 42 abuts against the side wall of the insertion pin from one side of the end groove 413, and applies a radial holding force toward the interior of the end groove 413 under its own elasticity. Under the action of this radial holding force, the insertion pin moves in a direction away from the elastic abutment member 42 until the side wall of the insertion pin abuts against the inner wall of the end groove 413 away from the elastic abutment member 42. At this time, the insertion pin is clamped or held between the holding end of the elastic abutment member 42 and the inner wall of the opposite side of the end groove 413, thereby forming a directional wall-adhering holding state.

[0128] The force applied to the insert pin by the elastic abutment 42 should be sufficient to overcome the pin's own weight, disturbances during the feeding process, and the inertia generated by the planar movement of the pressure head 41, ensuring that the pin continuously abuts against the opposite inner wall of the end groove 413 during image positioning and planar movement of the pressure head 41. Simultaneously, this force should not be large enough to prevent the pressure rod 44 from subsequently pushing the pin axially along the end groove 413. Therefore, before determining the pin's eccentric position, it should be ensured that the pin is in stable contact with the inner wall of the end groove 413 away from the elastic abutment 42, rather than merely in a free-suspension state between the abutting end and the opposite inner wall.

[0129] The unit vector u lies within the assembly plane and represents the direction in which the pin is pushed by the elastic abutment 42. The starting direction of the unit vector u is the side where the elastic abutment 42 is located, pointing towards the inner wall of the end groove 413 away from the elastic abutment 42. The unit vector u can be pre-calibrated and stored in the control module according to the installation direction of the elastic abutment 42 relative to the end groove 413. When the installation direction of the elastic abutment 42 remains unchanged, the direction of the unit vector u relative to the overall coordinate system also remains unchanged.

[0130] When the elastic movement direction of the elastic abutment member 42 is parallel to the first or second direction in the overall coordinate system, the unit vector u can be directly represented by the corresponding coordinate axis direction. When the elastic movement direction of the elastic abutment member 42 has an angle with both the first and second directions, the unit vector u can be decomposed into a component along the first direction and a component along the second direction in the assembly plane, so that the control module can control the material carrier plate 11 and the moving end 21 to complete the position compensation in the corresponding directions respectively.

[0131] The image of the hole to be assembled is obtained by the image acquisition module 5, and the center position Phole of the hole to be assembled is determined according to the fixed coordinate offset relationship and the transformation relationship between the image coordinate system of the image acquisition module 5 and the whole machine coordinate system in the assembly plane.

[0132] After the pin is held within the end groove 413 by the elastic abutment 42, the image acquisition module 5 moves with the base 45 to a position where it can acquire an image of the hole to be assembled. The image acquisition module 5 then images the hole to be assembled and the surrounding frame area. The field of view of the image acquisition module 5 should at least cover the outline of the hole to be assembled so that the control module can identify the hole to be assembled and determine its center from the acquired image.

[0133] The control module receives the image acquired by the image acquisition module 5 and extracts the edge contour of the hole to be assembled from the image. For holes with a circular or nearly circular contour, a circular fit can be performed based on multiple contour points on the edge of the hole, and the center of the fitted circle can be determined as the center of the hole in the image coordinate system. For hole contours that are elliptical in the image due to shooting angle, frame posture, or imaging conditions, their geometric center can be determined through ellipse fitting. Alternatively, the acquired hole contour can be matched with a pre-stored standard hole contour template to determine the center position of the hole to be assembled in the image coordinate system.

[0134] The image coordinate system of the image acquisition module 5 is used to represent the pixel position of the hole to be assembled in the acquired image, while the machine coordinate system is used to represent the actual positions of the carrier plate 11, the moving end 21, the pressure head 41, and the hole to be assembled in the assembly plane. The transformation relationship between the image coordinate system and the machine coordinate system of the image acquisition module 5 can be obtained through pre-calibration and stored in the control module. The control module uses this transformation relationship to convert the center of the identified hole to be assembled from the image coordinates to the machine coordinates in the assembly plane.

[0135] Since both the image acquisition module 5 and the pressure head 41 are mounted on the base 45 or on components that move with the base 45, there is a fixed coordinate offset relationship between the reference position of the image center of the image acquisition module 5 in the assembly plane and the projected position of the center of the pressure port 414 in the assembly plane. This fixed coordinate offset relationship can be obtained through assembly measurement or calibration and stored in the control module. The fixed coordinate offset relationship is used to eliminate the inherent coordinate difference between the imaging reference position of the image acquisition module 5 and the center of the pressure port 414 caused by different structural installation positions.

[0136] The control module determines the overall coordinates of the center of the hole to be assembled in the assembly plane based on the center position of the hole in the image coordinate system, the transformation relationship between the image coordinate system and the overall machine coordinate system, and the fixed coordinate offset relationship between the image acquisition module 5 and the pressure port 414, and records this center position as P. hole Center location P hole This indicates the actual target coordinates of the center of the hole to be assembled within the assembly plane, without considering pin eccentricity.

[0137] The fixed coordinate offset relationship and the transformation relationship between the image coordinate system and the overall machine coordinate system should be calibrated before pressing. If the installation position of the image acquisition module 5, the pressing head 41, or the base 45 changes, the corresponding calibration should be performed again to avoid inconsistencies between the original fixed coordinate offset relationship and the actual structural position. For cases where multiple assembly holes are pressed continuously under the same installation condition, the already completed calibration relationship can be continuously used.

[0138] Determine the offset e of the central axis of the insert relative to the center of the pressure port 414 along the unit vector u, where: e = (Dd) / 2.

[0139] Since the end groove 413 is a cylindrical groove with an inner diameter of D, and the diameter of the pin at the part held by the elastic abutment member 42 is d, and the side wall of the pin abuts against the inner wall of the end groove 413 away from the elastic abutment member 42, in a section perpendicular to the central axis of the end groove 413, the circular outline of the end groove 413 and the circular outline of the pin form an internal tangent relationship on the side pointed to by the unit vector u.

[0140] The center of the crimping port 414 is located on the central axis of the end groove 413. Therefore, the projection of the center of the crimping port 414 onto the assembly plane corresponds to the center of the end groove 413 cross-section. The projection of the pin's central axis onto the assembly plane corresponds to the center of the pin cross-section. The radius of the end groove 413 cross-section is D / 2, and the radius of the pin cross-section is d / 2. When the pin is tangent to the inner wall of the opposite side of the end groove 413, the distance between the center of the pin cross-section and the center of the end groove 413 cross-section is the difference between the radius of the end groove 413 and the radius of the pin, i.e., D / 2 - d / 2 = (Dd) / 2.

[0141] Therefore, when the offset of the pin's central axis relative to the center of the pressure port 414 along the unit vector u is denoted as e, the offset e is half the difference between the inner diameter D of the end groove 413 and the pin diameter d. The offset e is a non-negative number and increases as the diameter difference between the inner diameter D of the end groove 413 and the pin diameter d increases.

[0142] The offset direction of the pin's central axis relative to the center of the pressure port 414 is consistent with the direction of the unit vector u. That is, within the assembly plane, the position of the pin's central axis can be represented as the position of the center of the pressure port 414 after shifting by an offset e along the unit vector u. Let P be the projected position of the pin's central axis within the assembly plane. pin Then P pin ,Center P of pressure port 414 out The offset e and the unit vector u satisfy the following relationship: P pin =P out +e·u.

[0143] The offset e is determined based on the fact that the pin is stably abutting against the inner wall opposite to the end groove 413 under the action of the elastic abutment 42. When the pin has not yet contacted the inner wall opposite to the end groove 413, or when the pin is significantly tilted and the abutted part cannot form the predetermined wall-adhering state, it is not advisable to directly determine the actual position of the pin insertion end according to the above relationship. This embodiment is mainly applicable to situations where the diameter difference between the end groove 413 and the pin is within the allowable range, the pin can form a stable wall-adhering state under the action of a single elastic abutment 42, and the tilt of the pin will not disrupt its central axis offset relationship.

[0144] When the same pressure head 41 is used to accommodate pins of different diameters, the inner diameter D of the end groove 413 can remain constant, and the corresponding offset e can be calculated based on the current pin diameter d. When the pin diameter decreases, the offset e increases accordingly; when the pin diameter increases and approaches the inner diameter D of the end groove 413, the offset e decreases accordingly. Therefore, corresponding eccentricity compensation amounts can be generated for pins of different specifications, without needing to position pins of different specifications according to the same compensation amount.

[0145] The target position Pout at the center of the pressure port 414 is determined as: P out =P hole -e·u.

[0146] The center position P of the hole to be assembled hole This indicates the actual position of the center of the hole to be assembled in the assembly plane. The offset vector e·u represents the deterministic positional offset of the pin center axis relative to the center of the pressure port 414 along the unit vector u. To make the pin center axis correspond to the center of the hole to be assembled, the projection position P of the pin center axis in the assembly plane should be... pin Center position P of the hole to be assembled hole coincide.

[0147] According to P pin =P out +e·u, in order to make P pin equals P hole After that, the target position P of the center of the pressure port 414 can be obtained. out The offset vector e·u is subtracted from the center position Phole of the hole to be assembled, i.e.: P out =P hole -e·u.

[0148] Therefore, the target position P at the center of the pressure port 414 out It is not the center position Phole of the hole to be assembled, but the position offset by a distance e relative to the center of the hole in the opposite direction to the unit vector u. This reverse offset is used to counteract the positive offset generated after the elastic abutment 42 pushes the pin against the inner wall of the opposite side of the end groove 413.

[0149] When the unit vector u is parallel to one of the coordinate axes in the machine's coordinate system, the center of the pressing port 414 can be compensated for by a distance e only along the corresponding direction. For example, when the unit vector u is set along the first direction, the control module can control the material carrier plate 11 to move along the first direction, causing the center of the pressing port 414 to shift by a distance e relative to the center of the hole to be assembled in the opposite direction of the first direction; when the unit vector u is set along the second direction, the control module can control the moving end 21 to drive the pressing mechanism 4 to move along the second direction, causing the center of the pressing port 414 to shift by a distance e relative to the center of the hole to be assembled in the opposite direction of the second direction.

[0150] When the unit vector u has a predetermined angle with respect to the first direction, the offset vector e·u can be decomposed into a compensation component along the first direction and a compensation component along the second direction. The control module controls the material carrier plate 11 to move along the first direction and controls the moving end 21 to drive the pressing mechanism 4 to move along the second direction according to the two compensation components, so that the actual movement in the two directions together form a planar compensation displacement that is equal in magnitude and opposite in direction to the offset vector e·u.

[0151] Determine the target location P out At the same time, the fixed coordinate offset relationship is used to compensate for the structural installation offset between the image acquisition module 5 and the pressure port 414, and the offset vector e·u is used to compensate for the structural offset between the center axis of the pin and the center of the pressure port 414. The offset sources corresponding to the two are different. After converting the image position of the hole to be assembled into the overall target coordinates of the center of the pressure port 414, the control module should further superimpose the reverse compensation for the pin wall eccentricity to obtain the final target position P of the center of the pressure port 414. out .

[0152] Adjust the relative position of the pressure head 41 and the frame so that the center of the pressure port 414 reaches the target position. Pout This is done so that the central axis of the insert corresponds to the central axis of the hole to be assembled.

[0153] The control module determines the target position P. out The control mechanism 11 moves the material carrier plate 11 along the first direction and / or the control mechanism 2's moving end 21 drives the pressing mechanism 4 to move along the second direction, thereby adjusting the relative position of the pressing head 41 and the frame in the assembly plane. During the adjustment process, the elastic abutment 42 continues to hold the pin, keeping the pin against the inner wall of the end groove 413 away from the elastic abutment 42, and moving together with the pressing head 41. Thus, at the center of the pressing port 414 towards the target position P... out During the movement, the direction and amount of offset of the pin center axis relative to the center of the pressure port 414 remain unchanged.

[0154] When the target position P outWhen there is a positional difference in both the first and second directions relative to the current position of the center of the pressure port 414, the material carrier plate 11 and the moving end 21 can be controlled to move sequentially or simultaneously. Regardless of the moving sequence, the final relative position of the pressure head 41 and the frame in the assembly plane should satisfy the condition that the center of the pressure port 414 reaches the target position P. out .

[0155] After the center of the crimping port 414 reaches the target position Pout, the position of the pin center axis in the assembly plane is: P pin =P out +e·u.

[0156] P out =P hole Substituting -e·u into the above relation, we can obtain: P pin =P hole -e·u+e·u=P hole .

[0157] Therefore, although the center of the pressure port 414 is offset by a distance e relative to the center of the hole to be assembled, the central axis of the pin is offset by a distance e relative to the center of the pressure port 414 due to the supporting action of the elastic abutment 42. The two offsets cancel each other out, so that the central axis of the pin coincides with the center of the hole to be assembled in the assembly plane.

[0158] The center of pressure port 414 reaches the target position P out Then, maintaining the relative position of the pressure head 41 and the frame in the assembly plane, and following the subsequent pressing process described in Embodiment 7, the pressure head 41 is moved towards the frame in a third direction to the predetermined pressing position. Then, the pressure rod 44 is driven to enter the end groove 413 axially relative to the pressure head 41 and push the pin. When the pressure rod 44 pushes the pin, the holding end of the elastic abutment 42 elastically retracts along the positioning hole 415 away from the end groove 413 under the action of the pin, so as to allow the pin to pass through the end groove 413 axially and be pressed out by the pressing port 414.

[0159] After the insert pin is pressed out by the pressure port 414, since its central axis is already aligned with the central axis of the hole to be assembled before the pressing begins, the pressed end of the insert pin can move toward the center of the hole to be assembled, thereby reducing the possibility of offset collision between the pressed end of the insert pin and the edge of the hole. The pressure rod 44 continues to push the insert pin axially along the end groove 413, so that the pressed end of the insert pin enters the hole to be assembled and forms a fit with the hole to be assembled according to the predetermined pressing depth.

[0160] When pressing multiple holes to be assembled onto the same frame, an image can be obtained for each current hole to be assembled and the corresponding center position can be determined. PholeThen, based on the offset e corresponding to the current pin specification and the already calibrated unit vector u, determine the corresponding center target position P of the pressure port 414. out After the current pin is pressed in, the pressure rod 44 and the pressure head 41 are reset, and the above eccentricity compensation and positioning process is repeated for the next hole to be assembled.

[0161] When the same press head 41 and pins of the same specification are used during continuous press fitting, and the installation direction and adjustment state of the elastic abutment 42 remain unchanged, the inner diameter D of the end groove 413, the pin diameter d, the offset e, and the unit vector u can remain unchanged. The control module only needs to update the center position P of the hole to be assembled based on the images obtained by the image acquisition module 5 for different holes to be assembled. hole Based on this, the target position P of the center of the pressure port 414 corresponding to each hole to be assembled is calculated. out .

[0162] When the pin specification is changed, the offset e should be recalculated based on the diameter d of the replaced pin at the point where it is held by the elastic abutment 42. When the pressure head 41 is replaced, the installation direction of the elastic abutment 42 is adjusted, or the relative installation position between the image acquisition module 5 and the pressure head 41 is changed, the inner diameter D of the end slot 413, the unit vector u, the fixed coordinate offset relationship, or the transformation relationship between the image coordinate system and the overall coordinate system should also be updated accordingly to ensure the target position P. out Corresponding to the actual structural state.

[0163] The key to this embodiment lies in the following: After a single elastic abutment 42 pushes the pin against the inner wall of the opposite side of the end groove 413 and forms a deterministic eccentricity, the planar positioning target is not based on the alignment of the center of the pressure port 414 with the center of the hole to be assembled. Instead, the offset vector e·u of the pin's central axis relative to the center of the pressure port 414 is determined based on the inner diameter D of the end groove 413, the pin's diameter d, and the direction u of the elastic abutment 42. The center of the pressure port 414 is then controlled to undergo equal compensation in the opposite direction. This ensures that the pin's central axis corresponds to the center axis of the hole to be assembled. Consequently, when different diameter pins are fitted into the same end groove 413, the deterministic radial offset caused by the unilateral elastic abutment is compensated, improving the positional accuracy between the pin and the hole to be assembled. This reduces the risk of the pin's press-in end impacting the edge of the hole and causing pin tilting, bending, and damage to the frame hole.

Claims

1. A needle pressing machine for pressing needles into assembly holes in a frame, characterized in that, It includes a pressing mechanism, a feeding mechanism, a displacement mechanism, an image acquisition module, and a control module. The pressing mechanism includes: The pressure head has a pressing end, and the inside of the pressure head is provided with a feeding channel and an end groove communicating with the feeding channel. The end groove extends to the pressing end to form a pressing port. The circumference of the pressure head is provided with a positioning hole, which extends from the circumference of the pressure head to the end groove and communicates with the end groove. An elastic abutment is disposed in the positioning hole, the elastic abutment including a holding end that can elastically move along the extension direction of the positioning hole and at least partially extend into the end groove; Second drive component; A pressure rod is drivenly connected to the second drive assembly. The pressure rod is configured to move axially relative to the pressure head along the end groove under the drive of the second drive assembly, so as to enter the end groove. The abutting end is configured to abut against the pin located in the end groove after the pin enters the end groove through the feed channel, thereby confining the pin in the end groove before the pressure rod pushes the pin; and when the pressure rod enters the end groove and pushes the pin toward the direction closer to the pressure port, the abutting end can elastically retract along the positioning hole toward the direction away from the end groove under the action of the pin, so as to allow the pressure rod to continue to push the pin and press the pin out through the pressure port; The feeding mechanism includes a material carrier plate for supporting the frame, the material carrier plate being configured to move in a controlled direction; The displacement mechanism includes a movable end configured to move controlled along a second direction, the second direction being perpendicular to the first direction, and the first direction and the second direction jointly defining an assembly plane. The pressing mechanism further includes a base, which is connected to the moving end so as to move along the second direction with the moving end; The image acquisition module is disposed on the base and configured to move along the second direction with the base to acquire images of the frame supported by the carrier plate; The control module is communicatively connected to the feeding mechanism, the displacement mechanism and the image acquisition module, and is configured such that: in the planar positioning state, the position of the material plate along the first direction and the position of the moving end along the second direction correspond to the position information of the hole to be assembled obtained by the image acquisition module, and the pressure head is located at the target position relative to the hole to be assembled. The number of the elastic abutment is one, the end groove is a cylindrical groove, the inner diameter of the end groove is larger than the diameter of the part of the pin to be pressed and held in the end groove, and the center of the pressing port is located on the central axis of the end groove. Wherein, when the abutting end abuts against the side wall of the pin located in the end groove, the pin abuts against the inner wall of the end groove on the side away from the elastic abutting member; The image center of the image acquisition module has a calibrated fixed coordinate offset relationship with the reference position corresponding to the center of the pressure port in the assembly plane. The control module stores the fixed coordinate offset relationship, the transformation relationship between the image coordinate system of the image acquisition module and the whole machine coordinate system in the assembly plane, and the eccentricity compensation relationship. The eccentricity compensation relationship characterizes the correspondence between the inner diameter of the end slot, the diameter of the part of the pin held in the end slot, and the force direction of the elastic abutment on the pin, and the offset direction and offset amount of the central axis of the pin relative to the central axis of the end slot in the assembly plane. The target position is an eccentricity compensation target position jointly defined by the position information of the hole to be assembled, the transformation relationship, the fixed coordinate offset relationship, and the eccentricity compensation relationship; In the planar positioning state, the projection position of the center of the pressure port in the assembly plane is offset relative to the center of the hole to be assembled by the offset amount in a direction opposite to the offset direction, so that the central axis of the pin located in the end groove corresponds to the central axis of the hole to be assembled.

2. The needle pressing machine according to claim 1, characterized in that, The elastic abutment is a set screw, and the set screw includes: An adjusting component is threadedly connected to the positioning hole, and the adjusting component has an adjusting groove inside; the adjusting component forms an annular limiting part at one end of the adjusting groove near the end groove, and the annular limiting part surrounds and forms a circular opening communicating with the adjusting groove. A ball bearing is disposed in the adjusting groove, the diameter of the ball bearing being larger than the diameter of the circular opening, so that the annular limiting part prevents the entire ball bearing from coming out of the circular opening; An elastic element, one end of which abuts against the inner wall of the adjusting groove on the side away from the end groove, and the other end of which abuts against the ball, so as to elastically press the ball against the annular limiting part, and allow a part of the ball to extend through the circular opening to form the supporting end; Wherein, one end of the adjusting member near the end groove is located inside the positioning hole; the adjusting member is configured to adjust the initial extension amount of the ball relative to the inner wall of the end groove when it is not in contact with the pin and the compression amount of the elastic member when the ball is in contact with the pin by changing the screw-in position of the adjusting member relative to the positioning hole. The ball is configured to abut against the side wall of the pin when the pressure rod pushes the pin toward the pressure port, so as to overcome the elastic force of the elastic element and move back into the adjustment groove.

3. The needle pressing machine according to claim 1, characterized in that, It also includes material supply organizations; The pressing mechanism further includes: A base, connected to the mobile end, so as to move along the second direction with the mobile end; A follower component is connected to the pressure head and configured to move synchronously with the pressure head in a third direction; A first drive assembly is disposed on the base. The first drive assembly includes a first drive end, which is configured to move in a controlled direction along the third direction and be connected to the pressure head drive. Wherein, the third direction is perpendicular to the assembly plane, and the axial direction of the end groove is parallel to the third direction; The second drive assembly is disposed on the follower member, and the second drive assembly includes a second drive end, which is configured to move in a controlled manner relative to the pressure head along the third direction and is drively connected to the pressure rod; The discharge end of the feeding mechanism is connected to the feeding channel; The control module is also communicatively connected to the first drive component, the second drive component, and the feeding mechanism, and is configured as follows: In the pin holding state, the pin supplied by the feeding mechanism through the feeding channel is located in the end groove, and the holding end abuts against the pin and restricts the pin in the end groove; With the pressure head in the positioned state, the pressure head is located at the predetermined pressing position along the third direction; In the pin pressing state, the pressing head is located at the target position relative to the hole to be assembled and at the predetermined pressing position along the third direction. The pressing rod extends into the end groove relative to the pressing head along the third direction and abuts against the pin, so that the pin is pressed into the hole to be assembled through the pressing port.

4. The needle pressing machine according to claim 1, characterized in that: The end of the pressure rod facing the pressure port forms a crimping end, and the crimping end is provided with a concave spherical groove for cooperating with a pin with an outwardly convex spherical surface at the top. The radius of curvature of the concave spherical groove is greater than the radius of curvature of the outwardly convex spherical surface.

5. A needle pressing method implemented using the needle pressing machine according to any one of claims 1 to 4, characterized in that, include: The insertion pin is allowed to enter the end slot connected to the feeding channel through the feeding channel inside the pressure head; The pin is held by an elastic abutment provided in the positioning hole of the pressure head, and the abutting end of the elastic abutment extends elastically into the end groove at least partially to hold the pin in the end groove before the pressure rod pushes the pin. Adjust the relative position of the pressure head and the frame with the assembly hole so that the pin held in the end groove corresponds to the assembly hole; Move the pressure head toward the frame to the predetermined pressing position; The pressure rod is driven to enter the end groove along the axial direction of the end groove relative to the pressure head and push the pin, so that the holding end elastically retracts along the positioning hole away from the end groove under the action of the pin, and the pin is pressed out from the pressure port formed at the end of the end groove and pressed into the hole to be assembled.

6. A needle pressing method implemented using the needle pressing machine according to claim 1, characterized in that, Let D be the inner diameter of the end groove, and d be the diameter of the part of the pin held by the elastic abutment in the end groove, where D is greater than d. The insertion pin is allowed to enter the end slot connected to the feeding channel through the feeding channel inside the pressure head; The pin is held by an elastic abutment provided in the positioning hole of the pressure head, and the abutting end of the elastic abutment extends elastically into the end groove at least partially to hold the pin in the end groove before the pressure rod pushes the pin. The pin is pushed against the inner wall of the end groove away from the elastic abutment by the elastic abutment, and the unit vector pointing from the elastic abutment to the inner wall of the end groove away from the elastic abutment is denoted as u; The image acquisition module acquires an image of the hole to be assembled, and based on the fixed coordinate offset relationship and the transformation relationship between the image coordinate system of the image acquisition module and the overall coordinate system in the assembly plane, the center position P of the hole to be assembled is determined. hole ; Determine the offset e of the central axis of the insert relative to the center of the crimping port along the unit vector u, where: e = (Dd) / 2; The target position P of the pressure port center out Determined as: Q out =P hole -e·u; Adjust the relative position of the pressure head and the frame so that the center of the pressure port reaches the target position P. out This is to ensure that the central axis of the insert corresponds to the central axis of the hole to be assembled. Move the pressure head toward the frame to the predetermined pressing position; The pressure rod is driven to enter the end groove along the axial direction of the end groove relative to the pressure head and push the pin, so that the holding end elastically retracts along the positioning hole away from the end groove under the action of the pin, and the pin is pressed out from the pressure port formed at the end of the end groove and pressed into the hole to be assembled.

Images